Applied Mechanics and Materials Vols. 602-605

Abstract: This paper proposes a novel wheel-propeller amphibious robot which has unique drive devices, and its operating environments are complex. The robot can realize both crawling locomotion on the ground and swimming locomotion in the water without changing its driving devices. To fulfill a high requirements of control, a control system consist of shore-based control PC, amphibious robot carrier and wireless transmission system is introduced. The control command is generated by the shore-based control PC, and the command transmitted to DSP minimum in carrier through wireless transmission system. Lastly, a distributed control system based on CAN is realized. The whole control system has a strong ability of adapting to different environments and with a high flexibility. The control system can applied on wheel-propeller amphibious robot to realize stable control.

Abstract: A flywheel energy storage system (FESS) is an effective energy-saving device. It works by accelerating a rotor flywheel disc at a very high speed and maintaining the energy in the system as rotational energy. Active magnetic bearings (AMB) are ideally suited for use at high-speed and are so used in FESSs. This work develops a mathematical model of the levitation force and rotational torque of a flywheel. The systems for controlling the position and velocity of the flywheel are designed based on the emergent approaches of fuzzy logic controller (FLC) and an online trained adaptive neural network controller (NNC). In the proposed controller system, an FLC was first designed to identify the parameters of the FESS. This allowed the initial training data with two inputs, the error and derivate of the error, and one output signal from the FLC to be obtained. Finally, an NNC with online training features was designed using an S-function in Matlab software to achieve improved performance. The results obtained concerning the FESS indicate that the system exhibited satisfactory control performance including transient and steady-state responses under various operating conditions.

Abstract: According to statistical analysis of the actual situation and the existing data, the expression of the variable filtration ratio of the filter is given. Based on contamination control balancing equations of the hydraulic system, the variation curves of contamination level changing with time are obtained by Matlab/simulink. Through analysis of the example, the final expression of the variable filtration ratio of the filter is determined by fitting simulation results to the experimental data repeatedly, and the reliability of the expression is verified by compared with traditional fixed filtration ratio. For determining the true filtering performance of the filter and selecting the correct filter, this article has good theoretical guidance.

Abstract: In this paper, according to the characteristics of mould and polishing machining of freeform surface, we used the small robot for lapping and processing method. The 3d modeling of the robot is modeled by CATIA, and carried out the kinematical analysis on the center of mass in driving wheel, and the movement simulation of whole body is carried out by ADMAS. The results of simulation show that using small robots for machining of die free-form surface is feasible.

Abstract: This paper presents a novel computing method of spatial arc to solve the problem of large amount of calculation in the traditional spatial arc trajectories plan. First, position planning of spatial arc is computed based on three given points in Cartesian space. Second, axis-angle relationships method is used for the orientation planning. Finally, simulation on a 7-DOF manipulator clearly demonstrates the effectiveness of the proposed method.

Abstract: Machine is adopted to replace human eyes to complete measurement and judgments. Target image is identified by computer and insert into automatic aiming control process to complete the shooting direction computing and automatic position aiming process.

Abstract: In the first part of my paper, a vibration model has been put forward for studying the self-synchronization of a vibrating system by two-motor driven with isolation frame. The self-synchronization motion implementation and the stability condition of self-synchronization motion is obtained by the Routh-Hurwitz criterion. Zhao C Y ^{[ 1 ,2 ]} developed self-synchronization of the duel-motor and four-motor driven vibrating system by modified average method. S everal methods were used to analyze the self-synchronous motion verifying the self-synchronization of two motors. Wang D G used the computer to simulate the process of self-synchronization, and the results showed that the synchronization of vibrating system came true in either speed or phase to enable the system to be in a good self-synchronization state ^{[ 3 ]} . Balthazar ^{[ 4 ,5 ]} studied the self-synchronization of four motors having limited power supply and mounted on a flexible structural frame support.

Abstract: For multiple objects tracking in complex scenes, a new tracking algorithm based on linear fitting for multiple moving objects is proposed. DG_CENTRIST feature and color feature are combined to describe the object, and the overlapping ratio of the tracking object is calculated. The object in the current frame is measured by using coincidence degree. If there is occlusion, we predict the path of each object by linear fitting and adjust the results of tracking in order to get correct results. The experiment results show that this method can effectively improve the accuracy of the multiple target tracking.

Abstract: Large Scale Volume Localization System (LSVLS) with camera network has appropriate precise and cost, which is a promising system in metrology and localization in industry and lives. Optimal camera placement is significant to lower cost and facilitate target’s auto-control for mobile robot in the large workspace. The author proposed a relative position algorithm (RPA) to find optimal camera placement of dozens even hundreds cameras. RPA calculated the minimum cameras and the coordinate and posture of each camera, after figured out the best posture of the camera in camera placement area. The result of optimal camera placement can enhance greatly the efficiency of camera placement in LSVLS and is verified with a model of a mobile robot works in a laboratory.

Abstract: Parking equipment production is an emerging industry in China, Parking equipment can relieve urban dynamic and static traffic problems, improve people's living environment, It 's also a effective use of land. The system uses a combination of PLC and computer monitors, Press the button or control the configuration screen to complete the process of access car, the operation is simple, and easy to access cars. The control circuit uses the traditional way of exchanges and contacts make the system safe and reliable operation.