Advanced Materials Research Vol. 902

Abstract: This paper addresses a comparative study concerning five control techniques applied to high-performance elevators active suspension systems, such as those employed in "skyscrapers". The main objective is to present the different control techniques and analyze the fundamental characteristics of each controller. To accomplish this, the development of the mathematical model of the controlled system is outlined and its integration with the control algorithms is presented. Besides three classic controllers (State Feedback, PID and Sky Hook), due to the significant dynamic behavior dependence on the mass of the passengers in the total mass transported, two adaptive control algorithms are used to compensate the effects of the mass oscillations of the system as the number of passengers varies along the operation cycle. Simulation results are employed to illustrate the behavior of the system when controlled by means of the presented algorithms.

Abstract: Rubber hose is normally adopted in the connection between the lifting cylinders and the control valves. Low bulk modulus of hose reduces the natural frequency of hydraulic system and brings difficulties to the controller design. This paper focuses on the model simplification of hoses in the hydraulic system. First, a hydraulic lifting system is presented in the paper. Then, simulation model of the lifting system is built in AMESim, and the simplified model of hose is conducted using an improved lumped parameter method. Finally, comparative simulations with the proposed model and the original model provided in the software are carried out. Results show that the simplified model can be used to replace the original model in the simulation of hydraulic systems.

Abstract: A novel features identification method is proposed for mobile robot indoor environment perception. In this paper, firstly, multi-dimensional data space is building based on laser scanner data, in which corner point is located by hypothesis testing theory. Secondly, line segments are obtained and localized by fitting method, which are previously estimated using probability model. At last, experiments verify the efficiency of proposed algorithm in indoor environment.

Abstract: Polishing work is in most cases made by manual labour. It is an extremely laborious operation which demands a lot of time, so it is very expensive. This study aims at rationalizing such difficult polishing work by introducing a robot and CAD technology. Instead of the conventional complicated teaching process. A trajectory generator based on cutter location data generated from the postprocessor of a CAD system is discussed. To realize the smooth interpolation of the tool orientations, a quaternion interpolation algorithm between two CL data is proposed.

Abstract: Service robots are increasing significantly, as they are playing a key role in our city-life. This paper depicts the system design of a beverage-sale robotic system named BSR. BSR can sale beverage such as Coca Cola, beers and Sprite to the clients automatically, working as a human seller. The robotic system can also play the role of a casher doing cash in and check out. In this paper, the hardware design including the mechanical structure and the electrical system are introduced firstly. Then, the control strategy is proposed. BSR has been exhibited in a science museum in China and it is well welcomed by the audiences.

Abstract: In this paper, westudies the theoretics and methods about the E-HUB platform.we design the comprehensive evaluation index system of E-commerce project development risks, which is general and feasible. The E-HUB facilitates engineering collaboration and extends capabilities and capacities of its business partners with joint engineering, knowledge and manufacturing resources. Based on E-HUB, the SMEs can solve their complex engineering tasks and participate in projects far exceeding their individual capabilities.

Abstract: This paper presents a time-optimal path planning scheme for a robot manipulator to track a specified geometric Cartesian trajectory. It considers actuator constraints, the full robot dynamics. In order to make full use of the motors capacity, the bound torques are determined by considering the bound of the generated heat. The velocity limit and the bound acceleration (deceleration) are determined by combining with dynamics. We utilize the phase plane analysis technique to generate the minimum time trajectory.

Abstract: The emerging miniaturized high-tech products are required to have increased functionalities of systems within a volumetric size on the order of 1 cm³. Hence, the parts are mesoscopic with complex microscopic features of a few mm length with machining accuracy of better than 1 micrometer with secured surface integrity as components will require high surface finish, tensile stress and crack free surfaces in order to function reliably. One of the characteristics to be measured is the cutting forces on the parts being machined. This paper will present the design, manufacture and testing of a miniature dynamometer capable of measuring cutting forces within a low range of 50N but with a resolution better than 1 mN and high frequency since the micromachining involves small cutting forces but the spindle rotates at high speed. The dynamometer is capable of measuring forces in five directions (±x, ±y, and z). The instrument was calibrated and exhibit very good results leading to a true validation. This instrument is assembled on a micro milling desktop machine designed in-house. It will not only support predicting the surface finish and chip thickness but also monitoring tool wear evolution and hence prevents/reduce tool breakage known to be one of the main issues in micro-milling.

Abstract: Smart home system mainly consists of home networking, home wireless LAN and the external network components. It will achieve the intelligentize and informatization of the home furnishing. Smart socket is one of which belongs to the smart home terminal devices. This article is to talk about smart socket. The core chips of this system are Texas Instruments CC3000MOD and MSP430FR5739MCU. Using WiFi wireless communications technology control and process signals coming from the side of the handheld PDA. Controller side can support two software platforms IAR or CCS. This design uses IAR workbench. PDA client software using the Android operating system is used to receive and process analog signals from controller side. In this paper, WiFi wireless transmission technology as the basis, based on IEEE802.11b/g wireless protocol, It achieves a WiFi wireless communication system for remote or local client and terminal equipment, enabling the intelligent control of the home furnishing.

Abstract: Nowadays, surgical robot has been the research hot spot of the interdisciplinary which includes medical science and robotics field. Surgical robot not only can complete complicated and repetitive work in the radiation and other environment as the substitute of doctor, but also expand doctors capacity of perception and operation, enhancing the operation precision and safety. This paper is based on a three freedom parallel manipulator and considers the characteristics of minimally invasive spinal surgery to design a guiding robot. In this article , the theoretical analysis about kinematics and dynamics is done and the analytic equation is established. The solution to the equation is derived by MATLAB toolboxes. The physical prototype is made based on the solution, the properties of physical prototype are measured and the feasibility of the design is verified.