Adaptive fuzzy integral sliding mode velocity control for the cutting system of a trench cutter

This paper presents a velocity controller for the cutting system of a trench cutter (TC). The cutting velocity of a cutting system is affected by the unknown load characteristics of rock and soil. In addition, geological conditions vary with time. Due to the complex load characteristics of rock and soil, the cutting load torque of a cutter is related to the geological conditions and the feeding velocity of the cutter. Moreover, a cutter’s dynamic model is subjected to uncertainties with unknown effects on its function. In this study, to deal with the particular characteristics of a cutting system, a novel adaptive fuzzy integral sliding mode control (AFISMC) is designed for controlling cutting velocity. The model combines the robust characteristics of an integral sliding mode controller with the adaptive adjusting characteristics of an adaptive fuzzy controller. The AFISMC cutting velocity controller is synthesized using the backstepping technique. The stability of the whole system including the fuzzy inference system, integral sliding mode controller, and the cutting system is proven using the Lyapunov theory. Experiments have been conducted on a TC test bench with the AFISMC under different operating conditions. The experimental results demonstrate that the proposed AFISMC cutting velocity controller gives a superior and robust velocity tracking performance.     

嵌入式软件GUI自动化测试平台研究

为实现嵌入式软件的GUI自动化测试,对嵌入式软件GUI自动化测试现状深入分析,提出了一种无侵入式的GUI自动化测试框架,利用图像采集与信息识别技术实现测试用例结果判断;利用键盘鼠标模拟技术模拟测试用例执行的人机交互;利用脚本语言嵌入技术实现用例编辑与转换、利用嵌入式软件GUI测试自动化控制技术实现用例的自动驱动与执行;在此基础上,设计并研发了嵌入式软件GUI自动化测试平台,能够方便、有效地实现无侵入式的嵌入式GUI自动化测试.     

基于核电控制室设计中的HFE V&V应用技术研究

核电厂在国家能源领域有着不可替代的作用,然而在核电控制领域的应用中,核安全是核电厂生存的命脉,对保障和提高核电控制室设计的可靠性与安全性,采用核电HFE V&V技术提高核电控制室设计的安全系数,能够为核电设备的高效安全作业提供切实保障。     

计算机网络至物联网

从计算机网络到目前的物联网,网络形式发生了变化。从因特网发展中面临的问题,提出物联网对计算机网络及因特网的改进。论述计算机网络、因特网、物联网各自的发展对社会生活产生的影响,分析三者之间的辩证关系。提出物联网发展中需要解决的问题。     

基于Android的安防视频监控系统

安防监控是未来智慧城市的重要发展方向之一,基于Android的视频监控使安防应用更为便捷、智能。本系统采用高性能的ARM Cortex-A8处理器,在Android系统之上构建了一个安防视频监控系统。采用Android底层的Linux内核驱动实现视频数据的采集,并通过移植x264和JRTPLIB库实现了视频数据的H．264编码和RTP协议传输,保证了视频监控具有较好的实时性和可靠性。     

海量数据处理器MPC860T的DSP阵列设计

现代通信的数据量日益增加,数据处理的复杂度也日益加强,如何有效处理这些海量数据,是目前研究的难点,基于DSP阵列的数据处理系统是解决这些问题的有效方法。本文选用TI公司的TMS320C6713浮点型数字信号处理器以及Freescale公司的MPC860T通用通信处理器,设计了16颗浮点型DSP阵列来完成海量数据实时处理。详细介绍了该系统的DSP阵列的管理,包括复位、HPI数据管理通道设计。通过测试和实际应用验证,该系统不仅满足性能上的要求,还是一个通用的数据采集和处理平台。     

Perception of Hand Force in Power Grip for Females

Borg's rating of perceived exertion (RPE) and category ratio (CR‐10) scales are commonly used to quantify perceived muscular exertion for body segments. Twenty females participated in an experiment to study the power grip force at four perceived exertion levels using either dominant or nondominant hand under two posture conditions. It was found that the subjects tended to apply a higher power grip force (100% of perceived maximum voluntary contraction) than the levels they were requested to apply. The power grip forces between dominant and nondominant hands at low hand exertion levels were negligible. The grip forces between the two hands were significantly different when the exertion level was nearly maximal. Linear regression models were established for the subjects to link the relationship between the perceived hand exertion and measured grip force, hand used, and hand/arm posture. All the models were statistically significant (p < 0.0001) with R² values 0.97 or higher. These models provided better estimates in perceived hand exertion for dominant hand than for nondominant hand. A follow‐up experiment was conducted to measure the subjective rating of both the CR‐10 and RPE when a 98 N grip force was applied. It was found that the subjects reported higher exertion levels when they were using the CR‐10 scale than when they were using the RPE scale. © 2011 Wiley Periodicals, Inc.     

Skeleton-based intrinsic symmetry detection on point clouds

We present a skeleton-based algorithm for intrinsic symmetry detection on imperfect 3D point cloud data. The data imperfections such as noise and incompleteness make it difficult to reliably compute geodesic distances, which play essential roles in existing intrinsic symmetry detection algorithms. In this paper, we leverage recent advances in curve skeleton extraction from point clouds for symmetry detection. Our method exploits the properties of curve skeletons, such as homotopy to the input shape, approximate isometry-invariance, and skeleton-to-surface mapping, for the detection task. Starting from a curve skeleton extracted from an input point cloud, we first compute symmetry electors, each of which is composed of a set of skeleton node pairs pruned with a cascade of symmetry filters. The electors are used to vote for symmetric node pairs indicating the symmetry map on the skeleton. A symmetry correspondence matrix (SCM) is constructed for the input point cloud through transferring the symmetry map from skeleton to point cloud. The final symmetry regions on the point cloud are detected via spectral analysis over the SCM. Experiments on raw point clouds, captured by a 3D scanner or the Microsoft Kinect, demonstrate the robustness of our algorithm. We also apply our method to repair incomplete scans based on the detected intrinsic symmetries.     

Performance modeling and analysis of message-oriented event-driven systems

Message-oriented event-driven systems are becoming increasingly ubiquitous in many industry domains including telecommunications, transportation and supply chain management. Applications in these areas typically have stringent requirements for performance and scalability. To guarantee adequate quality-of-service, systems must be subjected to a rigorous performance and scalability analysis before they are put into production. In this paper, we present a comprehensive modeling methodology for message-oriented event-driven systems in the context of a case study of a representative application in the supply chain management domain. The methodology, which is based on queueing Petri nets, provides a basis for performance analysis and capacity planning. We study a deployment of the SPECjms2007 standard benchmark on a leading commercial middleware platform. A detailed system model is built in a step-by-step fashion and then used to predict the system performance under various workload and configuration scenarios. After the case study, we present a set of generic performance modeling patterns that can be used as building blocks when modeling message-oriented event-driven systems. The results demonstrate the effectiveness, practicality and accuracy of the proposed modeling and prediction approach.