Automatic control technology is the basis of road robot improvement,according to the characteristics of construction equipment and functions,the research will be input type perception from positioning acquisition,real...Automatic control technology is the basis of road robot improvement,according to the characteristics of construction equipment and functions,the research will be input type perception from positioning acquisition,real-world monitoring,the process will use RTK-GNSS positional perception technology,by projecting the left side of the earth from Gauss-Krueger projection method,and then carry out the Cartesian conversion based on the characteristics of drawing;steering control system is the core of the electric drive unmanned module,on the basis of the analysis of the composition of the steering system of unmanned engineering vehicles,the steering system key components such as direction,torque sensor,drive motor and other models are established,the joint simulation model of unmanned engineering vehicles is established,the steering controller is designed using the PID method,the simulation results show that the control method can meet the construction path demand for automatic steering.The path planning will first formulate the construction area with preset values and realize the steering angle correction during driving by PID algorithm,and never realize the construction-based path planning,and the results show that the method can control the straight path within the error of 10 cm and the curve error within 20 cm.With the collaboration of various modules,the automatic construction simulation results of this robot show that the design path and control method is effective.展开更多
Remotely controlled intelligent machinery has complications,including loose manage-ment of failure information,low information availability,and coupling influence among systems,which can be effectively solved by analy...Remotely controlled intelligent machinery has complications,including loose manage-ment of failure information,low information availability,and coupling influence among systems,which can be effectively solved by analyzing the system state and information characteristics of the equipment.Taking intelligent agricultural machinery as the object,this study applies the knowledge representation method to explore equipment failure states’informational features and construct a knowledge framework model of system fail-ure representation relations and a complex network conceptual model to visualize the fail-ure information more intuitively and facilitate systematic management and utilization.The feedback-based decoupling analysis method uncouples the coupling between subsys-tems,identifying the critical state of decoupling well.It attempts to apply the knowledge representation and decoupling analysis to remotely controlled intelligent agricultural machinery equipment.Through the example,the result further illustrates the feasibility of knowledge representation and decoupling for remotely controlled intelligent agricultural machinery systems and provides essential support for better failure analysis.展开更多
With advanced communication technologies,cyberphysical systems such as networked industrial control systems can be monitored and controlled by a remote control center via communication networks.While lots of benefits ...With advanced communication technologies,cyberphysical systems such as networked industrial control systems can be monitored and controlled by a remote control center via communication networks.While lots of benefits can be achieved with such a configuration,it also brings the concern of cyber attacks to the industrial control systems,such as networked manipulators that are widely adopted in industrial automation.For such systems,a false data injection attack on a control-center-to-manipulator(CC-M)communication channel is undesirable,and has negative effects on the manufacture quality.In this paper,we propose a resilient remote kinematic control method for serial manipulators undergoing a false data injection attack by leveraging the kinematic model.Theoretical analysis shows that the proposed method can guarantee asymptotic convergence of the regulation error to zero in the presence of a type of false data injection attack.The efficacy of the proposed method is validated via simulations.展开更多
This article describes the design and creation of a remote monitoring and control system based on GSM(Global System for Mobile)communications technology for monitoring the key parameters of a biodigester.Biodigesters ...This article describes the design and creation of a remote monitoring and control system based on GSM(Global System for Mobile)communications technology for monitoring the key parameters of a biodigester.Biodigesters are widely used for the conversion of organic materials into biogas,thereby contributing to renewable energy production and organic waste management.However,real-time monitoring and regulation of parameters such as temperature,humidity,product gas level,pH are essential to ensure the efficiency and safety of the digestion process.We created the device for remote control of the operating parameters of the biodigester using an Arduino card,a DHT11 sensor,a pH sensor,a GSM module and a 2×16 LCD(Liquide-Crystal-Display)display.A biodigester(4.5 L plastic container)and accessories were used.The experimental device created made it possible to remotely monitor the evolution of the temperature,humidity,the gas produced as well as the pH in the digester loaded with cow dung,for 45 days.Examination of the real-time evolution of the parameters measured by the device produced showed the same results as those carried out locally by the usual instruments,with a correlation coefficient of around 98%.During this digestion period,the temperature provided by the sensor varied from 25°C to 37°C(mesophilic mode)and the humidity levels varied from 70%to 95%.The results obtained show the reliability of the device produced.This research represents a significant advance in the management of biodigestion facilities.It offers a powerful tool to maximize biogas production,reduce maintenance costs,minimize environmental impact and contribute to the transition to cleaner,renewable energy.展开更多
In this paper, the iterative learning control problem is considered for a class of remote control system over wireless network communication channel. The control performance of remote iterative learning control (R-IL...In this paper, the iterative learning control problem is considered for a class of remote control system over wireless network communication channel. The control performance of remote iterative learning control (R-ILC) system is analyzed and an error boundary of the stable output of the R-ILC system is obtained for the boundary stochastic noise channel. Finally, we obtain some rules to reduce the fluctuation caused by wireless channel noise through the analysis results for fluctuation boundary. The simulation results prove the proposed rule is correct.展开更多
This paper presents the results of an on-going project and investigates modelling and remote control issues of an industry excavator. The details of modelling, communication, and control of a remotely controllable exc...This paper presents the results of an on-going project and investigates modelling and remote control issues of an industry excavator. The details of modelling, communication, and control of a remotely controllable excavator are studied. The paper mainly focuses on trajectory tracking control of the excavator base and robust control of the excavator arm. These will provide the fundamental base for our next research step. In addition, extensive simulation results for trajectory tracking of the excavator base and robust control of the excavator arm are given. Finally, conclusions and further work have been identified.展开更多
This paper presents a multi-interface embedded server architecture for remote real-time monitoring system and distributed monitoring applications. In the scheme,an embedded microprocessor( LPC3250 from NXP) is chosen ...This paper presents a multi-interface embedded server architecture for remote real-time monitoring system and distributed monitoring applications. In the scheme,an embedded microprocessor( LPC3250 from NXP) is chosen as the CPU of the embedded server with a linux operation system( OS) environment. The embedded server provides multiple interfaces for supporting various application scenarios. The whole network is based on local area network and adopts the Browser / Server( B / S) model. The monitoring and control node is as a browser endpoint and the remote node with an embedded server is as a server endpoint. Users can easily acquire various sensors information through writing Internet protocol address of remote node on the computer browser. Compared with client / server( C / S) mode,B / S model needs less maintain and can be applicable to large user group. In addition,a simple network management protocol( SNMP) is used for management of devices in Internet protocol( IP) networks. The results of the demonstration experiment show that the proposed system gives good support to manage the network from different user terminals and allows the users to better interact with the ambient environment.展开更多
Two schemes are proposed to realize the controlled remote preparation of an arbitrary four-qubit cluster-type state via a partially entangled channel. We construct ingenious measurement bases at the sender’s and the ...Two schemes are proposed to realize the controlled remote preparation of an arbitrary four-qubit cluster-type state via a partially entangled channel. We construct ingenious measurement bases at the sender’s and the controller’s locations, which play a decisive role in the proposed schemes. The success probabilities can reach 50% and 100%, respectively. Compared with the previous proposals, the success probabilities are independent of the coefficients of the entangled channel.展开更多
The working principle of radio remote controlling of construction machinery should be that signals of the radio wave from the transmitter obtained in the receiver were controlled and then changed into electronic analo...The working principle of radio remote controlling of construction machinery should be that signals of the radio wave from the transmitter obtained in the receiver were controlled and then changed into electronic analog or digital signals which can be used to drive different actuators and mechanisms of the vehicle.The vehicle could be acted by following the controlling instructions sent by the operator.The best operation mode of construction machinery is suitable not only to manual operating but also to remote controlling in the same vehicle.The design methods of the hydraulic system used for the radio remote controlling of construction machinery are discussed.The design methods of hydraulic circuits for the actuators controlled by solenoid on-off type valves,hydro-electronic multi-way proportional valves,closed loop proportional servo driver or three-way proportional reducing valves are discussed in detail (with real example).The design methods of the power shift transmission of electro-hydraulic controlling,the devices of braking and the directional streering are discussed in this paper.展开更多
We present two protocols for the controlled remote implementation of quantum operations between three-party high-dimensional systems. Firstly, the controlled teleportation of an arbitrary unitary operation by bidirect...We present two protocols for the controlled remote implementation of quantum operations between three-party high-dimensional systems. Firstly, the controlled teleportation of an arbitrary unitary operation by bidirectional quantum state teleportaion (BQST) with high-dimensional systems is considered. Then, instead of using the BQST method, a protocol for controlled remote implementation of partially unknown operations belonging to some restricted sets in high-dimensional systems is proposed. It is shown that, in these protocols, if and only if the controller would like to help the sender with the remote operations, the controlled remote implementation of quantum operations for high-dimensional systems can be completed.展开更多
The control network is an important developmental orientation in the remote control system. As the control network and information network are comparatively alike in the framework and technology, we can build a contro...The control network is an important developmental orientation in the remote control system. As the control network and information network are comparatively alike in the framework and technology, we can build a control network which is similar to the common information network. In the era when the information network is becoming increasingly mature, it is a royal road to construct or rebuild a control information network in the development of the control network by relying on the achievements made in the information network or current information resources. This paper expounds the construction idea of the control information network, gives the idiographic realization method and then researches into the real-time problem encountered in the control information network, and presents a three-closed-loop control system based on virtualized reality. The feasibility of the idea is validated via experiments and simulations separately.展开更多
A method of sliding mode variable structure control for the missile body being a time varying system is presented. A remote control guidance law is designed. The method has strong robustness to target' s maneuver. To...A method of sliding mode variable structure control for the missile body being a time varying system is presented. A remote control guidance law is designed. The method has strong robustness to target' s maneuver. To reduce the chattering phenomena, quasi-sliding mode variable structure control method is used. Simulation results show that the proposed method has small miss distance for any kind of maneuvering targets and requires small control energy.展开更多
The technology of pressure relief gas drainage is one of the most effective and economic for preventing gas emissions in underground mines.Based on current understanding of strata breakage and fracture development in ...The technology of pressure relief gas drainage is one of the most effective and economic for preventing gas emissions in underground mines.Based on current understanding of strata breakage and fracture development in overlying strata,the current study divides the overlying strata into the following three longitudinal zones in terms of the state of gas flow:a turbulent channel zone,a transitional circulation channel zone and a seepage channel zone.According to the key strata discrimination theory of controlling the overlying strata,the calculation method establishes that the step-type expansion of the mining gas channel corresponds to the advancing distance of working face,and this research also confrms the expanding rule that the mining gas channel in overlying strata follows the advancing distance of mining working face.Based on the geological conditions of Xinjing Coal Mine of Yangquan,this paper researches the expanding rule of mining gas channel as well as the control action of the channel acting on the pressure relief flow under the condition of the remote protective layer,and got the distance using inversion that the step-type expanding of mining gas channel is corresponding to the advancing distance of working face,which verifes the accuracy and feasibility of theoretical calculation method proposed in this study.The research provides the theoretical basis for choosing the technology of pressure relief gas drainage and designing the parameters of construction.展开更多
In response to the frequent safety accidents of industrial robots, this paper designs and implements a safety detection system for robot control. It can perform real-time security detection of robot operations on indu...In response to the frequent safety accidents of industrial robots, this paper designs and implements a safety detection system for robot control. It can perform real-time security detection of robot operations on industrial production lines to improve the security and reliability of robot control systems. This paper designs and implements a robot control system based Snort-BASE for real-time online detection of DoS attacks. The system uses a six-degree-of-freedom robotic arm as an example, uses Snort to record the network communication data of the robot arm control system in real time, and filters the network traffic through self-defined rules, and then uses the BASE analysis platform to achieve security analysis of the network traffic. The solution verifies the effectiveness of online real-time detection of attacks and visualisation of attack records by designing simulated robotic arm and real robotic arm attack experiments respectively, thus achieving the security of network communication of the robot remote control system.展开更多
According to the bedridden patient's physical condition, one kind of electric nursing bed which can be used in the smart home environment and realize many' kinds of posture transformation. This paper introduces the ...According to the bedridden patient's physical condition, one kind of electric nursing bed which can be used in the smart home environment and realize many' kinds of posture transformation. This paper introduces the mechanical system design of the electric nursing bed and the method of integration with the smart home environment, designs the combined bed board and the mechanical structure of posture transformation, remote controlling equipments in the smart home environment.展开更多
The study of robot animals based on brain-computer interface (BCI) technology is an important field in robots and neuroscience at present. In this paper, the development status at home and abroad of the motion contr...The study of robot animals based on brain-computer interface (BCI) technology is an important field in robots and neuroscience at present. In this paper, the development status at home and abroad of the motion control of robot based on BCI and principle of robot animals are introduced, then a new animals' behavior control method by photostimulation is presented. At last, the application prospect is provided.展开更多
The authors have used a low-cost ROV of observation type for underice surveying of the Nen-Jiang Cross-river oil pipe line in the Da Qing oil field. The operation method, process and the safety measures for severe col...The authors have used a low-cost ROV of observation type for underice surveying of the Nen-Jiang Cross-river oil pipe line in the Da Qing oil field. The operation method, process and the safety measures for severe cold areas are presented. The fruitful tries and experience may be useful to ROV operators in severe cold areas.展开更多
To effectively solve the problems of inconsistent communication protocols in automatic monitoring equipment,and limited data acquisition transmission and monitoring equipment,this paper developed programmable single p...To effectively solve the problems of inconsistent communication protocols in automatic monitoring equipment,and limited data acquisition transmission and monitoring equipment,this paper developed programmable single point multiple output intelligent data acquisition and transmission system. It made an in-depth elaboration of the data acquisition and transmission system from hardware design,software architecture and principle,main functions and technical parameters. Finally,it came up with four innovation points:(i) intelligent(automatic)matching a variety of communication protocols for environmental monitoring equipment,(ii) realizing multi-protocol and multi-target parallel data transmission,(iii) realizing remote dynamic input of control instructions through wired or wireless network,and(iv) supporting configuration(process) simulation of field equipment DCS operating conditions.展开更多
Black fungus,with high nutritional and medicinal value,has been cultivated in China for a long time,and Heilongjiang alone accounts for about 40%of the global output.At present,the cultivation of black fungus derives ...Black fungus,with high nutritional and medicinal value,has been cultivated in China for a long time,and Heilongjiang alone accounts for about 40%of the global output.At present,the cultivation of black fungus derives mainly from the inheritance of relatively primitive practices and experience of farmers,resulting in inconsistent quality of fungus.In this study,a smart control system for the precision cultivation of black fungus was designed by using intelligent detection and control technology.The system includes a precision culture test environment and remote control system.The precision cultivation environment contains four sub-independent environments.The key parameters such as temperature,humidity,and light behavior were collected and can be adjusted individually,according to the precision cultivation stages.The intelligent remote control system included a controller cabinet,sensors unit,temperature control unit,humidity control unit,light control unit,and information transmitting unit.The controller cabinet includes a key controller which can auto-control the temperature,humidity,and lightly adjust components according to the precision cultivation conditions and processing.The temperature sensors were installed in a 3D array close to the fungus bags about 5 cm in rooms.The light tape was installed on the six walls and also had three colors(Red,Blue,and Green)which could be controlled independently in each room.The control strategy through the analysis of the data collected by all sensors,the current cultivate situation of the cultivation environment was obtained,and the heater,fan,light,and nozzle were regulated according to the strategy to maintain a suitable precision cultivation environment for fungus.To verify the feasibility of the precision cultivation processing and control system,the test result shows that the error of temperature control was about 0℃-1℃,the error of humidity control was about 1%-4%,and the error of illuminance control was about 0-50 lx;All the verification results show that the control system for precision cultivation has high precision and can meet the needs of exploring the"Black 29"fungus cultivation experiment environment.Based on the orthogonal experiment,the best combination of the temperature and humidity for each growth stage was also investigated in this study,further proving the reliability and feasibility of the control system for the precision cultivation of Auricularia auricula.展开更多
The underwater environment is complicated and full of hazards,making it tough to complete with just one piece of underwater operation equipment.Building a high-speed,low-latency wireless connection between a remote wi...The underwater environment is complicated and full of hazards,making it tough to complete with just one piece of underwater operation equipment.Building a high-speed,low-latency wireless connection between a remote wireless operation platform on water surface and other operation platforms in order to achieve long-distance transmission of high-definition image data and control commands,as well as collaborative operations among multiple platforms,has become a development trend and focus of exploring complex and dangerous waters.This paper summarizes and elaborates on underwater communication technology,long-distance data transmission technology,multi-submersible robot collaborative operation,and information interaction technology,as well as the development status of key technologies of remote wireless operation platform on water surface.And the research direction and focus of the remote wireless operation platform on water surface are prospected.展开更多
文摘Automatic control technology is the basis of road robot improvement,according to the characteristics of construction equipment and functions,the research will be input type perception from positioning acquisition,real-world monitoring,the process will use RTK-GNSS positional perception technology,by projecting the left side of the earth from Gauss-Krueger projection method,and then carry out the Cartesian conversion based on the characteristics of drawing;steering control system is the core of the electric drive unmanned module,on the basis of the analysis of the composition of the steering system of unmanned engineering vehicles,the steering system key components such as direction,torque sensor,drive motor and other models are established,the joint simulation model of unmanned engineering vehicles is established,the steering controller is designed using the PID method,the simulation results show that the control method can meet the construction path demand for automatic steering.The path planning will first formulate the construction area with preset values and realize the steering angle correction during driving by PID algorithm,and never realize the construction-based path planning,and the results show that the method can control the straight path within the error of 10 cm and the curve error within 20 cm.With the collaboration of various modules,the automatic construction simulation results of this robot show that the design path and control method is effective.
基金The authors would like to acknowledge the support of the national key research and development project(2018YFB1403303)。
文摘Remotely controlled intelligent machinery has complications,including loose manage-ment of failure information,low information availability,and coupling influence among systems,which can be effectively solved by analyzing the system state and information characteristics of the equipment.Taking intelligent agricultural machinery as the object,this study applies the knowledge representation method to explore equipment failure states’informational features and construct a knowledge framework model of system fail-ure representation relations and a complex network conceptual model to visualize the fail-ure information more intuitively and facilitate systematic management and utilization.The feedback-based decoupling analysis method uncouples the coupling between subsys-tems,identifying the critical state of decoupling well.It attempts to apply the knowledge representation and decoupling analysis to remotely controlled intelligent agricultural machinery equipment.Through the example,the result further illustrates the feasibility of knowledge representation and decoupling for remotely controlled intelligent agricultural machinery systems and provides essential support for better failure analysis.
基金This work was supported in part by the National Natural Science Foundation of China(62206109)the Fundamental Research Funds for the Central Universities(21620346)。
文摘With advanced communication technologies,cyberphysical systems such as networked industrial control systems can be monitored and controlled by a remote control center via communication networks.While lots of benefits can be achieved with such a configuration,it also brings the concern of cyber attacks to the industrial control systems,such as networked manipulators that are widely adopted in industrial automation.For such systems,a false data injection attack on a control-center-to-manipulator(CC-M)communication channel is undesirable,and has negative effects on the manufacture quality.In this paper,we propose a resilient remote kinematic control method for serial manipulators undergoing a false data injection attack by leveraging the kinematic model.Theoretical analysis shows that the proposed method can guarantee asymptotic convergence of the regulation error to zero in the presence of a type of false data injection attack.The efficacy of the proposed method is validated via simulations.
文摘This article describes the design and creation of a remote monitoring and control system based on GSM(Global System for Mobile)communications technology for monitoring the key parameters of a biodigester.Biodigesters are widely used for the conversion of organic materials into biogas,thereby contributing to renewable energy production and organic waste management.However,real-time monitoring and regulation of parameters such as temperature,humidity,product gas level,pH are essential to ensure the efficiency and safety of the digestion process.We created the device for remote control of the operating parameters of the biodigester using an Arduino card,a DHT11 sensor,a pH sensor,a GSM module and a 2×16 LCD(Liquide-Crystal-Display)display.A biodigester(4.5 L plastic container)and accessories were used.The experimental device created made it possible to remotely monitor the evolution of the temperature,humidity,the gas produced as well as the pH in the digester loaded with cow dung,for 45 days.Examination of the real-time evolution of the parameters measured by the device produced showed the same results as those carried out locally by the usual instruments,with a correlation coefficient of around 98%.During this digestion period,the temperature provided by the sensor varied from 25°C to 37°C(mesophilic mode)and the humidity levels varied from 70%to 95%.The results obtained show the reliability of the device produced.This research represents a significant advance in the management of biodigestion facilities.It offers a powerful tool to maximize biogas production,reduce maintenance costs,minimize environmental impact and contribute to the transition to cleaner,renewable energy.
基金Project supported by the Innovation Foundation of the Education Commission of Shanghai Municipality (Grant No.09ZZ89)the Shanghai Leading Academic Discipline Project (Grant No.S30108)the Science and Technology Commission of Shanghai Municipality (Grant No.08DZ223110)
文摘In this paper, the iterative learning control problem is considered for a class of remote control system over wireless network communication channel. The control performance of remote iterative learning control (R-ILC) system is analyzed and an error boundary of the stable output of the R-ILC system is obtained for the boundary stochastic noise channel. Finally, we obtain some rules to reduce the fluctuation caused by wireless channel noise through the analysis results for fluctuation boundary. The simulation results prove the proposed rule is correct.
文摘This paper presents the results of an on-going project and investigates modelling and remote control issues of an industry excavator. The details of modelling, communication, and control of a remotely controllable excavator are studied. The paper mainly focuses on trajectory tracking control of the excavator base and robust control of the excavator arm. These will provide the fundamental base for our next research step. In addition, extensive simulation results for trajectory tracking of the excavator base and robust control of the excavator arm are given. Finally, conclusions and further work have been identified.
基金Sponsored by the National High Technology Research and Development Program(Grant No.2012AA02A604)
文摘This paper presents a multi-interface embedded server architecture for remote real-time monitoring system and distributed monitoring applications. In the scheme,an embedded microprocessor( LPC3250 from NXP) is chosen as the CPU of the embedded server with a linux operation system( OS) environment. The embedded server provides multiple interfaces for supporting various application scenarios. The whole network is based on local area network and adopts the Browser / Server( B / S) model. The monitoring and control node is as a browser endpoint and the remote node with an embedded server is as a server endpoint. Users can easily acquire various sensors information through writing Internet protocol address of remote node on the computer browser. Compared with client / server( C / S) mode,B / S model needs less maintain and can be applicable to large user group. In addition,a simple network management protocol( SNMP) is used for management of devices in Internet protocol( IP) networks. The results of the demonstration experiment show that the proposed system gives good support to manage the network from different user terminals and allows the users to better interact with the ambient environment.
基金supported by the National Natural Science Foundation of China(Grant Nos.61201253,61373131,61572246,and 61502147)PAPDCICAEET funds
文摘Two schemes are proposed to realize the controlled remote preparation of an arbitrary four-qubit cluster-type state via a partially entangled channel. We construct ingenious measurement bases at the sender’s and the controller’s locations, which play a decisive role in the proposed schemes. The success probabilities can reach 50% and 100%, respectively. Compared with the previous proposals, the success probabilities are independent of the coefficients of the entangled channel.
文摘The working principle of radio remote controlling of construction machinery should be that signals of the radio wave from the transmitter obtained in the receiver were controlled and then changed into electronic analog or digital signals which can be used to drive different actuators and mechanisms of the vehicle.The vehicle could be acted by following the controlling instructions sent by the operator.The best operation mode of construction machinery is suitable not only to manual operating but also to remote controlling in the same vehicle.The design methods of the hydraulic system used for the radio remote controlling of construction machinery are discussed.The design methods of hydraulic circuits for the actuators controlled by solenoid on-off type valves,hydro-electronic multi-way proportional valves,closed loop proportional servo driver or three-way proportional reducing valves are discussed in detail (with real example).The design methods of the power shift transmission of electro-hydraulic controlling,the devices of braking and the directional streering are discussed in this paper.
基金Project supported by the National Natural Science Foundation of China (Grant No. 11074088)
文摘We present two protocols for the controlled remote implementation of quantum operations between three-party high-dimensional systems. Firstly, the controlled teleportation of an arbitrary unitary operation by bidirectional quantum state teleportaion (BQST) with high-dimensional systems is considered. Then, instead of using the BQST method, a protocol for controlled remote implementation of partially unknown operations belonging to some restricted sets in high-dimensional systems is proposed. It is shown that, in these protocols, if and only if the controller would like to help the sender with the remote operations, the controlled remote implementation of quantum operations for high-dimensional systems can be completed.
文摘The control network is an important developmental orientation in the remote control system. As the control network and information network are comparatively alike in the framework and technology, we can build a control network which is similar to the common information network. In the era when the information network is becoming increasingly mature, it is a royal road to construct or rebuild a control information network in the development of the control network by relying on the achievements made in the information network or current information resources. This paper expounds the construction idea of the control information network, gives the idiographic realization method and then researches into the real-time problem encountered in the control information network, and presents a three-closed-loop control system based on virtualized reality. The feasibility of the idea is validated via experiments and simulations separately.
文摘A method of sliding mode variable structure control for the missile body being a time varying system is presented. A remote control guidance law is designed. The method has strong robustness to target' s maneuver. To reduce the chattering phenomena, quasi-sliding mode variable structure control method is used. Simulation results show that the proposed method has small miss distance for any kind of maneuvering targets and requires small control energy.
基金the National Basic Research Programs of China (No. 2011CB201204)the National Natural Science Foundation of China (Nos. 51074160)+1 种基金the Fundamental Research Funds for the Central Universities (No. 2010QNA03)Project Funded by the Priority Academic Program Development of Jiangsu Higher Education institutions for their support for this project
文摘The technology of pressure relief gas drainage is one of the most effective and economic for preventing gas emissions in underground mines.Based on current understanding of strata breakage and fracture development in overlying strata,the current study divides the overlying strata into the following three longitudinal zones in terms of the state of gas flow:a turbulent channel zone,a transitional circulation channel zone and a seepage channel zone.According to the key strata discrimination theory of controlling the overlying strata,the calculation method establishes that the step-type expansion of the mining gas channel corresponds to the advancing distance of working face,and this research also confrms the expanding rule that the mining gas channel in overlying strata follows the advancing distance of mining working face.Based on the geological conditions of Xinjing Coal Mine of Yangquan,this paper researches the expanding rule of mining gas channel as well as the control action of the channel acting on the pressure relief flow under the condition of the remote protective layer,and got the distance using inversion that the step-type expanding of mining gas channel is corresponding to the advancing distance of working face,which verifes the accuracy and feasibility of theoretical calculation method proposed in this study.The research provides the theoretical basis for choosing the technology of pressure relief gas drainage and designing the parameters of construction.
文摘In response to the frequent safety accidents of industrial robots, this paper designs and implements a safety detection system for robot control. It can perform real-time security detection of robot operations on industrial production lines to improve the security and reliability of robot control systems. This paper designs and implements a robot control system based Snort-BASE for real-time online detection of DoS attacks. The system uses a six-degree-of-freedom robotic arm as an example, uses Snort to record the network communication data of the robot arm control system in real time, and filters the network traffic through self-defined rules, and then uses the BASE analysis platform to achieve security analysis of the network traffic. The solution verifies the effectiveness of online real-time detection of attacks and visualisation of attack records by designing simulated robotic arm and real robotic arm attack experiments respectively, thus achieving the security of network communication of the robot remote control system.
基金Supported by Special Topic of the Ministry of Education about Humanities and Social Sciences(12JDGC007)University Quality Project of Anhui Province(20100096)+2 种基金Graduate Education Reform Project of Hefei University of Technology(2011yjs003)National College Students' Training Project of Innovation and Entrepreneurship(201210359078)University of Anhui Provincial Natural Science Research Project(KJ2011ZD01)
文摘According to the bedridden patient's physical condition, one kind of electric nursing bed which can be used in the smart home environment and realize many' kinds of posture transformation. This paper introduces the mechanical system design of the electric nursing bed and the method of integration with the smart home environment, designs the combined bed board and the mechanical structure of posture transformation, remote controlling equipments in the smart home environment.
基金supported by the National Natural Science Foundation of China under Grant No. 30870655 and 30570474.
文摘The study of robot animals based on brain-computer interface (BCI) technology is an important field in robots and neuroscience at present. In this paper, the development status at home and abroad of the motion control of robot based on BCI and principle of robot animals are introduced, then a new animals' behavior control method by photostimulation is presented. At last, the application prospect is provided.
文摘The authors have used a low-cost ROV of observation type for underice surveying of the Nen-Jiang Cross-river oil pipe line in the Da Qing oil field. The operation method, process and the safety measures for severe cold areas are presented. The fruitful tries and experience may be useful to ROV operators in severe cold areas.
文摘To effectively solve the problems of inconsistent communication protocols in automatic monitoring equipment,and limited data acquisition transmission and monitoring equipment,this paper developed programmable single point multiple output intelligent data acquisition and transmission system. It made an in-depth elaboration of the data acquisition and transmission system from hardware design,software architecture and principle,main functions and technical parameters. Finally,it came up with four innovation points:(i) intelligent(automatic)matching a variety of communication protocols for environmental monitoring equipment,(ii) realizing multi-protocol and multi-target parallel data transmission,(iii) realizing remote dynamic input of control instructions through wired or wireless network,and(iv) supporting configuration(process) simulation of field equipment DCS operating conditions.
基金funded by the Key Research and Development Project of Hebei Province(Grant No.22347402D).
文摘Black fungus,with high nutritional and medicinal value,has been cultivated in China for a long time,and Heilongjiang alone accounts for about 40%of the global output.At present,the cultivation of black fungus derives mainly from the inheritance of relatively primitive practices and experience of farmers,resulting in inconsistent quality of fungus.In this study,a smart control system for the precision cultivation of black fungus was designed by using intelligent detection and control technology.The system includes a precision culture test environment and remote control system.The precision cultivation environment contains four sub-independent environments.The key parameters such as temperature,humidity,and light behavior were collected and can be adjusted individually,according to the precision cultivation stages.The intelligent remote control system included a controller cabinet,sensors unit,temperature control unit,humidity control unit,light control unit,and information transmitting unit.The controller cabinet includes a key controller which can auto-control the temperature,humidity,and lightly adjust components according to the precision cultivation conditions and processing.The temperature sensors were installed in a 3D array close to the fungus bags about 5 cm in rooms.The light tape was installed on the six walls and also had three colors(Red,Blue,and Green)which could be controlled independently in each room.The control strategy through the analysis of the data collected by all sensors,the current cultivate situation of the cultivation environment was obtained,and the heater,fan,light,and nozzle were regulated according to the strategy to maintain a suitable precision cultivation environment for fungus.To verify the feasibility of the precision cultivation processing and control system,the test result shows that the error of temperature control was about 0℃-1℃,the error of humidity control was about 1%-4%,and the error of illuminance control was about 0-50 lx;All the verification results show that the control system for precision cultivation has high precision and can meet the needs of exploring the"Black 29"fungus cultivation experiment environment.Based on the orthogonal experiment,the best combination of the temperature and humidity for each growth stage was also investigated in this study,further proving the reliability and feasibility of the control system for the precision cultivation of Auricularia auricula.
基金supported by National Natural Science Foundation of China(Grant No.51505258 and 61601265)Natural Science Foundation of Shandong Province,China(Grant No.ZR2015EL019,ZR2020ME126 and ZR2021MF131)+2 种基金The Youth Science and Technology Plan Project of Colleges and Universities in Shandong Province(Grant No.2019KJB019)Open project of State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures,China(Grant No.1903)Open project of Hebei Traffic Safety and Control Key Laboratory,China(Grant No.JTKY2019002).
文摘The underwater environment is complicated and full of hazards,making it tough to complete with just one piece of underwater operation equipment.Building a high-speed,low-latency wireless connection between a remote wireless operation platform on water surface and other operation platforms in order to achieve long-distance transmission of high-definition image data and control commands,as well as collaborative operations among multiple platforms,has become a development trend and focus of exploring complex and dangerous waters.This paper summarizes and elaborates on underwater communication technology,long-distance data transmission technology,multi-submersible robot collaborative operation,and information interaction technology,as well as the development status of key technologies of remote wireless operation platform on water surface.And the research direction and focus of the remote wireless operation platform on water surface are prospected.