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The mechanical properties between wheel and ground will affect the motion performance of wheeled omnidirectional mobile robot (OMR). MY3 wheel is an omnidirectional wheel. This paper aims to analyze the contact mechanical characteristics between MY3 wheel and ground to improve the motion accuracy of an omnidirectional mobile platform with MY3 wheel (MY3-OMR).

This method takes MY3 wheel as the research objective. The normal and tangential contact mechanics model and rolling contact mechanics model of MY3 wheel are established by analyzing the structure of MY3 wheel, and thereby, the slip ratio of MY3 wheel in the process of motion is calculated. The kinematics model of MY3-OMR is optimized by taking the slip ratio as the optimization parameter that aims to improve motion accuracy of MY3-OMR.

The correctness of the mechanical analysis and the feasibility of the method are verified by the MY3-OMR prototype. Let MY3-OMR move along the set circular trajectory and square trajectory, and the error between the motion trajectory before and after optimization and the standard trajectory is obtained. It illustrates that the error in the square trajectory is reduced by 1.5%, and the circular trajectory error is reduced by 2%; therefore, the method is effective.

A method based on contact mechanics is proposed and verified. Through the establishment of wheel-ground contact mechanics model to optimize MY3-OMR kinematics model, and thereby, the motion accuracy of MY3-OMR is improved, which lays a foundation for MY3-OMR engineering application.

Omnidirectional mobile robots with a special type of wheel structure can realize flexible motion with all three degrees of freedom in a plane. But the driving method brings large disturbance, which affects motion accuracy and stability. This study aims to improve the motion control accuracy of the omnidirectional mobile platform with MY3 wheels (MY3-OMR), a new fuzzy active disturbance rejection control (FADRC) method with adaptivity is proposed.

Based on the basic mechanical structure and drive characteristics of MY3-OMR, the dynamics model of the system is established. The linear active disturbance rejection control (LADRC) system is designed to reduce the interference of nonlinear factors in this dynamics model. A fuzzy controller is introduced to realize the online adjustment of the parameters of the LADRC, which further improves the anti-disturbance performance of the system.

The control method proposed in this paper is compared and analyzed with other methods by simulation and experiment. Results show that the proposed method has better tracking and robustness, which effectively improves the control accuracy of trajectory tracking of MY3-OMR.

A FADRC method with adaptivity is proposed by combining fuzzy control and LADRC. The motion accuracy and anti-interference ability of the MY3-OMR are improved by this control method, which lays a foundation for the subsequent application of MY3-OMR.

Large optical mirror processing systems (LOMPSs) consist of multiple subrobots, and correlated disturbance terms between these robots often lead to reduced processing accuracy. This abstract introduces a novel approach, the nonlinear subsystem adaptive dispersed fuzzy compensation control (ADFCC) method, aimed at enhancing the precision of LOMPSs.

The ADFCC model for LOMPS is developed through a nonlinear fuzzy adaptive algorithm. This model incorporates control parameters and disturbance terms (such as those arising from the external environment, friction and correlation) between subsystems to facilitate ADFCC. Error analysis is performed using the subsystem output parameters, and the resulting errors are used as feedback for compensation control.

Experimental analysis is conducted, specifically under the commonly used concentric circle processing trajectory in LOMPS. This analysis validates the effectiveness of the control model in enhancing processing accuracy.

The ADFCC strategy is demonstrated to significantly improve the accuracy of LOMPS output, offering a promising solution to the problem of correlated disturbances. This work holds the potential to benefit a wide range of practical applications.

Based on laser-range-finder (LRF) sensing, the control design of location and orientation stabilization for the mobile robot is investigated. However, the practical limitation of the LRF sensing is usually ignored in the control design, which leads to incorrect localization and unexpected control results. The purpose of this study is to design the fuzzy controller subject to the practical limitation on the LRF-based localization for a differentially driven wheeled mobile robot.

First, the Takagi–Sugeno (T-S) fuzzy model is derived from the polar kinematic model of a differentially driven mobile robot. Then, the fuzzy controller is designed to the derived T-S fuzzy kinematic model in accordance with the Lyapunov stabilization theorem. The derived Lyapunov stabilization conditions for the fuzzy control design are expressed as the linear matrix inequality (LMI) form and effectively solved by LMI tools. The practical limitation on the LRF-based localization is also expressed as the LMI form and simultaneously solved with the control design.

The location and posture stabilization experiments are carried out on a mobile robot with LRF-based localization to prove the effectiveness of the proposed T-S fuzzy model-based control design. Furthermore, the ground truth experiment evaluates the accuracy of LRF-based localization.

The contribution of this study is to develop the fuzzy control law for a differentially driven wheeled mobile robot under the practical limitation on LRF-based localization. The proposed control design can be applied to other robots with practical limitations on the sensors.

The purpose of this paper is to formulate and solve a last-mile distribution plan problem with concern for the quality of fruits and vegetables in cold chains.

The vehicle routing problem with time windows (VRPTW) is extended based on the characteristics of fruit-and-vegetable cold chains. The properties of multiple perishable foods, continuing decline in quality, various requirements for quality levels and optimal temperature settings during vehicle transportation are considered in the VRPTW. The product quality level is defined by the estimation of residual shelf life, which changes with temperature, and is characterized by a stepped decrease during the transportation process as time goes on. A genetic algorithm (GA) is adapted to solve the problem because of its convincing ability to solve VRPTW-related problems. For this purpose, solution encoding, a fitness function and evolution operators are designed to deal with the complicated problem herein.

A distribution plan including required fleet size, vehicle routing sequence and what quality level should be shipped out to account for the quality degradation during vehicle transportation is generated. The results indicate that the fulfillment of various requirements of different customers for various fruits and vegetables and quality levels can be ensured with cost considerations.

This study presents a problem for last-mile delivery of fresh fruits and vegetables which considers multiple practical scenarios not studied previously. A solution algorithm based on a GA is developed to address this problem. The proposed model is easily applied to other types of perishable products.

The purpose of this paper is to analyze the variations in the neutral plane when a tall space with unsymmetrical openings is on fire. The neutral plane of the fire scene is an important index of a natural smoke exhaust system. The numerical simulation method and the Schlieren photography technique were used as analysis tools. The results of model experiments and numerical simulation were compared with each other to confirm the rationality of the conclusions. The results were to discuss the characteristics of various cases and showed that the neutral planes of the fire scene were not always horizontal.

The numerical simulation method and the Schlieren photography technique were used as analysis tools. The flow patterns of hot air in various cases were recorded using the flow visualization technique. In addition, the renowned simulation software, fire dynamics simulator (FDS), was used for case analysis. The Schlieren photography technique was used for 1/12.5 model experiments with six smokeless candles burned, and FDS was used for a numerical simulation. In terms of the case of unilateral vents, the exhaust efficiency was discussed when the exhaust vent and air inlet were located on the same side or different sides.

This study demonstrates that makeup air flowing in from the inlets and openings has a significant impact on the effectiveness of natural smoke exhaust systems. The results illustrated that the neutral planes were tilted in some cases. In some cases, the results showed that one side was the air inlet and the other side was the exhaust vent, even if the openings were at the same height in some cases. These phenomena have rarely been discovered or studied in the past. The exhaust efficiency was not always better when the vent was located in the rooftop.

This study analyzed the neutral plane of a fire scene using the common unsymmetrical opening spaces in the Taiwan region as an example. The phenomenon of non-horizontal neutral plane has rarely been studied in the past. The temperature of the discharged hot gas was low because of an efficient exhaust effect, which reduced the heat and smoke storage in the space. The results obtained by these two methods were consistent, and showed that the cases with the same opening area had different smoke extraction efficiencies, meaning the smoke extraction effect cannot be judged only by the opening areas.