Traditional scheduling algorithms for avionics communication have the shortcoming of messages accumulation,the efficiency and reliability of the service can be improved by combining the distributed integrated modular ...Traditional scheduling algorithms for avionics communication have the shortcoming of messages accumulation,the efficiency and reliability of the service can be improved by combining the distributed integrated modular avionics(DIMA)system with a time trigger mechanism.To further improve the utilization of system resources,the static scheduling algorithm of time triggered service is studied.By making the time trigger message schedule dispersedly,the stabilities of both the available time slots for the event triggered messages and the system will be improved.An improved two-dimensional bin packing algorithm is also presented to achieve the above-mentioned purpose with an extra benefit of better delay performance.展开更多
In this paper, we propose a motion planning system for bin picking using 3-D point cloud. The situation that the objects are put miscellaneously like the inside in a house is assumed. In the home, the equipment which ...In this paper, we propose a motion planning system for bin picking using 3-D point cloud. The situation that the objects are put miscellaneously like the inside in a house is assumed. In the home, the equipment which makes an object stand in line doesn’t exist. Therefore the motion planning system which considered a collision problem becomes important. In this paper, Information on the objects is measured by a laser range finder (LRF). The information is used as 3-D point cloud, and the objects are recognized by model-base. We propose search method of a grasping point for two-fingered robotic hand, and propose search method of a path to approach the grasping point without colliding with other objects.展开更多
为使机械臂在料框分拣应用中快速规划出较优的拾取路径,提出一种融合人工势场的改进RRT(rapidly-exploring random tree)机械臂路径规划方法。首先,利用人工势场进行预规划,在预规划路径上找到能够与目标节点无碰撞直连的路径节点,并将...为使机械臂在料框分拣应用中快速规划出较优的拾取路径,提出一种融合人工势场的改进RRT(rapidly-exploring random tree)机械臂路径规划方法。首先,利用人工势场进行预规划,在预规划路径上找到能够与目标节点无碰撞直连的路径节点,并将其作为RRT的规划目标节点,避免对空白区域的无用搜索。其次,在RRT算法基础上加入目标引导采样以及搜索参数自适应计算策略,提高算法的指向性以及鲁棒性。引入一种基于机械臂末端姿态约束的采样节点拒绝机制,降低有效性检查次数,提高规划效率。最后,对生成的原始路径进行剪枝优化,降低路径代价与转角数量,随后利用准均匀三次B样条结合四元数球面姿态插值进行平滑优化,提高路径质量。实验结果表明,所提出的改进算法与RRT算法相比,规划成功率提高了12.66%,规划时间与路径成本分别降低了79.05%以及34.80%。通过消融实验证明了各部分改进的有效性。在硬件平台上进行分拣测试,验证了该方法的实用性。展开更多
为提高复杂场景下的听障患者的语言理解度，本文提出一种仿人耳听觉的助听器双耳声源定位算法。算法首先借鉴耳蜗分频特性和听觉掩蔽特性，将声音信号进行多通道分解，并提取人耳敏感频带的信号进行双耳时间差（Interaural Time Differe...为提高复杂场景下的听障患者的语言理解度，本文提出一种仿人耳听觉的助听器双耳声源定位算法。算法首先借鉴耳蜗分频特性和听觉掩蔽特性，将声音信号进行多通道分解，并提取人耳敏感频带的信号进行双耳时间差（Interaural Time Difference，ITD）估计；然后基于人耳哈斯效应，提取有效的ITD信息；最后采用头相关模型，将ITD转化为声源方向信息。同时，为了改善混响和多干扰声场景下的声源定位能力，本文提出一种多通道的加权联合策略。仿真和场景测试实验表明，算法的抗干扰性强，定位精度高。而且，在7名受试者的理解度测试中，同现有的助听器增强算法相比，结合定位算法的语音增强算法达到3—5dB的性能改善。展开更多
基金Supported by Joint Fundation for Equipment Pre-research of Aerospace Science and Technology
文摘Traditional scheduling algorithms for avionics communication have the shortcoming of messages accumulation,the efficiency and reliability of the service can be improved by combining the distributed integrated modular avionics(DIMA)system with a time trigger mechanism.To further improve the utilization of system resources,the static scheduling algorithm of time triggered service is studied.By making the time trigger message schedule dispersedly,the stabilities of both the available time slots for the event triggered messages and the system will be improved.An improved two-dimensional bin packing algorithm is also presented to achieve the above-mentioned purpose with an extra benefit of better delay performance.
文摘In this paper, we propose a motion planning system for bin picking using 3-D point cloud. The situation that the objects are put miscellaneously like the inside in a house is assumed. In the home, the equipment which makes an object stand in line doesn’t exist. Therefore the motion planning system which considered a collision problem becomes important. In this paper, Information on the objects is measured by a laser range finder (LRF). The information is used as 3-D point cloud, and the objects are recognized by model-base. We propose search method of a grasping point for two-fingered robotic hand, and propose search method of a path to approach the grasping point without colliding with other objects.
文摘为使机械臂在料框分拣应用中快速规划出较优的拾取路径,提出一种融合人工势场的改进RRT(rapidly-exploring random tree)机械臂路径规划方法。首先,利用人工势场进行预规划,在预规划路径上找到能够与目标节点无碰撞直连的路径节点,并将其作为RRT的规划目标节点,避免对空白区域的无用搜索。其次,在RRT算法基础上加入目标引导采样以及搜索参数自适应计算策略,提高算法的指向性以及鲁棒性。引入一种基于机械臂末端姿态约束的采样节点拒绝机制,降低有效性检查次数,提高规划效率。最后,对生成的原始路径进行剪枝优化,降低路径代价与转角数量,随后利用准均匀三次B样条结合四元数球面姿态插值进行平滑优化,提高路径质量。实验结果表明,所提出的改进算法与RRT算法相比,规划成功率提高了12.66%,规划时间与路径成本分别降低了79.05%以及34.80%。通过消融实验证明了各部分改进的有效性。在硬件平台上进行分拣测试,验证了该方法的实用性。
文摘为提高复杂场景下的听障患者的语言理解度，本文提出一种仿人耳听觉的助听器双耳声源定位算法。算法首先借鉴耳蜗分频特性和听觉掩蔽特性，将声音信号进行多通道分解，并提取人耳敏感频带的信号进行双耳时间差（Interaural Time Difference，ITD）估计；然后基于人耳哈斯效应，提取有效的ITD信息；最后采用头相关模型，将ITD转化为声源方向信息。同时，为了改善混响和多干扰声场景下的声源定位能力，本文提出一种多通道的加权联合策略。仿真和场景测试实验表明，算法的抗干扰性强，定位精度高。而且，在7名受试者的理解度测试中，同现有的助听器增强算法相比，结合定位算法的语音增强算法达到3—5dB的性能改善。
