This paper reports the design and preliminary analytical investigations of a new MEMS piezoelectric tilt sensor. The proposed tilt sensor consists of a Platinum supported beam with a central proof mass which causes th...
详细信息
A novel omnidirectional wheeled mobile robot, mainly composed of three special wheeled structures-MY wheel, is developed in this paper. Based on the movement principle of sphere, the sphere of the special wheel is div...
详细信息
A novel omnidirectional wheeled mobile robot, mainly composed of three special wheeled structures-MY wheel, is developed in this paper. Based on the movement principle of sphere, the sphere of the special wheel is divided into contact part and non-contact part. The function of the omnidirectional wheel is realized utilizing the mutual complementarities of the two parts of the sphere. The passive rotational axes of two parts of the sphere are in staggered arrangement to each other at an angle of 45 degrees to realize continuous contact with the ground. At the same time, this structure also improves the strength of omnidirectional wheel. It is verified by the kinematic analysis and simulation of the wheeled mobile mechanism that the mechanism can achieve the omnidirectional movement. It is also proved by the movement experiment of the mobile robot that the omnidirectional mechanism can not only achieve the omnidirectional movements but also step over obstacles.
The paper presents the navigation mobile walking robot systems for movement in non-stationary and non-structured environments, using a Bayesian approach of Simultaneous Localization and Mapping (SLAM) for avoiding obs...
详细信息
The paper presents the navigation mobile walking robot systems for movement in non-stationary and non-structured environments, using a Bayesian approach of Simultaneous Localization and Mapping (SLAM) for avoiding obstacles and dynamical stability control for motion on rough terrain. By processing inertial information of force, torque, tilting and wireless sensor networks (WSN) an intelligent high level algorithm is implementing using the virtual projection method. The control system architecture for the dynamic robot walking is presented in correlation with a stochastic model of assessing system probability of unidirectional or bidirectional transition states, applying the non-homogeneous/non-stationary Markov chains. The rationality and validity of the proposed model are demonstrated via an example of quantitative assessment of states probabilities of an autonomous robot. The results show that the proposed new navigation strategy of the mobile robot using Bayesian approach walking robot control systems for going around obstacles has increased the robot's mobility and stability in workspace.
A boiler drum BDT921 that is installed in the Control Laboratory, Department of mechatronics and robotics engineering, Faculty of Electric and Electronic engineering, Universiti Tun Hussein Onn Malaysia （UTHM） is be...
详细信息
A boiler drum BDT921 that is installed in the Control Laboratory, Department of mechatronics and robotics engineering, Faculty of Electric and Electronic engineering, Universiti Tun Hussein Onn Malaysia （UTHM） is being used as a model plant to achieve the digital control system since its analog. Implementing a digital system to boiler quite a though work. This paper covers analysis from the experiment done to match with digital design that will be implemented to the real system. The digital control design will come up with the mathematical model and will be analyzed with MATLAB and SIMULINK software named as ＂Discrete Analysis ofBDT921 Simulation＂. A proportional integral and derivative （PID） controller is being chosen as the control element in discrete form as the real system is using the same control element. The output responses behave as the second order system with a bit difference in rise times and peak times compared with data obtained from experiment. With regarding to the analysis done, the digital control can be implemented and for further viewing, to be controlled digitally with computer in the control room.
In this paper an approach of optimization of suspension system parameters is described. Taking into consideration the stiffness and damping coefficients of springs and shock absorbers of a heavy road transport vehicle...
详细信息
In this paper, the kinematic model of an omnidirectional mobile robot with special MY wheels is built to analyze its kinematics performance on vibration, control and errors that are caused by the specific structural f...
详细信息
Accurate position estimation is very essential for successful operation of any autonomous mobile robots. Generally, Extended Kalman Filter (EKF) is used to fuse multiple low cost sensor information for better position...
详细信息
In this paper, particle swarm optimization algorithm in a continuous search space is implemented to generate a set of DNA words. A single swarm with 20 particles is used to find the best solution (gbest). Here, each p...
详细信息
We propose a physical model to calculate the trapping force on a nanoparticle trapped by the system using the combination of a near-field scanning optical microscope (NSOM) probe and an atomic force microscope (AFM) m...
详细信息
暂无评论