Motion planning for mobile robots using a laser range finder

We have designed a mobile robot with a distribution structure for intelligent life space. The mobile robot was constructed using an aluminum frame. The mobile robot has the shape of a cylinder, and its diameter, height, and weight are 40 cm, 80 cm, and 40 kg, respectively. There are six systems in the mobile robot, including structure, an obstacle avoidance and driving system, a software development system, a detection module system, a remote supervision system, and others. In the obstacle avoidance and driving system, we use an NI motion control card to drive two DC servomotors in the mobile robot, and detect obstacles using a laser range finder and a laser positioning system. Finally, we control the mobile robot using an NI motion control card and a MAXON driver according to the programmed trajectory. The mobile robot can avoid obstacles using the laser range finder, and follow the programmed trajectory. We developed the user interface with four functions for the mobile robot. In the security system, we designed module-based security devices to detect dangerous events and transmit the detection results to the mobile robot using a wireless RF interface. The mobile robot can move to the event position using the laser positioning system.     

基于移动Agent的移动办公系统模拟

伴随网络的快速发展,移动办公已经成为企业提高工作效率的重要手段。移动Agent技术作为人工智能和网络技术结合的一种新兴分布式计算技术,在解决大型分布式系统问题上具有很强的适应性和优势,非常适合作为移动办公的解决方案。在分析移动办公特点和传统移动办公解决方案优缺点的基础上,结合Web Service技术提出了一个移动Agent系统模型,并进一步提出了移动Agent的结构模型,给出了系统中Agent与Web Service通信的实现办法。系统在IBMAglet平台下仿真实现,文章的最后对该系统进行了相关分析。     

基于双层安全体系的移动办公应用平台设计与实现

针对移动办公应用的需求,采用HTML5 技术和Android 系统进行开发,本文提出一种基于双层安全体系的移 动办公应用平台。系统通过移动中间件实现了多类型移动设备的统一接入,对企业OA、报账系统、公文处理进行了接口设 计,无缝接入企业原有系统的数据和报表,并提供了链路安全和应用安全双层安全体系的保障,为企业人员实时、有效地获取 相关工作信息提供了便利。     

基于Java ME和Java EE的移动商务系统设计与实现

随着移动通信广泛应用和电子商务技术的成熟壮大,移动商务已经具备了发展的基础条件,电子商务逐渐向移动商务迁移,但移动商务服务领域仍很薄弱.本文针对移动商务环境,提出了一种基于Java ME和Java EE的移动商务系统架构,并进行系统分析与设计,采用Eclipse、WTK等开发工具编程实现,经过实验证明该系统能够有效地实现移动商务处理,该架构和开发技术可以应用于移动商务服务系统以及其他移动应用系统的构建.     

Hybrid trigonometric compound function neural networks for tracking control of a nonholonomic mobile robot

The purpose of this paper is to propose a hybrid trigonometric compound function neural network (NN) to improve the NN-based tracking control performance of a nonholonomic mobile robot with nonlinear disturbances. In the mobile robot control system, two NN controllers embedded in the closed-loop control system have the simple continuous learning and rapid convergence capability without the dynamics information of the mobile robot to realize the tracking control of the mobile robot. The neuron functions of the hidden layer in the three-layer feedforward network structure consist of the compound cosine function and the compound sine function combining a cosine or a sine function with a unipolar sigmoid function. The main advantages of this NN-based mobile robot control system are better real-time control capability and control accuracy by use of the proposed NN controllers for a nonholonomic mobile robot with nonlinear disturbances. Through simulation experiments applied to the nonholonomic mobile robot with the nonlinear disturbances of dynamics uncertainty and external disturbances, the simulation results show that the proposed NN control system of a nonholonomic mobile robot has better real-time control capability and control accuracy than the compound cosine function NN control system of a nonholonomic mobile robot and then verify the effectiveness of the proposed hybrid trigonometric compound function NN controller for improving the tracking control performance of a nonholonomic mobile robot with nonlinear disturbances.     

WPKI在科技网移动办公安全中的应用研究

近些年随着移动互联技术的发展,更快的移动网络、更加智能的移动手持设备为移动办公提供了良好的基础。移动办公为科技系统工作人员提供便利的同时,对通信中的信息安全也提出了更高的要求。为此,在科技网移动办公系统中引入WPKI（无线公钥技术）,与科技网现有的用户认证系统、终端准入系统、日志审计系统等现有的安全体系融合,以更有效地保证数字图书馆、公文流转系统、项目审批系统等各业务系统中电子数据的传输与共享的安全性。     

移动数据库中的事件及描述

在移动计算环境中,移动主机具有移动性,移动主机与无线网络的连接状态具有多样性.这些特性要求服务于移动主机的移动数据库系统作出反应和相应的处理.在建立一个主动数据库ECA(event condition action)规则系统模型的基础上,对各种移动事件进行定义,给出了事件的时态逻辑描述,为主动数据库的事件触发提供了新的事件空间,为移动数据库系统的主动处理提供了有效的支持.     

The study of path error for an omnidirectional home care mobile robot

The first objective of this research was to develop an omnidirectional home care mobile robot. A PC-based controller controls the mobile robot platform. This service mobile robot is equipped with an “indoor positioning system” and an obstacle avoidance system. The indoor positioning system is used for rapid and precise positioning and guidance of the mobile robot. The obstacle avoidance system can detect static and dynamic obstacles. In order to understand the stability of a three-wheeled omnidirectional mobile robot, we carried out some experiments to measure the rectangular and circular path errors of the proposed mobile robot in this research. From the experimental results, we found that the path error was smaller with the guidance of the localization system. The mobile robot can also return to its starting point. The localization system can successfully maintain the robot’s heading angle along a circular path.     

基于专网的移动警务安全保障系统设计与研究

安全问题是移动IP技术的核心和瓶颈.针对目前公安移动警务系统安全需要,从系统总体目标和安全策略等方面展开研究,提出了一种基于专网的移动警务系统安全接入设计方案.重点对移动公网接入、移动终端认证系统、数据传输安全、安全管理以及与公安内网数据交换的安全策略进行研究和设计.     

移动警务安全短消息通信系统设计

移动通信安全是移动电子政务与移动电子商务正常运行的前提,也是一般移动应用大规模开展的前提。移动通信提供的业务有多种,在不被信任的移动通信网络中实现安全通信需要根据不同的业务作出不同的选择,实现特定业务的安全通信有着十分重要的现实意义。文中针对短消息在移动警务系统中的具体应用,设计了一个安全的短信通信系统。首先根据移动警务系统的安全需求,根据现有移动通信业务及其短信业务的安全需要,选择短信作为系统的实施平台,给出了安全短信通信系统的总体结构,并简单介绍了与系统实现相关的技术;然后论述了系统中移动安全通信终端的设计,重点讨论了移动终端采用的安全技术与特点;最后就认证与安全服务器的功能设计进行了简单的讨论。     

基于EMDBS的移动学习系统的研究和设计

通过对嵌入式移动数据库关键技术的分析,结合移动学习的具体情况,提出了一种基于EMDBS的移动学习系统,对该系统的开发架构和每个模块的功能实现进行了描述,并把缓存技术应用到系统的移动终端,从根本上解决了移动学习中移动灵活性不够的问题和网络断接的现象.     

轮式移动机械臂的建模与仿真研究

移动机械臂系统一般由移动平台和机器臂组成,它既具有机器臂的操作灵活性,又具有移动机器人的可移动性,因此其应用范围要比单个系统宽得多。这篇文章主要研究了由非完整移动平台和完整机械臂组成的轮式移动机械臂系统的建模、跟踪控制及仿真问题。首先。利用拉格朗日动力学方程和非完整动力学罗兹方程建立了移动机械臂系统的精确数学模型;然后。利用非线性反馈将系统解耦。采用类PD控制器进行控制。在考虑了非完整约束及移动平台和机械臂的动态交互影响情况下,该控制算法保证系统同时跟踪给定的终端执行器和平台轨迹;最后,使用Maflah6．5对系统进行了仿真研究,仿真结果表明了其数学模型及控制方法的正确有效性。     

基于移动数据库的事务处理模型的研究

对移动数据库的关键技术之一事务处理进行了分析与探讨。在分析现有移动事务处理模型的基础上,结合研究开发的嵌入式移动数据库系统SwiftDB,提出增加接入代理层的事务处理系统结构,并根据移动计算环境的特点和具体应用需求,分析了移动节点上事务状态,改进两级复制模型的移动事务解决方案。     

基于Android与互联网的手机投票系统设计

将Android手机与Windows电脑端通过互联网连接,设计了以手机端为客户端、电脑端为服务端的手机投票系统。该系统在Android手机端具有留言功能与投票功能,在电脑端开发的Java桌面应用程序具有查看留言功能与统计投票功能。该投票系统只需手机与电脑处于同一个局域网内,具有较好的运行效果。     

A system for self-diagnosis of an autonomous mobile robot using an internal state sensory system: fault detection and coping with the internal condition

Considering that intelligent robotic systems work in a real environment, it is important that they themselves have the ability to determine their own internal conditions. Therefore, we consider it necessary to pay some attention to the diagnosis of such intelligent systems and to construct a system for the self-diagnosis of an autonomous mobile robot. Autonomous mobile systems must have a self-contained diagnostic system and therefore there are restrictions to building such a system on a mobile robot. In this paper, we describe an internal state sensory system and a method for diagnosing conditions in an autonomous mobile robot. The prototype of our internal sensory system consists of voltage sensors, current sensors and encoders. We show experimental results of the diagnosis using an omnidirectional mobile robot and the developed system. Also, we propose a method that is able to cope with the internal condition using internal sensory information. We focus on the functional units in a single robot system and also examine a method in which the faulty condition is categorized into three levels. The measures taken to cope with the faulty condition are set for each level to enable the robot to continue to execute the task. We show experimental results using an omnidirectional mobile robot with a self-diagnosis system and our proposed method.     

基于RFID-SIM卡移动手机票检票终端的设计与实现

移动手机票是以RFID-SIM卡作为安全存储和验证模块,通过手机显示屏、移动无线通信和非接触通信技术等来实现手机票的购买和选票,结合手机票检票终端完成票务功能.针对移动手机票售检票系统的组成、手机票类型和检票终端的功能,描述了检票终端设备实现的软件关键技术,并设计了支持手机票售检票应用的系统平台.该研究成果现已实现,并在多种场合达到实际应用.     

A mobile learning system for scaffolding bird watching learning

Abstract This paper develops a mobile learning system for scaffolding students learning about bird-watching. The aim is to construct an outdoor mobile-learning activity using up-to-date wireless technology. The proposed Bird-Watching Learning (BWL) system is designed using a wireless mobile ad-hoc network. In the BWL system, each learner has a PDA (Personal Digital Assistant) with a Wi-Fi-based (IEEE 802.11b) wireless network card. The BWL system offers a mobile learning system which supports the students learning through scaffolding. The aim of a formative evaluation was twofold: to explore the possible roles and scaffolding aids that the mobile learning device offers for bird-watching activities and to investigate whether student learning benefited from the mobility, portability, and individualisation of the mobile learning device.     

移动计算中安全策略的进程表示

安全策略为移动计算的安全性提供了必要的保证,而其表达和移动计算的形式化模型往往采用不同的技术实现。该文给出安全策略的一种进程表示方法,通过安全策略的进程表示,很容易将移动计算模型及移动计算的安全性问题在统一的框架下实现。为实现移动计算及其安全性提供了一种简单、可行的方法。     

基于Web服务和移动代理的移动客户端数据管理模型

在分析现有的移动数据库体系结构的基础上,将移动代理技术和Web服务以及语义信息引入到移动数据库,提出了一个客户端／移动代理黼服务／服务器4层体系结构以及基于此体系结构的移动客户端数据管理模型（MDM）。     

Mobile CSCW技术在MIS中的研究和应用

随着智能移动终端的发展,移动CSCW逐渐成为CSCW的发展趋势,人们可以在任何时间和任何地点实现协同工作.分析移动CSCW的特点,提出一个基于移动CSCW的系统模型,并且在此基础上实现一个基于移动CSCW系统模型的仓库管理系统.