基于87C196KC的足球机器人控制系统设计

足球机器人小车是机器人足球比赛的执行机构，介绍了一种基于87C196KC单片机的足球机器人控制系统实现方案，描述了系统组成各个模块的硬件实现，并给出了相应的软件设计方案。系统能够通过无线串口通讯的方式获取指令，解释指令，并使用设计的PID控制算法对直流电机进行控制。     

基于ROS的智能工业机器人系统开发平台

目前,工业机器人对于机器视觉、自主路径规划等智能化功能需求日益增长.然而在传统工业机器人系统中添加智能化功能模块时需要修改大量的源码,浪费了人力和成本.本文提出的基于ROS的易扩展机器人系统开发平台,能为开发者开发智能工业机器人系统提供了方便.本平台分为服务器端和机器人端.将机器人端作为一级节点,与安装ROS的PC服务器端进行通信.机器人一级节点由二级功能节点与功能模块组成.根据此平台开发实现的JPB06六自由度工业机器人系统具有机器视觉、自主定位、语音控制等智能化功能,可以满足工业机器人对于智能化和实时控制的需求.     

基于S3C2440处理器的打印模块的设计

针对打印机的扩展功能要求,为了提高打印机的应用范围,基于ARM9内核的处理器和嵌入式Linux操作系统,设计硬件电路、搭建软件开发环境,建立一个嵌入式系统的开发平台,设计了打印模块。该打印模块基于S3C处理器,采用扩展的USB接口与上位机通信,RS-232串口与打印机连接,通过触摸屏控制系统采集数据并送串口交打印机打印。在此基础上,以VMP01PLUS便携式热敏打印机为对象,对工业控制领域中的某些参数进行了坐标图形打印仿真,打印效果理想。     

基于群体智能的自主机器人设计

该文结合群体智能对研究平台的需求,介绍了自主式机器人的设计和实现。机器人的整体结构由主控板和功能板组成,主控板是机器人的控制中心,主要是CPU及其外围电路,以及一些调试用LED灯和按键。功能板是主控板控制信号的执行者,主要包括电源模块、红外测距、电机及驱动和串口等功能块。主控板通过两个接口与功能板相连接。该设计既可以作为一款通用性机器人进行推广应用,在批量生产运用的过程中不需要做较大规模的修改,也可以作为实验室研究的硬件平台。     

基于嵌入式Linux的移动机器人控制系统设计

介绍了一个以嵌入式Linux系统为核心的移动机器人控制系统的设计与实现，阐述了运动控制与传感模块、主控制模块、人机交互界面和无线通信模块。该系统具有良好的可扩展性和可移植性。在无线通信模块中，集成了Zigbee协议，从而为无线传感器网络与移动机器人的协作性研究提供了可能。实验表明，该系统可以实现机器人的复杂控制。     

Model based vehicle detection and tracking for autonomous urban driving

Situational awareness is crucial for autonomous driving in urban environments. This paper describes the moving vehicle detection and tracking module that we developed for our autonomous driving robot Junior. The robot won second place in the Urban Grand Challenge, an autonomous driving race organized by the U.S. Government in 2007. The module provides reliable detection and tracking of moving vehicles from a high-speed moving platform using laser range finders. Our approach models both dynamic and geometric properties of the tracked vehicles and estimates them using a single Bayes filter per vehicle. We present the notion of motion evidence, which allows us to overcome the low signal-to-noise ratio that arises during rapid detection of moving vehicles in noisy urban environments. Furthermore, we show how to build consistent and efficient 2D representations out of 3D range data and how to detect poorly visible black vehicles. Experimental validation includes the most challenging conditions presented at the Urban Grand Challenge as well as other urban settings.     

飞机蒙皮检测机器人的控制和感知总体结构(英文)

介绍了一种基于DSP F2812的飞机蒙皮检测机器人的控制和感知总体结构。机器人控制系统包括移动模块:吸附模块、感知系统和无线通讯模块4个模块。从控制系统的软件和硬件对各个模块进行设计,并根据各个模块之间的联系,建立机器人的控制系统,机器人的感知系统监控机器人的运行,并通过地面主控制机远程控制机器人。通过模块间的实验和蒙皮图像检测实验验证了检测机器人设计方案的可行性和有效性。     

基于激光传感器的智能车自主导航系统设计

从硬件电路设计和软件设计两大方面入手,分析基于激光传感器的智能车自主导航系统的设计过程。通过分析基于激光传感器芯片制作的自主导航智能车的设计原理和方案,从机械结构设计,硬件电路设计,程序算法设计以及调试经验等四个方面全面介绍智能车的制作及调试过程。经过实验对比和竞赛,表明测速模块、电机驱动模块及激光传感器的设计和选择,软件程序的编写和算法的选择有效地实现了智能车的高速自主导航。     

The ETH‐MAV Team in the MBZ International Robotics Challenge

This study describes the hardware and software systems of the Micro Aerial Vehicle (MAV) platforms used by the ETH Zurich team in the 2017 Mohamed Bin Zayed International Robotics Challenge (MBZIRC). The aim was to develop robust outdoor platforms with the autonomous capabilities required for the competition, by applying and integrating knowledge from various fields, including computer vision, sensor fusion, optimal control, and probabilistic robotics. This paper presents the major components and structures of the system architectures and reports on experimental findings for the MAV‐based challenges in the competition. Main highlights include securing the second place both in the individual search, pick, and place the task of Challenge 3 and the Grand Challenge, with autonomous landing executed in less than 1 min and a visual servoing success rate of over for object pickups.     

AmigoBot移动机器人上位控制系统的设计

针对AmigoBot移动机器人存在不支持本地可编程控制、只能作为网络终端的问题,提出了一种基于OMAP3530和Android嵌入式平台的AmigoBot移动机器人上位控制系统的设计方案;给出了该系统的硬件及软件结构,详细介绍了在OMAP3530上移植Android系统的过程:首先对Android系统进行裁剪,使其内核功能模块既能满足上位控制系统的要求,又不冗余;在裁剪后的Android系统的基础上,对AmigoBot移动机器人的Aria控制软件、无线通信等应用软件进行设计。实验结果表明,该系统解决了AmigoBot本地控制问题,提高了AmigoBot的扩展能力。     

基于CAN总线的分布式机器人控制系统设计

根据机器人控制性能的要求,设计了一个基于CAN总线的分布式机器人控制系统,该控制系统由上位主控计算机、通讯部分和下位各关节控制器组成,具有连线简单,扩充方便,通讯稳定可靠,控制实时性高等特点。并对机器人关节控制器的硬件电路设计和控制软件设计作了详细阐述。该控制系统已用于研制的6DOF机械手,控制效果良好。     

A PC-based open robot control system: PC-ORC

An open architecture manufacturing system pursues to integrate manufacturing components on a single platform. Therefore, a particular component can be easily added and/or replaced. In this paper, a modular and object-oriented approach for the PC-based open robot control (PC-ORC) system is investigated. A standard reference model for controlling robots, which consists of a hardware platform, an operating system module, and various application software modules, is first proposed. Then, PC-ORC system, which can reconfigure the control system in various production environments, is developed. The PC-ORC is constructed based upon the object-oriented method. Hence, it allows an easy implementation and modification of various modules. The PC-ORC consists of basic software, application objects, and additional hardware devices on a PC platform. Finally, by applying the proposed PC-ORC to a SCARA robot, the performance of the PC-ORC is examined.     

基于ARM的电源远程监控系统的设计

为了实现通过网络浏览器远程监控机器的电源,利用SEP3203芯片设计基于μClinux操作系统和TCP／IP网络协议栈的电源远程监控系统。从系统的整体平台体系架构、硬件主要模块（网络模块,串口模块,存储模块等）的设计,以及gClinux在硬件平台上的移植、μClinux网络功能实现、Web服务器端的软件设计,给出了通过Web接口来管理遥控远程网络设备的网络控制设计方案。该系统的研制,对于改善远程网络监控具有重要的意义。     

Autonomous robot navigation in outdoor cluttered pedestrian walkways

This paper describes an implementation of a mobile robot system for autonomous navigation in outdoor concurred walkways. The task was to navigate through nonmodified pedestrian paths with people and bicycles passing by. The robot has multiple redundant sensors, which include wheel encoders, an inertial measurement unit, a differential global positioning system, and four laser scanner sensors. All the computation was done on a single laptop computer. A previously constructed map containing waypoints and landmarks for position correction is given to the robot. The robot system's perception, road extraction, and motion planning are detailed. The system was used and tested in a 1‐km autonomous robot navigation challenge held in the City of Tsukuba, Japan, named “Tsukuba Challenge 2007.” The proposed approach proved to be robust for outdoor navigation in cluttered and crowded walkways, first on campus paths and then running the challenge course multiple times between trials and the challenge final. The paper reports experimental results and overall performance of the system. Finally the lessons learned are discussed. The main contribution of this work is the report of a system integration approach for autonomous outdoor navigation and its evaluation. © 2009 Wiley Periodicals, Inc.     

A software architecture for distributed computer control systems

Distributed computer control systems have a number of potential advantages over centralized systems, especially where the application is itself physically distributed. A computer station can be placed close to the plant being controlled, and a communications network used to enable the stations to communicate to coordinate their actions. However, the software must be carefully designed to exploit the potential advantages of distribution. This paper describes the software architecture of CONIC, a system to support distributed computer control applications. This architecture emphasizes the distinction between the writing of individual software components and the construction and configuration of a system from a set of components. A modular structure is used to separate programming from configuration. Typed entry and exit ports are used to clearly define module interfaces. Ports, analagous to the plugs and sockets of hardware components, permit modules to be interconnected in different ways. On-line modification and extension of the system is supported by permitting the dynamic creation and interconnection of modules. Message passing primitives are provided to permit modules to coordinate and synchronize control actions.     

基于改进RBPF算法的轮式机器人SLAM导航系统设计

传统的机器人导航系统在复杂的地形环境中常常无法引导机器人躲避突然出现的障碍物,无法精准采集数据;为此提出一种改进RBPF算法的轮式机器人SLAM导航系统,对系统硬件和软件进行设计;改进RBPF算法是一种滤波算法,将激光雷达与里程计的信息作为提议分布,提高了导航精度;系统硬件主要由导航功能模块、底盘驱动模块、控制模块组成,利用RPLIDAR A1型激光雷达设计导航功能模块,并设计底盘驱动模块和控制模块;软件设计中,以改进RBPF算法为基础,设计了轮式机器人SLAM导航系统的实现程序,应用算法代入的方式加强了普通轮式机器人导航算法对粒子计算与卡尔曼滤波的敏感程度;实验结果表明,在有障碍物的室内场景中,与传统滤波算法以及基于软件库系统相比,改进RBPF算法规划的路径更短,导航错误点出现率降低了30%左右。     

基于LabWindows存储器模块测试系统的架构及软件设计

随着以计算机为核心的测量技术理念不断创新,设计了一个软硬件协同的存储器模块自动化测试系统,实现了对多类型存储器模块,包括符合某航空标准总线的存储器模块以及非标准类型的专用双口通信模块、串行存储器接口模块、并行存储器接口模块等多种类型的存储器模块的功能和性能测试;该测试系统的硬件基于NI公司的高速波形发生器板卡,在软件的控制下产生测试信号并对存储器模块的响应进行收集分析;软件基于LabWindows平台,设计了三层多线程软件架构,提供数据库支持,提高了测试系统自动化程度;在长时间硬件和软件测试后该系统已投入应用,结果表明系统运行稳定可靠;文章重点讨论了该测试系统的架构和软件的设计及实现。     

一种基于USB技术的机器人通信平台

针对现行机器人分布式结构实时控制性能的问题,提出一种基于USB总线技术的通用机器人通信平台,介绍了该平台的硬件系统,软件架构的设计与实现方法。它不但极大地提高了数据的传输速率,适用于传输语音、图像,而且统一了机器人上下位机通信总线标准,其简单直观的人机接口、良好的软件开放性更加便于机器人二次开发。     

微型四旋翼飞行侦察机器人控制系统设计

针对微型四旋翼飞行侦察机器人控制系统进行研究和设计,采用基于Cortex-M4内核的32位高性能单片机STM32F405RG为控制器进行了模块化设计,主要包括动力模块、姿态检测模块、无线通信模块和无线视频传输模块,分别对各模块的硬件和软件设计进行了详细介绍.实验验证,本控制系统运行可靠、稳定.