Applied Mechanics and Materials Vols. 799-800

Abstract: In order to detect the product quality and performance of the surface drive unit, specifically developed for the detection of performance and parameters of the testing station of surface drive unit. This paper describes the load detection system for the axial force of the testing station. The system is controlled by double hydraulic circuits, realize the axial force loading on rotate light pole of surface drive unit by hydraulic cylinder, and the payload which is loaded from 0 to 18 ton stablely and steplessly adjustment.

Abstract: When using the laser displacement sensor to measure distance, there is a deflection angle which exites between the direction of the laser beam and the direction of axis, this deflection angle has an impact on the final measurement result. This paper presented a calibration method of the laser beam’s direction, designed calibration device and ceramic calibration plate. In the process of calibrating, laser displacement sensor moves along Z-axis and Y-axis of machine, CCD camera takes the image of the spot projected by laser beam on the calibration plate, then calculate the laser beam’s direction based on the movement distance of laser displacement sensor and the spot’s position on calibration plate. Depend on the Mikron five-axis CNC machine tools, this paper describes the whole calibration process in details, the feasibility and accuracy of the method has been verified by experiment. Experimental results show that when the machine tool’s accuracy is within 0.002mm, the calibration error of laser beam’s direction can be controlled within the range of 0.05°.

Abstract: Most conventional methods cannot get effective performance during multi-fault diagnosis of rotating machines. Blind source separate techniques have applied to this problem, but the results show some limitations. Some prior knowledge considering the spatial or temporal characteristics of signals can be incorporated into these BSS approaches. Here spatial topography information will be chosen as spatial constraints and combine them with FastICA algorithm to get spatially constrained ICA (SCICA) method. This new technique will deal with multi-fault signals of rotating machinery through simulation process. SCICA is effective to multi-fault diagnosis and can separate all the source signals.

Abstract: The paper proves the application of a compensation testing method for geodynamic monitoring when using multi-pole electrical systems. The transfer functions of a geoelectric section are presented as a system of equations, whose coefficients are determined at the initial setup of the measuring system. The block diagram of the compensation method application for geodynamic monitoring based on a multi-pole electrical system is given. Approximation in terms of continuous piecewise-linear functions will be used to distinguish the geodynamic offset vector of the geoelectric section. A system of equations for defining the geodynamic offset vector through the approximation vector by continuous piecewise-linear functions on a recorded geoelectric signal error is considered.

Abstract: The article presents the properties study results of the dielectric membranes for sensitive elements of semiconductor gas sensors, obtained by different modes of the reactive magnetron sputtering of silicon with application of the two-stage unilateral anisotropic etching of silicon in the organic alkaline solutions. The qualitative analysis of the membranes stability to destructions and deformations in the course of their fabrication and heating is given. Optimum structures and modes of films formation for dielectric membrane structures are determined. The admissible thickness of the thermal silicon oxide underlay, which is does not promote to considerable membranes deformations in the course of their fabrication and heating, is identified.

Abstract: Testing and debugging of real equipment is a time consuming task. In particular, in the case of marine robots, it is necessary each time to carry out the transportation and deployment of a robot on the water. Experiments with not yet fully functional prototype of marine robot equipped with expensive hardware is in the meantime very risky. Therefore, the use of simulators is affordable way to accelerate the development of robotic systems from the viewpoint of labor effort and cost of experiments. This paper presents a simulator specifically designed for autonomous unmanned underwater vehicles.

Abstract: This paper proposes a design of transformable wheel for enhancing mobility. Mobility evaluation is performed by mechanical theories as stability margin and obstacle overcoming and its calculating methods are used for simulations. A feasibility of suggested transformable wheel is investigated by simulations. The mobility is able to verify by stability margin angle and ability of climbing up an obstacles which is higher than radius of wheel. Simulation results show that suggested transformable wheel can help overcoming a mobility limitation of former designed robot which is with non-transformable wheel.

Abstract: This paper presents a new mechanical design of mobile robot which can travel in the condition of continuous varying environment, such as colon of human body. Especially, the human colon environment contains an intense diameter change. The suggested mechanical design is capable to adapt in wide diameter changing system by generating two basic motions, rotational and linear motion, with a single actuator. Prototypes is fabricated, and tested result is presented in this paper. Also, experimental result is compared with the mathematical model of the mechanism to verify the feasibility of the proposed mechanism.

Abstract: This paper is to explore the measure of isotropy applied to a 2-DOF revolute spherical serial manipulator. A revolute spherical serial manipulator means that the directions of rotation of the manipulator are intersecting. This manipulator arm will be used for carrying microscope camera as part of the 2-hand master-slave operation with force reflection system for miniature task operation in order to enhance view of vision. The data of the dexterity measure are collected from the computer simulation based on invert kinematics and Jacobian of the manipulator. The results revealed that the design solution of the manipulator has high measure of isotropy for prescribe paths. This result is to confirm that the manipulator can move with in the design workspace smoothly.

Abstract: This research represents a method to improve the technology that enables the design andsimulation of a four-limbed climbing robot, named FLC-Robot. It is equipped with planning capabilitiesto free climb vertical terrain. It means to extend the robot's ability to a vertical direction underthe gravity force. However, we need to analyze climbing and create the theory in parallel with hardwaredevelopment. In this paper, the equilibrium allowance area of the four-limbed climbing robotis introduced and the corresponding torque is calculated. Hence, this paper starts with a rudimentaryanalysis of mechanical structure and kinematics of FLC-robot. Secondly, a 3D climbing robot modelis built and simulated in Matlab-Simscape environment. Finally, the corresponding motion planningand control method is performed considering statics and dynamics.This research represents a method to improve the technology that enables the design andsimulation of a four-limbed climbing robot, named FLC-Robot. It is equipped with planning capabilitiesto free climb vertical terrain. It means to extend the robot's ability to a vertical direction underthe gravity force. However, we need to analyze climbing and create the theory in parallel with hardwaredevelopment. In this paper, the equilibrium allowance area of the four-limbed climbing robotis introduced and the corresponding torque is calculated. Hence, this paper starts with a rudimentaryanalysis of mechanical structure and kinematics of FLC-robot. Secondly, a 3D climbing robot modelis built and simulated in Matlab-Simscape environment. Finally, the corresponding motion planningand control method is performed considering statics and dynamics.