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This paper proposes a robotic eye based on spherical parallel mechanism with three degrees of freedom. It aims to imitate the human eye with active vision for robots in various unstructured environments. Its kinematic analysis and performance estimation indexes are presented. For the pursuit of best velocity and acceleration accuracies of the eyeball, an optimal design method using evolutionary strategy...
A bicycle robot which can move straightly on its own is established in the paper. When moving with a constant speed, the bicycle can keep balancing by adjusting the frontbar only. The nonlinear dynamic model of bicycle robot is presented based on Routh method. The robot model is Simplified according to the state of bicycle robot. The roll angle and frontbar angle are taken as system generalized coordinates...
This paper focus on the dynamic modeling and the LQR and PID controllers for the self balancing unicycle robot. The mechanism of the unicycle robot is designed. The pitching and rolling balance could be achieved by the driving of the motor on the wheel and the balance weight on the body of robot. The dynamic equations of the robot are presented based on the Routh equation. On this basis, the LQR and...
Steering mechanism is a vital component of aircraft nose wheel steering system. In order to checkout its reliability and working period, repeated loading test is a necessity which is used to simulate friction between wheel and ground before putting it into application. In the test, for meeting the requirement of loading precision, high tracking performance of position servo system used for controlling...
Implant positioning is highly depending on the morphological matching between the patient anatomical structure and the implants. This paper is investigating the Asian-specific humeral implant development towards more consistent and accurate implant positioning in minimally invasively ways. Humeral implants are currently readily available and used on patients, however these implants are not compatible...
This paper looks into the outer synchronization issue of two networks with nonlinear, time-delay and different topological characteristics. Given two general dynamic network models, a set of synchronization criteria based on the Lyapunov stability analysis are proposed and the theoretical analysis is presented. In addition, to expand the generality of the proposed control criteria, two synchronization...
Considering the nonlinearity, parameters perturbation and random waves disturbance to the ship fin stabilizer system during ship sailing on the rough sea, a robust controller based on sliding mode control which incorporates fuzzy tuning technique is proposed in this paper. The sliding mode control is used to force the ship roll to zero. The fuzzy tuning is adopted to eliminate the chattering of control...
In the study, the authors solve the problem of uniform global K-exponential stabilization for an non-symmetric underactuated surface vessel with only two available inputs. Using coordinate transformations and Lyapunov theory, a smooth time-varying control law is proposed under certain conditions on the inertia and damping matrices, gives global K-exponential stability of the closed-loop system. Finally,...
Reverse logistics has the following disadvantages, scattered, uncertainty and small volume. It is difficult for Ecommerce to provide a good reverse logistics services to reduce their and buyers transportation expenses. Based on the analysis of current reverse logistics practices, it presents an effective strategy of non-defective reverse logistics. By using this strategy sellers can choose another...
In light condition, switches of Phase Shift-Full Bridge (PB-FB) DC/DC converter cannot satisfy the condition of Zero Voltage Switch (ZVS). Based on field-programmable gate array (FPGA), PWM and PS control method are used according to different load condition. In addition, switching loss of converter is explained, and design process is presented in detail. Experiment results indicate the mutual combination...
This paper presents a pneumatic design on the Intelligent Air Transfer System (IATS) which will lead to realistic and extended applications as well as the technical means to transfer cask system over 30 tons in the fusion nuclear environment. Air bearings, as the core of the pneumatic drive, could be adaptively controlled for attitudes of the IATS with different loads. Moreover, pneumatic actuators...
In precision ultrasonic process, the amplitude of the transducer will change while the load changes. which causes the unstable process and the decline of the process quality and efficiency. To solve these problems, the theoretical model of controlling ultrasonic amplitude output is established by feedbacked current. The theory is based on Kirchhoff's circuit laws. And then a method of constant amplitude...
This paper describes the design and implementation of a vibration energy harvesting device, which can act as a supplement for the vehicle power system. The device uses the permanent-magnet linear generator for energy harvesting purpose. The power converter of the system consists of bridge rectifiers and a buck-boost converter. A switching fuzzy proportional-integral controller is designed for regulating...
Human control strategy has been considered as a robust control method in mastering the complex and dynamic skill. In this paper, we present the problem of how human control strategy can be represented as a learning based approach and how a human strategy controller can be used in controlling dynamically stable while statically unstable, Wheeled Inverted Pendulum (WIP). The controller is designed by...
TSP (Traveling Salesman Problem, TSP) is a classic combinatorial optimization problem and nowadays it is a hot topic to find a high precision algorithm with short solving time. As its search space increases with the number of cities, it often requires a lot of computation time to find the optimal solution in a large space. So a new TSP solving algorithm is proposed based on an improved fruit fly optimization...
According to the characteristics of the performance parameters for gyroscopes' degradation, we put forward a degradation trend prediction method with combination of empirical mode decomposition(EMD) and self-organizing mapping (SOM) quantization error model (MQE)for them. Firstly, we collect some weak signals as feature information for gyroscopes' degradation states, and use EMD to realize adaptive...
With the increase of aging population, medical healthcare based on mobile phone has become a hot research topic. In this paper, a mobile health surveillance platform for monitoring physiological parameters of the elderly was implemented and a corresponding physiological tendency model for fall alert was proposed, which can help prevent falls for the elderly by setting up suitable thresholds. A program...
Text categorization refers to the task of designing methods to automatically classify text documents into different groups. With wide applications in intelligent information processing, it has attracted much recent research attention. The classical support vector machines (SVM) algorithm has obtained significant success on this task. Inspired by the achievements of SVM, a family of related kernel...
Hidden databases which can only be accessed through the restrictive web interface have attracted much attention in recent years. This paper presents a survey on random drill-down sampling for aggregate estimation, especial size estimation, of a hidden database with form-like drop-down list interface. Various approaches are proposed for the purpose of getting an accurate size estimation efficiently.
Machine translation (MT) deals with a large amount of data which represents sentence meanings constructed on the basis of the grammatical rules and the lexical knowledge of the source and target languages. As it is hardly possible to make an automated semantic analysis of the source language data, predominant methods in use have been transfer models such as those of phrase-based statistical MT and...
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