The utilization of biomimicry of bacterial foraging strategy was considered to develop an adaptive control strategy for mobile robot, and a bacterial foraging approach was proposed for robot path planning. In the prop...The utilization of biomimicry of bacterial foraging strategy was considered to develop an adaptive control strategy for mobile robot, and a bacterial foraging approach was proposed for robot path planning. In the proposed model, robot that mimics the behavior of bacteria is able to determine an optimal collision-free path between a start and a target point in the environment surrounded by obstacles. In the simulation, two test scenarios of static environment with different number obstacles were adopted to evaluate the performance of the proposed method. Simulation results show that the robot which reflects the bacterial foraging behavior can adapt to complex environments in the planned trajectories with both satisfactory accuracy and stability.展开更多
Before the task of autonomous underwater vehicle(AUV) was implemented actually,its semi-physical simulation system of pipeline tracking had been designed.This semi-physical simulation system was used to test the softw...Before the task of autonomous underwater vehicle(AUV) was implemented actually,its semi-physical simulation system of pipeline tracking had been designed.This semi-physical simulation system was used to test the software logic,hardware architecture,data interface and reliability of the control system.To implement this system,the whole system plan,including interface computer and the methods of pipeline tracking,was described.Compared to numerical simulation,the semi-physical simulation was used to test the real software and hardware more veritably.In the semi-physical simulation system,tracking experiments of both straight lines and polygonal lines were carried out,considering the influence of ocean current and the situation of buried pipeline.The experimental results indicate that the AUV can do pipeline tracking task,when angles of pipeline are 15°,30°,45° and 60°.In the ocean current of 2 knots,AUV could track buried pipeline.展开更多
Conventional vacuum control in a milking system is accomplished by using a vacuum pump, sized for the maximum air flows into the milking system, running at a full speed. The difference between the pump capacity and th...Conventional vacuum control in a milking system is accomplished by using a vacuum pump, sized for the maximum air flows into the milking system, running at a full speed. The difference between the pump capacity and the necessary flow of air is compensated by allowing air to enter the system through a regulator. The solution presented in this paper uses a VFD （variable frequency driver） in order to drive the vacuum pump at a controlled speed, so that the air removed equals the air entering the milking system. The VFD technology is able to adjust the rate of air removal from the milking system, by changing the speed of the vacuum pump motor. The VFD is controlled by a computer using a virtual instrument in order to emulate a PID （proportion integration differentiation） regulator. The tests aimed to evaluate the vacuum regulator characteristics and vacuum stability. A statistical analysis of the experimental results was performed and it showed that there was a significant difference between the experimental results obtained for the two methods of vacuum regulation （with vacuum regulator and VFD controller respectively）. The experimental results proved that the used of the VFD controller led to a higher vacuum stability in terms of the error between the set vacuum value and the achieved values.展开更多
Pseudo-random number generators have always been important in experimental design, computer simulation, cryptography and statistical analysis. This paper presents a method of comparing the degree of independence exhib...Pseudo-random number generators have always been important in experimental design, computer simulation, cryptography and statistical analysis. This paper presents a method of comparing the degree of independence exhibited by various random number generators, a procedure, based on consideration of the largest (in modulus) non-unit eigenvalue of the observed Markov transition matrix, is used to assess the 'randomness' of a random number generator.展开更多
基金Project(61173032)supported by the National Natural Science Foundation of ChinaProject(20090406)supported by the Tianjin Scientific and Technological Development Fund of Higher Education of China
文摘The utilization of biomimicry of bacterial foraging strategy was considered to develop an adaptive control strategy for mobile robot, and a bacterial foraging approach was proposed for robot path planning. In the proposed model, robot that mimics the behavior of bacteria is able to determine an optimal collision-free path between a start and a target point in the environment surrounded by obstacles. In the simulation, two test scenarios of static environment with different number obstacles were adopted to evaluate the performance of the proposed method. Simulation results show that the robot which reflects the bacterial foraging behavior can adapt to complex environments in the planned trajectories with both satisfactory accuracy and stability.
基金Projects(50909025,51179035) supported by the National Natural Science Foundation of ChinaProject(HEUCFZ1003) supported by the Fundamental Research Funds for Central Universities of China
文摘Before the task of autonomous underwater vehicle(AUV) was implemented actually,its semi-physical simulation system of pipeline tracking had been designed.This semi-physical simulation system was used to test the software logic,hardware architecture,data interface and reliability of the control system.To implement this system,the whole system plan,including interface computer and the methods of pipeline tracking,was described.Compared to numerical simulation,the semi-physical simulation was used to test the real software and hardware more veritably.In the semi-physical simulation system,tracking experiments of both straight lines and polygonal lines were carried out,considering the influence of ocean current and the situation of buried pipeline.The experimental results indicate that the AUV can do pipeline tracking task,when angles of pipeline are 15°,30°,45° and 60°.In the ocean current of 2 knots,AUV could track buried pipeline.
文摘Conventional vacuum control in a milking system is accomplished by using a vacuum pump, sized for the maximum air flows into the milking system, running at a full speed. The difference between the pump capacity and the necessary flow of air is compensated by allowing air to enter the system through a regulator. The solution presented in this paper uses a VFD （variable frequency driver） in order to drive the vacuum pump at a controlled speed, so that the air removed equals the air entering the milking system. The VFD technology is able to adjust the rate of air removal from the milking system, by changing the speed of the vacuum pump motor. The VFD is controlled by a computer using a virtual instrument in order to emulate a PID （proportion integration differentiation） regulator. The tests aimed to evaluate the vacuum regulator characteristics and vacuum stability. A statistical analysis of the experimental results was performed and it showed that there was a significant difference between the experimental results obtained for the two methods of vacuum regulation （with vacuum regulator and VFD controller respectively）. The experimental results proved that the used of the VFD controller led to a higher vacuum stability in terms of the error between the set vacuum value and the achieved values.
文摘Pseudo-random number generators have always been important in experimental design, computer simulation, cryptography and statistical analysis. This paper presents a method of comparing the degree of independence exhibited by various random number generators, a procedure, based on consideration of the largest (in modulus) non-unit eigenvalue of the observed Markov transition matrix, is used to assess the 'randomness' of a random number generator.
