Advanced Materials Research Vols. 139-141

Abstract: A novel system based on the technology of Modularization Heterogeneous Multi-robot System(MHMRS)is advanced to meet the needs of the coal mine disasters prevention. The multi-robot system consists of a lot of member robots which are made up of basic modules with known function by the means of modularization. The characteristics of the new system are that: simple configuration, small volume and various structures of modules. The rule to utilize the robots to monitor the equipment integrity and the on-site unsafely behaviors is put forward, and emergency temporary network is adopted to decrease the risk of the existing manual rescue and increase the ability of the rescue system.

Abstract: We attempt to resolve the spraying trajectory planning efficiency and the thickness uniformity problems for big curvature conical surface in complex curved surfaces. By experimental data, the coating growth rate model is obtained and we analyzed the applications of the model on conical surface. Based on the characteristics of conical surface is the regular surfaces, we planned the spray gun trajectory on this surface, and used the methods of adjust the spray radius and track section to discussed the calculation method of the coating thickness and optimization of correlation parameter. Taking car bumper for example, we studied the spray trajectory optimization on the juncture of conical surface and plane. Simulation results show that, our method can effectively increase the efficiency of spray trajectory planning under the premise of ensuring the thickness uniformity, the spray velocity show the non-linear variations with spacing distance and others show the linear variations, the uniformity of coating thickness meets the quality request on the juncture of conical surface and plane.

Abstract: Oil and gas pipelines must be cleaned regularly to ensure their normal operation. It is significant to track the pig when it’s working in the pipeline. With the GPS and GSM technology, this paper introduces a kind of intelligent pig tracking system, The system uses ultra-low frequency electromagnetic wave with strong penetrating to transmit data. It concludes two parts: transmitter part and receiving part. The transmitter part which connects with the pig is controlled by SCM, interval transmitting ultra-low frequency pulse signal. The receiving part uses AVR SCM as its core controller and is mainly composed of magnetic pulse signal receiving module, GSM module, GPS module and LCD module. When the pig is working, the transmitting part interval transmits ultra-low frequency pulse signal. After receiving the right signal, the receiving part will send the location information to the designated GSM handsets. This system makes pig remote monitoring come true.

Abstract: Forestry industry is an important part of nation's economy. In this paper, a machine vision system is presented as a key module of Camellia oleifera pluck robot. In order to cut fruit image up from complicate background, SOFM neural network and gray thresh is used in image segmentation. In SOFM method, take R-B,G-R,G-B and hue H tunnel as input feature vectors, use self-organization network to clustering can get the best effect. in gray threshold method can take various of method to get the best threshold, such as PSO and GA algorithm, and MATLAB includes the toolboxes. At last use noise ratio, area ratio, divided time, Fourier boundary descriptors and other indicators to assess the accuracy of segmentation. The methods have the significance to the current and subsequent research of forestry pluck device.

Abstract: A novel robot, derived from a planar parallel mechanism, is presented. With two sliders driving on the same side of parallel guide rails, this simple but practical mechanism is capable of realizing a large workspace. The direct and inverse kinematical solutions are given. The simulation demonstrates that all kinds of straight lines and circles can be realized by the end actuator of the robot; the corresponding motion disciplines and characteristics driven by the two sliders are analyzed; the results are verified on the prototype. By allowing the end actuator to move in Z-direction or to rotate around A or B-axis, three-, four-, five-axis manipulator would be composed and surface welding and space cutting would be realized. This paper lays the foundation for the real-time control and industrial application of this novel robot.

Abstract: Considering the requirement of the multi-parameter-combined environment testing device, a kind of multi-parameter measure and control system based on wireless communication technology was studied in this paper. First, the overall structure of the multi-parameter measure and control system based on wireless communication in combined environment device was put forward, which was made up of six control subsystems: a host computer, the centrifuge and dynamic balance system, the vibration and rectification system, the temperature system, the air pressure system and the sound pressure system. Then, the communication protocol and hardware structure of the multi-computer communication system based on wireless transmission were mainly studied. And software design technology of multi-parameter measure and control system was studied in succession. Finally, the five-parameter-combined environment testing was carried out. The experimental results show that the measure and control tasks of the combined environment testing can be well finished by the multi-parameter measure and control system.

Abstract: Aiming at mastering WNS monitoring status, controlling node devices in wireless sensor network, a WSN location monitoring terminal system is proposed. Using B/S website architecture, the real time response, the serial communication, the data storage realization mechanism and so on is studied on. A data server to storage WSN monitoring messages and an ASP.NET sever to run sever program correlated is established at the control center. According to the WSN location monitoring terminal system, the function of serial initialization, location monitoring messages displaying, node parameters configuring, user information and network information management can be realized. Experimental results show that the WSN location monitoring terminal system has a good real time, stability and accuracy performance, which can be extended to different WSN application fields.

Abstract: An approach of implementing CANopen real-time distributed control network was proposed in this paper. To build the network, CanFestival open source CANopen stack was used. The CANopen slave nodes were established on ARM7 LPC2478 platform with µC/OS-II real-time operating system; the CANopen master node was built on an industrial PC with Windows operating system. Test codes were added to trace the execution of a slave node, and the control interface of the master node was developed to manipulate the behaviors of slave nodes. At last, key components of time delay were analyzed and experiments were carried out in order to measure the performance of the network. Experimental results showed that the processing time of a CANopen object is about 100 µs which fulfills the need of most automatic production line.

Abstract: The supermarket refrigeration system typically has a distributed control structure, which simple and flexible, however, neglects interactions between its subsystems. Practice shows that these interactions lead to a synchronous operation of the display cases. It causes excessive wear on the compressors and increased energy consumption. The paper focuses on the synchronization analysis and de-synchronization control. The supermarket refrigeration system is modeled as a piecewise-affine switched system. The system behavior is decomposed such that synchronization analysis can be completed by using the Poincare map. A new de-synchronization scheme is proposed, which includes two steps: the synchronization monitoring and the de-synchronization control. Thus, the early warning of the synchronization can be given and then the de-synchronization controller can be activated. The scheme achieves better control performance and can deal with the large scale refrigeration system with different system parameters in the display cases.

Abstract: Fixing the sample rate is very significant for a networked control system (NCS), and there is no a directive way to make it. In the paper, a method is proposed which is simple and directive to obtain a sample rate in the networked control system (NCS).By analyzing the schedule of a NCS, the paper get a minimum sample rate of a closed-feedback control which meet the need of performance and schedule. In the paper, it also figures out how to get the maximum sample rate by analyzing the performance requirement. At last, the paper give a analysis the relationship among induce-delay, overshoot and sample rate which can prepare for further work like optimizing the sample rate, designing a predictor to forecast the delay, and studying the robustness of controller in order to design a good controller.