Hibernate和JFace数据绑定框架的整合应用

Hibernate作为最受瞩目的数据库访问技术,提供了一种很好的数据持久层解决方案,正如Hibernate实现了业务层和数据库层之间的数据流转换,JFace的数据绑定框架实现了基于UI组件的数据表现层与业务层的数据实现自动同步。本文将整合利用这两者的优势,让用户轻松地实现数据库、域对象到GUI组件三层体系结构的数据联动,大大提高数据库应用程序的开发效率。     

用遗传算法实现多移动机器人安全路径规划

针对动态环境中多移动机器人路径规划问题提出了一种遗传算法.该算法的适应值与间隙呈线性关系,计算简单,将协调路径适应值矩阵引入遗传算法,实现了多移动机器人安全路径规划.仿真结果验证了该算法在多移动机器人路径规划中的可行性和有效性.     

Hibernate和JFace数据绑定框架的整合应用

Hibernate作为最受瞩目的数据库访问技术,提供了一种很好的数据持久层解决方案,正如Hibernate实现了业务层和数据库层之间的数据流转换,JFace的数据绑定框架实现了基于UI组件的数据表现层与业务层的数据实现自动同步。本文将整合利用这两者的优势,让用户轻松地实现数据库、域对象到GUI组件三层体系结构的数据联动,大大提高数据库应用程序的开发效率。     

基于蚁群算法的多移动机器人避障路径规划方法

为提高多移动机器人避障路径的规划能力,提出基于蚁群算法的多移动机器人避障路径规划方法。结合小扰动解析方法构建多移动机器人运动学模型,根据运动学特征建立避障路径分布约束参数;通过自适应蒙特卡洛定位法进行故障定位;根据定位信息,结合蚁群算法进行多移动机器人避障路径规划寻优控制。仿真结果表明,采用该方法进行多移动机器人避障路径规划的自适应寻优能力较好,机器人定位精度较高,提高了多移动机器人避障能力。     

基于视频流的嵌入式GUI系统设计与实现

为在Da Vinci嵌入系统中显示图形用户界面(GUI),提出一种基于Da Vinci视频流的GUI系统设计方案。通过修改Da Vinci Vpif接口Linux核心驱动,使其能够支持用户层和驱动层的多缓冲区共享队列。在Vpif的Linux核心驱动中加入增强型直接内存存取功能,实现缓冲区的自动调度。在用户层通过多层GUI系统,设计不依赖于Framebuffer、分层封装的嵌入式GUI界面,使得系统不仅能够支持视频流的处理,而且能在视频流上实现GUI系统与视频处理系统的切换。分析结果表明,该系统能提供用户图形化参数配置的界面,具有资源消耗少、效率高等特点。     

基于自适应状态聚集Q学习的移动机器人动态规划方法

针对现有移动机器人路径规划方法存在的收敛速度慢和难以进行在线规划的问题,研究了一种基于状态聚集SOM网和带资格迹Q学习的移动机器人路径动态规划方法——SQ(λ);首先,设计了系统的总体闭环规划模型,将整个系统分为前端(状态聚集)和后端(路径规划);然后,在传统的SOM基础上增加输出层构建出三层的SOM网实现对移动机器人状态的聚集,并给出了三层SOM网的训练算法;最后,基于聚集的状态提出了一种基于带资格迹和探索因子自适应变化的改进Q学习算法实现最优策略的获取,并能根据改进Q学习算法的收敛速度自适应地控制前端SOM输出层神经元的增减,从而改进整体算法的收敛性能;仿真实验表明:文中设计的SQ(λ)能有效地实现移动机器人的路径规划,较其它算法相比,具有收敛速度快和寻优能力强的优点,具有较大的优越性。     

基于RGB-D信息的移动机器人SLAM和路径规划方法研究与实现

移动机器人在各种辅助任务中需具备自主定位、建图、路径规划与运动控制的能力。本文利用RGB-D信息和ORB-SLAM算法进行自主定位,结合点云数据和GMapping算法建立环境栅格地图,基于二次规划方法进行平滑可解析的路径规划,并设计非线性控制器,实现了由一个运动底盘、一个RGB-D传感器和一个运算平台组成的自主移动机器人系统。经实验验证,这一系统实现了复杂室内环境下的实时定位与建图、自主移动和障碍物规避。由此,为移动机器人的推广应用提供了一个硬件结构简单、性能良好、易扩展、经济性好、开发维护方便的解决方案。     

基于Web的HLA仿真系统研究

该文介绍了基于Web的仿真的优点，比较了本地执行、远地执行、本地和远地相结合三种基于Web的仿真实现方案和存在的问题。提出了基于Web的HLA(High Level Architecture)的仿真系统(WBHLA)，实现了浏览器层、Web服务器层、应用服务器层、HLA仿真层的四层体系结构。利用XML技术实现Web系统与HLA系统之间的数据接口，解决浏览器／服务器之间的大数据量交互和仿真想定数据在仿真盟员之间的分发两大问题。通过将与用户交互相关的运行管理盟员、想定管理盟员、数据采集盟员封装成COM组件，实现Web出系统与HLA系统之间的桥接。最后提出Web服务技术实现基于Web的仿真系统的研究方向。     

某军用地面移动机器人视景仿真系统的研究

结合视景仿真技术和动力学仿真分析,提出了由视景驱动、交互、主控模块和动力学仿真调度组成的仿真系统结构;利用Pro／Engineer和MuhiGen Creator建立了机器人和地形场景模型,分析了数据的组织结构和模型的简化处理;基于Vega实现该地面移动机器人的视景仿真系统,提出了针对此机器人模型特点的地形匹配方法。仿真结果表明,该视景系统能够逼真地表现出地面移动机器人的仿真过程,并满足系统仿真的实时性要求。     

移动机器人模糊控制与模糊自适应PID控制

研究机器人路径规划问题,在移动机器人上配置超声波传感器,对返回的距离值进行信息融合,并将环境分为有障和无障两种模式.针对无障模式下模糊控制的路径振荡问题,为了克服振荡和减小超调,提出了有障模式下的模糊控制和无障模式下的模糊白适应PID控制方案.利用MATLAB建立了GUI移动机器人仿真平台.仿真结果表明,在非结构化未知环境下,可使系统响应速度加快,解决了振荡和超调问题,更好地实现从起点到静态目标点的路径规划任务,可为设计提供可靠依据.     

Path planning of a multiple mobile robot system

We present path-planning techniques for a multiple mobile robot system. The mobile robot has the shape of a cylinder, and its diameter, height, and weight are 8 cm, 15 cm, and 1.5 kg, respectively. The controller of the mobile robot is an MCS-51 chip, and it acquires detection signals from sensors through I/O pins. It receives commands from the supervising computer via a wireless RF interface, and transmits the status of the robots to the supervising computer via a wireless RF interface. The mobile robot system is a module-based system, and contains a controller module (including two DC motors and drivers), an obstacle detection module, a voice module, a wireless RF module, an encoder module, and a compass detection module. We propose an evaluation method to arrange the position of the multiple mobile robot system, and develop a path-planning interface on the supervising computer. In the experimental results, the mobile robots were able to receive commands from the supervising computer, and to move their next positions according to the proposed method.     

Multi-robot cooperation-based mobile printer system

This paper proposes a mobile printer system (MPS) based on multi-robot cooperation. The system consists of multiple mobile robots, a wireless LAN system, a graphic user interface (GUI), and a host computer. The GUI comprises a user input section, a task allocation optimization section, and a control and communication section. Its operation is as follows: a user draws a picture on an input window of the GUI, and then the host computer commands client printer-robots to reproduce the same on a paper in a finite time.To control multiple robots during this process, two kinds of multi-robot control architectures along with a collision-free arbitration configuration are proposed. One is a decentralized control architecture, which employs subsumption architecture based on behavior-based robotics. The robots continue to seek the nearest line and to draw it repeatedly until all lines are drawn. This architecture needs no pre-planning and is fault-tolerant. Another is a centralized control architecture, which employs an evolutionary algorithm (EA). The host computer optimizes the task (finding time-optimal path) allocation for each robot by using an evolutionary algorithm and sends the optimized job sequence to the robots. To minimize the elapsed time in drawing all the lines, an evolutionary algorithm with a representation of an individual suitable for the MPS is employed for the task optimization. This architecture can minimize the elapsed time effectively and offers the option of distance-optimality in addition to time-optimality.The proposed architectures are simulated and real experiments with three omni-directional robots are carried out to demonstrate the effectiveness and the applicability of the proposed mobile printer system.     

全方位移动机械手路径规划仿真平台的设计

机器人的三维仿真在机器人的研究中起着重要作用,论文以实验室中的全方位移动机械手为背景,建立了该移动机械手的运动学模型,然后利用VisualC++调用OpenGL建立了移动机械手的三维模型及路径规划的仿真平台,给出了实现算法,为移动机械手路径规划算法的研究提供了更为生动形象的仿真平台。     

一种改进多机器人分布式滚动路径规划算法

针对多移动机器人全局静态环境未知的路径规划问题,采用了一个全局性能指标,在保证路径较优的情况下,最小化机器人的停顿时间,提出机器人之间以修正局部路径为主的协调策略。根据多机器人滚动路径算法的原理,设计了改进的多机器人分布式滚动路径规划算法。在已有仿真系统上进行测试,比较了所提出的协调策略与改变机器人移动速度协调策略对性能指标的影响。仿真结果表明,静态环境未知情况下,机器人可以并行规划各自的协调路径。     

一类多移动机器人运动协调仿真系统的研究与实现

在多机器人系统的研究中,多移动机器人系统的运动协调性始终是热点,也是该领域的一个基础研究方向.文章使用了一类通用的多移动机器人协调控制仿真软件,通过运用基于线程的程序结构和面向对象的软件设计法,有效地实现了复杂环境下大规模移动机器人系统协调运动的实时模拟,同时采用切分窗口技术并运用数字信号传输代码,实现了多机器人运动状态和多机器人相关信息的同步显示,从而能更加方便地获取机器人数据.     

Path planning of fire-escaping system for intelligent building

We present the path-planning techniques of the fire-escaping system for intelligent building, and use multiple mobile robots to present the experimental scenario. The fire-escaping system contains a supervised computer, an experimental platform, some fire-detection robots and some navigation robots. The mobile robot has the shape of a cylinder, and its diameter, height and weight are 10?cm, 15?cm and 1.5?kg, respectively. The mobile robot contains a controller module, two DC servomotors (including drivers), three IR sensor modules, a voice module and a wireless RF module. The controller of the mobile robot acquires the detection signals from reflective IR sensors through I/O pins and receives the command from the supervised computer via wireless RF interface. The fire-detection robot carries the flame sensor to detect fire sources moving on the grid-based experiment platform, and calculates the more safety escaping path using piecewise cubic Bezier curve on all probability escaping motion paths. Then the user interface uses A* searching algorithm to program escaping motion path to approach the Bezier curve on the grid-based platform. The navigation robot guides people moving to the safety area or exit door using the programmed escaping motion path. In the experimental results, the supervised computer programs the escaping paths using the proposed algorithms and presents movement scenario using the multiple smart mobile robots on the experimental platform. In the experimental scenario, the user interface transmits the motion command to the mobile robots moving on the grid-based platform, and locates the positions of fire sources by the fire-detection robots. The navigation robot guides people leaving the fire sources using the low-risk escaping motion path and moves to the exit door.     

基于$pm3sigma$正态概率区间分族遗传蚁群算法的移动机器人路径规划

针对移动机器人路径规划问题,提出一种基于正态概率区间分族的家族遗传蚁群融合算法.首先提出初始种群优化及删除算子解决传统遗传蚁群融合算法中遗传阶段随机生成的初始种群质量低的问题;然后引入适应度值正态概率区间种群分族机制及家族混合交叉算子,解决传统遗传蚁群融合算法中易出现未成熟收敛的问题;最后引入混合变异策略以提高随机变异后生成的路径质量.将全局路径规划算法与局部路径规划算法-动态窗口算法相结合形成完整移动机器人运动规划.基于Matlab仿真平台与机器人操作系统平台进行实验分析,结果验证了所提出正态化概率分族遗传蚁群融合算法求解移动机器人路径规划问题的有效性.     

An autonomous mobile robot for carrying food trays to the aged and disabled

Our research objective is to realize sensor-based navigation for car-like mobile robots. We adopt the generalized Voronoi graph (GVG) for the robot's local path and a map representation. It has the advantage to describe the mobile robot's path for sensor-based navigation from the point of view of completeness and safety. However, it is impossible to apply the path to car-like mobile robots directly, because the limitation of the minimum turning radius for a car-like robot may prevent it from following the GVG exactly. To solve this problem, we propose a local smooth path-planning algorithm for car-like mobile robots. Basically, an initial local path is generated by a conventional path-planning algorithm using GVG theory and it is modified smoothly by a Bezier curve to enable the car-like robots to follow it by maximizing our evaluation function. In this paper, we introduce a local smooth path-planning algorithm based on the GVG and explain the details of our evaluation function. Simulation and experimental results support the validity of the algorithm.     

基于EPANET与ArcEngine的供水管网建模软件

为避免采用商业建模软件需要面对的二次开发问题,使得建模软件更为贴合不同水司的需求,提出了基于EPANET和ArcEngine快速构建供水管网建模软件的方法。该系统采用Geodatabase存储模型数据,以COM技术对EPANET源代码进行改进和封装,在ArcEngine的.NET框架中实现界面和大部分功能,开发时间短,费用低,功能针对性强,已在华北某省会城市得到成功应用。