基于PDA的在线签名鉴别系统的设计与实现

设计并实现了一个基于PDA的在线签名鉴别系统,用于PDA的开机保护。根据PDA对于内存和运行速度的要求,选择位置和速度作为特征,改进的动态归正方法作为匹配算法,并且在Windows CE操作系统上实现了这一系统。该系统简单而高效,在错误接受率为0％的前提下,错误拒绝率仅为5％。     

基于PDA的GIS系统研究与开发

讨论了Windows CE环境下基于PDA的GIS软件开发原理和方法。简述了其开发基本理论,具体探讨了采用eMbedded VC 开发环境下基于PDA的GIS软件开发具体技术,同时指出了其与基于台式机的GIS软件开发的区别。介绍了笔者在Pocket PC中实现的一个地理信息系统软件。     

基于μC/OS-II的高性价比PDA的设计与实现

给出了一个新的PDA设计方案，利用有限的硬件资源在缺少MMU的低端CPU上设计并开发出性能接近高端的PDA系统。充分利用了嵌入式操作系统μC/OS-II的多任务和保护机制，合理地协调了硬件资源和软件系统之间的一些矛盾。实验结果证明该方案与原有PDA系统相比具有成本低、可靠性好、功能多和用户界面友好等特点。     

基于PDA的装备维修辅助系统研究与开发

针对装备野外作业时维修保障系统需要解决的快速诊断、实时查询和资源共享等问题，研究开发了一类基于PDA的装备维修辅助系统。该中详细介绍了系统的组成结构、功能模块以及设计开发过程中涉及的关键技术。     

基于PDA的无线餐饮点菜应用系统的设计与实现

深入分析无线餐饮点菜应用系统的业务流程,详细介绍该应用系统的开发过程、系统整体设计,重点介绍了PDA与PC之间通信的关键技术WinSock。     

Optimal design and workspace analysis of a mobile welding robot with a 3P3R serial manipulator

This paper presents the design optimization of a mobile welding robot based on the analysis of its workspace. A welding robot has been developed to be used inside the double-hull structure of ships, and it shows good welding functionality. But there is a need to optimize the kinematic variables ensuring that the required welding functions inside the ships are satisfied. The task-oriented workspace, which is the workspace enabling specific rotations, has been defined in order to validate the welding ability of the robot, and incorporating the required rotational capabilities. To calculate the workspace, a geometric approach is adopted which considers the pitching and yawing angles simultaneously. Based on the workspace analysis, a scenario is compiled for considering a mass reduction, and a ratio between the design parameters and the workspace, with constraints on the workspace margins. The proposed optimization procedure is composed of two steps of coarse and fine searching. In the coarse searching step, a feasible parameter region (FPR) is defined, which satisfies the geometrical design constraints, and can be obtained without any considerations of the objective functions. In the fine searching step, the design parameters are determined by using the optimization technique of the conjugate gradient method in the overall FPRs. The suggested approach to calculating the task-oriented workspace, and the procedure of optimal design, are expected to be applied to general industrial robots.     

基于PDA的血细胞自动计数系统的研究

为克服现有血细胞计数仪结构复杂、体积大的缺点,介绍了一种基于个人数字助理(PDA)的便携式血细胞自动计数系统.本系统具有操作简便、体积小、准确度高等优点,能够满足野外血细胞计数检验的需要.系统包括显微镜、CCD摄像头、PDA,并采用eVC++4.0编程,实现了WIN CE操作系统下细胞图片的实时观察与处理,直接获得细胞...     

Development and application of an intelligent welding robot system for shipbuilding

Over the last few decades, there have been a large number of attempts to automate welding in the shipbuilding process. However, there are still many non-automated welding operations in the double-hulled blocks, even though it presents an extremely hazardous environment for the workers. And, the hazards come about mainly because of the dimensional constraints of the access-hole. Thus, much effort has been recently directed toward the research on compact design of the fully-autonomous robot working inside of the double-hulled structures. This paper describes the design, integration, simulations, and field testing trials of a new type of welding robotic system, the RRXC, which is composed of a 6-axis modularized controller, a 3P3R serial manipulator, and an auxiliary transportation device. The entire cross section of the RRXC is small enough to be placed inside the double-hulled structures via a conventional access hole of 500×700 mm², from the outside shipyard floor. The weight of the manufactured RRXC is 60 kg, with a 6-axis manipulator and modularized controller, and the weight of an auxiliary transportation device is 8 kg, with a 2.5 m steel wire of 6Φ. Throughout the field tests in the enclosed structures of shipbuilding, the developed RRXC has successfully demonstrated welding functions without the use of any additional finishing by manual welders, and has shown good mobility using an auxiliary transportation device in double-hulled structures.     

Control of a nonholonomic mobile robot using an RBF network

This article deals with handling unknown factors, such as external disturbance and unknown dynamics, for mobile robot control. We propose a radial-basis function (RBF) network-based controller to compensate for these. The stability of the proposed controller is proven using the Lyapunov function. To show the effectiveness of the proposed controller, several simulation results are presented. Through the simulations, we show that the proposed controller can overcome the modelling uncertainty and the disturbances. The proposed RBF controller also outperforms previous work from the viewpoint of computation time, which is a crucial fact for real-time applications.This work was presented in part at the 8th International Symposium on Artificial Life and Robotics, Oita, Japan, January 24–26, 2003     

一种支持适应性人机界面的PDA窗口系统

PDAW(personal digital assistant window)是一个专用于PDA(personal digital assistant)的窗口系统.其最大的特点是可支持开发具有适应性人机界面的应用程序.适应性人机界面有多种不同的类型，由于PDAW系统只提供支持适应活动的机制，不提供决定适应策略的规则和状态，因此，它不限制应用程序界面的适应类型.PDAW由界面视感层、窗口核心层、设备接口层和编程接口4个层次组成.支持适应活动的机制在窗口核心层之中实现.     

Application of a hybrid controller to a mobile robot

This paper presents the application of a hybrid controller to the optimization of the movement of a mobile robot. Through hybrid controller processes, the optimal angle and velocity of a robot moving in a work space was determined. More effective movement resulted from these hybrid controller processes. The experimental scenarios involved a five-versus-five soccer game and a MATLAB simulation, where the proposed system dynamically assigned the robot to the target position. The hybrid controller was able to choose a better position according to the circumstances encountered. The hybrid controller that is proposed includes a support vector machine and a fuzzy logic controller. We used the method of generalized predictive control to predict the target position, and the support vector machine to determine the optimal angle and velocity required for the mobile robot to reach the goal. First, we used the generalized predictive control to predict the target position. Then, the support vector machine is used to classify the angle that must be followed by the mobile robot to reach the goal. Next, a fuzzy logic controller is designed to determine the velocity of the left and right wheels of the mobile robot. Thus generated, the velocity was optimized according to the measures obtained by the support vector machine. Finally, based on the optimal velocity of robot, the output membership function was modified. Consequently, the proposed hybrid controller allowed the robot to reach the goal quickly and effectively.     

功能组合的手写短消息掌上机设计

根据PDA模块与手机模块自身的一些特点．设计了一个基于PIC单片机控制的数据接口电路．使PDA模块与手机模块互控、互传数据信息，从而实现PDA与手机功能优势组合的手写短消息的掌上机设计。     

基于无线传感器网络的室内移动灭火机器人系统设计

针对室内移动灭火机器人依靠自身传感器无法及时获取全面环境信息和缺少远程网络控制功能的问题,提出了一种基于无线传感器网络（WSN）且具有远程网络控制功能的系统架构。首先,构建网型拓扑结构的无线传感器网络,采集室内环境信息;其次,通过分析系统各部分的逻辑功能,构建数据库和Web服务器,实现远程客户浏览功能;最后,通过开发具有Socket网络通信功能的网络客户端,实现远程网络控制机器人。经实验测试,网型拓扑无线传感器网络,在发送间隔为1.5 s,网关节点无遮挡时,数据传输丢包率为2%,与相同情况下的树型拓扑相比,降低了67%。结果表明此系统架构能获取更加全面的室内环境信息,降低无线传感器网络数据传输丢包率,并能通过网络客户端实现远程控制。     

基于移动的嵌入式GIS

分析了基于移动的嵌入式GIS的两种结构体系；离线体系和在线体系。讨论了其所涉及的移动计算、嵌入式技术、移动互联、移动定位等关键技术及嵌入式GIS的应用前景。最后，笔结合所开发的基于掌上电脑为地理售息系统软件Gis-Tool，介绍了基于移动的嵌入式GIS实现。     

Indoor navigation of a non-holonomic mobile robot using a visual memory

When navigating in an unknown environment for the first time, a natural behavior consists on memorizing some key views along the performed path, in order to use these references as checkpoints for a future navigation mission. The navigation framework for wheeled mobile robots presented in this paper is based on this assumption. During a human-guided learning step, the robot performs paths which are sampled and stored as a set of ordered key images, acquired by an embedded camera. The set of these obtained visual paths is topologically organized and provides a visual memory of the environment. Given an image of one of the visual paths as a target, the robot navigation mission is defined as a concatenation of visual path subsets, called visual route. When running autonomously, the robot is controlled by a visual servoing law adapted to its nonholonomic constraint. Based on the regulation of successive homographies, this control guides the robot along the reference visual route without explicitly planning any trajectory. The proposed framework has been designed for the entire class of central catadioptric cameras (including conventional cameras). It has been validated onto two architectures. In the first one, algorithms have been implemented onto a dedicated hardware and the robot is equipped with a standard perspective camera. In the second one, they have been implemented on a standard PC and an omnidirectional camera is considered.

Design and implementation of vision-based transport for a mobile robot via Kalman filter

A vision-based scheme for object recognition and transport with a mobile robot is proposed in this paper. First, camera calibration is experimentally performed with Zhenyou Zhang’s method, and a distance measurement method with the monocular camera is presented and tested. Second, Kalman filtering algorithm is used to predict the movement of a target with HSI model as the input and the seed filling algorithm as the image segmentation approach. Finally, the motion control of the pan-tilt camera and mobile robot is designed to fulfill the tracking and transport task. The experiment results demonstrate the robust object recognition and fast tracking capabilities of the proposed scheme.     

基于虚拟现实技术的移动机器人视觉伺服控制系统设计

为了有效确保移动机器人视觉伺服控制效果,提高移动机器人视觉伺服控制精度,设计了基于虚拟现实技术的移动机器人视觉伺服控制系统。通过三维视觉传感器和立体显示器等虚拟环境的I/O设备、位姿传感器、视觉图像处理器以及伺服控制器元件,完成系统硬件设计。从运动学和动力学两个方面,搭建移动机器人数学模型,利用标定的视觉相机,生成移动机器人实时视觉图像,通过图像滤波、畸变校正等步骤,完成图像的预处理。利用视觉图像,构建移动机器人虚拟移动环境。在虚拟现实技术下,通过目标定位、路线生成、碰撞检测、路线调整等步骤,规划移动机器人行动路线,通过控制量的计算,实现视觉伺服控制功能。系统测试结果表明,所设计控制系统的位置控制误差较小,姿态角和移动速度控制误差仅为0.05°和0.12m/s,移动机器人碰撞次数较少,具有较好的移动机器人视觉伺服控制效果,能够有效提高移动机器人视觉伺服控制精度。     

Development of modularized airtight controller for mobile welding robot working in harsh environments

This paper proposes the design and validation of a new hermetic controller for mobile robots working in a hazardous environment. Two years ago, we obtained very successful results with regard to the development of the new mobile robot RRX, which can weld, blast, and paint double-hulled structures during the shipbuilding process. At that time, some attempts were made to design a modular and hermetic controller to secure a robust cooling performance and dustproof quality because the temperature is 40–50 °C during the summer, and such operations produce considerable amounts of metallic dust such as fumes. This naturally represents a very hazardous environment for the robot's controller, for which the temperature should be maintained at its rated level, and the body should be kept fully airtight to prevent the inflow of metallic dust. Thus, in that research, heat pipes were successfully adopted to satisfy these design constraints by dissipating the heat from the servomotor drivers and several power units without any airflow into the controller for cooling. The proposed cooling system is composed of heat pipes, cooling fins, fans, and L-shaped brackets for transferring the produced heat from the heating resources to the heat pipes. Experiments were performed in the field to obtain information on the motor driver's heating value and work site temperatures as boundary conditions of the heat transfer problem, and a modular and hermetic controller for mobile robots working in hazardous environments was successfully developed and validated. The obtained experimental results fully support the idea that this design is appropriate for the controller to maintain a stable performance in a harsh environment.     

嵌入式高可用性数据管理的设计与实现

论述了在个人数字助理上如何设计一个高可用性数据管理软件来保证数据的高可用性.该软件具有可扩展性、可移植性,容易升级.     

Application of probability to enhance the performance of fuzzy based mobile robot navigation

This paper presents a new path planning algorithm based on Probability and Fuzzy Logic (PFL) as a duality technique to enhance the performance of Fuzzy Logic alone. Fuzzy Logic interacts with the grading of obstacles existed in the path and probability lies over the decision to move the mobile robot. The fuzzy grading correspondence with the probabilistic decision is the primary function of moving the mobile robot towards the goal and the secondary is path planning which lies over the probability distribution function. The distance–speed combination rule is developed for effective navigation. The single and multiple mobile robot systems have been tested successfully in a dense environment in presence of obstacles (static and dynamic) and moving goal. The obtained results are optimal when compared to other navigational approaches in sense of navigational path length and time in the static and dynamic environment.