一种基于WiFi无线网络具有认字功能的家庭教育机器人

针对前景广阔的家庭机器人市场以及解决传统家庭机器人存在的技术不成熟、成本高等问题,提出了一种基于WiFi无线网络的家庭教育机器人实现方案。该方案由机器人、PC机、路由器构成,组网简单,成本较低,非常适合家庭环境。方案中机器人能够朗读汉字、课文以及通过摄像头识别书写在白纸上的汉字,适用于儿童早期认字教育。为此,为认字功能专门设计了汉字图像提取、识别算法,单字识别率达到97%。基于DrRobot公司X80-H型机器人上实现了该系统并对各个功能进行了大量测试实验。实验结果表明系统具有较强的鲁棒性,本方案是有效可     

A review on communication protocols for autonomous unmanned aerial vehicles for inspection application

The communication system is a critical part of the system design for the autonomous Unmanned Aerial Vehicle (UAV). It has to address different considerations, including efficiency, reliability and mobility of the UAV. In addition, a multi-UAV system requires a communication system to assist information sharing, task allocation and collaboration in a team of UAVs. In this paper, we review communication solutions for supporting a team of UAVs while considering an application in the power line inspection industry. We provide a review of candidate wireless communication technologies for supporting communication in UAV applications. Performance measurements and UAV-related channel modeling of those candidate technologies are reviewed. A discussion of current technologies for building UAV mesh networks is presented. We then analyze the structure, interface and performance of robotic communication middleware, ROS and ROS2. Based on our review, the features and dependencies of candidate solutions in each layer of the communication system are presented.     

基于动态超分辨率的输电线路部件检测方法

在无人机输电线路巡检过程中,由于部分输电线路部件较小,而且无人机搭载的相机像素有一定限制,同时必须与输电线路保持一定的安全距离,导致拍摄的图像的分辨率较低、目标较小.针对这一问题,提出了一种基于动态超分辨率的输电线路部件检测方法,将超分网络引入到输电线路巡检过程中.实验结果表明,该方法对输电线路低分辨率输入图像和小目标...     

嵌入式操作系统中蓝牙支持软件的研究与开发

讨论在嵌入式操作系统中蓝牙支持软件的开发。包括蓝牙设备驱动程序、蓝牙协议栈、无线个人局域网应用框架等的设计与实现。采用系统化设计方法,重点突出结构设计、接口设计、任务设计。结果表明该蓝牙软件具有良好的可复用性、高效性和对嵌入式系统的适应性等特点,大大提高了系统开发效率。     

基于ZigBee的图像采集传输系统的设计与实现

介绍了一种基于ZigBee的图像采集传输无线多媒体传感网络系统的设计与实现。系统采用JPEG压缩摄像头及CC2530无线SoC芯片构成节点,实现了参数设置、图像浏览、拓扑结构显示、数据分析和列表等功能,能够实现图像的采集和无线传输。系统具有自组织组网、多种供电方式、功耗低、稳定性强、可扩展性好等特点。     

无人机辅助无线能量收集雾计算网络优化方法

研究了无人机雾辅助无线能量收集网络,其中无人机（unmanned aerial vehicle,简称UAV）作为可以移动的无线能量供应源和雾服务器,传感器设备可利用从UAV信号中所采集的能量完成本地计算任务或将计算任务卸载给UAV进行计算.系统目标是通过联合优化任务卸载调度,计算资源的分配和无人机飞行轨迹,在预定时间内完成给定计算任务和能量收集需求的前提下,最小化无人机的总能量消耗.为此,建立了多变量联合优化问题.由于该问题非凸,提出了一种基于连续凸近似（successive convex approximation,简称SCA）的有效求解方法.仿真结果表明,利用该联合优化方法可以大大降低无人机能耗,其中,通过轨迹优化对UAV能耗的降低效果最为明显.另外,实验结果发现：给定任务完成时间越长,无人机的轨迹越长,随着传感器设备能量收集阈值的升高或能量收集效率的降低,无人机轨迹向传感器偏移得越明显.与传感器均匀分布相比,当传感器位置全部分布在某一侧时,无人机轨迹会向其所在方向偏移.     

基于HLA的无人机任务推演系统仿真研究

通常的任务控制过程包括任务预规划,任务执行,任务监控和重规划等部分.该文通过分析任务预规划的不足,在任务控制过程中引入了任务推演的概念,并对无人机任务推演的相关概念和内容进行了分析和讨论.同时针对无人机系统多速率时间推进的特点,设计了无人机任务推演系统的系统结构,并基于HLA体系设计和分析了无人机推演系统的仿真互联结构.然后讨论了无人机任务推演系统中的飞行仿真模块的SOM仿真建模.最后基于RTI实现了无人机飞行仿真推演模块与飞行三维可视化模块的互联.     

无人机自主控制系统简述

无人机的智能化和自主化依赖于其自主控制系统的实现,目前而言仍是一项复杂且艰巨的任务。从系统的基本能力需求、主要功能组成、核心关键技术等角度,对无人机自主控制系统的相关研究和认识进行了简要的梳理,并对系统设计实现中表现出的典型特征和发展趋势进行了总结和归纳。     

无人机全天时航空成像侦察系统建模与仿真

航空成像侦察是获取战术情报的重要途径。设计的全天时可见光航空相机成像侦察系统参照无人机各种飞行环境,基于无人机数学模型、可见光相机成像几何模型和大气辐射传输模型,实现航空相机在无人机运动参数、航空相机参数、大气环境参数变化情况下的成像侦察仿真。该系统由仿真参数初始化、数字地图加载、相机成像仿真、大气辐射传输仿真、无人机半物理仿真、图像仿真与报告输出六个模块组成。通过大量实验测试表明本系统模型有很高的逼真度和有效性,同时,可根据系统仿真报告对系统模型进行性能评估与改进。本系统的参数优化功能可指导和论证无人机航空相机成像侦察装备的研制工作。     

QoS保障下的无人机传感网安全通信路径规划

在无线传感器网络中,无人机在传感器覆盖区域内定期巡游,以收集传感器感知的数据。由于无线信道的广播性质,信息更容易被地面上的非法节点窃听,无线通信安全受到挑战。通过无人机的轨迹规划和传感器功率控制可以在物理层保障无线通信的安全性。然而,现有研究无人机辅助无线通信路径规划的文献中,没有考虑到用户或节点需要最小通信时间来保证服务质量。针对此问题,在无线传感器网络通信系统中,加入最小通信时间约束,通过联合优化无人机的飞行轨迹、传感器的发送功率和无人机服务传感器的调度顺序,提出平均保密率最大化问题,并证明了其非凸性。为解决所提的非凸问题,将原问题分解为3个子问题,提出了一个应用块坐标下降、连续凸优化、迭代舍入方法的快速收敛迭代算法TPA。实验结果表明,所提算法TPA的平均保密率比未进行轨迹优化的基准算法提高了15.7%,比未进行功率控制的基准算法提高了159.8%。TPA与未加入最小通信时间约束的基准算法相比,在2种不同任务分布情况下,当无人机飞行周期大于70 s时,任务完成率平均提升44.6%和27.1%。     

Embedded context aware diagnosis for a UAV SoC platform

Autonomous Unmanned Aerial Vehicles (UAVs) operate under uncertain environmental conditions and can have to face unexpected obstacles, weather changes and sensor or hardware/software component failures. In such situations, the UAV must be able to detect and locate the failure and to take adequate recovery actions. In this paper, we focus on the Health Management of the system depending on the context of the mission. The task of this Health Management is to monitor the status of the system components based on observations from sensors and appearance contexts, and it is designed by means of Bayesian Networks arising from the Failure Mode and Effects Analysis. We jointly introduce a framework to generate embedded software and hardware implementations for online and real-time observations, which are demonstrated on a Hybrid CPU/FPGA Zynq platform.     

PASU: A personal area situation understanding system using wireless camera sensor networks

In this paper, we present a personal area situation understanding (PASU) system, a novel application of a smart device using wireless camera sensor networks. The portability of a PASU system makes it an attractive solution for monitoring and understanding the current situation of the personal area around a user. The PASU system allows its user to construct a 3D scene of the environment and view the scene from various vantage points for better understanding of the environment. The paper describes the architecture and implementation of the PASU system addressing limitations of wireless camera sensor networks, such as low bandwidth and limited computational capabilities. The capabilities of PASU are validated with extensive experiments. The PASU system demonstrates the potential of a portable system combining a smart device and a wireless camera sensor network for personal area monitoring and situation understanding.     

无人机载荷航拍控制系统设计

针对无人机(UAV)遥感航拍过程中相机载荷参数自动化控制与飞行航迹实时跟踪的问题,提出一种能自动完成相机载荷控制与航拍控制的设计方案.首先,系统根据实验要求实时获取所在地理位置信息及环境预判信息,再根据相机控制参数表进行参数编码;然后,通过通信口发送自定义协议指令集给硬件控制电路,完成相机载荷参数设置并进行拍摄,同时航迹规划软件实时记录飞行轨迹地理坐标信息.系统设计使硬件控制平台和软件数据处理相结合,实现软硬协同控制.经无人机飞行验证,与单一参数航拍控制模式相比,该系统能根据不同的拍摄环境和拍摄场景进行相机参数的自动化控制与飞行轨迹实施跟踪.     

无人机综合检测与仿真系统

针对无人机系统研制过程中测试及仿真验证的需求,设计了一种基于PowerPC硬件平台和VxWorks软件平台的无人机综合检测与仿真系统.该系统以仿真计算机为主体,在考虑综合检测与仿真两大功能需求的基础上,对其进行软硬件设计.本文从系统整体研制方案、硬件设计与实现、系统通信协议、软件设计与实现等4个方面具体阐述系统工作原理及设计思路.最后搭建了不同的应用环境对该系统进行测试和验证,通过数据分析证明了该系统的实用性,并将有效地提高无人机飞行控制系统的研制和开发效率.     

LANDING AN UNMANNED AIR VEHICLE: VISION BASED MOTION ESTIMATION AND NONLINEAR CONTROL

In this paper, we use computer vision as a feedback sensor in a control loop for landing an unmanned air vehicle (UAV) on a landing pad. The vision problem we address here is then a special case of the classic ego-motion estimation problem since all feature points lie on a planar surface (the landing pad). We study together the discrete and differential versions of the ego-motion estimation, in order to obtain both position and velocity of the UAV relative to the landing pad. After briefly reviewing existing algorithm for the discrete case, we present, in a unified geometric framework, a new estimation scheme for solving the differential case. We further show how the obtained algorithms enable the vision sensor to be placed in the feedback loop as a state observer for landing control. These algorithms are linear, numerically robust, and computationally inexpensive hence suitable for real-time implementation. We present a thorough performance evaluation of the motion estimation algorithms under varying levels of image measurement noise, altitudes of the camera above the landing pad, and different camera motions relative to the landing pad. A landing controller is then designed for a full dynamic model of the UAV. Using geometric nonlinear control theory, the dynamics of the UAV are decoupled into an inner system and outer system. The proposed control scheme is then based on the differential flatness of the outer system. For the overall closed-loop system, conditions are provided under which exponential stability can be guaranteed. In the closed-loop system, the controller is tightly coupled with the vision based state estimation and the only auxiliary sensor are accelerometers for measuring acceleration of the UAV. Finally, we show through simulation results that the designed vision-in-the-loop controller generates stable landing maneuvers even for large levels of image measurement noise. Experiments on a real UAV will be presented in future work.     

基于测距的无线传感器网络定位系统

主要研究了无线传感器网络(WSN)的定位算法,结合N-hop Multilateration定位算法,针对CrossBox公司的无线传感器网络节点开发了一个小型定位系统,在实现过程中结合TinyOS系统提供的底层组件对原算法进行了一些改进,最后实物实验表明所设计的定位系统的可行性。     

On-board and Ground Visual Pose Estimation Techniques for UAV Control

In this paper, two techniques to control UAVs (Unmanned Aerial Vehicles), based on visual information are presented. The first one is based on the detection and tracking of planar structures from an on-board camera, while the second one is based on the detection and 3D reconstruction of the position of the UAV based on an external camera system. Both strategies are tested with a VTOL (Vertical take-off and landing) UAV, and results show good behavior of the visual systems (precision in the estimation and frame rate) when estimating the helicopter??s position and using the extracted information to control the UAV.     

Design,implementation, and performance of an automatic configuration service for distributed component systems

Component technology promotes code reuse by enabling the construction of complex applications by assembling off‐the‐shelf components. However, components depend on certain characteristics of the environment in which they execute. They depend on other software components and on hardware resources. In existing component architectures, the application developer is left with the task of resolving those dependencies, i.e. making sure that each component has access to all the resources it needs and that all the required components are loaded. Nevertheless, according to encapsulation principles, developers should not be aware of the component internals. Thus, it may be difficult to find out what a component really needs. In complex systems, such as the ones found in modern distributed environments, this manual approach to dependency management can lead to disastrous results. Current systems rely heavily on manual configuration by users and system administrators. This is tolerable now, when users have to manage a few computers. But, in the near future, people will have to deal with thousands of computing devices and it will no longer be acceptable to require the user to configure each of them. This paper presents the results of our 6 year research (from 1998 to 2003) in the area of automatic configuration, describing an integrated architecture for managing dependencies in distributed component‐based systems. The architecture supports automatic configuration and dynamic resource management in distributed heterogeneous environments. We describe a concrete implementation of this architecture, present experimental results, and compare our approach to other works in the area. Copyright © 2005 John Wiley & Sons, Ltd.     

Unmanned aerial vehicles UAVs attitude,height, motion estimation and control using visual systems

This paper presents an implementation of an aircraft pose and motion estimator using visual systems as the principal sensor for controlling an Unmanned Aerial Vehicle (UAV) or as a redundant system for an Inertial Measure Unit (IMU) and gyros sensors. First, we explore the applications of the unified theory for central catadioptric cameras for attitude and heading estimation, explaining how the skyline is projected on the catadioptric image and how it is segmented and used to calculate the UAV’s attitude. Then we use appearance images to obtain a visual compass, and we calculate the relative rotation and heading of the aerial vehicle. Additionally, we show the use of a stereo system to calculate the aircraft height and to measure the UAV’s motion. Finally, we present a visual tracking system based on Fuzzy controllers working in both a UAV and a camera pan and tilt platform. Every part is tested using the UAV COLIBRI platform to validate the different approaches, which include comparison of the estimated data with the inertial values measured onboard the helicopter platform and the validation of the tracking schemes on real flights.     

民用小型无人机机载视频信号调理器的设计与实现

针对民用无人机研制周期短、系统成本低等特点,根据系统选用的低成本网络型视频数据采集卡,文章设计了一种基于嵌入式系统ARM7,即S3C44B0X为核心的视频信号调理器,通过对网络视频信号的软件处理,实现网络视频数据的无线传输;文章详细论述了视频调理器的设计思路,给出了硬件电路与软件的设计与实现;验证试验表明,该视频信号调理器设计合理,满足无线传输指标要求,可推广应用到其他工业控制系统中。