In view of the low efficiency in traditional palletizing robot problem of poor control precision, this paper introduces fuzzy PID position control algorithm, based on the actual operation situation of palletizing robot; determined as palletizing robot FPGA hardware platform, hardware platform based on this fuzzy PID position control algorithm is applied to implement palletizing robot motion control system design. The simulation model of fuzzy PID motion control was established by MATLAB software for testing to determine that the fuzzy PID position control algorithm reflects the time quickly in the motion control of palletizing robot, and the actual overshooting is small, which is more suitable for the motion control algorithm of palletizing robot. Under this condition, the modular method is adopted to complete the system application design on the FPGA hardware platform.

Tool wear can cause dimensional accuracy and poor surface quality in milling process. During the operation of tool wear, it can also cause breakage and damage of the workpieces. To prevent these conditions, it's important that the tool wear is monitored and the remaining useful life (RUL) is predicted in real time. In this paper, time domain and frequency domain statistical features are firstly extracted using multi-sensory fusion method, including the cutting force, vibration and acoustic emission sensor. Seven eigenvectors are selected as the input of the prediction model based on the distance correlation coefficient between 140 feature vectors and the wear value, which provide the most sensitive features to wear faults. The paper establishes a nonlinear relationship between high-dimensional feature vectors and tools wear based on the evolving connectionist system (ECoS), which uses the incremental learning algorithm to realize real-time prediction of the tools wear. Finally, using the wear value predicted by ECoS as hidden state sequence of Hidden Semi-Markov Model (HSMM), the RUL prediction of the tool based on HMM is established. The 2010 PHM challenge data were used to train the model. The experimental result shows that in comparison with artificial neural network, the ECoS model has higher prediction accuracy, and its mean RMSE error for three tools is 14.8. In comparison with the RUL prediction of HMM model, Probability-based RUL prediction of HSMM is more stable. INDEX TERMSMulti-sensor fusion; Evolving connectionist system; Incremental learning algorithm; HSMM; Remaining useful life prediction. Abbreviations RUL remaining useful life HMM hidden markov model ECoS Evolving connectionist system PHM prognostic and health management HSMM hidden semi-markov model RMSE Root mean square error