Applied Mechanics and Materials Vol. 598

Abstract: The core device of our system is a handheld EEG monitoring analyzer, which is based on a new DSP (Digital Signal Processor) control system. The DSP is based on a Think-Gear module and collects the EEG signals reliably. The system only uses a dry electrode, which ensures that the user can have a happy experience in daily life. Our main purpose is that we can provide a hardware prototype with the application of BCI (Brain-Computer Interface).The system can monitor the sleep process accurately and distinguish the eyes open or closed state, sleep state and the degree of relaxation.

Abstract: Boiler flue gas treatment of cooling water circulation device is a device which can produce dilute sulfuric acid by absorbing SO₂ in the flue gas of boiler combustion and add dilute sulfuric acid to the circulating water. Adding dilute sulfuric acid to the circulating water, can reduce pH value of the thermal power plant cooling water, obstacles and reduce the condenser fouling. This paper has introduced the working process of the boiler flue gas treatment of cooling water circulation device and the design method of the control system based on SIEMENS S7-300 series PLC. The control system realizes data acquisition of the water level and the pH value, and control the operation of each equipment according to the collected data. Finally realized the purpose of producing dilute sulfuric acid.

Abstract: ISO 14649, known as STEP-NC, is new model of data transfer between CAD/CAM systems and CNC machines. In this paper, the modeling based on machining feature is proposed. The machining feature comes from the manufacturing process considering the restriction of machining technology and machining resource. Then the framework for computer aided process planning is presented, where the algorithms of operation planning is studied. The practical example has been provided and results indicate that machining feature based model can integrate with CAPP and STEP-NC seamlessly.

Abstract: This paper describes the parameter optimization of PID controllers of knee-FES-ergometer used to control the paralyzed knee for smooth swinging exercise. The knee-FES-ergometer is a machine that helps elongate knee swinging exercise of paralyzed people by reducing the required electrical stimulus. Particle swarm optimization (PSO) is used to optimize the PID parameters and the performance of swinging exercise are compared with the manually tuned PID parameters. Results shows that the PSO tuned PID have improved the quality of knee swinging exercise if compared with the manually tuned PID but the number of iteration for the PSO to converge is considered high and takes very long time.

Abstract: During robotic assembly and interactive applications, the robot end-effector must follow a motion trajectory and exert an appropriate force profile against the contacted environment to provide a specified dynamic working compliance. It is a difficult control problem. Here, an embedded robotic control structure is constructed and the related hybrid control software programs are developed. The model-free intelligent fuzzy sliding mode controller is introduced to design force and position controllers, respectively for hybrid impedance control purpose. The experimental results are provided to demonstrate the effectiveness of the proposed hybrid impedance control system.

Abstract: In order to realize the detection of bridge cable defects, we conducted research on bridge cable climbing robot, developed a strong climbing ability and high mobility climbing snake-like robot, which is suitable for bridge cable automatic defect detection. It consists of modules with a single degree of freedom, the number of modules can flexible increased or decreased to realize manually reconstructed according to the cable’s feature. The Ultra Torque servo, lightweight aluminum mechanical components and high coefficient of friction skin in the module, enhance the robot’s climbing ability. The robot can effectively complete cable climbing and testing operations because of the modules which combined orthogonal connection with P-R connection. Design a master-slave distributed multi-level closed-loop motion control system, with battery-powered and torque limit been introduced, which enhance the robot's mobility and ability to adapt to the environment. Cable-imitate climbing experimental results prove that the robot has powerful mobility and climbing ability.

Abstract: This paper presents design and control architecture of a small mobile robot with hybrid locomotion system. It consist the combination of wheel and track type motion system resulting as a hybrid mechanism. The wheel locomotion system helps the robot to move on flat surface or path platform with high velocity, high manoeuvrability at low energy consumption. The track system is designed for rough and unstructured path, where robot need to cross irregular surface with high stability. This system works on interchangeable locomotion phenomena by means of track tensioner unit (TTU). The TTU helps the loading and unloading of track system by means of rack and pinion mechanism. This design of small hybrid mobile robot is improves robot applications and also enhance its flexibilty, verstality to work in multi type of terrains.

Abstract: Selection of drive components and determination of dynamics properties are extremely important technical components for overall design of palletizing robot. As an example, the paper firstly introduce how to establish mathematical model and finish kinematics analysis. Based on the previous work, MATLAB scripts are written through the use of Newton-Euler Method to analyze and calculate dynamic analysis, after which the parameters of dynamics are obtained. Then the dynamic behavior is studied by multi-body system simulation using ADAMS software to testify the former analysis in MATLAB. Lastly, two speed trajectory algorithm were adopted to simulate for the same working condition, in an attempt to investigate the difference in their dynamic behavior and provide a reliable theoretical basis for optimal control method.

Abstract: As a good experimental platform for multi-agent system, Robot Soccer World Cup (RoboCup) has become a hot topic of artificial intelligence. This paper reviewed the technical characteristics of related robots in Simulation, Small Size, Middle Size and Humanoid It introduced the intelligent control algorithms such as Agent structure, Kalman filtering, self-positioning of robots and ZMP stability judgment.

Abstract: This paper is concerned with the performance of combination method for forecasting the foreign workers in Chiang Mai, Thailand. The forecasting performance is compare among six combination method. i.e., Simple Average method (AVG), Variance-Covariance method (VAR), Harmonic Mean method (HARM), Simple Average Control (AVG-C) , Variance-Covariance Control method (VAR-C) and Harmonic Mean Control method (HARM-C). The results suggest that, the mean absolute percentage errors (MAPE) of the Variance-Covariance Control method (VAR-C) are the lowest. The Variance-Covariance Control method was optimal for forecasting the foreign workers in Chiang Mai, Thailand.