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To detect the accuracy of measurement results with Z300P portable formaldehyde analyzer, and provide scientific data for detecting formaldehyde concentration in the air using instrument instead of chemical method, the different formaldehyde concentration was detected by phenol reagent and acetyl acetone which are the national standard method for the formaldehyde concentrations determination in indoor air and their precision test and linear analysis were done. At the same time, the formaldehyde of low, medium and high concentrations of in different indoor field was detected with Z300P portable formaldehyde analyzer, then significant difference test among the results was done. The average relative standard deviation of measurement results through phenol reagent and acetyl acetone national standard method was less than 5%, there is a good linear relationship (r> 0.997).There was no significant difference (P> 0.05) indifferent formaldehyde concentrations results through phenol reagent with acetyl acetone method. But there was a significant difference (P

Large amount of stainless steel tubes would be applied in the desalination system. If the tubes are welded manually, there would be a lot of the repeated work accompanied with the extremely low efficiency and the welding quality could not guaranteed either. So the best choice to finish the work is using a robotic welding system. In this paper, a robotic system to be employed in welding the pipes for desalination of sea water is introduced. The robotic system contains four revolute axes and could be mounted on a branch pipe, so it can both maneuver between the pipes and adjust to a wide range of pipes’ diameter. Moreover, it is very convenient to take with for it is compact and lightweight. The mathematical method for calculating of the geometry of welding path of the intersecting cylinders is also explained. The welding robot, a digital welding power and the gas shielded system are included in the welding system. The robot movement is controlled by a micro-controller and it could communicate with the host IPC (industrial personal computer) through RS232. Other devices are directly controlled by the host IPC. Finally, a simulation is taken and the result shows that the welding system is able to meet the requirements.

A digital integrated development platform, which is based on Pro/E, ADAMS, ANSYS and Matlab, is introduced in this paper. A type of 6-DOF industrial robot for laser cutting is developed on this platform. In the virtual environment, the development efficiency is improved, as well as the reliability of the robot. The 3D parametric model of the laser cutting robot is firstly built by using Pro/E. Through the interface module between Pro/E and ADAMS, the 3D model is transferred to ADAMS. Then the kinematics model and dynamic model are set up. The model of robot control system is obtained with Matlab/Simulink. The dynamic model and the control system model are combined by ADAMS/Control. Uniting ADAMS and Matlab, the characteristic of the robot is investigated. The load file which contains the load information of the flexible part is, then, obtained. Together with this file and ANSYS, the finite element analysis of the robot could be made. Ultimately, according to the analysis result, the structure of the robot would be optimized. It can obviously save time to develop the cutting robot on this platform, which consists of the four kinds of software mentioned in this paper. The results of the simulation are close to the real. Thus, it will provide the basis for making the physical prototype.

Discussed in this paper are the issues underlying the mechanical design of 7-DOF manipulator. A comprehensive solution for the structural type selecting, and the detail design of the links, the joints and the parts is introduced. First the design requirements including the workspace, manipulability, loading capacity, weight, precision, motor power etc are studied. After the preliminary design and calculation, the parameters of the D-H model are determined. We put forward a method to resolve the dynamic problems by software. It is accomplished by blending the unique capabilities of three engineering CAD packages named PRO/E, ADAMS and ANSYS. The statics problems and the multi-body dynamic problems met during the design process will be easily solved by using the software. The parametric geometric model of the manipulator built with PRO/E was transferred to ADAMS. Uniting ANSYS and ADAMS, we began the stress-strain and modality analysis. At last, the complicated flexible multi-body model of the manipulator was set up, and then given the dynamics simulation results which are important for the further design. The finished manipulator has the compact structure and high manipulability. Based on the experiments, the manipulator steers clear of the obstacle in a certain area included in the workspace.

A method of real-time collision obstacle for autonomous mobile robots in local dynamic environment using multi-sensor data fusion is proposed. Due to the effectiveness of the optical flow sensors, the robot can acquire more accurate self-motion information. This paper also proposes an approach to complete enhancement based on the earlier vector field histogram algorithm (VFH), which is called VFH#. This paper improved a new heuristic function to the VFH# algorithm in particular. By using this way, robots can select a more appropriate steeling angle in local dynamic environments. The results of experiments with a Pioneer robot demonstrated that robot collision obstacle can be obtained using the proposed method.

Localization and map building are two essential tasks for an autonomous mobile robot's indoor navigation without a prior map. This paper describes a mobile robot system designed for simultaneous localization and mapping (SLAM) for an autonomous mobile robot in an indoor environment. Due to variant sensor modeling for laser range finder and CCD camera, weighted least square fitting and Canny operator are used to extract certain two-dimensional environmental features and vertical edges respectively. Using Kalman filtering (KF) to localization and grid map building simultaneously are also presented. When implemented on a Zixing mobile robot produced by Harbin Institute of Technology (Weihai), the localization technique correctly localized the robot while exploring and mapping.

Localization and map building are two essential tasks for an autonomous mobile robot's indoor navigation without a prior map. This paper describes a mobile robot system designed for simultaneous localization and mapping (SLAM) for an autonomous mobile robot in an indoor environment. Due to variant sensor modeling for sonar range finder and CCD camera, weighted least square fitting and Canny operator are used to extract certain two-dimensional environmental features and vertical edges respectively. Using Kalman filtering (KF) to localization and grid map building simultaneously are also presented. When implemented on a Zixing mobile robot produced by Harbin Institute of Technology (Weihai), the localization technique correctly localized the robot while exploring and mapping.