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Function optimization based on traditional genetic algorithm is easy to fall into local extremum, so that adaptive genetic algorithm is proposed to solve this problem. However, traditional adaptive genetic algorithm has some disadvantages, such as low efficiency and instability. This study presents an improved adaptive genetic algorithm. Specifically, the crossover probability and the mutation probability...
This paper takes the single phase grid-connected inverter as the research object, and designs the double closed-loop control system based on active-disturbance-rejection control (ADRC). It builds the system model, simulates on Matlab/Simulink platform, and compares the simulation results with that of PID control strategy. It also analyzes the influence of disturbances such as harmonic, voltage fluctuation...
High precise reconstruction of hole contour from point cloud is the important step in reverse engineering of sheet metal body parts. High density of point cloud will help improve the accuracy of hole contour reconstruction. But the limits of hardware and data handling capacity prevent the increasing of point cloud density. For the auto-body or large body parts, the point cloud density is limited to...
This paper discusses the development of a small beach cleaning robot. The paper discusses two aspects of the robot: the refuse collection mechanism and the autonomous navigation system. In order to enable effective collection of refuse from a sandy surface, we developed a mechanism that mimics cleaning of a floor using a broom and dustpan. To identify its own position, the robot was equipped with...
The trajectory tracking problem for Autonomous Underwater Vehicle with system noise and measurement noise is investigated. Firstly, the initial angle error of the error system is driven towards to a known sliding boundary layer in finite-time. Secondly, the estimated state with unscented Kalman filter is used to construct feedback control law to achieve finite-time stabilization for heading angle...
The study of high-value applications promising energy storage technology has been closely watched scientific community and the business community, which has become one of the hotspots of international energy research community. This paper describes the classification of energy storage technology, we discussed its working principle, technical status, development prospects and the advantages and disadvantages...
In the presence of random sea wave disturbances, the vertical motion attitude control has become a new research field in engineering since the ships and passengers safety issues grow with the rise of their speed. This paper deals with the use of a moving T-foil near the bow to counteract the effect of vertical forces induced by waves on pitch movement acceleration suffered by passengers of a fast...
Laser tracker as a three-dimensional measuring instrument has been widely used in industrial measurement. To further improve the measurement accuracy of the laser tracker, the multi-station and time-sharing measurement is adopted. This method is based on GPS principle, and only distance is involved in the measurement to avoid the impact of error caused by angle measurement on the overall measurement...
This paper presents a novel stair recognition method by utilizing three-dimensional (3D) scanning for a hexapod robot to climb stairs. The method is based on the premise that stairs are composed of several parallel planar surfaces. A 3D laser range finder (LRF) system equipped on a hexapod robot is developed for performing 3D scanning. The algorithm can be divided into two procedures. At first, detecting...
This paper mainly introduces the system components of the wheel-track robot, mainly comprising a body structure and control system. Through the analysis of the driving power and the power of the selection of crawling, motor drive of the robot is chose. Variable structure adopts a screw rod transmission mechanism and the screw rod transmission structure is designed, and the simulation in variable structure...
Rigid body motion trajectories can provide sufficient clues in understanding motion behaviors of objects of interest. An invariant descriptor for a motion trajectory can offer substantial advantages over raw data. This paper firstly proposes a Dual Square-Root Function (DSRF) descriptor by only calculating gradient-based shape features of normalized rigid body motion trajectories, while high-order...
During the coal cutting process in mines, the drill stem is easy to be deflected in virtue of the complicated geological conditions. The deviation control of drill stems is of great significance for the production efficiency and service life of drill stems. Based on analyzing influence factors of the deflection of drills, this paper builds up a model to describe deflecting forces of the coal seam...
Aimed at the accurate measurement of high-speed motion targets in Active Protection System, a capacitive analytic approach, based on complex variable method, was proposed for the planar capacitive coupling sensor working in quasi-electrostatic field. This approach, applying to analyze symmetry model, needs little calculation and more accurate. It directly reflects the relation between the capacitance...
This paper presents a novel hexapod robot with legs radially free distributed around the body. Compared with radial symmetric or rectangular symmetric robots, the legs of radially free distributed hexapod robot can rotate around the body of the robot and redistribute their positions thanks to the proposed radially free distribution mechanism. The kinematic model of the articulated leg mechanism is...
Cell tissue construction is one of the important issues for tissue engineering, which is a key-technology in regenerative medicine. Recently, several studies have reported, the in vitro fabrication of simple cell tissues. However, organs are made of some kinds of cells and they are complex tissues. Therefore, a technology to reproduce the complex structure and biological function of the organ is needed...
As a critical important function for autonomous mobile robots, visual tracking is a challenge work in the field of computer vision, for the reason that factors like illumination variance, partial occlusions and target appearance changes shall be carefully considered. Focus on applications of our amphibious spherical robots, an adaptive visual tracking algorithm was proposed on the basis of compressive...
The attitude control ability of the robot in the air is needed when we design a robot that can jump, run, climb and land. With such a robot, we can reduce the damage caused by the wrong dropping posture. As we all know, when a free-falling cat drops from upside-down with no initial angular momentum, she can always right herself and land on her feet safely. Inspired by the free-falling cat, we studied...
With increasingly stringent emission regulations for diesel engines, the SCR (selective catalytic reduction) technology has become the optimal choice to meet the stricter emission standards. But in the practical operations, the rapid change of engine working conditions leads to a rapid change of exhaust temperature, space velocity (SV) and urea dosage rate, which makes urea was difficult to complete...
Research on the method for predicting the fatigue life of the thrust rod based on continuum mechanics theory. In the equivalent stress as damage parameters established rubber fatigue life prediction model. Using finite element simulation and materials testing to obtain the model parameters, and the dangerous parts prone to fatigue cracks. By equivalent stress life model, uniaxial fatigue life of the...
For the problem of sideslip control of air cushion vehicle, the sideslip controller of air cushion vehicle based on nonsingular fast terminal slide mode (NFTSM) with the feature of good robustness and fast convergent rate is designed. Also sideslip changer which can supervise the status of system is designed. Sideslip controller can coordinate with heading controller to achieve course control of ACV...
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