为了提高苹果采摘机器人的工作效率,运用TRIZ理论进行结构创新设计.通过矛盾矩阵分析实现了采摘收集一体化;直接运用TRIZ理论中抛弃与修复的发明原理,简化了采摘步骤及末端执行器结构;运用分离原理解决了物理矛盾,提高了机械臂的灵活性.完成了机器人结构设计,分析了机器人的工作空间,通过D-H法建立了运动学方程,通过ADAMS软件进行了运动学和动力学分析.结果 表明,机器人末端点移动平稳,机器人结构满足采摘要求,为苹果高效采摘提供参考.

针对下肢外骨骼机器人在使用过程中,负重重心在矢状面垂直方向上的轨迹波动造成的能量消耗和冲击等问题,在常规双驱动单元外骨骼的髋部和背部设计了一种新型的连杆绳轮机构.该机构使外骨骼所承载的负重在人体重心在矢状面内做波浪形轨迹运动时与之做方向相反的运动,减小负重重心的轨迹波动,增加人体负重行走时的稳定性.在分析人体重心在行走状态下矢状面内的运动轨迹的基础上,确定了新机构的结构方案和尺寸.运用Denavit-Hartenberg方法和连杆设计理论求解出外骨骼在装备和未装备髋背机构时负重的重心轨迹,最后通过ADAMS的运动仿真进行验证,结果表明:这种髋背机构可明显降低负重重心的轨迹波动.

针对重度残疾病人四肢丧失活动能力而无法自由行动的问题,研究了一种基于脑电波控制轮椅的方法.脑电波传感器采集脑电波数据后通过蓝牙发送给核心控制模块,并采用改进后的小波变换法、共空间模式法、模糊支持向量机对脑电波信号进行去噪、特征处理以及模式识别处理.结合基于蚁群算法的路径规划,实现轮椅准确无碰撞地到达目的地的要求.

Interferograms in the photo-elastic modulator Fourier transform spectrometers (PEM-FTS)has high modulation frequency,and its modulated optical path difference is continuous nonlinear.In order to improve the accuracy and stability of the rebuilt spectrums whose interferograms is sampled by the equal time intervals,it is necessary to study the technology of pretreatment and phase correction of photo-elastic modulated interferograms.In the paper,the characteristic that the amplitude of the zero optical path difference was maximum in a interferogram were used to derive these data of a interferogram.Simultaneously,the method which combined the improved Mertz method and the accelerated nonuniform fast Fourier transform algorithm (NUFFT) was put forward to resolve the asymmetric and to improve the velocity and precision of the rebuilt spectrum.In the experiment,the asymmetrical photo-elastic modulated interferograms of 300 K infared blackbody were generated by simulation,the data processing algorithm was applied to enhance the accuracy of the rebuild spectrum,and the atmosphere spectral curve was rebuilt and gas components were qualitative analyzed with the atmosphere window as the measured object.

声子晶体的滤波特性引起了科技工作者的广泛关注.在二维三组元局域共振声子晶体中,通过引入两种不同填充率的共振单元分别位于规则的六角形的角顶和中心构成的缺陷态波导结构,以此为基础构建声子晶体相应的实验模型,然后基于Comsol仿真平台,模拟特定频率的声波激励声子晶体过程,计算声子晶体幅频响应函数.仿真结果表明,声子晶体可以方便设计出新型的高效、声滤波器.

The FTT-CAN(Flexible Timer-Triggered CAN) protocol can effectively guarantee the industrial field of the communication needs of flexibility,but due to interference and errors need Synchronous communication Requirements Table(SRT) to update online.Based on the above,an improved algorithm to guarantee the asynchronous window and timely deal with update request was presented,which fully considered the higher priority of the sudden impact of information.So the traditional scheduling algorithm had been optimized to ensure that the primary particular master/slave network and replicated masters run synchronously,to meet the industrial system requirements of real-time information and to make the update process more effective.

In order to meet the demand of real-time tracking,this paper introduces an efficient tracking algorithm for distributed topology networks in time which is combined with global search on points based on bus and local update in device unit based on three algorithms.In order to facilitate the presentation of algorithm's application,the paper also discusses the change of topology for grid and tracking algorithm.The efficiency of the algorithm is proved by practical application which is conducted in a large iron and steel enterprise's distribution network simulation system finally.

A tilt measuring instrument consists of MEMS tilt sensors and microcontrollers, and it has many advantages as follows: small volume, easy to carry, high precision, strong anti-jamming capability and wide range. By the software linearization, coupled with the unique function of zero resetting, the tilt measuring instruments can be widely used in the engineering measurement field. In order to analyze and process the data, we develop the upper computer software, which can work on real-time graphics and tracking.

In view of the lack of the training of students' practical and innovative ability by traditional teaching mode,this article adopts the CDIO engineering education model,which applies the core concept of "idea-design-implementation-operation" throughout the entire teaching process.The practice of teaching reform shows that the CDIO-based curriculum has obvious advantages,effectively enhancing the cultivation of students' practical engineering ability and innovation ability.

For the use of non National Instruments(NI) acquisition equipment in the test system,poor compatibility of its underlying hardware system and Labview causes measuring frequency and time value was not accurate.Two solutions are proposed including zero crossing test method and VI data processing method,and using zero crossing test method to measure the frequency was based on the Error Theorem by finding zero,VI data processing method achieves the aim to measure the frequency by the research on VI model.Not only these two methods are implemented in the Labview platform,but also are confirmed for USB7660BN acquisition equipment by measure signals whose frequency is 1KHz,3KHz,5KHz,6KHz respectively.Results show that two methods measured the error of less than 1Hz and could complete all testing requirements.

In order to operate in a complex dynamic environment to achieve the self-tuning PID parameters,this paper discusses the parameters based on relay feedback self-tuning method.It is shown that this proposed method realizes automatic tuning easily based on the relay identification.For one thing,an improved simple proof of this identification and control procedure is provided.For another thing,this new controller entitles stronger disturbance rejection and better robust performance and the dynamic response compared with the former methods.Furthermore,the proposed method successfully applies to the First-Order Plus Dead-Time(FOPDT) system with large time delay while many other traditional Proportional-Integral-Derivative(PID)self-tuning strategies even fail to achieve.

Two rounds of self-balancing robot is a parallel arrangement of the robot around, the same as the traditional inverted pendulum, which in itself is a natural instability of the body, we must exert a powerful means of control to make it stable. In order to improve the reliability of self-balancing robot, for instability, nonlinear and strongly coupled two self-balancing robot system, the use of Newton's mechanics to establish the mathematical model of steering motion. A fuzzy controller in the model, and proportional control with fuzzy control method plus two rounds of self-balance to achieve control of the robot, simulation results show that this method can make the system better speed and stability.

The use of virtual prototyping technology to simplify the design of mechanical product development process and shorten product development cycles and lower development costs,access to the most optimized and innovative designs.In order to provide self-balancing two-wheeled design efficiency and reliability,this paper builds technology based on virtual prototype simulation system.Created in the ADAMS dynamic model of self-balancing two-wheeled,inverted pendulum model initially based on Lagrange equation for constructing the dynamic model,and then with the Matlab interface ADAMS ADAMS / Controls module to achieve self-balancing ADAMS Based on two-wheeled electric vehicle joint walk with the Matlab simulation.Simulation results show that the ADAMS and Matlab's self-balancing robot has a good dynamic.

The rapid development and the large-scale application of EDA technology have initiated the corresponding reform of Electrotechnics curriculum in college.This paper introduces the characteristics and commonly used software of EDA technology.Concrete examples puts forward the ideas and approaches to integrating EDA technology into each aspect of electronic technology curriculum teaching.teaching experience proves that the EDA technology is truly an effective approach for improving teaching quality and strengthen students' ability in engineering practice and innovation.

The paper design a speed-control system of BLDCM by using the parameter self-tuning fuzzy PID control and single neuron adaptive PID control algorithm. Through simulation of double close-loop speed-control system to BLDCM model by using Simulink in MATLAB, we can synthesize the results that the rotational speed is non-overshoot, and high steady precision under single neuron adaptive PID.

CAN network architecture design of its anti-interference characteristics of a great, good design can improve the structural stability of the system, this article from the vehicle CAN networks are practical problems of interference, through the acquisition of the CAN network to study the interference signal , combined with electronic components inside the working principle and the principle of electromagnetic interference occurs, analyze the causes of this problem and put forward solutions, and tested to verify the validity of the solution, through the interference generator exert greater strength interference method, the certification program to improve the safety margin to use requirements.

Based on the single neuron PID control algorithm,the PID controller is established by revising the weight coefficient and selecting the proportion coefficient.Also the simulation model of single neuron PID controller is set up based on Simulink and a simulation example is given.

Concerning the problems in electrontechnics for students of non-electric engineering,the paper introduces the reforming plan and practice result of improving the teaching contents,experiment contents and modes and teaching means and methods.

This paper describes application of computer simulation software in Electrotechnics classroom teaching and virtual experiment.We do frequency analysis for sinusoidal steady-state current circuit using small-signal analysis function of PSpice software.We use LabVIEW 8.2 software development platform,and adjust the parameters of the three-phase AC induction motor on real-time online.We make simulation analysis of the three-phase AC induction motor mechanical characteristics.Simulation curves can show asynchronous motor electric state,generating feedback from state and state of the electromagnetic brake.The simulation results show the superiority of computer simulation software in electrotechnics teaching and learning process.

In this paper, the technology of relay feedback is first extended to the discrete field of controllers design assignment in the Internal Model Controller (IMC) configuration to achieve the automatic tuning in the complex dynamic factory circumstance. It is shown that this proposed method realizes automatic tuning easily based on the relay identification. For one thing, an improved simple proof of this identification and control procedure is provided. For another thing, this new controller entitles stronger disturbance rejection and better robust performance and the dynamic response compared with the former methods which are demonstrated by several simulation experiments. Furthermore, the proposed method successfully applies to the First-Order Plus Dead-Time (FOPDT) system with large time delay while many other traditional Proportional-Integral-Derivative (PID) self-tuning strategies even fail to converge in process control.