四旋翼飞行器控制系统设计

四旋翼飞行器姿态控制是四旋翼飞行器控制系统的核心. 通过分析四旋翼飞行器的飞行原理,模型建立,设计了四旋翼飞行器的姿态控制系统;在该系统中采用STM32系列处理器作为主控芯片,MPU6050三轴加速度集和三轴陀螺仪惯性测量单元、磁力计等传感器用于姿态信息检测. 本文中传感器使用结构简单的数字接口对数据进行交换,运用模块化的思想对系统进行设计. 使用PID控制算法进行姿态角的闭环控制,最终实验结果表明,在实验平台上四旋翼飞行器飞行效果稳定,系统满足四旋翼飞行器飞行姿态控制的要求.     

基于PD控制的航天飞行器控制系统的设计与实现

当前的飞行器控制系统在运行过程中容易受到噪声因素的干扰,对飞行器的控制存在滞后性和片面性,无法直观描述飞行器的运行状态,设计并实现了一种抗干扰能力强的航天飞行器控制系统,给出了无刷直流电机、电源电路、无线通信模块以及RS-232接口的硬件设计原理,给出了系统主控中心的人机交互界面组成;通过PD算法运算出不同电机的调整量,按照运算出的调整量控制电机的PCA模块,进而控制飞行器电机的转速,调整飞行器的姿态,克服干扰;实验结果说明,该种系统可对飞行器的各种飞行攻角进行准确的控制,该种系统的控制效率参数优于传统系统。     

小型化太阳帆板高细分驱动控制系统设计

针对某空间飞行器太阳帆板驱动控制系统步进电机高细分驱动要求,同时满足航天综合电子集成化小型化设计需求,采用单片反熔丝FPGA作为太阳帆板驱动控制主芯片,集通信、工作模式控制、变速启停、位置计算和步进电机驱动功能于一体,简化控制电路,并且将步进电机单步细分数提高至1024;实验结果表明基于单FPGA的设计能够实现太阳帆板驱动控制,电机驱动电流稳定,电路简单可靠,与基于MCU的设计相比,控制电路简化约50%。     

自重构机器人机载控制系统硬件设计

本文介绍了自重构机器人机载控制系统的硬件设计,包括单片机的选择、硬件资源分配以及接口电路、信息采集模块、移动控制模块、通信模块等的设计,在设计中,通过采用一些高度集成的控制芯片,优化了系统的结构,提高了系统的性能。     

基于FPGA的VME总线Slave接口设计

由于VME总线的高性能、并行性、实时性、高可靠性4大特点及模块结构具有良好的抗震性、抗冲击能力,尤其是高可靠性,使其在核工业控制和航空航天领域得到广泛的应用.但是由于VME总线的结构复杂所以在设计上相对复杂,而且采用商用VME接口芯片却往往很难满足航天等特殊环境对高可靠性要求较高的领域要求,故而根据卫星综合电子系统姿态控制的总体需求提出一种利用FPGA来完成VME总线的从设备Slave的逻辑接口功能的设计,使其可以实现VME接口逻辑功能,同时能通过功能裁剪来满足特殊性要求.     

基于PCI总线的DSP伺服控制卡的研究与设计

通过对DSP芯片(TMS320VC33)、PCI9052接口芯片和伺服控制卡的功能和结构特点进行深入分析,设计了一种基于PCI总线的DSP伺服控制卡.实践证明,本文所设计的伺服控制卡能够满足目前控制系统的性能要求.     

基于VxWorks的复杂飞行器模拟平台设计

为了满足多接口、多状态、多任务的复杂飞行器测试需求,设计复杂飞行器模拟平台,基于器上综合电子系统实现飞行器电气系统软硬件接口测试。飞行器模拟平台采用主控机和模拟器两级控制架构,主控机基于WPF框架实现人机交互,完成对模拟器的指令控制;模拟器运行在VxWorks系统下,基于WorkBench开发环境对指令进行实时解析,驱动各功能模块执行动作。试验结果表明,该平台实现了飞行器上各系统电气接口的模拟,保证了器上综合电子系统的高测试覆盖性。     

基于PCl总线的DSP伺服控制卡的研究与设计

通过对DSP芯片（TMS320VC33）、PCI9052接口芯片和伺服控制卡的功能和结构特点进行深入分析，设计了一种基于PCI总线的DSP伺服控制卡。实践证明，本文所设计的伺服控制卡能够满足目前控制系统的性能要求。     

基于FPGA和AD7667的16路采编传输系统设计

设计了一种可对现场数据进行实时数据采集、调理、存储、传输以及显示分析等功能的测试系统。系统以FPGA为主控单元,通过对16通道模拟开关进行选通,控制AD7667将模拟量转化为数字量,通过内部FIFO对数据进行缓存,然后通过422接口芯片以差分传输的方式将数据传给数据记录器进行存储,上位机软件通过USB单片机CY7C68013发送指令来控制系统工作的几种状态,包括系统复位、启动测试以及停止测试,同时上位机软件对读取回来的数据进行了分析。测试结果表明,本系统可以完成对16路高温压力传感器信号进行高精度、高可靠性的采集,采样速度最高可达1 MSPS,系统已配合数据记录器成功应用于某型号航天飞行器设备中。     

基于软总线的卫星跟踪控制系统设计与实现

卫星跟踪控制是卫星通信技术中的一项重要技术;设计了一种基于软总线机制的卫星跟踪控制系统,给出了关键的设计方案;硬件平台方面处理芯片采用FPGA+ARM的ZYNQ处理平台,保障系统中处理资源和接口扩展的需求;软件方面通过构建软总线的数据管理机制和通信代理机制,解决传统系统中耦合度高及触发条件难以精准把控等问题,使跟踪系统软件架构清晰明朗,各功能模块接口高效、便捷、易扩展;跟踪流程设计中,优化了跟踪角度调节处理时机,使跟踪算法和外设控制得以并行处理,充分利用处理资源,最终搭建测试环境验证了系统能力;结果表明,该设计有效可靠,其中软总线机制还可应用于其他外部设备复杂的环境,具有较高的应用及推广价值。     

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。     

How do children do mathematics with LOGO?

Abstract  This paper considers some results of a study designed to investigate the kinds of mathematical activity undertaken by children (aged between 8 and 11) as they learned to program in LOGO. A model of learning modes is proposed, which attempts to describe the ways in which children used and acquired understanding of the programming/mathematical concepts involved. The remainder of the paper is concerned with discussing the validity and limitations of the model, and its implications for further research and curriculum development.