Shared human–robot path following control of an unmanned ground vehicle

This paper considers the shared path following control of an unmanned ground vehicle by a single person. A passive measure of human intent is used to blend the human and machine inputs in a mixed initiative approach. The blending law is combined with saturated super-twisting sliding mode speed and heading controllers, so that exogenous disturbances can be counteracted via equivalent control. It is proven that when the proposed blending law is used, the combined control signals from both the human and automatic controller respect the actuator magnitude constraints of the machine. To demonstrate the approach, shared control experiments are performed using an unmanned ground vehicle, which follows a lawn mower pattern shaped path.     

基于改进D?Lite遗传算法路径规划研究

针对遗传算法在移动机器人路径规划中易产生早熟现象和收敛速度慢的问题,提出了改进的D~* Lite遗传算法。该算法将D~* Lite算法和遗传算法相结合,通过引入碰撞系数和可视检测技术以提高路径安全性,寻找最短路径。在遗传算法设计中加入动态调整交叉与变异概率,以解决算法在路径规划中因陷入局部最优值而不能到达目标点的问题。最后,通过实验仿真可知:与蚁群算法和免疫遗传算法相比,改进的D~* Lite遗传算法执行效率高,可以快速规划出全局最优路径。     

无线传感器网络中移动sink节点的路径规划

在无线传感器网络中,大量感知数据汇集到sink节点的采集方法会导致sink节点附近的节点能量耗尽,造成能量空洞。针对该问题,利用移动的sink节点进行数据收集是一种解决方法,其中移动sink的路径规划成为一个重要的问题。提出了一个移动sink路径规划算法,将无线传感器中随机分布的节点划分为不同的子区域,寻找sink节点移动的最佳转向点,最终得到最优的移动路径,以实现无线传感器网络生命周期最大化。仿真实验表明,与现有方案相比,该算法能显著延长网络的生命周期。     

基于MSP430F11X的低功耗温度记录仪

本文详细介绍了基于MSP430F11X的大容量低功耗温度记录仪的工作原理及软硬件设计方法,并给出了实际应用的硬件电路和程序源代码。     

Parallel path consistency

Filtering algorithms are well accepted as a means of speeding up the solution of the consistent labeling problem (CLP). Despite the fact that path consistency does a better job of filtering than arc consistency, AC is still the preferred technique because it has a much lower time complexity. We are implementing parallel path consistency algorithms on multiprocessors and comparing their performance to the best sequential and parallel arc consistency algorithms.^(1,2) (See also work by Kerethoet al. ⁽³⁾ and Kasif⁽⁴⁾) Preliminary work has shown linear performance increases for parallelized path consistency and also shown that in many cases performance is significantly better than the theoretical worst case. These two results lead us to believe that parallel path consistency may be a superior filtering technique. Finally, we have implemented path consistency as an outer product computation and have obtained good results (e.g., linear speedup on a 64K-node Connection Machine 2).     

Simple algorithms for searching a polygon with flashlights

The k-searcher is a mobile guard whose visibility is limited to k rays emanating from her position, where the direction of each ray can be changed continuously with bounded angular rotation speed. Given a polygonal region P, is it possible for the k-searcher to eventually see a mobile intruder that is arbitrarily faster than the searcher within P? We present O(n²)-time algorithms for constructing a search schedule of the 1-searcher and the 2-searcher, respectively. Our framework for the 1-searcher can be viewed as a modification of that of LaValle et al. [Proc. 16th ACM Symp. on Computational Geometry, 2000, pp. 260-269] and is naturally extended for the 2-searcher.     

Kanga(ROO): Handling the micro-DST of the BaBar experiment with ROOT

A system based on ROOT for handling the micro-DST of the BaBar experiment is described. The purpose of the Kanga system is to have micro-DST data available in a format well suited for data distribution within a world-wide collaboration with many small sites. The design requirements, implementation and experience in practice after three years of data taking by the BaBar experiment are presented.     

基于非接触精密视觉测量的硬盘磁头头偏测量系统

应用基于机器视觉的非接触测量技术对计算机硬盘磁头的头偏测量，不仅满足了磁头生产防污、防ESD的需要，而且实现了精密测量的需要；对测量数据的采集处理以及SPC实时监控，有效地实现了生产过程的控制和预报；与FIS系统的连接实现了生产数据的可追溯性，为生产管理现代化提供一个强有力的工具。系统已广泛应用于硬盘磁头生产线。     

基于栅格法-模拟退火法的机器人路径规划

路径规划是机器人技术中的重要组成部分,分全局路径规划和局部路径规划。本文将栅格法与模拟退火法结合,采用栅格法表示环境信息。局部路径规划主要基于模拟退火法,使路径跳出局部极小点,到达目标位置。