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In this paper, some key technologies of surface inspection are presented. Based on a robot manipulator, a new radius compensation of spherically tipped touch probe is first discussed, and the calibration algorithm for robot hand to eye is proposed. Different from traditional CMM based approach, the point-set registration is derived as a constrained optimization problem, then some issues concerning...
This paper provides an adaptive PID controller based on back propagation (BP) neural network applied to pressure control of hydraulic system. The controller has many advantages like that more convenient in parameter regulating, better robust, more independence and adaptability in the hydraulic system. According the requirements of system performance, this paper discussed the corresponding learning...
Winding molding is a commonly-used molding method for composite fiber materials, in which the fiber winding tension is an important parameter, since the winding tension directly influences the quality of winded products, making winding tension control a key technique in fiber winding. A new type closed-loop tension control system, with PLC as the main controller, the industrial control computer as...
The robot that can detect the indoor dangerous gas and give alarm is very useful. To obtain exact and plentiful danger information, the robot has to search the gas source. Traditional source searching ways of tracing plume or concentration is not ideal now. An intelligent robot mounted gas sensors and vision is introduced, and the responding and recover delay features of gas sensors is analysed. The...
This paper proposes an automatic performance degradation prediction approach for equipment by use of field data with noise. In this method, the auto-regression model is employed for making performance degradation prediction by means of field data in order to fit the change process of equipment. The order determination for auto-regression model is according to the FSIC criteria which not only consider...
The dynamic and fast-changing in technology, globalization, and world wide competition, has increased pressure on third party logistics companies (abbreviated 3PL) to be agile and responsive. To support this business need, 3PL companies need their IT infrastructures and business processes to be adaptive to the changes. In this paper, agility of a SOA (service-oriented architecture) and BPM (business...
Accelerated loading testing facility gains importance for proofing evaluations of structure designs as well as the final evaluation of new pavement materials and functions. So a highway accelerated loading testing facility is developed, which has self-owned intellectual property. The facility is made up of machine frame, a mobile car and a frame for dragging cable. The facility can test and evaluate...
The international Financial Crisis has made the Less-than-truckload industry face with severe challenges of survival and development. In this case, more and more small and medium-sized LTL carriers choose to collaborate as the potential savings are large, often in the range 5-15%. A key question is how profits/savings should be distributed among the participants. Since every LTL carriers are guided...
n jobs, each job i with a minimum processing time pi and a weight wi, have to be processed on a batching machine with capacity B. Minimization of total weighted completion time for single batching machine is a classical scheduling problem. Dijkstra's algorithm, the method to find the shortest path in a graph, is used to partition the jobs into batches. And it can get the optimal batches for a certain...
The quay crane scheduling problem discussed in this paper is to schedule a fixed number of cranes in order to load and unload containers into and from a vessel considering interference between cranes. This study proposes a particle swarm optimization (PSO) algorithm to obtain solutions, and the performance of it is assessed by comparing with the lower bound which is calculated from CPLEX by relaxing...
In this paper, we are concerned with a flexible robot arm formulated by partial differential equations with initial and boundary conditions. An optimal energy control of the robot system is investigated after the system has been transformed to an abstract evolution system in an appropriate Hilbert space. The existence and uniqueness of the optimal energy control are discussed and proved, and an approximation...
The robot can navigate counterweights, clamps and some kinds of towers autonomously. The locomotion principle of counterweight-navigation is presented. Because of the deformation of the wire, the posture of the robot during navigation will be affected greatly. So a posture control strategy is proposed. Virtual prototyping technique is used to validate the strategy. It proves that the proper movement...
A trajectory planning method for a mobile manipulator is proposed in this paper. The mobile manipulator studied here consists of a mobile platform and a redundant manipulator. Since the system has the redundant degree of freedom to perform some tasks, it will have infinite configurations to make the end-effector track the desired trajectory. The concept of AMSI and AMSIP which were used to optimize...
In this paper, the need for automated transportation systems for hospitals is investigated. Among other alternatives, mobile robots stand out as the most prominent means of automation of transportation tasks in hospitals. Existing transportation routines of a hospital are analyzed in order to verify the need for automation and identify possible areas of improvement. The analysis shows that most of...
A mobile manipulator system as a versatile platform for home service has been developed by authors. The mobile system has two features. One is the efficient and easy recognition of environment and objects about geometrical, physical and additional information by a sensor fusion system consisting of RFID, camera and laser range sensor. The other is such geometrical, physical and additional information-based...
Safety Performance of tank truck transportation attracts more and more attentions as a result of the rapid growth of industrial requirements for energy sources and chemical productions. Researches focusing on working states of vehicles serve as a basis of improving transportation safety. This paper chose a representative type of oil tank trucks as the research-prototype, built a full vehicle model...
This paper brings forward a novel semantic discovery approach based on the SEM (semantic entropy maximum). This approach applies the entropy maximum algorithm to the matching and the recognizing of the semantic service, and meanwhile, it compares this algorithm with other related algorithms. The results of those experiments show that the SEM (semantic entropy maximum) model has some preferable performances...
Wood nondestructive testing technology is a new and comprehensive subject. In recent years it has achieved fast development. X-ray computed tomography (CT) scanning technology has been applied to the detection of internal defects in the logs for the purpose of obtaining prior information, which can be used to arrive at better wood sawing decision. Fractal geometry and its multifractal extension are...
A novel PMSM with Anti-rotation Dual rotor is proposed in order to improve operation performance of underwater vehicle anti-rotation propulsion system. It can be substantially simplify system structure, decrease volume, reduce mass and cost, moreover, improve reliability without brush and slip-ring. After the principles of operation, configurations, and features are discussed, design methodology is...
Storage planning for outbound container is one of the most important operations in container terminals. It influences almost all successive operations, including storage position allocation for individual container, equipment scheduling, stowage planning and container relocation, etc. This paper studies storage space pre-allocation for outbound containers of arriving ships. Considering the complexity...
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