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IEEE/ASME (AIM) International Conference on Advanced intelligent Mechatronics

作者： Song Lu Yangmin Li Department of Electromechanical Engineering University of Macau Macao Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin China

ISBN: (纸本)9781467391085

This paper presents a straightforward and systematical methodology for conducting the inverse dynamic analysis of a 3-prismatic-universal-universal (PUU) parallel kinematic manipulator (PKM) through employing the principle of virtual work. The proposed 3-PUU PKM possesses three translational degree-of-freedom (DOF). The position, velocity and acceleration of joints are solved via the inverse kinematic analysis, the link Jacobian matrices which map the velocity of the moving platform into the velocity and angular velocity of struts are derived in the fixed coordinate system. Based on the d'Alembert's form of the principle of virtual work, the applied generalized forces of the whole mechanical system are divided into the applied forces of moving platform, struts, sliders, and motor-coupling-leadscrew, respectively. The joint actuated torques are obtained through eliminating the virtual displacement in the dynamic equations. Furthermore, the inertial term, centrifugal and Coriolis term, and gravitational term of the total joint torque are determined. Simulation for a conical spiral trajectory demonstrates that the total torque is dominated by the inertial term.

关键词： Manipulator dynamics Joints Acceleration Dynamics Kinematics Mathematical model

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Design of the chaotic signal generator based on LABVIEW

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Sensors and Transducers 2014年第1期163卷 135-140页

作者： Zhang, Jian-Guo Zhao, Xiaolei Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan University of Technology Taiyuan 030024 China

We introduces a new method that can achieve the generation of Colpitts chaotic signal The system is based on virtual instrument platform and combined with MATLAB calculation to achieve the generation of Colpitts chaotic signal and making it analysis with autocorrelation and power spectrum at the same time. Signal channel output of chaotic signal was realized through USB-6009 acquisition module extending DA5405 highspeed DAC (Digital-to-Analog Converter) chip. The system can adjust parameters based on customers' requirements to achieve different frequency chaotic signal generation. Compared with the traditional autonomy Colpitts chaotic signal generator, this generator is simple and clear in structure, simple to operate, strong stability, easy to achieve etc. © 2014 IFSA Publishing, S. L.

关键词： Autocorrelation

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Denoising for different noisy chaotic signal based on wavelet transform

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Sensors and Transducers 2014年第1期163卷 155-160页

作者： Ma, Jun Wu, Ya-Jing Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan University of Technology Taiyuan 030024 China

In a complete Chaotic radar ranging system, its effective range is often limited by the randomness of the chaotic signal itself and other transmission channel noises or interferences. In order to improve the precision and accuracy of radar ranging system, wavelet transform is proposed to remove different kinds of noise embedded in chaotic signals. White Gaussian noise, colored Gaussian noise as well as sine-wave signal are respectively applied for simulation analysis. Applied for simulation analysis, the experimental results show that wavelet transform can not only remove the chaotic signal mixed in some of the different types of noise, and can also improve the noise ratio. © 2014 IFSA Publishing, S. L.

关键词： Wavelet transforms

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Unknown environment 2-D map building system for coal mine detect robot

Unknown environment 2-D map building system for coal mine de...

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International Conference on Information and Automation (ICIA)

作者： Haojian Lu Junyao Gao Jianguo Zhu Zhe Xu Haoxiang Cao Jingchao Zhao Fangzhou Zhao Xin Li Yi Liu Xuanyang Shi Key Laboratory of Intelligent Control and Decision of Complex System Beijing China Ministry of Education International Joint Research Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China

Coal mine is a very dangerous field because various fatal factors menace people especially when coal mine explosion happens. For the reason that rescuers have to know the mine tunnel actual situation and at the same time, it is very dangerous for rescuers to go into mine tunnel because of the unknown environment, a kind of coal mine detect robot and an unknown environment 2-D map building system are introduced. This paper introduces a coal mine detect robot which is a kind of tracked robot that is suitable for running in explosion environment. In order to solve the problem of detecting an unknown environment, we introduce a 2-D map building system based on linear template clustering algorithm via laser radar. Finally, the experiment shows that this coal mine detect robot and the 2-D map building system are reliable and practical.

关键词： Coal mining Laser radar Robot sensing systems Robot kinematics Buildings

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Dissolved oxygen control system based on the T-S fuzzy neural network

Dissolved oxygen control system based on the T-S fuzzy neura...

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International Joint Conference on Neural Networks (IJCNN)

作者： Wen-Tao Fu Jun-Fei Qiao Gai-Tang Han Meng College of Electronic Information and Control Engineering Beijing University of Technology Beijing CN College of Electronic Information and Control Engineering Beijing Key Laboratory of Computational Intelligence and Intelligent System Beijing China

In this paper, a novel kind of the dissolved oxygen (DO) concentration control system was proposed based on the T-S fuzzy neural network. The proposed T-S fuzzy neural network controller was used to control the DO concentration in the Benchmark Simulation Model No.1 (BSM1) wastewater treatment platform. The parameters of the neural network were adjusted online through the error back propagation algorithm to get the minimum error. By adjusting the learning rate online, the convergence speed of the system was accelerated, and then the DO concentration in the wastewater treatment system was controlled fast and efficiently in real-time. Compared with BP and PID controllers through the digital simulation, the results showed that the control effect of the DO concentration based on T-S fuzzy neural network control system was better. Besides, the test results under three kinds of weather condition showed that better adaptability and robustness were also gained in this control system.

关键词： Fuzzy control Benchmark testing Artificial neural networks Recycling Neurons

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Study on Resonant Characteristics for Higher-Order Modes in Zero Index Metamaterials Loaded with Dielectric Rings

Study on Resonant Characteristics for Higher-Order Modes in ...

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Asia-Pacific Microwave Conference

作者： Binzhao Cao Wenjuan Liang Shuxian Li College of Physics and Optoelectronics Taiyuan University of technology/Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education School of Information Science and Engineering Lanzhou University

ISBN: (纸本)9781479987689

The transmission characteristics of electromagnetic wave in the parallel planar waveguide system filled with zero index metamaterials, in which embedded with dielectric rings, is improved based on the general theoretical analysis. We conceive that higher-order modes can be produced in the dielectric rings under the isotropic medium of zero index metamaterials, and also analyze the condition of producing high order modes and the resonance characteristics for several of the whispering gallery mode (WGM). The theoretical results are simulated by COMSOL and its correctness is verified. The conclusion of this paper has important application value in the manipulation of electromagnetic waves, power allocation and sensing, so on.

关键词： Electromagnetic scattering Indexes Metamaterials Dielectrics Electromagnetics Planar waveguides

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IEEE International Conference on Mechatronics and Automation

作者： Ying Wu Qiang Huang Xuechao Chen Zhangguo Yu Libo Meng Gan Ma Peisen Zhang Weimin Zhang Intelligent Robotics Institute Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China

ISBN: (纸本)9781479970995

This paper introduces the similarity evaluation on humanoid facial expression. For the purpose of understanding easily, firstly, the process of designing humanoid robot's facial expressions is explored in brief. Then, a similarity function is proposed to evaluate the similarity of the robot facial motion compared with the human being quantitatively based on both the kinematics and dynamics factors, also including how to select the key value of parameter in similarity function. Finally, the effectiveness of the similarity function is confirmed by an experiment of facial expressions based on BHR-4 robot.

关键词： Joints Kinematics Dynamics Trajectory Humanoid robots Rhythm

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Passivity-based synchronization of a new hyperchaotic Lorenz system

Passivity-based synchronization of a new hyperchaotic Lorenz...

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IEEE Conference on Cybernetics and intelligent systems

作者： Ping He Yangmin Li Department of Electromechanical Engineering Avenida da Universidade Taipa Macao Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin China

ISBN: (纸本)9781467373395

In this paper, a passivity-based synchronization method is proposed for a new hyperchaotic Lorenz system based on Lyapunov stability theory and linear matrix inequality (LMI) approach. On the basis of the property of the passive system, the passive controller is designed and synchronization of two identical new hyperchaotic Lorenz systems with different initial conditions is realized. Finally, numerical simulations are presented to demonstrate the effectiveness of the proposed chaos control and synchronization schemes.

关键词： Synchronization control systems Lyapunov methods Complex networks Chaotic communication

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Visualisation of the Early-Stage Vibration of the Automatic-Gauge-control Hydraulic Cylinder Based on the Acoustic Emission Hits-Density Imaging

Visualisation of the Early-Stage Vibration of the Automatic-...

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2015年中国智能自动化学术会议

作者： Hongzhi Chen Yongli Zhao Jie Huang Chang Cheng State Key Laboratory of Hybrid Process Industry Automation System and Equipment Technology Automation Research and Design Institute of Metallurgical Industry Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Fujian Institute of Education

By taking into account the hits-density imaging technique that has been introduced by authors' previous publications, the acoustic emission bursts emitted from the automatic-gauge-control hydraulic cylinder under normal loading and early-stage vibration were investigated. First, six acoustic emission descriptors that showed significance regarding the cumulative probability distribution were visualised, followed by the reconstruction of the hits-density images using these features;Through the visual examination of the hits-density images regarding the cylinders' normal loading and early-stage vibration, apparent visual differences between normal and early-stage vibration under the same loading can be observed;By projecting the hits-density images onto the principal component space, a trajectory which represents the condition developments was observed, which shows a visual-based resolution for dealing with vast transient bursts data reduction,reconstruction and visualisation.

关键词： Visualisation Hits-density imaging Early-stage vibration Acoustic emission

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Dynamic modeling for high-performance controller design of a UAV quadrotor

Dynamic modeling for high-performance controller design of a...

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International Conference on Information and Automation (ICIA)

作者： Yi-Rui Tang Yangmin Li Department of Electromechanical Engineering University of Macau Macao SAR China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin China

ISBN: (纸本)9781467391054

This paper presents a systematic and comprehensive modeling approach for the derivation of a nonlinear dynamic model of a unmanned aerial vehicle (UAV) quadrotor. The model incorporates a couple of significant aerodynamic effects impacting on the quadrotor flight in different regimes. The controller is accordingly designed to accommodate both specific and uncertain dynamics of the quadrotor. The control laws of linear quadratic regulator (LQR) coupled with sliding mode control (SMC) are applied to the controller design so as to perform the optimal and robust control of the vehicle. The experimental results demonstrate the designed control algorithms are capable of delivering an remarkable performance on tracking of the reference input signals.

关键词： Rotors Blades Aerodynamics Mathematical model Vehicle dynamics Force Nonlinear dynamical systems

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