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The control algorithm on coordination behavior of a flocking system consists of three components; they are collision avoidance, cohesion and alignment. The three components are realized by application of interactions between the agents in the system as well as guidance of the environment. To achieve better coordination through interactions between agents, the concept of fuzzy neighborhood is introduced...
In order to improve the safety and the reliability of mobile robot, a method for the path planning and the obstacle avoidance is provided based on distance information that laser radar offers. The method used the improved artificial potential field (APF) and set up the real-time variation polar coordinates, whose centre was the place that the laser radar installed in. In the polar coordinates, the...
Ballistocardiogram (BCG) is a new, noninvasive technique used to record the movement of the body synchronous with the heartbeat due to left ventricular pump activity. However, BCG signal is so weak and easy to be jammed. In this paper, we achieved it through the measure system which is made by our BCG laboratory. Then, attempt to detect useful information from noises by chaotic oscillators. Experimental...
Fault tolerant manipulators maintain their trajectory even if their joint/s fails. Assuming that the manipulator is fault tolerant on its trajectory, fault tolerant compliance manipulators provide required force at their end-effector even when a joint fails. To achieve this, the contributions of the faulty joints for the force of the end-effector are required to be mapped into the proper compensating...
According to inverted pendulum system control error, the method of error analysis and compensation is proposed, which establishes the structural model of inverted pendulum system, elaborates control principles of tilt inverted pendulum system, and studies error causes of inverted pendulum and inclination system error and dynamic error in the control process. But errors involving electric control system...
Tactical warfare process, e.g., engagement between opposite forces, is full of unpredictability and platform-level interactions that result great difficulties in performing virtual battlefield simulation. In this paper, a novel approach, i.e., multi-agent interactions centric simulation is applied to solve the problem. Based on the analysis on the requirement and countermeasure, the mapping from tactical...
Base on analysis of influence factor about strip's convexity degree and transverse thickness, established online monitoring system of cold rolling strip's thickness and convexity degree, to emulate by application of LabVIEW software, and compare with the practical situation, as result of it could mainly meet requirement of online virtual monitoring.
For braking problems of high power BLDCM on aviation, with the characteristics of air power supply, this paper respectively studies the change of phase current in dynamic braking and plug breaking. It compares the speed performance of the different braking methods, and proposes using different phase current detection ways for different braking methods and the phase current control method based on...
Edge detection of bottle opening is a primary section to the machine vision based bottle opening detection system. This paper, taking advantage of the Balloon Snake, on the PET (Polyethylene Terephthalate) images sampled at rotating bottle-blowing machine producing pipelines, extracts the opening. It first uses the grayscale weighting average method to calculate the centroid as the initial position...
This paper present the characteristics of a cantilevered piezoelectric composite wing model, idealized as a composite flat plate. Based on the Hamilton principle, the dynamic equation of the piezoelectric composite plane is deduced. The aerodynamic force acting on the surface of the composite plane is computed in frequency domain using the doublet lattices method, fitted and transformed to time domain...
The possibility of regenerative braking is one inherent advantage of hybrid electric vehicle. The motor and the hydraulic braking system are braking together while the hybrid electric vehicle is braking. But, the difference of the braking force dynamic response between the motor and the hydraulic braking system will lead the inadequate or excessive braking and will effect the braking felling of the...
The reduced model of mini unmanned helicopter in hover is proposed in this paper. A specific analysis for the dynamic characteristics of mini unmanned helicopter is given. Based on the analysed results, we carry on a very thorough trim computing process under the condition that the mini unmanned helicopter stays in hover. We can use the 6-DOF rigid body equations of motion to establish a full state...
As a kind of fluid delivering device, micropumps usually employ flexible structure such as flexible membrane to force fluid flowing. It is necessary to predict the motion of flexible structure so as to control the micropump performance. In this paper, the principle of micropump using an electrostatic actuator has been introduced. According to the thin plate elastic theory, the bending motion of electrostatic-flexible...
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