Development and Analysis of a Closed-Chain Wheel-Leg Mobile Platform

Current research concerning legged platforms and wheeled platforms primarily focuses on terrain adaptive capability and speed capability,respectively.Compared with wheeled platforms,legged platforms with a closed-chain mechanism still present deficiencies regarding speed ability.To integrate the advantages of these two types of platforms,a wheel-leg mobile platform with two modes based on a closed-chain mechanism is proposed.First,a closed-chain mechanism that generates a high-knee trajectory in legged mode is designed and analyzed based on kinematic analysis.To improve the platform’s obstacle-surmounting performance,the dimensional parameters of the closedchain mechanism are optimized and the design requirements for the platform’s frame are analyzed.In addition,the particular structure of the leg group is designed to realize transformation between legged mode and wheeled mode.The mobility of the constructed platform is calculated through an obstacle-surmounting probability analysis.The performances of the two motion modes are analyzed and compared by conducting dynamic simulations.Finally,experiments are carried out to verify both the theoretical analyses and the prototype performance.This study proposes a new approach to designing wheel-leg platforms with prominent speed ability and mobility based on a closed-chain mechanism.

Motion Control of Omnidirectional Mobile Platform based on Fuzzy PID

The omnidirectional mobile platform has three degrees of freedom that make it widely applicable to all areas of industry, while the Mecanum wheel has the disadvantages wheel omnidirectional mobile platform is always difficult in of large vibration, the trajectory precision of Mecanum the omnidirectional mobile platform. To control the trajectory of the omnidirectional mobile platform better, this paper proposes a fuzzy self-tuning PID control model, through establishing the motion model of omnidirectional mobile platform in Adams software, then combined with Simulink simulation, analysis of fuzzy PID controller to improve the accuracy of the speed control of omnidirectional mobile platform, improve the control method of a precise trajectory of the omnidirectional mobile platform motion.

Analysis of Accuracy of a High-speed Mobile Platform Control System

The efficient manufacture technique involves a high-speed control of platform mobile system. A linear acutor is presented in this paper. The linear acutor is constructed as a linear stepper motor. However, to sustain both high accuracy and high speed for the position and speed control, A single-stack computer system is constructed and a special control algorithm is prescribed to controled the linear actuator continuously. In this paper, the nonlinear errors resulted from the magnetic saturation and the hysteresis is anaysis and discussed. In the view of electromagnetic propotional control, the actuator is a stage proportional magnet, because the driving current to the linear acuator changes for a number of cycles and a series of reset points will occur as the current undergoes cyclic changes. At each reset point the original starting characteristics of the system are re-established. A large number of reset points across the full stroke of the platform results in a significant reduction in the nonlinear behavior. The stage control is first discussed. Experiments carried out to obtain the characteristics of the mobile platform control system. It is demonstrated that with the introduction of stage control, nonlinearities, such as saturation and hysteresis, are greatly reduced, system stiffness is increased, and the positioning accuracy and resolution are improved. The effect of dither due to a "digital fragment" signal is also examined and found to be crucial in reducing the hysteresis and in improving the resolution accuracy.

Wireless positioning and path tracking for a mobile platform in greenhouse

In order to realize intelligent greenhouse,an automatic navigation method for a mobile platform based on ultra-wideband(UWB)positioning technology was proposed and validated in this study.The time difference of arrival(TDOA)approach was used to monitor and track the UWB positioning to obtain the localization information of the mobile platform working in a greenhouse.After applying polynomial fitting for positioning error correction,the system accuracy was within 5 mm.A fuzzy controller model was constructed by incorporating the lateral and heading deviations as input variables and the steering angle of front wheel as the output variable.A fuzzy rule was established based on domain knowledge,as well as the steering angle of front wheel offline query table,which was applied to alleviate the calculative load of the controller.Experimental results confirmed that the automatic navigation method proposed in this study performed satisfactorily,with a steady-state error ranging from 41 mm to 79 mm when tracking straight line,and an average error of 185 mm and an average maximum error of 532 mm when tracking polygon.In addition,the maximum error occurred at the polygonal corner which could meet the needs of driving on the narrow road in the greenhouse.The method proposed in this study provides a new systematic approach for the research of greenhouse automatic navigation.

Mobile Agent Platform and Naming Scheme of Agents

Mobile agent technology has drawn a tremendous amount of attention from researchers in distributed computing recently as it promises to provide an elegant and efficient way of solving complex distributed problems, as well as offering a new approach to human-computer-interaction. In mobile agent systems, the mobile agent travels autonomously from one computer to another within the agent enabled networks, executes itself in the agent execution environment, collects useful information and makes its own decision or behalf of its owner. This mobility nature of mobile agent demands its unique name in the whole network otherwise it gets lost or conflicts with other mobile agent having same name. This paper proposes a naming scheme which promises a unique name for a mobile agent within that network. Key words mobile agent - mobile agent platform - naming scheme

Design of A Novel Wheel-Legged Robot with Rim Shape Changeable Wheels

The wheel-legged hybrid structure has been utilized by ground mobile platforms in recent years to achieve good mobility on both flat surfaces and rough terrain.However,most of the wheel-legged robots only have one-directional obstacle-crossing ability.During the motion,most of the wheel-legged robots’centroid fluctuates violently,which damages the stability of the load.What’s more,many designs of the obstacle-crossing part and transformation-driving part of this structure are highly coupled,which limits its optimal performance in both aspects.This paper presents a novel wheel-legged robot with a rim-shaped changeable wheel,which has a bi-directional and smooth obstacle-crossing ability.Based on the kinematic model,the geometric parameters of the wheel structure and the design variables of the driving four-bar mechanism are optimized separately.The kinetostatics model of the mobile platform when climbing stairs is established to determine the body length and angular velocity of the driving wheels.A pro-totype is made according to the optimal parameters.Experiments show that the prototype installed with the novel transformable wheels can overcome steps with a height of 1.52 times of its wheel radius with less fluctuation of its centroid and performs good locomotion capabilities in different environments.

Developing Three-Dimensional Beamshaping Techniques on Volumetric Random Arrays to Suppress Array Sidelobes

This paper proposes a three-dimensional (3-D) amplitude tapering technique on volumetric random arrays to minimize array sidelobes and emulate phased array operations on mobile platforms. Our ultimate goal is to realize wireless phased array applications carried out by mobile platforms;in this paper, we focus on the development of collaborative beamforming algorithms. This beamshaping technique mitigates the discontinuity of the current distribution along the array aperture and lower array sidelobe level (SLL) by specially paying attention to the array element’s depth deviation. In this work, step by step amplitude tapering procedures are clearly illustrated. Further, a reconfigurable phased array with sixteen patch antennas is tested to verify the fidelity of the 3-D beamshaping algorithm. Measured and simulated radiation patterns are benchmarked to evaluate the sidelobe suppression results, and the best sidelobe suppressed region is around the array’s main beam.

一类活动发射平台驱动控制系统网络设计

In order to ensure that a mobile launch platform is able to transport a launch vehicle which is assembled vertically on a complex orbit,a communication network for the drive control system was designed.Based on the char-acteristics of equipment of the drive control system and its position,Industrial Ethernet and Profibus were selected.To meet the requirements for reliability and maintainability of aerospace products,the communication network featured a hot redundant to avoid single point failure risk,so that if any point in the system fails,the control strategy of standby switches using heartbeat detection and parity check would ensure the normal communication and failure diagnostics,which could enable the transport mission of the launch vehicle to be completed smoothly.

Research on the Mixed Teaching Model in Colleges and Universities in the Context of"Internet+"

Under the tide of"Internet+education",the new means of information technology education is constantly used in education and teaching,and the traditional teaching models and teaching methods urgently need to be changed.There is no doubt about the integration of online teaching and offline teaching.On the basis of reviewing the research on the mixed teaching model at home and abroad,this paper puts forward the idea of constructing the mixed teaching model in colleges and universities in the context of"Internet+",and sets up the mixed teaching model in colleges and universities in the context of"Internet+".Through the detailed and concrete design of the operation process of the mixed teaching model,we can break the single shackles of online teaching and face-to-face teaching,and form an interactive and collaborative teaching ecosystem to realize the common development of online teaching and offline teaching.

A Trusted Mobile Payment Environment Based on Trusted Computing and Virtualization Technology

In this paper, we propose a trusted mobile payment environment （TMPE） based on trusted computing and virtualization technology. There are a normal operating system （OS） and a trusted OS （TOS） in TMPE. We store the image of TOS in a memory card to hinder tampering. The integrity of TOS is protected by means of a trusted platform module （TPM）. TOS can only be updated through a trusted third party. In addition, virtualization technology is applied to isolate TOS from normal OS. Users complete ordinary affairs in normal OS and security-sensitive affairs in TOS. TMPE can offer users a highly protected environment for mobile payment. Moreover, TMPE has good compatibility in different hardware architectures of mobile platforms. As the evaluation shows, TMPE satisfies the requirement of mobile payment well.

MobSafe:Cloud Computing Based Forensic Analysis for Massive Mobile Applications Using Data Mining

With the explosive increase in mobile apps, more and more threats migrate from traditional PC client to mobile device. Compared with traditional Win＋Intel alliance in PC, Android＋ARM alliance dominates in Mobile Internet, the apps replace the PC client software as the major target of malicious usage. In this paper, to improve the security status of current mobile apps, we propose a methodology to evaluate mobile apps based on cloud computing platform and data mining. We also present a prototype system named MobSafe to identify the mobile app＇s virulence or benignancy. Compared with traditional method, such as permission pattern based method, MobSafe combines the dynamic and static analysis methods to comprehensively evaluate an Android app. In the implementation, we adopt Android Security Evaluation Framework （ASEF） and Static Android Analysis Framework （SAAF）, the two representative dynamic and static analysis methods, to evaluate the Android apps and estimate the total time needed to evaluate all the apps stored in one mobile app market. Based on the real trace from a commercial mobile app market called AppChina, we can collect the statistics of the number of active Android apps, the average number apps installed in one Android device, and the expanding ratio of mobile apps. As mobile app market serves as the main line of defence against mobile malwares, our evaluation results show that it is practical to use cloud computing platform and data mining to verify all stored apps routinely to filter out malware apps from mobile app markets. As the future work, MobSafe can extensively use machine learning to conduct automotive forensic analysis of mobile apps based on the generated multifaceted data in this stage.