Abstract: This paper proposed a navigation algorithm based on indirect extended kalman filter. The algorithm adopted state error model based on sensor random walk and chose low frequency value of acceleration and angular velocity as observation. The extended kalman filter was used to calculate the optimal estimation of state error which can be used to correct the predicted value of state. IMU7200 and encoder provide acceleration, angular velocity and velocity for drill bit. Marine experiments in the East China Sea show that the proposed algorithm can successfully implement with an accurate and reliable performance.
Abstract: Walking motion generation and validation have been a significant issue for biped humanoid robot. To generate more natural walking motions, and confirm the validity rapidly, this paper presents work on walking motion planning and validity verifying. Based on spline interpolation method, the walking motions in both sagittal and lateral planes are generated. Dynamic model is constructed with the toolbox of SimMechanics for Matlab, and the interactive forces between robot’s sole and ground are constrained in order to depict the state of balance. Dynamic model is driven by the walking motions which have been generated. The simulation and analysis demonstrate the validity of the motion which has been designed.
Abstract: Based on the AR4000-LIR type infrared laser rangefinder, the prototype of the 3-D laser-scanning-based machine vision system for robotic construction vehicles is developed and the software for scanning control, swing control and data sampling/processing is programmed. The experimental results show that the system has good spatial resolution and stability and is able to be used for the task planning of the robotic construction vehicles which is in autonomous operation, and better able to scan the detail object contour.
Abstract: Photon correlation technique is an effective method for measuring the particle size of sub-micron particles and nanoparticles. This tenchnology has a good prospect and commerical value. Photon counter is used in photon correlation spectroscopy experiment to gain the intensity of photon. In order to obtain the accurate values of the photon correlation, efficient and accurate photon counter must be designed. This paper presents two kinds of photon counters implemented by FPGA. The programming language used is Verilog HDL. The software design and system simulation are completed in the integration circumstance of ISE. Experiments show that our work is effective. They all have a simple circuit design, and easy to be upgraded. The accurate photon counters can meet the different requirements of photon correlation.
Abstract: To deal with dynamic path planning of unmanned aerial vehicles(uav) in the complicated 3-D environment, a new method that combines the Lyapunov theorem with the artificial potential is proposed. The mission region is described as the artificial potential field. In this paper, it proves that the balance point is a saddle point, only when uav reaches the target, the balance point is stable, the rest of the balance point are divergent, so uav can escape the minimum point as soon as possible. The simulation results show that this proposed method can effectively make uav avoid collision, and escape well the local minimum value point. The optimization results are better than the simplex artificial potential field, and have better optimization precision and tracing speed.
Abstract: In the central heating system, because the controlled object has the characteristics of time-varying, nonlinear, strong coupling and big lag. The traditional single loop model and the conventional PID control algorithm are difficult to react the mechanism and meet the control requirements. Therefore a model of multiplex heating network is established. By comparing the single neuron PID control algorithm with the traditional PID control algorithm, the results show that the single neuron PID control algorithm has a better control effect.
Abstract: Putting speech recognition technology into practice, a speaker-independent digital voice dialing system is realized in an embedded system. In the speech recognition process, the Mel Frequency Cepstrum Coefficients (MFCC) is used as the feature parameter, the Continuous Hidden Markov Model (CHMM) is chosen as the training and recognition model and realized by HTK. This speaker-independent digit recognition is tested on embedded system. The result indicates the accuracy of this system reaches up to 98% to speaker-independent case and it takes 3.55 seconds. The speech recognition is implemented in software, which is easier transplant to different platform and has potential application prospects.
Abstract: This paper presents a novel method of analog circuit fault diagnosis using AdaBoost with SVM-based component classiﬁers. We use binary-SVMs of o-a-r SVM as weak classifiers and design appropriate structure of SVM ensemble. Tent map is used to adjust parameters of SVM component classifiers for maintaining the diversity of weak classifiers. In simulation experiment, we use Monte-carlo analysis for 40kHz Sallen-Key bandpass ﬁlter and get transient response of thirteen faults. We extract feature vector by db3 wavelet packet transform and principal component analysis (PCA), and diagnose circuit faults by different methods. Simulation results show that the proposed method has the higher classification accuracy compared with other SVM methods. The generalization performance of ensemble method is good. It is suitable for practical use
Abstract: This paper introduces operational path planning system of visual industrial robot, which could be applied to arc welding, cutting and gluing. It depicts a calibration method of camera coordinate. It gains environmental messages via the method of image acquisition. It uses the method of image procession to process the signals acquired. It fulfills robotic real-time control and offline programming. Practice has proved that this system has high repeatability precision, which can meet the challenge of arc welding, cutting and gluing, and also meet the needs of production line.
Abstract: The perimeter security alarm system, with the core of vibration sensor based on FBG optical fiber invented by Wuhan University of Technology optical fiber research center, uses the changes of optical fiber grating stress wavelength to detect intrusion. As FBG wavelengths change when under stress, the intrusion detection is identified by the combination of signals time domain and frequency band domain. However, it is difficult to classify the data of signals time domain and frequency band domain because of the complexity of the actual conditions and the diversity of interference and intrusion. Therefore, applying SVM to train and process the classification features extracted from the various data acquisition can help to obtain the corresponding support vector and weighting coefficient. As a result, the effective classification of the field test data can be achieved by using SVM template method.