The low-cost polarization reconfigurable phased array based on high-precision full 360° phase shifter

In this article, to adapt the various polarization of user terminal, a 1 × 4 C-band high-integrated polarization reconfiguration phased array based on phase shifter matrix is presented. The phased array combined with polarization reconfiguration antenna elements exhibits the desired beamforming patterns and achieves beam polarization reconfiguration simultaneously. Based on the technique of the shunted microstrip open-stub and equalizing resistor, a high-precision reflection-type phase shifter with full 360° continuous phase tuning range is designed for this phased array in this article. The prototype of the polarization reconfiguration phased array is designed and fabricated. Measured results show that proposed phased array works at 5.8 GHz and achieves 21.4% (1.2 GHz) impedance bandwidth and 14.3% (800 MHz) 3 dB axial ratio bandwidth. The beam coverage range at 5.8 GHz is more than 64° with 0.2° beam steering resolution.     

结构化控制流程图（N－S图）的改进与模块化程序设计图的设想

本文简要回顾了结构化程序设计和Ｎ－Ｓ图的产生,不难看出：Ｎ－Ｓ图是应结构化程序设计的需要而产生的。近年来模块化结构化程序设计思想有了新的发展,本文正是为了适应新的情况,在反复推敲与使用的基础上,第一,提出了结构化控制流程图的改进方案,它比Ｎ－Ｓ图有更高的集成度,表示能力更强,使得用图形表示算法更方便;第二,提出了各种模块图的方案,它可以使模块化程序设计图形化,合起来就构成了一套完整的模块化结构化程序设计盒图系统,简称ＭＳ图。     

仿生学在人工肌肉研究中的应用

本文从仿生学的角度出发，提出一种仿生物肌肉驱动性能的磁性橡胶人工肌肉，并对其结构和特点进行了分析。     

视觉里程计算法研究综述

视觉里程计通过分析相机所获取的图像流信息估计移动机器人的位姿。为了深入分析视觉里程计算法的发展现状,结合一些先进的视觉里程计系统,综述了视觉里程计的相关技术以及最新的研究成果。首先简述了视觉里程计的概念和发展历程,介绍了视觉里程计问题的数学描述和分类方法;然后,详细阐述了视觉里程计的关键技术,包括特征模块、帧间位姿估计和减少漂移;此外,还介绍了基于深度学习的视觉里程计的发展动态。最后,总结了视觉里程计目前存在的问题,展望了未来的发展趋势。     

An autonomous mobile robot with a 3D laser range finder for 3D exploration and digitalization of indoor environments

Digital 3D models of the environment are needed in rescue and inspection robotics, facility managements and architecture. This paper presents an automatic system for gaging and digitalization of 3D indoor environments. It consists of an autonomous mobile robot, a reliable 3D laser range finder and three elaborated software modules. The first module, a fast variant of the Iterative Closest Points algorithm, registers the 3D scans in a common coordinate system and relocalizes the robot. The second module, a next best view planner, computes the next nominal pose based on the acquired 3D data while avoiding complicated obstacles. The third module, a closed-loop and globally stable motor controller, navigates the mobile robot to a nominal pose on the base of odometry and avoids collisions with dynamical obstacles. The 3D laser range finder acquires a 3D scan at this pose. The proposed method allows one to digitalize large indoor environments fast and reliably without any intervention and solves the SLAM problem. The results of two 3D digitalization experiments are presented using a fast octree-based visualization method.     

Survey of Intelligent Control Techniques for Humanoid Robots

This paper focusses on the application of intelligent control techniques (neural networks, fuzzy logic and genetic algorithms) and their hybrid forms (neuro-fuzzy networks, neuro-genetic and fuzzy-genetic algorithms) in the area of humanoid robotic systems. It represents an attempt to cover the basic principles and concepts of intelligent control in humanoid robotics, with an outline of a number of recent algorithms used in advanced control of humanoid robots. Overall, this survey covers a broad selection of examples that will serve to demonstrate the advantages and disadvantages of the application of intelligent control techniques.     

一种复杂环境下移动机器人避障新方法

为解决基于传统人工势场法的机器人避障算法在陷阱区域或在障碍物前会产生震荡而导致机器人不能到达目标点的问题,提出一种带记忆功能的沿边法;通过记录和分析障碍物边缘人工势场法的局部最小点来判断目标点是否被障碍物包围,从而避免机器人来回震荡以及围着目标点旋转的现象;首先进行沿边行为激活和退出条件研究,然后进行局部最小点记录条件分析,最后给出了目标点被障碍物包围的判断准则;仿真实验,结果表明该方法解决了复杂环境下机器人的避障问题;该方法用于复杂环境下的机器人避障是可行的、有效的.     

基于Modular网络和EM-SFM算法的模糊Sugeno模型

基于Modular网络重新解释了广为使用的模糊Sugeno模型。随后,EM算法,提出了该模型的新算法EM－SFM。证明了该算法的线性收敛法,分析了它的收敛速度。     

一种改进的Montgomery大数模乘器

文中针对Montgomery模乘算法进行了分析和改进,采用了一种理想的适合于硬件实现的Montgomery算法。根据此算法提出了一种新的脉动阵列结构,有效降低了芯片的面积,提高了模乘的运算速度。基于CMOS的0.6um工艺下,模乘器VLSI实现共用9k个等效门,最高工作时钟频率可达100MHz,完成1024位Montgomery模乘约需4295个时钟周期。     

模块化可变形机器人控制系统设计与变形方法研究

介绍了模块化可变形机器人控制系统的整体结构．控制系统的硬件和软件均采用了模块化结构的设计,增强了整个系统的可扩展性和容错性．针对该机器人的机构特点提出了一种新的变形方法——协同变形法．实验验证了控制系统的有效性和协同变形法的优越性．