Applied Mechanics and Materials Vols. 568-570

Abstract: The paper proposes a Kohonen neural network to the MOA fault diagnosis. The data from MOA monitoring was trained by a Kohonen neural network in Matlab. By this way, the best weight matrix could be obtained. The trained Kohonen neural network is adopted to diagnose the sample, and the MOA fault type could be effectively identified.

Abstract: With the development of computer technology, SPH numerical simulation method is widely used in the engineering simulation. Based on introducing the principle of SPH, these provided a reference for future SPH research on parts in the high speed collision through simulation experiment of solid high-speed collision.

Abstract: In order to study the feasibility and practicality, the hydrological forecasting model are established respectively by the traditional method and the new methods, BP network and projection pursuit. The result shows that the accuracy of the BP model is within 10%, has better forecasting effect and more practical value than the others.

Abstract: SPC, Statistical process control, is a method of process control by using statistical science. It uses statistical tools to analyze and control the process, then to ensure the process stability and to improve the process quality and ability. Application of SPC in industry is quite broad and has achieved great success. But its application in IT service management is just beginning. In this paper, author first analyzes the principle of SPC. Then author discusses superiority and implementation steps on how to apply SPC to IT service management. And finally, author uses a specific instance to verify its efficiency. This paper can be used for reference in how to improve IT service management ability by using SPC.

Abstract: In consideration of the importance of the prosthetic finger having the motion law of human finger. We first establish the relationship between spring stiffness and joint angles of the prosthetic finger through the analysis of the prosthetic finger kinematic. Then collect the joint angles of human index finger during natural bending by using the CyberGloveII-22 data glove. Based on this, an anthropomorphic optimization method is proposed in order to let the prosthetic dinger have the motion law of human index finger. The method in this paper can also be used to plan the trajectory of the finger.

Abstract: A novel 3-dof planar parallel mechanism, which is composed by three different limbs, is designed. The moving platform can translate along two directions and rotate around one axis with respect to the base. Mobility of the mechanism is discussed and calculated based on the screw theory. The forward and the inverse analytical position equations are derived and the veloctiy analysis is addressed too. The Jacobian matrix is an identical one, so there exists one-to-one corresponding linear controlling relationship between one of the actuated joints and one of the outputs of the platform. Moreover, the condition number of the Jacobian matrix is constantly equal to one and the mechanism shows fully-isotropic throughout entire workspace.

Abstract: Programming a biped robot to walk is a challenging issue in robotics. For a stable gait, prior knowledge of the robot’s physical parameters and sophisticated control algorithms are required. Robot walking by imitating a human gait becomes new challenging issues. Using a human motion data to the robot’s walk is convenient even though direct usage of the data usually results in dynamically unstable motion. The purpose of this paper is to develop a new type of encoder and foot sensor for biped imitation control system, which is direct and real-time sensor system. Characteristics of the sensor system are discussed. Finally, the operator’s joint motion can be imitated to the robot by using the new type of wearable encoder sensor. CoP through the developed foot sensor can be obtained and utilized to walk.

Abstract: The modelling method of a full-actuated autonomous underwater vehicle is investigated.The kinematics and dynamics models of the full-actuated autonomous underwater vehicle in three-dimensional space are constructed. Gravity and moment of gravity,current resistance and moment of resistance, buoyancy and moment of buoyancy and thrust and moment of thrust are constructed, respectively. Experiment results show the effectiveness of the proposed modelling method.

Abstract: the paper firstly designs dynamics model of a 6-DOF vertical multi-joint robot and simplifies it, aiming at the existing algorithms PID path tracking control, the paper put forward two new algorithms based on the analysis of the variable structure control: fast variable structure control algorithm and adaptive fuzzy variable structure control algorithm. The fast variable structure control algorithm can improve the control effect by optimizing the reaching movement. By introducing adaptive processing and fuzziness into reaching law of traditional variable structure control, the reaching motion is improved during sliding mode process. The results show that the two algorithms can not only improve response rate, but also ensure the accuracy of trajectory tracking, as well as the advantages of simple structure, high robustness and adaptability.

Abstract: High-COG (center of gravity) vehicle is usual in our life. High concrete pump truck, aerial ladder truck, crane vehicle, etc. We studied on how these High-COG Vehicles balancing on slope and how they keep balance when moving on a series of continuous changing slopes. We built a simplified model as well as a simulation model to study the how it works. In this article we propose a new balancing system which is real time controlled by the result of the MCU which computing the position of the COG projection of the model. Here we use an inclinometer to get the gesture to the horizontal position of the model and a potentiometer located at the axis of the balancing arm to know the angle between the arm and the surface of the model. At the end of the article, we give some advices of how the system will be used in the Application of Practical Engineering areas.