A new kind of eight-wheel lunar rover is developed, which is a complex closed-chain system and has good capabilities of climbing slope, surmounting obstacles and adapting to uneven terrain. In this paper, the mechanic...
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A new kind of eight-wheel lunar rover is developed, which is a complex closed-chain system and has good capabilities of climbing slope, surmounting obstacles and adapting to uneven terrain. In this paper, the mechanical structure of the novel eight-wheel lunar rover is introduced, forward and inverse kinematic models of the rover are established according to the closed-chain coordinate transformation and instantaneous coincidence coordinate. Based on structural characteristics, its kinetic characteristics are analyzed. Wheel slippages are separated and calculated, and a method for closed-loop control modification using wheel slip estimation during the model establishment is proposed. The results can be applied to the motion control of lunar rover.
The parameter optimization for parallel hydraulic hybrid vehicle(PHHV) system has a significant impact on the vehicle dynamic performance, fuel economy and emission. In this article, several factors affecting system e...
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The parameter optimization for parallel hydraulic hybrid vehicle(PHHV) system has a significant impact on the vehicle dynamic performance, fuel economy and emission. In this article, several factors affecting system efficiency are used as the objective functions, system parameters are used as the independent variables, and the multi-objective optimization process is compiled in MATLAB. The process takes the ant colony algorithm as the optimization method, obtains the best system parameters through computing, and verifies the accuracy of optimization results through simulation.
In free-flying space robotic system, the thruster jets will compensate the disturbances induced by manipulator to keep the attitude of the robot base invariable. For saving the expensive fuel that thruster jets cost, ...
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This paper presents a practical approach to design guard robot alarm system using GPRS technology. GPRS offers an interesting communications infrastructure for remotely accessing, controlling and interacting with robo...
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In this paper, we consider a novel Hierarchical decomposition approach for multi-player pursuit evasion game (MPPEG) where some evaders' capability are higher than those of all pursuers. Differently from standards...
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ISBN:
(纸本)9781605583266
In this paper, we consider a novel Hierarchical decomposition approach for multi-player pursuit evasion game (MPPEG) where some evaders' capability are higher than those of all pursuers. Differently from standards MPPEGs where the environment and the location of evaders is unknown and a probabilistic map is built based on the pursuer onboard sensor. In this paper, we study the number of pursuers which necessitates for the capture condition and the time of all evaders have been captured. A novel Cooperative in the coalition formation is used for pursuer in their pursuit strategies deriving to 1) Avoid collision among objects, 2) Reduce the distance between each pursuer and the evader over the evolution of game;3) Keep the pursuers' formation around the evader invariant during the pursuit process and enclose the superior evader. The validity of our method is illustrated by two simulation examples. Copyright 2009 ACM.
In this paper, an automatic inspection system for weld surface appearance using machine vision has been developed to recognize weld surface defects such as porosities, cracks, etc. It can replace conventional manual v...
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In this paper, an automatic inspection system for weld surface appearance using machine vision has been developed to recognize weld surface defects such as porosities, cracks, etc. It can replace conventional manual visual inspection method, which is tedious, time-consuming, subjective, experience-depended, and sometimes biased. The system consists of a CCD camera, a self-designed annular light source, a sensor controller, a frame grabbing card, a computer and so on. After acquiring weld surface appearance images using CCD, the images are preprocessed using median filtering and a series of image enhancement algorithms. Then a dynamic threshold and morphology algorithms are applied to segment defect object. Finally, defect features information is obtained by eight neighborhoods boundary chain code algorithm. Experimental results show that the developed system is capable of inspecting most surface defects such as porosities, cracks with high reliability and accuracy.
A rough set genetic algorithm (RSGA) is mainly studied to optimize the robot path planning speed and enhance the precision. At first, under the grid model and by the feasibility of the grid, the initial decision-makin...
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A consumable aided tungsten indirect arc welding method has been studied. This method is different from the traditional TIG welding because it introduces an MIG welding torch into the traditional TIG welding system. A...
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A consumable aided tungsten indirect arc welding method has been studied. This method is different from the traditional TIG welding because it introduces an MIG welding torch into the traditional TIG welding system. An indirect arc is generated between the consumable electrode of the MlG welding torch and the tungsten electrode of the TIG welding torch, but not generated between the tungsten electrode of the welding torch and the base metal. Welding current flows from the consumable electrode to the tungsten electrode in the free-burning indirect are. The consumable aided tungsten indirect arc welding not only rapidly melts the welding wire but also effectively restrains the excessive fusion of the base metal. The welding experiment and the theoretical analysis confirm that this method can obtain a high deposition rate and a low dilution ratio during the welding process.
In order to acquire diamond films with high quality, hot cathode DC chemical vapor deposition system was used to prepare diamond films at various substrate temperatures of 700, 850 and 1000 °C and various carbon ...
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In order to acquire diamond films with high quality, hot cathode DC chemical vapor deposition system was used to prepare diamond films at various substrate temperatures of 700, 850 and 1000 °C and various carbon source volume fractions of 1%, 2%, 2.5%, 3% and 5% in gas phase, respectively. The influence of substrate temperatures and carbon source volume fractions on the growth characteristic of diamond films was investigated by Raman spectroscopy, scanning electron microscopy (SEM) and X-ray diffraction (XRD). The results show that a Mo2C inter-layer exists between Mo substrate and diamond film. The enhancement of diamond crystal growth and the inhibition of other carbon phase are found at 1000 °C and CH4 volume fraction of 2% is favorable for the growth of high quality diamond film at high growing rate.
The design philosophy of UBot module is proposed in this paper. A novel modular self-reconfigurable robot called UBot is presented. The UBot module is compact, strength, flexible and capable of performing efficient lo...
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The design philosophy of UBot module is proposed in this paper. A novel modular self-reconfigurable robot called UBot is presented. The UBot module is compact, strength, flexible and capable of performing efficient locomotion, self-reconfiguration and manipulation tasks. This robot consists of several standard modules. Each module is cubic structure based on universal joint, and has four connecting surfaces that can connect to or disconnect from adjacent modules. A hook-type connecting mechanism is designed, which could connect to or disconnect from adjacent modules quickly and reliably. This mechanism is self-locking after connected, and energy-saving. Wireless communication technology was employed in the module, which can avoid cable-winding and improve flexibility of locomotion and self-reconfiguration. One simple orientation detecting system is designed, which can detect four possible orientations by metal contact points. A group of UBot modules can adapt their configuration and function to changing environment without external help by changing their connections and positions. To achieve small oversize and mass, compact mechanical structures and electrical systems are adopted in module designing. At last, the experiment of connecting mechanism and locomotion of UBot has been implemented.
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