Numerical Simulation of Injection Molding Cooling Process Based on 3D Surface Model

The design of the cooling system of injection molds directly affects both productivity and the quality of the final part. Using the cooling process CAE system to instruct the mold design, the efficiency and quality of design can be improved greatly. At the same time, it is helpful to confirm the cooling system structure and optimize the process conditions. In this paper, the 3D surface model of mold cavity is used to replace the middle-plane model in the simulation by Boundary Element Metho…     

Software structure evaluation based on the interaction and encapsulation of methods

Software structure is the most important factor affecting the quality of a program.The evaluation of software structure is a foundational technique for software development.However,the traditional evaluation criteria,such as "high cohesion and low coupling",are no longer appropriate for the new web applications,which are designed with a hierarchical framework.A novel approach is proposed in this paper to evaluate software quality based on the interaction and encapsulation of methods.In particular,two criteria for high quality software,the functional and hierarchical structure,are proposed to support widely used web applications.The cohesion and coupling and layer matching ratios between methods within a software package are calculated to determine whether the package is well implemented in terms of functional or hierarchical structure.This approach enables us to quantify the quality of a software system according to the structural types of its packages.Experiments were carried out on 18 versions of Struts and six open-source software packages.Our evaluation concurs with the intuition that minor upgrades,aimed at fixing bugs and adding minor functionality quickly,reduce software quality,whereas major upgrades,which normally clean up messy code and re-construct the software,improve software quality.     

Robust adaptive control for a nonholonomic mobile robot with unknown parameters

A robust adaptive controller for a nonholonomic mobile robot with unknown kinematic and dynamic parameters is proposed. A kinematic controller whose output is the input of the relevant dynamic controller is provided by using the concept of backstepping. An adaptive algorithm is developed in the kinematic controller to approximate the unknown kinematic parameters, and a simple single-layer neural network is used to express the highly nonlinear robot dynamics in terms of the known and unknown parameters. In order to attenuate the effects of the uncertainties and disturbances on tracking performance, a sliding mode control term is added to the dynamic controller. In the deterministic design of feedback controllers for the uncertain dynamic systems, upper bounds on the norm of the uncertainties are an important clue to guarantee the stability of the closed-loop system. However, sometimes these upper bounds may not be easily obtained because of the complexity of the structure of the uncertainties. Thereby, simple adaptation laws are proposed to approximate upper bounds on the norm of the uncertainties to address this problem. The stability of the proposed control system is shown through the Lyapunov method. Lastly, a design example for a mobile robot with two actuated wheels is provided and the feasibility of the controller is demonstrated by numerical simulations.     

CAD System Dedicated to the Design of Sport Bike Frame Structure

This article aims to discuss the design process of the CAD system dedicated for sport bike frame structure, introducing in detail its design concept and the scheme of implementation. Based on the different usages of sport bikes and the requirements on the system made out by Beijing Hanglun Sport Apparatus Company Limited. Structural analysis on two types of bikes frames is carried out. The system defines the basic design parameters and analyses the constraint conditions.Then calculating formulas with constraint conditions are derived. The system solves equations with Visual C++ program, realizes input of the original data and output of the results through interactive system. With AutoCAD14.0 as the platform, the system uses VC++ and ObjectARX to realize auto output of bike frame graphics. The system has been put into use. Practice has affirmed that the system抯 convenience, applicability and reliability all have reached the expected goal.     

Distributed Optimization Algorithm for Multi-Robot Formation with Virtual Reference Center

<正>Dear editor,In this letter, we use a distributed optimization approach to solve a class of multi-robot formation problem with virtual reference center.We investigate the design and analysis of the constrained consensus algorithm to solve the optimization problem with a sum of objective functions with some local constraints. In the multi-robot system with virtual reference center, each robot has messages on its own constraints and objective function,     

Development of minimalist bipedal walking robot with flexible ankle and split-mass balancing systems

This paper presents a novel design of minimalist bipedal walking robot with flexible ankle and split-mass balancing systems.The proposed approach implements a novel strategy to achieve stable bipedal walk by decoupling the walking motion control from the sideway balancing control.This strategy allows the walking controller to execute the walking task independently while the sideway balancing controller continuously maintains the balance of the robot.The hip-mass carry approach and selected stages of walk implemented in the control strategy can minimize the efect of major hip mass of the robot on the stability of its walk.In addition,the developed smooth joint trajectory planning eliminates the impacts of feet during the landing.In this paper,the new design of mechanism for locomotion systems and balancing systems are introduced.An additional degree of freedom introduced at the ankle joint increases the sensitivity of the system and response time to the sideway disturbances.The efectiveness of the proposed strategy is experimentally tested on a bipedal robot prototype.The experimental results provide evidence that the proposed strategy is feasible and advantageous.     

A precise robust fuzzy control of robots using voltage control strategy

Fuzzy control of robot manipulators with a decentralized structure is facing a serious challenge. The state-space model of a robotic system including the robot manipulator and motors is in non-companion form, multivariable, highly nonlinear, and heavily coupled with a variable input gain matrix. Considering the problem, causes and solutions, we use voltage control strategy and convergence analysis to design a novel precise robust fuzzy control (PRFC) approach for electrically driven robot manipulators. The proposed fuzzy controller is Mamdani type and has a decentralized structure with guaranteed stability. In order to obtain a precise response, we regulate a fuzzy rule which governs the origin of the tracking space. The proposed design is verified by stability analysis. Simulations illustrate the superiority of the PRFC over a proprotional derivative like (PD-like) fuzzy controller applied on a selective compliant assembly robot arm (SCARA) driven by permanent magnet DC motors.     

A Visual-Based Gesture Prediction Framework Applied in Social Robots

In daily life, people use their hands in various ways for most daily activities. There are many applications based on the position, direction, and joints of the hand, including gesture recognition, gesture prediction, robotics and so on. This paper proposes a gesture prediction system that uses hand joint coordinate features collected by the Leap Motion to predict dynamic hand gestures. The model is applied to the NAO robot to verify the effectiveness of the proposed method. First of all, in ord...     

A New Design of Student Apartment Bed Based on Kansei Engineering and Ergonomics

Aiming at the defects of the products available on the market at present and basing on the Kansei Engineering and Ergonomics, a new kind of student apartment bed which can prove its humanity more clearly is designed, and its design direction is gotten through the questionnaire and the design starts from the real actual needs of students. After the original design was finished, the later investigation on the students was engaged with and made the engineering analysis. The conclusion is that the sum of ＂perfect＂ and ＂good＂ membership rates is up to 64%, hence the comprehensive assessment of the design is perfect. That is to say, this design is able to realize and meet the needs of users, and there is no doubt that it will have a good business prospects.     

仿人机器人跑步稳定性准则

A humanoid robot has high mobility but possibly risks of tipping over. Until now, one main topic on humanoid robots is to study the walking stability; the issue of the running stability has rarely been investigated. The running is different from the walking, and is more difficult to maintain its dynamic stability. The objective of this paper is to study the stability criterion for humanoid running based on the whole dynamics. First, the cycle and the dynamics of running are analyzed. Then, the stability criterion of humanoid running is presented. Finally, the effectiveness of the proposed stability criterion is illustrated by a dynamic simulation example using a dynamic analysis and design system (DADS).     

CAD Approach for V-Groove Pulley Transmission

1 Introduction In mechanical transmission systems, V-groove pulley transmission is widely applied owing to its merit of stable transmission, compact structure size and relatively large power transferred. However, the design of pulley system is a complex procedure, which requires a systematic analysis and treatment of a lot of data charts. An integrated approach to combine design and drafting of V-groove pulley transmission in one package is desirable. Based on AutoCAD environment and u…     

Development of Self-Configuring Simulation System for Propelling AAA Fire Control

In this paper, the overall structure design of the Ethernet-based and distributed simulation system for propelling （AAA） fire control is proposed with introducing the concept of system self- configuring pattern. The advantage of this system self-configuring pattern is easy and flexible to configure the modules of the simulation system without doing much more reprogramming work, when the simulation system is needed to add or reduced the modules and simulation computers, and the scale of simulation system is needed to changed. Also the system is structured with standardized and modularized design procedures on the Windows OS platform.     

Recursive functions of context free languages (Ⅰ)——The definitions of CFPRF and CFRF

It is intended to establish the recursive function theory on context free languages (CFLs). In this paper, the function class CFRF and its proper subclass CFPRF were defined on CFLs; it is quite straightforward to use them for describing non-numerical algorithms. In fact, they are respectively the partial recursive functions and primitive recursive functions of context free languages. The structure induction method for proving CFPRF function properties was presented. A method for CFL sentence enumeration was given, the minimization operator was defined. Based on CFL sentence enumeration, the minimization operator evaluation method was given. Finally, the design and implementation principles of executable specification languages with the CFRF as theoretical basis were discussed.     

Automatic Virtual Entity Simulation of Conceptual Design Results—Part Ⅱ:Symbolic Scheme Simulation

The development of new products of high quality, low unit cost, and short lead time to market are the key elements required for any enterprise to obtain a competitive advantage. This part of the paper presents a methodology to automatically simulate the conceptual design results in the virtual entity form. To the identified basic mechanisms, their kinematic analysis is carried out by matching basic Barranov trusses, and their virtual entities are modeled based on feature-based technique and encapsulated as one design object. Based on the structures of the basic mechanisms and their connections, a space layout to the mechanical system corresponding to the symbolic scheme is then fulfilled. With the preset-assembly approach, all parts in the mechanical system are put onto proper positions where the constraint equations are met according to the space layout results. In this way, the virtual entity assembly model of the mechanical system relative to the symbolic scheme is set up. The approach presented in this paper can not only obtain innovative conceptual conceptual design results, but also can evaluate their performances under 3-D enviroment efficently.     

Remote-Controlled Ambidextrous Robot Hand Concept

In the development of robotic limbs, the side of members is of importance to define the shape of artificial limbs and the range of movements. It is mainly significant tbr biomedical applications concerning patients suffering arms or legs injuries, fn this paper, the concept of an ambidextrous design lbr robot hands is introduced. The fingers can curl in one xvay or another, to imitate either a right hand or a left hand. The advantages and inconveniences of different models have been investigated to optimise the range and the maximum force applied by fingers. Besides, a remote control interthce is integrated to the system, allowing both to send comrnands through internet and to display a video streaming of the ambidextrous hand as feedback. Therefore, a robotic prosthesis could be used for the first time in telerehabilitation. The main application areas targeted are physiotherapy alter strokes or management of phantom pains/br amputees by/earning to control the ambidextrous hand. A client application is also accessible on Facehook social network, making the robotic limb easily reachable for the patients. Additionally the ambidextrous hand can be used tbr robotics research as well as artistic performances.     

Research on Variable Structure Parametric Design System of Ceramic Tile Mould Based on Modular

To solve the existing problems during the ceramic mold enterprises product design and development process, the variable structure parametric design system based on modular of ceramic mold has been developed. The system uses the object-oriented technology and top-down design concept as a guide, establishes a ceramic mold parametric design process, divides the process of ceramic mold design into modules of different levels and creates a component model library based on the functional analysis. Expanding modular thinking to parts structure design level is an effective solution to the difficulty of changing the structure during the product design process. Examples show that the system can achieve a ceramic mold product design, improve design efficiency.     

Developing a Higher-Cycled Product Design CAE Model： The Evolution of Automotive Product Design and CAE

To help corporations survive amidst worldwide quality competition, the authors have focused on the strategic development of a higher-cycled product design CAE model employing a highly reliable CAE analysis technology component model. Their efforts are part of principle-based research aimed at evolving product design and CAE development processes to ensure better quality assurance. To satisfy the requirements of developing and producing high quality products while also reducing costs and shortening development times, the effectiveness of this model was verified by successfully applying it to the technological problems of loosening bolts and other product design bottlenecks at auto manufacturers.     

Secure System Modeling: Integrating Security Attacks with Statecharts

Software security is becoming an important concern as software applications are increasingly depending on the Internet, an untrustworthy computing environment. Vulnerabilities due to design errors, inconsistencies, incompleteness, and missing constraints in software design can be wrongly exploited by security attacks. Software functionality and security, however, are often handled separately in the development process. Software is designed with the mindset of its functionalities and cost, where the focus is mainly on the operational behavior. Security concerns, on the other hand, are often described in an imprecise way and open to subjective interpretations. This paper presents a threat driven approach that improves on the quality of software through the realization of a more secure model. The approach introduces systematic transformation rules and integration steps for integrating attack tree representations into statechart-based functional models. Through the focus on the behavior of an attack from the perspective of the system behavior, software engineers can clearly define and understand security concerns as software is designed. Security analysis and threat identification are then applied to the integrated model in order to identify and mitigate vulnerabilities at the design level.     

A novel compound biped locomotion algorithm for humanoid robots to realize biped walking

In this paper, a compound biped locomotion algorithm for a humanoid robot under development is presented. This paper is organized in two main parts. In the first part, it mainly focuses on the structural design for the humanoid. In the second part, the compound biped locomotion algorithm is presented based on the reference motion and reference Zero Moment Point （ZMP）. This novel algorithm includes calculation of the upper body motion and trajectory of the Center of Gravity （COG） of the robot. First, disturbances from the environment are eliminated by the compensational movement of the upper body; then based on the error between a reference ZMP and the real ZMP as well as the relation between ZMP and CoG, the CoG error is calculated, thus leading to the CoG trajectory. Then, the motion of the robot converges to its reference motion, generating stable biped walking. Because the calculation of upper body motion and trajectory of CoG both depend on the reference motion, they can work in parallel, thus providing double insurances against the robot＇s collapse. Finally, the algorithm is validated by different kinds of simulation experiments.