Jianmin Sun

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A kind of new autonomous robot can excavate hole in the mud underwater, which is called move-in-mud robot. It can be used in sunken wreck salvage to improve the efficienty of excavating the hole. In this paper, analyse the working principle of move-in-mud robot according to planned trajectory. The kinematics modelling of move-in-mud robot is established.(More)
Data fusion methods are widely used in autonomous robots' measurement system in order to acquire more comprehensive and more exact information. Move-in-mud Robot is a kind of autonomous robots, which is used to substitute for excavating hole underwater in wreck salvage by diver according to a planned trajectory. Location of the robot is one of keys in study(More)
Due to the inherent nonlinear nature of vehicle fluid damper, an intelligent control algorithm which fuzzy control rule table can be obtained with the numerical calculation is advanced. The algorithm can adjust the rectification factor of fuzzy controller by adaptive filter method. Suspension dynamics are modeled using a two degree-of-freedom, linear and(More)
Move-in-mud Robot is a kind of autonomous service robots, which is used to substitute for excavating hole underwater in wreck salvage by a diver. The robot can excavate hole in mud according to a planned trajectory underwater. It can increase the efficiency of excavating hole and improve working condition of the diver. There is great importance in research(More)
To improve vehicle comfort and road holding capability, an adjustable fuzzy control algorithm which fuzzy control rule table can be obtained with the numerical calculation is advanced. Because the algorithm can adjust the rectification factor of fuzzy controller, it not only can reflect the advantage of fuzzy logic in nonlinearity system but also can(More)
For the traditional vehicle suspension, it is generally not easy to improve the ride performance in various roads. In this paper, taking the ride comfort and road handing as system control objective, the system control mechanism is discussed. To improve vehicle comfort and road holding capability, a novel adjustable fuzzy control algorithm which fuzzy(More)
A kind of active suspension system combined with passive suspensions and active components is addressed. Suspension dynamics are modeled using a two degree-of-freedom, linear and time-invariant vehicle model. The least means squares adaptive algorithm that guarantees system optimal control, is presented and used to find the optimal suspension system design.(More)
For two degree of freedom of vehicle suspension model, a novel adaptive controller is presented. In order to compare and analyse, acceleration mean square root of vehicle's vibration is adopted as evaluation index for the riding comfort. In addition to considering the handing safety of vehicle, wheel dynamic load and suspension dynamic deflection are also(More)