Earticle

This paper focuses on AGV scheduling and path planning of automatic transport system. Using the topological modeling method to build an electronic map; based on A* (A-Star) algorithm and complex scheduling strategies to solve single AGV path planning, this paper presents a one-way graph path based planning algorithm which solves the problem of multi-AGV path planning, avoids system conflicts and enhances system stability. And the algorithm is verified by the AGV automatic transport management system, which is based on VC++6.0 and SQL Server.

This paper presents a code scheme for data bit error detection in the semiconductor memory devices. Conventional error detecting method by using the ATM-8 HEC code has a significant amounts of area-overhead (~700 XOR gates), and long processing time(XOR 6 stage). Therefore it leads to a considerable burden on the timing margin at the time of reading and writing of the low power memory devices for CRC(Cyclic Redundancy Check) calculations. The proposed error detecting scheme which is based on the parity check is improved area-overhead and decreased error detection delay time. The double bit error detection coverage has improved up to 77% compared with conventional method.

This paper is on the basis of the kinematics model and the structure parameters of PUMA560 industrial robot, under the environment of ADAMS, establishing the virtual physical model of PUMA560 industrial robot. And when the robot fixture has been attached a load which the quality is m, then moving from one point to another point, using interpolation method and linear motion of the fixture to simulate trajectory and position under the environment of ADAMS respectively.

This paper proposes a new general design scheme about the digital system measuring refractive index. It is based on CCD machine vision alignment technique. This system is mainly composed of auto-collimator, transmission mechanism, locking and trimming mechanism, and incremental encoder goniometer institution. First of all, to meet the demand in a wide spectrum of various aberrations, the auto-collimated optical system is designed, which achieve a good image quality. Secondly, the spiral trimming mechanism is designed, and in accordance with the micros-tress assembling method the locking mechanism is achieved. The out shaft of photoelectric encoder can move slowly and steadily, and ensure its position more precise adjustment. Finally, the detection error is analyzed based on the principle of correction formulas to consider the influence of air refractive index. The experimental results show that the system can measure the refractive index of transparent material such as glass, and the accuracy of refractive index detection is up to ±3×10-6.

This paper provides an Analog Behavioral Model (ABM) in Pspice of a tunnel diode The Pspice parameters are implemented as separate parameterized blocks constructed from Spice (ABM) controlled sources and extracted through experiment. A tunnel diode based oscillator is also proposed and simulated using circuit analysis software. The behavior of the tunnel diode is simulated and compared to the measured data to show the accuracy of the Pspice model. Close agreement was obtained between the simulation and experimental results.

In the process of the rice germination, temperature control is the key. Due to the accelerating seed germination system belongs to a complex nonlinear, large time delay and multivariable, it is difficult to establish the exact mathematical relationship model. In order to solve this problem, in this paper, we established the model based on RBF neural network, and used genetic algorithm to optimize the parameters of the neural network. In order to realize the accurate control of temperature and ensure the quality of rice sprouting, Fuzzy-PID control method can adjusts the parameters of PID and effectively improve the uniform distribution of temperature in the germinating box. The 3D graphics of temperature distribution obtained by MATLAB can show effectiveness of the method. Finally, the control strategy and system model improving the rice budding rate and evenness of emergence, are verified by experimental verification.

The sorter working at high speed in semiconductor production process has been a main reason for productivity failure, causing equipment failure and process halt as socket full or full status of the semiconductor package is not monitor in loading and unloading work of the semiconductor package of test socket board. Furthermore, it is necessary to promptly control vacuum to load and unload semiconductor package at high speed, but delicate on/off control error and limitation of engineer's bare eye checking are not free form error to package sorting. Therefore, the present study developed sorter process-focused image (video) processing algorithm and hardware-based MVMS to apply to production lines.

In this paper, both braking operation principle of PMSM (permanent magnet synchronous motor) and topological structure of voltage source inverter are analyzed. On this basis, mathematical model of energy feedback system is built in synchronously rotated d q coordinates according to design requirements of PMSM energy feedback system; and adopting SVPWM algorithm of direct current control, independent control of the active component and reactive component of grid-connected feedback current is realized, grid-connected feedback current is made able to track the change of grid voltage in real time and energy feedback of unity power factor is realized as well.

Magnetic controlled reactor (MCR) is a novel reactive power compensation device. MCR can supply continuous reactive power. But harmonic current is usually generated by MCR. The principle of harmonic current generation of MCR is analyzed in this paper. And then a method based on extension triangle structure MCR is proposed to suppress the particular order harmonic current. An additional winding is connected in series with the three phase windings. In the proposed method, no additional filters are needed and the control method is simple. At last, simulation is done to verify the correctness of this method.

The production of cleaning robots is increasing annually in spite of customer dissatisfaction. Most previous studies on cleaning robots focused on initial acceptance. This paper examined the factors on repurchase intention of cleaning robot on the basis of the theory on post adoption behavior of new technology. The Expectation-Confirmation Model in IS was adopted in this paper as the theoretical background. The results suggested that the perceived usefulness of the cleaning robot was determined by subjective norms, product quality and confirmation between expectations before and experiences after using it. It also found that user satisfaction was determined by the perceived usefulness and the confirmation. Finally the satisfaction impacted the users’ repurchase intention. All the hypothesized paths were moderated by the individual innovativeness of the users.

K-means algorithm is sensitive to initial cluster centers and its solutions are apt to be trapped in local optimums. In order to solve these problems, we propose an optimized ar-tificial bee colony algorithm for clustering. The proposed method first obtains optimized sources by improving the selection of the initial clustering centers; then, uses a novel dy-namic local optimization strategy utilizing roulette wheel selection algorithm for further enhancing local optimization. To prove its effectiveness, we validate the proposed algo-rithm on four datasets from UCI and compared the results with K-means, K-means++ and Artificial Bee Colony algorithm. Experiment results show that the proposed algo-rithm performs better than other clustering algorithms.

When system parameters falling into a certain area or under some working conditions, the permanent magnet synchronous motor (PMSM) will appear chaos phenomenon, which threatens the secure and stable operation of drive system. So this paper proposes a robust adaptive sliding mode control strategy aiming at the complex chaotic behavior of PMSM. Using the sliding mode control technique, a time varying surface is constructed. Then an adaptive gain of the robust control law is established considering uncertainties and external interference in PMSM. So the phenomenon of chaos in PMSM system will be eliminated using proposed controller. Finally, stability analysis will be given based on Lyapunov stability theory. Simulation results demonstrate the effectiveness of the proposed adaptive sliding mode control scheme.

Pick up and placement tools (collet) are one of important tools for semi-conduct manufacturing process. It should have acceptable precision and reliability of shape to pick the piece of wafer and chip without damages. To defect detection of pick up tools such as wrong size of hole and flaw in collet surface plays an important role in tool manufacturing process. In this study, we propose a visual inspection system to defect detection based on pattern matching algorithm. Experiments were performed to evaluate the proposed visual inspection system and showed 99.3% of success rate to detect defection.

In the actual application process, power battery may not behave properly, such as insufficient charging, internal resistance increment, capacity reduction and etc, the paper establishes a fuzzy comprehensive evaluation model of power battery to diagnose judge and analyze. The diagnostic results are given in the form of battery health status DOH and maintenance information. The paper tests the model through Actual working conditions of electric vehicle, and the results show that the actual fault information is consistent with the diagnostic results of model. The model is reasonable, and it can be used to diagnose the faults of power battery.

In order to improve the road handling and passenger comfort of a vehicle, suspension is provided. An active suspension is considered to be better than a passive suspension. In this paper, 2 degree of freedom model of quarter car active suspension system is designed, which is subjected to road disturbance. Due to the fact that strong nonlinearity inherently exist in the spring ,damper and actuator components, therefore nonlinear effects must be taken into account in designing the controller for practical suspension systems. Since parametric uncertainty in the spring, damper and actuator has been considered, therefore robust control is used. H∞and μ- synthesis controllers are used to improve the ride comfort and road handling ability of the car as well as to check the robust performance of the system. The results shows that both controllers give good performance, but μ synthesis controller has superior robust performance as compared to H∞ controller as well as settling time of body acceleration and suspension deflection is also minimum with μ synthesis controller.

Trajectory planning is a key to achieve safe and efficient driving of automated vehicles. We propose a trajectory-planning suite that enables the generation of a safe and comfortable trajectory through receiving cooperative messages (e.g. CAM and DENM) to detect the obstacle vehicles. We also present a collision probability model to improve the accuracy of vehicles' decision-making. Our approach mainly experiences three steps. The trajectory generation module first generates a candidate set of eligible trajectories by synthetically considering the current yaw angle, velocity, and physical characteristics of the vehicle. Then the state prediction module predicts the position and velocity of the potential obstacle vehicle with respect to the transmission delay. The trajectory selection module finally chooses a best suitable trajectory to follow in terms of the current context. Moreover, we also investigate the effects of the communication performance on the trajectory planning. The extensive simulations show that the proposed trajectory-planning scheme is capable of guiding vehicles smoothly and safely across a common traffic situation against other obstacle vehicles.

In the present study, Lumbar Support, according to 2 types of methods was mounted on the driver’s seat of a passenger car for a comparative analysis of performance. For experiments, the amounts of swelling upon operation and of the deflection as a function of changes in the load were obtained with emphasis on a static load compression test, an elasticity restoration test, and the H/point. Also, actual pressure distributions produced between the human body and the seat were measured and analyzed. Following this, the performance difference for the two types of lumbar s

In this paper, the fusion filtering problem has been investigated for multi-sensor time varying systems with fading measurements, the probabilistic fading phenomenon of which is described by statistical means and variances. A real-time unbiased fusion filtering algorithm has been proposed in the sequential fusion frame. The asynchronous fading measurements are firstly transformed into pseudo fading measurements of the fusion state in the current fusion interval. A novel noise estimation method is presented to deal with the correlations during pseudo measurement noises, which is strictly deduced in the sense of Linear minimum-mean-square error (LMMSE). On this basis, these fading measurements are handled sequentially in their arriving sequence without matrix augmenting. The finial computer simulation demonstrates the effectiveness of the proposed sequential fusion filtering method.

WSN technology has strong advantages in the facet of environmental perception; node localization and path selection. The WSN technology combining with Multi Mobile Robots (MMR)can gain the ability of its self-planning, self-organization and self-adaption under the complex environment situation. The engineering record shows that the formation control of multi mobile robots is easily broken down. Even if a careful created robot formation at the great cost of manpower and material resources, it is possible breaking down when facing with unknown and complex environment. Recently, the traditional mobile robots formation also facing fault tolerance problem as well, such problems as low coupling, bad robustness and agreement diversification, especially hard to remedy the trouble when occurring the communication breakdown or damage. While WSN networks conducts a research on fault tolerant techniques, robots will show their advantages over localization, distance measuring, fault diagnosis, breakdown maintenance and formation recovery. Robots are installed WSN sensor node can perceive location between nodes by using this algorithm, the paper will proposing an algorithm based on WSN-MMR fault diagnosis through comparing the data perceived by neighbor nodes. It can ensure that the checked node situation and spread the state to other neighboring nodes in the networks. The algorithm can realize the fault diagnosis of the nodes and have a good performance, its feasibility and effectiveness can be tested.

Wireless sensor network is attractive to researcher and commercial users. It provides several usages in different areas, but it also has a weakness. Energy restriction of sensor network leads to several research outputs. In this paper, we consider cluster header selection mechanism with routing tree to the sink node. We select cluster head as small as possible and it also provides connectivity to the sink node with routing tree.

This paper proposes a new scalable approach to formal verification (SFV) for AMS SoC designs. Induction rules defined in computer symbolic algebra system Maple are followed to extract representation of property of AMS SoC, constraints solving is performed to formally verify the correctness of the system with respect to its given property. With an AMS description and a set of properties, SMT based model checker is applied to validate if the given system has a certain properties. The proposed methodology is applied on a tunnel diode oscillator. Experimental results for a benchmark and a tunnel diode oscillator demonstrate the effectiveness of the approach. The proposed method is scalable to other AMS system using language VHDL-AMS as description tool.

Big Data is becoming more and more significant these years since our daily life is facing huge number of data as the millions of electronic devices. Big Data is not only with the huge volume or size, but also with the high complexity. This paper presents a multi-dimensional matrix model for analyzing the large text datasets based on the attributes, which come from the key words from the texts. These key words form an N dimensional space. Thus, the individual information could be presented by an M×N matrix. The multi-dimensional matrix approach has been compared with GA and PSO algorithm so as to test the efficiency and effectiveness of different approaches on analyzing the text datasets. From the experiments, it is observed that the proposed approach outperforms GA and PSO in sufficiency and computational cost. Some key findings are: For high dimensional Big Text Data, at the beginning, PSO has the best sufficiency from 0 to 10. After that, from 10 to 1000, the prosed multi-dimensional matrix approach significantly outperforms GA and PSO. For Connect-4 data samples, the time cost of proposed approach is only 352153.6 unit of time, while GA takes 613601.4 which is more of about half the time cost and PSO takes 469464.1.

We have taken different set of frequencies and done study of power by varying frequencies and with different SSTL Standard Used for Input/Outputs at fixed temperature i.e. 25 degree Celsius. SSTL family includes SSTL15, SSTL18_II, SSTL135, SSTL12, SSTL18_I. Power has been calculated on these standards and analysis has been done to find the standard with least power consumption and to make an energy efficient device. The proposed multiplication algorithm is coded in Verilog, synthesized and simulated using Xilinx ISE design suit 14.2.at the end we can conclude that there can be 34-50% power consumption reduced by using frequency scaling technique and using SSTL Standard used for Input/Output. The maximum power has been consumed by SSTL18_II and minimum power consumption is by SSTL12.

To achieve the rotor’s high precision suspension control of bearingless induction motor, a kind of convenient vibration compensation and control method is presented. The inverse model of magnetic suspension system is established, and by inverse system method, the decoupling control between two radial displacement components are achieved firstly; after then, through the compensation of unbalanced vibration control current, the compensation control force of unbalanced vibration that is used to counteract the unbalanced exciting force of bearingless rotor, is generated. Simulation results have shown that when adopting the proposed control strategy, the unbalanced vibration of bearingless rotor can be inhibited effectively either in the start stage or in the steady operation state.

The model of multi-phase flow oil film of journal bearing was established on CFD (computation fluid dynamics) method in order to ensure the stable operation and obtain the dynamic characteristics. The radial and tangential forces of multi-flow oil film with three tiny eccentric positions were calculated, then, the stiffness and damping coefficients were reached. Compared from other results, the ones in this paper are accuracy, providing an important value on the stable and high efficient operation of journal bearings.

Vedic mathematics consists of 16 formulas. Calanakalanabhyam is a Sanskrit word meaning “Sequential motion”. Using this Vedic technique, we will find the roots of the equation in few seconds. We have tried to make an energy efficient Calanakalanabhyam Vedic formula based root finder with 4 inputs and 2 outputs. We have taken different SSTL Input/Output Standards and have done Study of Power by varying frequencies. SSTL Input/Output Standards used in this paper are SSTL15, SSTL18_II, SSTL135, SSTL12, SSTL18_I. The code has been implemented on 28nm FPGA platform, XC7K160T device, FBG676 package and -3 speed grade. With our proposed technique, we have 41-60% achieved reduction in total consumption of power with frequency scaling.

The low-speed maglev transportation technology is becoming a new type of urban rail transit. The vibration of the train is the crucial point for comfort and performance of the new type transit. The trial operation of the low-speed maglev train shows that a strong vibration of the vehicle may occur when the vehicle moves on the rail with sag vertical curves. In order to analyze and prevent this problem, a multi-sensor low-speed maglev vehicle experimental platform is established. The vibration signals are collected, processed and analyzed by the experiment. We present that the spiral transition curve should be put into the rail to reduce the vibration. The experimental results are included to provide valuable reference for the design and construction of the low-speed maglev transportation line.

The traditional approach to limiting the maximum output power of a FSAE car’s engine is to install a single circular restrictor at the engine. However, restrictor installation would adversely lower the air flow speed and fuel burning rate, which further result in the declining of the pressure in the intake pipe. In this paper, we first analyze the influence of intake restrictor on engine power, intake pipe’s pressure, inflatable efficiency and fuel consumption in the case of a typical four-stroke engine of FSAE cars. One-dimensional engine cycles are simulated by using the AVL BOOST. Intake quantity correction is then designed based on the characteristics of EFI system and the analysis results. The control unit is further designed by both means of hardware circuit and software design. According to pulse width of driving signal for injecting fuel, the performance of FSAE car’s engine is improved by intake quantity correction of the control unit. Other direct improvement includes lowered fuel consumption hence more economical efficiency.

This paper focuses on the parameter characterization of phenomenological modelling for commercially available Festo Fluidic Muscle Actuator. Phenomenological model consists of a spring element, nonlinear damping element and a contractile force element which arranged in parallel. The dynamic model was tested on the experimental setup which allows precise and accurate contraction due to the supply of pressure (P) to the PMA. The open loop data were collected for static load study and contraction study at several constant pressures. Only the contraction experiment was focused in this study by excluding the relaxation phase of the experiment. The result obtained shows that at constant pressure, the muscle actuator behaves like a spring and a nonlinear damping element. The contractile force coefficient element is the corresponding force generated by the muscle during contraction in longitudinal direction. Since, pressure is the main driving element in PMA system, all the coefficient value has a pressure dependent relationship. The model and parameters obtained from the study were further validated by predicting the contraction of the muscle system via simulation and experimental. Then, a classical PID control system was designed and validated in point-to-point positioning motion experimentally. Finally, a brief conclusion of the pneumatic muscle actuator experimental setup and dynamic system modeling is made.