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Namkug Ku Ju-hwan Cha Kyu-Yeul Lee Jongwon Kim Tae-wan Kim Sol Ha Donghun Lee 《Journal of Marine Science and Technology》2010,15(4):374-385
This paper describes the development of a self-driving mobile welding robot. The robot is used to weld U-shaped welding areas
in enclosed double-hull structures. In order to place itself inside the double-hull structure, the robot is capable of passing
through an access hole 600 mm wide and 800 mm high. This research addresses the mechanical and control systems of the robot.
The mechanical system of the robot consists of an eight-axis mobile platform, and a six-axis welding unit. The control system
consists of a main controller, a welding machine controller (arc sensor board), and seam tracking sensors, i.e., a touch sensor,
a laser sensor, and an arc sensor. To reduce the number of cables that would be dragged by the welding robot, the main controller
is designed as an embedded type that is mounted on the back of the mobile platform. 相似文献
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针对机械臂在水下的复杂工作环境以及目前水下机械臂应用的受限性,提出一种线驱动软体机械臂,采用刚柔耦合的结构,利用电机驱动2根绳索,减少驱动单元,降低能耗,提高了机械臂的柔顺性,使其能够更好地适应水下复杂的工作环境和作业需求。同时,采用经典的Denavit-Hartenberg(D-H)建模思想结合克赛拉特杆理论(Cosserat rod theory)对其进行运动学分析。在现有软体机械臂控制方法上,设计试验平台,采用尖顶从动的控制方式检测误差并进行分析,验证了重力因素对软体机械臂控制精度的影响,为软体机械臂在水下应用的控制策略提供参考。 相似文献
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基于移动通信的嵌入式智能家居系统 总被引:1,自引:0,他引:1
该系统采用嵌入式技术、移动通信通讯技术和java语言相结合的方式,搭建了一个家庭智能管理平台。该平台可以将家中的电器、防盗系统、影视娱乐系统有机的结合起来,实现对家用电器和各个子系统的智能管理。同时能通过短信和Internet网络等方式,实现对家庭系统的远程监控。该系统具有非常灵活的可移植性和扩展性,开发成本低,该系统开创性的在手机客户端实现了C/S网络结构,具有独立的运行平台,具有更高的安全性和实时性,在市场上具有很好的发展前景。 相似文献
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水下机器人递阶控制系统结构设计 总被引:1,自引:1,他引:0
为了简化水下机器人的控制系统设计,实现良好的人机界面,本文提出了解耦三级递阶控制系统结构,它包括由任务脚本和任务解释器组成的任务级控制、位置/姿态级控制和执行级控制。采用这种控制结构,大大缩短了开发周期,提高了软件模块的可重用性。 相似文献
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通过对CJBW20船舶网络型监控微机系统的结构原理及性能的分析介绍,展示了一种崭新的船舶监控微机系统,该系统采用工控PC机的作上层主微机,用2^ 实时网络作为系统的通讯网络,自适应测量单元进行A/D转换,8098单片微机控制器作为控制输出单元等,在结构上采用多微机分散式网络化布置,并应用多媒体技术,通过6只摄像头对现场进行监视,并配以Windows平台上的Intouch图形工控软件包和具有“黑盒子”功能的磁盘自动记录和打印的专用软件。 相似文献
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在船用电力推进系统中,控制系统常由多个部件组成。通过部件之间的通讯,指令下发、信息采集、故障告警等多种功能才得以实现。由于各部件之间的通讯接口多种多样,如CAN、485、以太网等。可采用的通讯协议也很多样,标准协议和自定义协议都存在,所以通讯功能调测也变得重要且复杂。在调测通讯接口的过程中,采用轻量级的开放式测试平台,比起等所有部件开发完毕后集中调试要更为便利。本文介绍了一种开放式通讯调测平台的设计方案。此调测平台可直接运行于各种pc或便携机上,具有测试接口多样、测试脚本可定制的优点。在实际应用中,已取代了plc和触摸屏等多种部件进行通讯功能的调测,给开发人员带来了很大便利。 相似文献
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叙述某装置的原料气源罐的压力采集与控制系统,该系统硬件主要由研华工控机和ADAM4000模块组成,软件在WindowsXP平台下利用VC编制,其界面友好,操作方便,试验证明该系统能实时采集各分布点的气源压力,并得到满意的压力控制精度。 相似文献
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In this paper, a hybrid automatic optimization strategy is proposed for the design of underwater robot lines. Isight is introduced as an integration platform. The construction of this platform is based on the user programming and several commercial software including UG6.0, GAMBIT2.4.6 and FLUENT12.0. An intelligent parameter optimization method, the particle swarm optimization, is incorporated into the platform. To verify the strategy proposed, a simulation is conducted on the underwater robot model 5470, which originates from the DTRC SUBOFF project. With the automatic optimization platform, the minimal resistance is taken as the optimization goal;the wet surface area as the constraint condition; the length of the fore-body, maximum body radius and after-body's minimum radius as the design variables. With the CFD calculation, the RANS equations and the standard turbulence model are used for direct numerical simulation. By analyses of the simulation results, it is concluded that the platform is of high efficiency and feasibility. Through the platform, a variety of schemes for the design of the lines are generated and the optimal solution is achieved. The combination of the intelligent optimization algorithm and the numerical simulation ensures a global optimal solution and improves the efficiency of the searching solutions. 相似文献
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QIN Zheng BIAN Xin-qian 《船舶与海洋工程学报》2006,5(4):33-37
1 Introduction1 It is hoped the Autonomous Underwater Vehicle (AUV) can be fully autonomous, but the basis of this hope is that AUV can navigate and position accurately.Inertial navigation is the main navigation method for AUV, but accumulative error of t… 相似文献
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In this paper, a hybrid automatic optimization strategy is proposed for the design of underwater robot lines. Isight is introduced as an integration platform. The construction of this platform is based on the user programming and several commercial software including UG6.0, GAMBIT2.4.6 and FLUENT12.0. An intelligent parameter optimization method, the particle swarm optimization, is incorporated into the platform. To verify the strategy proposed, a simulation is conducted on the underwater robot model 5470, which originates from the DTRC SUBOFF project. With the automatic optimization platform, the minimal resistance is taken as the optimization goal; the wet surface area as the constraint condition; the length of the fore-body, maximum body radius and after-body's minimum radius as the design variables. With the CFD calculation, the RANS equations and the standard turbulence model are used for direct numerical simulation. By analyses of the simulation results, it is concluded that the platform is of high efficiency and feasibility. Through the platform, a variety of schemes for the design of the lines are generated and the optimal solution is achieved. The combination of the intelligent optimization algorithm and the numerical simulation ensures a global optimal solution and improves the efficiency of the searching solutions. 相似文献
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以工作水深1200m、8缆系泊的半潜式海洋平台为对象,研究其系统定位方法,通过改变锚泊系统系泊缆长度来实现平台的定位。建立反映半潜式海洋平台锚泊系统动力响应的多目标优化模型,通过求解得到船体目标位移与最优系泊缆长度,借助多学科软件iSIGHT,通过开发程序接口,调用水动力分析软件ANSYS/AQWA求解器求解,实现了半潜式平台锚泊系统的结构动力响应优化设计。对半潜式平台进行风、浪、流联合作用下的水动力耦合分析,实时控制系泊缆长度来实现平台的定位并保证平台的稳定性。 相似文献
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