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。     

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.     

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...     

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     

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.

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.     

Localization of a mobile robot based on an ultrasonic sensor using dynamic obstacles

In this article, we propose a localization scheme for a mobile robot based on the distance between the robot and moving objects. This method combines the distance data obtained from ultrasonic sensors in a mobile robot, and estimates the location of the mobile robot and the moving object. The movement of the object is detected by a combination of data and the object’s estimated position. Then, the mobile robot’s location is derived from the a priori known initial state. We use kinematic modeling that represents the movement of a robot and an object. A Kalman-filtering algorithm is used for addressing estimation error and measurement noise. Throughout the computer simulation experiments, the performance is verified. Finally, the results of experiments are presented and discussed. The proposed approach allows a mobile robot to seek its own position in a weakly structured environment. This work was presented in part at the 12th International Symposium on Artificial Life and Robotics, Oita, Japan, January 25–27, 2007     

一种基于PDA的掌上控制器的通信软件设计与实现

串口通信广泛应用于工业控制领域,PDA利用自身串口通信功能和使用方便的特点,使得以它制作的线控掌上控制器具有广泛的应用范围和良好的应用前景.介绍了利用EVC实现PDA和VxWorks通信软件的关键技术.     

Guidance of a mobile robot using an array of static cameras located in the environment

This paper presents a new proposal for positioning and guiding mobile robots in indoor environments. The proposal is based on the information provided by static cameras located in the movement environment. This proposal falls within the scope of what are known as intelligent environments; in this case, the environment is provided with cameras that, once calibrated, allow the position of the robots to be obtained. Based on this information, control orders for the robots can be generated using a radio frequency link. In order to facilitate identification of the robots, even under extremely adverse ambient lighting conditions, a beacon consisting of four circular elements constructed from infrared diodes is mounted on board the robots. In order to identify the beacon, an edge detection process is carried out. This is followed by a process that, based on the algebraic distance, obtains the estimated ellipses associated with each element of the beacon. Once the beacon has been identified, the coordinates of the centroids for the elements that make up the beacon are obtained on the various image planes. Based on these coordinates, an algorithm is proposed that takes into account the standard deviation of the error produced in the various cameras in ascertaining the coordinates of the beacon’s elements. An odometric system is also used in guidance that, in conjunction with a Kalman Filter, allows the position of the robot to be estimated during the time intervals required to process the visual information provided by the cameras.

嵌入式GIS规划红线管理信息系统

探讨了基于嵌入式GIS的城市规划红线管理信息系统（eURLIS）总体结构模型。在PDA上设计实现了系统红线的查询、生成、量算、统计、指标分析和草图绘制等功能模块。介绍了系统开发平台与技术路线。给出了红线管理决策支持解决方案、各类红线辅助生成算法和嵌入式MapX Active X与S309PictureBOX Active X集成等关键技术。     

Effects of age,cognitive, and personal factors on PDA menu navigation performance

The present study examined the PDA menu navigation performance of younger and older adults. The research focus was directed to the understanding of the combination and interaction of user characteristics with PDA menu navigation performance. In order to detail individual factors that influence user's performance, users' age, spatial ability, verbal memory, the confidence to use technical devices and computer-expertise were studied and related to performance outcomes. Younger and older adults, experienced with the usage of different technical devices, but PDA novices, had to complete four common tasks in the digital diary of an emulated PDA and users' effectiveness and efficiency were surveyed. Even though the users of both age groups had a comparably high computer experience, participants had considerable difficulties to solve the PDA tasks successfully. Especially older adults were strongly disadvantaged when navigating through the PDA menu. Among the user characteristics which were revealed to be essential for performance, spatial abilities were the best predictor to explain PDA performance. In addition, an adequate mental representation of the PDA data structure was decisive for navigation performance, especially in the older adult group.     

Models of Throughput Rates for Dictation and Voice Spelling for Handheld Devices

Since the emergence of the personal digital assistant (PDA), developers have attempted to create input methods that allow users to enter accurate data at speeds that approach those achieved with the personal computer. Common text entry methods (handwriting and soft keyboard) allow for rates that are unacceptably slow for many purposes. The objective of this paper is to consider the possible benefits of speech-to-text input mechanisms (dictation and voice spelling) for handheld devices. By modeling throughput based on varying rates of speech, correction speeds, and system recognition accuracies, we can compare expected speech throughput rates to current throughput rates for PDAs.     

基于PDA的农业专家系统的设计和实现

文章根据文犤3,4犦提出的基于PDA的综合知识表示与推理策略,在PDA上将数据库和知识库集成,运用基于PDA的通用推理算法,首次实现了基于PDA的农业专家系统。这些软件已投入运行,并取得了良好的效果。另外还介绍了系统实现的一些关键技术。