Research on bionic quadruped robot based on hydraulic driver

A prototype of hydraulically powered quadruped robot is presented.The aim of the research is to develop a versatile robot platform which could travel fleetly in outdoor terrain with long time of endurance and high load carrying ability.The current version is 1.1m long and 0.48 m wide,and weights about 150 kg.Each leg has four rotational joints driven by hydraulic cylinders and one passive translational joint with spring.The torso carries the control system and the power system.A novel control algorithm is developed based on a Spring-Loaded Inverted Pendulum model and the principle of joint function separation.The robot can not only cross a 150 mm high obstacle in static gait and trot at 2.5km/h and lkm/h on the level-ground and 10°sloped-terrain respectively,but also automatically keep balanced under lateral disturbance.In this paper,the mechanical structure and control systems are also discussed.Simulations and experiments are carried out to validate the design and algorithms.     

Fabric Wrinkle Grade Assessment Based on Fuzzy Pattern Recognition

The basic principle of fuzzy pattern recognition is brief introduced firstly in this paper, which mainly includes fuzzy rules and fuzzy inference system. Then, the algorithm procedure of fuzzy pattern recognition is proposed. Finally, the application of Mamdani fuzzy model is introduced to evaluate fabric wrinkle grade in detail, and used the correlation coefficient between subject and object evaluation to verify the reliability of fuzzy pattern recognition. It shows the method of fuzzy pattern recognition needs not a large number of testing data and the accuracy of evaluation is up to 97.38%.     

Active Control Strategy for Offshore Structures Accounting for AMD Constraints

Most of active mass damper systems are designed or installed for the onshore structural response reduction to quite small earthquake or strong wind excitation. When they are applied to offshore structures, they will stop their operations during severe sea state (including strong wind, wave and fluid), For controlling the excessive vibration of offshore structure excited by wave loading, this paper presents a methodology keeping AMD operations even in severe sea state. And the controller was designed by LQG controlal gorithm accounting for the limits of AMD stroke and control input force. In order to investigate the feasibility and effectiveness of the proposed method, a numerical example applied to an offshore platform is presented in this paper. The numerical results demonstrate that the proposed algorithm is effective in reducing the vibration of offshore structure by choosing appropriate feedback gain among several gain candidates based on the AMD limits.     

The Algorithm for Rule-base Refinement on Fuzzy Set

In the course of running an artificial intelligent system many redundant rules are often produced. To refine the knowledge base, viz. to remove the redundant rules, can accelerate the reasoning and shrink the rule base. The purpose of the paper is to present the thinking on the topic and design the algorithm to remove the redundant rules from the rule base. The ＂abstraction＂ of ＂state variable＂, redundant rules and the least rule base are discussed in the paper. The algorithm on refining knowledge base is also presented.     

Application of Finite State Machine Theory to the Simulation of Reversed Non-Linear Hysteretic Relationships

This paper presents the application of finite state machine (FSM) theory to the programming of nonlinear hysteretic model simulation for both known and newly created rules. The complicated reversed internal paths involved in the nonlinear relationship which not only depend on material properties, but also on load history, often confuse rule creators and scholars. In this paper, we first describe the development of past hysteretic models. Then we introduce the FSM theory conceptually, and explain how it is applied to reversed and diverse routes. Next, state definitions and procedures are explained with a specific data example using the bilinear model. Finally, the successful application to UC-win/FRAME (3D) is described and several characteristics are summarized. By using FSM’s states and the linkages to represent a hysteresis model, we can quickly realize the programming of the defined complex model rules, and the nonlinear modeling becomes more efficient and feasible.     

Fast Visual Modeling for Plant Based on Real Images

Structures of natural plants are complex and difficult to model. This paper proposes a fast visual modeling for plants based on a small set of images, and establishes a reasonable plant model.Based on knowledge about growth patterns of the plant, image segmentation and 3D reconstruction are first performed to construct the plant skeleton (trunk and major branches), from which the remainder of the plant grows. Then the system produces the realistic plant model images based on image synthesis and validation. It is unnecessary to acquire the complex structure (such as the complex production rules of L-systems). The method provides a high degree of control over the final shape by image validation,resulting in realistic reconstruction.     

Simulation of Artificial Intelligence for Automotive Air-conditioning System

The artificial intelligence is applied to the simulation of the automotive air-conditioning system ( AACS) . According to the system's characteristics a model of AACS, based on neural network, is developed. Different control methods of AACS are discussed through simulation based on this model. The result shows that the neural-fuzzy control is the best one compared with the on-off control and conventional fuzzy control method. It can make the compartment's temperature descend rapidly to the designed temperature and the fluctuation is small.     

Stabilization of CSTR with Self-tuning Sliding Mode Controller Using T-S Fuzzy Linearization

A self-tuning reaching law based sliding mode control （SMC） theory is proposed to stabilize the nonlinear continuous stirred tank reactor （CSTR）.T-S fuzzy logic is used to build a global fuzzy state-space linear model.Combing the traits of SMC and CSTR,three fuzzy rules can meet the requirements of controlled system.The self-tuning switch control law which can drive the state variables to the sliding surface as soon as possible is designed to ensure the robustness of uncertain fuzzy system.Lyapunov equation is applied to proving the stability of the sliding surface.The simulations show that the proposed approach can achieve desired performance with less chattering problem.     

Intelligent Integrated Control of Underactuated Mechanical Systems with Second-order Nonholonomic Constraints

This paper describes an intelligent integrated control of an acrobot, which is an underactuated mechanical system with second-order nonholonomic constraints. The control combines a model-free fuzzy control, a fuzzy sliding-mode control and a modelbased fuzzy control. The model-free fuzzy controller designed for the upswing ensures that the energy of the acrobot increases with each swing. Then the fuzzy sliding-mode controller is employed to control the movement that the acrobot enters the balance area from the swing-up area. The model-based fuzzy controller, which is based on a Takagi-Sugeno fuzzy model, is used to balance the acrobot. The stability of the fuzzy control system for balance control is guaranteed by a common symmetric positive matrix, which satisfies linear matrix inequalities.     

Neural—networks—based Modelling and a Fuzzy Neural Networks Controller of MCFC

Molten Carbonate Fuel Cells(MCFC) are produced with a highly efficient and clean power generation technology which will soon be widely utilized.The temperature characters of MCFC stack are briefly analyzed.A radial basis function (RBF) neural networks identification technology is applied to set up the temperature nonlinear model of MCFC stack,and the identification structure,algorithm and modeling training process are given in detail.A fuzzy controllery of MCFC stack is designed.In order to improve its online control ability,a neural network trained by the I/O data of a fuzzy controller is designed.The neural networks can memorize and expand the inference rules of the fuzzy controller and substitute for the fuzzy controller to control MCFC stack online,A detailed design of the controller is given,The validity of MCFC stack modilling based on neural networks and the superior performance of the fuzzy neural networks controller are proved by Simulations.     

Fuzzy Variable Structure Control of Photovoltaic MPPT System

In order to reduce chattering phenomenon of variable structure control, a fuzzy variable structure control method is adopted and applied in the photovoitaic maximum power point tracking （MPPT） control system. Firstly, the electric features of PV cells and a dynamic model of photovoitaic system with a DGDC buck converter are analysed. Then a hybrid fuzzy variable structure controller is designed. The controller is composed of a fuzzy variable structure control term and a supervisory control term. The former is the main part of the controller and the latter is used to ensure the stability of the system. Finally, the conventional variable structure control method and the fuzzy variable structure control method are applied respectively. The comparing of simulation results shows the superiority of the latter.     

A GIS-Based 3D Simulation for Occupant Evacuation in a Building

The evacuation efficiency of building plans is of obvious importance to the public safety. The complexity of building plans, however, makes it difficult for the efficiency evaluation. This paper presents a computational model AutoEscape, which can simulate the evacuation process for any given occupant distribu-tion in buildings. Designed as an extensible multi-level structure, the model constructs the geometry level and occupant level and establishes the interactions between levels. The GIS-based environmental analysis is realized to automatically generate the geometric representation and formulate the cognition of agents. The multi-agent based technology is employed to simulate the crowd behaviors with autonomously acting individuals. A visualization component, which provides 3D free observations for the simulation process, is developed on the platform of OGRE and integrated into the system interface in form of ActiveX control. Finally, a case study has been conducted and the results have been compared with the results of an existing model to show the reliability and capacity of AutoEscape simulation.     

A state estimation based constrained model predictive control system

<正> In this paper,the model predictive control based on the state estimation for a constrained system isinvestigated.By modifying the constraints for the predictive state,the control sequence becomes feasiblefor the real system,i.e.,the system state is guaranteed to be in the constraint domain.It s also provedthat the close-loop system is asymptotically stable and the system state converges to the origin.The conclusionis verified through simulation.     

Moldability Evaluation for Molded Parts Based on Fuzzy Reasoning

Moldability evaluation for molded parts,which is the basis of concurrent design,is a key design stage in injection molding design.By moldability evaluation the design problems can be found timely and an optimum plastic part design achieved.In this paper,a systematic methodology for moldability evaluation based on fuzzy logic is proposed.Firstly,fuzzy set modeling for six key design attributes of molded parts is carried out respectively.Secondly,on the basis of this,the relationship between fuzzy sets for design attributes and fuzzy sets for moldability is established by fuzzy rules that are based on domain experts‘ experience and knowledge.At last the integral moldability for molded parts is obtained through fuzzy reasoning.The neural network based fuzzy reasoning approach presented in this paper can improve fuzzy reasoning efficiency greatly,especially for system having a large number of rules and complicated membership functions.An example for moldability evaluation is given to show the feasibility of this proposed methodology.     

A MOP Based Constructive Reflective State Metamodel

Construction,management and extension of state space is crucial for many applications.Combining with frequent change of requirement of state space,these applications are rather complicated.Synthesizing techniques of refection architecture,MOP mechanism and metamodel,this paper advances a MOP(Meta Object Protocol) based constructive state metamodel,which defines construct and rules for building models with extensible structure for state space.Based on this metamodel,modeling with extension of state space that adopts decorator pattern and role object pattern is discussed.An implementation of modeling based on this metamodel is presented.With appropriate extension,models based on this metamodel can dynamically adapt state space change.     

Experimental and numerical investigation of a composite structure with frame and skin

A composite structure with frame and skin based on cabin structure in a large space telescope is studied in this paper. The frame is composed of longitudinal and transverse beams with hybrid bonded/bolted joints, and the skin is connected to the frame by bolts. Tensile tests are conducted on the structure by a set of test stand. It is observed that residual deformation occurs in the first test of the structure, which is attributed to the relative sliding between the skin and frame because of bol...     

Open Architecture of Single-processor Real-time Robot Control System Based on Windows NT

This paper introduces the architecture and implementation of an industrial robot control system based on Windows NT. This robot control system, which is based on a single-processor structure, can run on general industrial computers. Owing to using Windows NT's real-time extension RTX, the control system can achieve good realtime performance and friendly user interface in one general-purpose operating system. A three layer hierarchical architecture of control software is proposed to make the system more scalable and flexible. Furthermore a communication and configuration system is implemented to enable modules to communicate with each other, which make the control system scalable and flexible.     

Study on the Application of Turndown Collar Pattern

The relation between lining collar and face collar in the collar pattern designed by experiments and theoretical calculation is elucidated. In spite of the same constructions, the collar's shape and the fabric's thickness influence on the pattern of lining collar and the face collar, especially on the back center of the lining and the two collar angles. The thicker the fabric, the more, with a proportional relation, the total variation. It is supposed that this work has made some contribution to the collar pattern design.     

Robust control for uncertain singular systems with time-varying delay

We study the problem of L2-L∞, control for a class of uncertain singular systems with time-delay and norm-bounded parameter uncer- tainties in this paper. A new delay-dependent robust stability criterion is obtained in terms of linear matrix inequalities （LMIs）. Based on this criterion, a state feedback controller is designed to guarantee that the closed-loop system is regular, impulse free and stable with a prescribed L2-L∞ performance satisfied for all admissible parameter uncertainties. A simulation example is included to illustrate the effectiveness of the proposed method.     

Rod-shaped Au@PtCu nanostructures with enhanced peroxidase-like activity and their ELISA application

Pt and its based alloy nanoparticles （NPs） have been reported to demonstrate novel enzyme-like activities. Varying composition is very important to realize the opti- mization of their functions through the tuning of electronic structure. In this paper, our effort is focused in this direction by tailoring the electronic structure of Pt NPs via alloying with copper. Using gold nanorod （Au NR） as core, a simple method to prepare PtCu alloy shell is developed （termed as Au@PtCu NR）. The introduction of copper could result in endcap-preferred growth mode owing to the lattice mismatch between alloy shell and the Au core. The variation in the electronic structure changes the substrate affinity, and enhanced affinity was found for H202. Besides, the designed Au@PtCu nanostructures have realized spatial separation of catalytic and recognition sites. Binding of recognition antibodies had negligible effect on their catalytic activity. Based on their peroxidase- like activity, a highly sensitive detection of human immunoglobulin G （IgG） was demonstrated in a direct enzyme-linked immunosorbent assay （ELISA） mode. The detection limit can be as low as 90 pg/mL.