一种新型中央空调管道机器人的设计

论文根据集中空调管道清扫的特点,设计了一种新型的空调管道机器人,并以自行研发的集中空调管道机器人样机为例,介绍了其传动机构、运动机构的设计,系统功能的实现以及由些引出采上位机与下住机的通信方式的问题.设计中采用三轮三角形布置的轮式移动载体,选用RS-485作为通信电气标准,实现51单片机控制端与Pc机的通信.在操作员的远距离遥控操作下,空调管道机器人在管道内部自动行走,并携有操作机构和辅助设备(CCD摄像机、管道清洁扫等),进行一系列管道清扫作业.     

基于遗传算法的管道机器人分层模糊控制

为了适应空调管道的复杂环境,提高空调管道清扫机器人控制性能,降低控制复杂度,构建了一个分层的自适应模糊控制器.通过多输入系统进行分层输入和叠加输出,大量简化了模糊逻辑推理,减少了控制规则数.应用遗传算法对控制器参数进行优化,有效地融合了控制信息,达到了较理想的控制特性.实验和仿真结果表明,模糊控制器适应性强,优化后模糊控制器具有很好的控制效果,实现了机器人在管道中自主导航.     

智能吸尘器控制系统软件设计

根据智能吸尘器实时探测未知环境的要求,设计了基于陀螺仪、超声波传感器、接近开关传感器以及由DSP和MCU组成的双CPU控制系统软件.论述了智能吸尘器控制系统的程序设计思想及实现技术,完成了机器人吸尘器设计中的步进电机和吸尘电机控制模块、行走模块、躲避障碍物模块、主从控制模块、车体定位及姿态调整模块的划分和实现.调试结果表明,程序满足设计要求,可直接用于机器人吸尘器的控制系统.     

消防机器人行走控制系统的设计与实现

近年来火灾事故频发,消防人员的安全问题无法保证,“机器换人”这一理念是处置火灾救援的一个重要手段和发展趋势,消防机器人的研发在有效救援的基础上能保护消防人员的安全;针对火灾现场的环境复杂性,设计了消防机器人的行走控制方案,通过设计电机驱动系统的硬件电路与针对行走控制系统进行MATLAB模拟仿真,实现并优化了消防机器人的越障及转弯功能;主要对电机驱动部分及整个系统软件流程进行设计;通过测试,验证了行走控制方案的可靠性。     

基于ARM的仿生六足机器人研究

本文依据仿生学原理提出了三角步态走法及六足机器人行走规律,在此基础上设计了机器人的车体结构.该车体以SAMSUNG公司的S3C44BOX芯片为微控制器,并辅以外围电路和行走装置.在程序设计时引入了虚拟力场算法,并将控制程序和嵌入式操作系统uC/OS-Ⅱ移植到ARM内核中,实现对机器人行走路径的控制.     

下肢康复机器人系统设计与协调控制算法

脑卒中、脊髓损伤、下肢退行性关节疾病等神经系统疾病会导致肢体功能障碍,需要进行有针对性和重复性的训练.本文设计了一款可以切换坐、立、躺三种模式的轮椅式下肢康复机器人,在机器人站立姿态的主动步行训练模式下,解算人体前进速度映射轮椅式底盘电机速度,实现了下肢功能障碍患者步态训练与机器人轮椅式车体的协调控制.实验结果表明,下肢外骨骼行走的速度曲线和轮椅式车体的速度曲线基本一致,实现人与机器人的协调控制.     

履带式智能弧焊机器人焊缝跟踪控制系统

针对新型履带式弧焊机器人焊缝跟踪问题进行了实验研究.通过对爬行机器人行走电机的控制完成机器人焊缝跟踪粗调，对十字滑块电机控制完成机器人焊缝跟踪细调，最终实现了机器人焊缝跟踪，实验表明跟踪效果良好．     

轮式移动机器人曲线行走控制的实现

从实用的角度出发，对轮式移动机器人沿曲线轨迹行走的控制进行了研究。设计了电机伺服控制系统和定位模块来实现机器人的运动控制系统功能，并基于移动机器人动力学模型设计了稳定有效的曲线行走控制算法。机器人沿抛物线和椭圆轨迹行走的实验结果表明，移动机器人曲线行走控制的硬件结构和软件功能是可行实用的，该户外轮式移动机器人运动控制系统的结构设计和功能设计符合实用要求，具有一定的应用价值。     

一种用于气体绝缘开关设备异物清扫与检测的机器人系统

针对现有对GIS管道的检测方法不能同时兼顾异物清理的问题,研制了一种基于Inter Edison平台的用于GIS管道内腔异物清扫与检测的机器人系统。从硬件结构、机器人运动学建模以及人机交互平台3个方面对设计的机器人系统进行了详细的介绍。其中硬件上采用集成化程度高的Inter Edison处理器作为模块化设计的中心;在人机交互平台上,基于Android开发平台,实时实现系统的3D动态显示、运动过程控制、机器人姿态控制等功能。实验表明:该机器人结构独特,能在GIS管道腔内平稳地运行;机器人能实现左右各20°的移位;摄像头拍摄无死角;人机交互中心视频画面清晰;整个机器人系统满足GIS检测清理机器人各项功能的任务要求。     

基于STC单片机的高铁建造机器人设计

针对2011年全国职业院校技能竞赛机器人项目"模拟高铁建造过程"的任务要求,设计了一种基于STC单片机、以一个可升降作业平台和两个单自由度机械臂为主体机构的四轮自动机器人。该机器人通过光电循迹电路获取路径信息,经单片机识别处理、产生两路PWM信号驱动行走电机运转,实现工件的车载运输;产生另外两路PWM信号经脉冲分配器和驱动电路,控制多个机构电机按顺序运转,实现工件的识别、抓取和投放。针对竞赛场地,设计了循迹行走算法,研究了多电机分步工作方式,并进行现场试验。结果表明,该机器人运行稳定可靠、作业效率高,完成了全部任务要求。     

Call for Papers The 6^th International Conference on Grid and Cooperative Computing

Recent years have seen rapid advances in various grid-related technologies, middleware, and applications. The GCC conference has become one of the largest scientific events worldwide in grid and cooperative computing. The 6th international conference on grid and cooperative computing (GCC2007) Sponsored by China Computer Federation (CCF),Institute of Computing Technology, Chinese Academy of Sciences (ICT) and Xinjiang University ,and in Cooperation with IEEE Computer Soceity ,is to be held from August 16 to 18, 2007 in Urumchi, Xinjiang, China.     

煤矿井下安全监控分站的设计及其仿真实现

为了设计一种具有低成本、低功耗、易操作、功能强且可靠性高的煤矿井下安全分站,针对煤矿安全生产实际,文章提出了采用MCS-51系列单片机为核心、具有CAN总线通信接口的煤矿井下安全监控分站的设计方案;首先给出煤矿井下安全监控分站的整体构架设计,然后着重阐述模拟量输入信号处理系统的设计过程,最后说明单片机最小系统及其键盘、显示、报警、通信等各个组成部分的设计;为验证设计方案的可行性与有效性,使用Proteus软件对设计内容进行仿真验证,设计的煤矿井下安全监控分站具有瓦斯、温度等模拟量参数超标报警功能和电机开停、风门开闭等开关量指示功能;仿真结果表明:设计的煤矿井下安全监控分站具有一定的实际应用价值.     

法律信息库系统

本文分析了法律数据库的结构和特点，介绍了采用面向对象设计方法和超文本数据库技术开发和实现法律信息库系统将作为重要网络资源之一为不同用户进行法律咨询服务。     

View-based model-driven architecture for enhancing maintainability of data access services

In modern service-oriented architectures, database access is done by a special type of services, the so-called data access services (DAS). Though, particularly in data-intensive applications, using and developing DAS are very common today, the link between the DAS and their implementation, e.g. a layer of data access objects (DAOs) encapsulating the database queries, still is not sufficiently elaborated, yet. As a result, as the number of DAS grows, finding the desired DAS for reuse and/or associated documentation can become an impossible task. In this paper we focus on bridging this gap between the DAS and their implementation by presenting a view-based, model-driven data access architecture (VMDA) managing models of the DAS, DAOs and database queries in a queryable manner. Our models support tailored views of different stakeholders and are scalable with all types of DAS implementations. In this paper we show that our view-based and model driven architecture approach can enhance software development productivity and maintainability by improving DAS documentation. Moreover, our VMDA opens a wide range of applications such as evaluating DAS usage for DAS performance optimization. Furthermore, we provide tool support and illustrate the applicability of our VMDA in a large-scale case study. Finally, we quantitatively prove that our approach performs with acceptable response times.     

International Journal of Automation and Computing Table of Contents

正~~     

Information for authors

正SCIENCE CHINA Information Sciences(Sci China Inf Sci),cosponsored by the Chinese Academy of Sciences and the National Natural Science Foundation of China,and published by Science China Press,is committed to publishing highquality,original results of both basic and applied research in all areas of information sciences,including computer science and technology;systems science,control science and engineering(published in Issues with odd numbers);information and communication engineering;electronic science and technology(published in Issues with even numbers).Sci China Inf Sci is published monthly in both print and electronic forms.It is indexed by Academic OneFile,Astrophysics Data System(ADS),CSA,Cabells,Current Contents/Engineering,Computing and Technology,DBLP,Digital Mathematics Registry,Earthquake Engineering Abstracts,Engineering Index,Engineered Materials Abstracts,Gale,Google,INSPEC,Journal Citation Reports/Science Edition,Mathematical Reviews,OCLC,ProQuest,SCOPUS,Science Citation Index Expanded,Summon by Serial Solutions,VINITI,Zentralblatt MATH.     

Erratum to: Fast global kernel fuzzy c-means clustering algorithm for consonant/vowel segmentation of speech signal

正Erratum to:J Zhejiang Univ-Sci C(ComputElectron)2014 15(7):551-563doi:10.1631/jzus.C1300320The original version of this article unfortunately contained mistakes.Algorithm 6 should be as follows:Algorithm 6 FGKFCM-F clustering Input:(1)X={x_1,x_2,…,x_N},,x_iR~d,i=1,2,…,N,the dataset;(2)C,1C≤N,the number of clusters;(3)ε0,the stopping criterion;     

Journal of Zhejiang University-SCIENCE C (Computers & Electronics) Total contents

正~~     

A pragmatic multi-method investigation of discrepant technological events: Coping,attributions, and ‘accidental’ learning

Discrepant technological events or situations that entail a problem, a misunderstanding or a difficulty with the Information Technology (IT) being employed, are common in the workplace, and can lead to frustration and avoidance behaviors. Little is known, however, about how individuals cope with these events. This paper examines these events by using a multi-method pragmatic approach informed by coping theory. The results of two studies – a critical incident study and an experiment – serve to build and test, respectively, a theoretical model that posits that individuals use a variety of strategies when dealing with these events: they experience negative emotions, make external attributions, and adopt engagement coping strategies directed at solving the event, eventually switching to a disengagement coping strategy when they feel they have no control over the situation. Furthermore, users’ efforts may result in ‘accidental’ learning as they try to overcome the discrepant IT events through engagement coping. The paper ends with a discussion of the results in light of existing literature, future opportunities for research, and implications for practice.