Zuojun Liu

Route Planning based on Floyd Algorithm for Intelligence Transportation System

A novel path planning approach based on Floyd algorithm for intelligence transportation system (ITS) is presented in this paper. For the route net can be converted into a topology, the optimal path in the route net of transportation system can be treated as the shortest path in a topology as well. So Floyd algorithm, which solves the shortest path in topology perfectly, is developed to solve the optimal route. And the globally optimal solution for ITS is obtained.

Control and application of chaos in electrical system

Chaos and its application in electrical system are studied in this paper. The simulation of chaos is presented. Some measures against the harm caused by chaos of ferroresonance are summarized. A utility scheme of chaos in the electrical system for steel smelting is suggested on the base of chaos controlling.

Kinematics and constraint analysis of tractor-trailer mobile robot

Tractor-trailer mobile robot is a complicated system composed of a tractor and multiple trailers. Its path planning is complicated accordingly. The kinematics of the system is analyzed in this paper on the base of band-path concept. The transient parameters in the dynamic motion presented in this paper make the collision avoidance and path seeking easier. It also provides a kinematics model for the simulation.

System integration control of HVAC in intelligent building

System integration is the core of intelligent building. A heating-ventilation air conditioner control system by means of system integration is formulated in This work. It reaches good control effect and energy efficiency by making the best of the advantages of intelligence building. A scheme of feed-forward controller via system integration is presented. The advantages and feasibility are explained by simulation and analysis.

Gait Optimization of Biped Robot Based on Mix-encoding Genetic Algorithm

A seven-link biped robot model with 12 rotational DOF was chosen for gait optimization. The vector describing robots position and pose was established, then the vectors expected locus during a regular step was modeled by the 5th order polynomials. The mathematic descriptions of geometry restriction, stabilization, energy dissipation, and impact to swaying leg from floor were analyzed respectively, and then the optimal gait was worked out with genetic algorithm mixing binary number encoding and floating point number encoding. Experimental results show that the optimal gait maximizes dynamic stabilization while it minimizes both energy dissipation and impact to swaying leg from floor.

Microphone array based auditory localization for rescue robot

Because of the smoke or collapsed walls in the buildings while fire or earthquake occurred, a rescue robot can not directly find the target which is in other rooms or invisible places by using visual, ultrasonic or infrared ray sensors. According to the diffraction property of audio signal, the sound can bypass obstacles. By using microphone array, combined with the speech recognition technology, an audio-based robot navigation system is developed to make it feasible to guide the robot find the target shouting for help. And ideal effects are obtained in experiments.

Path planning for tractor-trailer mobile robot system based on equivalent size

Tractor-trailer wheeled mobile robot is a complicated system, which is composed of a tractor and multiple trailers. As the path width changes with the different turning angles, as its path planning is complicated accordingly. On the base of presenting the kinematics equations of the tractor-trailer mobile robot, the maximum path width is deduced when the robot runs at the maximum turning angle. And this path width is named as equivalent size. Then genetic algorithmic is applied for the path planning method of tractor-trailer mobile robot. Firstly, the barriers are enlarged step by step with equivalent size. Then the vicinities around the barriers and the block neck zone are analyzed and labeled. The fitness function is defined according to both the path length and path width. Finally, the genetic algorithm is adopted to solve the whole path planning problem.

Research on multi-parameter physiological monitor based on CAN bus

The design of multi-parameter physiological monitor based on CAN bus is presented. This article describes the design of the hardware and software in the monitor. The monitor with CAN bus receives the physiological parameters which are detected by Cygnal MCU and display the parameters through GUI in ARM/Linux system. This method implements the long transmission of the data and the plug and play of data collection and display.

Path Planning of Tractor-trailer Mobile Robot in Multi-grid Circuit Map

A path planner for tractor-trailer robots based on multi-grid circuit map is proposed in this paper. The geometry of tractor-trailer is analyzed. The similarity between real physical space and grid circuit is explained in environment modeling. The path planner is designed according to the phenomenon that more current flows along the branch with fewer resistors in series and more resistors in parallel, which is similar with the aim of path planning for short and wide path. The initial paths in the circuit map are easier to add the nonholonomic and kinematics constraints for getting the final feasible path. The simulation proves the feasibility and advantage of this solution

Research on the control and application of chaos in an electrical system

Chaos and its application in an electrical system are studied in this paper. The simulation of chaos is presented. Some measures against the harm caused by chaos of ferroresonance are summarized. A utility scheme of chaos in the electrical system for steel smelting is proposed on the base of chaos controlling.