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IEEE International Conference on Applied Superconductivity and Electromagnetic Devices

作者： Jun Wu Jie Gang Peng School of Automation Engineering and Center for Robotics University of Electronic Science and Technology of China

ISBN: (纸本)9781467381086

The method of underwater active electrolocation is a new method for underwater terminal navigation and locating. In our experiments, the Detect Frequency Dead Zone (DFDZ) and the Frequency Inflection Point (FIP) of the amplitude information-frequency characteristics (AIFC) of the electrolocation system was found. In order to explain those AIFC phenomena. In this paper, based on an ideal electromagnetic field theory, a finite element model of active electrolocation system has been built. But the calculation results show that there is neither DFDZ nor FIP. Inspired by exploration geophysics, those AIFC phenomena may be caused by the IP effect. And a new finite element model of underwater active electrolocation system which is based on Cole-Cole model and the ideal electromagnetic field theory was built. The calculation results of new model demonstrate that the DFDZ and the FIP of AIFC match the experiment results. It is approved that the Cole-Cole model is a mathematical explanation for the DFDZ phenomenon of AIFC in active electrolocation system. This new method of simulation is helpfully for guiding the engineering design of the active electrolocation system.

关键词： Active electrolocation Detect frequency dead zone (DFDZ) Finite element model IP effect Cole-Cole model

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An automatic screw tightening shaft based on enhanced variable gain PID control

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International Journal of Simulation: Systems, Science and Technology 2015年第5期16卷 14.1-14.9页

作者： Liu, Sibang Ge, Shuzhi Sam Qin, Gang Li, Min School of Automation Engineering University of Electronic Science and Technology of China ChengduSichuan611731 China Center for Robotics University of Electronic Science and Technology of China ChengduSichuan611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore119077 Singapore Centre for Robotics University of Electronic Science and Technology of China ChengduSichuan611731 China School of Computer Science and Engineering University of Electronic Science and Technology of China ChengduSichuan611731 China

In this paper, a modular designed automatic screw tightening shaft system, which is based on enhanced variable gain PID control, is proposed. Designed for the autonomous screw tightening operation, the screw tightening shaft enjoys huge potential for industry application. The screw tightening shaft and the screw tightening process are both mathematically modeled as an uncertain feedback system because of the uncertain properties. And the control performance is verified by choosing proper controller parameters that the closed loop system is stable on the basis of the Routh stability criterion whereas the torque tracking error exponentially converges to a small residue. Furthermore, it can be seen from the simulation and experiment results on the screw tightening shaft system that the proposed autonomous system is valid and effective. © 2015, UK Simulation Society. All rights reserved.

关键词： Three term control systems

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A handheld controller with embedded real-time video transmission based on TCP/IP protocol

A handheld controller with embedded real-time video transmis...

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3rd International Conference on Computer engineering and Network, CENet 2013

作者： Dong, Mingjie Chou, Wusheng Liu, Yihan Intelligent Technology and Robotics Research Center School of Mechanical Engineering and Automation Beijing University of Aeronautics and Astronautics Beijing 100191 China

ISBN: (纸本)9783319017655

Cross-platform video transmission is of vital importance in industrial applications. In this paper, we introduce a method for transmitting video from the computer with Windows system to the ARM11 board with embedded Linux system using the Ethernet based on the TCP/IP protocol. The ARM11 board is used as the server to receive video information using its Qt GUI, while the computer on the bank is used as the client that receives video information from the remote-operated underwater vehicle showing with its MFC (Microsoft Foundation Classes) interface and then sends the video information to the handheld controller. The image gained from the computer MFC is JPG format, and after coding, the images are transmitted to the server on the handheld controller continuously. Then the Qt GUI receives the data and decodes the JPG images before displaying them on the screen. The transmission is based on TCP/IP protocol and an image parsing protocol made by us. After testing, the video image can successfully conduct real-time transmission and can meet the industry application. © 2014 Springer International Publishing Switzerland.

关键词： Controllers

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Erratum to: Robust adaptive synchronization of general dynamical networks with multiple delays and uncertainties

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Pramana 2016年第6期86卷 1413-1413页

作者： LU, YIMING HE, PING MA, SHU-HUA LI, GUO-ZHI MOBAYBEN, SALEH Laboratory of Train Network Department of Train Control Tech. Research Center of Product & Tech. CRRC TANGSHAN CO. LTD Tangshan People’s Republic of China School of Information Science and Engineering Northeastern University Shenyang People’s Republic of China School of Automation and Electronic Information Sichuan University of Science and Engineering Zigong People’s Republic of China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin People’s Republic of China

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Investigating the effect of ultrasonic vibration on hole accuracy in drilling of metal matrix composites

Investigating the effect of ultrasonic vibration on hole acc...

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6th International Conference on Tribology in Manufacturing Processes and Joining by Plastic Deformation, ICTMP 2014

作者： Kadivar, Mohammadali Akbari, Javad Vakili Azghandi, Bijan Department of Mechanical Engineering Industries and Mines University Tehran Iran Tehran Iran Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology Tehran Iran Center of Advanced Manufacturing and Material Processing Micro Mechanism Research Group Department of Engineering Design and Manufacture University of Malaya Malaysia School of Mechanical Engineering Amirkabir University of Technology Hafez street Tehran Iran

ISBN: (纸本)9783038351276

Generally in the drilling of new engineering materials such as metal matrix composites, problems frequently occur in terms of poor finished surface, tool stress, tool wear, high drilling forces as well as low process reliability. A useful and promising method to overcome these problems is the use of ultrasonic vibration as an assistance, where high-frequency and low amplitude vibration are added to the conventional movement of cutting tools or workpieces. This research presents the new design of an ultrasonic assisted system and the experimental investigation of ultrasonically assisted drilling of Al/SiC metal matrix composites under different cutting conditions. The effect of cutting conditions and ultrasonic amplitude on the circularity, cylindericity, and hole oversize of the ultrasonically and conventionally drilled workpieces were investigated. The obtained results show that the ultrasonic vibration can improve the hole quality. © (2014) Trans Tech Publications, Switzerland.

关键词： Cutting tools

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Conditioning of Vitrified Bond CBN grinding wheels using a picosecond laser 17

Conditioning of Vitrified Bond CBN grinding wheels using a p...

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17th International Symposium on Advances in Abrasive Technology, ISAAT 2014

作者： Zahedi, Ali Tawakoli, Taghi Akbari, Javad Azarhoushang, Bahman Furtwangen University SchwenningenBaden-W��rttemberg Germany Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology Tehran Iran Center of Advanced Manufacturing and Material Processing - Micro Mechanism Research Group Department of Engineering Design and Manufacture University of Malaya Kuala Lumpur Malaysia

ISBN: (纸本)9783038352211

Laser ablation is a novel non-mechanical wheel preparation method for optimizing the treatment costs of superabrasive tools. In this study the thermal effects of picosecond laser radiation on CBN superabrasive grinding wheel surface is analytically and experimentally investigated. The analytical approach is intended to find threshold process parameters for selective ablation of cutting grains and bond material. It has been analytically and experimentally shown that, the extent of material degradation is defined by the maximum surface temperature induced by the laser radiation which is in turn defined by the laser beam energy. It is also suggested that, the depth of laser thermal effects is governed by the relative speed of the laser scanner with respect to the wheel surface. © (2014) Trans Tech Publications, Switzerland.

关键词： Grinding (machining)

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The oscillatory behavior, static and dynamic analyses of a micro/nano gyroscope considering geometric nonlinearities and intermolecular forces

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Acta Mechanica Sinica 2013年第6期29卷 851-863页

作者： M.Mojahedi M.T.Ahmadian K.Firoozbakhsh School of Mechanical Engineering Sharif University of Technology Center of Excellence in Design Robotics and AutomationDepartment of Mechanical EngineeringSharif University of Technology

The nonlinear dynamic and static deflection of a micro/nano gyroscope under DC voltages and base rotation are investigated. The gyroscope undertakes two cou- pled bending motions along the drive and sense directions and subjected to electrostatic actuations and intermolecular forces. The nonlinear governing equations of motion for the system with the effect of electrostatic force, intermolecular tractions and base rotation are derived using extended Hamilton principle. Under constant voltage, the gyroscope finds the preformed shape. First, the deflection of the rnicro/nano gyroscope under electrostatic forces is obtained by static and dynamic analyses. Furthermore, the static and dynamic in- stability of the system are investigated. Afterward the oscillatory behavior of the pre-deformed micro/nano gyroscope around equilibrium is studied. The effects of intermolecular and nonlinear parameters on the static and dynamic de- flection, natural frequencies and instability of the micro/nano gyroscope are studied. The presented model can be used to exactly determine static and the dynamic behavior of vibratory micro/nano gyroscopes.

关键词： Nano-structures Microstructures Static dynamic

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Corrigendum to a Low-Cost, Light-Weight Climbing Robot for Inspection of Glass Curtains

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International Journal of Advanced Robotic Systems 2015年第3期12卷 20-20页

作者： Ran Liang Meteb Altaf Eball Ahmad Rong Liu Ke Wang Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing China National Robotics & Intelligent Systems center King AbdulAziz City for Science and Technology Saudi Arabia Riyadh Saudi Arabia Arts et Métiers ParisTech Design Manufacturing and Control Laboratory (LCFC) Paris France

Corrigendum, corrigendum

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A Robust Road Segmentation Method Based on Graph Cut with Learnable Neighboring Link Weights

A Robust Road Segmentation Method Based on Graph Cut with Le...

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17th International IEEE Conference on Intelligent Transportation Systems & The Asia-Pacific Council on Systems engineering Conference 2014

作者： Jun Yuan Shuming Tang Fei Wang Hong Zhang State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences High-Tech Innovation Engineering Center Institute of AutomationChinese Academy of Sciences Institute of Artificial Intelligence and Robotics of Xi'an Jiaotong University School of Information Engineering Minzu University of China

Road region detection is a crucial functionality for road following in advanced driver assistance systems(ADAS).To address the problem of environment interference in road segmentation through a monocular vision approach,a novel graph-cut based method is proposed in this *** novelty of this proposal is that weights of neighboring links(n-links) in a s-t graph are estimated by Multilayer Perceptrons(MLPs) rather than calculating by the neighboring contrast simply in previous graph-cut based *** n-link weights by MLPs reinforces the ability of graph-cut based road segmentation algorithms to tolerate the complex and changeable appearance of road ***,the Gentle Ada Boost algorithm is integrated into the graph-cut framework to estimate the terminal link(t-link) weights in the s-t *** are conducted to show the robustness and efficiency of the proposed method.

关键词： image A Robust Road Segmentation Method Based on Graph Cut with Learnable Neighboring Link Weights Graph

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Adaptive control of unmanned surface vessels matching an optimized reference model

Adaptive control of unmanned surface vessels matching an opt...

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IEEE International Conference on robotics and Biomimetics

作者： Chenguang Yang Rongxin Cui Zhijun Li Sanjay Sharma Xingang Zhao Center for Robotics and Neural Systems Plymouth University Ply-mouth UK The MOE Key Lab of Autonomous System and Network Control South China University of Technology Guangzhou China School of Marine Science and Technology Northwestern Polytechnical University Xi'an China School of Marine Science and Engineering University of Plymouth Plymouth UK Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781479973989

In this paper, adaptive control of unmanned marine surface vessel has been investigated in the presence of uncertain dynamics as well as external disturbance. Variable structure technique has been utilized in the control design to make the dynamic response and desired motion tracking as quickly as possible. In practice, usually the desired trajectories are given as step points, such that direct immediate tracking would cause large acceleration and huge control effort, while the latter may be out of the actuators' limitation. Therefore, a reference model approach is employed, such that instead of direct tracking of the desired set point, the control objective becomes to shape the closed-loop dynamics to match a reference model. The reference model is built using optimization technique which tries to minimizes both tracking error and motion acceleration, and subsequently control effort. The smooth tracking is thus guaranteed in an optimal manner.

关键词： Tracking Acceleration Trajectory Adaptation models Performance analysis Mathematical model Dynamics

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