GPU加速的圆弧轨迹Katsevich锥束CT重建算法

通过改进GPU的渲染到纹理策略加速锥束反投影计算,提高了圆弧轨迹Katsevich锥束CT重建算法的执行效率.在CPU中完成投影数据的滤波处理,并将其重排为四通道浮点纹理载人GPU内存;绑定2个浮点输出纹理到帧缓冲对象的不同绑定点,用于将渲染结果输出到纹理,并同时完成反投影数据的累加计算;将矩形网格编码为四叉树结构用于加速物体切片的绘制.实验结果表明,文中算法在较大锥角时仍能重建出高质量图像,并获得接近于实时的重建速度.     

Spatial-temporal analysis of safety risks in trajectories of construction workers based on complex network theory

Understanding the traffic patterns of construction workers on high-risk construction sites is important for implementing behaviour-based safety management. However, safety risks in worker trajectories are a complex system with high uncertainty. This resulted in few studies focusing on analysing the spatial–temporal risk in workers' trajectories from a systematic perspective. This study designs a new framework to explore the spatial–temporal patterns of safety risks in the trajectories of construction workers based on complex network theory. First, an integrated site safety risk classification method by combining hazard sources and group trajectory distribution is developed to accurately describe the spatial distribution of site risks. Second, a new complex network chronnet is used to construct complex networks containing risk information for spatial–temporal analysis. Finally, key risk areas and risk transition patterns are identified through the analysis of network measures. The study also developed a computational program that allows the network to be constructed and analysed in real-time. The feasibility and effectiveness of the method are verified through a case study. The results show that the method can reveal the risk distribution at the micro level, and explore the risk clustering and transition features in worker trajectories at the macro level. The study allows for an accurate analysis of dynamic risk patterns in construction workers' trajectories from a systematic perspective. It can also provide theoretical and practical support for personalized and adaptive behaviour-based safety management for construction workers.     

Exploring the tidal effect of urban business district with large-scale human mobility data

Business districts are urban areas that have various functions for gathering people, such as work, consumption, leisure and entertainment. Due to the dynamic nature of business activities, there exists significant tidal effect on the boundary and functionality of business districts. Indeed, effectively analyzing the tidal patterns of business districts can benefit the economic and social development of a city. However, with the implicit and complex nature of business district evolution, it is non-trivial for existing works to support the fine-grained and timely analysis on the tidal effect of business districts. To this end, we propose a data-driven and multi-dimensional framework for dynamic business district analysis. Specifically, we use the large-scale human trajectory data in urban areas to dynamically detect and forecast the boundary changes of business districts in different time periods. Then, we detect and forecast the functional changes in business districts. Experimental results on real-world trajectory data clearly demonstrate the effectiveness of our framework on detecting and predicting the boundary and functionality change of business districts. Moreover, the analysis on practical business districts shows that our method can discover meaningful patterns and provide interesting insights into the dynamics of business districts. For example, the major functions of business districts will significantly change in different time periods in a day and the rate and magnitude of boundaries varies with the functional distribution of business districts.     

Model-based robust control design and experimental validation of collaborative industrial robot system with uncertainty

Based on the traditional PID control and robust control algorithm, a novel practical robust control method is designed for the 6-DOF collaborative industrial robot with uncertainty. The proposed algorithm consists of a robust term and a model-based PD control term, which we call MPDP controller. It is demonstrated by Lyapunov theoretical analysis that the algorithm is able to guarantee uniform boundedness and uniform ultimate boundedness of the system. Simulations and experiments show the good performance of MPDP control in a robot with smaller steady-state tracking errors and better robustness compared to PID controllers.     

应用差分GPS实现小麦精播机器人定位

应用差分GPS（Global Positioning System,全球定位系统）进行小麦精播机器人的定位,结合NI公司研发的Lab—view图形化编程软件开发了小麦精播机器人定位系统。首先分析了相对定位和绝对定位各种方法的优缺点;然后介绍了小麦精播机器人定位系统具体的工作流程,详细叙述了GPS数据的接收和提取、经纬度...     

Simultaneous algorithm for trajectory planning

This paper addresses the solution of smooth trajectory planning for industrial robots in environments with obstacles using a direct method, creating the trajectory gradually as the robot moves. The presented method deals with the uncertainties associated with the lack of knowledge of kinematic properties of intermediate via‐points since they are generated as the algorithm evolves looking for the solution. Several cost functions are also proposed, which use the time that has been calculated to guide the robot motion. The method has been applied successfully to a PUMA 560 robot and four operational parameters (execution time, computational time, distance travelled and number of configurations) have been computed to study the properties and influence of each cost function on the trajectory obtained. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Collision-free control of an omni-directional vehicle

This study addresses the problem of controlling an omni-directional vehicle with both state and control dependent constraints. The task of the vehicle is to attain its desired final position given in the task space. The control constraints resulting from the physical abilities of actuators driving the vehicle wheels are also taken into account during the robot movement. The problem of collision avoidance is solved here based on an exterior penalty function approach which results in smooth vehicle velocities near obstacles. Provided that, a solution to the aforementioned vehicle task exists, the Lyapunov stability theory is used to derive the control scheme. The numerical simulation results carried out for the omni-directional vehicle operating in both a constraint-free task space and task space including obstacles, illustrate the performance of the proposed controllers.     

桥式起重机精准定位在线轨迹规划方法设计及应用

针对工业桥式起重机的异步电机难以准确跟踪给定轨迹,从而导致离线轨迹规划算法定位误差很大的问题,论文提出一种基于相平面分析的在线轨迹规划算法.这种方法利用激光测距仪采集位置信息,在起重机运行过程中,根据台车与目标位置的距离来优化轨迹不同阶段的运行时间,并实时调整台车轨迹的有关参数,以实现台车精准定位的目标.实验结果表明,这种方法可以很好地兼顾负载快速消摆与台车准确定位两方面的要求,有利于提升桥式起重机的运送效率.论文将这种在线轨迹规划方法成功应用于标准32 t工业桥式起重机,并取得了良好的运行效果.     

Adaptive ILC algorithms of nonlinear continuous systems with non-parametric uncertainties for non-repetitive trajectory tracking

In this article, two adaptive iterative learning control (ILC) algorithms are presented for nonlinear continuous systems with non-parametric uncertainties. Unlike general ILC techniques, the proposed adaptive ILC algorithms allow that both the initial error at each iteration and the reference trajectory are iteration-varying in the ILC process, and can achieve non-repetitive trajectory tracking beyond a small initial time interval. Compared to the neural network or fuzzy system-based adaptive ILC schemes and the classical ILC methods, in which the number of iterative variables is generally larger than or equal to the number of control inputs, the first adaptive ILC algorithm proposed in this paper uses just two iterative variables, while the second even uses a single iterative variable provided that some bound information on system dynamics is known. As a result, the memory space in real-time ILC implementations is greatly reduced.     

基于傅里叶级数的小推力航天器快速轨迹设计

为了满足小推力航天器交会轨迹的快速性设计需求,基于形状逼近理论,设计了一种三维轨迹模型.将轨迹设计问题转换为求解傅里叶级数的系数问题,避免了轨迹运动方程非线性强、难以求解的难题,极大地提高了计算效率.考虑到推力加速度的限制,建立了加速度约束方程,并结合轨迹的运动方程,给出了傅里叶级数的求解过程.同时根据边界条件和最大推力加速度值,定性地分析了傅里叶系数的存在条件.仿真验证了该方法的正确性和可行性,并从计算效率上与高斯伪谱法进行了对比,结果表明本文的方法计算耗时仅为高斯伪谱法的0.67%.