Applied Mechanics and Materials Vol. 590

Abstract: This paper presents a deformable spherical mobile robot that can be used in field environment. It can contract to be a small ball when storing and expand to be a hedgehog-like mobile robot when moving so as to employ rotating claws to improve its filed environment adaptability. Based on statics analysis, the factors influencing the performance of the robot are figured out. Its virtual prototype was built in ADAMS in order to validate such performances as linear motion and obstacle crossing motion. Simulation results show its good stability and excellent motion performance.

Abstract: The transmission ratio of the fuel cell city bus should meet the requirement of economy and power performance. The transmission ratio and the main decelerator are the key factors to the economy and power performance of the bus. The special operating characteristic curve of motor is a basis to analyze the vehicle`s power and economy performance. Combined with the planned and the provided transmission ratio, the optimal gear ratio of the transmission can be calculated. So the vehicle`s economy and power performance are finally improved.

Abstract: Heading tracking technology is applied in many fields such as helm aiming, Virtual Reality etc. In this paper, one kind of orientation tracking system based upon MEMS accelerometer and magnetometer is designed. MCU can get the input data from the sensors through data bus, and upload the data to PC. The corresponding program is designed with Visual C++ to receive data and draw the 3D location in real time. The PC will adjust the attitude angle through Kalman filter. The experiment result show that the system is on operation well, and can be developed more function based upon it.

Abstract: In this paper, a TTR vehicle rollover predication algorithm is calculated. A vehicle rollover predication model is built. Also, a vehicle rollover predication warning system is designed by using TMS320LF2407 DSP, and the warning predication theory is introduced. The results show that the rollover prediction model can predicate rollover occur time effectively and the TTR rollover predication method can be used to give direction to the driver.

Abstract: In this paper, based on the status quo of plastics extrusion production process at the present stage in China, put forward on the basis of general embedded industrial control scheduling expert system for optimizing the process parameters is established. Structures of the expert system, user interface, the establishment of a knowledge base, reasoning machine design, the learning machine design and so on are introduced. System can according to customer's production goal reasoning out the required process parameter values, and has good portability, instead of the professional engineers for plastics extrusion production process parameters manually, save the human cost, improve the intelligent level of automation and production efficiency.

Abstract: The present work is concerned with the rolling motion of the battery pack when EV travelling on the road. First McPherson suspension system was regarded as the research object with detailed analysis of its structural features and motion characteristics. Establish the mathematical model which could apply to calculating the rolling motion of the vehicle body. Through MATLAB/Simulink simulation software, we could calculate the rolling angle on passive suspension. On this basis, assume that the battery pack mounted on the vehicle body and make it passive connection and PID connection. When the body rolls, the battery pack will produce a certain angle then. Next establish the mathematical model to summarize the relationship between the two variables. Then we set the parameters and calculate the roll angle of battery pack in both cases for comparison. Simulation results show that road irregularities will make battery rotate an angle and PID controller can effectively reduce the angle, especially angular acceleration. This paper put forward a new idea that battery is connected with body by active control on EV, and proves the superiority in reducing the rolling angle.

Abstract: In the search for productivity increase, industry has invested on the development of intelligent, flexible and self-adjusting method, capable of controlling processes through the assistance of autonomous systems, independently whether they are hardware or software. Notwithstanding, simulating conventional computational techniques is rather challenging, regarding the complexity and non-linearity of the production systems. Compared to traditional models, the approach with Artificial Neural Networks (ANN) performs well as noise suppression and treatment of non-linear data. Therefore, the challenges in the wood industry justify the use of ANN as a tool for process improvement and, consequently, add value to the final product. Furthermore, Artificial Intelligence techniques such as Neuro-Fuzzy Networks (NFNs) have proven effective, since NFNs combine the ability to learn from previous examples and generalize the acquired information from the ANNs with the capacity of Fuzzy Logic to transform linguistic variables in rules.

Abstract: The characteristics of unmanned vehicle makes it be used widely in industrial production, space exploration and other fields and unmanned vehicle navigation positioning technology is the most basic aspects. This paper discusses the integrated positioning technology of unmanned vehicle which combines vision sensor with the dead reckoning to achieve precise positioning of the vehicles. By introducing the normal estimated of point cloud, the expected plane feature of point cloud data can be extracted with RANSAC well, which is done with Point Cloud Library (PCL). The effect of unmanned vehicle positioning is also discussed with the plane feature. The corresponding program is applied in the P3-AT Pioneer Robot for validation.

Abstract: Aim to the loop closure problems of mobile robots SLAM, a building mix cascading map approach base on topology-line segment feature is presented, and also an active loop closure Fast SLAM approach is proposed by using segments types of the section lines to form active loop closure tactics. According to topology nodes‘s relationship detect loop closure, and use a reverse movement model for optimization and modification to improve the accuracy and map consistency of robot’s localization. Experiment results show that the approach can well detect loop closure and reduce accumulated errors, and the robot’s localization accuracy and map consistency is remarkably improved.

Abstract: The disturbance rejection problem for discrete-time linear systems with both state delay and control delay is considered. Using a model transformation, the time-delay system is transformed into a nondelayed system. The disturbance rejection control law is obtained by solving its optimal regulation problem.