海洋仪器电池管理嵌入式系统设计

介绍了一种利用嵌入式技术设计的海洋仪器电池管理系统。电池管理终端以ARM9处理器为核心,包括电池参数采集、WiFi通信、串口通信等模块。各电池组巡检节点之间通过RS485总线进行通信,主节点与上位机之间可通过无线与有线多种方式进行通信。电池管理终端移植Linux操作系统,实现了电池管理监控多项任务的有效调度与交互。电池管理系统可实现对各个电池电流、电压和温度的实时采集与SOC的计算。经过电池标定实验证明,系统数据测量可靠易行。     

Developing a vision-based auto-recharging system for mobile robots

This article describes a vision-based auto-recharging system that guides a mobile robot moving toward a docking station. The system contains a docking station and a mobile robot. The docking station contains a docking structure, a control device, a charger, a safety detection device, and a wireless RF interface. The mobile robot contains a power detection module (voltage and current), an auto-switch, a wireless RF interface, a controller, and a camera. The controller of the power detection module is a Holtek chip. The docking structure is designed with one active degree of freedom and two passive degrees of freedom. For image processing, the mobile robot uses a webcam to capture a real-time image. The image signal is transmitted to the controller of the mobile robot via a USB interface. We use an Otsu algorithm to calculate the distance and orientation of the docking station from the mobile robot. In the experiment, the proposed algorithm guided the mobile robot to the docking station.     

Path planning of fire-escaping system for intelligent building

We present the path-planning techniques of the fire-escaping system for intelligent building, and use multiple mobile robots to present the experimental scenario. The fire-escaping system contains a supervised computer, an experimental platform, some fire-detection robots and some navigation robots. The mobile robot has the shape of a cylinder, and its diameter, height and weight are 10?cm, 15?cm and 1.5?kg, respectively. The mobile robot contains a controller module, two DC servomotors (including drivers), three IR sensor modules, a voice module and a wireless RF module. The controller of the mobile robot acquires the detection signals from reflective IR sensors through I/O pins and receives the command from the supervised computer via wireless RF interface. The fire-detection robot carries the flame sensor to detect fire sources moving on the grid-based experiment platform, and calculates the more safety escaping path using piecewise cubic Bezier curve on all probability escaping motion paths. Then the user interface uses A* searching algorithm to program escaping motion path to approach the Bezier curve on the grid-based platform. The navigation robot guides people moving to the safety area or exit door using the programmed escaping motion path. In the experimental results, the supervised computer programs the escaping paths using the proposed algorithms and presents movement scenario using the multiple smart mobile robots on the experimental platform. In the experimental scenario, the user interface transmits the motion command to the mobile robots moving on the grid-based platform, and locates the positions of fire sources by the fire-detection robots. The navigation robot guides people leaving the fire sources using the low-risk escaping motion path and moves to the exit door.     

Navigation of Mobile Robots Using a Fuzzy Logic Controller

This paper describes a mobile robot navigation control system based on fuzzy logic. Fuzzy rules embedded in the controller of a mobile robot enable it to avoid obstacles in a cluttered environment that includes other mobile robots. So that the robots do not collide against one another, each robot also incorporates a set of collision prevention rules implemented as a Petri Net model within its controller. The navigation control system has been tested in simulation and on actual mobile robots. The paper presents the results of the tests to demonstrate that the system enables multiple robots to roam freely searching for and successfully finding targets in an unknown environment containing obstacles without hitting the obstacles or one another.     

Path planning of a multiple mobile robot system

We present path-planning techniques for a multiple mobile robot system. The mobile robot has the shape of a cylinder, and its diameter, height, and weight are 8 cm, 15 cm, and 1.5 kg, respectively. The controller of the mobile robot is an MCS-51 chip, and it acquires detection signals from sensors through I/O pins. It receives commands from the supervising computer via a wireless RF interface, and transmits the status of the robots to the supervising computer via a wireless RF interface. The mobile robot system is a module-based system, and contains a controller module (including two DC motors and drivers), an obstacle detection module, a voice module, a wireless RF module, an encoder module, and a compass detection module. We propose an evaluation method to arrange the position of the multiple mobile robot system, and develop a path-planning interface on the supervising computer. In the experimental results, the mobile robots were able to receive commands from the supervising computer, and to move their next positions according to the proposed method.     

Develop a multi-detection security system using multi-sensor fusion algorithms

The paper develops the multi-detection system using multi-level surveillance structure. The system contains active detection modules, passive detection modules, a supervised computer, an image system and an intelligent home. The passive detection modules contain wire/wireless detection modules and appliance control modules, and decide the event to be true or not using fusion algorithms, and transmit detection signals to the supervised computer via wire/wireless interface. Mobile robots are active detection modules and carry various sensors to search dangerous events. Each mobile robot transmits the real-time event signal to the supervised computer and the other mobile robots via wireless RF interface. The image system detects fire source using Otsu algorithm. The system integrates wire/wireless passive detection modules, mobile robots and image system to detect fire source using weighted average method. If the fire event occurs, the supervised computer calculates the dangerous grade using logical filter method according to the signals of detection modules in the first step, and transmits the position of the fire event to the other mobile robots. The assigned mobile robots move to the event location for double check autonomously, and transmit the detection results to the supervised computer. The supervised computer gives the final decision according to the feedback signals in the second step. Finally, we present some experimental scenarios using passive detection modules, active detection modules and image system for the fire detection in the intelligent home.     

SPARK-Ⅱ转鼓及控制棒驱动机构交叉冗余伺服驱动控制系统的设计

SPARK-Ⅱ转鼓及控制棒的驱动机构需要高可靠的驱动控制,实现该驱动控制功能的设备定义为转鼓及控制棒驱动机构驱动控制器,是指把堆控计算机的指令转化为驱动机构的驱动信号,并能通过对驱动机构的状态采集实现对多套转鼓及控制棒驱动机构的精确控制的控制系统。驱动控制器开展具备双冗余控制器对多台双冗余机构的交叉冗余伺服驱动控制设备的设计,控制器由两组备份的逻辑控制单元、电机交叉冗余切换单元、旋变测量信号切换单元、模拟量调理与切换单元、电磁驱动控制单元及9组电机驱动单元等组成,并通过1553B与堆控计算机通信。通过采用工业器件对设计的控制器的性能进行了检验,设备具备良好的控制性能,能够满足对转鼓及控制棒驱动机构的控制。系统接口满足航天相关规范要求。     

A* search algorithm applied to a Chinese chess game

This article presents an A* search algorithm to be applied to path planning in a Chinese chess game, and uses multiple mobile robots to present the scenario. The mobile robots have a cylindrical shape, and their diameter, height, and weight are 8 cm, 15 cm, and 1.5 kg, respectively. The controller of the mobile robots is a MCS-51 chip. We play the Chinese chess game using multiple mobile robots according to the evaluation algorithm of the game, and calculate the displacement by the encoder of a DC servomotor. The A* search algorithm can solve the shortest-path problem for the mobile robots from the starting point to the target point on the chess board. The simulated results found the shortest path for the mobile robots (chess pieces) moving to target points from their starting points in a collision-free environment. Finally, we implemented the experimental results on a Chinese chess board using mobile robots. Users can play the Chinese chess game using the supervising computer via a wireless RF interface. The scenario of the feedback of the Chinese chess game to the user interface uses an image system.     

Power quality enhancement in solar power with grid connected system using UPQC

The need to generate pollution free energy has triggered the effect towards the usage of solar energy interconnection with the grid. Consequently, the Photovoltaic (PV) panel interfaced with the grid causes the power quality problems such as a voltage harmonics and voltage distortion etc., Active power filters are the powerful tool for mitigation of harmonics. This work involves the use of single-phase Unified Power Quality Conditioner (UPQC) based on a unit vector template control algorithm for its functions with grid integration of photovoltaic, such as voltage sags/ swell, unit power factor correction, voltage and current harmonic cancelation. The unit vector template control algorithm includes a phase-locked loop (PLL) mechanism that is responsible for avoiding multiple zero crossings during highly distorted grid voltage detection. A unit vector template control with a PLL-based control algorithm is applied to the shunt and series inverters of PV grid connected UPQC. In addition to normalizing voltage and current disturbances, the proposed controller has the functions of phase detection and perfect grid synchronization. It is proposed that the system performance is fully verified by MATLAB simulation with the response of load variation, transient response, THD, voltage swell and sag. The Total Harmonic Distortions (THDs) of proposed grid integration of photovoltaic systems through single-phase unified power quality conditioner (UPQC) obtain the range of IEEE standard.     

基于Cortex-M4的激光在线测量控制器设计

针对现场白车身激光在线测量系统控制柜内控制模块过多,接线复杂,且在高强度工作时柔性视觉传感器线缆容易断裂造成短路等问题,设计了基于高性能Cortex-M4处理器的激光在线测量控制器。该控制器利用以太网与测量计算机通信,通过RS-485总线与多个视觉传感器相连,控制其快速、可靠地对白车身进行测量。同时在电源输出端采用电压取样的短路保护措施,并利用改进的限幅去极值平均滤波算法对电压采样值进行处理。与原有控制系统相比,该控制器具有结构简单,运行稳定,成本低,实时性好的优点,保障测量系统安全、可靠地运行。     

VK有源电力滤波器在电源电压畸变时的谐波提取方法

分析了有源滤波器（APF）基于旋转坐标系下进行坐标变换的谐波检测方法。该方法在电网电压畸变情况下能很好地检测和补偿电网中的谐波电流和无功电流。应用于三相三线制电路时,该方法可以计算任意次谐波电流的瞬时值。仿真与实验均验证了所提出的谐波检测方法的有效性,基于旋转坐标系下进行坐标变换的谐波检测方法的有源电力滤波器具有良好的工作性能。     

口孜东煤矿矿井自动化系统应用研究

针对目前矿井自动化系统建设存在的问题,提出了口孜东煤矿矿井自动化系统的建设方案。井下各子系统采用Mincos控制系统作为主控设备,主控设备通过Mincos控制系统的专有总线采集内部传感器信息,通过Modbus及Profibus总线与各子系统配套设备控制器通信,同时通过以太网与地面集控系统设备通信。实际应用表明,该方案为口孜东煤矿的生产自动化提供了可靠的保障。     

Motion-based identification of multiple mobile robots using trajectory analysis in a well-configured environment with distributed vision sensors

Networked mobile robots are able to determine their poses (i.e., position and orientation) with the help of a well-configured environment with distributed sensors. Before localizing the mobile robots using distributed sensors, the environment has to have information on each of the robots?? prior knowledge. Consequently, if the environment does not have information on the prior knowledge of a certain mobile robot then it will not determine its current pose. To solve this restriction, as a preprocessing step for indoor localization, we propose a motion-based identification of multiple mobile robots using trajectory analysis. The proposed system identifies the robots by establishing the relation between their identities and their positions, which are estimated from their trajectories related to each of the paths generated as designated signs. The primary feature of the proposed system is the fact that networked mobile robots are quickly and simultaneously able to determine their poses in well-configured environments. Experimental results show that our proposed system simultaneously identifies multiple mobile robots, and approximately estimates each of their poses as an initial state for autonomous localization.     

Speech-based formation control of the multi-robot system

The article presents multiple pattern formation control of the multi-robot system using A* searching algorithm, and avoids the collision points moving on the motion platform. We use speech recognition algorithm to decide the various pattern formations, and program mobile robots to present the movement scenario on the grid-based motion platform. We have been developed some pattern formations to be applied in game applications, such as long snake pattern formation, phalanx pattern formation, crane wing pattern formation, sword pattern formation, cone pattern formation and so on. The mobile robot contains a controller module, three IR sensor modules, a voice module, a wireless RF module, a compass module, and two DC servomotors. The controller of the mobile robot can acquire the detection signals from reflect IR sensor modules and the compass module, and decide the cross points of the aisle. The mobile robot receives the command from the supervised computer, and transmits the status of environment to the supervised computer via wireless RF interface. We develop the user interface of the multi-robot system to program motion paths for various pattern formation exchanges using the minimum displacement. Users can use speech to control the multiple mobile robots to execut pattern formation exchange. In the experimental results, users can speak the pattern formation. The speech recognition system receives the signal to decide the pattern formation. The multiple mobile robots can receive the pattern formation command from the supervised computer, and arrange the assigned pattern formation on the motion platform, and avoid other mobile robots.     

Cooperative swarm control for multiple mobile robots using only information from PSD sensors

Recently, many studies on swarm robotics have been conducted in which the aim seems to be the realization of an ability to perform complex tasks by cooperating with each other. Future progress and concrete applications are expected. The objective of this study was to construct a cooperative swarm system by using multiple mobile robots. First, multiple mobile robots with six position-sensitive detector (PSD) sensors were designed. A PSD sensor is a type of photo sensor. A control system was considered to realize swarm behavior, such as that shown by Ligia exotica, by using only information from the PSD sensors. Experimental results showed interesting behavior among the multiple mobile robots, such as following, avoidance, and schooling. The controller of the schooling mode was designed based on subsumption architecture. The proposed system was demonstrated to high school students at OPEN CAMPUS 2010, held in Tokyo University of Science, Yamaguchi.     

三电平SAPF双闭环控制系统的研究

提出了一种三电平并联型有源电力滤波器双闭环控制系统的设计方案。该系统采用ip-iq法提取谐波,利用瞬时无功功率理论检测三相电压与负载电流,用以计算补偿电流;其电压外环采用模糊PI控制器控制,电流内环采用内模控制器控制,并由三电平SVPWM调制器输出补偿电流。仿真实验结果验证了该系统具有良好的谐波补偿效果。     

高压带电体温度检测装置

针对传统高压带电体测温方法存在的难以实现电气绝缘、精度低等问题,介绍了一种新型高压带电体温度检测装置的设计方案。该装置采用传统接触式测温方式下的温度传感器采集温度信号,采用可调电流源+感生电源方式实现供电,各感生电源与可调电流源通过高压线连接,不同测温点的感生电源之间没有电气连接,且采用光纤传输温度信号,从而很好地实现了电气绝缘。实验结果表明,该装置的感生电源电压稳定,测温精度高,抗干扰能力强。     

Formation path following control of unicycle-type mobile robots

This paper presents a control strategy for the coordination of multiple mobile robots. A combination of the virtual structure and path following approaches is used to derive the formation architecture. A formation controller is proposed for the kinematic model of two-degree-of-freedom unicycle-type mobile robots. The approach is then extended to consider the formation controller by taking into account the physical dimensions and dynamics of the robots. The controller is designed in such a way that the path derivative is left as a free input to synchronize the robot’s motion. Simulation results with three robots are included to show the performance of our control system. Finally, the theoretical results are experimentally validated on a multi-robot platform.     

基于FPGA的剩余电压检测系统的设计

提出了一种高准确度低功耗的剩余电压检测方法。该测量装置通过过零检测电路获取工频同步信号,在工频交流峰值时刻切断待测设备的电源,由高输入阻抗的输入回路对待测设备的剩余电压进行取样;在NiosII的控制下,采用高速采样保持电路和高精度模数转换器实现设备掉电1 s和10 s后剩余电压的在线检测。实验证明该测量装置有较好的稳定性,测量准确度达到0.506%,满足测量要求。     

基于嵌入式的电量计量采集系统研究

考虑到目前电量计量采集系统线路布置复杂,针对窃电行为的监测和判断能力弱,本文研究一种基于嵌入式的电量计量采集系统。嵌入式电量计量系统的构成有两部分：高压侧用电信息无线监测装置和低压侧用电信息远程监测装置。高压侧用电信息无线监测装置的工作原理为对高压侧的电路信息进行采集,之后通过发射模块将信息传递至远程监控单元,监测人员可通过监控中心直接对电路信息进行远距离实时读取。低压侧用电信息远程监测装置对各个用电用户的用电信息进行直接识别,而后将识别分析结果输送到监控主站的信息库中。实验结果表明：高压无线检测装置检测到的数据通过换算后得到的用户用电情况曲线却不能和低压侧无线检测装置得到的数据曲线重合,说明该装置能够检测到人为窃电操作,验证了本文研究的嵌入式电量计量采集系统能够实现窃电的精确识别。