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Magnetic untethered millirobots, which are actuated and controlled by remote magnetic fields, have been proposed for medical applications due to their ability to safely pass through tissues at long ranges. For example, magnetic resonance imaging (MRI) systems with a 3–7 T constant unidirectional magnetic field and 3D gradient coils have been used to actuate magnetic robots. Such magnetically constrained...
The aim of simulation technique for production line is to find out the most feasible scheme which designers made for the project. Simulation technique can verify the actual effect of the project from the schemes. Combined with the actual production mode, the article analyzed the bottleneck of production efficiency under different shifts. It mainly discussed the value of simulation technology for production...
This paper contains the development and analysis of the human motion state and the algorithm of the fall prediction based on the double foot pressure and the micro inertial MEMS sensors. The fall prediction hardware system consists of three parts, the double foot nodes and the waist node and how it was designed, which could measure the foot pressure parameters and the inertial parameters in different...
A common UAV(Unmanned Aerial Vehicle)'s collision avoidance module was introduced in this paper to handle the flight safety of the UAV. Some ultrasonic sensors were used to collect the obstacle's distance and direction information in real time. The fuzzy algorithm was used to plan a new obstacle avoidance path based on the information. By taking over the control right of the flight controller and...
A novel small underwater robot for ocean observation is introduced, especially suitable for fixed point or small range and underwater slit and gully area of ocean observation. The underwater robot adopts the jellyfish shape design, changes its attitude through adjusting underwater robot's center of gravity position, and possesses five degrees of freedom combining the propeller thrust. Four cameras...
According to the principle of electronic compass, we analyze the error of the E-compass and propose a calibration scheme in view of magnetic deviation, which is based on the self-designed tri-axial magnetometer system. The hardware is made by tri-axial magnetometer and tri-axial accelerometer. Considering the magnetic interference of the external environment will affect the magnetic deviation, we...
Welding robots with strong robustness and high-precision trajectory tracking control play an important role in performing automatic welding processes under complex dynamic environments. This paper proposes a new variable structure control (VSC) based on multi-sliding-surface for welding robots with parameter uncertainties. The whole sliding-mode surface of VSC is divided into three sub-sliding-mode-surfaces...
This paper presents a simplified Zero Moment Point algorithm for fall detection using inertial MEMS sensors. Based on body posture and stability judgment optimization system, we realized real-time detection and analysis of the falls. The system can be used in moving people airbag system that can prevent a major part of the induced fracture of the elderly from falls. Hardware includes the nodes that...
Disease prediction and the pursuit of health has always been the relish topic, especially as the aggravating population aging phenomenon. However, the existing medical knowledge used in disease prediction system is given by experts, which is vulnerable to restrictions of real-time and convenience. On the other hand, people don't want to use the high cost, complex medical monitoring system which could...
Jumping robots provide an effective solution to overcome obstacles and perform locomotion in a rough and unstructured terrain. In this paper, an overview of jumping robots' principle, types, jumping and energy storage mechanism, uprighting mechanism, steering mechanism and models of kinematic and dynamic are presented. The existing technical problems and the future work are also discussed.
In the present paper a lower limb exoskeleton is considered. The goal of the paper is to discuss an application of two types of feedback controllers: an iterative LQR and an adaptive PD controller. Comparative analysis of two controllers is done using data from numerical simulation of sit-to-stand motion of the exoskeleton, controlled by each of the controllers. Results of the numerical simulation...
This paper studies the case of the methane flare of the Okhotsk Sea slope, It is made a large scale acoustic sweep focusing on the east slope of Sakhalin Island based self-developed software SONIC. Detecting and judging the location of undersea methane gas leaks (GF), reisen and seabed, surveying morphological changes of methane release point with collecting the echo signal and visualization fuctions...
Eyes-open and eyes-closed are two physiological states with different levels of brain activity. To classify EEG in eyes-open and eyes-closed, limited penetrable visibility graph method is applied to analyze EEG. It is a signal process method based on graph theory, which bridges complex networks and EEG time series. Networks topology, average path length and clustering coefficient are used to depict...
Laboratory work and experimentation is the most important cornerstone in engineering education. However often times there are not resources enough in the laboratories of industrial automation, or enough time to apply the knowledge acquired in lectures. Therefore, it is necessary to have support systems that enable students to learn in an autonomous way and teach them in the management of physical...
Integrated Modular Avionics (IMA) system has revealed many advantages compared with the previous generation avionics system (Federated Avionics Architectures) and has been developed by engineers. IMA systems employ reconfiguration to manage the recourses of the system dynamically. Some researches on modeling and safety case have been done recently. In this paper, we propose one reliability analysis...
Parameter error affects the quality of state estimation and the application of other senior software in energy management system (EMS). When there are multiple bad data of remote measurement and parameter errors, it is important to ensure the effectiveness of state estimation. This paper proposes an effective and practical parameter error identification method for essential data of power grid. Firstly,...
This paper presents an economic real-time system for tracking a fast moving object using adjacent inexpensive multiple web cameras. Our experimental system includes three cameras that integrated into three client computers, and an acquisition sever computer that receives information from the clients and estimates the object speed in real-time. In this system, the three client computers play the role...
In this paper, we develop a control strategy that allows to balance an inverted pendulum, using a quad-rotor as controller device. The pendulum is supported through a spherical link at the top of the quad-rotor. The feasibility of this experiment is due to the great flexibility of the quad-rotor reaction, having a wide and rich dynamic range. The ultimate aim of this work is that the procedure can...
It is convenient and useful to use the Monte Carlo simulation (MCS) in project schedule management, but at the same time, it provides very few management indexes for schedule risk analysis. Therefore, based on PERT network assumption, the shortcomings of current construction schedule management indexes are summarized and new construction schedule management index is put forward to calculate the criticality...
How to describe and measure unmanned aerial vehicle (UAV) autonomy is of primary importance in the field of autonomous control of UAVs. One of the most challenging obstacles lies in the reasonable description framework of UAV autonomy. In this paper, the existing typical classification models of autonomous control levels are presented and compared firstly. With the construction of task-level model...
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