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针对老年人和行动不便者日常生活困难的问题,设计了一款可以进行基本日常操作的智能搬运机器人。机器人以STM32单片机为主控制器,通过红外线、超声波等传感器获取外界环境信息,对履带式行走机构和机械臂进行控制。履带结构较为平稳,具有良好的越障能力;机械臂自由度高,可完成360度全方位无死角的的抓取活动。本文使用Creo进行建模,实现机器人的运动仿真,优化机器人机械结构,借助Keil进行程序编译,解决机器人运动的算法问题。智能机器人利用多个传感器作为“感觉器官”,凭借稳定的履带行走机构和高自由度的机械臂,实现超声避障、智能循迹、定距抓取等多个功能。 相似文献
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针对楼道照明调光的要求,设计基于STC89C52智能照明系统。该系统通过光敏传感器检测楼道内的光照强度,在由热释电红外传感器检测是否有人,检测信号经转换后输送给单片机,单片机计算后输出不同占空比的脉冲信号。该脉冲信号输入带PWM调光的LED电源,从而实现PWM调光功能,以实现照明的节能控制。 相似文献
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设计并实现了一种基于MC68HC908QY4单片机的自主避障智能模型车系统。本系统采用Freescale公司的MC68HC908QY4单片机作为核心控制单元,使用红外传感器采集路况信息,并通过一定的转换电路将传感器采集的模拟信息转换成单片机能够识别的数字信号,以便于单片机分析处理。通过单片机对红外传感器检测信息的分析、判断,从而给出判断结果,并给相应端口数字信号,再经过相应驱动电路驱动相应传感器,以达到自动控制转向,改变行驶路径,绕过障碍物的目的,从而实现自主避障智能模型车的稳定避障。 相似文献
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引体向上作为人体臂力和耐力素质的体现,对其进行测量,可改变传统的人工计数,并通过引体向上测试系统直接对其进行记录和分析,从而实现运动的信息化、自动化。本文以LPC2132作为主控,以RS485作为通信接口,通过设计,同时搭载外设的光学传感器,实现了引体向上测试系统。 相似文献
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新型多功能智能小车的设计与应用 总被引:2,自引:1,他引:1
介绍智能小车自动完成设定任务的设计。本设计以玩具小坦克为车体,以单片机AT89S52为核心,利用黑白线传感器判断小车行驶的轨迹;利用金属传感器判断轨迹中放置的铁片;由单片机对小车状态做出实时反应,并输出相应的控制指令。该系统通过调节PWM输出可控制小车的前进、后退、转向、加速、减速等动作;可精准地完成小车沿黑色引导线的寻迹(断开引导线亦可)、检测铁片个数、实时LCD显示行驶距离、时问和行车轨迹等功能。该设计功耗小,成本低,精度较高。 相似文献
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In this paper, a feedback control law is proposed for regulating the contact force exerted by a very lightweight single-link flexible manipulator when it comes into contact with a motionless object. This control law is based on a lumped-parameter model. The tracking of the desired contact force is obtained by using a feedback loop control of the coupling torque between the motor and the flexible arm. To achieve a good performance on the force control it is only necessary to measure the coupling torque at the root of the arm. Neither the contact force sensor nor the angular position sensor of the motor are used in the control method. A modified PID controller is proposed for this control law. In this work the force control problem is studied for both free and constrained motions of the flexible manipulator, and a collision detection algorithm is also described. 相似文献
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Wang Guiling Cao Guohong Berman Piotr La Porta Thomas F. 《Mobile Computing, IEEE Transactions on》2007,6(5):515-528
Constructing a sensor network with a mix of mobile and static sensors can achieve a balance between sensor coverage and sensor cost. In this paper, we design two bidding protocols to guide the movement of mobile sensors in such sensor networks to increase the coverage to a desirable level. In the protocols, static sensors detect coverage holes locally by using Voronoi diagrams and bid mobile sensors to move. Mobile sensors accept the highest bids and heal the largest holes. Simulation results show that our protocols achieve suitable trade-off between coverage and sensor cost 相似文献
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介绍一种基于MSP430F2274单片机为核心的智能小车。小车采用超声波测距技术实现自动避障,同时通过语音模块来播报出小车与障碍物的距离。为了使测距不受温度影响,用温度传感器实时检测小车周围环境的温度并修正距离计算公式的参数,采用光电编码器来检测小车的速度,运用PID控制算法和PWM来控制小车的精确稳定的运行,从而达到预期的设计目标。 相似文献
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Electro-Mechanical Actuator (EMA) is a critical subsystem of the aircraft. The degradation of Pulse Width Modulation (PWM) Inverter has significant influence on EMA performance, which may lead to aircraft catastrophic consequence. However, strict limitation on sensor placement in aeronautical applications brings much difficulty to characterize the degradation state of EMA PWM Inverter. To effectively estimate the degradation of EMA PWM Inverter with external monitoring features, this paper proposes a feature increment stepwise linear regression (FI-SLR) model. In the FI-SLR model, the increments of features are extracted to estimate degradation state of EMA PWM Inverter. To evaluate the effectiveness of FI-SLR model, EMA simulation is performed to acquire more condition data. Moreover, both practical dataset from NASA and simulation data are utilized in experiments. Finally, experimental results show that FI-SLR has better estimation performance in the field of EMA PWM Inverter degradation estimation. 相似文献
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Dithering Skip Modulation, Width and Dead Time Controllers in Highly Efficient DC-DC Converters for System-On-Chip Applications 总被引:1,自引:0,他引:1
Hong-Wei Huang Ke-Horng Chen Sy-Yen Kuo 《Solid-State Circuits, IEEE Journal of》2007,42(11):2451-2465
This paper proposes temperature-independent load sensor (LS), optimum width controller (OWC), optimum dead-time controller (ODC), and tri-mode operation to achieve high efficiency over an ultra-wide-load range. Higher power efficiency and wider loading current range require rethinking the control method for DC-DC converters. Therefore, a highly efficient tri-mode DC-DC converter is invented in this paper for system-on-chip (SoC) applications, which is switched to sleeping mode at very light load condition or to high-speed mode at heavy load condition. The efficiency improvement is upgraded by inserting new proposed dithering skip modulation (DSM) between conventional pulse-width modulation (PWM) and pulse-frequency modulation (PFM). In other words, an efficiency-improving DSM operation raises the efficiency drop because of transition from PWM to PFM. Importantly, DSM mode can dynamically skip the number of gate driving pulses, which is inverse proportional to load current. Simplistically and qualitatively stated, the novel load sensor automatically selects optimum modulation method and power MOSFET width to achieve high efficiency over a wide load range. Moreover, optimum power MOSFET turn-on and turn-off delays in synchronous rectifiers and reduced ground bounce can save much switching loss by current-mode dead-time controller. Experimental results show the tri-mode operation can have high efficiency about 90% over a wide load current range from 3 to 500 mA. Owing to the effective mitigation of the switching loss contributed by optimum power MOSFET width and reduction of conduction loss contributed by optimum dead-times, the novel width and dead-time controllers achieve high efficiency about 95% at heavy load condition and maintain the highly efficient performance to very light load current about 0.1 mA. 相似文献
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微创手术软体操作臂是微创外科和机器人领域的科学前沿和研究热点,对提升微创手术水平至关重要。现有视觉、电子和光电等传感方法尚未解决软体操作臂的状态测量问题,以直线型布设在软体操作臂中的光纤传感器,在柔性操作臂伸展和弯曲等运动时存在易断裂和可重复性差等问题,未能实现手术操作臂的闭环控制,限制了其手术应用。为此,提出了一种基于螺旋型光纤传感的软体操作臂状态测量方法,并对其传感特性进行了研究。不同于直线布设光纤的传感方法,螺旋型布设光纤的传感方法可以实现可伸缩软体操作臂的测量,防止光纤在软体操作臂中的错位,满足可伸缩弯曲软体操作臂的测量需求。通过理论分析气动驱动软体操作臂伸缩和弯曲的运动特性,利用光纤上刻写的布拉格光栅传感点,建立软体操作臂中螺旋型光纤光栅的传感模型,推导出光纤光栅中心波长漂移量和软体操作臂弯曲曲率之间的关系。最后,为了验证螺旋型光纤光栅在软体操作臂中的传感性能,对其传感灵敏度和稳定性等进行了实验测试。实验结果表明:提出的螺旋型光纤传感方法可实现操作臂伸长10%、弯曲角度达到180°时的状态测量,且操作臂理论弯曲角度和光纤传感的误差最大为9%,传感灵敏度可达12.55 pm/(°),满足软体操作臂伸缩和各向弯曲操作时的测量需求。 相似文献