Reliable navigation in the Wireless Sensor Networks (WSNs) always require mobile robot do localization and environment map building processes, which depends heavily on estimating the position of the features within th...
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Research of job scheduling methods of arc welding robot is focused in this paper. The job scheduling of arc welding robot is considered as a Traveling-salesman-Problem. Welding job scheduling is modeled and relevant j...
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ISBN:
(纸本)9781424457014
Research of job scheduling methods of arc welding robot is focused in this paper. The job scheduling of arc welding robot is considered as a Traveling-salesman-Problem. Welding job scheduling is modeled and relevant job scheduling optimization methods are designed. Genetic algorithm and ant colony algorithm are applied to robot welding job scheduling first. Then, based on the characteristics of both algorithms, hybrid genetic ant colony algorithm is designed to improve optimization performance. With simulated weldment as the subject, genetic algorithm, ant colony algorithm and hybrid genetic ant colony algorithm are analyzed and compared by simulation. Validity of above methods is verified.
Two-phase flow measurement has attracted a major interest in the past four decades due to its wide range of applications in industry. This paper introduces a new method to separate the gas phase from the liquid phase ...
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In this paper, we proposed a nonlinear robust control design combined with neural network for a 3 degree of freedom (DOF) helicopter test-bed which may be subjected to unknown external disturbance and contains structu...
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ISBN:
(纸本)9787894631046
In this paper, we proposed a nonlinear robust control design combined with neural network for a 3 degree of freedom (DOF) helicopter test-bed which may be subjected to unknown external disturbance and contains structure uncertainties. Regulation and tracking control design are proposed for the angles of elevation, pitch and travel axes. Numerical simulation results are provided to illustrate that the proposed controllers achieve good performance and the closed loop systems obtain good robustness with respect to system uncertainties and disturbances.
This paper deals with the controller design problem for Markovian jump systems subject to partial unknown transition probabilities and actuator saturation. Different from the previous results where complete knowledge ...
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This paper deals with the controller design problem for Markovian jump systems subject to partial unknown transition probabilities and actuator saturation. Different from the previous results where complete knowledge on the transition probabilities is available, a new controller synthesis scheme is proposed as well as an estimate of the domain of attraction in mean square sense. A sufficient condition is first established to guarantee the stochastic stability of the closed-loop system. An optimization problem with LMI constraints is then formulated to determine the largest contractively invariant set in mean square sense. Finally, a numerical example is provided to show the effectiveness of our method.
A harmonic signal generator with adjustable frequency, phase and harmonic proportion is designed in this paper. The design of this harmonic signal generator is based on direct digital frequency synthesis (DDS) technol...
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A harmonic signal generator with adjustable frequency, phase and harmonic proportion is designed in this paper. The design of this harmonic signal generator is based on direct digital frequency synthesis (DDS) technology and the idea of System on a Programmable Chip (SOPC). The classic structure of DDS is introduced and a kind of compression ROM is designed. Then, the DDS core with compression ROM is compiled using Quartus II by VHDL language. As a kind of processor which is supplied by Atera Inc., the soft core, Nois II is embedded on FPGA chip. Using Nois II and other modules, a system is designed on one single FPGA chip. The performances such as integration, expansibility are very much improved. The principle of DDS is discussed particularly;the optimized structure of DDS core and the design SOPC on single FPGA are presented in this paper.
Buildings are important contributors to energy consumption accounting for around one-third of energy consumed in cities, where large public buildings are the dominant energy consumers and energy consumption might be s...
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Buildings are important contributors to energy consumption accounting for around one-third of energy consumed in cities, where large public buildings are the dominant energy consumers and energy consumption might be significantly decreased through Building Energy Management systems (BEMS). A supervisory and management system for energy conservation in large public buildings is presented in this paper, with a PC or a embedded computer system running a BEMS software designed to connected to distributed energy metering system, wireless sensor networks, even conventional building automation (BA) systems. The supervisory and management software consists of information inquiry, energy consumption metering, energy efficiency analysis and decision support subsystems. The system framework is introduced with development and application of the software described in detail.
A novel mobile robot based gas source localization method in which the top-down visual attention mechanism (TDVAM) is combined with shape analysis is proposed. At each location, three different images which cover the ...
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A novel mobile robot based gas source localization method in which the top-down visual attention mechanism (TDVAM) is combined with shape analysis is proposed. At each location, three different images which cover the scene in front of the robot are captured via changing the horizontal angle of an onboard pan/tilt camera. In each image, three salient regions are computed using TDVAM model, and maximal one plausible gas source from three salient regions is identified by using the shape analysis. The positions of recognized plausible gas sources are determined with a laser range scanner. The robot is navigated to the plausible gas sources one by one and gas concentration information is used to judge if the plausible sources are real ones. Experimental results in a complex indoor airflow environment in which valves are used to simulate gas sources demonstrate the feasibility and high efficiency of the proposed gas source localization approach.
Oil-water two-phase flow is commonly encountered in industrial processes of petroleum and chemical engineering. The process parameters, such as velocity and phase concentration of the mixture are of great importance i...
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ISBN:
(纸本)9781424428328;9781424428335
Oil-water two-phase flow is commonly encountered in industrial processes of petroleum and chemical engineering. The process parameters, such as velocity and phase concentration of the mixture are of great importance in both scientific and engineering field. Cross correlation technique is one of the methods of calculating the flow velocity by deriving the transit time of the fluid flowing through a pair of parallel mounted sensors on the target pipelines. The physical meaning of the cross correlation velocity is still an open discussion in the field of multi-phase flow measurement. In this research, a Dual-plane Electrical Resistance Tomography (ERT) is adopted to cross correlate the sensing data from two electrode planes. A method of dynamically seeking suitable signal segment for cross-correlating measured signals from two-phase flow is proposed. The results show that the cross correlation velocity is a structural velocity within two-phase flow, and the relationship of cross correlation velocity and mixture velocity is affected by the water flowrate within the two-phase flow.
Slug flow is an important flow regime of gas/liquid two-phase flow. The parameters measurements of slug flow are of great importance in scientific and engineering field. Local cross-correlation method is put forward i...
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ISBN:
(纸本)9781424428328
Slug flow is an important flow regime of gas/liquid two-phase flow. The parameters measurements of slug flow are of great importance in scientific and engineering field. Local cross-correlation method is put forward in this paper to make the mixed velocity measurement of slug flow. Different from normal cross-correlation method, this local cross-correlation make direct use of electrode voltage data and gives detail velocity information of the cross-section. According to the electrode distribution in the pipe cross-section, the excitation manners have been sorted into 3 kinds and measured electrodes have been cut into 9 sorts. A static experiment is carried out to testify and concretely analyze the sensitivity difference of different excitation manners and different located measuring electrodes. Results of static experiment verify the above sorting manner and show that different excitation manner and different measured area has its own apparent data feature and. In this local cross correlation method, only selected electrode pairs instead of all electrodes as normal data process participate in excitation process. So the system efficiency has improved, and as a consequence the velocity resolution of cross correlation is improved. The dynamic experiment result shows the efficiency of this local cross-correlation method and the experiment error is within 10%.
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