Guangdong Institute of Automation

Guangzhou, China

Guangdong Institute of Automation

Guangzhou, China

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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.


Zhong Z.Y.,Guangdong Institute of Automation | Guo Z.Y.,Guangdong Institute of Automation | Lei H.,Guangdong Institute of Automation | Kuang B.,Foshan Kingsky Machinery Co.
Applied Mechanics and Materials | Year: 2013

Lightweight sections are widely used in furniture, but the manufacturing procedure for these irregular shaped wood workpieces is very complex. Domestic workers usually use manual equipment to do the milling and then grinding and polishing step by step, with quite low efficiency. So author of this article develops a compound CNC five axes five linkage milling-grinding-all-inone machine to realize once-molding of wood sections automatically, which will increase efficiency by 200%. The article introduces the structure of the machine and then discusses some key technology in the processing. For example, how to do graphics pretreatment and reorder processing path, and how to keep smooth processing speed during the multi-axis working, in order to avoid the problem of workpiece being scratched or burned out. © (2013) Trans Tech Publications, Switzerland.


Wu S.,Guangdong University of Technology | Wu S.,Guangdong Institute of Automation | Yang Y.,Guangdong University of Technology | Zhong Z.,Guangdong Institute of Automation | Lu X.,Guangdong Institute of Automation
Guangxue Xuebao/Acta Optica Sinica | Year: 2014

Based on monotonous growth characteristics of the phase of grating images, a monotonous smoothing algorithm based on least square method is proposed for phase error compensation. The monotonous characteristics and error of phase are analyzed in detail. Then a monotonous smoothing algorithm based on developed least square method is used to correct phase error of absolute phase diagram. Experimental results show that the gamma nonlinearity of the projector is reduced by more than 60%, and the corrected absolute phase has the advantage of good smooth.


Wang Z.,South China University of Technology | Wang Z.,Guangdong Institute of Automation | Xie Y.,South China University of Technology | Mao Y.,Guangdong University of Technology | Xu C.,Guangdong University of Technology
IEICE Electronics Express | Year: 2015

An input filter is indispensable for a matrix rectifier (MR), since it can improve the input current quality and reduce the ac supply voltage distortion. However the characteristics of input filter reduce the input power factor (IPF). Moreover, the unbalanced ac supply voltage could disturb dc output voltage. Consequently, this paper provides a novel approach to achieve both tight dc output voltage and unity IPF at the main ac power supply by applying circuit DQ transformation to MR. Analyzing the DQ model of MR, sliding mode control (SMC) based on reaching law is used to achieve tight dc output voltage regulation of MR and PI control is applied to control the q-axis current to be zero. Finally, simulation and experiment results are shown to verify the effectiveness of the control scheme proposed in this paper. © IEICE 2015.


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.


Li P.,Guangzhou Bonson Information Corporation | Jiang X.,Guangdong Institute of Automation | Huang J.,Guangzhou Bonson Information Corporation | Zhang T.,Guangdong East Power Co.
Dianli Xitong Baohu yu Kongzhi/Power System Protection and Control | Year: 2016

Instability can occur when a parallel active power filter whose reference current is deduced based on load current detection is applied to compensate capacitive nonlinearity load. The root cause of instability is the mismatch and the mutual influence of input and output impedance in cascade system. The mathematical model of parallel active power filter which is applied to compensate capacitive nonlinearity load is primarily built for the problem in this paper, and the impedance characteristic of input and output part in cascade system is analyzed based on the Middlebrook impedance analysis theory, the root instability cause is discussed by the stability criterion in cascade system, finally, the simulation and experimental results validate the correctness of the theoretical analysis. © 2016, Power System Protection and Control Press. All right reserved.


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.


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.


Patent
Guangdong Institute Of Automation | Date: 2014-10-24

An automated polishing system includes a workbench, a transport unit and a polishing unit, wherein the transport unit is provided with a transport surface and a transport drive configured to drive the transport surface to move horizontally, and the polishing unit includes a supporting portion, a holding arm rotatably connected to the supporting portion, a holder connected to the holding arm, a horizontal drive configured to drive the supporting portion to move horizontally, a vertical drive configured to drive the supporting portion to move vertically, a horizontally rotating drive configured to drive the holding arm to rotate in a horizontal direction, a vertically rotating drive configured to drive the holder to rotate in a vertical direction, a polishing shaft, a polishing rotating device configured to drive the polishing shaft, and a polishing drive configured to drive the polishing shaft to move towards the holder for reciprocating motion.


Patent
Guangdong Institute Of Automation | Date: 2014-10-24

A multi-angle automated polishing system comprises a workbench, a holding unit, a polishing unit, and a control unit. The holding unit comprises a holding component for holding an object, a transverse drive configured to drive the holding component to move transversely along the plane of the workbench, a translational drive configured to drive the holding component to move translationally along the plane of the workbench, and a rotary drive configured to drive the holding component to rotate transversely along the plane of the workbench. The holding unit further comprises a rotating unit and a rotating drive configured to drive the rotating unit to rotate. The polishing unit comprises a polishing component and a polishing drive configured to drive the polishing unit in operation. The control unit is connected to the transverse drive, the rotary drive, the rotating drive, and the polishing drive.

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