基于激光雷达的机器人定位信息处理技术研究

为了提高机器人定位和测距能力,提出一种基于激光雷达的机器人定位信息处理技术,采用激光雷达扫描技术进行机器人定位信号采集,对采集的激光雷达信号进行相关波束形成处理,采用相关处理后对激光雷达信号进行扩频处理,生成机器人定位测距码,结合测距码加权技术进行自适应学习,采用相位估计方法进行机器人的目标位置跟踪识别,根据处理后的激光雷达信号进行机器人的目标方位估计和测距,实现机器人准确定位。仿真结果表明,采用该方法进行机器人定位的准确性较高,激光雷达信号输出信噪比较高,说明机器人定位的抗干扰能力较强,提高了机器人的定位测距精度。     

基于消光比的机载多脉冲激光雷达性能综合测试系统研制

基于室外消光比方法,完成了机载多脉冲激光雷达性能综合测试系统的研制;该系统由测控软件、便携式检测仪、能量计和光学设备等组成;测试软件基于Visual C++开发,采用串口通信技术和多线程技术,使系统具有较好的稳定性和可靠性;采用自动控制转盘式光阑的方法,提高了系统的实用性;试验结果表明:所研制的系统可实现对多脉冲激光雷达多个主要性能参数的精确测试,有利于激光雷达性能综合测试的自动化,为产品的批量生产提供有效的检测手段。     

激光雷达的高速数据采集系统设计

设计并实现了应用于采集激光雷达回波信号的双路高速数据采集系统I该系统采用现场可编程门阵列（FPGA）作为主控制器，闪电型芯片A139054作为高速模数转换器，通用串行总线（USB）作为与计算机数据传输接口;对系统进行了软件仿真，解决了关键线路的信号完整性问题；双通道采样率均为200MHz，分辨率为8位，缓存为5kB；实验表明：在输入为70MHz满幅正弦波的条件下，动态测量的信噪比大于43dB，动态有效位（ENOB）达到7位以上，满足了武汉大学最新研制的激光雷达对回波信号数据采集的需要。     

基于FPGA和NIOS的惯导组件测试系统研究

针对惯导组件产品测试中多种信号输出的测量需求,设计了一种基于FPGA和NIOSII软核的双模式惯导组件数据采集系统。该系统以FPGA和USBCY7C68013芯片为核心,实现对4个惯导组件输出的48路脉冲进行频率计数和对8个惯导组件输出8路串口数据的接收,最后通过USB芯片将采集得到的数据上传至测控计算机,并由计算机进行保存、处理和显示。该设计降低了采集电路复杂度,提高了产品测试效率和采集系统的可靠性、稳定性。     

基于FPGA的静电支承系统数字控制电路设计

设计了一种基于FPGA的静电支承系统数字控制电路,利用FPGA并行运算的优势提高运算速度和实时性。分析了A/D和D/A转换器分辨率对测控精度及量化噪声的影响,在此基础上选用了高精度A/D和D/A转换器以提高测控精度,降低量化噪声对检测信号的干扰。测试电路对直流和交流输入信号的响应,并用最小二乘法对误差进行校正和补偿,结果表明：电路对直流信号的测量误差在1mV以内;对频率1-500Hz范围内的交流信号幅值衰减最大为-0.092dB,相位滞后最大为-7°。     

数字式制导系统静态与动态测试技术研究

针对某数字式控制舱的特点,介绍了数字式制导系统测控设备,并在测控设备提供的平台上,由测控设备总控台模拟并注入目标视线角速度、弹体姿态角等信号,完成控制舱的动态测试.结果表明,测控设备能够有效地完成对控制舱的静态测试及动态测试,考核制导系统的动静态特性,在系统研制进程中发挥了积极作用.     

静态扭矩试验台测控系统研究

静态扭矩试验台测控系统主要包括传感器信号采集系统,数据处理分析输出系统。其中信号采集系统由传感器加下位机采集卡组成是决定试验台测试性能的核心系统;数据处理分析系统的分析输出内容由试验台要求决定,主要功能由测控软件系统完成。本文从下位机采集系统、软件系统方面详细论述了静态扭矩试验台测控系统的搭建方案。     

基于C8051F340的EEG信号采集系统的设计

介绍一种基于C8051F340单片机的EEG信号采集系统。该设计采用高速、高集成度的C8051F340单片机控制A/D转换器ADS8344和无线收发器ADF7020实现了EEG信号数字采集和无线数据传输;同时采用了C8051F340内嵌USB功能控制器解决接收器与计算机之间USB数据传输等问题。测试结果表明,该EEG信号数字采集系统具有集成度高、功耗低、体积小和操作方便等特点,具有良好的应用前景。     

具有114dB动态范围的浮点数据采集系统

<正> 一、浮点数据采集系统简介对数据采集系统来讲,动态范围是一个很重要的指标,它指的是系统允许的最大输入信号幅值与能分辨的最小信号幅值之比。目前普遍采用的12位A/D 转换器能提供72dB 的动态范围,但在很多场合仍不能满足要求。例如对地震信号等瞬态信号,在信号出现     

高速数据采集系统的USB接口设计

针对工程领域对数据采集的多类别数据、高速采集和传输、实时性的要求,设计基于USB接口的高速数据采集系统,并有FPGA+DSP搭配进行采集系统的逻辑控制、接口控制和信号处理,另有一块AD转换板进行模数转换;重点阐述USB接口设计的原理和实现,包括USB固件程序设计、驱动程序设计和USB应用程序设计;经过传输256*256的灰度图像、测试USB通道数据传输速度和使用采集板采集方波信号的测试,证明系统能够实现数据采集的任务,有很快的数据传输速度。     

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.     

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.     

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.     

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.     

The Distributed Time-Triggered Simulation Scheme: Core Principles and Supporting Execution Engine

Distributed real-time simulation is a young technology field but its practice is under increasing demands. In recent years the author and his collaborators have been establishing a new approach called the distributed time-triggered simulation (DTS) scheme which is conceptually simple and easy to use but widely applicable. The concept was initiated in the course of developing a new-generation object-oriented real-time programming scheme called the time-triggered message-triggered object (TMO) programming scheme. Some fundamental issues inherent in distributed real-time simulation that were learned during recent experimental studies are discussed along with some approaches for resolving the issues. An execution engine developed to support both the TMOs engaged in control computation and the TMOs engaged in DTS is also discussed along with its possible extensions that will enable significantly larger-scale DTSs.     

Software-Konfigurationsmanagement in großen Softwareprojekten

Zusammenfassung Mit zunehmender Größe der Softwaresysteme verschärfen sich die für die Software-Herstellung typischen Probleme: Beherrschen großer Objektmengen, Erhalten der Systemkonsistenz, Kontrolle der ständigen Änderungseinflüsse und Gewährleisten einer langen Lebensdauer. Die Disziplin Konfigurationsmanagement bildet den methodischen Ansatz, diese Probleme besser zu beherrschen. Software-Konfigurationsmanagement faßt die Herstellung von Softwaresystemen als eine Abfolge von kontrollierten Änderungen an gesicherten Zwischen- und Endergebnissen auf. Dargestellt werden die Objekte und Funktionen des Software-Konfigurationsmanagements sowie die hierfür in großen Software-Projekten benötigten Methoden, Instanzen und Hilfsmittel.     

Information for Authors

正http://www.zju.edu.cn/jzus http://www.springerlink.com Aim The Journals of Zhejiang University-SCIENCE(A/B/C)are edited by the international board of distinguished Chinese and foreign scientists,and are aimed to present the latest developments and achievements in scientific research in China and     

Editorial:Brain-machine interface(BMI) and cyborg intelligence

正Brain-machine interfaces(BMIs)aim at building a direct communication pathway between the brain and an external device,and represent an area of research where significant progress has been made during the past decade.Based on BMIs,mind information can be read out by neural signals to control     

Information for Authors

正http://www.zju.edu.cn/jzus http://www.springerlink.com Aim The Journals of Zhejiang University-SCIENCE(A/B/C)are edited by the international board of distinguished Chinese and foreign scientists,and are aimed to present the latest developments and achievements in scientific research in China and overseas to the world’s scientific circles,especially to stimulate     

SCIENCE CHINA Information Sciences SUBJECT INDEX TO VOLUME 57(2014)

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