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In order to optimize the kinematic and dynamic performance of a 2-DoF planar parallel mechanism used in hybrid machines, a multi-objective optimization method is introduced. Based on the compare of the common kinematic analysis method and dynamic analysis method, the kinematic and dynamic performances evaluation indices which can be used in the performance optimization are introduced. Then a multi...
Large amounts of information can be obtained from road images by computer vision. This paper presents a vision-based lane detection algorithm to find the lane curves in each video frame, while a multi-model fuzzy controller is also established to fulfill lane following, which is based on fuzzy logic. In the proposed detecting algorithm, a series of algorithms, including image preprocessing and lane...
Over the past few years, power tower accidents often occurred, it caused serious influence to our country electric power safety, and caused great economic loss. In order to improve the efficiency of the power tower safety testing, to protect the safety of staff, some people proposed to climb the tower to replace the robot staff to detect tower. In this paper the design and selection of the robot module...
In this work we introduce the definition of pre-aggregation functions. These functions generalize aggregation functions, in the sense that they fulfill the same boundary conditions as the latter, but only directional monotonicity is demanded to them. We discuss a construction method which is inspired from the way the discrete Choquet integral is built and it replaces the product by other appropriate...
As the driving task is diversified from singularity, the driver's mental load is increased with the coordinated development between intelligent traffic and information technology. To carry our two different styles for test experiment, different kinds of music test and composite driving test mixed with principal-subordinate driving tasks, three typical tasks have been done in the driver's lab as examples...
The aim of simulation technique for production line is to find out the most feasible scheme which designers made for the project. Simulation technique can verify the actual effect of the project from the schemes. Combined with the actual production mode, the article analyzed the bottleneck of production efficiency under different shifts. It mainly discussed the value of simulation technology for production...
This paper contains the development and analysis of the human motion state and the algorithm of the fall prediction based on the double foot pressure and the micro inertial MEMS sensors. The fall prediction hardware system consists of three parts, the double foot nodes and the waist node and how it was designed, which could measure the foot pressure parameters and the inertial parameters in different...
A common UAV(Unmanned Aerial Vehicle)'s collision avoidance module was introduced in this paper to handle the flight safety of the UAV. Some ultrasonic sensors were used to collect the obstacle's distance and direction information in real time. The fuzzy algorithm was used to plan a new obstacle avoidance path based on the information. By taking over the control right of the flight controller and...
A novel small underwater robot for ocean observation is introduced, especially suitable for fixed point or small range and underwater slit and gully area of ocean observation. The underwater robot adopts the jellyfish shape design, changes its attitude through adjusting underwater robot's center of gravity position, and possesses five degrees of freedom combining the propeller thrust. Four cameras...
At present, the capacity of most residential areas cannot meet the need of large-scale EVs (Electric Vehicles) charging. A strategy of coordinated charging for private EVs in residential area is proposed. Based on daily trip habit of EV and base loads of residential area, the method seeks for the period of the lowest total loads and arranges EVs for discontinuous coordinated charging in the valley...
According to the principle of electronic compass, we analyze the error of the E-compass and propose a calibration scheme in view of magnetic deviation, which is based on the self-designed tri-axial magnetometer system. The hardware is made by tri-axial magnetometer and tri-axial accelerometer. Considering the magnetic interference of the external environment will affect the magnetic deviation, we...
Welding robots with strong robustness and high-precision trajectory tracking control play an important role in performing automatic welding processes under complex dynamic environments. This paper proposes a new variable structure control (VSC) based on multi-sliding-surface for welding robots with parameter uncertainties. The whole sliding-mode surface of VSC is divided into three sub-sliding-mode-surfaces...
With the rapidly increasing integration of new energy and High Voltage Direct Current Transmission (HVDC) into nowadays grids, as well as the changing load structure, the peak-valley difference and fluctuation of the load in a grid are becoming tough problems that need to be solved. However, in current research of peaking models, the dynamic peaking cost caused by the fluctuation of power output is...
In an interconnection, frequency error and interchange power errors on tie lines are two sorts of important indices reflecting the control performance. However, these two indices may be impacted when a DC transmission line is put into operation, or an AC tie line fault occurs. In this paper, a method for evaluating the impacts is proposed, based on the theory of Area Control Error (ACE). First, the...
This paper presents a simplified Zero Moment Point algorithm for fall detection using inertial MEMS sensors. Based on body posture and stability judgment optimization system, we realized real-time detection and analysis of the falls. The system can be used in moving people airbag system that can prevent a major part of the induced fracture of the elderly from falls. Hardware includes the nodes that...
Disease prediction and the pursuit of health has always been the relish topic, especially as the aggravating population aging phenomenon. However, the existing medical knowledge used in disease prediction system is given by experts, which is vulnerable to restrictions of real-time and convenience. On the other hand, people don't want to use the high cost, complex medical monitoring system which could...
Jumping robots provide an effective solution to overcome obstacles and perform locomotion in a rough and unstructured terrain. In this paper, an overview of jumping robots' principle, types, jumping and energy storage mechanism, uprighting mechanism, steering mechanism and models of kinematic and dynamic are presented. The existing technical problems and the future work are also discussed.
With the continuing increase in the heterogeneity and quantity of data source, such as data from sensors, social networks, business, usage of background knowledge and context information is a growing challenge in complex event processing. To remedy this problem, this paper proposes a framework for context-aware semantic complex event processing, in which domain ontology is used to annotate heterogeneous...
In the present paper a lower limb exoskeleton is considered. The goal of the paper is to discuss an application of two types of feedback controllers: an iterative LQR and an adaptive PD controller. Comparative analysis of two controllers is done using data from numerical simulation of sit-to-stand motion of the exoskeleton, controlled by each of the controllers. Results of the numerical simulation...
This paper studies the case of the methane flare of the Okhotsk Sea slope, It is made a large scale acoustic sweep focusing on the east slope of Sakhalin Island based self-developed software SONIC. Detecting and judging the location of undersea methane gas leaks (GF), reisen and seabed, surveying morphological changes of methane release point with collecting the echo signal and visualization fuctions...
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