基于S曲线加减速算法的轮椅手柄操纵控制方法研究

针对电动爬楼轮椅启停速度变化不连续,电机冲击大,运动控制不灵活的问题,给出了DSP2812和S曲线加减速算法相结合的控制方法。以DSP2812为控制核心,对电机的转速和脉冲频率进行规划,研究启停时加速度和速度的变化情况。将手柄输出以不同区域的形式进行划分,每个区域对应一种运动状态,明确速度和方向的信息。测试结果表明：S曲线加减速算法保证了轮椅启停时加速度连续,速度平滑变化,有效地避免电机产生较大的冲击,手柄灵活准确地操纵轮椅运动。     

燃料电池汽车用车载汽油制氢技术发展分析

介绍了用于燃料电池汽车的几种车载汽油制氢技术，包括水蒸气重整制氢、部分氧化制氢和自热氧化制氢、等离于法制氢，指出了现有车载汽油制氢装置技术水平和美国“新一代汽车协调会”对车载汽油制氢技术的目标要求。     

Speech and sensor in guiding an electric wheelchair

Many people with disabilities do not have the dexterity necessary to control a joystick on an electric wheelchair. Moreover, they have difficulty to avoid obstacles. The aim of this work is to implement a multi-modal system to control the movement of an Electric wheelchair using small vocabulary word recognition system and a set of sensors to detect and avoid obstacles. The methodology adopted is based on grouping a microcontroller with a speech recognition development kit for isolated word from a dependent speaker and a set of sensors. In order to gain in time design, tests have shown that it would be better to choose a speech recognition kit and to adapt it to the application. The text was submitted by the authors in English.     

Robotic smart house to assist people with movement disabilities

This paper introduces a new robotic smart house, Intelligent Sweet Home, developed at KAIST in Korea, which is based on several robotic agents and aims at testing advanced concepts for independent living of the elderly and people with disabilities. The work focuses on technical solutions for human-friendly assistance in motion/mobility and advanced human-machine interfaces that provide simple control of all assistive robotic systems and home-installed appliances. The smart house concept includes an intelligent bed, intelligent wheelchair, and robotic hoist for effortless transfer of the user between bed and wheelchair. The design solutions comply with most of the users’ requirements and suggestions collected by a special questionnaire survey of people with disabilities. The smart house responds to the user's commands as well as to the recognized intentions of the user. Various interfaces, based on hand gestures, voice, body movement, and posture, have been studied and tested. The paper describes the overall system structure and explains the design and functionality of some main system components.     

Design,Implementation and Testing of a Vision System for Small Unmanned Vertical Take off and Landing Vehicles with Strict Payload Limitations

Alternative designs of a simple, low cost and effective vision system for small, portable, unmanned aerial vertical take off and landing (VTOL) vehicles are presented. Design configurations follow the ‘on-board’ and ‘on-the-ground’ processing concept and they depend on very strict payload limitations and power supply restrictions. Hardware and software components for both designs are described; advantages and disadvantages of both alternatives are compared; computational complexity is calculated and trade offs are discussed. Implementations on a series of small unmanned VTOL vehicles as well as testing details are included and experimental results are presented.     

IP mobility issues for a mobile tele-robotic system—NEPWAK

The network-centric applied research team (N-CART) is continuing its work on an ambitious project known as the network-enabled powered wheelchair adaptor kit (NEPWAK). It introduces techniques for modifying and using powered wheelchairs as mobile platforms enabling communication and remote control. The wheelchair is equipped with a laptop computer, a CCD camera and a wireless network interface card (NIC) for 802.11b Internet access. The laptop acts as a server allowing network clients to gain access through a custom control interface on the chair. The remote controlling client receives a video and audio feed from the chair and sends control signals for maneuvering. While traveling, the chair is able to change its network association from one access point (AP) to another within the same subnet–the process is known as handoff. However, there is no inter-network handoff mechanism presently available in IP networks. This restricts the mobility of the wheelchair to within the coverage area of the subnet APs. This paper shows that the Internet engineering task force’s(IETF) network layer mobility protocol—Mobile IP[1] suffers from large handoff latencies that can hinder communication between the client and the wheelchair during handoff. Mobile IP alone is not a suffcient solution for a mobile telebotic system such as NEPWAK. An interesting solution to the handoff latency problem comes from the Fast-handover protocol[2] described in Section 4.4 with simulation results in Section 6.2.     

Determination of gross weight limit for foldaway powered wheelchairs through isometric and psychophysical strength simulations

This study concerns the maximum weight of a powered wheelchair for transfer to and from the trunk of a car by individuals with limited exercise endurance. The loading and unloading of a folded wheelchair from the trunk of a medium size American car was simulated. Both static and dynamic simulations were carried out. The isometric (static) and psychophysical (dynamic) strengths of eight adult males while simulating the loading/unloading activities were measured. The results indicated that: (1) the maximum weight of a powered foldaway wheelchair that individuals can load in the car and unload from the car is much lower than the weight of most commercially available powered wheelchairs, and (2) static simulation of the folded wheelchair loading and unloading activity provides wheelchair weight ceiling that is easily exceeded during the dynamic simulation of the activity. The upper limit on the weight of a foldaway powered wheelchair is provided and implications of this limit on future foldaway powered wheelchair designs are briefly discussed. In addition, the user gender and age effects on the foldaway powered wheelchair weight ceiling are also discussed.     

基于Agent概念的智能轮椅床控制模块设计

为使智能轮椅床在自主运行时,能随时响应周围其它对象的指令并实施协同动作,提出基于Agent概念规划控制模块的设计。通过传感器组信息、轮椅床当前状态信息、外来协同信息的感知融合,给出符合总体需求的动作选择指令序列。借助于传感器组信息、外部遥控命令信息与学习积累库的信息进行适时综合,完成比较复杂的交叉判断与协商,实现外来的指令合并本体的自主控制协同执行。如此,对智能轮椅床乘用人员来说,既能满足其自主行动的意图,又能满足其及时接受其他对象提供的服务;同时还便于远程监控人员适时介入解决特殊问题。试用表明,基于Agent概念的控制模块设计,能以清晰的软件结构和丰富的协同应对资源库显著提升智能轮椅床的整体功能。     

基于车载多源数据采集的军用加油车状态监控系统

为提高军用群车加油车的车载及故障检测效率,设计一种基于车载多源数据采集的加油车状态监控系统。 在采集车载数据信息基础上,加装北斗导航系统及各类传感设备,利用CAN 总线、蓝牙等车载网络及显控终端,将 车辆自身及车载设备运行状态可视化呈现,实现车辆可视化调度。测试结果证明：该系统能实时显示车辆及车载设 备状态,指挥中心可进行远程监测及指挥调度。     

一种电动汽车车载信息系统的研究与设计

车载信息系统是电动汽车的重要设备之一,介绍了车载信息系统的整体设计方案,采用STM32ZGT6为核心处理器,制定了适用于电动汽车CAN总线及GPRS数据通信的协议,研究了基于WinCE的信息系统软件设计方法,实现了电动汽车整车及关键零部件运行参数的采集、分析、存储、显示以及数据通信等功能,为电动汽车的运行工况分析以及高效率运行提供了有力的帮助。