Applied Mechanics and Materials Vols. 668-669

Abstract: For the electric vehicle motor controller driver section requirements of the multiple isolated power supply problems, analyzed the common DC/DC converter, the single-ended flyback converter was selected as the motor controller auxiliary power supply. Taking into account the parasitic parameters of the high frequency transformer and switch transistor effects on the circuit, the loss model was showed. Its feasibility is verified by experiments. Experimental results showed that the designed RCD clamp circuit switch could effectively reduce stress and meet the requirements of the motor controller.

Abstract: The paper mainly analyzed the robot kinematics of the line heating plate. In order to realize the moving of complex trajectory for the robot, a forward kinematics modeling and the simulation of inverse kinematics are carried out. Firstly, with the D-H modeling method, the line heating plate robot forward kinematics equations and the spatial geometric model of the manipulator are set up, then multi-input multi-output systems based on support vector machines algorithm is used to establish the inverse kinematics model for the robot . At last, the simulations of tracing complex trajectory with the inverse kinematics model are carried out, and the results show that the model derived by SVM can trace the trajectory very well.

Abstract: Aiming at the communication system breakdown after coal mine explosions collapses and other accidents, this paper puts forward an efficient construction method for long distance of wireless communication system in emergency with coal mind rescue robots which are self-adaptive and self-networking. With a two-level robotic system of detecting-robot and carrying-robot as the main, the carrying-robot, equipped with distributing device which contains a "roly-poly" wireless repeater, enters into an accident underground, analyzes the underground communication environment via network monitoring system, controls the distributing device and safely distributes the repeaters in order to realize secure and reliable communication with underground coal mine rescue robot. The test shows that the wireless communication system for emergency is rational, feasible, safe and reliable.

Abstract: This paper based on multi-agent technology, according to automobile safety airbag roll bag station production technology, at first adopt TS fuzzy neural regression network to distributed modeling for the controlled object, the methods of combining supervision learning and reinforcement learning are used, according to multi-agent external reinforcement signals and the value function of evaluate network ,using adaptive genetic co-evolution algorithm to optimize the action network, so can adapt to the mutational environment, and engineering application supply the proof about the effectiveness of the control strategy.

Abstract: In order to improve precision of underwater terrain aided navigation and make full use of the features of topographic information, an analysis method is proposed in this paper, in which the variation function is used as the measurement tool. We discuss what to explore relation between variation function and underwater terrain. Through fitting experimental variation function curve, the relationships of different directions of variation function to terrain information capacity are confirmed. Meanwhile, the analysis reveals that the matching area of underwater terrain aided navigation. The experimental results show that variation function reflects the spatial correlation of underwater terrain and the features of terrain. Then, the best entering direction of matching area is found. The certain theory proofs for selection about matching area, study of the terrain adaptation and route planning can be provided.

Abstract: The method for Stewart platform decentralized control in joint workspace, need to find and use the model for decentralized control. Therefore, according to the symmetry of structure characteristics of the platform reveal the inertia matrix block diagonal dominant characteristics of joint space. Analyze the inertia matrix block diagonally dominant characteristics of the platform site, and then come to the platform parameters which can meet the block diagonally dominant index.

Abstract: In order to accomplish navigation and path planning, map building is the key technology and fundamental problem in mobile robotic control in unknown environment. In this paper the topological map is built based on the grid map by using a thinning algorithm. The environment is modeled in grid map, next the thinning algorithm is applied in the map, and then the effective topological information is extracted. Simulation results show that the topological map based on thinning is clear and succinct, and it also avoids producing unnecessary nodes and paths. This topological map stores much less information which will improve the ability of autonomous operation, navigation and path planning further.

Abstract: As an important part of cooperative control for multiple unmanned aerial vehicles (UAVs), cooperative path planning can get optimal flight path which can satisfy different constraints. Research on cooperative path planning for multiple UAVs is summarized in this paper. Firstly, problem description and constraints are given. Then, solution frameworks and path coordination approaches are summarized. After that, several control methods commonly used in formation of multiple UAVs are introduced respectively. Lastly, possible research directions in the future time are put forward.

Abstract: WSCC and IEEE have suggested that PSS should be widely used. In China, many PSS have already been used as the inter-connected grid is getting larger. However, the feasibility of Widely Usage of PSS hasn’t been proved, as PSS may introduce some negative damping. This paper indicates that PSS mainly transfers the damping from non-electromechanical mode to the electromechanical mode. And one generator’s PSS mainly enhances the electromechanical mode’s damping associated tightly with the generator, while introducing very little positive or negative damping to the electromechanical mode associated weakly with the generator. Widely Usage PSS’s positive effect is much more than the negative effect. As a result, Widely Usage of PSS is feasible.

Abstract: An entry range correction scheme for reusable launch vehicle (RLV) is developed to reduce the deviation between the predicted range and the computed range. Firstly the physical mechanism is turned out to verify the scheme , then implementation is demonstrated. At last, simulation results illustrate this scheme is able to reduce the deviation, and this scheme is practicality useful.