一种SDA数字滤波器的低功耗设计

SDA（Serial Distributed Arithmetic,SDA）数字滤波器具有速度快、结构规整等优点,广泛应用于数字信号处理器芯片级电路实现中.SDA在采样数据值位跳变频率比较高时,会导致很大的移位寄存器功耗,降低了SDA的性能、功耗比.研究SDA数字滤波器的低功耗设计,主要途径是通过一种优化阶符的二进制数据表示方式来表示采样数据,以达到减小采样数据值位跳变频率的目的,从而实现减小SDA数字滤波器的功耗.实验结果表明,本文研究的低功耗设计方法可有效减小SDA数字滤波器10%的功耗.     

通用计数器中的程控滤波器设计

本文介绍了一种程控数字滤波器。它可以彻底消除由噪声引起的寄生脉冲,现已成功地应用于通用计数器的设计中。同时,这种设计也可用于其它脉冲测量设备中。     

基于FPGA的程控滤波器设计与实现

设计一个由现场可编程门阵列(FPGA)控制的滤波器。该滤波器主要由3个模块组成:前置放大、滤波电路、FPGA显示与控制电路等利用FPGA作为放大器及程控滤波器电路中继电器组的控制模块,实现了可编程放大参数的设置以及低通和高通滤波截止频率的数字控制。基于FPGA技术,使得该系统具有抗干扰能力强,可靠性好等优点。对系统进行了测试,结果表明符合设计要求。     

C8051F020单片机的程控滤波器设计

本文设计了一个二阶程控滤波器。放大器增益可设置：低通、高通滤波器截止频率等参数可设置。     

一种半带滤波器的低功耗实现方法

半带滤波器常被用于实现数字变频中数字信号的2倍抽取过程。对于抽取半带滤波器的无乘法器实现结构,常使用移位相加代替乘法操作减少硬件资源的使用,利用多相分解技术降低整体滤波的运算量,降低硬件实现总体功耗。在此基础上进一步提出了一种低功耗的实现方法。通过Modelsim软件仿真验证功能正确后,最后由Design Complier软件的综合结果表明,与传统一般移位相加实现结构相比,所提出的结构有效地降低了半带滤波器的面积及功耗。     

低噪声低功耗3阶复数滤波器的设计

采用UMC 40 nm CMOS工艺,设计了 一款低噪声低功耗的3阶复数滤波器.利用FLFB(Follow-the-Leader-Feedback)结构良好的噪声特性,并以劳斯-霍尔维茨稳定性判据为理论依据,采用相位裕度仅为36.8°的运放,达到低噪声低功耗的优化 目的.仿真结果表明:滤波器的带宽可调范围为0.98～1...     

一种低频模拟量输入通道的程控电路

1 引言在设计对多路低频小幅值交变信号进行测量的智能仪表系统时,为减小测量误差,简化硬件结构,提高通用性及灵活性,有必要在输入通道中设置程控增益放大器和程控截止频率滤波器。目前市售程控放大器增益分档少(仅能按2~n进行增益分档),有时难以满足使用要求。本文给出一种由8031单片机控制,采用数模转     

MSP430的低功耗人体生理参数综合测量仪

本测量仪主要用于学校、医院、体检中心、部队等场所,目的是节约体检时的人力、物力、财力和体检时间,提高体检精度.测量仪采用MSP430系列单片机作为主控制器,用来测量身高、体重、肺活量、血压、心率等人体生理参数.测量结果可通过LCD直观显示出来,并通过打印机接口传送到微型热敏打印机直接打印.实验结果表明,该测量仪具有高精度、宽量程、低功耗、使用简单可靠、各生理参数测量一体化等特点.     

可编程开关电容滤波器时钟产生电路的程控调节

开关电容滤波器是目前在测控和通讯领域应用越来越广泛的一类单片集成器件。本文针对使用可编程开关电容滤波器过程中出现的时钟产生电路的程控调节问题 ,通过理论分析和实验研究提出了一个以MAX0 38为核心的宽带可程控调节的频率合成器。     

基于边缘检测和图像分割的超声诊断机器人控制系统设计

传统的超声诊断机器人控制系统数据接收量小,控制有效率低,为了解决上述问题,基于边缘检测和图像分割研究了一种新的超声诊断机器人控制系统,系统设计硬件设计部分将硬件理论划分为四个模块进行操作,首先利用RFM63系列无线通信模块加大对数据信息的初步连接力度,提升获取信息的准确性,接着选取角度传感器改善控制系统内部传感角度,为系统操作增加有利信息,利用性能较好的陀螺仪与加速度计对数据进行控制处理,优化传统控制系统,增强数据传导与传输性能,最后选择相应的微控制器进行系统核心控制,以此完成系统硬件设计操作,并在硬件设计的基础上对系统软件进行处理,掌控数据基本信息,同时根据不同的数据控制需求加大数据操控,简便程序设计步骤,缩减系统运行时间,提升控制效率,进而获取效果更佳的软件设计操作。实验结果表明,给出的系统数据接收量平均提高了15.21%,控制有效率增强了22.52%,该设计能够获取较为精准的数据信息,缩减了控制系统的操控时间,减少投入消耗,具备更好的发展前景。     

基于SPCE061A单片机移动机器人导航系统硬件设计

采用了凌阳公司所生产的一款SPCE061A单片机和超声波测距模组结合,分别在移动机器人的前方、左侧、右侧安装超声波测距传感器,来实现对移动机器人周围环境的探测.着重给出该导航系统的硬件设计与实现,同时将搭建的硬件系统应用于未知环境下进行实时探测,从而验证系统的完整性、有效性.     

Real-Time Updating of 2D Map for Autonomous Robot Locomotion Based on Distinction Between Static and Semi-Static Objects

Autonomous mobile robots are increasingly being used in complex 2D environments such as factories, warehouses, and offices. For such environments, we propose a real-time technique for updating an environmental map for a robot’s self-localization using a bearing-range sensor in situations where a basis map can be preliminarily prepared. These environments include many semi-static objects such as cardboard boxes, and the locations of these objects change frequently. Therefore, the self-localization needs to reflect the changes in both the existence and position of semi-static objects in the map in real-time. However, if the robot uses a traditional technique that updates all objects and if it keeps updating the map for a long period, static objects such as walls will move slightly on the map due to errors of both measurement and self-localization, and the map will be distorted. Therefore, our technique distinguishes between static and semi-static objects on the map, and it defines the changeability of the occupancy probability of every spatial grid in order to update the map without changing the occupancy probabilities of grids around static objects. By doing so, we prevented the map from being distorted. In addition, by estimating the grids’ statuses during two observations of the same grids and by changing the probabilities of the objects’ fixedness based on the statuses, our technique can robustly distinguish the objects on the map even if the timing of observing grids is irregular.     

移动机器人的多传感器测距系统设计

在移动机器人的路径规划过程中,必须掌握障碍物的距离信息.基于超声波和红外传感器的测距原理,设计了一种移动机器人多传感器测距系统,可测量0～200 cm距离内存在的障碍物,测量误差小于1 %.采用超声波和红外2种传感器组成3组测距采集系统,采集机器人3个不同方位的障碍物信息,解决了单一传感器测距盲区的问题,并详细介绍了该系统的软件和硬件设计.     

Map segmentation for simultaneous localization and mapping in ruins

The distribution of environmental features of the internal ruins which are formed by a randomly seismic disaster is unpredictable. Therefore, the existing methods of map segmentation, which need to preset parameters, cannot be directly used. Considering the lack of prior knowledge, a map segmentation method based on the spectral clustering is proposed in the framework of hierarchical simultaneous localization and mapping (SLAM) algorithm. The method solves the problem of incremental complexity of SLAM algorithm using the division of environment. In accordance with the similarity of observed environment, a weighted graph is established. The nodes in the graph are generated by measuring the expected information gain and position redundancy. Then, the graph is partitioned into subjective results of map segment based on the criterion of minimum normalized cut. On the basis of the inherent sparse of SLAM, the proposed algorithm not only reduces the cost of calculation, but also minimizes the loss of information in order to ensure the global consistency. Finally, the feasibility and effectiveness of the algorithm are verified by simulation and experiment.     

基于ARM的移动机器人控制系统设计

该文主要介绍了基于ARM内核的S3C2410在移动机器人控制系统中的应用,通过传感器来感知外部环境信息,再通过路径规划做出决策进行运动。同时,为了让机器人能够更好地完成任务,可以使外部计算机与机器人进行无线通信,借助于外部计算机做出决策实现远程操作,增强了系统的实时性和可靠性,实现了机器人的精确实时控制。     

A Robust Regression Model for Simultaneous Localization and Mapping in Autonomous Mobile Robot

Segment-based maps as sub-class of feature-based mapping have been widely applied in simultaneous localization and map building (SLAM) in autonomous mobile robots. In this paper, a robust regression model is proposed for segment extraction in static and dynamic environments. We adopt the MM-estimate to consider the noise of sensor data and the outliers that correspond to dynamic objects such as the people in motion. MM-estimates are interesting as they combine high efficiency and high breakdown point in a simple and intuitive way. Under the usual regularity conditions, including symmetric distribution of the errors, these estimates are strongly consistent and asymptotically normal. This robust regression technique is integrated with the extended Kalman filter (EKF) to build a consistent and globally accurate map. The EKF is used to estimate the pose of the robot and state of the segment feature. The underpinning experimental results that have been carried out in static and dynamic environments illustrate the performance of the proposed segment extraction method.     

Edge, Shade and Mixed Range Detection by Fuzzy Gaussian Filter for an Autonomous Robot

Extraction of edge, shade and mixed ranges are the first stage in the process of image understanding. This paper highlights the difficulties for a mobile robot to find out these features from a video stream of images transmitted from the robot. As the robot moves through the uneven lighting condition in its surrounding, the image quality differs from point to point. The paper proposes a recursive formulation of fuzzy Gaussian filter, by varying its parameters, i.e., window size and value to get the dominant features of the online video images. The method has been implemented on a client machine for the video images transmitted by the mobile robot Pioneer DX-2. The result shows that the method is suitable for the online images taken in varying lighting conditions.     

温室移动机器人复合栅格地图构建方法研究

针对温室环境中机器人依靠自身携带的传感器无法获取全面的环境信息,从而常导致路径规划错误的问题,提出了一种结合外部传感器系统获取温室环境信息,构建复合栅格地图的方法。首先,利用无线传感器网络定时采集对机器人通过性有影响的温度、湿度环境信息,并发送给机器人;其次,当温度或湿度数据的变化率达到设定阈值时,机器人利用阈值分割和插值法分别建立温度和湿度栅格地图;最后,将温度栅格地图、湿度栅格地图和室内障碍物物栅格地图相结合,构建动态更新的复合栅格地图。经测试,采用常规A*算法规划路径时,基于环境数据变化率阈值设定为±10%的复合栅格地图的成功率和完成时间,分别是基于普通栅格地图成功率的2.5倍,和1.05倍。结果表明,复合栅格地图能提高路径规划的成功率,并且不会由于动态更新复合栅格地图,导致机器人响应时间明显增加,实时性能满足系统的实际需求。     

电子系统设计的低功耗技术

根据电子系统的设计实践,分析了低功耗系统设计时要考虑的因素,并以广泛使用的ＭＣＳ－５１系列单片机的低耗系统的设计为例进行介绍。给出了一种电源控制电路部分的实现方案及系统低功耗控制程序的设计思路。