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Advances in Intelligent Systems and Computing 691

Feng Qiao
Srikanta Patnaik
John Wang Editors

Recent Developments
in Mechatronics and
Intelligent Robotics
Proceedings of the International
Conference on Mechatronics and
Intelligent Robotics (ICMIR2017) -
Volume 2
Advances in Intelligent Systems and Computing

Volume 691

Series editor
Janusz Kacprzyk, Polish Academy of Sciences, Warsaw, Poland
e-mail: kacprzyk@ibspan.waw.pl
About this Series
The series “Advances in Intelligent Systems and Computing” contains publications on theory,
applications, and design methods of Intelligent Systems and Intelligent Computing. Virtually
all disciplines such as engineering, natural sciences, computer and information science, ICT,
economics, business, e-commerce, environment, healthcare, life science are covered. The list
of topics spans all the areas of modern intelligent systems and computing.
The publications within “Advances in Intelligent Systems and Computing” are primarily
textbooks and proceedings of important conferences, symposia and congresses. They cover
significant recent developments in the field, both of a foundational and applicable character.
An important characteristic feature of the series is the short publication time and world-wide
distribution. This permits a rapid and broad dissemination of research results.
Advisory Board
Chairman
Nikhil R. Pal, Indian Statistical Institute, Kolkata, India
e-mail: nikhil@isical.ac.in
Members
Rafael Bello Perez, Universidad Central “Marta Abreu” de Las Villas, Santa Clara, Cuba
e-mail: rbellop@uclv.edu.cu
Emilio S. Corchado, University of Salamanca, Salamanca, Spain
e-mail: escorchado@usal.es
Hani Hagras, University of Essex, Colchester, UK
e-mail: hani@essex.ac.uk
László T. Kóczy, Széchenyi István University, Győr, Hungary
e-mail: koczy@sze.hu
Vladik Kreinovich, University of Texas at El Paso, El Paso, USA
e-mail: vladik@utep.edu
Chin-Teng Lin, National Chiao Tung University, Hsinchu, Taiwan
e-mail: ctlin@mail.nctu.edu.tw
Jie Lu, University of Technology, Sydney, Australia
e-mail: Jie.Lu@uts.edu.au
Patricia Melin, Tijuana Institute of Technology, Tijuana, Mexico
e-mail: epmelin@hafsamx.org
Nadia Nedjah, State University of Rio de Janeiro, Rio de Janeiro, Brazil
e-mail: nadia@eng.uerj.br
Ngoc Thanh Nguyen, Wroclaw University of Technology, Wroclaw, Poland
e-mail: Ngoc-Thanh.Nguyen@pwr.edu.pl
Jun Wang, The Chinese University of Hong Kong, Shatin, Hong Kong
e-mail: jwang@mae.cuhk.edu.hk

More information about this series at http://www.springer.com/series/11156

Feng Qiao Srikanta Patnaik
•

John Wang
Editors

Recent Developments
in Mechatronics and
Intelligent Robotics
Proceedings of the International Conference
on Mechatronics and Intelligent Robotics
(ICMIR2017) - Volume 2

123
Editors
Feng Qiao John Wang
Shenyang Jianzhu University Montclair State University
Shenyang Montclair, NJ
China USA

Srikanta Patnaik
SOA University
Bhubaneswar
India

ISSN 2194-5357 ISSN 2194-5365 (electronic)

Advances in Intelligent Systems and Computing
ISBN 978-3-319-70989-5 ISBN 978-3-319-70990-1 (eBook)
DOI 10.1007/978-3-319-70990-1
Library of Congress Control Number: 2017958551

© Springer International Publishing AG 2018

This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part
of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations,
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The use of general descriptive names, registered names, trademarks, service marks, etc. in this
publication does not imply, even in the absence of a specific statement, that such names are exempt from
the relevant protective laws and regulations and therefore free for general use.
The publisher, the authors and the editors are safe to assume that the advice and information in this
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for any errors or omissions that may have been made. The publisher remains neutral with regard to
jurisdictional claims in published maps and institutional affiliations.

Printed on acid-free paper

This Springer imprint is published by Springer Nature

The registered company is Springer International Publishing AG
The registered company address is: Gewerbestrasse 11, 6330 Cham, Switzerland
Preface

On behalf of the Organizing Committee I welcome all the delegates to the

International Conference on Mechatronics and Intelligent Robotics (ICMIR2017)
held at Kunming, China, during May 20–21, 2017. This annual conference is being
organized each year by Interscience Research Network, an international profes-
sional body, in association with International Journal of Computational Vision and
Robotics and International Journal of Simulation and Process Modelling, published
by Inderscience Publishing House. I must welcome this year’s General Chair Prof.
Feng Qiao, Shenyang JianZhu University, Shenyang, China, for his generous
contribution to ICMIR-2017. He has also contributed an issue of his journal
International Journal of Simulation and Process Modelling to the selected papers
of the conference.
Like every edition, this edition of ICMIR2017 was academically very rich and
we had three eminent professors as keynote speakers namely Prof. John Wang,
Dept. of Information Management & Business Analytics, School of Business
Montclair State University, USA, Prof. Kevin Deng, Distinguished Professor and
Executive Director of Automotive Research Institute, Jilin University, and
Dr. Nilanjan Dey, Department of Information Technology, Techno India College of
Technology, Kolkata, India.
There has been a rapid developments during last five years in various directions
such as: robotic-assisted manufacturing; advanced mechanisms and robotics; sys-
tems modelling and analysis; instrumentation and device control; automation sys-
tems; intelligent sensing and control; medical robotics; and autonomous and
complex systems. New technologies are constantly emerging, which are enabling
applications in various domains and services. Intelligent Mechatronics and Robotics
is no longer a functional area within the department of mechanical or electronics,
but is an integral part of the manufacturing function of any organization. In the
recent time, Intelligent Mechatronics and Robotics is probably the single most
important facilitator of the manufacturing process. The result of research in this
domain is now influencing the process of globalization, particularly in the

v
vi Preface

productive, manufacturing and commercial spheres. Creating economic opportu-

nities and contributing to monotony reduction is another thrust area for the
emerging epoch of Intelligent Mechatronics and Robotics.
This edition of ICIMR covered the following areas but not limited to intelligent
mechatronics, robotics and biomimetics, novel and unconventional mechatronic
systems, modelling and control of mechatronics systems, elements, structures,
mechanisms of micro- and nano-systems, sensors, wireless sensor networks and
multi-sensor data fusion, biomedical and rehabilitation engineering, prosthetics and
artificial organs, AI, neural networks and fuzzy logic in mechatronics and robotics,
industrial automation, process control and networked control systems, telerobotics,
human–computer interaction, human–robot interaction, artificial intelligence,
bio-inspired robotics, control algorithms and control systems, design theories and
principles, evolutional robotics, field robotics, force sensors, accelerometers, and
other measuring devices, healthcare robotics, human–robot interaction, kinematics
and dynamics analysis, manufacturing robotics, mathematical and computational
methodologies in robotics, medical robotics, parallel robots and manipulators,
robotic cognition and emotion, robotic perception and decision, sensor integration,
fusion, and perception. This volume covers various articles covering the recent
developments in the area of Intelligent Mechatronics and Robotics categorized into
seven (7) tracks, such as:
1. Intelligent Systems
2. Intelligent Sensor & Actuator
3. Robotics
4. Mechatronics
5. Modelling & Simulation
6. Automation & Control and
7. Robot Vision

Srikanta Patnaik
Programme Chair: ICMIR-2017
Conference Organizing Committee

General Chair

Feng Qiao Shenyang JianZhu University, Shenyang, China

Programme Chair

Srikanta Patnaik SOA University, Bhubaneswar, Odisha, India

Organizing Chair

Zhengtao Yu Kunming University of Science and Technology,

Kunming, China

Technical Programme Committee

Xilong Qu Hunan University of Finance and Economics,

China
Yong Ma Electronic Information School Wuhan University,
China
Xiaokun Yang University of Houston Clear Lake, China
Hao Wang State Key Laboratory of Rolling and Automation,
Northeastern University, China
Vladicescu Popentiu Florin, City University, UK
Imran Memon Zhejiang University, China
Guangzhi Qu Oakland University, USA
V.S.S. Yadavalli University of Pretoria, South Africa
Bruno Apolloni Università degli Studi di Milano, Italy

vii
viii Conference Organizing Committee

Harry Bouwman Delft University of Technology, Netherlands

Shyi-Ming Chen National Taiwan University of Science
and Technology, Taiwan
Yahaya Coulibaly University Technology Malaysia, Malaysia
B.K. Das Government of India, India
Joseph Davis The University of Sydney, Australia
Arturo De La Escalera Hueso Universidad Carlos III de Madrid, Spain
Ali Hessami Vega Systems, UK
Yen-Tseng Hsu National Taiwan University of Science
and Technology, Taiwan
Lakhmi C. Jain Bournemouth University, UK
Sanjay Jain National University of Singapore, Singapore
Chidananda Khatua Intel Corporation Inc., USA
Ayse Kiper Middle East Technical University, Turkey
Ladislav J. Kohout Florida State University, USA
Reza Langari Texas A&M University, USA
Maode Ma Nanyang Technological University, Singapore
N.P. Mahalik California State University, Fresno, USA
Rabi N. Mahapatra Texas A&M University, USA

Invited Speakers

John Wang Department of Information Management

& Business Analytics, School of Business
Montclair State University, USA
Kevin Deng Automotive Research Institute, Jilin University
Nilanjan Dey Department of Information Technology, Techno
India College of Technology, Kolkata, India
Acknowledgement

Like every year, this edition of ICMIR-2017 was also attended by more than 150
participants and 172 papers were shortlisted and published in this proceeding. The
papers covered in this proceeding are the result of the efforts of the researchers
working in various domains of Mechatronics and Intelligent Robotics. We are
thankful to the authors and paper contributors of this volume.
We are thankful to the editor in chief and the anonymous review committee
members of the Springer series on Advances in Intelligent Systems and Computing
for their support to bring out the proceedings of 2017 International Conference on
Mechatronics and Intelligent Robotics. It is noteworthy to mention here that this
was really a big boost for us to continue this conference series.
We are thankful to our friends namely Prof. John Wang, from School of
Business Montclair State University, USA, Prof. Kevin Deng, from Automotive
Research Institute, Jilin University, and Dr. Nilanjan Dey, from Techno India
College of Technology, Kolkata, India, for their keynote address. We are also
thankful to the experts and reviewers who have worked for this volume despite the
veil of their anonymity.
We are happy to announce here that next edition of the International Conference
on Mechatronics and Intelligent Robotics (ICMIR2017) will be held at Kunming,
China in association with Kunming University of Science and Technology,
Kunming, China during last week of April 2018.
It was really a nice experience to interact with the scholars and researchers who
came from various parts of China and outside China to participate the ICMIR-2017
conference. In addition to the academic participation and presentation, the partic-
ipants must have enjoyed their stay, during the conference and sightseeing trip at
Kunming.
I am sure that the readers shall get immense ideas and knowledge from this
volume of AISC series volume on “Recent Developments in Mechatronics and
Intelligent Robotics”.

ix
Contents

Mechatronics
Research on the Application of Beidou System in Aviation
Ammunition Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Wei Chen, Di Zhang, Haikun Zhang, and Henhao Zhu
Research on the Aviation Ammunition Support Technology
of American Air Force . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Di Zhang, Wei Che, Jie Xu, and Jiejun Dai
The Assembly Redesign of Cage Rotor Separator . . . . . . . . . . . . . . . . . 13
Li Kunshan and Li Yang
Design and Analysis of Double-Arc Tooth Profile Harmonic Drive . . . . 19
Xincheng Cao, Shiyi Song, Huomu Xie, and Mengmeng Wang
Second Order Difference Aided CRC Check Stopping Criterion
for Turbo Decoding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Xuying Zhao, Xiaoqin Wang, and Donglin Wang
Comparative Study on Energy Efficiency Evaluation Methods
of Variable Frequency Motor System . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Paerhati Abudoukelimu, Su’an Ge, Yanfeng Sun, Yongguang Ge,
and Peng Li
Integrated Optimal Speed Change Law of Hydro-Mechanical
Continuously Variable Transmission Tractor . . . . . . . . . . . . . . . . . . . . . 44
Mingzhu Zhang, Xiaoyang Hao, Yuxin Yin, Mingming Cui,
and Tingting Wang
Dynamic Three Parameter Range Shifting Law of the Multi-range
Hydro-Mechanical CVT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Mingzhu Zhang, Yuxin Yin, Xiaoyang Hao, Tingting Wang,
and Mingming Cui

xi
xii Contents

Study on Control Strategy of Microquadcopter . . . . . . . . . . . . . . . . . . . 57

Hui-jun Deng, Guang-you Yang, Fan Liu, and Jun Ma
Research and Simulation Analysis on Dynamic Matching
Characteristics of Electric Vehicle Transmission System . . . . . . . . . . . . 65
Lei Zhang, Zeqi Wang, Haixin Zhao, and Xiumin Yang
The Clutch Control Strategy of EMCVT in AC Power
Generation System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Xiumin Yang, Yangyang Zhao, Song Zhang, and Lei Zhang
Efficient Optimization Strategy of Fuzzy Search for Asynchronous
Motor Vector Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Xing Chen, Fang He, and Yayun Zheng
Analysis of Anti Interference of Channel Control Measure
in 2.4 GHz-Band Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Xudong Chen, Jing Fan, Kang Cheng, and Minmu Chen
A Curve Fitting Method for Evaluating Pilot Operation Quality . . . . . . 93
Li Tong, Chi Ying, and Wu Qian

Modeling and Simulation

Simulation Design of Improved OPTA Thinnin Algorithm . . . . . . . . . . 105
Chenghao Zhang, Weifeng Zhong, Chunyu Zhang, and Xi Qin
Fusion Evaluation of Ammunition Based on Bayes Method . . . . . . . . . . 115
Lei Ming and Liu Fang
Fault Diagnosis of Analog Circuits Based on Multi Classification
SVDD Aliasing Region Identification . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Shuang-yan Hu, De-qin Shi, Xiao-shan Song, Lin-bo Fang,
Wei-jun Yang, and Qi Tong
A Kind of New Method to Measure Tank Capacity . . . . . . . . . . . . . . . . 127
Cheng-Hui Yang
Design of a Compact Electrically Tunable Band-Pass Filter
with Wide Tuning Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Chun Li, Xiaofa Zhang, and Naichang Yuan
Research on Growth Evaluation of New OTC Market of Science
and Technology Enterprises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Li Qi and Tong Na
A WSN Semantic Web Service Discovery Method Based
on User Context . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Daoqu Geng, Qingming Zhang, Yanping Yu, Chuntang Chen,
and Guan Gong
Contents xiii

Network Interconnection of PROFIBUS and MODBUS

for Networked Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
Qiang Wang and Fang He
Research on 3D Technology Based on Power Continuation . . . . . . . . . . 159
Guo Zhiqiang, Zhou Yiren, Zhou Chao, Li Kai, Wu Yunqiang,
and Wu Ting
Research on Electric Power Steering Test System of Vehicle
Steering Device Based on Industrial Personal Computer . . . . . . . . . . . . 165
Ying Wang, Xiuqing Mu, Shaochun Zhai, Fengyang Gao,
Xiaoqiang Chen, Qiyao Li, Jiarong Wang,
Shiwen Liang, and Wei Yan
Research on Fault Diagnosis of Power Transformer Equipment
Based on KNN Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
Huadong Yu, Qing Wu, Yongling Lu, Chengbo Hu, Yubo Wang,
and Guohua Liu
Research on Identification Method of Transformer Based
on Improved Hu Invariant Moments . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Hua-dong Yu, Qing-hai Ou, Qing Wu, Zhe Zhang, Wen-jing Li,
Yubo Wang, Guohua Liu, Yongling Lu, Chengbo Hu, Na Liu,
and Rong Wang
Simulation Analysis of Error Separation Precision
of Three-Probe Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Lei Zhang, Rui Ma, Dianqing Yu, and Jun Cheng
A Modeling Method Supporting Turbine Blade Structure Design . . . . . 189
Tian Wang, Bifu Hu, Ping Xi, and Jixing Li
Simulation Analysis of Influencing Factors for Resonant
Frequency of PCB Coil Based on HFSS . . . . . . . . . . . . . . . . . . . . . . . . . 196
Haokun Chi, Zhiqiang Wei, Yanping Cong, Bo Yin,
and Feixiang Gong
Research on Combinatorial Test Case Generation
of Safety-Critical Embedded Software . . . . . . . . . . . . . . . . . . . . . . . . . . 204
Ge Zhou, Xiang Cai, Chi Hu, Jun Li, Wenxiang Han,
and Xiaopin Wang
Robust Stability Testing of Time-Delay Bilinear Systems
with Nonlinear Norm-Bounded Uncertainties . . . . . . . . . . . . . . . . . . . . . 210
Chien-Hua Lee
TMM: Entity Resolution for Deep Web . . . . . . . . . . . . . . . . . . . . . . . . . 216
Chen Lijun
xiv Contents

The Development and Application of Information Security

Products Based on Cloud Computing . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
Haohao Song
A Discussion on the Application of the Smoothing Function
of the Plus Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
Shu-ting Shao and Shou-qiang Du
Mixed Power Saving Mode for D2D Communications
with Wi-Fi Direct . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
Shuo Xiao and Wei Li
Evidence Combination Based on Singular Value . . . . . . . . . . . . . . . . . . 241
Dawei Xue, Yong Wang, Chunlan Yang, and Kangkai Gao
The New Mechanism of Advancing Hierarchical Mobile
IPv6 Handoff . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
Shilin Fang
Improve Communication Efficiency Between Hearing-Impaired
and Hearing People - A Review . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
Lei Wei, Hailing Zhou, Junsheng Shi, and Saeid Nahavandi
Numerical Analysis of Water Bursting Mechanism and Safety
Thickness of Mine Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262
Huitao Wang, Honglu Yang, Shucai Li, Rentai Liu, Haojie Liu,
Jiwen Bai, Dazhuang Gui, Yanan Liu, and Qichen Jiang
Numerical Simulation on Seepage Law and Thickness
of Reinforcing Ring of Mine Ordovician Aquifer . . . . . . . . . . . . . . . . . . 268
Huitao Wang, Haojie Liu, Rentai Liu, Shucai Li, Honglu Yang,
Dazhuang Gui, Qichen Jiang, and Yanan Liu
Recommend Algorithm Combined User-user Neighborhood
Approach with Latent Factor Model . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
Xiaojiao Yao, Beihai Tan, Chao Hu, Weijun Li, Zhenhao Xu,
and Zipei Zhang
Numerical Simulation of Mould in Autoclave Process for Fiber
Reinforced Composites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
Fengyang Bi, Bo Yang, Tianguo Jin, Changxi Liu,
and Xiaohong Wang
Analysis for Sensitivities of the Mould Stiffness and Heat Transfer
Design Result to the Mould Structure Design Parameters . . . . . . . . . . . 287
Fengyang Bi, Bo Yang, Tianguo Jin, Changxi Liu,
and Xiaohong Wang
Contents xv

A Low Cost Instrumented Insole to Measure the Center

of Pressure During Standing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
Xinyao Hu, Jun Zhao, Yonghao Li, Yingting He, and Xingda Qu
A Minimum Distance Cluster Based on Region Growing Method . . . . . 299
Kai Zhao, FengYun Cao, AiPing Wang, Jia Jing, Fengmei Yin,
and XueJie Yang
The Minimum Perimeter Convex Hull of a Given Set
of Disjoint Segments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
Yiyang Jia and Bo Jiang
Spatial Effect and Influencing Factors Analysis
of Waste-to-Energy Environmental Efficiency in China . . . . . . . . . . . . . 319
Liang Cao, Song Xue, and Yunhua Zhang
Dynamic Characteristics of Canard-Controlled Rocket
with Deflected Canard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
Xinbao Gao, Yongchao Chen, Qingwei Guo, and Tianpeng Li
Teaching Methods of Hydraulic Circuits Based
on Hydraulic-Eelectrical Analogy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332
Yuesong Li
Theoretical Modeling and Parameters Simulation
of Positioning System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
JingShu Wang
CFD Simulation of Internal Fluid Characteristics of Vehicle
Friction Damper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344
Li Xiang Qin, Dong Zhao, Dong Mei Cai, Yan Zhou,
Zhuang Zhuang Fan, and Kai XiChuan
Study on Optimization of Impeller Structure Parameters
of ESP for Offshore Oilfield Based on ANSYS . . . . . . . . . . . . . . . . . . . . 350
Wen-duo He, Qing Zhang, and Jin-xin Zhang
Research on a Portable Heat Dissipation System
for Cable Splicing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357
Zhang Hao, Li Yan, Zhang Yong, Liu Han, and Liang Kun
Optimization and Simulation of Key Parameters of Gas - Type
Stirling Engine Burner . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364
Wang Qin, Chen Hua, Tian Junwei, Jiang Zhiyi, and He Xiping
Research on Attitude Estimation of Quadrotor Based
on Improved Complementary Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . 371
Guo Jiahui
xvi Contents

Optimization of Vehicle Aerodynamic Drag Based on EGO . . . . . . . . . 379

Chenguang Lai, Chengping Yan, Boqi Ren, Bao Lv, and Yuting Zhou
Comprehensive Evaluation Research of Campus Network Based
on Rough Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386
Xia Ouyang and Jiaming Zhong
Angle Cosine Method for Judgment Matrix Similarity
in Group AHP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393
Yanling Li, Qifei Yan, and Qian Miao
Based on the Plastic Screw Holes Research into the Causes
of the Fracture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400
Junjie Lv
The Methodology of Multi-valued Dynamic Uncertain Causality
Graph for Intelligent Selection of Excellent Teachers . . . . . . . . . . . . . . . 405
Kun Qiu and Qin Zhang
An Action-Based Constraint Satisfaction Algorithm
for Planning Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 412
Xiao Jiang, Yuting Zhao, Rui Xu, and Wenming Xu

Automation and Control

Adaptive Control with Parameters Compensator
for Aircraft Boundary Control System . . . . . . . . . . . . . . . . . . . . . . . . . . 421
Qian Kun, Liu Kai, Yan Hao, and Liao Kaijun
Complete Sets of Aquaculture Automation Equipment
and Their Monitoring Cloud Platform . . . . . . . . . . . . . . . . . . . . . . . . . . 429
Jiayi Huang, Xiangbao Meng, Qiubo Xie, Wanyun Chen,
and Shuyang Wang
Application of Genetic Algorithm and Neural Network
in Ship’s Heading PID Tracking Control . . . . . . . . . . . . . . . . . . . . . . . . 436
Jianming Sun, Renqiang Wang, Kang Yu, Keyin Miao,
and Hua Deng
Rapid and Automated Analysis of Portable Flow Cytometer Data . . . . . 443
Xianwen Wang, Peng Li, Jianggang Wu, Qingyong Zhang,
Xiaoliang Li, Zhiqiang Yang, and Li Li
Control of Lower Extremity Exo-skeleton Based
on Admittance Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455
Wenhao Chen, Shengli Song, Husheng Fan, and Ming Zhao
A Two-Loop Control for All-Electric Tank Gun System Based
on Disturbance Observer and SMVSC . . . . . . . . . . . . . . . . . . . . . . . . . . 461
Hong-yan Wang, Li-hui Wang, and Jie Ma
Contents xvii

Robot Vision
Image Fusion Study by Inversible System of Neural Network . . . . . . . . 471
Cao Jian, Li Gang, Zhao Sen, and Yan Cong
Research and Realization of Crowd Density Estimation Based
on Video . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 478
Guangdong Zhang and Yan Piao
Eye Movement Analysis on Driving Behavior for Urban
Road Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 486
Ziyi Qin
Infrared Thermal Wave Image Segmentation Based
on 2D Tsallis Entropy and Artificial Immune Algorithm . . . . . . . . . . . . 492
Jin-Yu Zhang
Target Image Detection Algorithm for Substation Equipment
Based on HOG Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 500
Meiting Zhang, Weimin Zhang, Junyong Hu, Yafei Wang,
Guoqing Yang, Jian Li, and Guangting Shao
Research on the Method of Finding the Face of Single
Mortise-Tenon Work Line Graph . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507
Zhu Tang, Zhiqiang Wang, and Qing Zhu
The Design and Implementation of a Computer Display Fixed
Device Based on “Internet+” Network Education . . . . . . . . . . . . . . . . . . 514
Lang Pei and Jia Xu
The Motif Detection of Turning Points in Stock Time Series . . . . . . . . . 520
Zhiyuan Zhou, Wengang Che, Pengyu Quan, and Jing Long
Research on Video Transmission Technology Based
on Wireless Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 525
Liqiang Liu
Real-Time Visuo-Haptic Surgical Simulator for Medical
Education – A Review . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 531
Yonghang Tai, Junsheng Shi, Lei Wei, Xiaoqiao Huang,
Zaiqing Chen, and Qiong Li
Development of NSCLC Precise Puncture Prototype Based
on CT Images Using Augmented Reality Navigation . . . . . . . . . . . . . . . 538
Zhibao Qin, Yonghang Tai, Junsheng Shi, Lei Wei, Zaiqing Chen,
Qiong Li, Minghui Xiao, and Jie Shen
A Binocular Vision Motion Capture System Based on Passive
Markers for Rehabilitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545
Zhang Mei, Lin Lin, Yang Lei, Liang Lan, and Fang Xianglin
xviii Contents

Highlight Removal of Workshop Floor Images . . . . . . . . . . . . . . . . . . . 550

Sibo Quan and Weiguang Li
Hyperspectral Image Feature Extraction Based on Multilinear
Sparse Component Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 556
Dong Guangjun, Zhou Yawen, Shao Lei, and Yao Qiangqiang
Solder Paste on the Quality of the Welding and 3D
Detection Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 563
Junjie Lv
Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 569
Mechatronics
Research on the Application of Beidou System in Aviation
Ammunition Support

Wei Chen1 ✉ , Di Zhang1, Haikun Zhang2, and Henhao Zhu3

( )

1
Air Force Logistics College, Xuzhou, 210000, Jiangsu, China
chenweijiangyiwa@126.com
2
94608 Troops, Nanjing, 221000, Jiangsu, China
3
94647 Troops, Fuzhou, 350026, Fujian, China

Abstract. This paper introduced the structure of the Beidou navigation and
positioning system, analyzed the Beidou positioning solution principle, elabo‐
rated the application of Beidou system in aviation ammunition support command,
could improve the efficiency of aviation ammunition support, and visual posi‐
tioning of various support materials in the process of aviation ammunition
support.

Keywords: Beidou system · Aviation ammunition · Support command

1 Introduction

In the processing of research of aviation ammunition visualization based on Beidou

satellite, used positioning function of Beidou satellite to achieve precise positioning of
the personnel, vehicles, ammunition [1, 2], and used the real-time transmission of posi‐
tioning information to achieve the communication function of its command prompt
feedback timely and ensure the implementation of present situation.

2 Beidou Navigation and Positioning System Structure

Beidou Satellite navigation and positioning system is an all-weather, all day long, high
precision, regional satellite navigation and positioning system, can achieve 3 functions,
including fast positioning, two-way short message communication, the two last func‐
tions are which global positioning system (GPS) couldn’t provide, and the positioning
accuracy in the areas of our country and the positioning accuracy of GPS, covering all
areas of China and the surrounding area. The whole system consists of two geostationary
satellites (respectively in the 80 o east longitude and 140o east longitude, 36000 km
above the equator), the central control system, calibration system and user machine is
composed of 4 parts, each part of the outbound link (i.e., the center of the ground to
satellite to user link) and inbound links (i.e. the user machine to the satellite link is
connected to the central station). As shown in Fig. 1.

© Springer International Publishing AG 2018

F. Qiao et al. (eds.), Recent Developments in Mechatronics and Intelligent Robotics,
Advances in Intelligent Systems and Computing 691, DOI 10.1007/978-3-319-70990-1_1
4 W. Chen et al.

Satellite1 Satellite2

Data Processing Center

User Standard Station Central Station
(Beidou Operation Service System)

Fig. 1. Beidou navigation and positioning system structure

3 Beidou Positioning Principle

The central station at a specific frequency signal with a continuous wave emission of
super frame, divided the frame structure of the pseudo code spread spectrum, the signal
by two geostationary satellites to their respective antennas covering all user broadcast
regions. When the user needs to position/communication service, location specific
process is: first by the center signal, respectively by the two satellite reflection to the
user terminal receiving part, and then reflected back by the user terminal two satellites
were back to the central station, the central station is calculated in two ways the time
required for T1, T2, and after calculation, you can measure the user to two satellite
distance R1, R2, complete the positioning (as shown in Fig. 2).

Beidou 1 Beidou 2
R1 r2
r1
R2

User Center Station

Fig. 2. Beidou positioning principle

The calculation formula is as follows:

c × T1 = 2(r1 + R1) (1)

c × T2 = 2(r2 + R2) (2)

In the formula (1) and (2), R1, R2 is known, T1, T2 is the light passes through two
different outbound links in the link station added time, C is the speed of light, leaving
two unknown r1, r2, the two equation solution. The location for geographic coordinate
calculation of the user, because the two satellite locations are known, respectively two
and two of the center of the sphere, spherical radius of r13, r2, the other is the spherical
 Research on the Application of Beidou System 5

earth ellipsoid basic parameters have been determined (in the center station store digital
ground height data), the intersection point of three balls for the user position measure‐
ment (due to the two center in the equatorial plane of the earth, so the earth reference
ellipsoid is two, the intersection point of one point in the northern hemisphere, as the
position of the user, another point is in the southern hemisphere).
Positioning by the user terminal sends a request to the central station, the central
station to locate its position information broadcast will get by the user, you can also take
the initiative to locate the user specified by the central station, located after the location
information will be sent to the user, and stored by the central station. The location infor‐
mation of the user is placed in the data section of a frame of the outbound signal and
transmitted to the user via satellite 1 or satellite 2. The application of communication,
the communication contents in the same way to the user. The first frame in each period
data segment send standard time (day, ground station, signal and time correction data)
and the position of the satellite information, the user receives the signal is compared
with the local clock, and calculate the user’s local clock and standard time signal of the
difference, and then adjust the local clock with the standard time alignment (one-way
timing); or comparing the results through inbound links via satellite to the ground by
the forwarding center, the center of the ground accurately calculate the difference
between the local clock and standard time, and then through the outbound signal via
satellite or satellite 1 2 forwarded to the user, the user at this time to adjust the local
clock and standard time signal align (two-way timing).
Signal frequency in the vicinity of the L band, the band of radio signals by the
atmosphere, rain, fog, the impact is very small, so the positioning and communication
process is very reliable, especially suitable for all-weather protection.
Different from the GPS system, the calculation of all user terminal positions is done
in the ground control center. Therefore, the control center can retain all the Beidou
terminal user location and time information. At the same time, the ground control center
station is responsible for monitoring and management of the entire system.
The calibration station has a total of 20, to ensure the positioning accuracy, it is
known as the point position compared with the actual measured position, the difference
value were adjusted for position measurement data near the user’s location, and the
calculation process are completed in the ground station control center, is transparent to
the user.
The user terminal is a device which is directly used by the user to receive the ranging
signal transmitted by the satellite to the ground station. According to the different tasks,
the user terminal is divided into the positioning communication terminal, the group user
management terminal, the differential terminal, the terminal, etc.

4 Beidou System Application Solution

The general application of Beidou system by the Beidou terminal (including Beidou
mobile command user machine and common user machine, Beidou Beidou) service
center system composed of four Beidou navigation positioning satellite Beidou satellite
6 W. Chen et al.

navigation system, the ground control center. Beidou satellite navigation system for real-
time access to the user access, and the use of the Beidou satellite communication func‐
tions for positioning information and other resources to ensure real-time transmission
of information. All Beidou users are subject to the Beidou satellite navigation system
ground control center station management, as shown in Fig. 3.

Beidou 1 Beidou 2

Equipment Support Command Center

Support
Resources
Basic
Support Unit Ground
Support Beidou Operation
Control Center
Command Service Center System
Station

Fig. 3. Beidou system application solution

The service center system is designed for the security command center set up, user
location information and short message by Beidou satellite transmitted to the ground
station, and real-time push to Beidou service center, security command center through
DDN, VSAT, etc. a variety of ways to access the Beidou dial-up service center, Beidou
operation the service center sends information to security command center, security
command center to realize the monitoring and management of its affiliated users.
There are two kinds of system structure modes of the Beidou missile ammunition
support command system:

4.1 Security Command Center + Beidou User Machine (Including the Beidou
Mobile Command Users and Beidou Basic User Machine)
The application mode of command system in large scale, through the ground command
automation network center, interconnected to the service center to complete the Beidou
mobile target monitoring and management of large-scale cross regional command and
dispatch.

4.2 Mobile Command User + Beidou Basic User

Because of the limited communication capacity constraints, commanding user command

capacity, this application mode is suitable for a small group of users, couldn’t transmit
through the terrestrial network, a communication device command type subscriber
 Research on the Application of Beidou System 7

machine as the command and dispatch center use and rapid construction of practical
management system.

References

1. Wang, Y., Zhou, L.: Research on the characteristics of ground to air missile equipment support
command system. Compl. Syst. Sci. 10(4), 41–48 (2013)
2. Shao, Y., Liu, X.: Research on the equipment support command based on informanization. J.
Mil. Traffic Coll. 13(4), 22–24 (2011)
3. Wang, X.: Research on comparison of Beidou 2 navigation and positioning system and GPS
sole point positioning capacity. Geomat. Spatial Inf. Technol. 39(2), 97–99 (2016)
 Research on the Aviation Ammunition Support
Technology of American Air Force

Di Zhang1 ✉ , Wei Che1, Jie Xu2, and Jiejun Dai3

( )

1
Air Force Logistics College, Xuzhou 210000, Jiangsu, China
chenweijiangyiwa@126.com
2
94865 Troops, Hangzhou 310021, Zhejiang, China
3
Taiji Factory, Dongchen, Beijing 100005, China

Abstract. This paper analyzed the current situation of American Air Force
ammunition support technology, introduced the application plans of American
GPS, and the RFID technology in military ammunition transport application plans
in detail, with reference to the construction of our military aviation ammunition
support system.

Keywords: American air force · Aviation ammunition · Support technology

1 Introduction

In order to adapt to the characteristics of modern warfare, to achieve the rapid tracking
of the rapid process of aviation ammunition support, the U.S. department of defense
used the visual technology as an important issue of Aviation Ammunition command. In
this paper, the technology of aviation ammunition support was analyzed, which provided
the reference for the application of aviation ammunition support technology.

2 The Present Situation of American Aviation Ammunition

Support Technology

Currently the U.S. military is speeding up the development and equipment of the whole
material visual system (TAV: Total Asset Visibility) and in the transport of materials
visible (IAV: Intransit Asset Visibility) system [1, 2]. The former can be sent to the
factory to the front from the rear of a foxhole material tracking, including the location,
status of materials and equipment and carrier. The latter will use radio frequency appa‐
ratus, search apparatus and satellite network computer system, material database, track
transportation supplies. These two systems will greatly improve the speed, accuracy and
economy of the U.S. According to the U.S. Department of defense report, the U.S.
military has built four sub systems: the Army (Army Total Asset Visibility visual mate‐
rials); Navy materials (Navy Total Asset visual Visibility); air supplies (Air Force Total
Asset visual Visibility); the Marines (Marine Corps Total visual material Asset Visibility
[3]). “The whole material visual system enables the commander to timely and accurately

© Springer International Publishing AG 2018

F. Qiao et al. (eds.), Recent Developments in Mechatronics and Intelligent Robotics,
Advances in Intelligent Systems and Computing 691, DOI 10.1007/978-3-319-70990-1_2
 Research on the Aviation Ammunition Support Technology of American Air Force 9

understand the location, quantity, status, trend and status of the materials of the Depart‐
ment of defense, and control the information”. “For ammunition storage, processing,
transportation and demand information have accurate knowledge”, “rapidly reduce the
processing time distribution, the main benefits include the storage of material list and
receipt, and because of the material tracking and less demand list”. U.S. military plans
to build a joint asset visualization management system based on RFID technology in
2030.
Because the Americans use such as RFID technology and advanced automatic iden‐
tification technology in ammunition supply chain, through the RFID card reader, etc.,
the data can be easily and quickly entered into a shared information system. At the same
time, it uses cellular communication, satellite communication, GPS positioning and
other wireless tracking methods. Figure 1 is the American global tracking network based
on RFID technology, satellite positioning technology, satellite communications tech‐
nology. Built by the U.S. Savi-Technology for the department of defense, the world’s
largest real-time tracking system, able to track about 250000 pieces of moving objects
from toilet paper to ammunition. In more than 480 locations in 40 countries have built
automatic identification device with radio frequency identification as the main body,
such as by satellite, military communication network connected, as long as users have
access permissions, you can have the exclusive right to conduct real time management
of goods and materials.

Fig. 1. The American global tracking network

Aviation ammunition support process started from the defense warehouse to the
pallet. A automatic radio frequency identification card list of aviation ammunition
support materials and a Savi-Technology card could be attached to the tray, the tray of
the aviation ammunition support materials in the information contained above, including
the name of goods, quantity, number, storage and transport control number, document
number. The information is then automatically sent to a central information system.
Only in almost all of the supply chain, such as aircraft, ships, truck loading ramps are
mobile, manual or automatic Savi-Technology reader, used to track goods to where. To
achieve the whole process of tracking the whole process.
10 D. Zhang et al.

3 GPS Application

GPS (Global Positioning System global positioning system) is a global, all-weather,

real-time, automation and high efficiency advantages of navigation, positioning and
timing, speed measuring system, which can provide seven dimensional high precision
for the user (three-dimensional position, three-dimensional velocity and time). GPS
consists of three parts: satellite, ground control center and user. GPS uses the satellite
as a reference point to calculate the location, positioning accuracy to meter level. There
are 24 satellites in the air, located in the orbit of the surface of about 6 km, about 201
million 830 thousand km, about 55° orbit. Each star has 4 high-precision cesium atomic
clock and a real-time update of the database, the satellite is constantly sending data to
the earth’s surface. GPS receiver on the ground whenever and wherever the data can be
received at the same time 4 satellites, and then according to these data automatically
calculate the latitude and longitude of the receiver and the direction of movement speed,
time and other data.
The GPS receiver uses a three edge measurement mechanism to calculate the position
of a point in a three-dimensional space. So at least three satellites are needed. GPS
satellites broadcast their location information and the exact time at this time. GPS
receiver through the reception of the signal, to know the location of the satellite and the
signal transmission time, you can measure the distance to the satellite, and then calculate
their position, as shown in Fig. 2. Suppose we measured a satellite distance of 11000 km,
that we are in a satellite as the center, 11000 km radius of the sphere. As of two satellites
in addition, also in their center, the corresponding distance as the radius of the sphere.
The three balls intersect at two points, one of which is the position of the receiver, and
the other can be easily eliminated by judgement.

Fig. 2. GPS positioning principle

The information transmission time between the satellite and the ground receiver is
measured, which is the basis of the GPS distance measurement. For satellites, the use
of very accurate atomic clock timing, very accurate. But the GPS receiver atomic clock
 Research on the Aviation Ammunition Support Technology of American Air Force 11

on the ground is too expensive, so the use of fourth satellites for the timing, time
synchronization and GPS receiver time, accurate time synchronization to ensure accu‐
rate positioning.
There are two methods of GPS positioning: one is the single positioning method, by
a receiver to receive the data of the 4 stars, the positioning accuracy is low, the error has
tens of meters. The other is a relative positioning method, at the same time from the
same set of satellite receiving data from multiple receivers, and at least one receiver at
a known point (known longitude, height), this point as the reference point for the other
point to the reference point of the distance. This approach can achieve very high accu‐
racy, also known as DGPS (wide area GPS differential correction), which requires a
large number of reference points composed of infrastructure to support. GPS positioning
data through the GSM (global mobile communication network), CDMA SMS (short
message) or cluster communications and other means to the ground monitoring center,
displayed on the mobile phone with GIS or large screen projector. The center can monitor
the current position, the route, the direction and the speed of the target for 24 h.

4 RFID Application Plan of U.S

American Air Force established the visual logistics supply network coverage of impor‐
tant regions of the world based on RFID standard EPC, extensive communication
network, efficient information processing, strong security against ability. There are 480
monitoring point of 38 countries in the world, real-time tracking of 270000 container
including military and commercial purposes and important goods.
Figure 3 is the RFID application plan of U.S.
1. air ammunition support material can only be read through the passage, in the case
of the destruction of the database, the site can not achieve the automatic statistics;

Fig. 3. RFID application plan of U.S.

12 D. Zhang et al.

2. using UHF passive tags to identify the distance of less than 5 meters, and has a
directional;
3. tags can only store a EPC code, equipment information must be resolved through
the EPC server to obtain.

References

1. Ma, H., Zhang, Z.: Apocalypse of GPS Used in the American FBCB2. 8, Apr. Vol. 8 (2010)
2. Li, Y., Huang, H.: The Analysis of <<21st Century Troops Combat Command System
Efficiency >> of American Army. Foreign Military Academics (2009)
3. PU Linke. American army combat command system. Modern Def. Technol. 06, 30–34 (2002)
Another random document with
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referred to had proved so satisfactory that the wages of the girls were
increased by 1/ per week.
At this meeting the appointment and wages of the engineer were
discussed at some length, and it was suggested that the wages which
were being paid to him were not enough for the job, but it was
explained by the chairman that his wages would be raised after he
had proved his capacity.
 A GENERAL MANAGER.
The directors were gradually coming to the opinion that it was not
possible for them to keep in that close touch with the work of all the
various departments in their spare time which was necessary, and
had discussed the subject on several occasions. The result was that a
definite motion “to appoint a general manager” was tabled and was
discussed on two or three occasions, after which a special committee
was appointed to go into the whole question of the management of
the Federation. When this special committee brought in their report,
it was adopted in principle in the somewhat vague form, “that
someone be appointed to represent the committee during working
hours.” Naturally, this gave rise to several questions at the following
general meeting of the Society, but no definite expression of opinion
for or against was forthcoming from the meeting, so that the
committee were left to pursue their own way unfettered. This they
did at a later meeting by advertising for a general manager, who
should be possessed of a good, general knowledge of business, and be
in sympathy with the movement. As to his duties, it was agreed that
all goods should be purchased by the committee through him, and
invoiced to one centre, and that he should conduct all
correspondence and see that the instructions of the committee were
carried out, as well as maintaining discipline, regularity, and good
order. Mr James Bain, secretary, and Mr James Young, director,
were amongst the applicants for the position, and, perhaps for that
reason, it was decided to take a ballot vote on the seven candidates
who had been interviewed. The result was that Mr Young was
appointed, and it was agreed that he take up his duties on 29th May
1899.
 THE TEAROOMS.
The tearoom adventure was proving only moderately successful,
and, in reply to a question, the chairman admitted at one meeting
that the profit shown on the balance-sheet had all been made by the
purvey department. At another meeting, he stated in reply to a
question about electricity that at M‘Neil Street, where they generated
their own current, they found electric lighting to be cheaper than gas,
but where they had to take their supplies from the Corporation it was
more costly, his reply being—“In West Nile Street, where we get our
supply from the Corporation, it is nearly killing the place.” The organ
of the Traders’ Association made great fun of this remark, stating
that “the tearooms in West Nile Street must be in a perilous
condition when the difference in the cost of gas and electricity is
nearly killing the business”; and went on to point out that “tearooms
must have a practical proprietor.” “Here, then, is an excellent
example of the fact that where overcharges cannot be made on the
goods sold, Co-operation cannot prosper.” Doubtless the
Commercial Record man was entitled to his little chuckle, but his
premises being faulty, his conclusions were equally faulty. There
were other factors than overcharges which entered into the failure of
the U.C.B.S. to make a commercial success of their tearoom business,
and led to its being finally abandoned. It is probable that the West
Nile Street place was too large and too heavily rented to permit any
firm, however experienced, to make tearooms a success in a back
street. Then, the people who acquire the tearoom habit are business
people, and are therefore not too friendly disposed to any Co-
operative enterprise and, having a very wide choice of such
establishments, their prejudices took them elsewhere. That Co-
operative tearooms can be made a success, even in Glasgow, the
Drapery and Furnishing Society has proved, but it is questionable
whether Co-operative tearooms anywhere, which are not conducted
as an adjunct to other businesses, and very near to central drapery or
similar premises, have ever proved successful, and there is no place
in Great Britain where the ordinary tearoom is so good as in
Glasgow, and, therefore, where a Co-operative tearoom which is
called to stand on its own legs, so to speak, has such strenuous
competition to face.
In August 1899 Mr Robert Watson resigned to take over the
management of the S.C.W.S. dining and purvey department, and a
Mr J. M. Picken was appointed his successor. The management of
the purvey and tearoom departments were also separated. Mr Picken
did not prove a success, however, and was succeeded by Mr
Thomson. At the end of the lease, the Society decided to give up the
Main Street purveying branch, but to keep on the tearooms. At
several general meetings suggestions had been made that the Society
should open tearooms of a cheaper class, to suit the pockets of the
workers, and the committee made some inquiries about this but
found that the rents in the city were very high. A place in Clydebank
was considered but abandoned owing to the lack of accommodation,
and also because of opposition to the project from the committee of
Clydebank Society. It was decided finally to fit up the Main Street
shop for this purpose, but, after a short trial, the tearoom there was
given up.
 THE DELIVERY QUESTION.
For some unexplained reason the people of Glasgow and district
have always been particularly addicted to the consumption of new
bread. Time after time efforts have been made to wean them from
this indigestion-producing habit, but all in vain until the Great War
came and with it a shortage of grain, necessitating the husbanding of
the nation’s bread supplies. Then, without any fuss, with scarcely a
murmur even, the people submitted for two years to a restriction
which prohibited the sale of bread until it had been out of the ovens
for a period of at least twelve hours. This demand for new bread had
always been a source of worry to the Baking Society. There was, on
the one hand, the restrictions imposed by the Operatives’ Union as to
the hour of commencing work, which regulated the hour at which the
bread came out of the ovens; on the other hand, there was the
demand of the members of local societies for new bread at an early
hour and, as a consequence, the demands by the societies for early
delivery of bread. These demands for early delivery the Society was
only able partially to meet; and the distance of some of the shops
from the centre made it quite impossible that they should be
supplied with bread which was steaming hot from the oven. Hence,
week after week, the committee had to deal with complaints about
lateness of delivery. Time after time the chairman appealed to
societies at the quarterly meetings to be less insistent in their
demands for hot bread, but without avail, for no sooner did one
society respond for a little to these appeals than others began to
demand that they get the bread hot and early.
At length, toward the end of 1898, the subject was taken up by the
Convention of City Societies, and the Baking Society’s board being
only too willing to render all the assistance in their power, a
representative meeting was held in the Union Hall, West Nile Street,
at which Mr James Bain, secretary of the U.C.B.S., read a paper. Mr
Bain entitled his paper “Our Bread Delivery,” and dealt at length
with the craze for new bread and the difficulties which it imposed on
bakers and baking firms. He began by describing the evil conditions
which it had introduced into the baking trade, the principal of which
was probably the “jobber,” or half-day man. Alluding to a
correspondence which had been going on in a Glasgow paper for
some time, he said that they, in M‘Neil Street, could not describe the
jobbers as anything but clean, respectable, intelligent tradesmen, the
majority of whom were only waiting until a regular opening occurred
for them. Under a more humane system, however, they could all be
dispensed with, and all the men required could be employed
regularly. Mr Bain pointed out that the limited time between the
hour when the bakers started work and that at which societies
demanded that they should have their bread delivered was too short
to allow the bread to be thoroughly and carefully prepared. The rush
did not allow the bread room workers the time necessary to pack the
vans carefully, so that it frequently happened that the bread was
crushed and bruised into shapes it was never intended to assume.
The demand for new bread also entailed great hardships on the
bakers because of the early hour at which they had to begin work,
and he was convinced, he said, that bread baked in the morning and
delivered in the afternoon, and bread baked in the afternoon and
delivered next morning, would be healthier and more suitable for
use. All the medical opinion was against the use of new bread;
certain chemical changes took place in the bread after it was baked
and before it was fit for consumption, and some hours were
necessary to permit these changes to take place. He suggested, as a
remedy, that the Co-operative societies should lead the way in
fostering a demand for stale bread, and that the bakers, through their
Union, should assist in educating the general public into a more
rational system.
Commenting on this subject, the Scottish Co-operator said:—
“It is the duty of co-operators to make arrangements which will allow those
who produce the bread to work under conditions which will allow them to live
more enjoyable lives than they do at present. There are no reasons why they
should not begin work at 6 a.m., and the first delivery of bread might be made
by 11 o’clock, while that baked in the afternoon could be kept until next
morning, and delivered as soon as the stores are open. All that is required to
make this possible is a little rational co-operation between the Baking Society,
the distributive societies, the salesmen, and the members.”
Unfortunately, this rational co-operation was not forthcoming; the
practice continued, and it required a world war, which accustomed
the people to many other and greater inconveniences, to bring about
a reform which practically everyone believes to be desirable.
 GLASGOW EXHIBITION.
The Society had guaranteed £500 towards the expenses of the
Glasgow Industrial Exhibition, and the directors were desirous of
taking every advantage of the Exhibition as an advertising medium.
At first it was proposed that there should be a joint Co-operative
stall, in which the two Wholesale societies, the Paisley
Manufacturing Society, and the Baking Society should take part. The
S.C.W.S. had been trying to obtain a plot of ground, and had
succeeded, on the understanding that they should pay £2,000 of the
cost, and the U.C.B.S. £1,300, but this arrangement was departed
from, on the ground, as stated in the Baking Society’s minutes, that
neither the English Wholesale Society nor the Paisley Manufacturing
Society were taking part. The Baking Society then decided to proceed
themselves and, after having made arrangements with two bakery
machinery manufacturing firms, they made an offer for the right to
erect a model bakery in the Exhibition. This offer was not accepted,
however, although it was considerably higher than the offer which
was finally accepted, the reason given being that the exhibit offered
by the Baking Society was not likely to be so interesting as that of
either of the two other firms which offered. The affair caused a
considerable amount of discussion at the time, and the opinion was
freely expressed that, while no doubt could be cast on the good faith
of the Exhibition committee themselves, they had been misled by the
experts whom they had consulted, and that the most interesting of
the proposed exhibits, as well as the one which would have paid the
Exhibition committee best to accept, was that of the Baking Society.
However, if they were unable to exhibit a model bakery in full
working order, and including a biscuit oven as well as bread making,
they were able to secure a stance where they were able to make a
display of goods which attracted much attention.
Among other methods which they adopted to advertise their goods
and to keep the salesmen of the societies in touch with new
departments and new goods, was a monthly letter, which they issued
to salesmen, in which attention was called to anything which was
new. During this period, also, they began to pack their biscuits in
fancy, enamelled tins, and these had a great sale. The cake shows
also were proving of great value in increasing the trade in this
Christmas luxury; each year’s show meaning a big increase in sales;
that for 1901 showing an increase of 6,255 large cakes and of 629
dozens of small cakes over the sales of the preceding season.
In the autumn of 1901 the delegates to the Irish Conference
Association were the guests of the Federation in Glasgow, which
provided them with lodgings and took them for visits to Shieldhall,
the Bakery, and the Municipal Buildings, as well as for a drive round
the principal places of interest in the city. In 1901 the Society won
first prize for oatcakes at the Bakers’ Exhibition held in the
Agricultural Hall, London. Earlier, too, as a result of a discussion
which had taken place at a meeting of Glasgow Town Council, the
committee sent one of their loaves to the City Analyst to be analysed.
The analyst’s report was to the effect that the loaf had been weighed
before being analysed; and he stated:—“We are of opinion that this is
a loaf of the best quality. It contains an extra large proportion of
albuminous compound and the minimum of water.”
At the beginning of 1902 the directors agreed to furnish one of the
bedrooms at Seamill Home, while another was furnished by the
heads of departments, and, at the quarterly meeting immediately
following, the delegates voted £500 as a donation towards the
building fund for the Inland Home at Galashiels. Other donations
were:—£20 to the Gladstone Memorial, £50 to the Festival Fund,
£40 to the Indian Famine Fund, £50 to the Lord Provost of
Glasgow’s Special War Relief Fund, £25 to the Owen Memorial Fund,
£500 to the Glasgow Technical College Fund, and £20 to the Thomas
Slater Testimonial, as well as smaller sums to many other deserving
objects.
 EXTENSIONS.
During this period the extensions were neither so numerous nor so
extensive as in that which immediately preceded it, for the increase
in trade did not continue at a rate quite so rapid, but, nevertheless,
several rather important extensions were made. Entry into the
workshops, which were in course of completion in the summer of
1898, was secured in the autumn of that year, and to the new stables
shortly afterwards, and about that time it was agreed to extend the
biscuit factory and to utilise the old stable building, after
reconstruction, as a biscuit warehouse and packing department. A
considerable number of new machines were also purchased, these
including fourteen or fifteen “dough-dividers” of a new pattern,
manufactured by Werner, Pfleiderer & Perkins Ltd., at a cost of over
£200 each, and a machine for the manufacture of sugar wafers.
Three new travelling ovens were also procured for the biscuit factory.
At the June 1899 quarterly meeting power was given to complete the
South York Street building, operations on which had been suspended
for nearly two years. At a later period it was agreed to roof in the
north end of the courtyard and build a new reel oven there. It was
also decided to increase the accommodation for the oatcake factory,
so that the number of hot-plates might be increased from 80 to 140.
A proposal which occasioned some discussion at one or two of the
general meetings of the Society was that of the directors to begin a
provident fund for the employees. A number of employees had a sick
benefit fund of their own, but it was proving inadequate to meet the
demands on it, and those in charge approached the directors for
assistance. This was granted, but, as the directors recognised that
unless it was placed on a more or less compulsory basis it was not
likely to secure the necessary stability, they had several consultations
with representatives of the employees, and then took a ballot vote of
the whole of the employees on the proposals which were submitted
to them. This vote showed a majority of three to one of the
employees in favour of the scheme, which was then brought before
the delegates for their consideration and approval. Permission to
hold a special meeting of the Society for the purpose of altering the
rules to permit of a provident fund for the employees being
established was granted, but at the special meeting the vote for the
alteration of the rules was one less than the number necessary to give
the requisite two-thirds majority, and so the proposal was defeated
for the time being.
In the autumn of 1898 Mr Ballantyne resigned from his position of
stable inspector, after having acted in that capacity for the long
period of 28 years. At the quarterly meeting he was thanked for the
long service he had given to the Society. The committee decided that
the office should be abolished. Just at the end of this period it was
decided to open a distributive depot in Falkirk, for the purpose of
supplying the societies in that district. It was reported to the
committee that there were altogether nineteen societies within a
radius of twelve miles having 38 shops, which were purchasing over
500 tins of biscuits and 5,000 lbs. of oatcakes weekly. The new
system was going to be more costly at the beginning, but the
committee were under the impression that the trade would so
increase under the new system that it would more than compensate
for the additional cost.
At the end of 1901 the value of the Society’s property, including
land, buildings, and fixtures, was £145,450, while the share capital,
reserve, and insurance funds amounted to £102,441. Thus 70·5 per
cent. of the total value of the buildings was covered. At the end of
1889, only 23 per cent. of the value had been so covered, and,
notwithstanding the great increase in the value of the properties
which had taken place since that time, the capital, reserve, and
insurance funds had increased so much more rapidly that this very
desirable result had been achieved in twelve years. The trade had
grown very rapidly also in the same period, and, just at the close of
the period, permission was granted to the directors to hold a
demonstration for the purpose of celebrating a turnover of 3,000
sacks per week.
 CHAPTER XIII.
CLYDEBANK BRANCH.

PRELIMINARY NEGOTIATIONS—THE BRANCH DECIDED ON

—THE HUNT FOR A SITE—THE BUILDING ERECTED—
INCREASING TRADE—FURTHER EXTENSIONS—A
DISASTROUS FIRE—THE PREMISES REBUILT—A BAD
SMASH—PRIZE WINNERS—GOVERNMENT CONTRACTS.

The time was now fast approaching when the committee were to
be called on once again to consider the question of branching out.
For some time the members of Clydebank Society had been a little
restive. They demanded new bread, and they demanded that they
should have it early in the day. This demand the directors were
finding it difficult to meet, for the campaign in favour of stale bread,
with a later start in the mornings for the bakers and a reasonable
working day, had not borne much fruit. At length, towards the end of
1900, a request for a deputation from the Baking Society’s board was
received from Clydebank directors. This deputation on their return
reported that they had been informed that there had been an
agitation among the members of Clydebank Society for a bakery of
their own, and before they would do anything the committee of the
society had wished to consult with the directors of the U.C.B.S. as to
what the Federation was prepared to do. The deputation suggested
that if the Clydebank directors would undertake to recommend to
their members the erection by the U.C.B.S. of a branch bakery, they
on the other hand would make the same recommendation to the
delegates at the quarterly meeting. As Clydebank committee were
divided in opinion on the matter, however, it was decided that the
question should be delayed until further developments took place.
 It was not until ten months after the events recorded above that
anything further was heard of the proposal to erect a branch at
Clydebank, and then it came in the form of information that the
society had agreed to erect a bakery for themselves. The directors of
the Baking Society decided to send a letter expressing surprise that
they had not been informed of what was proposed before the
decision was arrived at. To this the Clydebank people replied that
they would be willing to discuss the matter still; and another
deputation was appointed to meet with them. In giving instructions
to their deputation, the directors of the Baking Society decided to
offer that, if the Clydebank Society delayed taking action, they would
recommend to the first quarterly meeting of the Baking Society the
erection of a branch to meet the needs of the Clydebank district. The
result of this meeting was that a special meeting of the members of
Clydebank Society was called, at which representatives of the Baking
Society were invited to be present. The minutes are silent as to what
transpired at this meeting, but, from the fact that at the quarterly
meeting of the Baking Society the directors came forward with a
recommendation that a branch be established in Clydebank, it is
evident that the meeting had been of a friendly nature. The
chairman, in supporting the proposal at the quarterly meeting, stated
that the delivery of bread, which had much to do with the question
being raised, had greatly improved in the interval; but as the
question had again been brought up in Clydebank, the committee
had considered the whole matter, and were of opinion that no further
extension should be made at M‘Neil Street in the meantime.
Delegates from Kinning Park and Cowlairs moved delay, and the
consideration of the question was put back for three months. At the
next quarterly meeting, however, the chairman stated that the
reasons which he had given at last meeting for the step which the
board advocated had become more forcible in the interval. The trade
of the Federation was growing so rapidly that if the delegates did not
agree to this proposal something else would have to be done to lessen
the congestion at M‘Neil Street. On the recommendation being put to
the vote, it was carried by a large majority.
Some little time elapsed, however, before suitable ground was
procured and the plans approved, and it was not until the end of
August that operations really commenced. Land was feued between
Yoker and Clydebank at John Knox Street and abutting on the North
British Railway, and here a large building consisting of three storeys
and attics was erected, having accommodation on two floors for
thirty-two large draw-plate ovens. The upper floors were to be
utilised as flour stores, and a large sifting and blending plant was
erected. Ample lavatory and bath accommodation was provided for
the workers, and arrangements were made at the back of the building
whereby the railway wagons ran underneath a wing of the building,
allowing the flour to be lifted direct from the wagons to the store.
Ample stabling and van accommodation was provided at the end of
the building, and the precaution was taken to secure sufficient land
to render any future extensions easy. The interior walls were lined
throughout with white glazed brick, and everything that skill could
devise was done to make the new building a model bakery. The total
cost of the new building and equipment was about £17,000, and all
the work of erection was carried out by the Society’s own workmen,
while the Society could congratulate itself on the fact that no accident
of any sort involving danger to life or limb took place during its
erection.
Only eight ovens were erected at first, as it was thought that the
production from these would meet the requirements of the societies
in the district. Since then, however, further extensions have taken
place. The first eight ovens erected were gas fired, but at the June
1904 quarterly meeting the directors in their report had to admit that
the results had not been what were expected, and it was possible that
some change might have to be made. The draw-plate ovens would be
a distinct improvement if they could be made as steady and reliable
as were the Scotch ovens, and Scottish engineers were directing their
attention to this, the report stated. The difficulty with one section of
the ovens continued, however, and before long it was decided to
abandon gas-firing and fire by coke.
 EDUCATIONAL COMMITTEE

1. JOHN SIMPSON.
2. ALEXANDER BUCHANAN.
3. JOHN B. WALKER.
4. JOHN TOWART, Secretary.
5. JOHN YOUNG, Chairman.
6. JAMES H. FORSYTH, Treasurer.
7. JOHN URQUHART.
8. MARY KENNEDY.
9. HUGH MURDOCH.
 PRIZE SILVER BAND

H. A. MELLOR, Bandmaster. WILLIAM MILLER, President.

JAMES THOMSON, Secretary.
 INCREASING TRADE.
It was not long before the manager was again reporting to the
committee that the premises at M‘Neil Street were being congested,
and intimating that they would require to consider the building of
additional ovens at Clydebank or else the opening of a branch in the
east. The result was that four additional ovens were built on a plan
devised by the engineer and foreman baker, and called the “Scott-
Richard” oven. By the 140th quarter the branch was in full working
order, and the number of sacks baked that quarter was 2,502. The
output of the branch continued to increase, and by the 148th quarter
had risen to an average of 352 sacks per week. So rapidly had the
sales of the branch grown that less than eighteen months after it was
opened the directors found it necessary to add other three ovens,
bringing the total up to fifteen. These also were of the Scott-Richard
type.
By the beginning of 1906 the congestion at Clydebank and at
M‘Neil Street had become so great that it was decided to proceed
with the completion of the Clydebank premises at a cost of £10,000.
This extension provided for the erection of sixteen new ovens, thus
practically completing the productive capacity of the building. The
extension was completed in June 1907, and the June quarterly
meeting was held in one of the flats there. Amongst other
innovations introduced during the completion of this extension was a
large water-storage tank of capacity sufficient to provide a day’s
supply of water in event of any breakdown in the public water
supply. Provision was also made for electric power and light, and two
electric lifts were installed.
At the meeting the chairman, Mr D. H. Gerrard, said the branch
was up to date in every respect, and could be characterised as a
modern bakery in every sense of these words, equipped with the
latest and most improved means of production. It was an institution
of which they need not be ashamed—indeed, he would say rather it
was an institution of which they might be justifiably proud that they
were the owners. They were exhorted in the Old Book that they
should forget the things that were behind and press onward to the
things that were before. In a general sense that advice was pretty
good, especially when looking back might have a depressing effect on
one’s spirits; but it might be helpful to take a retrospect of the past
and look for a short time on the day of small things: the days of their
weakness, and ponder over them. After paying a tribute to the work
done for the Baking Society by Mr M‘Culloch, Mr Gerrard went on to
suggest that the United Baking Society was one of the wonders of
modern times, and was an eloquent testimony to the shrewdness and
business qualifications of the working men who had managed it
during the thirty-eight years of its existence. Referring to the branch,
he stated that it had now capacity for a trade of 1,400 sacks per week,
and pointed out that since Clydebank bakery was commenced, in
1902, the trade of the Society had increased by nearly 1,500 sacks per
week.
 A DISASTROUS FIRE.
The new premises had only been opened for a few months when,
one Sunday morning in October, those responsible for carrying on
the work of the branch were horrified to discover that fire had
broken out. The fire was first discovered by one of the men employed
in the stables, whose attention was attracted by the sound of
breaking glass. He at once raised the alarm, and while the local fire
brigade was being summoned the stablemen did their best to
overcome the fire, but without success. By the time the local fire
brigade arrived the fire had gained a firm hold, and assistance was
telephoned for to Glasgow. The appliances of the local brigade were
not of much use, and all that the Glasgow brigade were able to do
when they arrived was to confine the fire to the upper floors, which,
with their contents, were completely destroyed. Fortunately the
lower floors were fireproof, and beyond damage by water there was
little harm done.
Arrangements were at once made to transfer the bakers in the
Clydebank factory to M‘Neil Street so as to cause the minimum of
inconvenience to the customers of the Society, and an agreement was
come to with the Operative Bakers’ Union whereby the men were
allowed to begin work an hour earlier in the mornings and two hours
earlier on Saturdays while the reconstruction was taking place.
Fortunately, very little damage was done to the lower part of the
building; but it was decided that in rebuilding the upper portion it
should be made entirely fireproof. For this reason it was decided that
the new roof should be flat and of concrete. The damage done by the
fire amounted to over £10,900. So quickly was the work of
renovation begun that by the Saturday of the week in which the fire
took place a temporary roof had been erected, and the work of
baking had again been started. It is interesting to note here that
Barrhead Society, which had, not long before, completed the erection
of a new bakery of their own, offered to place it at the disposal of the
U.C.B.S. if they should require it; but, fortunately, the directors
found themselves in a position to decline this kind offer.
 The facilities for extinguishing a fire of such magnitude possessed
by Clydebank Town Council had proved to be quite inadequate for
the purpose, and a strong protest was made by the board.
Particularly the water pressure had been found quite inadequate for
the work. By the beginning of December the directors had submitted
plans to the Dean of Guild Court for the reconstruction of the
premises, and these were passed on an undertaking being given that
the boiler flue, to a defect in which it was supposed that the fire had
been due, would be built to the satisfaction of the master of works.
The building was quickly completed, and soon work was in full swing
again.