基于CC2430的车辆无线引导仿真系统设计

本文基于宝贝车机器人,应用无线射频芯片CC2430及Zigbee通讯协议,设计实现了由先导机器人对跟随机器人的实时引导仿真系统。实物模拟了车辆编队自动驾驶,对车辆编队行驶的控制与引导方式进行了初步的探索。     

停车场智能泊车综合系统的优化设计

为了解决在停车场中车辆泊车过程中存在的各种问题,提出一种基于STC12C5A60S2单片机的智能泊车综合系统设计方案.该系统主要由智能泊车机器人及停车场监控两部分组成,分别研究了智能泊车机器人的抬升机构、机器人控制,以及停车场监控部分的主控系统、车位检测装置等.最终,通过无线通讯使得停车场控制部分与机器人进行配合工作,形成了整个智能泊车综合系统.通过模拟实验,证明了该系统可以完整地完成智能泊车的一系列过程,提高了停车场中的车辆存取及管理效率.     

地面机器人,科技变革时代的新秀

地面机器人是指智能或遥控的轮式和履带式车辆。它又可分为自主车辆和半自主车辆。自主车辆依靠自身的智能自主导航,躲避障碍物,独立完成各种战斗任务;半自主车辆可在人的监视下自主行使,在遇到困难时操作人员可以进行遥控干预。地面军用机器人在和平时期可以帮助民警排除炸弹、完成要地保安任务,在战时还可以代替士兵执行扫雷、侦察和攻击等各种任务,今天世界各国均已研制出多种型号的地面军用机器人。     

机器人计算机辅助运动学设计与仿真系统

本文建立了一个机器人运动学计算机辅助设计与仿真系统，与同类型的其它系统比较，本文侧重于运动学设计与评价，它包括工作空间，姿态空间等提出了建立机器人数据库，奇异曲面计算机自动求解以及机器人运动学性能综合评价的新方法，然后介绍了系统中的一些主要模块。     

焊接机器人系统在装载机产品上的应用

焊接机器人被引人工程机械行业后，广泛应用于工程机械产品中，本文简介了焊接机器人系统在工程机械装载机产品的具体应用，对焊接机器人焊接产品质量做出分析，并简要分析目前焊接机器人焊接中常见问题及解决方案。     

网络与虚拟现实技术在机器人实验操作中的应用

文章介绍了一个自行研制的机器人系统虚拟操作平台，该系统以广东工业大学FMS实验室的S-700机器人为对象，采用3DSMAX进行三维几何建模，通过VRML和Java编程来实验机器人的虚拟操作。     

机器人计算机辅助运动学设计与仿真系统

本文建立了一个机器人运动学计算机辅助设计与仿真系统，与同类型的其它系统比较，本文侧重于运动学设计与评价，它包括工作空间、姿态空间、奇异曲面、服务区域、灵活度、运动学综合与仿真等，提出了建立机器人数据库、奇异曲面计算机自动求解以及机器人运动学性能综合评价的新方法，然后介绍了系统中的一些主要模块。     

遥操作工程机器人系统临场感技术研究-6自由度临场运动感觉反馈技术的研究进展

 研究开发出一种遥操作工程机器人系统，可以应用于诸如火灾现场的修复作业等广阔的领域．该系统由伺服控制的工程机器人、2根从远处操纵工程机器人的操纵杆、视频系统和6自由度运动模拟器组成．操作者坐于座椅上，座椅固定于运动模拟器的上方． 该系统需要解决的一个关键问题是如何使操纵者高质量地获得工作现场的临场运动感觉． 提出了一种6自由度临场运动感觉反馈方法，其信号源来自工程机器人上安装的6个加速度传感器． 该方法的有效性已为实验所证明，即应用6自由度运动模拟器不但可以高质量地模拟工程机器人单个自由度的运动：滚动、俯仰、转动以及前后、左右、上下的平移，而且可以高质量地模拟工程机器人的各种复合运动．     

步态康复训练机器人人机交互信息感知系统

针对步态康复训练机器人与患者实时交互的需求，研发了获取人机接触力信息的感知系统。利用拉格朗日法建立包含人体主动力的下肢外骨骼机器人动力学模型，并分析患者下肢运动动作意图，为步态康复训练交互控制提供判断依据。在步态康复训练机器人样机系统上进行了静态、动态测量实验及被动/主动康复训练测量实验，结果表明该感知系统能够满足人机接触力的检测精度要求，能在康复训练中获取人体运动意图，这为步态康复训练机器人的智能交互控制策略研究奠定了基础。     

军用机器人扩展了人类的活动领域

许多军用机器人越来越像小型的类似坦克的无人驾驶的地面车辆（UGV），通过踏板或者轮胎移动。此时，其他更专业化的类型出现了。其中一些带有机翼，并且可以用从背包上或者在遥远的无法进入区域内启动。     

Fault diagnostics of dynamic system operation using a fault tree based method

For conventional systems, their availability can be considerably improved by reducing the time taken to restore the system to the working state when faults occur. Fault identification can be a significant proportion of the time taken in the repair process. Having diagnosed the problem the restoration of the system back to its fully functioning condition can then take place. This paper expands the capability of previous approaches to fault detection and identification using fault trees for application to dynamically changing systems. The technique has two phases. The first phase is modelling and preparation carried out offline. This gathers information on the effects that sub-system failure will have on the system performance. Causes of the sub-system failures are developed in the form of fault trees. The second phase is application. Sensors are installed on the system to provide information about current system performance from which the potential causes can be deduced. A simple system example is used to demonstrate the features of the method. To illustrate the potential for the method to deal with additional system complexity and redundancy, a section from an aircraft fuel system is used. A discussion of the results is provided.     

Integrated system fault diagnostics utilising digraph and fault tree-based approaches

With the growing intolerance to failures within systems, the issue of fault diagnosis has become ever prevalent. Information concerning these possible failures can help to minimise the disruption to the functionality of the system by allowing quick rectification. Traditional approaches to fault diagnosis within engineering systems have focused on sequential testing procedures and real-time mechanisms. Both methods have been predominantly limited to single fault causes. Latest approaches also consider the issue of multiple faults in reflection to the characteristics of modern day systems designed for high reliability. In addition, a diagnostic capability is required in real time and for changeable system functionality. This paper focuses on two approaches which have been developed to cater for the demands of diagnosis within current engineering systems, namely application of the fault tree analysis technique and the method of digraphs. Both use a comparative approach to consider differences between actual system behaviour and that expected. The procedural guidelines are discussed for each method, with an experimental aircraft fuel system used to test and demonstrate the features of the techniques. The effectiveness of the approaches is compared and their future potential highlighted.     

Study on Fault Dictionary

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一种新颖的故障检测滤波器设计

研究了含有未知输入线性系统的故障检测问题,针对传统方法丢失信息或繁琐复杂的缺点,设计了一种新颖的故障检测滤波器。该方法使未知输入在故障发生前衰减到几乎处处为零,系统近似为无未知输入的标准系统,残差只敏感于故障,动态的实现了未知输入与故障的分离。仿真结果表明,该方法效果良好。     

Event storm detection and identification in communication systems

Event storms are the manifestation of an important class of abnormal behaviors in communication systems. They occur when a large number of nodes throughout the system generate a set of events within a small period of time. It is essential for network management systems to detect every event storm and identify its cause, in order to prevent and repair potential system faults.This paper presents a set of techniques for the effective detection and identification of event storms in communication systems. First, we introduce a new algorithm to synchronize events to a single node in the system. Second, the system's event log is modeled as a normally distributed random process. This is achieved by using data analysis techniques to explore and then model the statistical behavior of the event log. Third, event storm detection is proposed using a simple test statistic combined with an exponential smoothing technique to overcome the non-stationary behavior of event logs. Fourth, the system is divided into non-overlapping regions to locate the main contributing regions of a storm. We show that this technique provides us with a method for event storm identification. Finally, experimental results from a commercially deployed multimedia communication system that uses these techniques demonstrate their effectiveness.     

Industrial systems maintenance modelling using Petri nets

This article presents a new algorithm that we have developed to find the minimal cut-sets of a coherent fault tree. The model presented is based on Petri nets. We also show that for a large fault tree, we are faced with the complexity problem. We suggest the use of place fusion as well as a methodology that can allow us to overcome this difficulty.     

Design of fault simulator

Fault simulator is proposed to understand and evaluate all possible fault propagation scenarios, which is an essential part of safety design and operation design and support of chemical/production processes. Process models are constructed and integrated with fault models, which are formulated in qualitative manner using fault semantic networks (FSN). Trend analysis techniques are used to map real time and simulation quantitative data into qualitative fault models for better decision support and tuning of FSN. The design of the proposed fault simulator is described and applied on experimental plant (G-Plant) to diagnose several fault scenarios. The proposed fault simulator will enable industrial plants to specify and validate safety requirements as part of safety system design as well as to support recovery and shutdown operation and disaster management.     

Quantitative demonstration and cost considerations of a software fault removal methodology

This paper presents a demonstration of a methodology for fault removal during software development. The methodology encompasses the entire development history, from system and software requirements generation to system test. Thus it considers not only the faults during software testing after formal configuration controls have been invoked, but also the faults discovered prior to that phase: during system and software requirements generation, preliminary design, detailed design and code and unit testing. The agents for fault discovery used in verification and validation are called activities, techniques and tools (AT & Ts) in this paper, each having a certain maximum potential or capability for fault discovery. The AT & Ts considered include the usual specification review activities, and also certain tools not normally applied in ‘standard’ software development, such as automated requirements aids. Application of the methodology yields numbers of residual faults as of each phase of development, including those remaining to be discovered during operations and maintenance. Some previous experience and data on residual faults correspond to these results, indicating that the methodology and choice of parameters are reasonable. The methodology also allows one to calculate a relative loss due to delay in fault discovery, which, as is well known, rises rapidly when faults are not discovered during the phase in which they are generated.     

循环平稳信号处理在机械设备故障诊断中的应用综述

循环平稳信号处理学科的引入，丰富了机械设备故障诊断的内容。本文总结了循环平稳信号处理在机械设备信号特征提取和故障诊断领域的研究概况，分析了该方法目前所存在的问题，最后简要指出了循环平稳信号处理在机械设备故障诊断中应用的发展方向。     

Two fault classification methods for large systems when available data are limited

In this paper, we consider the problem of fault diagnosis for a system with many possible fault types. Two approaches are presented that are useful for initial diagnosis of system-wide faults, assuming that no data are available before commissioning the system but the possibility of the occurrence of each symptom is known for each fault. The first method uses a fault tree approach to reduce the solution space before applying the geometric classification method, the assumption being that no unwanted symptoms are possible. This method is nonparametric and thus does not require any data to estimate the underlying distribution of faults and symptoms. The second method is based on the Bayes classification approach to utilize the subjective information and the limited data that may be available. The two methods are generic and applicable to a variety of industrial processes.