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IEEE International Conference on Mechatronics and Automation

作者： Yunliang Wang Peng Dong Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology Tianjin China School of Electrical Engineering Tianjin University of Technology Tianjin China

ISBN: (纸本)9781509023974

In order to meet the users' living demand, to provide them a better experience of smart home and further to improve their life equality, the authors design and implement the voice control system of smart home based on iOS. This system uses the classical MVC mode. The third party IFlyTek SDK is used to recognize the input voice. The developers create the project by Xcode, first using the storyboard to create the layout framework and layout UI, and then designing two controller interfaces and one initial page. The controller interfaces include the voice commands sending interface, IP interface and port interface. The mobile terminal and the router communicate with each other by UDP. The users first input the voice commands by the mobile terminal. When the commands are recognized successfully, the mobile terminal sends the commands to the router through Wi-Fi communication mode. Then the commands are sent to the server where it is compared with the pre-set commands database. After the comparison is finished, the commands are sent to the controller of the smart home through Wi-Fi communication mode. Then the controller sends the commands to the smart equipment (e.g., the air-conditioner, light, curtain, etc.) by infrared or radio frequency. Finally, the equipment executes the voice commands and finishes the corresponding order.

关键词： Smart homes Speech recognition Software control systems Mobile communication Servers Hardware

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Study on prediction model of blast furnace hot metal temperature

Study on prediction model of blast furnace hot metal tempera...

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IEEE International Conference on Mechatronics and Automation

作者： Youjun Yue An Dong Hui Zhao Hongjun Wang Tianjin Key laboratory for Control Theory and Applications in Complicated System Tianjin University of Technology Tianjin China Tianjin Agricultural University Tianjin China

ISBN: (纸本)9781509023974

In order to improve the accuracy of blast furnace hot metal temperature prediction in iron and steel enterprises, the Grey Relational Analysis and Support Vector Machine optimized by Genetic Algorithm Optimization method is proposed to solve this. Firstly, the main factors which influence the blast furnace hot metal temperature are determined by the Grey Relational Analysis, and then the prediction model is established by the support vector machine based on Genetic Algorithm Optimization. This method is compared with other prediction methods. The simulation result indicates GRA-GA-SVM have higher prediction accuracy. A new and more effective method is put forward for blast furnace hot metal temperature of prediction.

关键词： Predictive models Support vector machines Genetic algorithms Metals Blast furnaces Temperature Analytical models

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Study on movement stability for the spherical amphibious robot

Study on movement stability for the spherical amphibious rob...

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IEEE International Conference on Mechatronics and Automation

作者： Jian Guo Guoqiang Wu Shuxiang Guo Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781509023974

In recent years, wheeled robots have get widely used and developed because of its advantages. But they also have some disadvantages, for example, they obviously can't be compared with the spherical amphibious robots on rough ground. The four-legged spherical amphibious robots can move quickly and smoothly on rough ground and have superior carrying capacity. This paper deeply analyzed the movement stability of spherical amphibious robot. We used Solid works to build the three dimensional model. Then we completed the definition and setting of the spherical amphibious robot model in ADAMS. We completed the design of the control system. Lastly, we carried out some experiment; we analyzed the experimental result and verified the validity of the structure. By compared different swing angle and movement cycle of the joints, we get the best swing angle and movement cycle of the robot.

关键词： Robot kinematics Legged locomotion Solid modeling Prototypes Mathematical model Robot sensing systems

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Design of Wireless Power Transfer Device for UAV

Design of Wireless Power Transfer Device for UAV

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IEEE International Conference on Mechatronics and Automation

作者： Chunjie Wang Zheng Ma Tianjin Key Laboratory for Control Theory & Application in Complicated Systems Tianjin University of Technology Binshui Xidao 391 Tianjin China

ISBN: (纸本)9781509023974

In recent years, research on wireless power transmission (WPT) technologies has been attracting more attention after MIT introduced the magnetic resonance technology in 2007. Wireless magnetic resonant power transfer is an emerging technology that has many advantages over other wireless power transfer methods due to its safety and flexible comfortable supplying energy needs to electric devices. At the same time, with the constant improvement and extension application rang of unmanned aerial vehicles (UAVs), the main problem of the UAV is that it cannot carry out remote tasks because of its weak cruising ability. In this paper, we develop a wireless magnetic resonant power transfer system that enables UAVs to provide power to, and which can solve the problem of UAV's endurance.

关键词： WPT UAVs cruising ability endurance

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Design of the structural optimization for the upper limb rehabilitation robot

Design of the structural optimization for the upper limb reh...

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Jiange Gao Jian Guo Weijie Zhang Yuye Hu Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Japan Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin China

ISBN: (纸本)9781509023974

The exoskeleton robotic rehabilitation training system is a branch of the field of robotics, it is the external mechanical system that is consistent with the similar joints of the human body, and attached to the human body. With the development of exoskeleton rehabilitation robotic system, the biomechanics influence of device should be considered in rehabilitation training. This paper proposes a novel upper limb exoskeleton rehabilitation device based on biomechanics, which can be used in rehabilitation of upper limb for hemi paralysis patients. This system aims at helping hemi paralysis patients recover motor function of upper limb; in addition it is suitable for variety of patients. This system is portable and wearable, which consists of exoskeleton device, hepatic device (PHANTOM Premium), motor controllers and work station (computer). This paper proposes a structural optimization scheme in order to solve some problems of bowl's structure of the rehabilitation robot. The Pro/ENGINEER Wildfire (Pro/E) software is applied to get a three-dimensional modelling, kinematics simulation and dynamic analysis of the rehabilitation robot. From the analysis, the robot end motion simulation curves were obtained to verify the optimization structure reasonable and better motion characteristics. In the future, this structure will have a wide application prospect in the rehabilitation therapy field.

关键词： Robots Exoskeletons Wrist Jacobian matrices Gears Optimization Acceleration

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Design and kinematic simulation of a novel exoskeleton rehabilitation hand robot

Design and kinematic simulation of a novel exoskeleton rehab...

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Weijie Zhang Jian Guo Jiange Gao Yuye Hu Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Japan Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin China

ISBN: (纸本)9781509023974

The rehabilitation exoskeleton robot is more and more used in the assisting stroke patients in implementing rehabilitation training. In this paper, a novel exoskeleton hand robot which was driven by cable has been proposed to aim at helping varieties of paralyses patients recover motor function. This exoskeleton hand rehabilitation robot system mainly consists of exoskeleton hand robot, EEG system, motor controllers unit, some sensors and a workstation. And the hand exoskeleton mechanism was portable, wearable and adjustable for patients doing home rehabilitation training. Based on the parameters from human hand, the kinematic model of hand robot was established to be used in designing and the kinematic simulation experiments about this exoskeleton hand robot were done. Through the simulation software ADAMS (Automatic Dynamic Analysis of Mechanical systems), the parameters of position, angle velocity and angle accelerated velocity (PVA) of proximate inter-phalanger (DIP) distal inter-phalanger joint were simulated. And then, the movement situation of the DIP joint was obtained according to the data from the position encoder. So the velocity curve and accelerated velocity curve were obtained by calculating the actual position function derivation. The simulated results showed that this exoskeleton hand robot has high movement ability to finish the continuous passive motion (CPM). Beside that, a comparison test was done to verify whether there were some motion blocks in wearing exoskeleton robot. Through analyzing the experimental data, the error between the actual position and the simulated position of the PIP joint of the finger was very small which verified the small interference of robot. These experiments demonstrated that the exoskeleton hand robot has high efficiency movement ability for stroke patients who need to do the finger rehabilitation training. In the future, the optimization design of the exoskeleton hand robot will be done in order to improve more mov

关键词： Exoskeletons Thumb Robot sensing systems Joints Training

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System simulation of an untreated sewage source heat pump

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International Journal of Simulation: systems, Science and Technology 2016年第29期17卷 27.1-27.9页

作者： Qin, Na Hao, Zhipeng Thermal Engineering Department Control Theory and Applications of Complex Systems Tianjin Key Laboratory Tianjin University of Technology Tianjin300384 China

The paper studies the characteristics of heat pumps used in untreated-sewage source where the matter enters the heat pump directly in winter. The system model is established first. Then the changes of the variable parameters, including the sewage and water temperatures at the inlets of the heat pump and the compressor frequency, are simulated to assess their influence on the system performance. Then, the system is compared with those used in indirect mode to observe the different heating capacities. The results show that most parameters, except the condensation heat transfer coefficient, change as a sine wave, the same as the sewage and water temperatures at the inlets of the heat pump. COP is about 3.75 in the range of the temperature fluctuation of 1℃. The heating capacity and consumed power are 12.9 and 3.45kW when the sewage temperature is 13℃ at the inlet. When the compressor frequency increases from 25Hz, and the sewage and water temperatures at the inlet take on impulse signals, the system parameters produce rapid changes at the impulse point, and become unstable in a short time. By comparison with the indirect-mode system, it is shown that the heating capacity of direct-mode system increases by 7~8%, showing greater advantage of energy conservation. © 2016, UK Simulation Society. All rights reserved.

关键词： Compressors

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An EMG-based muscle force evaluation method using approximate entropy

An EMG-based muscle force evaluation method using approximat...

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Yuye Hu Jian Guo Weijie Zhang Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Kagawa Japan Tianjin Key Laboratory for Control Theory & Application in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China

ISBN: (纸本)9781509023974

This paper proposed a novel muscle force evaluation method to evaluate the patient's rehabilitation condition in the process of rehabilitation training. According to the related literature research, the complexity of the electromyography (EMG) signals were different under different muscle force. The physiological features and the state of muscle can be indirectly speculated by detecting the change of the dynamic complexity of EMG signals. The novel ideal of our research is to propose an EMG-based muscle force evaluation method using approximate entropy. The evaluation system consists of two main parts: the EMG acquisition (BIOFORCEN) and the measurement of muscle force (FingerTPS). Experiments were conducted with a healthy male. 15 groups EMG signals of biceps and triceps were acquired under different muscle force. Raw EMG data were recorded for off-line analysis. The approximate entropy (ApEn) and the power of EMG signals aiming at intercept relatively stable 10 section signal in each group were calculated to compose the training set. In addition, the additional 150 groups feature vectors were obtained to compose a sample set. 15 groups muscle force were divided into 6 levels and two classification method (linear discriminate analysis (LDA) and quadratic discriminate analysis (QDA)) were used to classify the feature vector. Experimental results have shown that the discrimination between ApEn and the power were obvious and 65% classification accuracy was got with the QDA method. The research of this paper can be a promising approach for further research in the field of rehabilitation evaluation.

关键词： Muscles Electromyography Force Training Entropy Force measurement Electrodes

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I&I based Command Filtered Back-stepping of Pure-feedback systems in presence of Non-linearly Parameterized Uncertainty 34

I&I based Command Filtered Back-stepping of Pure-feedback Sy...

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第三十四届中国控制会议

作者： JI Yuehui ZONG Qun NI Weichen LI Junfang School of Electrical Engineering and Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology Department of Electrical Engineering and Automation Tianjin University

ISBN: (纸本)9781467374439

An Immersion and Invariance-based command filtered back-stepping control, is addressed for non-linearly parameterized pure-feedback systems, which avoids the complicate analytic derivatives in traditional back-stepping design. In the underlying control scheme, integral sliding-mode filters are designed to approximate the virtual control derivatives, to solve the nd in pure feedback system. The resulting closed-loop system consists of controller-filter pair, which both satisfy the input-to-state stability(ISS) property, providing the celebrated small-gain theorem can be exploited to guarantee the stability of closed-loop system. Referring to the issue of non-linearly parameterized uncertainty, adaptive laws are derived via Immersion and Invariance technique. Numerical simulations are included to illustrate the effectiveness of proposed control scheme.

关键词： Command filtered backstepping,Immersion and Invariance,Pure feedback System,Non-linearly Parameterized Uncertainty

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An overview on cloud computing platform spark for Human Genome mining

An overview on cloud computing platform spark for Human Geno...

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IEEE International Conference on Mechatronics and Automation

作者： Dongliang Ding Dongyue Wu Fuli Yu Tianjin Key Laboratory for Control Theory & Application in Complicated Systems Tianjin University of Technology Tianjin China Baylor College of Medicine The Human Genome Sequencing Center Houston TX USA

ISBN: (纸本)9781509023974

The development of the Human Genome Project provides the important technical guarantee for people's health. The gene sequencing service plays an important role in the disease prevention or treatment. However, faced with the enormous, unstructured and quick updata human genome, the data mining technology in the traditional computer is helpless. In the paper, we introduced a new kind of the cloud platform Spark. Spark has more advantages over Hadoop in the performance and scalability. In addition, it is becoming the preferred even the only cloud computing platform in the integration and diversification of large data processing center, such as the genetic engineering field. This article is an overview for the cloud computing platform Spark in the human genome data mining.

关键词： Sparks Cloud computing Bioinformatics Genomics Data mining Big data

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