Ding Chengjun

The Remote Control of Mobile Robot Based on Embedded Technology

Along with the development of society, the remote control of mobile robot has broad prospect of application. With the continuous development of embedded system, the system provides excellent hardware platform for embedded mobile robot. With embedded WinCE5.0 operating system, This paper put forward a kind of remote control method of mobile robots. The experiments had proved the embedded mobile robot has low power consumption and strong real-time control. It also had proved the validity of this method.

Development on Gas Leak Detection and Location System Based on Wireless Sensor Networks

Develops a gas leak detection and location system for the production safety in Petrochemical Industry. The system is based on Wireless Sensor Networks (WSN), it can collect the data of monitoring sites wirelessly and sent to the computer to update values in the location software. Consequently, it can give a real-time detective of the potential risk area, collect the data of a leak accident and locate the leakage point. However the former systems can not react in time, even can not obtain data from an accident and locate accurately [1]. The paper has three parts, first, gives the overall system design, and then provides the approaches on both hardware and software to achieve it.

Double inverted pendulum system control strategy based on fuzzy genetic algorithm

The double inverted pendulum is a MISO complication system. If only adopting the traditional fuzzy control, then the total of fuzzy rules will bring the exponential increase with the increase of input variables, which is disadvantaged to the real-time control. So in this paper, we firstly adopt the add weighting coefficient to reduce the input variables of fuzzy controller, then using Genetic Algorithm to optimize the weighting coefficient and membership function parameters of fuzzy controller by the off-line way, finally, using the optimizing result to control the double inverted pendulum system. In this paper, we introduce the whole optimizing operations with GA, which are coding strategy, determination of the fitness function, selection, crossover and mutation. In the end, by the validation of simulation platform Matlab gives out the curve of simulation and shows the optimizing control strategy is more effective in the aspect of speed response and stability than traditional fuzzy controller.

Design of mobile robot teleoperation system based on virtual reality

As a rising subject, virtual reality is the best human-machine interface technology so far. This paper submits the architectural structure of the robot teleoperation system based on virtual reality and after analyzing the principle of the systems operation, it sets up the model of hierarchical control. Subsequently this paper elaborates critical techniques such as telerobot, creating virtual environment, designing video supervising system and so on. Bring technology of virtual reality in robot teleopration system, not only strengthens the working ability of the actuator but also widens application areas of the device. Manipulator can safely and cozily completes tasks by teleoperating the robot.

The study on dynamic scheduling of mobile manipulator based on MAS and neural network

A distributed intelligent decision and management system is erected which incorporates the technologies of decision support system, expert system and database based on the theory of multi-agent. The system is able to support more rational, more effective and more scientific decision-making and schedule strategy, and it also can do attribute to the automation and intelligence of mobile manipulator. Also, in this paper, we use Neural network as the intelligent controller of the hierarchical intelligent system, because it is near to the method of person dealing with information and has the ability of imitating persons image thinking. This paper utilizes the excellent characteristics of neural network in studying and fault-tolerant to solve the coupling between manipulator and mobile vehicle and compensating the torque in order to realize the coordination movements between manipulator and mobile vehicle of mobile manipulator.

Pattern recognition and following of wall by behavior-based mobile robot

The movement of mobile robot along wall is classified into wall type recognition, straight wall following and turning around corners according to the behavior based idea. Mobile robot measures distance between its body and the wall it follows by three ultrasonic sensors, it recognizes the wall type online with neural network, follows straight wall with fuzzy controller and turns around 3 kinds of corners at their optimal turning radius by calculating models for the corners. The results of simulation and experiments according to TIT-I mobile robot indicate that the control strategy for wall recognition and following proposed in this paper is practicable and effective.