Abstract-A fuzzy control system was designed to command driving directions for a mountain agriculture robot. First, a fuzzy control system program was developed based on the scheme of the robot driving control system. Then, the core part of the system--the fuzzy controller--was designed.Finally, a system model was created and a simulation test was conducted through the application of the Fuzzy Toolbox in MATLAB and SIMULINK. The results showed that the system is effective.

Multi-roller ow forming has the characteristics of multi-directional loading, which can improve the quality and accuracy of spun products. Roller number and parameter arrangement in a roller set will affect the material ow and rib lling in multi-roller ow forming of cylinder with inner ribs. Therefore, in this paper, a nite element model of multi-roller ow forming was established to explore the effects of roller number and parameter arrangement on the material ow and saturation degree of inner ribs of aluminium cylinder with oblique cross ribs. The results show that increasing roller number can promote the material radial ow, leading to improve the saturation degree of inner rib; and that, in a roller set, applying large radius for the front roller and small radius for the subsequent roller is bene cial to rib lling, and the more radial offset amount of the rst roller has, the more su cient material ow into the inner ribs is under constant total thickness reduction. In addition, an aluminum cylinder with cross ribs had been spun successfully, which had good dimensional accuracy and mechanical properties. The approaches can provide process guidance for manufacturing on ow forming of aluminum cylinder with inner ribs.

Tactile feedback is beneficial to improve the hand prosthesis performance, alleviate phantom pain, reduce muscle fatigue, etc. During the manipulation process, muscle fatigue not only causes discomfort to prosthesis users but also disturbs the sEMG-based motion recognition, which significantly deteriorates the prosthesis functional performance. Efforts have been made to explore appropriate signal processing algorithms which could be less influenced by muscle fatigue. However, few studies concern how to alleviate muscle fatigue directly. Thus, this study proposes a novel method to avoid excessive muscle fatigue based on electrotactile feedback. A potable electrotactile stimulator is developed with adjustable parameters, multiple channels and wireless communication. It is implemented in a virtual hand grasping platform driven by sEMG signals to investigate the impact of tactile feedback on muscle fatigue. Experiment results show a higher success rate of grasping with electrotactile feedback than that with no feedback. Moreover, compared with grasp in the no feedback condition, an observable decrease of sEMG intensity when grasping a heavy object with electrotactile feedback, despite a comparable performance on the light and medium objects in both feedback conditions. It indicates that tactile feedback helps to alleviate muscle fatigue caused by excessive muscle contraction, especially when large strength is needed.

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Multi-roller flow forming has the characteristics of multi-directional loading, which can improve the quality and accuracy of spun products. Roller number and parameter arrangement in a roller set will affect the material flow and rib filling in multi-roller flow forming of cylinder with inner ribs. Therefore, in this paper, a finite element model of multi-roller flow forming was established to explore the effects of roller number and parameter arrangement on the material flow and saturation degree of inner ribs of aluminium cylinder with oblique cross ribs. The results show that increasing roller number can promote the material radial flow, leading to improve the saturation degree of inner rib; and that, in a roller set, applying large radius for the front roller and small radius for the subsequent roller is beneficial to rib filling, and the more radial offset amount of the first roller has, the more sufficient material flow into the inner ribs is under constant total thickness reduction. In addition, an aluminum cylinder with cross ribs had been spun successfully, which had good dimensional accuracy and mechanical properties. The approaches can provide process guidance for manufacturing on flow forming of aluminum cylinder with inner ribs.