HARDWARE AND SOFTWARE COMPLEX FOR CREATION AND RESEARCH OF LOCOMOTION AND AUTONOMOUS MOTION CONTROL SYSTEMS FOR MOBILE ROBOTS

A software and hardware complex for creation and research of control systems for mobile robots with walking and wheeled movers is presented. The synthesis of control laws is performed by the inverse problem method; Methods for connecting various SLAM algorithms, including those using data from computer vision devices, are considered.

Design of grinding wheel profile for new micro drill flute

Derived from our previous research, a new micro drill bit with higher accuracy and productivity was developed. Because the drill flute plays a significant role in its cutting performance, the design of grinding wheel profile for the new micro drill flute by an inverse problem method is examined in this research. First, the cross-section of the new micro drill flute is modeled by mathematical equations. Second, machine parameters and workpiece geometric parameters are set up. Third, the engagement equation between the grinding wheel and flute surfaces is developed. Fourth, that equation is solved to obtain the locus of contact points. Finally, the translation and rotation transformations of that locus are carried out to obtain the grinding wheel profile for the new micro drill flute. Numerical examples are demonstrated and validated by Vericut software.

Optimization of night mechanical ventilation strategy in summer for cooling energy saving based on inverse problem method

Night ventilation has great energy saving potentials for public buildings in summer. However, night mechanical ventilation inevitably causes more fan energy consumptions, even though it can reduce the cooling loads for the next day and save the air conditioning energy consumption correspondingly. Thus the optimization of night mechanical ventilation strategy is highly significant for building energy efficiency. In this paper, the simplified two-plate room model is used and the optimization model of the mechanical ventilation and air conditioning system is established. To minimize the total energy consumption, the optimal night ventilation strategy is determined through inverse problem method. Taking an office room in Beijing as the illustrative example, the results show that the optimal air exchange rate for night mechanical ventilation is much higher than the traditional value (ACH = 0.5 h−1) and it highly depends on the indoor-outdoor air temperature difference and cooling load demands. Moreover, the total electricity usage amount can decline from 210 kWh to 111 kWh after optimization, reduced by about 47% in the whole summer season. It also indicates that the energy saving effect of night ventilation mainly derives from the cooling storage and load shifting of building internal walls. Compared to traditional ventilation strategy, the energy saving ratio increases with increasing thermal conductivity and specific heat of building internal walls. This work can provide guidance for practical ventilation system optimization design and operation strategy determination.

Analysis of Torque in Friction Stir Welding of Aluminum Alloy 5052 by Inverse Problem Method

Torque influences the main phenomena that occur during friction stir welding (FSW) process. However, models for torque have received little attention. In this paper, inverse problem method is used to estimate the parameters for a model for torque, measured during FSW experiments for different combinations of rotational and welding speeds. The experimental results are used as input data to estimate the model parameters. The results showed a good agreement between the experimental data and the model obtained using the inverse problem method. The influence of the tool geometry on torque was observed by comparing previously published experimental results and the experimental data presented.