Applied Mechanics and Materials Vols. 536-537

Abstract: Educational robot is a platform of new educational technology. Student could study new knowledge in execution, and discover new things in exploration. It can enhance the ability of analyzing and solving problems. Orchestic robotic vehicle is designed to give the arrangement and innovation in educational robot platform. With the sensor, dance movements of each vehicle can run according to the route and coordinated motion. There is a major hardware platform which is Arduino, with ATmega328 chip of AVR microcontroller. A QTI line sensor and SHARP-GP2D12 infrared distance sensor are used in the design. Xbee wireless communication module is based on ZigBee technology which is low power network protocol of EEE802.15.4 standard. By researching and comparing several methods of control, this paper analyzes characteristics of them and the advantage and potential of development of synthetic control are testified. Choreography and coordinated control is realized for the dancing wheeled mobile robot scheme.

Abstract: Because of the nonlinear motion of the robot-fish and the uncertain water waves, it is difficult to track dynamic target accurately and quickly for the robot-fish. To solve this problem, this paper proposed the target tracking strategy of underwater robot-fish based on Unscented Kalman filter (UKF). UKF is a nonlinear filtering on the basis of unscented transformation, which consists of prediction and update recursively, thus estimate the state of the system. To avoid the particle degeneracy, this paper selects sigma points adopting scale symmetric sampling strategy. We apply UKF method to the underwater robot-fish competition in China. Simulations show that the Robot-fish has fast tracking speed, shorter tracking path and smaller tracking error using UKF method than not using the method. It has excellent tracking performance.

Abstract: There are two ways to solve workspace boundary, analytic geometry method and numerical method. In this paper, boundary search method is used to wok out the PPP-δ parallel robot workspace. And the relevant points coordinates and motion displacement of expression S1, S2, S3 is worked out. And the PPP-δ parallel robot graphical workspace is also obtained.

Abstract: In the UHV AC transmission lines will be rapid development momentum of main frame China grid, inspection of UHV transmission line for the realization of unmanned aircraft utility,this article makes an analysis for the structure characteristics and defects of the UHV transmission line , finds out the defect characteristics, and summarizes the characteristics of the UAV and inspection instrument. According to the characteristic of UHV defect, we display its properties of unmanned aerial vehicles and inspection instrument, construct the application mode of four kinds of unmanned aerial vehicle inspection, and have a description for each model.

Abstract: Rapid and high-accuracy guidance line identification and tracking are the keys to ensure AGV’s real-time control performance. Analyzing outdoor environment under different lighting conditions, we proposed a feature extraction method which could guarantee the efficiency and stability of line recognition for different surroundings; analyzing how angular deviation and distance deviation affect AGV posture, we designed a subdivision-control tracking strategy. The results show that the algorithm has achieved effective identification and tracking with an error less than ±5cm.

Abstract: Due to the complexity of the underwater acoustic channel, a reliable mobile underwater acoustic communication system must have high resistance to Doppler and multi-path extension. In this paper, an AUV underwater acoustic control and communication system based on frequency-hopping frequency-shift keying (FH-FSK) is proposed. The system uses pulse pair method to estimate Doppler frequency shift, and analyzes the performance of the algorithm via simulation. The system has been developed based on chip OMAP-L138, with lake test conducted. Result of the tests shows that the system can estimate and compensate the Doppler frequency shift generated by the platform's movement precisely, and has strong resistance to interference to transmit AUV control messages effectively.

Abstract: Traditionally compliant mechanism is difficult to achieve decoupling features, because of lack of definite theory and its deformability character. Whereas its counterpart - many rigid mechanisms with decoupling property have been designed and the method of mechanism design with decoupling feature is constructed. In this paper, an effective method to build equivalent transformation between rigid decoupling mechanism and compliant mechanism with decoupling property is proposed, and also applied to design new a decoupling rigid mechanism with 3-DOF. Finally, the decoupling features of the micro motion platform was verified through FEM analysis software ANSYS because of difficulty of compliant mechanism analysis.

Abstract: industrial assembly line development in the direction of automation and flexibility. Not only more and more automated machinery and more industrial manipulator into the production line. Manipulator instead of artificial heavy labor, realize mechanization, automation and flexibility production process. But in the process of production, first of all to the parts, then is all kinds of processing actions. So, will the application of automatic identification in combination with manipulator is very necessary. This paper introduces a can demonstrate the technology training equipment, from the development of the technology are integrated into the software are introduced. Hope that this technology can be widely used in industrial production.

Abstract: This paper presents a novel exoskeleton training system for hand rehabilitation with the surface electromyography signals (sEMG) feedback to meet the kinematics characteristics of finger joints. In this system, the sEMG is obtained by means of the surface electrodes loaded the forearm antagonistic muscle. The sEMG is amplified about 100 times again after it was preliminarily amplified about 200 times and filter,. Through threshold and the equivalent calculation, the control signal was input into the driving circuit of DC micro motor to control the hand Exoskeleton. The experimental results show that the processed sEMG can drive the hand exoskeleton for rehabilitation training, and the bending angular of joints agree well with bionics laws. The results possess guideline value for bionics motion control of hand rehabilitation with function damage.

Abstract: This document explains and demonstrates based on eddy current testing of automotive wheel crack detection platform design, introduces the crack detection units overall structure and function. Detection station control systems, pneumatic systems, marking systems and circuit design system are described.