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2012 IEEE International Conference on Information and Automation, ICIA 2012

作者： Xu, De-Zhang Wei, Ran Zhang, Wan Wang, Zhihong Wang, Buyun Anhui Key Laboratory of Advanced Numerical Control and Servo Technology Anhui Polytechnic University WuHu City AnHui Province 241000 China Institute of Intelligent Machines Chinese Academy of Science Hefei City AnHui Province 230031 China

ISBN: (纸本)9781467322386

This paper describes the present research work on IUDH underwater dexterous hand equipped with three fingers, six joints and four actuators, Which has been development at Anhui Polytechnic University and Hefei Institute of Intelligent Machine of Chinese Academy of Science. According to structure of IUDH, Every finger kinematics equations formulations for determining the boundary to manipulator are derived, by employing Denavit-Hartenberg representation. Further, every fingertip motion envelopment space is mapped. Moreover, volume and size of objects grasped by IUDH is certified. Thus, structure and geometric parameters of the hand are demonstrated and abilities for grasping objects are validated. ©2012 IEEE.

关键词： Kinematics

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A study into the characteristics of a lead-acid battery

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Advances in Information Sciences and Service Sciences 2012年第10期4卷 122-130页

作者： Zuowu, Ding Dongbiao, Zhao Yunsong, Lv Min, Qu Yuguo, Wang College of Mechanical-Electrical Engineering Nanjing University of Aeronautics and Astronautics China Jiangsu Key Laboratary of Advanced Numerical Control Technology Nanjing Institute of Technology China Department of Vehicle Engineering Nanjing Institute of Technology China

To determine the lead-acid battery terminal limited discharge voltage, internal resistance value and internal resistance consumption with different loads, one 12V/80Ah lead-acid battery was used in tests. The lead-acid battery terminal voltage, current and terminal resistance were recorded with the discharge time. By analyzing data from the tests with MATLAB, the lead-acid battery capacity, energy consumed by the load and the internal resistance were determined. The battery t-U, t-r, t-ΔU/Δt and t-Δr/Δt are drawn. From the graphs, it is shown that the limited discharge voltage of a 12V/80Ah lead-acid battery changes with different load, the internal resistance value of a lead-acid battery changes with time, the lead-acid battery internal resistance change trend and the voltage change trend are reverse when the load is maintained at a constant value. The higher the load the less discharge capacity a lead-acid battery can release and the energy consumed by internal resistance to the energy that a lead-acid battery can release is higher as the load increases.

关键词： Lead acid batteries

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Smooth trajectory planning for manipulator of cotton harvesting machinery based on quaternion and B-spline

Smooth trajectory planning for manipulator of cotton harvest...

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International Symposium on Instrumentation & Measurement, Sensor Network and Automation (IMSNA)

作者： Mulan Wang Xiaoxia Li Kaiyun Xu Rong Jiang Jiangsu Key Laboratory of Advanced Numerical Control Technology Nanjing Institute of Technology Nanjing China Department of Electrical and Mechanical Engineering Jiangsu Food Science College Huaian China School of Automation Nanjing Institute of Technology Nanjing China School of Mechanical Engineering Nanjing Institute of Technology Nanjing China

A planning method for manipulator of cotton harvesting machinery is proposed to accomplish smooth orientation adjustment in its task space. Quaternion is adopted to represent the orientation instead of the traditional homogeneous transformation matrix, and the corresponding conversion process is deduced. The smooth orientation trajectory is generated by interpolating key orientations with the quaternion three-dimensional spherical interpolation method. key joint positions are solved with the inverse kinematics algorithm according to discrete orientations sampled with specific positioning accuracy of the manipulator terminal, and then smooth joint trajectories with stable start-stop motion and continuous jerk are obtained through the interpolation method based on five degrees B-spline. Simulation results show that, the proposed trajectory planning method supplied manipulators with smooth adjustment of orientation and stable movement of joints, which made it an effective solution for the smooth orientation planning problem of manipulators in the cotton harvesting machinery.

关键词： Quaternions Manipulators Joints Trajectory Planning Interpolation Splines (mathematics)

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A Defect Detection Experimental System for Microwave Heated In-Place Recycling of Asphalt Pavements

A Defect Detection Experimental System for Microwave Heated ...

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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Songqing Zhu Jinfei Shi Ruiqiong Zhou School of Automation Nanjing Institute of Technology Nanjing 211167 China School of Mechanical Engineering Nanjing Institute of Technology Nanjing 211167 China Advanced Numerical Control Technology Key Laboratory Nanjing Institute of Technology Nanjing 211167 China

ISBN: (纸本)9781467316439

In order to promote the intellectualization of the microwave hot recycling maintenance vehicle, an asphalt pavement defect detection system based on machine vision was applied to microwave heating recycling of asphalt pavements. A pavement defect image acquisition experimental system was built which including image acquisition, image preprocessing, defect objective extraction, distortion correction and image recognition. A weighted neighborhood average filtering algorithm was used to filter the image and the OTSU method combined with region growing method was employed to extract the defect object. The cubic polynomial method based on control object was used to correct barrel distortion and re-projection method was used to correct inclination distortion. In addition, the mapping relationship between defect-image-size with microwave-heater activated number was built to receive the controls parameters of maintenance vehicle. Experimental results demonstrate that the defect image detection system has better integration and reliability for developing efficient and flexible vehicle.

关键词： asphalt civil engineering computing computer vision filtering theory flaw detection image recognition maintenance engineering microwave heating recycling roads

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Development of FPGA-based arithmetic module in CNC system

Development of FPGA-based arithmetic module in CNC system

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2011 International Conference on Mechatronic Science, Electric Engineering and Computer, MEC 2011

作者： Wang, Mulan Zhu, Xinghua Wang, Baosheng Li, Xiaoxia Jiangsu Key Laboratory of Advanced Numerical Control Technology Nanjing Institute of Technology Nanjing China School of Mechanical Engineering Changzhou University Changzhou China

ISBN: (纸本)9781612847221

Many complex computational problems have to be overcome in the Computer numerical control (CNC) system, such as tool compensation calculation, contour interpolation, speed decomposition, position control and so on. If all the functions are accomplished by software, the corresponding execution time will affect the velocity of the CNC system. This paper has put forward a scheme of software hardening technique based on FPGA (Flied Programmable Gate Array), and developed an independent arithmetic calculating module for CNC system to improve the feed-rate of machine tool. VHSIC Hardware Description Language (VHDL) is adopted in Quartus II 9.0 development environment, based on FPGA chip of Altera company CYCLONE II series. Several algorithm operation processes relating to complex calculation are introduced in detail, such as addition, subtraction, multiplication and division operation of floating-point numbers. The simulation results prove that the proposed design methods of the arithmetic module are feasible and reasonable, which can also enhance the portability and applicability of floating-point calculating module in CNC system. © 2011 IEEE.

关键词： Field programmable gate arrays (FPGA)

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Development of linear servo control system for CNC machine tool based on DSP

Development of linear servo control system for CNC machine t...

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2011 International Conference on Mechatronic Science, Electric Engineering and Computer, MEC 2011

作者： Xu, Kaiyun Li, Ning Lin, Jian He, Chuan School of Automation Nanjing Institute of Technology Nanjing China Jiangsu Key Laboratory of Advanced Numerical Control Technology Nanjing Institute of Technology Nanjing China School of Mechanical Engineering Changzhou University Changzhou China

ISBN: (纸本)9781612847221

The linear servo systems have the advantages of high velocity, precise servo feeding, excellent stability and rapidly dynamic performance, which can be used as the most promising high-performance feeding system for CNC (Computer numerical control) machine tools. According to the index demands of CNC machine tool for linear feeding system, the corresponding control system based on DSP (Digital Signal Processor) is designed in detail. The system employs DSP-TMS320F2812 as the control core, and an Intelligent Power Module (IPM) as the power driven circuit. This paper will mainly focus on the hardware structure and software program of linear servo control system, and the debugging work and experimental process are also introduced. The satisfactory results demonstrate that the proposed linear servo control system is feasible and reasonable, which can be applied in the CNC machine tools. © 2011 IEEE.

关键词： Computer control systems

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Study on the characteristics of lithium batteries with different load

Study on the characteristics of lithium batteries with diffe...

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2011 Cross Strait Quad-Regional Radio Science and Wireless technology Conference, CSQRWC 2011

作者： Ding, Zuowu Qu, Min Jiangsu Key Laboratary of Advanced Numerical Control Technology Nanjing Institute of Technology 211167 Nanjing China Department of Vehicle Engineering Nanjing Institute of Technology 211167 Nanjing China

ISBN: (纸本)9781424497904

Lead-acid batteries are widely used as backup power source in wireless base stations and as power source in electric vehicles. To determine the lithium battery's terminal limited discharge voltage and internal resistance with different loads, four 3.2V/60Ah lithium batteries are put in series to form a battery pack in tests. The lithium battery pack terminal voltage, current and overall internal resistance were recorded with the discharge time. By analyzing data from the tests with MATLAB, the lithium battery pack capacity, energy consumed by the load and the internal resistance were determined. The lithium battery pack t-U, t-I, t-ΔU/Δt and t-r0 graphs are drawn. From the graphs, it is shown that the limited discharge voltage of a single lithium battery is approximately 2.75V, and the internal resistance of a single lithium battery is approximately 0.75mΩ. The lithium battery pack current and the voltage change trends are the same when the load is constant, and the higher the load the less capacity the lithium battery pack can release. The energy consumed by internal resistance to the energy that lithium battery releases is higher as the load increases. © 2011 IEEE.

关键词： Electric vehicles

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Configuration optimization of physical prototype for 6-3-3 parallel mechanism

Configuration optimization of physical prototype for 6-3-3 p...

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2nd Annual Conference on Electrical and control Engineering, ICECE 2011

作者： Gao, Hong Xiao, Ping Zhang, Haitao School of Mechanical and Automotive Engineering Anhui Polytechnic University Wuhu 241000 China Anhui Key Laboratory of Advanced Numerical Control and Servo Technology Wuhu 241000 China

ISBN: (纸本)9781424481637

Configuration optimization of physical prototype for 6-3-3 parallel mechanism was modeled mathematically, and then an idea of embedding finite element method in optimization algorithm was presented for solving optimizing model. In optimization design toolbox of ANSYS software, configuration optimization of the parts for the mechanism was realized by means of establishing parameterized model with parts, defining design variables, restraint and objective function. The investigation provided theoretical basis for lightweight part design with physical prototype of the parallel mechanism. © 2011 IEEE.

关键词： Finite element method

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Research on the driving system of Hybrid Electric Motorcycle

Research on the driving system of Hybrid Electric Motorcycle

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International Conference on Electric Information and control Engineering

作者： Xiao, Ping Shi, Peicheng School of Mechanical and Automotive Engineering Anhui Polytechnic University Wuhu Nostate 241000 China Anhui Key Laboratory of Advanced Numerical Control and Servo Technology Wuhu Nostate 241000 China

ISBN: (纸本)9781424480395

The Due to its wide use, the motorcycle is one of the main problems leading to environment pollution and energy crisis in spite of its low emission and low oil consumption. However, the research on it has not been attached enough importance up to now both at home and abroad. On the basis of learning from the successful experience of Hybrid Electric Vehicle, this thesis studied the driving system of Hybrid Electric Motorcycle, which is the key technology of Hybrid Electric Motorcycle's development. In this study, research on driving system of Brushless DC Motor of 800W was conducted. In hardware design, the 80C196KC SCM was selected as the processor, MOSFET, as electron power tube and IR2101, as the driving CMOS chip respectively. In software design, closed loop control was achieved by software filtering Algorithm of avoiding pulse disturbance and averaging and controlling Algorithm of fuzzy PI. The experiment results indicated that the designed driving system could meet the working requirements of motorcycles, so this study lays a solid foundation for further development of Hybrid Electric Motorcycle. © 2011 IEEE.

关键词： Brushless DC motors

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Image recognition technology in intelligent cotton harvesting machine

Image recognition technology in intelligent cotton harvestin...

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2011 International Conference on Information technology, Computer Engineering and Management Sciences, ICM 2011

作者： Wang, Mulan Li, Xiaoxia Liu, Kun Jiang, Rong Jiangsu Key Laboratory of Advanced Numerical Control Technology Nanjing Institute of Technology Nanjing 211167 China School of Mechanical Engineering Changzhou University Changzhou 213016 China School of Automation Nanjing Institute of Technology Nanjing 211167 China School of Mechanical Engineering Nanjing Institute of Technology Nanjing 211167 China

ISBN: (纸本)9780769545226

In view of the functional demands of the electrical control system for the intelligent cotton harvesting machine, the machine vision technology is employed. A cotton recognition method is proposed based on Hough transform. When the cottons gather together or overlap, the image data are partially lost or incomplete. To precisely identify the hidden cotton in the natural environment, firstly the image is segmented by R-B channel in RGB color model to reduce the computational complexity. Then the minimum external rectangle is obtained by labeling its region. Finally, contour information is acquired through the boundary trace approach in the effective region and the randomized Hough transform (RHT) method is realized according to the mathematic model of cotton contour. Results show that the recognition method is feasible when the amount of cotton contour information is lost less than 50%, which can meet the accuracy and speed requirements of target recognition for the intelligent cotton harvesting machine. © 2011 IEEE.

关键词： Cotton

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