采用注视控制器实现复杂运动的仿真

注视控制器是3DS MAX软件的众多控件之一，它能使多个物体彼此间产生运动约束。通过使用注视控制器功能，笔者成功制作出八足爬壁式仿生机械昆虫的运动场景动画，并使该仿生机械昆虫各足的行走动作符合机械零件作平面复杂运动时所应遵守的正确运动规律。由此证明，3DS MAX软件注视控制器对正确模拟特殊机械装置的复杂运动可产生极大作用。     

汽车摩擦片厚度测量装置驱动电路的研究

本文通过对摩擦片厚度在线测量装置系统构成的全面分析，对其驱动电路子系统进行了理论探索和技术研究，完成了相应的电路设计、误差分析及器件选择等工作，并进行了具体的实验验证，证明该驱动电路具有良好的性能，可圆满实现摩擦片厚度在线检测和实时分析的工作任务。     

Biomimetic Experimental Research on Hexapod Robot's Locomotion Planning

To provide hexapod robots with strategies of locomotion planning, observation experiments were operated on a kind of ant with the use of high speed digital photography and computer assistant analysis. Through digitalization of original analog video, locomotion characters of ants were obtained, the biomimetic foundation was laid for polynomial trajectory planning of multi-legged robots, which was deduced with mathematics method. In addition, five rules were concluded, which apply to hexapod robots marching locomotion planning. The first one is the fundamental strategy of multi-legged robots’ leg trajectory planning. The second one helps to enhance the static and dynamic stability of multi-legged robots. The third one can improve the validity and feasibility of legs’ falling points. The last two give criterions of multi-legged robots’ toe trajectory figures and practical recommendatory constraints. These five rules give a good method for marching locomotion planning of multi-legged robots, and can be expended to turning planning and any other special locomotion.     

3D reconstruction method based on contour features

To guarantee the accuracy and real-time of the 3D reconstruction method for outdoor scene, an algorithm based on region segmentation and matching was proposed. Firstly, on the basis of morphological gradient information, obtained by comparing color weight gradient images and proposing a multi-threshold segmentation, scene contour features were extracted by a watershed algorithm and a fuzzy c-means clustering algorithm. Secondly, to reduce the search area, increase the correct matching ratio and accelerate the matching speed, the region constraint was established according to a region''s local position, area and gray characteristics, the edge pixel constraint was established according to the epipolar constraint and the continuity constraint. Finally, by using the stereo matching edge pixel pairs, their 3D coordinates were estimated according to the binocular stereo vision imaging model. Experimental results show that the proposed method can yield a high stereo matching ratio and reconstruct a 3D scene quickly and efficiently.     

新型仿生六足机器人导航系统的建模与仿真

针对新型仿生六足机器人工作任务和作业环境的要求,设计了一种基于INS-GPS器件的专用组合式导航系统。该导航系统采用集中开环式组合方式,以INS和GPS器件输出的导航数据差作为滤波器的输入值,运用经典卡尔曼滤波理论对该导航系统进行了实时修正,并根据仿生六足机器人运动特性和测量任务的要求,建立了该导航系统的位置、速度组合测量方程,并运用MATLAB软件进行了仿真,仿真结果表明:采用该组合式导航系统可大大提高仿生六足机器人的导航精度,为仿生六足机器人实现智能化、实时化控制奠定了基础。     

基于AVR和STM32的仿生六足机器人控制系统

本文设计了一种以Arduino为开发平台的控制系统,该控制系统以ATmega328P为主机控制芯片,以STM32F103C8T6为从机控制芯片,并通过串口方式实现通信,集两款控制芯片的优势于一体.本文主要介绍了控制系统的硬件组成和软件算法.经过实物试验,仿生六足机器人可以实现姿态自动调整、稳定行走以及自主避障.本研究内容可为相关领域研究工作提供参考与借鉴.     

基于计算机虚拟技术的工程机械的综合设计

在工程机械设计中,“构形设计”是完成结构形态学分析与设计的重要环节,它需要设计人员充分发挥空间思维和形体想象能力;而“功能设计”是完成功能组合学思考与决策的关键步骤,它需要设计人员充分发挥技术协调和功能组合能力,两者的有机结合便构成了工程机械的综合设计。运用计算机虚拟造型、虚拟控制和虚拟运行技术将工程机械装置综合设计的概念予以实现,是工程机械设计思路与设计方法上的创新。     

Method to generate training samples for neural network used in target recognition

Training neural network to recognize targets needs a lot of samples.People usually get these samples in a non-systematic way,which can miss or overemphasize some target information.To improve this situation,a new method based on virtual model and invariant moments was proposed to generate training samples.The method was composed of the following steps:use computer and simulation software to build target object’s virtual model and then simulate the environment,light condition,camera parameter,etc.;rotate the model by spin and nutation of inclination to get the image sequence by virtual camera;preprocess each image and transfer them into binary image;calculate the invariant moments for each image and get a vectors’ sequence.The vectors’ sequence which was proved to be complete became the training samples together with the target outputs.The simulated results showed that the proposed method could be used to recognize the real targets and improve the accuracy of target recognition effectively when the sampling interval was short enough and the circumstance simulation was close enough.     

Improved single-neuron PID controller for DC motor applied in robot system

An improved single-neuron proportional integral derivative (PID) controller and a new method to build the DC motor system were presented in the article. In the simulation, the robot arm is considered as an external load to DC motor. Both the motor module and the load module are created in Simulink to achieve simulation results closer to real robot system. In this way, it can well verify the performance of the improved single-neuron PID controller, which is a combined controller of normal PID controller and single-neuron PID controller. Besides, an intelligent switcher can help to realize the function of choosing a better control algorithm according to motor’s velocity output. Simulated results confirm the rapid and stable response of the improved PID controller. Moreover, the improved single-neuron PID controller has an excellent ability to overcome the load impact and supress the jamming signals. At last, a GUI interface platform is built to make the controller easier to be applied in other robot systems.