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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Fang Zhao Wei Wei Jian Guo Xin Zhao Weijie Zhang Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin University of Technology 391 Binshui Xidao Xiqing District Tianjin 300384P.R.China Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin University of Technology 391 Binshui Xidao Xiqing District Tianjin 300384P.R.China College of Physics Optoelectronics and Energy Soochow University 1 Shizi Street Suzhou 215006 a Jiangsu P. R. China

ISBN: (纸本)9781479970995

As we all know, rigid structure is the universal form of robots. They can be controlled accurately, but are not suitable enough for applying in rehabilitation, especially for hands. Human's hands have some complicated patterns of movement and narrow joint range of motion, so rigid accessory equipment may cause secondary injury. For the purpose of avoiding this potential risk, the idea of applying soft structure to hand rehabilitation robot is presented in this paper. The soft robot is a new research direction in the field of robot industry, especially in rehabilitation. The soft actuator we presented is made of liquid silicone and thread, and can be tied to the back of human's hands. When it is inflated or deflated, a bending and stretching motion of hands follow with the deformation of soft actuators. It works by deforming repeatedly. The soft actuator has some advantages such as portable, lightweight, low-cost, safe, low-impedance and so on. It works well by the cooperation of vacuum pump which can provide incessant air and solenoid valve which is used for reversing. In the whole system, force sensing resistor and bending sensor are used in the experiments. In order to prove that the soft actuator can work smoothly, we had a test to explore the relationship between air inflow and bending angle. The result that their relationship is close to a straight line means controlling easily and working well. Beacons of these advantages the soft robots have, a wide application prospect in rehabilitation or other fields is available.

关键词： Rehabilitation Soft Actuator Portable System

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Analysis and design of a micro-capacitor array detection circuit

Analysis and design of a micro-capacitor array detection cir...

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2014 International Conference on Future Communication technology and Engineering (FCTE 2014)

作者： W.D.Ge D.Z.Xu H.J.He Anhui Key Laboratory of Advanced Numerical Control and Servo Technology AHPU Institute of Technology Robotic Industry

During the measurement of a capacitive tactile sensor array, there always appear large and unknown parasitic capacitance and other capacitance conducted by the effect of the charge injection on analogue switches, which seriously limits the measuring accuracy of the tactile sensor. This article analyses the various performance indicators of MS3110 P based on the experiments. A P controller used to match the charge injection effect conducted by the analogue switch has been investigated. The measurement mode of a micro-capacitor array detection circuit possessing the function of single capacitance array and the measurement mode of differential capacitance array, have been designed. Besides this, causes of parasitic capacitance have been discussed. The experimental results demonstrate that the designed circuit overcomes the impact of various parasitic capacitances on the sensor and enhances the measuring accuracy. It can meet the needs of the measurement requirements of a micro-capacitor array for MEMS sensors.

关键词： Analysis and design of a micro-capacitor array detection circuit

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Optimal design of machine tool bed based on Ansys and orthogonal design

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Computer Modelling and New Technologies 2014年第9期18卷 510-513页

作者： Wang, lei Anhui Key Laboratory of Advanced Numerical Control and Servo Technology Wuhu China School of Mechanical and Automotive Engineering Anhui Polytechnic University Wuhu China

This paper attempts to use a simple and practical method based on the finite element theory and orthogonal design for the optimal structural parameters of machine tool bed. Dynamics finite element model of MCH63 machine tool bed has been established with the finite element analytic technique in order to improve the dynamic characteristics. The thickness of the ribs are looked as the design variables, the orthogonal design is used to optimize the natural frequency and the total mass. The simulation result indicates that the method is simple, effective and feasible.

关键词： Modal analysis

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Task Allocation and Resource Selection Using Integer Linear Programming

Task Allocation and Resource Selection Using Integer Linear ...

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2014 International Conference on Mechanical Design, Manufacture and Automation Engineering(MDMAE 2014)

作者： Lei WANG Yu-yun KANG Anhui Key Laboratory of Advanced Numerical Control and Servo Technology School of Mechanical and Automotive Engineering Anhui Polytechnic University College of mechanical engineering Linyi University

The mathematic model to minimize the total processing cost of task allocation and resource selection is given whilst meeting necessary *** optimal approach by employing integer linear programming is used to deal with task allocation and resource selection *** result indicates that the task allocation problem and the global optimization of manufacturing system can be solved efficiently by using integer linear programming approach.

关键词： Resource selection Task allocation Integer linear programming.

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Weld seam detection and feature extraction based on laser vision

Weld seam detection and feature extraction based on laser vi...

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Chinese control Conference (CCC)

作者： Xiuping Wang Ruilin Bai Ziteng Liu Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Information and Control Experiment Teaching Center Jiangnan University Wuxi Jiangsu CN Wuxi Professional College of Science and Technology Wuxi China

This paper presents an algorithm for real time weld seam detection and feature extraction of butt weld, which is based on laser vision sensor installed on the end hand of welding robot. The algorithm preprocesses the weld seam images captured by laser vision sensor as first step and then detects laser stripe edges thus obtains the center of laser stripe. Then a two-step method is used to extract the initial value of center point of weld seam. Finally the weld region is separated from the laser stripe center line using iterative search method, then two edge points and accurate center point of weld region together with the width of weld seam can be calculated. Experiments have shown that the algorithm proposed in this paper has good stability and accuracy, and it can meet the real-time requirements.

关键词： Welding Feature extraction Robot sensing systems Surface emitting lasers Image edge detection

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Study and design of feedrate scheme in CNC interpolation

Study and design of feedrate scheme in CNC interpolation

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3rd International Conference on Materials Science and Information technology, MSIT 2013

作者： Zhu, Hao Liu, Jing Nan Yang, An Kang Wang, Mu Lan School of Automation Southeast University Nanjing Jiangsu 210096 China Jiangsu Key Laboratory of Advanced Numerical Control Technology Nanjing Institute of Technology Nanjing Jiangsu 211167 China

ISBN: (纸本)9783037857700

In this paper, the usual feedrate control methods are introduced. The characters of them are analyzed. The shortcomings such as the discontinuity of acceleration and jerk in these methods will influence the accuracy of CNC. In order to overcome the weaknesses, a novel feedrate scheme based on fractional power polynomial is proposed. The constraint condition is discussed. The jerk-time curves, acceleration-time curves feedrate-time curves are contrasted. The simulation result shows that this feedrate scheme can fulfill the requirements of high-speed and high-accuracy through the interpolation process. © (2013) Trans Tech Publications, Switzerland.

关键词： Interpolation

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Identification of Linear Parameter Varying Systems with Missing Output Data Using Generalized Expectation-Maximization Algorithm

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IFAC Proceedings Volumes 2014年第3期47卷 9364-9369页

作者： X. Yang W. Xiong B. Huang H. Gao Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin Heilongjiang 150080 China Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Jiangnan University Wuxi Jiangsu 214122 China Department of Chemical and Materials Engineering University of Alberta Edmonton Alberta T6G 2G6 Canada Research Institute of Mechatronics and Automation Bohai University Jinzhou 121013 China and Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin Heilongjiang 150080 China

This paper is concerned with the identification problems of linear parameter varying (LPV) systems with randomly missing output data. Since one local linearized model cannot capture the global dynamics of the nonlinear industrial process, the multiple-model LPV model in which the global model is constructed by smoothly weighted combination of multiple local models is considered here. The problem of missing output variables data is commonly encountered in practice. In order to handle the multiple-model identification problems of LPV systems with incomplete data, the local model is taken to have a finite impulse response (FIR) model structure and the generalized expectation-maximization (EM) algorithm is adopted to estimate the unknown parameters of the global LPV model. To avoid the problems of ill-conditioned matrices and high sensitivity of parameters to noise, the prior information on the coefficients of each local FIR model is employed to construct the prior probability of unknown parameters. Then the maximum a posteriori (MAP) estimates of the global model parameters are derived via the generalized EM algorithm. The numerical example is presented to demonstrate the effectiveness of the proposed method.

关键词： Linear parameter varying systems Generalized EM algorithm Missing output data Maximum a posteriori estimates

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Simulation of manipulator with flexible joint

Simulation of manipulator with flexible joint

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2013 2nd International Conference on Manufacturing Engineering and Process, ICMEP 2013

作者： Wang, Hai Xia, Xiao Pin Anhui Key Laboratory of Advanced Numerical Control and Servo Technology Wuhu 241000 China School of Mechanical and Automotive Engineering Anhui Polytechnic University Wuhu 241000 China

ISBN: (纸本)9783037857076

Joint flexibility is the key factor during dynamic control of robot manipulator. Accurate dynamic model is the fundamental of manipulator system design, analysis and control. This paper adopts Lagrange method to accomplish two degrees freedom manipulator modeling, and then design Backstepping control law according to a single-link manipulator. For the above control law, the proof of the Lyapunov stability is given and simulations are done. The simulated result suggested that the static error is decreased. © (2013) Trans Tech Publications, Switzerland.

关键词： MATLAB

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Optimal design of LCD module under random vibration

Optimal design of LCD module under random vibration

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2nd International Conference on Intelligent Materials, Applied Mechanics and Design Science, IMAMD 2013

作者： Wang, Hai Zhou, Xuan Xia, Xiaopin Anhui Key Laboratory of Advanced Numerical Control and Servo Technology Wuhu 241000 China School of Mechanical and Automotive Engineering Anhui Polytechnic University Wuhu 241000 China

ISBN: (纸本)9783037857175

Random vibration is being specified for acceptance tests, screening tests and qualification tests by manufacturers of electronic equipment meant for military applications, because it has been shown that random vibration more closely represents the true environment in which the electronic equipment must operate. In this paper, the simulation of the LCD panel subjected to random vibration load is done by the rectangle plate to represent the panel, the deformation and stress of LCD is analyzed by FEM method. Combined the simulation result and Taguchi optimization algorithm, we analyzed the relationship between the geometric dimensions of LCD and the dynamic response. © (2013) Trans Tech Publications, Switzerland.

关键词： Vibration analysis

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Practical visual efficiency management system for CNC machine tools based on embedded microprocessor and cloud computing

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Information technology Journal 2013年第22期12卷 6577-6582页

作者： Mu-Lan, Wang Kai-Cheng, Fei Bo, Wang Meng-Jia, Chen Jiangsu Key Laboratory of Advanced Numerical Control Technology Nanjing Institute of Technology Jiangsu 211167 China Nanjing Kangni Electromechanical Co. Ltd Nanjing Jiangsu 210013 China

The field monitoring devices were developed for Computer numerical control (CNC) machine tools based on embedded system, using STM32 series microprocessor, which can acquire the operating parameters of machine tools. The processed data were uploaded to the host computer integrated management system by Zigbee wireless communication network, making full use of the concept and architecture of cloud computing. According to the measured physical parameters of CNC manufacturing process, the corresponding mathematical models and soft-sensing algorithms can be constructed and utilized. At the same time, the actual operation situation of the manufacturing workshop and the efficiency of CNC machine tools were visual remote monitored, statistical analyzed and comprehensive managed based on LabVIEW software platform. © 2013 Asian Network for Scientific Information.

关键词： Zigbee

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