基于能耗优化的六足机器人摆动腿轨迹规划

以六足机器人单腿为研究对象,研究机器人摆动腿轨迹规划问题.由于摆动要消耗能量,所以提出了一种基于能耗优化的轨迹规划方案.结合以D-H法建立的机器人单腿运动学模型和腿部位置、速度、加速度等约束,采用多项式插值法在关节空间对机器人摆动腿进行轨迹规划.在考虑直流电机有效功率和热损耗的基础上,通过遗传算法对非线性等式和不等式约束下的非线性规划问题进行求解.仿真结果表明,所设计的方案能有效降低摆动腿能量消耗并保证轨迹连续平滑.     

Design of a compact dual‐band folded‐waveguide bandpass filter using multilayer waveguide resonators

A novel compact dual‐band bandpass filter based on multilayer folded‐waveguide (FWG) structure is presented in this article.In this design, slots are used to realize direct coupling between adjacent resonators and apertures are adopted to implement cross coupling between non‐adjacent resonators.A new technique of external quality factor of FWG resonator and coupling coefficients between different resonators are studied using full‐wave simulator. In order to demonstrate the proposed technique, a four‐pole dual‐band bandpass filter is designed, fabricated and measured using vector network analyzer. Measurement results which are well agreed with simulation results are presented. Moreover, four‐pole substrate integrated folded waveguide SIFW dual‐band bandpass filter, using two layers of slotted folded waveguide resonators, is demonstrated. The proposed filter has a compact size and it is excellent candidate for the application of wireless communication systems. © 2015 Wiley Periodicals, Inc. Int J RF and Microwave CAE 25:780–788, 2015.     

A compact asymmetric slot dual band antenna fed by CPW for PCS and UWB applications

A compact slot antenna with an overall dimension of 30 × 30 × 1.6 mm³ is proposed for dual band applications. The radiating element is a hexagonal shape patch which protrudes from a Co‐Planar Waveguide (CPW) feed into a step shape slot. The slot is basically rectangular in shape and is extended by inserting rectangular cuts of different sizes on the ground plane around it. The ultrawide impedance bandwidth is achieved using asymmetric feed line along with extended rectangular cuts around the slot. For realizing the second band for personal communication system applications (near 1.9 GHz), a metallic stub of quarter wave length is attached at the top of the slot. The measured impedance bandwidth (for S₁₁ < ?10 dB) is 110 MHz (1.86–1.97 GHz) for the first band and 9 GHz (3.0–12.0 GHz) for the second band. The antenna is further characterized by omnidirectional radiation patterns in the H‐plane, dumb‐bell shape radiation patterns in the E‐plane and a peak gain of 3–5 dBi over the ultrawideband. All the measured results are found to be in good agreement with the simulated results. © 2014 Wiley Periodicals, Inc. Int J RF and Microwave CAE 25:243–254, 2015.     

油井监控系统传输层设备RTU的设计与实现

油井监控系统可实现对油井数据的实时采集、传输、显示与控制;文章首先提出了一种油井监控系统的分层结构方案;然后,重点介绍了传输层设备RTU (remote terminal unit)的硬件设计与软件开发;运用嵌入式开发技术,RTU采用ARM处理器作为核心控制器,选用Linux作为内嵌的操作系统;最后,对RTU应用程序的设计进行了描述;与其他监控系统相比,文章所设计的系统具有兼容性好、容易移植、接口丰富、易拓展的特点;并可支持IPv4/IPv6双栈协议,以适应下一代互联网技术在智慧油田的应用.     

A note on semidefinite relaxation for 0-1 quadratic knapsack problems

We investigate in this note solution properties of semidefinite programming (SDP) relaxation for 0-1 quadratic knapsack problem (QKP). In particular, we focus on the issue of uniqueness of the optimal solution to the SDP relaxation for QKP. We first give a counterexample which shows that the optimal solution to the SDP relaxation for QKP could be non-unique. This is in contrast with the case of unconstrained 0-1 quadratic problems. A necessary and sufficient condition is then derived to ensure the uniqueness of the optimal solution to the SDP relaxation for QKP.     

Application of parallel mechanism in varistructured quadruped/biped human-carrying walking chair robot

For the existing problems of walking chair robot such as simple function,lower bearing capacity and not walking in complex environment,a novel varistructured quadruped / biped human-carrying walking chair robot is proposed.The proposed robot could be used as biped and quadruped walking chair robots.Considering the conversion of the walking chair robot from the quadruped to the biped or vice versa,6-UPS and 2-UPS+UP(U,P and S are universal joint,the prismatic pair,and sphere joint,respectively) parallel mechanisms are selected as the leg mechanism of the biped walking robot and quadruped walking robot,respectively.Combining the screw theory and theory of mechanism,the degrees of freedom of the leg mechanism and the body mechanism in diferent motion states are computed so as to meet the requirements of mechanism design.The motion characteristics of the 2-UPS+UP parallel mechanism which is the key part of the walking chair robot are analyzed.Then,the workspace of the moving platform is drawn and the efect of the structural parameters on the workspace volume is studied.Finally,it is found that the volume of the workspace of the moving platform is bigger when the side length ratio and the vertex angle ratio of the fxed platform and the moving platform which are isosceles triangles are close to 1.This study provides a theoretical foundation for the prototype development.     

PBB/VPLS双栈技术及其效率分析

PBB技术和VPLS技术是城域以太网技术发展的两个方向,PBB/VPLS双栈技术通过PBB与VPLS报文之间的互相转换实现了网络融合。文章从VPN中主机之间互相学习MAC地址的角度研究了PBB/VPLS双栈网络的效率;通过理论上的分析计算,得出了当所有主机获取其他主机MAC地址之后ARP报文被公网设备转发的次数和;对组网方式进行了研究,旨在减少公网设备转发ARP报文的次数,提升双栈网络的效率。     

一种基于混合变换域的双重扩频盲水印算法

为权衡水印技术的鲁棒性和对篡改敏感性的冲突,本文提出了在载体图像中嵌入鲁棒水印和全脆弱水印的双重数字水印方案。首先对水印图像进行了置乱和加密,并对得到的加密水印进行了扩频处理。接着在混合变换域内实现了对加密扩频水印的嵌入:先对图像载体进行小波变换和离散余弦变换,通过修改各块的部分余弦系数的差值实现水印信息的嵌入。提取时实现了盲水印提取。实验结果表明,该算法具有很强的安全性和不可见性,对抗噪声和剪切攻击具有良好的鲁棒性。     

片上多核处理器容软错误执行模型

随着工艺的进步,微处理器将面临越来越严重的软错误威胁.文中提出了两种片上多核处理器容软错误执行模型:双核冗余执行模型DCR和三核冗余执行模型TCR.DCR在两个冗余的内核上以一定的时间间距运行两份相同的线程,store指令只有在进行了结果比较以后才能提交.每个内核增加了硬件实现的现场保存与恢复机制,以实现对软错误的恢复.文中选择的现场保存点有利于隐藏现场保存带来的时间开销,并且采用了特殊的机制保证恢复执行和原始执行过程中load数据的一致性.TCR执行模型通过在3个不同的内核上运行相同的线程实现对软错误的屏蔽.在检测到软错误以后,TCR可以进行动态重构,屏蔽被软错误破坏的内核.实验结果表明,与传统的软错误恢复执行模型CRTR相比,DCR和TCR对核间通信带宽的需求分别降低了57.5%和54.2%.在检测到软错误的情况下,DCR的恢复执行带来5.2%的性能开销,而TCR的重构带来的性能开销为1.3%.错误注入实验表明,DCR能够恢复99.69%的软错误,而TCR实现了对SEU(Single Event Upset)型故障的全面屏蔽.     

Pixel level image fusion scheme based on accumulated gradient and PCA transform

A new image fusion scheme based on local accumulated gradient and PCA transform is presented. The image fusion process begins by taking the Dual tree complex wavelet transform of the source images. Then, the fused local detailed coefficients are chosen according to local accumulated gradient rule, and the fused approximate coefficients are acquired by selection or averaging rule based on PCA. Finally, the fused image can be obtained by taking the inverse dual tree complex wavelet transform of the fused composite coefficients. The experimental results show that the proposed method is an efficient approach to image fusion.