An error-based micro-sensor capture system for real-time motion estimation

A wearable micro-sensor motion capture system with 16 IMUs and an error-compensatory complementary filter algorithm for real-time motion estimation has been developed to acquire accurate 3D orientation and displacement in real life activities. In the proposed filter algorithm, the gyroscope bias error, orientation error and magnetic disturbance error are estimated and compensated, significantly reducing the orientation estimation error due to sensor noise and drift. Displacement estimation, especially for activities such as jumping, has been the challenge in micro-sensor motion capture. An adaptive gait phase detection algorithm has been developed to accommodate accurate displacement estimation in different types of activities. The performance of this system is benchmarked with respect to the results of VICON optical capture system. The experimental results have demonstrated effectiveness of the system in daily activities tracking, with estimation error 0.16 ±0.06 m for normal walking and 0.13 ±0.11 m for jumping motions.     

Development of a flexible robotic welding system for weld overlay cladding of thermoelectrical plants’ boiler tube walls

The walls of the boilers of power plants undergo corrosion and wear during operation. The reduction in thickness is measured periodically to prevent collapse of the tubes and consequent operation stoppages for long periods. The solution that is usually applied to increase the availability of power plants is gas metal arc welding (GMAW) cladding of the walls with metal alloys that are more resistant to wear. Application occurs in two distinct locations: the boiler and the workshop. Small worn areas are coated inside the boiler itself, while in the workshop, panels are coated so that they can either be used in the boiler’s most affected regions or to produce new walls with higher wear resistance. Mechanized welding produces better results than manual welding; however, in current systems, the oscillating movement of the torch is generated by a single axis. This limitation renders the welding process unstable if the aim is to reduce bead reinforcement and the number of weld beads by increasing the amplitude of the torch oscillation. This instability produces high spattering and excess penetration due to the change in the contact tip to work distance (CTWD), since the power of the welding electric circuit is a function of this distance and since the constant changes in CTWD disturb the metal transfer dynamics. This paper shows that it is possible to overcome the technological difficulties for both application sites and to make automatic cladding operations more productive and of a better quality. For this, a dedicated Computer Numeric Control (CNC) robot with four degrees of freedom was developed, as well as the methodology for generation of its trajectory. The cladding obtained by pulsed GMAW with ER309L stainless steel is presented in order to validate the developments.     

基于ADT850的移动机器人运动控制系统设计

主要介绍了一种移动机器人的运动控制系统硬、软件结构。控制系统是由工业PC,ADT850运动控制卡及相关传感器组成;操作系统采用Windows98系统,采用VisualC 6.0开发,并应用模块化及Windows线程的多任务处理机制实现控制程序设计;根据状态反馈控制理论,设计了移动机器人路径跟踪控制算法。实验论证了此控制系统及控制算法的有效性。     

Development of the intake system for the SnowEater robot

The development of the intake system for the SnowEater robot is presented in this paper. The SnowEater robot is a small, lightweight and low powered autonomous machine, designed to remove and compact snow from small areas (less than 30 m²). Its design includes four interacting systems to accomplish the task. These systems are the intake, crawler, compressing and navigation system. This paper focuses on the intake system and its cooperative control with the crawler system. The intake system has three screws to collect the snow. The used control encloses the screw alternating motion and the tracked robot motion; the stable autonomous operation under different snow conditions is designed considering the snow income and its processing speed. Furthermore, an altitude mechanism is presented to enhance the mobility in deep snow conditions.     

基于高维状态空间的移动机器人定位

位置跟踪是移动机器人自主导航中的一个主要任务.扩展的卡尔曼滤波定位方法是一个常用的位置跟踪方法,但是在对非线性系统方程进行线性化近似过程中引入了线性化误差.文中给出了一个基于线性系统模型的位置估计方法.用一个高维的状态向量表示机器人的位置空间,并选用环境路标的全局信息作为观测向量,此时系统动态模型和系统观测模型都是线性的,从而直接运用最优的线性卡尔曼滤波技术进行移动机器人位置估计.这种方法免除了非线性方程的线性近似过程,避免了线性化误差.实验表明,位置估计过程是收敛的、一致的.     

基于造影图像序列的心血管运动解释系统

提出以X射线血管造影图像序列作为数据源,结合心脏解剖和运动的先验知识,对冠状动脉在心动周期中的运动和变形进行定量估计和定性分析的方法.在对血管的三维运动进行定量估计的基础上,提取出重要的运动参数,如运动方向、位移的幅值和运动轨迹等.为方便医生进行观察和分析,将描述运动的数字结果转化为易于理解的符号形式,获得对血管运动特证的全面描述.对临床采集的冠状动脉造影图像序列的实验验证了系统的可行性.     

Design and experimentation of remote driving system for robotic speed sprayer operating in orchard environment

The automation of agricultural machines is an irreversible trend considering the demand for improved productivity and lack of labor in handling agricultural tasks. Unstructured working environments and weather often inhibit a seemingly simple task from being fully autonomously performed. In this context, we propose a remote driving system (RDS) to aid agricultural machines designed to operate autonomously. Particularly, we modify a commercial speed sprayer for orchard environments into a robotic speed sprayer to evaluate the proposed RDS's usability and test three sensor configurations in terms of human performance. Furthermore, we propose a confidence error ellipse-based task performance measure to evaluate human performance. In addition, we present field experimental results describing how the sensor configurations affect human performance. We find that a combination of a semiautonomous line tracking device and a wide-angle camera is the most effective for spraying. Finally, we discuss how to improve the proposed RDS in terms of usability and obtain a more accurate measure of human performance.     

Design of a robotic orbital driller for assembling aircraft structures

Orbital drilling is a machining process designed to drill holes with a double circular motion, added by a linear displacement in the direction of drilling. A cutting tool is rotating at high speed in an eccentric orbit and simultaneously moves towards the surface of the material to be drilled. The adjustable eccentricity plus the diameter of the tool defines the final diameter of the hole. Orbital drilling is a fatigueless process with good surface finish and burr-free when compared with conventional drilling processes. To implement this process, an automatic orbital drilling device has been designed and built as an end-effector of an industrial robot. The process of developing this device, its requirements, functions and tests are detailed in this paper, resulting in the construction of the EFORB (an acronym in Portuguese of Robotic Orbital Drilling End-effector). This paper presents the latest results with the final version of the system, including the development’s integration with an industrial anthropomorphic robot. The results achieved show that the process requirements and tolerances are suitable for aeronautic applications.     

网络遥操作机器人系统模糊变结构控制研究

针对网络遥操作机器人系统在实际应用中存在时延可能导致系统不稳定且难以控制的问题,通过对系统动力学建模和时延下系统理想性能分析,设计了一种新型的模糊滑模控制方案,在该方案中主机械手采用阻抗控制而从机械手采用模糊变结构控制。仿真结果表明,该控制方案能有效地抑制变结构控制中的抖振,系统能较好地实现位置比例跟踪和力比例跟踪。     

Personalized voice activated grasping system for a robotic exoskeleton glove

This paper proposes a novel human machine interface (HMI) and electronics system design to control a rehabilitation robotic exoskeleton glove. Such system can be activated with the user’s voice, take voice commands as input, recognize the command and perform biometric authentication in real-time with limited computing power, and execute the command on the exoskeleton. The electronics design is a stand-alone plug-and-play modulated design independent of the exoskeleton design. This personalized voice activated grasping system achieves better wearability, lower latency, and improved security than any existing exoskeleton glove control system.     

自动封装系统中运动控制的设计与实现

针对现代化工业加工和自动化生产线上广泛采用的3轴运动控制系统的控制要求及特点,详细介绍ACR1505型多功能运动控制卡的组成、特点及应用,是由PC 运动控制器 伺服电机组成的控制系统.其中基于DSP和复杂可编程逻辑器件(CPLD)的运动控制器充分发挥了DSP的快速数据运算能力和CPLD的硬件管理功能,详细讨论了控制系统硬件平台和软件系统的设计与实现方法.     

机载电子稳像技术综述

对近年来机载电子稳像技术的研究现状进行了综述,首先分析了电子稳像的基本原理,然后对电子稳像关键技术的研究进展进行了归纳总结,指出了各算法的优缺点,并给出了目前机载电子稳像存在的问题;最后分析了电子稳像技术的发展趋势。     

基于DM642平台的智能视频分析系统设计

以DM642为核心,设计了一款智能视频分析系统,支持标清视频。采用模块化设计,通过视频智能分析,对目标实现了检测、识别、跟踪及预警功能。     

H.324系统基于PC平台的实时实现

介绍了Ｈ．３２４系统及其于ＰＣ平台的Ｈ．３２４的实时实现方案,并对其中关键２关键问题运估计与ＤＣＴ变换的快速算法以及视频显示进行了详细的讨论。     

贵阳市出租汽车标准化智能管理系统设计与实现

【】贵阳市出租汽车标准化智能管理系统基于物联网和大数据技术建设的具有完全自主知识产权的出租车信息管理服务平台。该系统具有实时车辆和驾驶员身份识别管理、车辆运营状态监控及应急指挥、服务评价与数据协同、系统及终端远程巡检、设备维修服务管理等基本功能,基本满足城市客运管理部门智能动态管理需求,提高出租车行业服务水准,帮助实现出租车行业管理升级。同时,该系统还具备金融IC卡结算、多方式出租车智能调度、信息互联互通管理及数据分析、信息广告推送等扩展功能,进一步拓展了出租车行业科技水平和市场价值。     

A novel pitch control system for a wind turbine driven by a variable-speed pump-controlled hydraulic servo system

The paper aims to develop a novel pitch control system for a large wind turbine driven by a variable-speed pump-controlled hydraulic servo system. To perform practical pitch control experiments, a full-scale test rig of the hydraulic pitch control system for a 2 MW wind turbine’s blade, including a novel pitch control mechanism, a variable-speed pump-controlled hydraulic servo system, a disturbance system and a PC-based control system, is designed and set up. The variable-speed pump-controlled hydraulic servo system, containing an AC servo motor, a constant displacement hydraulic piston pump two differential hydraulic cylinders and hydraulic circuits, achieved high response and high energy efficiency, so it is suitable for wind turbine applications. Besides, to implement the pitch control in the proposed novel pitch control system, an adaptive fuzzy controller with self-tuning fuzzy sliding-mode compensation (AFC-STFSMC) is developed to design the pitch controller. Finally, the developed variable-speed pump-controlled hydraulic servo system was built and verified for the path tracking control and path-positioning control of the pitch control of the wind turbines by practical experiments in a full-scale test rig under different path profiles, load torques, and random wind speeds.     

视频图像压缩在物联网监测系统中的应用

在物联网监测系统中,由于视频图像所占空间较大,且所需的通信带宽要求高,会在传输和存储的过程中造成困难,因此需要对视频图像进行压缩。文中介绍了一种适用于物联网监测系统的视频图像压缩方法,即通过帧预测、DCT变换和可变长编码相结合的方式对视频图像进行编码和相应的解码。经过实验表明,该方法有效地压缩了视频图像,且在提高视频图像传输速率的同时,减少了传输时间。     

基于ARM11的旅游车辆监控系统的设计

针对旅游车辆监控系统在旅客身份认证方面的不足,介绍了一种基于ARM11的旅游车辆监控系统的设计方案。在嵌入式Linux平台下实现旅客图像数据、旅客物品信息的采集、登记和关联以及对旅游车辆的定位和监控。通过USB摄像头实现视频图像数据的实时采集,利用GPS模块对旅游车辆进行定位,采用RFID技术完成旅客行李物品信息的采集,选择基于主成分分析(PCA)的人脸识别技术对旅客进行身份认证,通过GPRS网络把旅游车辆的状态信息传送到远程的车辆监控中心。测试表明,该系统性能稳定可靠。     

基于激光视觉传感器的机器人实时焊缝跟踪方法

为实现变姿态焊接过程的实时焊缝跟踪,提出基于机器人坐标系下绝对焊缝轨迹的实时跟踪算法.将线式激光传感器安装在机器人的法兰盘上,且位于焊枪运行的前方.焊接过程中,激光传感器连续采集焊缝位置信息,并结合手眼标定矩阵以及机器人实时姿态,将传感器采集的焊缝坐标转换到机器人基础坐标系下,从而形成空间绝对焊缝轨迹;再根据焊枪的当前...     

Design optimization on the drive train of a light-weight robotic arm

A drive train optimization method for design of light-weight robots is proposed. Optimal selections of motors and gearboxes from a limited catalog of commercially available components are done simultaneously for all joints of a robotic arm. Characteristics of the motor and gearbox, including gear ratio, gear inertia, motor inertia, and gear efficiency, are considered in the drive train modeling. A co-simulation method is developed for dynamic simulation of the arm. A design example is included to demonstrate the proposed design optimization method.