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Qi S.Z.,Guangdong Power Grid Corporation | Zhou S.B.,Guangdong Institute of Automation
Applied Mechanics and Materials | Year: 2014

Aiming at the performance evaluation of mixed-mode sensing interface of the integrated-sensor RFID system, an integrated-sensor RFID system was constructed. Then the mechanism of performance evaluation of mixed-mode interface was analyzed. According to the validity and reliability principle, a mixed-mode interface performance testing model was established. Moreover, a Plug-and-Play performance testing method was presented. Finally, the physical platform was set up to test the reading speed and the recognition rate indicator in Plug-and-Play process. Results showed the reading speeds of two STIM maintained at around 656.56ms and 645.24ms steadily during Plug-and-Play process whose Bit Error Rate was 10-9 Experiments indicate that effective transverse comparison of performance of similar products could be implemented by the proposed method in static environment as well as dynamic environment. © (2014) Trans Tech Publications, Switzerland.

Zhou X.,Guangdong Institute of Automation | Guan Y.,Guangdong University of Technology | Zhu H.,Guangdong University of Technology | Wu W.,Guangdong University of Technology | And 3 more authors.
International Journal of Humanoid Robotics | Year: 2014

Most of current biped robots are active walking platforms. Though they have strong locomotion ability and good adaptability to environments, they have a lot of degrees of freedom (DoFs) and hence result in complex control and high energy consumption. On the other hand, passive or semi-passive walking robots require less DoFs and energy, but their walking capability and robustness are poor. To overcome these shortcomings, we have developed a novel active biped walking robot with only six DoFs. The robot is built with six 1-DoF joint modules and two wheels as the feet. It achieves locomotion in special gaits different from those of traditional biped robots. In this paper, this novel biped robot is introduced, four walking gaits are proposed, the criterion of stable walking is addressed and analyzed, and walking patterns and motion planning are presented. Experiments are carried out to verify the locomotion function, the effectiveness of the presented gaits and to illustrate the features of this novel biped robot. It has been shown that biped active walking may be achieved with only a few DoFs and simple kinematic configuration. © 2014 World Scientific Publishing Company.

Wu W.,South China University of Technology | Guan Y.,Guangdong University of Technology | Zhu H.,South China University of Technology | Su M.,South China University of Technology | And 2 more authors.
Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology | Year: 2014

For solving the problem of finding suitable robot configurations to meet the specific tasks in the application of reconfigurable modular robot, a task-oriented multi-objective configuration optimization method is discussed. At beginning, the basic structure of the modular robot system is introduced, including the main modules and components of the control system. Then, based on the description of the task, an optimization model of modular robot configuration design is represented. Finally, for the specific tasks of climbing and manipulating, the configuration optimal design of modular robot is processed. The feasibility and effectiveness of the method have been well verified by the optimization simulation. The method is task-oriented and multi-objective, and it includes the performance optimization of degrees-of-freedom, reach-ability, energy consumption, and so on.

Wang Z.,South China University of Technology | Wang Z.,Guangdong Institute of Automation | Wang Z.,Chinese Academy of Sciences | Xie Y.,South China University of Technology | And 2 more authors.
Dianli Zidonghua Shebei/Electric Power Automation Equipment | Year: 2014

The input current SVM (Space Vector Modulation) algorithm of matrix rectifier in normal conditions is analyzed and its affect on the output DC voltage waveform in abnormal conditions is studied, aiming at which, an input current SVM algorithm with feed forward fuzzy compensation control is proposed. The modulus of voltage vector is measured, calculated and compared with the normal value in real time, according to which, the modulation coefficient of present control cycle is dynamically adjusted by the fuzzy control to keep the output voltage stable. The operating principle of the proposed compensation strategy is analyzed in detail, and the simulation model and experimental prototype of matrix rectifier are established. Simulative and experimental results verify the feasibility and effectiveness of the proposed compensation control strategy.

Ye T.,Guangdong Institute of Automation | Ye T.,Guangdong Industry Technical College | Cheng T.,Guangdong Institute of Automation | Zhou S.,Guangdong Institute of Automation
WIT Transactions on Information and Communication Technologies | Year: 2014

Aiming for the space trajectory planning problem of robot teaching, the paper proposed a trajectory planning method based on multi-knots spline interpolation. The method obtains key points data of space trajectory by robot teaching, and it uses cubic multi-knots spline interpolation method to realize the fitting of robot space trajectory by reversely solving control coefficients of multi-knots spline space curve; and then, it smoothes the robot teaching action by an interpolation algorithm of space trajectory under the control of arc length error. The simulation research shows the trajectory planning method can realize accurate planning of space curve under a given error. © 2014 WIT Press.

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