基于主导—主体教学模式的机器人教学研究

本篇文章以机器人教学的实际内容,详细探讨一下主导——主体的机器人教学模式内容,从而为后续进一步提升机器人教学水平提供一定的理论基础.     

基于ARM处理器的吸尘机器人硬件设计

设计一款具有自主吸尘功能并且结构简单、成本低的小型家用吸尘机器人,实现了室内半自动或者全自动的清洁工作,从一定程度上代替人们做繁杂的家务。在硬件选型上,以ARM Cortex??M3处理器为核心,设计了专门的电机驱动板,通过光电编码反馈电路实现行走模块的闭环控制。主要对传感器模块进行开发,通过合理布置传感器,采用多种传感器融合,使超声波和红外光电传感器协调工作实现对远近距离障碍物的精确检测,提高了对障碍物的准确识别,能够实现自主避障吸尘。     

Tiny and Blurred Face Alignment for Long Distance Face Recognition

Applying face alignment after face detection exerts a heavy influence on face recognition. Many researchers have recently investigated face alignment using databases collected from images taken at close distances and with low magnification. However, in the cases of home‐service robots, captured images generally are of low resolution and low quality. Therefore, previous face alignment research, such as eye detection, is not appropriate for robot environments. The main purpose of this paper is to provide a new and effective approach in the alignment of small and blurred faces. We propose a face alignment method using the confidence value of Real‐AdaBoost with a modified census transform feature. We also evaluate the face recognition system to compare the proposed face alignment module with those of other systems. Experimental results show that the proposed method has a high recognition rate, higher than face alignment methods using a manually‐marked eye position.     

一种对光照变化鲁棒性的彩色目标检测方法

彩色目标检测过程中由于环境光照的变化以及分布不均匀会造成物体反射光的改变,使得检测效率降低.彩色目标检测中最常见的光照影响是光照强度的改变和检测区域强度分布不均匀.本文对颜色生成基本过程进行考察,发现在很多应用中可以用简单的的DELTA函数近似传感器的响应函数.在此基础上用一个有限维向量量化光照变化,对像素进行补偿,提高对光照变化的适应能力.并用实际应用结果说明其合理性.     

HPC—11型混凝土喷射车的研制

混凝土喷射支护由于具有快速、及时、方便、低成本的优点,在地下矿山和隧道工程中得到了广泛应用。ＨＰＣ－１１型混凝土喷射车是集机电液为一体的新型混凝土喷射设备,该设备采用多种先进技术,具有自动变速行驶、湿式喷射、有线遥控操纵等特点。实际应用表明：该机具有喷射能力大、工作效率高、操作简单方便、粉尘小、回弹率低等优点,受到施工人员的欢迎。     

基亏GPS的自主移动机器人导航定位系统的实现

GPS导航是自主移动机器人室外完成导盲等复杂任务的首选导航方式。本系统以Samsang公司的ARM芯片$3C6410为处理器,嵌入Windows CE6．0操作系统,采用Visual Studio2008开发上位机软件,以读取串口的方式从GPS模块GS－91中获取NMEA格式的导航数据,并从中提取出位置坐标信息,以供构...     

自平衡机器人的模糊-PD控制

由于自平衡机器人是一种两轮左右平行布置的机器人,像传统的倒立摆一样,它的本身是一个自然不稳定体,必须要施加强有力的控制手段才能使之稳定.为了提高两轮自平衡机器人设计的可靠性,针对不稳定、非线性、强耦合的两轮自平衡机器人系统,运用牛顿力学方法建立了转向运动的数学模型.在模型中建立了模糊控制器,并用模糊控制加比例控制的方法...     

Hierarchical sampling optimization of particle filter for global robot localization in pervasive network environment

This paper presents a hierarchical framework for managing the sampling distribution of a particle filter (PF) that estimates the global positions of mobile robots in a large‐scale area. The key concept is to gradually improve the accuracy of the global localization by fusing sensor information with different characteristics. The sensor observations are the received signal strength indications (RSSIs) of Wi‐Fi devices as network facilities and the range of a laser scanner. First, the RSSI data used for determining certain global areas within which the robot is located are represented as RSSI bins. In addition, the results of the RSSI bins contain the uncertainty of localization, which is utilized for calculating the optimal sampling size of the PF to cover the regions of the RSSI bins. The range data are then used to estimate the precise position of the robot in the regions of the RSSI bins using the core process of the PF. The experimental results demonstrate superior performance compared with other approaches in terms of the success rate of the global localization and the amount of computation for managing the optimal sampling size.     

串联机械臂及视觉控制探究

本文从串联机器人和视觉技术的应用方面,对机器人如何通过视觉完成复杂的包装工作进行探究.     

基于改进灰狼优化算法的移动机器人路径规划

针对移动机器人避障路径规划问题,在基本群智能算法灰狼优化算法的基础上,提出改进灰狼优化算法,测试函数证明了算法的稳定性和收敛性,进而将其首次应用于移动机器人避障路径规划问题,通过对改进灰狼优化算法的移动机器人避障路径进行研究,并与基本灰狼优化算法、粒子群算法、遗传算法比较,仿真结果证明了算法的稳定性和收敛性,对路径规划领域有十分重要的研究意义。