基于切向莫尔条纹的地磁传感器

根据光电器件在一定范围内对莫尔条纹透光量的变化和各个单栅线位置误差互相补偿的原理 ,设计了基于切向莫尔条纹和钕—铁硼磁针的高准确度地磁传感器     

莫尔条纹信号在精密检测与定位中的应用

介绍了一种基于莫尔条纹信号的精密检测定位系统。系统以工业控制计算机为核心 ,采用差动莫尔技术 ,进行高精度检测及自动定位 ,具有抗干扰能力强 ,检测灵敏度高等特点。实验结果表明精密定位装置可达± 0 .1μm的定位精度 ,对集成电路制造技术等精密加工工程领域具有重要的实用价值     

CORDIC算法在光栅莫尔条纹细分中的应用

目前光栅莫尔条纹细分技术在数控机床、超精加工、精密仪器等领域得到了广泛的应用.考虑到光栅细分系统的精度、速度和抗干扰能力等多方面指标,提出了一种新的莫尔条纹细分技术,并通过CORDIC算法对不足一个周期的正弦信号进行细分,直接提取相位信息.光栅细分系统将CORDIC算法应用于FPGA中,能够对莫尔信号进行很好的细分处理,满足高精度的要求,实验结果验证了其正确性及可行性.     

数字化细分方法在光栅码盘测角系统中的应用

介绍一种采用数字化细分方法设计的光栅码盘测角系统，详细描述了系统应用的软、硬件技术。     

传动链动态测试系统

传动链动态测试系统采用“传动测试及精密定位技术”，对传动链传动误差进行动态检测。以位移检测为基本检测对象，应用嵌入式微机技术和高速A／D变换技术，采用测量细分方法对正弦波光栅传感器的信号进行了200倍以上细分和辩向，并实时地跟踪光栅莫尔信号幅值的变化，最大限度地消除了莫尔信号幅值变化所产生的细分误差。     

协同进化算法在散斑条纹角点识别中的应用

介绍激光散斑干涉位移测量原理以及基于该测量方法的重定位系统,提出用于识别条纹信息的协同进化算法。采用线性降维法大幅降低搜索难度,并详细研究针对条纹角点协同算法的亲和度计算、抗体浓度控制和克隆选择、交叉及变异操作等方法。该算法可实时精确提取条纹中心线,并识别条纹数、条距和条角信息。研究表明将上述测量信息应用于移动控制平台,能够满足高精度重定位要求。     

小波分析在微重量动态称重中的应用研究

论述了小波分析在微重量动态称重信号降噪中的应用。主要分析如何引入小波变换理论,并通过小波去除微重量动态称重信号中的噪声。阐述了小波分析去噪及其相对FFT除噪方法的优势。结果表明,用小波变换处理含噪信号,具有明显效果。     

DDS技术在相位式激光测距中的应用

为提高相位式激光测距中测量距离的精度性及保证光波调制信号的频率和相位稳定性,提出了采用直接数字合成技术(director digital synthesis,DDS)代替传统的锁相式频率合成法,产生频率和相位稳定性高的正弦信号,从而保证测量精度的方案和实践.采用具有分辨率高、频率转换快的DDS技术的芯片AD9850,通过设计相应的电路,程序和低通滤波来实现正弦信号源.实验结果表明,AD9850产生的正弦信号较好地解决了频率漂移和相位抖动等问题.     

函数式语言并行处理中的动态调度问题的探讨

在本文中我们主要讨论了函数式语言在多处理机系统中并行处理时的动态调度问题。首先,我们分折了两种不同的调度模型:负载均衡和负载分享的优、缺点,以及相应的几种算法。最后我们基于负载分享模型提出了我们的算法,通过模拟测试表明我们的算法具有较好的性能,有良好的实用价值。     

动态总方差及其在陀螺振动信号分析中的应用

动态Allan方差是分析动态环境下陀螺仪随机误差变化规律的一种新方法。针对其运用窗函数截取信号导致方差估计值置信度降低,尤其是长相关时间上估计误差大的问题,提出了动态总方差法。用矩形窗分段截取陀螺仪量测信号,再对截断窗内数据进行倒像映射延拓以增加方差估计的实际自由度,最后计算延拓后样本的Allan方差并提取其噪声系数,将其按时间顺序分别以三维和二维的形式表征出来,以细化和辨识陀螺输出的动态特性。从对半球谐振陀螺线振动试验实测数据处理结果来看,新算法不仅能及时跟踪信号的非平稳变化,而且有效提高了振动信号方差估计值的置信度。     

A scan restoration method for robust polar scan matching in dynamic environments

This paper addresses the problem of scan matching which is highly indispensable for mobile robot systems based on range sensors. Recently, polar scan matching (PSM) has been used in solving the problem because it is accurate and fast enough to be performed in real time. However, the performance of PSM degenerates when the portion of scan data from dynamic objects is excessively large. This paper proposes a scan restoration method to overcome this problem and improve the performance of PSM in dynamic environments. The proposed method restores the scan data from dynamic objects to appropriate scan data from static objects. First, whole scan data is segmented and classified as static and dynamic objects. Next, curvature functions are extracted from the classified segments and smoothed by interpolating the segments indicating dynamic obstacles. PSM with the proposed method was tested and evaluated in various real dynamic environments, which reveals that the proposed method can improve the performance of PSM in dynamic environments.     

导流式防风抑尘网的数值模拟

应用CFD模拟软件Fluent对开孔率为40%的新型防风网前后流场进行了模拟,考察了无导流板和单一角度、交错角度及渐进角度3种形式的导流板对防风网后物料堆表面速度、压力和湍动能变化的影响。模拟结果表明:导流板可使渗流风上扬,减弱了对料堆迎风面的冲击力,改善了抑尘效果;与其他导流板形式相比较,渐进角度式消除了网堆之间速度回流区的影响,具有更好的导流、整流作用,保证了网后流场的稳定性,抑尘效果明显提高。     

Omnidirectional vision scan matching for robot localization in dynamic environments

The localization problem for an autonomous robot moving in a known environment is a well-studied problem which has seen many elegant solutions. Robot localization in a dynamic environment populated by several moving obstacles, however, is still a challenge for research. In this paper, we use an omnidirectional camera mounted on a mobile robot to perform a sort of scan matching. The omnidirectional vision system finds the distances of the closest color transitions in the environment, mimicking the way laser rangefinders detect the closest obstacles. The similarity of our sensor with classical rangefinders allows the use of practically unmodified Monte Carlo algorithms, with the additional advantage of being able to easily detect occlusions caused by moving obstacles. The proposed system was initially implemented in the RoboCup Middle-Size domain, but the experiments we present in this paper prove it to be valid in a general indoor environment with natural color transitions. We present localization experiments both in the RoboCup environment and in an unmodified office environment. In addition, we assessed the robustness of the system to sensor occlusions caused by other moving robots. The localization system runs in real-time on low-cost hardware.     

White laser, synced scan [3D scanner]

A 3-D scanner that employs white laser light and yields high-resolution data in files small enough to be handled on a graphics desktop or readily communicated using a modem is discussed. At its heart is a synchronized sensing system that frees up the axis in the data file. The resulting independent depth of field makes it possible to adapt the scanner to a variety of industrial and scientific applications. Because the pixels registered on the CCD camera are used for z coordinates only, the camera can extract more resolution. The system also reduces distortion from shadows and ambient light     

基于光源扫描的三角法位移测量方法

对激光三角法测量位移的几种光路布局方案及其特点进行了比较,在此基础上,提出了一种新的基于光源扫描的三角法激光位移测量方法,阐述了激光三角法测量原理,并设计了相应的测量系统,分析了影响系统精度的因素。理论分析可知,该系统的测量分辨力可达到1.5×10-5m。实验结果表明:此系统有很强的实用性,测量范围为0mm~10m,适用于工业生产。     

基于激光莫尔信号精密定位装置的高速高精度定位控制

介绍了激光干涉莫尔信号差动式精密定位方法，提出了精密定位装置的粗控和微控两段式控制方式。扩大了装置的定位控制范围，又有效地缩短精密定位时间。实现装置宽控制范围的高速高精度控制。     

Robust and adaptive control of a beam deflector

A DC-motor driven beam-deflector is to be controlled such that the beam moves with constant velocity for 12 ms out of a 20-ms period before swinging back to the original position. One control system must serve any deflector without retuning. The problem is difficult because the dynamics vary from one deflector to another. It is found that a closed-loop system with poles in a Bessel filter configuration will satisfy the specifications. A straightforward pole-placement design is insufficiently robust. Redesigning it yields greater, but still insufficient, robustness against the known extent of plant parameter variation. The problem is solved by adding an adaptive control loop     

Segment inertial parameters of Korean adults estimated from three-dimensional body laser scan data

In this study, body segment parameters of Korean adults were estimated using the three-dimensional (3D) body scan data from the SizeKorea database. Mass-inertial parameters and segment dimensions of 40 male subjects and 40 female subjects (18-59 years old) were estimated using a 16-segment model under the assumption that each segment has a constant density distribution after reconstructing the scan data. Therefore, several sets of linear regression functions based on gender, stature, and weight were established, which provided a convenient method for estimating body segment parameters of Korean adults. The obtained mass ratios of body segments were compared with those for Russians reported by Zatsiorsky and Seluyanov (1983) and for those for Chinese and Germans reported by Shan and Bohn (2003), in which the same 16-segment model was used. In addition, the results were compared with the Korean data results reported by [Jung, 1993] and [Lim, 1994], and Park et al. (1999). These comparisons revealed that Asians have larger head mass ratios and smaller lower limb mass ratios than Caucasians, while the differences in the head mass ratios between males and females from the same ethnic groups were not significant. Females were found to have larger mass ratios for the lower torso and smaller mass ratios for the upper torso, middle torso, upper arm, forearm, foot, and hand, as compared to males from the same ethnic groups. In addition, the data obtained by different researchers were compared, thereby showing high reproducibility of our method.

Relevance to industry

The obtained segment parameters can be used to define digital human models and applied to the fields of ergonomics and biomechanics, such as for workspace design, furniture design, vehicle interior design, and human movement analysis.