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In view of the slowing expansion problem for the past harvesting robot’s electric push rod joint.This paper will adopt pneumatic draw stem instead of the original electric putter to improve the rapidity of servo system. Using VFW(Video for Windows) image acquisition system to access to the video buffer without generating the intermediate files,which can ensure high real-time performance. By monocular vision system to realize cylinder tracking control experiments for the fruit center position. Experiments verified the quickness and accuracy of the pneumatic servo positioning system.

Using the neural network to deal with complex data, because the pending sample with many variables, aiming at this nature of the pending sample and the structure properties of the BP neural network, in this paper, we propose the new BP neural network algorithm base on principal component analysis (PCA-BP algorithm). The new algorithm through PCA dimension reduction for complex data, got the low-dimensional data as the BP neural networks input, it will be beneficial to design the hidden layer of neural network, save a lot of storage space and computing time, and conductive to the convergence of the neural network. In order to verify the validity of the new algorithm, compared with the traditional BP algorithm, through the case analysis, the result show that the new algorithm improve the efficiency and recognition precise, worthy of further promotion.

By applying data fusions from GPS and MEMS sensors to plan and track path, and achieve the goal of mobile robot autonomous navigation. An improved filtering method based on Sage_Husa filtering is described, which can effectively restrain the filtering divergence, improve dynamic performance of filter, enhance stability and adaptability of filter, and improve navigation precision. With fuzzy adaptive PID control, the stability of control system is guaranteed with control strategy adjustment in real time. Finally, it is programmed that converting the fusion of high-precision GPS and attitude information into control command so as to succeed in robot navigation and real-time display on map. The feasibility and effectiveness of methods described above are verified and proved by experiments and MATLAB simulation.

This paper uses TMS320F28335 DSP and MAX3032S CPLD as the controller of the 6/4 pole switched reluctance motor (SRM), and controls the motor by the method of current chopping control (CCC) in low speed and the method of angle position control (APC) in high speed. About the optimization of turn-on angle and turn-off angle when SRM is controlled by the method of APC, this paper discusses the optimal design of the two parameters by ways of theory research, simulation and experimental testing. The results show optimal switching angle can make speeded-up of the motor better and improve the performance of SRM.

This paper designs a multi parameter real-time water quality on-line monitoring system for aquaculture water. This system achieves the online monitoring among temperature, turbidity, DO (dissolved oxygen), pH and electrical conductivity. The crosstalk, produced by the simultaneous measurement with DO and pH sensors, will affect accuracy and stability of monitoring results. This paper analyzes the source of crosstalk, describes a circuit model of causing crosstalk, and designs an isolated circuit between powers and signals as well. The experimental results show that, the real-time monitoring of DO and pH has the characteristics of speediness, high precision, small error and low noise.