基于模糊PID的武装机器人运动控制研究北大核心CSCD

运动控制系统设计是武装机器人设计中的重要内容,控制驱动电机的转速是进行运动控制的常用方法,所研究的武装机器人就是运用控制电机转速这种方法来实现运动控制的。在电机的运动控制过程中容易出现超调、振荡、丢步和两电机不同步的问题,运用先进的控制算法实现电机转速精确控制是运动控制的一种有效途径,设计了一种利用模糊自适应整定PID原理实现对步进电机速度控制的运动控制系统,然后在两驱动电机控制系统中间设计了速度同步补偿器,来保证武装机器人的直线运动性能。通过仿真和试验证实,该运动控制系统具有良好的响应速度、稳定性和控制精度,在两电机负载和干扰输入信号有所差异的情况仍然能够实现电机的同步控制,能够满足武装机器人运动控制的设计要求。     

基于模糊PID的武装机器人运动控制研究

运动控制系统设计是武装机器人设计中的重要内容,控制驱动电机的转速是进行运动控制的常用方法,所研究的武装机器人就是运用控制电机转速这种方法来实现运动控制的。在电机的运动控制过程中容易出现超调、振荡、丢步和两电机不同步的问题,运用先进的控制算法实现电机转速精确控制是运动控制的一种有效途径,设计了一种利用模糊自适应整定PID原理实现对步进电机速度控制的运动控制系统,然后在两驱动电机控制系统中间设计了速度同步补偿器,来保证武装机器人的直线运动性能。通过仿真和试验证实,该运动控制系统具有良好的响应速度、稳定性和控制精度,在两电机负载和干扰输入信号有所差异的情况仍然能够实现电机的同步控制,能够满足武装机器人运动控制的设计要求。     

管道检测机器人设计与实现

为了简化管道检测流程和提高效率,设计了一种以通信服务模块为中心的管道检测机器人系统.从硬、软件两方面介绍了该嵌入式系统的设计和实现方法.硬件部分采用低功耗、高性能的STM32处理器作为客户端,通信服务模块采用高通AR9331路由器处理芯片.软件部分主要使用基于Linux的小型开源系统OpenWRT,实现了运动控制、视频采集、参数检查、网络数据收发、级联工作等功能.根据管道机器人的特殊工作流程,制定了一套适用于管道检测的通信协议,保证了机器人的正常工作,提高了检查效率.各种测试结果表明该嵌入式系统设计合理,整体上满足管道检测机器人的各项功能要求.     

电缆管道巡检机器人嵌入式系统的设计与实现

针对电缆管道巡检机器人的任务需求,提出了一种基于DM6446的嵌入式测控系统.从硬件和软件两方面详细介绍了嵌入式系统的设计和实现方法.硬件上采用以高集成度的DM6446双核处理器为中心的模块化设计;软件开发中基于Linux的层次化架构和多进程/多线程管理实现了运动控制、视频采集、参数检测、网络传输等功能.达芬奇技术的应用和实现保障了机器人实时视频编码和视频数据的传输.各种测试结果表明了嵌入式系统设计的合理性,整体机器人实现了各项功能技术要求.     

基于水质监测的船形机器人设计

随着现代工业的快速发展,环境污染对人们的日常生活产生了很大的影响,水污染是最严重的环境污染之一;为实现水质实时检测设计了一种船型机器人,该机器人采用双尾电机协调实现运动控制,并应用多传感器信息融合技术设计了智能水质检测系统;该系统以GPS为导航,搭载水质PH值、浊度、电导率、温度检测装置,实现了对指定水域水质的采集与分析,并将水质检测数据通过无线传输到上位机;实验结果表明,该环境检测船形机器人可大大减少人工检测的工作量,检测数据准确,具有一定的应用前景.     

钢轨表面探伤机器人系统设计与实现

针对传统人工检测无法满足钢轨表面损伤检测的问题,设计了一种钢轨表面探伤机器人。首先,通过调研分析,确定机器人总体设计方案,包括机器人的系统框架和结构设计。然后,对机器人各功能模块进行设计,包括主控模块、信息感知模块、运动控制模块和机械臂模块,其次,介绍钢轨图像处理的方法。最后,在Vrep环境中对钢轨表面探伤机器人进行仿真验证。通过仿真试验可知,所设计钢轨表面探伤机器人可对钢轨表面伤损进行有效检测,满足应用需求。     

基于软PLC的烟草拆包机器人运动控制系统设计

在机器人运动学分析的基础上,阐述了用软PLC和SERCOS总线开发机器人控制系统中运动控制的方法,并主要阐述了机器人语言与NC代码之间的转换,并实现对机器人的高速、高精度运动控制的硬件和软件结构的设计.实际应用中,能将机器人语言转换为G代码,通过SERCOS接口实现了对机器人的高速、高精度运动控制.从而为机器人的控制系统设计提供了一个新的可行的方案.     

基于状态机的巡线机器人控制系统设计

通过对巡线机器人运动控制系统的分析,提出采用有限状态机实现运动控制系统中的运动保护及机构定位系统的方法.结合巡线机器人运动控制的特殊需求,通过对运动控制系统的时序分析,设计了运动保护及定位系统的状态机.并在可编程器件上实现了巡线机器人运动控制器,从而给出了基于可编程器件设计控制系统的一种方法.     

果实采摘机器人运动控制的研究

为了提高果实采摘机器人的运动控制精度,本文通过基于积分一分离的PID控制算法设计了数字PID控制器并且开发了机器人的运动控制软件控制机器人运动,最后通过试验研究了机器人的运动控制精度.     

城市燃气管道检测机器人测控系统研究与发展现状

检测与控制系统分别用于城市燃气管道检测机器人在管道内的缺陷检测和运动控制,是城市燃气管道检测机器人核心部分.综述了国内外城市燃气管道检测机器人测控系统研究和发展现状;论述了城市燃气管道检测机器人测控系统发展过程;结合各种燃气管道检测机器人系统构成示意图及测控系统构架图,阐述了测控系统工作原理,重点分析了基于通信线缆通信和基于无线通信的监督式测控系统;指出了未来城市燃气管道检测机器人测控系统的研究方向.     

Only connect: teaching, technology and telesis

Abstract This paper describes an approach to the design of interactive multimedia materials being developed in a European Community project. The developmental process is seen as a dialogue between technologists and teachers. This dialogue is often problematic because of the differences in training, experience and culture between them. Conditions needed for fruitful dialogue are described and the generic model for learning design used in the project is explained.     

European Community policy and the market

Abstract This paper starts with some reflections on the policy considerations and priorities which are shaping European Commission (EC) research programmes. Then it attempts to position the current projects which seek to capitalise on information and communications technologies for learning in relation to these priorities and the apparent realities of the marketplace. It concludes that while there are grounds to be optimistic about the contribution EC programmes can make to the efficiency and standard of education and training, they are still too technology driven.     

一种自适应子融合集成多分类器方法

融合集成方法已经广泛应用在模式识别领域,然而一些基分类器实时性能稳定性较差,导致多分类器融合性能差,针对上述问题本文提出了一种新的基于多分类器的子融合集成分类器系统。该方法考虑在度量层融合层次之上通过对各类基多分类器进行动态选择,票数最多的类别作为融合系统中对特征向量识别的类别,构成一种新的自适应子融合集成分类器方法。实验表明,该方法比传统的分类器以及分类融合方法识别准确率明显更高,具有更好的鲁棒性。     

Avoiding semantic and temporal gaps in developing software intensive systems

Development of software intensive systems (systems) in practice involves a series of self-contained phases for the lifecycle of a system. Semantic and temporal gaps, which occur among phases and among developer disciplines within and across phases, hinder the ongoing development of a system because of the interdependencies among phases and among disciplines. Such gaps are magnified among systems that are developed at different times by different development teams, which may limit reuse of artifacts of systems development and interoperability among the systems. This article discusses such gaps and a systems development process for avoiding them.     

Designing economic np control charts: A programmed simulation approach

This paper presents control charts models and the necessary simulation software for the location of economic values of the control parameters. The simulation program is written in FORTRAN, requires only 10K of main storage, and can run on most mini and micro computers. Two models are presented - one describes the process when it is operating at full capacity and the other when the process is operating under capacity. The models allow the product quality to deteriorate to a further level before an existing out-of-control state is detected, and they can also be used in situations where no prior knowledge exists of the out-of-control causes and the resulting proportion defectives.     

The development of robot art

Going through a few examples of robot artists who are recognized worldwide, we try to analyze the deepest meaning of what is called “robot art” and the related art field definition. We also try to highlight its well-marked borders, such as kinetic sculptures, kinetic art, cyber art, and cyberpunk. A brief excursion into the importance of the context, the message, and its semiotics is also provided, case by case, together with a few hints on the history of this discipline in the light of an artistic perspective. Therefore, the aim of this article is to try to summarize the main characteristics that might classify robot art as a unique and innovative discipline, and to track down some of the principles by which a robotic artifact can or cannot be considered an art piece in terms of social, cultural, and strictly artistic interest. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

Explanation and prediction: an architecture for default and abductive reasoning

Although there are many arguments that logic is an appropriate tool for artificial intelligence, there has been a perceived problem with the monotonicity of classical logic. This paper elaborates on the idea that reasoning should be viewed as theory formation where logic tells us the consequences of our assumptions. The two activities of predicting what is expected to be true and explaining observations are considered in a simple theory formation framework. Properties of each activity are discussed, along with a number of proposals as to what should be predicted or accepted as reasonable explanations. An architecture is proposed to combine explanation and prediction into one coherent framework. Algorithms used to implement the system as well as examples from a running implementation are given.     

Three Process Perspectives: Organizations, Teams, and People

This paper provides the author's personal views and perspectives on software process improvement. Starting with his first work on technology assessment in IBM over 20 years ago, Watts Humphrey describes the process improvement work he has been directly involved in. This includes the development of the early process assessment methods, the original design of the CMM, and the introduction of the Personal Software Process (PSP)^SM and Team Software Process (TSP){^SM}. In addition to describing the original motivation for this work, the author also reviews many of the problems he and his associates encountered and why they solved them the way they did. He also comments on the outstanding issues and likely directions for future work. Finally, this work has built on the experiences and contributions of many people. Mr. Humphrey only describes work that he was personally involved in and he names many of the key contributors. However, so many people have been involved in this work that a full list of the important participants would be impractical.     

基于复小波噪声方差显著修正的SAR图像去噪

提出了一种基于复小波域统计建模与噪声方差估计显著性修正相结合的合成孔径雷达(Synthetic Aperture Radar,SAR)图像斑点噪声滤波方法。该方法首先通过对数变换将乘性噪声模型转化为加性噪声模型,然后对变换后的图像进行双树复小波变换(Dualtree Complex Wavelet Transform,DCWT),并对复数小波系数的统计分布进行建模。在此先验分布的基础上,通过运用贝叶斯估计方法从含噪系数中恢复原始系数,达到滤除噪声的目的。实验结果表明该方法在去除噪声的同时保留了图像的细节信息,取得了很好的降噪效果。     

基于QTE的蒙古文显示机制研究与实现

蒙古语言是中国蒙古族使用的通用语言,由于蒙古文区别于其他文字的书写方式和其自身变形机制等特点,在很多通用的文字处理引擎中都不被支持。在嵌入式产品开发与应用领域中Linux加QTE已经成为流行方式。该文给出了一种在QTE环境上实现基于标准Unicode的蒙古文点阵显示和变形算法, 并自定义了支持蒙古文的QTE组件,扩展了QTE功能,为在Linux加QTE方式的嵌入式体系结构中处理蒙古文提供了一种解决方法。