基于CANopen协议的机器人数据采集模块设计

CANopen是一种基于CAN总线的应用层协议,采用了面向对象的设计思想,具有很好的模块化特性和很高的适应性.本文为了在原有的移动机器人基础上扩展嗅觉导航功能,设计了一种基于CANopen协议的传感器数据采集模块,该模块可以作为CANopen从站与机器人主站通信,满足机器人控制系统扩展的可靠性与灵活性.本设计采用飞思卡尔单片机MC9S12XS128作为主控芯片,通过AD口采集气体传感器数据,在单片机上移植CANopen开源协议栈,给出了CanFestival在单片机上的实现.经过测试,模块能够与机器人通过CAN总线正确通信,完成数据采集功能.     

基于无线Wi-Fi的温度检测控制系统设计

设计了一种基于Wi-Fi的超低功耗远程温度检测控制系统。利用超低功耗Wi-Fi无线模块USR-WIFI232-B实现MSP430G2553单片机与上位机终端间的数据传输,采用数字温度传感器和单片机实现温度的检测、调控和显示。通过上位机终端,该系统可以实现控制区温度范围的设定,能实时显示控制区温度,并且当控制区温度超过预警温度或调控系统出现故障时,系统会发出报警。结果显示,该设计具有低功耗,低成本、运行可靠和可移植性强的特点,具有很好的实用价值和应用前景。     

简易机器人寻迹的设计

机器人寻迹技术广泛应用于工业农业生产.本设计使用51系列单片机对一个轮式机器人进行控制.通过灰度传感器实现简易机器人的简单寻迹,用户可以根据需要对系统设定一个灰度初值,通过数据采集系统对外界的灰度进行采集,将采集到的数据与设定的初值比较,判断当前机器人的位置,从而确定机器人接下来的运行方式.本设计制作的简易机器人能够实现机器人在任意弯曲的轨迹自动寻迹,并能够快速准确的做出反应.     

基于Wi-Fi和自适应蒙特卡洛的移动机器人定位方法的研究

提出一种基于Wi-Fi和自适应蒙特卡洛的移动机器人定位方法。通过对实验环境中Wi-Fi信号的分布进行测试和分析,利用Wi-Fi信号强度的三角定位法,在ROS平台上实现Wi-Fi-AMCL室内初始化定位系统。对该方法和传统定位方法设计实验进行比较,结果表明前者不仅可以有效加快粒子的收敛速度、缩短机器人的定位时间,而且在一定限度上提高了机器人的初始化定位精度,改善了定位效果。     

单片机通信性能分析和评价方法

本对单片机通信性能的分析和评价方法进行研究，指出了物理接口电路分布参数的分析方法和保证通信系统接口控制性能固件正确性的组合选择法。对单片机通信性能评价时，可以使用本提出的单片机通信性能分析参数。这些参数是比特吞吐系数ζ、数据传输有效性σ和数据识别率η。利用这些参数，可以定量地对单片机通信性能进行分析，同时也可以利用这些参数进行单片机的选择和应用系统设计。     

某制导控制系统交班半实物试验通信软件的开发

本系统采用网络通信和串行通信结合的方法.网络通信部分利用TCP/IP协议建立网络通信功能,开发的程序系统可使导引头终端与远程数据中心、远程控制中心和远程设计中心实现数据交换.串行通信部分利用一般单片机所拥有的RS-232串行接口,使单片机可以同计算机之间进行交互通信,介绍了通过利用微软的ActiveX控件MSComm,在VC 环境下编程的方法.实践证明,该方法简单可靠,可移植性强,可以应用于工业中需要网络通信和串行通信的领域.     

基于CAN总线的镀锌池温度测控系统

通过对镀锌池温度技术指标进行分析,设计基于CAN总线的镀锌池温度远程测控系统:本系统微控制器采用ATMEL公司的AT89S52单片机,利用K型热电偶进行温度信号采集:利用具有冷端补偿的单片K型热电偶放大器与数字转换器MAX6675进行温度信号调理:通过模糊PID参数自整定方法进行温度控制.系统利用CAN总线实现数据的远程传输并通过串口与上位机进行通信,实现对被测对象的温度进行远程监视和控制.实际测试表明,系统完全满足精度及可靠性等方面要求.     

室内环境参数远程监测系统设计

设计了一种可以在室内进行环境参数监测,并且可以远程监测的系统。通过使用灰尘浓度传感器、温湿度传感器、可燃气体传感器和气压传感器实现检测当前环境的各项参数,单片机将采集的数据进行卡尔曼滤波处理之后,得到更加稳定的数据。在数据显示端,通过硬件部分的Wi-Fi模块将数据发送到自组建的网络中,浏览器端编程采用MyEclipse开发环境,运用JavaWeb语言进行Wi-Fi信息抓取和处理,并将数据传输到云端,实现了由数据采集到网络传输,最后到用户可以进行远程监测的可视化系统设计。     

基于MEMS加速度传感器的数字倾角仪设计

利用MEMS加速度传感器设计了倾角测试仪,并利用单片机进行了数据线性化、传感器温度和上电稳定特性等补偿,倾斜角可以通过LCD或上位机显示.实验表明:本系统倾角测量精度可达±0.2°,具有很好的工作稳定性和较高的性价比,使用上也更加灵活.     

单片机通信性能分析和评价方法

本文对单片机通信性能的分析和评价方法进行研究,指出了物理接口电路分布参数的分析方法和保证通信系统通信接口控制性能固件正确性的组合选择法.对单片机通信性能评价时,可以使用本文提出的单片机通信性能分析参数.这些参数是比特吞吐系数ξ、数据传输有效性σ和数据识别率η.利用这些参数,可以定量地对单片机通信性能进行分析,同时也可以利用这些参数进行单片机的选择和应用系统设计.     

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。     

基于QTE的蒙古文显示机制研究与实现

蒙古语言是中国蒙古族使用的通用语言,由于蒙古文区别于其他文字的书写方式和其自身变形机制等特点,在很多通用的文字处理引擎中都不被支持。在嵌入式产品开发与应用领域中Linux加QTE已经成为流行方式。该文给出了一种在QTE环境上实现基于标准Unicode的蒙古文点阵显示和变形算法, 并自定义了支持蒙古文的QTE组件,扩展了QTE功能,为在Linux加QTE方式的嵌入式体系结构中处理蒙古文提供了一种解决方法。