Research on Network Delays of Networked Control Systems

In networked control systems (NCS), the main problem is time delays induced by communication network, which can deteriorate the performance of the systems, even cause the systems instability. If we know the exact network delays, we can compensate for their effect by modifying the parameters of the controller. Hence how to get the knowledge of these delays in the network is critical. This paper analyzed the different characteristics of network delays from sensor to controller and from controller to actuator and presented the methods of online evaluation of these delays. The experiment shows these methods are valid.

Nonsmooth finite-time control of uncertain second-order nonlinear systems

Nonsmooth finite-time stabilizing control laws have been developed for the double integrator system. The objective of this paper is to further explore the finite-time tracking control problem of a general form of uncertain secondorder affine nonlinear system with the new forms of terminal sliding mode （TSM）. Discontinuous and continuous finite-time controllers are also developed respectively without the singularity problem. Complete robustness can be acquired with the former, and enhanced robustness compared with the conventional boundary layer method can be expressed as explicit bounded function with the latter. Simulation results on the stabilizing and tracking problems are presented to demonstrate the effectiveness of the control algorithms.

Novel adaptive laser scanning sensor for reverse engineering measurement

In this paper,a series of new techniques are used to optimize typical laser scanning sensor.The integrated prototype is compared with traditional approach to demonstrate the much improved performance.In the research and development,camera calibration is achieved by extracting characteristic points of the laser plane,so that the calibra- tion efficiency is improved significantly.With feedback control of its intensity,the laser is automatically adjusted for different material.A modified algorithm is presented to improve the accuracy of laser stripe extraction.The fusion of data extracted from left and right camera is completed with re-sampling technique.The scanner is integrated with a robot arm and some other machinery for on-line measurement and inspection,which provides a flexible measurement tool for reverse engineering.

Indirect Adaptive Fuzzy Output Feedback Control with Supervisory Controller for Uncertain Nonlinear Systems

In this paper, an indirect adaptive fuzzy output feedback controller with supervisory mode for a class of unknown nonlinear systems is developed. The proposed approach does not need the availability of the state variables, moreover, a supervisory controller is appended to the adaptive fuzzy controller to force the state to be within the constraint set. Therefore, if the adaptive fuzzy controller cannot maintain the stability, the supervisory controller starts to work to guarantee stability. On the other hand, if the adaptive fuzzy controller works well, the supervisory controller will be de-activated. The overall adaptive fuzzy control scheme guarantees the stability of the whole closed-loop systems. The simulation results confirm the effectiveness of the proposed method.

Comparison and Analysis of the Major Ingredients of Different Chinese Chestnut Varieties

[Objectives]This study was conducted to investigate the differences of main nutrient components in 29 different varieties of Chinese chestnut.[Methods]The protein contents,starch contents,Vc contents,soluble sugar contents and inorganic element contents in the 29 different varieties of Chinese chestnut in the north were detected and compared.[Results]The main nutrient components in the 29 varieties of Chinese chestnut were as follows:amylose content 47.16%-63.27%,protein content 3.23%-7.58%,soluble sugar content 7.23%-16.17%,Vc content 2.42-9.42 mg/100 g,Fe content 7.20-17.28 mg/kg,K content 3611-8940 mg/kg,Zn content 4.43-9.24 mg/kg,Ca content 120-304 mg/kg,and P content 752-1658 mg/kg.In general,four varieties,"Dabanhong","Yanbao","Duanzhi"and"Jinhua",have higher nutritional components.[Conclusions]This study provides a theoretical basis for the processing,utilization,storage,purchase,breeding and scientific management of Chinese chestnut in the future.

Micro ball-end milling of freeform titanium parts

Micro machining has growing number of applications in various industries such as biomedical, automotive, aerospace, micro-sensor, micro-actuator and jewelry industries. Small-sized freeform titanium parts are frequently needed in the biomedical applications, especially in the implantations such as mini-blood pumps and mini left-ventricular assist devices, finger joint replacements and small bone implants. Most of the small-sized titanium parts with freeform geometries are machined using micro ball-end milling before polishing and other surface treatments. Decreasing the cycle time of the machining parts is important for the productivity. In order to reduce the cycle time of the roughing process in the micro ball-end milling, this paper investigates the imple- mentation of a previously developed force-based feedrate scheduling （FFS） technique on micro milling of freeform titanium parts. After briefly introducing the instantaneous micro milling forces in micro ball-end milling of titanium parts with freeform surfaces, the FFS technique is implemented in the rough machining of a freeform titanium surface to demonstrate the cycle time reduction potentials via virtual micro milling simulations.

Surface matching method for profile inspection with touch probe

This paper presents an efficient method for rigid registration of 3-D point sets,which intends to match the feature points inspected using touch probe with the points on designed CAD surface.The alignment error is defined as the least square problem,and the sphere radius of the inspection probe is considered.In this framework,the matching problem is converted into acquiring six Euler variables problem by solving nonlinear equations.Thus,a matrix transformation of parameter separation is presented to get the approximate resolution.Finally,iterative cycles are provided to calculate the nearest points on designed surface corresponding to the inspection points.Experiment verification is realized for the presented surface matching method of robot inspection system.