A helical drive in-pipe robot based on compound planetary gearing

The modern society is fuelled by very comprehensive grids of gas and liquid pipelines. In recent years, various in-pipe robots have been developed for inspection and maintenance tasks inside such pipes. In this paper, a novel in-pipe robot is proposed and developed for gas/oil well interventions at thousands of meters downhole. Due to the nature of such intervention, in-pipe robot design must be capable of carrying a very large payload, as large as 2500?N inside a pipe with diameter as small as 54?mm. The proposed design concept is based on a compound planetary gearing system. One of the major novelties of this design is the use of pipe wall as a ring gear for one stage of the compound planetary gear system; the other novelty is the generation of helical angle when the planetary gears are expanded to press on the pipe wall. The proposed concept is compact, efficient, and has never been reported before. In this paper, the helical angle, the velocity, and load capability of the proposed system will be analyzed. The load transportation capability of the proposed robot is also measured based on an experiment. Initial data have shown great potential in carrying large payloads.     

一种基于ARM的集中器的硬件实现

介绍了一种以ARM9为核心,以Windows CE5.0为操作系统的集中器。它符合国家电网的Q/GDW 374.2-2009技术标准,可以在国家电网中使用。给出了集中器的系统框图,介绍了集中器的主要实现电路,论述了其主要工作原理。     

Adaptive Neural Network Finite-Time Control for Uncertain Robotic Manipulators

An adaptive neural network finite-time controller (NNFTC) for a class of uncertain nonlinear systems is proposed by using the backstepping method, which employs an adaptive neural network (NN) system to approximate the structure uncertainties and uses a variable structure term to compensate the approximation errors, thus improving the robustness of the system to external disturbances. The controller is then applied to uncertain robotic manipulators, with a control objective of driving the system state to the original equilibrium point. It is proved that the closed-loop system is finite-time stable. Moreover, simulated and experimental results indicate that the proposed NNFTC is effective and robust.     

Toward seed-insensitive solutions to local community detection

Local community detection aims at finding a community structure starting from a seed which is a given vertex in a network without global information, such as online social networks that are too large and dynamic to ever be known fully. Nonetheless, the existing approaches to local community detection are usually sensitive to seeds, i.e., some seeds may lead to missing of some true communities. In this paper, we present a seed-insensitive method called GMAC and its variation iGMAC for local community detection. They estimate the similarity among vertices by investigating vertices’ neighborhoods, and reveal a local community by maximizing its internal similarity and minimizing its external similarity simultaneously. Extensive experimental results on both synthetic and real-world data sets verify the effectiveness of our algorithms.     

Collaborative representation with reduced residual for face recognition

Collaboration representation-based classification (CRC) was proposed as an alternative approach to the sparse representation method with similar efficiency. The CRC is essentially a competition scheme for the training samples to compete with each other in representing the test sample, and the training class with the minimum representation residual from the test sample wins the competition in the classification. However, the representation error is usually calculated based on the Euclidean distance between a test sample and the weighted sum of all the same-class samples. This paper exploits alternative methods of calculating the representation error in the CRC methods to reduce the representation residual in a more optimal way, so that the sample classes compete with each other in a closer range to represent the test sample. A large number of face recognition experiments on three face image databases show that the CRC methods with optimized presentation residual achieve better performance than the original CRC, and the maximum improvement in classification accuracy is up to 12 %.     

Exponential synchronization of two totally different chaotic systems based on a unified model

This paper presents an exponential synchronization scheme between two chaotic systems with different structures and parameters. A unified model consisting of a linear dynamic system and a bounded static nonlinear operator is employed to describe these totally different chaotic systems. A novel state feedback control law is established to exponentially synchronize the two unified models with different parameters. Most chaotic systems with different structures and parameters, such as Hopfield neural networks, cellular neural networks, Chua’s circuits, unified chaotic systems, Qi systems, and chaotic recurrent multilayer perceptrons, can be transformed into this unified model with the synchronization controller designed in a unified way. Two numerical examples are exploited to illustrate the effectiveness of the proposed design schemes.     

A power spectrum optimization algorithm inspired by magnetotactic bacteria

Magnetotactic bacteria (MTB) are one kind of bacteria with magnetic particles called magnetosomes in their bodies. These particles often connect together like a chain. The MTB move toward the ideal living conditions under the interaction between magnetic field produced by the magnetic particles chain and that of the earth. In the paper, a new magnetic bacteria algorithm based on power spectrum (PSMBA) for optimization is proposed. The candidate solutions are decided by power spectrum in the algorithm. It mainly includes four steps: power spectrum calculation, bacteria swimming, bacteria rotation and bacteria replacement. The effect of swimming schemes and parameter settings on the performance of PSMBA is studied. And it is compared with GA, PSO and its variants and some other optimization algorithms on 25 benchmark functions including CEC2005. The simulation results show that PSMBA has better performance on most of the problems than most of the compared algorithms.     

A new Chinese character recognition approach based on the fuzzy clustering analysis

In this paper, a new Chinese character recognition (CCR) approach is proposed based on the fuzzy clustering analysis theory. Chinese characters (CCs) have various similar radicals and stroke components, which make it difficult to recognize features in the CCR process. At the same time, the recognition accuracy and the efficiency are lower when the objects to be recognized are complex. In order to solve these problems, a fuzzy clustering analysis method is introduced to enhance the computing efficiency. At first, the CCs including learning samples and testing samples are transformed into binarization templates in the form of matrixes. Then, the minimum distance algorithm is applied to calculate ‘distances’ between the testing sample templates and the learning sample templates. At last, the character recognition can be achieved by searching the minimum distance from the results. The experiment results of the CCR process can prove the effectiveness and accuracy of the new method.     

A new gear fault feature extraction method based on hybrid time–frequency analysis

Gear is one of the popular and important components in the rotary machinery transmission. Vibration monitoring is the common way to take gear feature extraction and fault diagnosis. The gear vibration signal collected in the running time often reflects the characteristics such as non-Gaussian and nonlinear, which is difficult in time domain or frequency domain analysis. This paper proposed a novel gear fault feature extraction method based on hybrid time–frequency analysis. This method combined the Mexican hat wavelet filter de-noise method and the auto term window method at the first time. This method can not only de-noise noise jamming in raw vibration signal, but also extract gear fault features effectively. The final experimental analysis proved the feasibility and the availability of this new method.