Fengyu Zhou

Control of an inspection robot for 110KV power transmission lines based on expert system design methods

The paper presents a new control strategy and its real-time implementation for a power transmission line inspection robot based on expert system design methods. In this paper, an algorithm is proposed to coordinate the operations between distributed expert systems, in which the principle of the goodness to fit to the rules and facts is employed for decision making and reasoning. To implement the control strategy, a combination of computer languages including C, VC++ and CLIPS are adopted that provide a convenient and effective software platform. On-line experiment results show that the control strategy can guide the inspection robot to patrol along the transmission lines and cross various typical obstacles efficiently. At the locations of corners and bends of the transmission line, more complicated obstacles occur, so two sub-expert systems work together and guide the robot passing through the locations smoothly. At those locations, the speed of the robot obviously slows down for safety consideration

Mobile Robot Path Planning Based on Q-ANN

Path planning is a difficult part of the navigation task for the mobile robot under dynamic and unknown environment. It needs to solve a mapping relationship between the sensing space and the action space. The relationship can be achieved through different ways. But it is difficult to be expressed by an accurate equation. This paper uses multi-layer feed forward artificial neural network (ANN) to construct a path-planning controller by its powerful nonlinear functional approximation. Then the path planning task is simplified to a classified problem which are five state-action mapping relationship. One reinforcement learning method, Q-learning, is used to collect training samples for the ANN controller. At last the trained controller runs in the simulation environment and retrains itself furthermore combining the reinforcement signal during the interaction with the environment. Strategy based on the combination of ANN and Q-learning, Q-ANN, is better than using only one of the two methods. The simulation result also shows that the strategy can find the optimal path than using Q-learning only.

ADRC based ship tracking controller design and simulations

Because of the strong non-linearity, uncertainty and typical underactuated properties, as well as the restraints of rudder, the design of ship tracking controller is yet a challenge work. In this paper, the problem was investigated by utilizing the active disturbance rejection control (ADRC) method. Firstly, the ADRC was introduced briefly and the characteristics of ship tracking motion were analyzed. And the systempsilas nonlinear mathematical model with restraints and uncertainties was established. Then the system was described as a series structure, and the tracking ADRC controller was designed based on a kind of three order polynomial trajectory planning algorithm. At last, the simulations were performed. The results show that the controller designed can achieve high precision on ship tracking control and has strong robustness to ship parameter perturbations and environment disturbances.

Multi-pattern information representation and acquisition in intelligent space

Intelligent space has changed the one to one occupying mode between robot and sensing devices in traditional pattern, making the computational resources and all kinds of devices tend to be public and sharing. In order to make full use of the different services and resources, a new information representation method based on modified JDL is presented in the paper, which can represent the information from QR Code, RFID in a uniform format, and realize information interoperability and sharing. Due to the strong computational ability of intelligent space, the information service in the intelligent space is not limited in the original signal level, but also the deeper understanding through data fusion. A multi-pattern acquisition model based on the distributed data fusion tree is built in the paper aiming to realize multi-class, multi-level processing to the distributed sensor data. The example demonstrates that the new model proposed in the paper can improve the positioning precision of robot and targets greatly, and the search efficiency and success rate are also better than traditional pattern.

Design and simulation of ship course controller based on auto disturbance rejection control technique

Because of the strong non-linearity and uncertainty, the dynamics restraints of autopilots, as well as the effect of wave disturbances, designing a high performance ship course controller is always a difficult work. This paper presents a design of the ship course auto disturbance rejection controller (ADRC) based on the nonlinear mathematical model of ship course locomotion with autopilot restrictions and the model of wave disturbances. The simulation results of ship course tracking and keeping show that the controller has good adaptabilities on the system nonlinearity and strong robustness to parameter perturbations of the ship and environmental disturbances. And the course switching is fast and smooth with small rudder turning volume, thus achieved high-accurate ship course control.

The Design and Implementation of OpenGL-based Comprehensive Educational Robot System

In this paper, the authors present the design and implementation of MountTai, a cost effective OpenGL based comprehensive educational robot system for Chinas primary and high school education. Firstly the systems goal and framework is introduced, then it is described the MountTai robots functions and construction in hardware. The paper expatiates at length how VR technology is used to implement the system software as well as how the softwares functions are designed to illustrate robotics in different perspectives relating to mechanics, electronics, communication, artificial intelligence, language programming. The Web-based teaching course dedicated to robot-DIY tutorials is also shown. Finally, concluding remarks for future works are given.

Design of Wireless Sensor Network Node CC2510 Based and Study on Communication Protocol

Design of wireless sensor node with CC2510, which is a low-cost system-on-chip containing a UHF RF transceiver and a high performance, low-power 8051-based microcontroller is introduced, and based on this node communication protocol was studied. The power cost of the node is low, and the size is small. The wireless sensor network realized data many to jump and the self-organization when the nodes were randomly distributed. It can be applied to various fields, such as data wireless communication systems, military affairs scout, environmental monitoring, and safe precaution systems

A fuzzy sliding mode controller and its application on ship course control

Though sliding mode variable structure controller has good robustness and high stability, its chattering phenomenon is widely exist. A fuzzy sliding mode controller is designed based on exponential approach law by combining sliding control and fuzzy control in this paper. The computer simulation is applied to verify the advance of the fuzzy sliding mode controller and the controller is applied to ship course control. The simulation results verify this controller is very effective.

The robust iterative learning control of networked control systems with varying references

In this paper, the iterative learning control (ILC) is applied to the networked control system (NCS) with iterative varying references and time-delayed states. A robust PD type ILC learning law is discussed including both feedback and feedforward terms. And a P type reference updating law is applied to improve the convergence speed. The convergence conditions are derived in both frequency and time domains. The learning gains in the updating law guarantee the convergence of the control strategy, and can be adjusted to improve the convergence speed to a large extent. A number of simulation results are provided to validate the concepts and the tuning rules are summarized as well.

The ship nonlinear course system control based on auto disturbance rejection controller

Because of the strong non-linearity and uncertainty, the dynamics restraints of autopilots, as well as the effects of wave disturbances, designing a high performance ship course controller is always a difficult work. This paper presents a design of the ship course auto disturbance rejection controller (ADRC) based on the nonlinear mathematical model of ship course locomotion with autopilot restrictions and the model of wave disturbances. Simulation results of ship course tracking and keeping show that the controller has good adaptabilities on the system nonlinearity and strong robustness to parameter perturbations of the ship and environmental disturbances.