Telerobot-enabled HUB-CI model for collaborative lifecycle management of design and prototyping

The HUB-CI model is investigated in a telerobotic system in a client/server network to manage the lifecycle of engineering design and prototyping. The purpose of this platform is to support collaborative engineering design and proof of concept to enhance distributed team collaboration and resource utilization. The suggested platform is exemplified in two collaboration support tools and a physical prototyping platform. Structured Co-Insight Management is developed to support innovative idea exchanges and the consensus decision-making during the design process. Conflict/error detection management helps preventing conflicts and errors during the lifecycle of design and development. Physical collaboration over the network occurs when a team controls the telerobot operation during prototyping and testing in design cycles. A pilot system is implemented with a group project for the design of an electronic circuit (including both hardware and software designs). The functional assessment method is used to compare this platform to other collaborative design tools. The system presented offers unique qualitative advantages as an integrated collaboration support system.     

Exploring approaches to improve the performance of autonomous monitoring with imperfect data in location-aware wireless sensor networks

In recent years, information and sensing technologies have been applied to the construction industry to collect and provide rich information to facilitate decision making processes. One of the applications is using location data to support autonomous crane safety monitoring (e.g., collision avoidance and dangerous areas control). Several location-aware wireless technologies such as GPS (Global Positioning System), RFID (Radio-frequency identification), and Ultra-Wide Band sensors, have been proposed to provide location information for autonomous safety monitoring. However, previous studies indicated that imperfections (errors, uncertainty, and inconsistency) exist in the data collected from those sensors and the data imperfections have great impacts on autonomous safety monitoring system performance. This paper explores five computationally light-weight approaches to deal with the data imperfections, aiming to improve the system performance. The authors built a scaled autonomous crane safety monitoring testbed with a mounted localization system to collect location data and developed five representative test cases based on a live construction jobsite. Seven hundred and sixty location readings were collected at thirty-eight test points from the sensors. Those location data was fed into the reasoning mechanisms with five approaches to generate the safety decisions at those thirty-eight test points and evaluate system performance in terms of precision, recall and accuracy. The results indicate that system performance can be improved if at least ten position readings from sensors can be collected at small intervals at any location along the moving path. However, by including additional data such as velocity and acceleration that may be read from devices mounted on workers, localization error may be significantly reduced. These findings represent a path forward to improve localization accuracy by mixing imperfect data from the sensed environment with supplemental input.     

基于多圈电位器的云台控制系统设计

大多数云台不需要定位控制,但有些特殊的场合其监控需要云台的定位控制。定位是机电设备常用控制方式,大多采用开机复位的方式,即设备断电即失去了位置信号,通过上电复位来重新定义位置。另一种就是通过绝对值编码器来定义位置,但是其价格颇高。笔者提出用电位器替代绝对值编码器,用于在精度要求不是特别高的场合,是一种经济的定位方式。采用多圈一体化开度定位装置,即传感器（电位器）、电机和控制器集成在一起,很好地解决了结构问题,使得装置的使用变得非常方便。该多圈一体化开度控制器（专利号：ZL 201420123207.3）,可用于监控云台的定位等的控制。     

A quantitative feedback solution to the multivariable tracking error problem

This paper introduces a novel solution for the multi‐input multi‐output (MIMO) quantitative feedback theory control design problem with tracking error specifications. Looking for a minimum controller overdesign, the technique finds new controller quantitative feedback theory bounds based on necessary and sufficient conditions for the existence of suitable associated prefilter matrix elements. It improves previous approaches to the subject and includes (i) the possibility of a free selection of the nominal plant, (ii) a less conservative application of the Schwartz inequality to decisively reduce the potential controller overdesign, (iii) a methodology to design independently the elements of the prefilter matrix, and (iv) a scope of application to both sequential and nonsequential MIMO controller design methods. The benefits of the new control design technique are illustrated by means of two examples. The first one, a standard 2 × 2 MIMO problem, is provided for comparison purposes with previous approaches. The second example, included as a major control challenge, deals with a well‐known demanding distillation column benchmark problem. Copyright © 2013 John Wiley & Sons, Ltd.     

一种多参数优化的联合信源信道编码方法*

针对JPEG2000码流的渐进传输特性,提出了一种多参数优化的联合信源信道编码方法,即MPO-JSCC。在码率分配的基础上,动态地选择Turbo码交织长度、迭代译码次数,通过优化编码器多个参数更好地执行不等差错保护策略,同时加入JPEG2000容错工具,在接收端利用错误掩藏机制以提高图像解码成功率。将该方法应用于噪声信道的图像传输系统中,仿真结果表明,MPO-JSCC既能在不增加系统复杂度及延迟时间的同时提高重建图像的质量,又能节省系统发射功率,具有一定的现实指导意义。     

有限体积法求解立体角离散误差

为解决采用有限体积法求解辐射传输方程时引起离散误差的问题,从有限体积法立体角内热流密度的求解过程出发,运用泰勒级数推导了近似误差的表达式,并分析影响离散误差的各种因素,包括离散射线数,辐射强度分布,假散射及网格比.根据分析结果,采用辐射强度的连续分布模型,模拟了各种因素对误差的影响.结果表明,辐射强度的分布函数对于有限体积法的离散误差有一定程度影响.当增加网格数及减小网格尺寸比时,可以有效地减小离散误差.假散射与离散误差间呈较强的非线性耦合关系.     

一种故障管理系统的层次化结构设计*

基于故障管理基本原理,提出了一种故障管理系统的层次化结构设计方案,分析了该层次化结构的基本特征,并研究了该结构在高端服务器上的实现技术。实际应用表明,该结构具有可行性,基于该结构实现的故障管理系统可较好地提高服务器可靠性。     

异步脑—机接口的空闲状态检测新方法*

提出一种新的空闲状态检测方法,以训练集中各类运动想象样本的类内散度和正确检测率为指标,结合接收机曲线确定分类阈值,设计最佳三分类器,并采用模糊化技术对预测标签进行处理。将该方法应用于2005年BCI竞赛数据IVc,测试的均方误差为0.278 7。实验结果验证了该方法的有效性。     

无定位图的预测误差差值扩展可逆数据隐藏*

将Tian差值扩展技术应用于彩色图像中,提出一种利用预测误差差值进行扩展嵌入的彩色图像可逆数据隐藏算法。针对传统差值扩展技术存在过分修改像素灰度值、须嵌入定位图等缺点,首先利用色彩分量间的相关性减小差值,并将差值扩展量分散到两个色彩分量中;其次,对直方图平移技术进行改进,使得同等嵌入率下图像质量达到最佳;最后由两个色彩分量中像素的预测值之和决定可用于扩展嵌入的像素,无须保存溢出定位图,提取端在提取信息时可无损地恢复原始图像。实验结果表明,与其他算法相比,该算法在同等嵌入率下可取得更好的图像质量,算法复杂度     

The design and analysis of unequal error protection fountain coding for multiple source networks over binary erasure channels

A novel network model of multiple source fountain coding is developed and a novel class of generic multiple source fountain codes with unequal error protection(UEP)property is proposed.The And–Or tree analysis technique is generalized to analyze the asymptotic performance of the proposed codes and a joint optimization method employing both linear and nonlinear programs is developed to optimize the degree distributions.Furthermore,we propose three basic methods to achieve UEP property and the performance of each method is discussed.We employ these analytical results and optimization method to design and discuss several UEP codes with two and four sources for different application scenarios.Simulation results verify that the proposed codes can be applied to the networks with any number of sources and can provide strong UEP property in various ways based on the proposed three basic methods.