Advanced Materials Research Vols. 201-203

Abstract: We attempt to resolve the spray trajectory planning efficiency and the coating thickness uniformity for big curvature surface on complex curved surfaces. The least square method was proposed for spray partition of complex curved surface based on topology partition. First, the big curvature surface was extracted from complex curved surfaces. Then, the big curvature surface was fitted into the natural quadric surface based on least square method and the fitting algorithm was given. Simulation results show that, the fitting algorithm is feasible, and this method can effectively reduce the number of patches, which can improve the spray trajectory planning efficiency and the coating thickness uniformity.

Abstract: Due to the quick evolution of manufacturing processes, the demand for more flexible automation systems is on the rise. To answer these requirements, distributed motion control architecture based on intelligent drives tends more and more to replace the traditional solutions. This paper presents the control of an articulated arm robot with three degrees of freedom. The essential part of the robotic arm is a programmable microcontroller based system capable of driving basically three stepper motors design to form an anthropomorphic structure. This paper explains the method of interfacing the robotic arm stepper motors with the programmed Atmega16 microcontroller which is used to control the robot operations. C programming language is employed here in programming the microcontroller.

Abstract: Line following automated robots is extensively used in industries for smooth running of production. This paper presents a simple and effective solution for path tracking problem for a wheeled automated mobile robot which can be used for material handling in industries. A PID controller has been used for controlling the robot which is capable of moving safely by smooth track-keeping in partially structured environment without any collision with static or moving objects. The purpose of the project is to build a mobile robot which will provide fast, smooth, accurate and safe movement in any given line or track. A straight or wavy line would be simple to follow whereas aT-junction, 90 degree bends, acute angle bends and grid junctions would be difficult to navigate through. This is due to the physical kinematics constraints which are limited to motor response, position and turning radius of the robot. A line sensor configuration has been proposed to improve the navigation reliability of the mobile robot which uses differential drive system. A dynamic algorithm has been developed for detecting and following a specified line which ensures the reliable and safe movement of the robot.

Abstract: This project is intended to design an articulated robotic arm which could locate a point in space with its given coordinates at three degrees of freedom. The basic three rotary movements are base rotation, first and second arm swivel. With different payload capability and design, the robot can be employed in various industrial applications including spot welding, assembling, cutting, material handling and many more. The mechanical structure is designed and a physical setup is developed for which a microcontroller based control circuit is designed for the purpose of control. This paper is focused mainly on the mechanical design of the structure. An elaborate analytic description of the components and tools is presented with necessary specifications. This structure is very flexible and has the ability to reach over obstructions. It can achieve different positions and orientations with in the working envelop.

Abstract: This research is aimed at dynamically stable motion and safety of mobile humanoid robots expected to work in a human living space. The mechanism of the mobile humanoid robot YIREN is described. A highly flexible anthropomorphic 7-DOF robotic arm and a new waist configuration with parallel driving motor are developed. Because the dynamitic behavior of manipulator and waist has an effect on the stability of mobile humanoid robots, the dynamitic model is built. By using the zero moment point, dynamic effect of the waist is obtained. A basic control method of whole body cooperative dynamic moving is proposed that uses waist cooperative motion to compensate for moment generated by the trajectory of the arms and the correctness of analysis is verified by experiments.

Abstract: Under the conditions of downhole closure in oil well, the wired transmission of the data signal including downhole temperature and pressure cannot be achieved. To solve this problem, an experimental study of short distance wireless system for downhole data transmission was launched. This technology is based on the means of electromagnetic coupling to achieve the wireless transmission of signals by leaps and bounds. Through the test bench of the wireless electromagnetic short pass system, we carry out the frequency characteristics of the transmission channel experiments, and provide the foundation for the design of downhole power supply lines and the selection of the electronic components. The tests show that the output characteristics of the downhole wireless signal transmission system are stable. They did not change with the excitation voltage, and the transmission frequency band between 50-100 KHz is better.

Abstract: An example of the rule-based expert system applied to the fan fault diagnosis is presented. The architecture and function of the fault diagnosis system are introduced. The expression of the fault diagnosis knowledge and the attribute of knowledge base based on the relational database have been studied. The hybrid reasoning technology was applied to the implementation of the diagnosis inference engine in the expert system. The presented fault diagnosis system is easy to modify the knowledge base with the experience accumulated in practice, and it has the advantages of expansibility, portability, concision, and high efficiency.

Abstract: The remote monitoring system for fault diagnosis based on B/S model is established using ActiveX control and virtual instrument (VI) techniques. The system consists of clients, network communications and remote fault diagnosis center. Remote panel technology based on B/S model using LabVIEW is constructed to realize the real-time display the results of remote monitoring. The remote fault diagnosis is achieved based on expert system. The temperate monitoring example shows the effective of this system.

Abstract: The traditional deformation measurement have many limitations, According to actual measurement need, it is requested not only comprehensive, flexible, high-precision, but also can describe the various points displacement within the measurement scope at any time, get the most comprehensive data. In this paper, used speckle methods to carry on deformation accurate and comprehensive measuring. First, compared with traditional methods, showed its many advantages, including: non-contact, high precision, operation simple and flexibility, etc. Then specified the main basic theory of the speckle method, established relevant mathematical models, developed the appropriate measurement and analysis software XJTUDIC, and used the software with the appropriate hardware equipment to test a specific tensile deformation process, and compared the results with using traditional extensometer measurement methods, through calculation got the error is within ± 0.2%. This fully validated the method and corresponding software and hardware were reliable, feasible and excellent.

Abstract: Since communication network is introduced into control system, induced-delay appears. Because of the delay, the performance of networked control system becomes bad, even unsteady. Conventional Smith predictor is sensitive to error in object model and needs delay’s value in advance. Regarding random delay, its application is limited. In this paper, we propose a method based on induced-delay predicted by BP neural network, which use two historical delay values to predict the next one. Smith predictor adjusts its parameters according to that value in time. The simulating results indicate that the precision of delay-predicting can be ensured and the performance of networked control system has been improved.