Jiping Zhou

Dual Arms Running Control Method of Inspection Robot Based on Obliquitous Sensor

Inspection robot with dual wheels encounters upslope and down slope, when it runs on the overhead ground wires (OGWs) which displays catenary shape. The tilt of the body of inspection robot, which is caused by the angle variation of catenary in different position, will occur during running procedure, and disenable to check vertically the transmission lines by camera. An adjustment method, which can keep the body of inspection robot in horizontal pose, is presented by the obliquitous sensor changing the length of the manipulators in this paper. In order to implement the pose adjustment, the dynamic model is established by Lagrange method. Finally, the simulation and experiment results show that the adjustment method proposed is feasible

A Novel Running and Gripping Mechanism Design Based on Centroid Adjustment

One arm is hung on the overhead ground wires (OGWs), while the other arm is off the OGW when an inspection robot autonomously negotiates obstacles on OGWs. The inspection robots body tilts because the gravity torque is unbalanced, and it is difficult to negotiate obstacles autonomously. If the horizontal pose of the body is kept through the gripping mechanism, the gripping force will become bigger, and results in the damage of OGWs. A centroid adjustment method, which enables the centroid of the inspection robot to concentrate on the arm that is hung on OGWs, is proposed in this paper. That idea is applied in the design so that the running and gripping mechanisms ameliorate the strained condition of OGWs and reduce the extent of damage. A dynamic model is established in this paper, the simulation and experiments results prove that the method proposed is feasible

An Autonomous Obstacles Negotiating Inspection Robot for Extra-High Voltage Power Transmission Lines

The purpose of inspection tasks for power transmission lines is to check running state and find damages of extra-high voltage (EHV) power transmission lines equipment. Obviously, inspection tasks are very important for normal operation of power transmission lines. So far, there are two methods for checking power transmission lines. One method is that power transmission line equipment has been checked manually by workers with a telescope on the ground. Another method is that power transmission line equipment has been inspected by helicopter with the checking devices which are thermal infrared imager, visible light camera and so on. After inspection robot configuration is described, the centroid adjustment principle of inspection robot is introduced. Then the control strategy of inspection robot is investigated. From the experiments, we find that the centroid adjustment method proposed and the control strategy presented is feasible.

Single Arm Running Control Method of Inspection Robot Based on Obliquitous Sensor

Inspection robot encounters upslope and down- slope, when single wheel runs on overhead ground wires (OGWs) which displays catenary shape. The tilt of inspection robots body is happened because the contact point between single wheel and overhead line is variational with the angle variation of catenary in different position during single wheel running procedure, and causes the gravity torque unbalance. Above problem disenable to check vertically power transmission line by the high-speed dome camera. A centroid adjustment method, which can enable to keep the body of inspection robot in horizontal pose, is presented by the obliquitous sensor adjusting the centroid position in this paper. In order to implement centroid adjustment, the equilibrium condition equation and the dynamic model of centroid adjustment mechanism is established by Lagrange method. Finally, the simulation results test that the centroid adjustment method proposed is feasible.

A closed loop algorithms based on chaos theory for global optimization

Numerical optimization problems enjoy a significant popularity in chaos theory fields. All major chaotic techniques use such problems for various tests and experiments. However, many of these techniques encounter difficulties in solving some real-world problems which include non-trivial constrains. This paper discusses a closed loop algorithms (CLA) which based on chaos theory. Thus, for many constrained numerical optimization problems it might be beneficial to add a constraint, and make up of closed loop, using feedback theory. Given an initial best function value (BFV), after the first runs computation we subtract variable increment from obtained BFV, and name it as the new value. That the new value subtracts the new BFV in the next runs computation is defined the accessional constraints. Substituting the new BFV in the next runs for the old BFV and go on, until the global solution is searched. Eventually, some difficult test cases illustrate this approach is very available.

An algorithm of determining the plane based on monocular vision and laser loop

Since the spot is elliptical when the cylindrical laser irradiates on the spatial plane, the pose of the spatial plane can be described by the elliptical spot. At the same time, the laser spot in the CCD plane is also elliptical. The information of the spatial plane will include in the image ellipse. The monocular vision has been established, and the boundary equation is obtained by image processing, and the relationship is derived between the boundary equation and the pose parameters of the spatial plane by minimum mean-square method. In order to obtain the depth information of the spatial plane, the boundary equation of the cylinder laser is introduced as the constrained condition. Because the constrained condition is transcendental equation set which includes trigonometric function, SWIFT (sequential weight increasing factor technique) is adopted for solving the parameters of the spatial plane. The simulation results show that the algorithm proposed is effective and feasible.

A method of determining the pose of spatial plane based on ellipse features

When the cylindrical laser lights up the spatial plane, the shape of the laser spot(SLS) is elliptical. The SLS images on the CCD plane by binocular stereo vision are also elliptical. Five independent parameters are obtained according to the principle of least square ellipse. The relationship between spatial plane and elliptical parameters is established. With the use of SWIFT ( Sequential Weight Increasing Factor Technique ) search algorithm, the pose of spatial plane can be determined without the match of feature points. The numerical results show that the method is effective and feasible.

Algorithm of Finding All Real Roots Based on Solution Space Compression

Finding the approximate solution of linear or nonlinear equations is a mathematical problem, which is often encountered in engineering. As it is known, Galois E. had proven that over five orders algebraic equation was no root-finding formula. The solutions of high-order equation are obtained by some of iterative algorithms, e.g. Binary method and Newton method. To Binary method and Newton method, the function must be continuous, monotone and differentiable. The function must be only simple root in solution space, too. A few of solution subspace have been obtained by dividing solution space according to Binary method’s idea. In each subspace, real root will be searched for by algorithm proposed. If subspace has simple root or multi roots, the subspace will be reserved. If no, the subspace will be discarded. The subspace that has solution will be divided again. With increasing of iterations, solution space will be compressed, and converge at the solution of equations. Solution space compression will be finished until all real roots are found. The proposed algorithm is applicable to solve equation’s simple root and multi roots problem. As such, it is fit for linear equations and nonlinear equations. Eventually, some test cases illustrate this approach is very available.

An alterable gain adaptive control compensation methods for hydraulic servo joint based on ANFIS

The tracking errors often occur during the position tracking because the hydraulic servo joint is a nonlinear dynamic system with saturation, dead zone and stroke coupling. In order to solve this problem, the working principal of the joint is described, and the dynamic model of the joint is established. A control compensation method with adaptive network based fuzzy inference system (ANFIS) is presented. The method enables to adjust the alterable gain coefficients by the sample data sets training and self-learning. The position tracking errors, in which saturation, dead zone and stroke coupling result, are eliminated. Eventually, the simulation results show that the method is feasible.