Applied Mechanics and Materials Vols. 494-495

Abstract: Path planning has been a crucial problem in robotics research. Some algorithms, such as Probabilistic Roadmaps (PRM) and Rapidly-exploring Random Trees (RRT), have been proposed to tackle this problem. However, these algorithms have their own limitations when applying in a real-world domain, such as RoboCup Small-Size League (SSL) competition. This paper raises a novel improvement to the existing RRT algorithm to make it more applicable in real-world.

Abstract: An iterative learning impedance control algorithm is presented to control a gait rehabilitation robot. According to the circumstances of the patient, the appropriate rehabilitation target impedance parameters are set. With the adoption of iterative learning control law, the impedance error in the closed loop is guaranteed to converge to zero and the iterative trajectories follow the desired trajectories over the entire operation interval. The effectiveness of the proposed method is shown through numerical simulation results.

Abstract: According to the switch transients problem existing in the Hybrid Actuation System (HAS), a multi-mode switching control system was proposed. This control system, based on the system feedback correction theory, can cater to the demands of dynamic characteristics and switch transients. To start with, the mathematical model of HAS was established on the basic of HASs operating principle, and the HAS is composed of Hydraulic Servo Actuator (HSA) and Electro-Hydrostatic Actuator (EHA). Further, the different operating modes controller are hammered out by employed the PID feedback correction control, and the acceleration feedback controller is added to the switched system to decreasing the switch transients. Finally, simulation results demonstrate the system is precise in tracking displacement signal, and it is validity of mitigating the switch transients by used method of feedback correction.

Abstract: According to the problem that the intelligence is not high of the soccer robot, using the mechanical theory as a guide, making some mechanical analyses and calculations on the pressure and transmutation states of chip kick mechanics, and conducting optimal design too, then making the structure of chip kick mechanics more and more rationalization. Experiments show that the new soccer robot controller features a quick response and high servo rigidity, and provide a kind of method for improving and perfecting the soccer robot control system, at the same time, filling the needs of producing.

Abstract: For UAV air combat task assignment problem, this paper presents an analysis method. Firstly, we analyzes the unmanned combat situation, establish the UAV air combat situation advantage function and interval information combat task allocation model. And then put forward multi-UAV air combat decision method of the discrete particle swarm optimization algorithm based on interval number sequence. Finally, we carry on the simulation, the simulation results show that the algorithm can effectively and reasonably solve the problem of multi-UAV air combat decision.

Abstract: Multiple unmanned aerial vehicles (UAV) cooperative alliance combat is a new research problem. Through considering cooperative alliance's target value income index function, damage cost index function and voyage cost index function, the multi-UAV alliance cooperative game model is established in the paper, and its game matrix is structured. The definition of alliance characteristic function and mixed strategy Nash equilibrium are provided, the mixed strategy Nash equilibrium is obtained by using particle swarm optimization, and the cooperative game is solved by applying the method. At last, the feasibility and effectiveness of the method are presented by simulation results.

Abstract: The SCM controller is a special digital controller PID control system, for example to achieve the simulation of the control system are established SCM control system simulation model based on the operating characteristics of the single-chip controller in the Matlab environment. Single chip computer controller is a peculiar digital controller. Based on the characteristics of single chip computer controller, the simulation model of single chip computer control system in Matlab is established. The simulation of single chip computer control system is realized by taking the example of PID control system.

Abstract: Navigation and routes planning for a group of unmanned surface vessels (USV) jointly moving in complex environment, including circumvention of seashore and islands, are important applications of computer-based decision-making support systems. A group of objects as an open complex system includes several hierarchy levels and may be controlled by a decision-maker supported by information-analytical software and methodical maintenance. Planning, as a stage of management, includes an a priori phase guidance for all objects in the group, coordinated in both time and directions of approach to the target set restricted by a set of obstacles. A discrete system of priorities reflects relative preferences of importance and allows choosing routes optimal in different senses. One can formalize such tasks in terms of different mathematical models including control problems of formation motion, theory of extreme networks and interval analysis. The paper bases on guaranteed approach to control of dynamic objects under uncertainty. Unified mathematical descriptions of shores, routes of individual objects and the whole group may be given in terms of hierarchic (i)-systems. This allows to reconcile data on geography, environment, object characteristics, peculiarities of control systems and data transmission, including sources and causes of uncertainty, and to describe movement of a group as an extreme problem of control and estimation. The results of computer simulation are considered. One may use similar models to explore economic aspects in application of heterogenic complex of autonomous surface and underwater vessels.

Abstract: According to the problem of petrochemical heat equipment status inspection and fault diagnosis, a method based on threshold value of infrared image segmentation was presented. Studying the infrared image segmentation based on threshold value we can get the relationship between threshold value and the target area, threshold value and the temperature. Categories of differential variance method and optimal threshold value method of the experimental results were compared, and feasibility of this method was verified.

Abstract: The state space expression can be deduced by establishing the mathematical model of inverted pendulum system. In this paper, linear quadratic regulator (LQR) is used to control the inverted pendulum system, providing better balance between system robustness stability and rapidity. The simulation structure shows that the better the system anti-interference capability is, the shorter its recovery time is. Good control effect can be achieved by applying linear quadratic optimal control in the control of double inverted pendulum balancing system.