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Semi qualitative index based methods using rankings and ratings are commonly used in susceptibility estimations over a wide area. However, generalized ranking and ratings are not applicable for one single landslide. This paper gives an easy and transferable approach to a susceptibility assessment of Huangtupo landslide (P.R. China), using raster addition without taking account for ranking and ratings. Slope, aspect, curvature, location and drainage buffer distance raster data sets have been obtained out of open source digital elevation models using ESRI's ArcGIS. These conditioning factor raster data sets have been translated into raster data sets including simple yes or no criteria, referring to triggering or not. Subsequently they have been added by raster math to acquire a simple raster overlay map. After that this map is compared to initial displacement measurements, obtained by using a ground based synthetic aperture radar device. Acquired data is recalculated to a raster data set using the same spatial extent, to provide the possibility of comparison of the two raster data sets. The results reveal, that 76.35% of all measured movements occur in areas where raster cells include three or more conditioning factors, indicating that easy raster math operations can lead to satisfying results in local scale.

To solve the problem that in the pickled vegetable production, factory still use artificial labor ignore automated production. this situation lead to low productivity of Chinese pickled vegetable process. The other problem is that manual operations on the food quality, taste and health is difficult to control. In order to solve these two problems, I designed a new automated food mixer which apply automation technology, automatic weighing the main ingredient of feed and feed materials. only one person can completed the whole requires that from feeding to stirring. It can greatly reduces labor costs and labor intensity, the popularize of the food mixer will create a lot of economic value.

A transmission experiment platform was built to make an explicit test plan for the non-backlash double-roller enveloping hourglass worm drive reducing device, according to the type test and performance analysis, the noise, temperature, and efficiency of the new worm was obtained under different load and rotational speed. The results show that the non-backlash double-roller enveloping hourglass worm gearing possesses a excellent meshing performance as expected, which can eliminate the backlash, and it indicates that the new drive has achieved the anticipated project objective, eliminated the hysterisis error in transmission, and has the advantages of low noise, high transmission efficiency.

The processing of worm gear components is quite simple, and manufacturing method is relatively complete, theres no need to make special equipment. But to new energy equipment, research new-type of manufacturing technology is required. On the basis of meshing theory and drawing on manufacture of the planar enveloping as well as the tapper enveloping hourglass worm, a research of manufacture technique about the non-backlash double-roller enveloping hourglass worm drive has conducted on the Y3180E gear-hobbing machines and four-axis four-linkage NC machines. The key pieces have been processed out, and a calibration has been conducted on the single-head worm. All of these work will provid a theoretical foundation and practical experience for the actual manufacture.

According to a series of hill area issues, such as big steep gradients, small and disperse plots, agricultural machinery climbing restriction and so on, a new 2-DOF bionic power-assisted legs mechanism driven by hydraulic is proposed. This paper states the design principle of the bionic legs mechanism and its application in agricultural machinery. A dynamic model is used to show how the hind leg assisted agricultural machinery is established, and then deduce the dynamics equation, and solve the inverse dynamics problems. The result shows that agricultural machinery movement along slope is steady with the help of the hind leg, and driving force of hydraulic cylinder changes is slightly without any distinct impact to other devices, the actuated project is feasible and the structure design is reasonable, and it can be used to research on intelligent control of bionic legs and hill area agricultural machinery.

To improve the success rate of Soccer Robot Path Planning, artificial potential field is amended, autonomous potential field is presented to solve the path planning problem by analyzing shortcomings of the basic shooting algorithm, the autonomous potential field function centering on the soccer robot is constructed, and the robot’s movement in the new potential field is analyzed, the modified artificial potential field model and autonomous potential field model is contrasted, each vicinal potential energy of the modified artificial potential field model and autonomous potential field model is analyzed. The simulated results demonstrate that this method can optimize the path of a soccer robot, decrease the complexity, enhance the real time capability, perform the shooting action better, and improve the success rate of a soccer robot shooting a goal.

Performance of gearbox drive system has a great impact on the working life of the whole drive mechanism, especially in wind power generation systems. Using the power split differencial drive system, the objective function of speed up Gearbox optimal design is built adopting the nonlinear constrant minimum function Fmincon from Matlab, the constraints are settled and the relevant parameters of the gearbox with the minimum volume while satisfying the transmission ratio are finally obtained. Then the optimised results is verified with single factor method. The results show that the overall volume of the gearbox is reduced by 9.13% after optimization.

In order to solve the transmission error from the backlash in precision gear transmission, this paper proposes a mechanism which uses slider and pendulum to eliminate backlash. Based on the force analysis of the new-typed auto-eliminate backlash mechanism, genetic algorithm is selected to optimize the design. The simulation experiment by Matlab shows that spring force of the mechanism is minimum and its performance is ideal, meanwhile the configuration parameters of the mechanism are ensured.

According to the rotational invariance of Harris corner detectorand the robustness of Sift descriptor. An improved Harris-Sift corner descriptor was proposed. At first, the algorithm given multi-scale strategy to Harris corner, improved corner counting method and removed redundant points at the same time, then, the corner was directly applied to low-pass Gaussian filter image. Based on the histogram of Sift feature descriptor, generates a new 128-dimensional feature vector descriptor by multi-scale Gauss weighted.Through the above, Harris corner detectorand Sift descriptorwas normalizedin the scale layer and gradient features. The experiment results indicated that, the improved corner descriptorcomprised both advantage of Harris corner detection and Sift feature descriptor. The method reduced the computation time and the false match rate, which could be validly applied to the robotstereo vision matching andthree-dimensional reconstruction. DOI: http://dx.doi.org/10.11591/telkomnika.v11i10.3429

A formulation based on Danevit-Hartenberg was educed for the dynamics and kinematics equation, the virtual model of humanoid robot based on Pro/ENGINEER was developed. The simulator, which is the virtual counterpart of the hardware robot platform for humanoid robotics, can emulate the dynamics of the robots and test the control algorithms. The controller can handle a dynamic balance control, a biped locomotion and trajectory planning etc. A large number of simulations were done and the joint campaign curve of Humanoid Robot's arm doing a particular action was given. The experiment proved that the method was effective and feasible. Thus, the foundation was laid for the next phase of the control algorithm research.

Based on Groebner base method, numeric-symbolic solutions to forward position analysis for a 3-RPS parallel mechanism and computer symbolic manipulating technique are proposed. A set of nonlinear polynomial equations are transformed into a set of equivalent triangularization equations by using the following operations: ordering of variables, forming all pairs of polynomials, finding S-polynomial, reduction etc. The analytical solutions in the closed form are obtained. The jacobian matrix and the equation in numeric-symbolic form for determining singularity configuration are derived. The maneuverability of the parallel mechanism and singularity configuration are investigated. The numerical examples are given for the illustration.

This paper deals with the problem of how to demonstrate the Coriolis moments in manipulators by an experimental way. This paper brings together the whole solution to the demonstrative experiment plan--from the choice of the device, to the operation of the experiment. Through the use of a differential, a simplest two-DOF spatial mechanism is presented as a manipulator where the Coriolis moments can be analyzed in a systematic way. The phenomenon of the experiment clearly demonstrates the existence of Coriolis moments, and furthermore, the quantity relationship between the moment and the corresponding factors is also obtained.

Based on Groebner base method and computer symbolic manipulating technique, symbolic solutions for direct displacement analysis of a three-DOF spatial parallel machine tool are proposed in this paper. A set of nonlinear polynomial equations are transformed into a set of equivalent triangularization equations by using the following operations: ordering of variables, forming all pairs of polynomials, finding S-polynomial, and reduction etc. The analytical solutions in the closed form are obtained. The Jacobian matrix is derived and symbolic technique is introduced into the procedure of derivation of Jacobian matrix. The manipulability of the parallel machine tool is investigated. Two numerical examples are given for illustration.

The robot dynamics and kinematics equation based on Danevit-Hartenberg was educed and a virtual model of humanoid robot was developed. The simulator can emulate the dynamics of the robot and test the control algorithms, which are the virtual counterpart of the hardware robot platform for the humanoid robotic; the controller can handle a dynamic balance control, a biped locomotion and trajectory planning, etc. The simulator can also verify the accuracy of the simulation by experiments in the real world. A large number of simulations were done and the snapshot of the Humanoid Robot's leg doing a particular action was given. The experiment proved that the method was effective and feasible. Thus, the foundation was laid for the next phase of the control algorithm research.