Task decomposition is a kind of powerful technique increasingly being used within industry as a pathway for achieving product's developing success. In this paper, topology's concept in modern mathematics is us...Task decomposition is a kind of powerful technique increasingly being used within industry as a pathway for achieving product's developing success. In this paper, topology's concept in modern mathematics is used for task decomposition technique's deduction in product developing process. It puts fonvard the views of resolvability, measurability and connectivity of tasks and their practi-cal principles. Combined with an example of developing the typical mechanical product, it ex-plains the implementing method of task decomposition in Concurrent Engineering (CE).展开更多
The configuration an electric vehicle's electrical system and its control sequence design scheme was discussed. Vehicle management unit (VMU), power management unit (PMU) and battery management unit (BMU) were use...The configuration an electric vehicle's electrical system and its control sequence design scheme was discussed. Vehicle management unit (VMU), power management unit (PMU) and battery management unit (BMU) were used as the control units in the vehicle. VMU was used as master control unit, PMU was used as the traction control unit and BMU was used as battery management unit. The concentrated single module control was found to be on one of its configurations.展开更多
It is a necessary step to estimate the spreading sequence of direct sequence spread spectrum(DSSS)signal for blind despreading and demodulation in non-cooperative communications.Two innovative and effective detection ...It is a necessary step to estimate the spreading sequence of direct sequence spread spectrum(DSSS)signal for blind despreading and demodulation in non-cooperative communications.Two innovative and effective detection statistics are proposed to implement the synchronization and spreading sequence estimation procedure.The proposed algorithm also has a low computational complexity with only linear additions and modifications.Theoretical analysis and simulation results show that the algorithm performs quite well in low SNR environment,and is much better than all the existing typical algorithms with a comprehensive consideration both in performance and computational complexity.展开更多
The dielectric barrier corona discharge(DBCD) in a wire-cylinder configuration and the dielectric barrier discharge(DBD) in a coaxial cylinder configuration are studied. The discharge current in DBD has a higher pulse...The dielectric barrier corona discharge(DBCD) in a wire-cylinder configuration and the dielectric barrier discharge(DBD) in a coaxial cylinder configuration are studied. The discharge current in DBD has a higher pulse amplitude than in DBCD. The dissipated power and the gas-gap voltage are calculated by analyzing the measured Lissajous figure. With the increasing applied voltage, the energy utilization factor for SO2 removal increases in DBCD but decreases in DBD because of the difference in their electric field distribution. Experiments of SO2 removal show that in the absence of NH3 the energy utilization factor can reach 31 g/kWh in DBCD and 39 g/kWh in DBD.展开更多
A complete model of switch-mode plasma cutting power supply and its simulation are developed. The full bridge isolated pulse width modulation (PWM) buck converter in continuous conduction mode (CCM) for high watt plas...A complete model of switch-mode plasma cutting power supply and its simulation are developed. The full bridge isolated pulse width modulation (PWM) buck converter in continuous conduction mode (CCM) for high watt plasma power supply is approached. Reduced ripple current and improved power factor are achieved in the plasma power supply. With a PID control strategy, circuit responses become more stable and faster with low overshoot during load and current changing. The converter achieved high efficiency under 3 to 15kW load conditions.展开更多
A new preamble structure is designed for wireless LAN based on MIMO OFDM systems, which can be used for both synchronization and channel estimation. Modulatable orthogonal polyphase sequence is utilized in training sy...A new preamble structure is designed for wireless LAN based on MIMO OFDM systems, which can be used for both synchronization and channel estimation. Modulatable orthogonal polyphase sequence is utilized in training symbol design regarding its correlation properties. The time synchronization and channel estimation are achieved by measuring the correlation between the received training sequence and the locally generated training sequence. Repeated training symbols are used to get carrier frequency offset （CFO） estimation. It is shown from the analysis that the accuracy of frequency synchronization is close to the Cramer-Rao lower bound. The training sequences are optimal for channel estimation based on the minimum mean square error （MMSE）.展开更多
This paper analyses robotic signals in the perspective of fractional dynamics and the pseudo phase plane （PPP）.It is shown that the spectra of several experimental signals can be approximated by trend lines whose sl...This paper analyses robotic signals in the perspective of fractional dynamics and the pseudo phase plane （PPP）.It is shown that the spectra of several experimental signals can be approximated by trend lines whose slope characterizes their fractional behavior.For the PPP reconstruction of each signal,the time lags are calculated through the fractal dimension.Moreover,to obtain a smooth PPP,the noisy signals are filtered through wavelets.The behavior of the spectra reveals a relationship with the fractal dimension of the PPP and the corresponding time delay.展开更多
An Equivalent-Resistance based Analysis Method (ERAM) was proposed, which can convert the Inductor-Disconnected Discharge (IDD) behavior of the Intrinsically Safe Buck Converter (ISBC) into that of an Equivalent Simpl...An Equivalent-Resistance based Analysis Method (ERAM) was proposed, which can convert the Inductor-Disconnected Discharge (IDD) behavior of the Intrinsically Safe Buck Converter (ISBC) into that of an Equivalent Simple-Inductive-Circuit (ESIC). According to the inductor disconnected equivalent circuit corresponding to the most dan- gerous operating case of the converter,the arc discharge time and the variation of out- put-voltage during the IDD were deduced based on the simple current linear attenuation model.According to the energy equivalence,the equivalent inductor-current of the ESIC was obtained.It is pointed out that although the inductor-current of the Buck converter is much lower than that of the published ignition curve,ignition still occurs and the ignition ability is strengthened with increase of the output capacitance.The proposed analyzing method is verified by the experiment results on IEC standard spark ignition apparatus.展开更多
A radiation hard phase-locked loop （PLL） is designed at 2.5 GHz using silicon on sapphire complementary metal-oxide-semiconductor process. Radiation hardness is achieved through improving circuit design without sacr...A radiation hard phase-locked loop （PLL） is designed at 2.5 GHz using silicon on sapphire complementary metal-oxide-semiconductor process. Radiation hardness is achieved through improving circuit design without sacrificing real estate. Stability is guaranteed by a fully self-bias architecture. The lock time of PLL is minimized by maximizing the loop bandwidth. Frequency tuning range of voltage controlled oscillator is significantly enhanced by a novel load configuration. In addition, multiple bias stages, asynchronous frequency divider, and silicon on sapphire process jointly make the proposed PLL more radiation hard. Layout of this PLL is simulated by Cadence Spectre RF under both single event effect and total induced dose effect. Simulation results demonstrate excellent stability, lock time 〈 600 ns, frequency tuning range [1.57 GHz, 3.46 GHz], and jitter 〈 12 ps. Through comparison with PLLs in literatures, the PLL is especially superior in terms of lock time and frequency tuning range performances.展开更多
To reduce the time of getting an ideal elliptical heat used in power station through repairing and testing a die repeatedly according to experience,finite element software Deform-3D was used to research the simulation...To reduce the time of getting an ideal elliptical heat used in power station through repairing and testing a die repeatedly according to experience,finite element software Deform-3D was used to research the simulation of deformation-heat transfer coupling in hot forming process of elliptical head with the size of Φ1200 mm ×100 mm. The variations of stress,stain,temperature,thickness and strain rate in forming process were gotten,and the forming quality was evaluated from roundness,thinning rate and thermal contraction. The results show that the maximum thinning rate of the elliptical head is 7. 31% ,it is close to the orthographic place; and the inner diam- eter obtained from simulation is 1200. 6 - 1202. 977 mm,it is in the range of inner diameter tolerance required; all the data fit well with the practical dimension data of processing head.展开更多
To simulate the DIWA353 steel used in boiler nearby recrystallization temperature accurately by using finite element,the high temperature constitutive model of this material must be researched firstly.Thermal simulati...To simulate the DIWA353 steel used in boiler nearby recrystallization temperature accurately by using finite element,the high temperature constitutive model of this material must be researched firstly.Thermal simulation experimental machine is used to do the high temperature hot compression experiments for the DIWA353 steel used in boiler under different strain rates and temperatures nearby recrystallization temperature.Multi-bank data of true stress-true strain is gotten,and the hot deformation activation energy of DIWA353 is obtained,and the constitutive equation of steady-state flow stress under the circumstance of high temperature is constructed.The results show that DIWA353 steel is positive strain rate sensitized material when it is at temperature of 850-1050 ℃,and the steady-state flow stress decreases with the increase of deformation temperature,but increases with the increase of strain rate.展开更多
The projective reduced-order synchronization of two different chaotic systems with different orders is investigated based on the observer design in this paper.According to the observer theory,the reduced-order observe...The projective reduced-order synchronization of two different chaotic systems with different orders is investigated based on the observer design in this paper.According to the observer theory,the reduced-order observer is designed.The projective synchronization can be realized by choosing the transition matrix of the observer as a diagonal matrix.Further,the synchronization between hyperchaotic Chen system(fourth order)and Rssler system(third order)is taken as the example to demonstrate the effectiveness of the proposed observer.Numerical simulations confirm the effectiveness of the method.展开更多
In this paper,a new rotor position detecting method for the sensorless control of brushless DC motor ( BLDCM) is introduced. It obtains the phase back EMF signal from the motor terminal voltage by properly choosing th...In this paper,a new rotor position detecting method for the sensorless control of brushless DC motor ( BLDCM) is introduced. It obtains the phase back EMF signal from the motor terminal voltage by properly choosing the PWM and sensing strategy directly and needn't the motor neutral point voltage information. The paper analyzes both the steady-state of PWM on the high side modulator mode which doesn't consider the parasitic capacitance Coes in the switches and the transient-state of PWM on the high side modulator mode which considers the parasitic capacitance Coes in the switches in detail. The experimental results verify that the proposed method is not sensitive to switching noise,no filtering is required,and good motor performance is achieved within a wide speed range.展开更多
This paper proposes a novel implementation strategy for soft switching PFC whose circuit is simple and can achieve low voltage output directly. The main circuit adopts current mode full-bridge converter and all the po...This paper proposes a novel implementation strategy for soft switching PFC whose circuit is simple and can achieve low voltage output directly. The main circuit adopts current mode full-bridge converter and all the power switches can realize ZCS or ZVS in the way of phase-shlfted control, using the leakage inductance of the transformer, the junction capacitor of the switches and the stored energy of the output capacitor. The problems such as the function of phase-shlfted link in control circuit, the implementation conditions of soft switching and bias restrained are analyzed. The adoption of constant frequency PWM control makes the design of the input and output filter link and the high frequency transformer simple. The transformation ratio regulation so as to achieve low voltage output and electrical insulation can be realized by using high frequency transformer.展开更多
The organic static induction transistors (OSITs) are fabricated by the method of evaporating and plating in a vacuum with copper phthalocyanine (CuPc) dye, and has a five layered structure of Au/CuPc/Al/CuPc/Au. The e...The organic static induction transistors (OSITs) are fabricated by the method of evaporating and plating in a vacuum with copper phthalocyanine (CuPc) dye, and has a five layered structure of Au/CuPc/Al/CuPc/Au. The experiment reveals that OSITs have obtained a low driving voltage, high current density and high switch speed such as I_ DS = 1.2×10 -6 A/mm2, and the degree of 1 000 Hz. The OSITs have excellent operation characteristics of typical static induction transistors.展开更多
According to the data of the experiment made in mechanical tensile of Polycarbonate in high temperature, experiments were done to polycarbonate sheet by hot gas pressure bulge-forming. It was found that selecting and ...According to the data of the experiment made in mechanical tensile of Polycarbonate in high temperature, experiments were done to polycarbonate sheet by hot gas pressure bulge-forming. It was found that selecting and combination of the processing parameters were vital to the quality. In the experiments and numerical simulation with the software of DYNAFORM, the processing parameters have been studied.The results showed that the method of discontinuous pressure and pressure preservation advantage the forming; when temperature and pressure meet the forming conditions, the longer time of pressure preservation promotes sufficient forming.展开更多
This paper proposes a technique that global positioning system(GPS)combines inertial navigation system(INS)by using unscented particle filter(UPF)to estimate the exact outdoor position.This system can make up for the ...This paper proposes a technique that global positioning system(GPS)combines inertial navigation system(INS)by using unscented particle filter(UPF)to estimate the exact outdoor position.This system can make up for the weak point on position estimation by the merits of GPS and INS.In general,extended Kalman filter(EKF)has been widely used in order to combine GPS with INS.However,UPF can get the position more accurately and correctly than EKF when it is applied to real-system included non-linear,irregular distribution errors.In this paper,the accuracy of UPF is proved through the simulation experiment,using the virtual-data needed for the test.展开更多
This paper presents an optimal trajectory planning method of the dual arm manipulator using Dual Arm Manipulability Measure （DAMM）. When the manipulator carries an object from a certain position to the destination, ...This paper presents an optimal trajectory planning method of the dual arm manipulator using Dual Arm Manipulability Measure （DAMM）. When the manipulator carries an object from a certain position to the destination, various trajectory candidates could be conskied. TO select the optimal trajectacy from the several candidates, energy, time, and the length of the tmjecttay could be utilized. In order to quantify the carrying effidency of dual-arms, DAMM has been defined and applied for the decision of the optimal path. DAMM is defined as the interaction of the manipulability ellipsoids of the dualarras, while the manipulability measure irdicates the relationship between the joint velocity and the Cartesian velocity for each ann. The cast function for achieving the optimal path is defined as the Summation of the distance to the goal and inverse of this DAMM, which aims to generate the efficient motion to the goal. It is confirmed that the optimal path planning keeps higher manipulability through the short distance path by using computer simulation. To show the effectiveness of this cooperative control algorithm experimentally, a 5-DOF dual-ann robot with distributed controllers for synchronization control has been developed and used for the experiments.展开更多
This paper analyzes the operation parameters of the time delay and integration (TDI) line scan CCD camera, such as resolution, line rate, clock frequency, etc. and their mathematical relationship is deduced. By analyz...This paper analyzes the operation parameters of the time delay and integration (TDI) line scan CCD camera, such as resolution, line rate, clock frequency, etc. and their mathematical relationship is deduced. By analyzing and calculating these parameters, the working clocks of the TDI CCD line scan camera are designed, which guarantees the synchronization of the line scan rate and the camera movement speed. The IL-E2 TDI CCD of DALSA Co. is used as the sensor of the camera in the paper. The working clock generator used for the TDI CCD sensor is realized by using the programmable logic device (PLD). The experimental results show that the working clock generator circuit satisfies the requirement of high speed TDI CCD line scan camera.展开更多
Humanoid mobile manipulator which is based on two-wheel inverted pendulum robot has been studied.Balance control is a key problem for this kind of centroid-variable robot.Due to the principle of two wheel inverted pen...Humanoid mobile manipulator which is based on two-wheel inverted pendulum robot has been studied.Balance control is a key problem for this kind of centroid-variable robot.Due to the principle of two wheel inverted pendulum,a timely angle compensation is necessary to make the system keep balance when the centroid changes.In this paper,a method based on coordinate transformation is introduced to get the compensatory angle and a 12-DOF mobile manipulator is also used to check the method.Simulation and experimental results show the effectiveness of the method.展开更多
基金the State High-Tech Developmets Plan of Cina(No.863-511-9930-007)
文摘Task decomposition is a kind of powerful technique increasingly being used within industry as a pathway for achieving product's developing success. In this paper, topology's concept in modern mathematics is used for task decomposition technique's deduction in product developing process. It puts fonvard the views of resolvability, measurability and connectivity of tasks and their practi-cal principles. Combined with an example of developing the typical mechanical product, it ex-plains the implementing method of task decomposition in Concurrent Engineering (CE).
文摘The configuration an electric vehicle's electrical system and its control sequence design scheme was discussed. Vehicle management unit (VMU), power management unit (PMU) and battery management unit (BMU) were used as the control units in the vehicle. VMU was used as master control unit, PMU was used as the traction control unit and BMU was used as battery management unit. The concentrated single module control was found to be on one of its configurations.
基金supported by the Specialized Research Fund for the Doctoral Program of Higher Education(20060003032)
文摘It is a necessary step to estimate the spreading sequence of direct sequence spread spectrum(DSSS)signal for blind despreading and demodulation in non-cooperative communications.Two innovative and effective detection statistics are proposed to implement the synchronization and spreading sequence estimation procedure.The proposed algorithm also has a low computational complexity with only linear additions and modifications.Theoretical analysis and simulation results show that the algorithm performs quite well in low SNR environment,and is much better than all the existing typical algorithms with a comprehensive consideration both in performance and computational complexity.
文摘The dielectric barrier corona discharge(DBCD) in a wire-cylinder configuration and the dielectric barrier discharge(DBD) in a coaxial cylinder configuration are studied. The discharge current in DBD has a higher pulse amplitude than in DBCD. The dissipated power and the gas-gap voltage are calculated by analyzing the measured Lissajous figure. With the increasing applied voltage, the energy utilization factor for SO2 removal increases in DBCD but decreases in DBD because of the difference in their electric field distribution. Experiments of SO2 removal show that in the absence of NH3 the energy utilization factor can reach 31 g/kWh in DBCD and 39 g/kWh in DBD.
文摘A complete model of switch-mode plasma cutting power supply and its simulation are developed. The full bridge isolated pulse width modulation (PWM) buck converter in continuous conduction mode (CCM) for high watt plasma power supply is approached. Reduced ripple current and improved power factor are achieved in the plasma power supply. With a PID control strategy, circuit responses become more stable and faster with low overshoot during load and current changing. The converter achieved high efficiency under 3 to 15kW load conditions.
文摘A new preamble structure is designed for wireless LAN based on MIMO OFDM systems, which can be used for both synchronization and channel estimation. Modulatable orthogonal polyphase sequence is utilized in training symbol design regarding its correlation properties. The time synchronization and channel estimation are achieved by measuring the correlation between the received training sequence and the locally generated training sequence. Repeated training symbols are used to get carrier frequency offset （CFO） estimation. It is shown from the analysis that the accuracy of frequency synchronization is close to the Cramer-Rao lower bound. The training sequences are optimal for channel estimation based on the minimum mean square error （MMSE）.
文摘This paper analyses robotic signals in the perspective of fractional dynamics and the pseudo phase plane （PPP）.It is shown that the spectra of several experimental signals can be approximated by trend lines whose slope characterizes their fractional behavior.For the PPP reconstruction of each signal,the time lags are calculated through the fractal dimension.Moreover,to obtain a smooth PPP,the noisy signals are filtered through wavelets.The behavior of the spectra reveals a relationship with the fractal dimension of the PPP and the corresponding time delay.
基金the Key Research Project of Science and Technology of Xi'an,China(YF07020)
文摘An Equivalent-Resistance based Analysis Method (ERAM) was proposed, which can convert the Inductor-Disconnected Discharge (IDD) behavior of the Intrinsically Safe Buck Converter (ISBC) into that of an Equivalent Simple-Inductive-Circuit (ESIC). According to the inductor disconnected equivalent circuit corresponding to the most dan- gerous operating case of the converter,the arc discharge time and the variation of out- put-voltage during the IDD were deduced based on the simple current linear attenuation model.According to the energy equivalence,the equivalent inductor-current of the ESIC was obtained.It is pointed out that although the inductor-current of the Buck converter is much lower than that of the published ignition curve,ignition still occurs and the ignition ability is strengthened with increase of the output capacitance.The proposed analyzing method is verified by the experiment results on IEC standard spark ignition apparatus.
文摘A radiation hard phase-locked loop （PLL） is designed at 2.5 GHz using silicon on sapphire complementary metal-oxide-semiconductor process. Radiation hardness is achieved through improving circuit design without sacrificing real estate. Stability is guaranteed by a fully self-bias architecture. The lock time of PLL is minimized by maximizing the loop bandwidth. Frequency tuning range of voltage controlled oscillator is significantly enhanced by a novel load configuration. In addition, multiple bias stages, asynchronous frequency divider, and silicon on sapphire process jointly make the proposed PLL more radiation hard. Layout of this PLL is simulated by Cadence Spectre RF under both single event effect and total induced dose effect. Simulation results demonstrate excellent stability, lock time 〈 600 ns, frequency tuning range [1.57 GHz, 3.46 GHz], and jitter 〈 12 ps. Through comparison with PLLs in literatures, the PLL is especially superior in terms of lock time and frequency tuning range performances.
基金Sponsored by the Heilongjiang Provincial Public Relation Project (Grant No.GC06A515)
文摘To reduce the time of getting an ideal elliptical heat used in power station through repairing and testing a die repeatedly according to experience,finite element software Deform-3D was used to research the simulation of deformation-heat transfer coupling in hot forming process of elliptical head with the size of Φ1200 mm ×100 mm. The variations of stress,stain,temperature,thickness and strain rate in forming process were gotten,and the forming quality was evaluated from roundness,thinning rate and thermal contraction. The results show that the maximum thinning rate of the elliptical head is 7. 31% ,it is close to the orthographic place; and the inner diam- eter obtained from simulation is 1200. 6 - 1202. 977 mm,it is in the range of inner diameter tolerance required; all the data fit well with the practical dimension data of processing head.
基金Sponsored by the Heilongjiang Province Science and Technology Department(Grant No.GC06A515)
文摘To simulate the DIWA353 steel used in boiler nearby recrystallization temperature accurately by using finite element,the high temperature constitutive model of this material must be researched firstly.Thermal simulation experimental machine is used to do the high temperature hot compression experiments for the DIWA353 steel used in boiler under different strain rates and temperatures nearby recrystallization temperature.Multi-bank data of true stress-true strain is gotten,and the hot deformation activation energy of DIWA353 is obtained,and the constitutive equation of steady-state flow stress under the circumstance of high temperature is constructed.The results show that DIWA353 steel is positive strain rate sensitized material when it is at temperature of 850-1050 ℃,and the steady-state flow stress decreases with the increase of deformation temperature,but increases with the increase of strain rate.
基金Sponsored by the National Natural Science Foundation of China(Grant No.50877007)the Fundamental Research Funds for the Central Universities(Grant No.DUT10LK12)
文摘The projective reduced-order synchronization of two different chaotic systems with different orders is investigated based on the observer design in this paper.According to the observer theory,the reduced-order observer is designed.The projective synchronization can be realized by choosing the transition matrix of the observer as a diagonal matrix.Further,the synchronization between hyperchaotic Chen system(fourth order)and Rssler system(third order)is taken as the example to demonstrate the effectiveness of the proposed observer.Numerical simulations confirm the effectiveness of the method.
基金Sponsored by the National High Technology Research and Development Program of China( 863 Program) ( Grant No. 2007AA09Z214)
文摘In this paper,a new rotor position detecting method for the sensorless control of brushless DC motor ( BLDCM) is introduced. It obtains the phase back EMF signal from the motor terminal voltage by properly choosing the PWM and sensing strategy directly and needn't the motor neutral point voltage information. The paper analyzes both the steady-state of PWM on the high side modulator mode which doesn't consider the parasitic capacitance Coes in the switches and the transient-state of PWM on the high side modulator mode which considers the parasitic capacitance Coes in the switches in detail. The experimental results verify that the proposed method is not sensitive to switching noise,no filtering is required,and good motor performance is achieved within a wide speed range.
基金Sponsored by the Power Electronics Science and Education Development Program of Delta Environmental & Educational Foundation ( Grant No.DREO2006010).
文摘This paper proposes a novel implementation strategy for soft switching PFC whose circuit is simple and can achieve low voltage output directly. The main circuit adopts current mode full-bridge converter and all the power switches can realize ZCS or ZVS in the way of phase-shlfted control, using the leakage inductance of the transformer, the junction capacitor of the switches and the stored energy of the output capacitor. The problems such as the function of phase-shlfted link in control circuit, the implementation conditions of soft switching and bias restrained are analyzed. The adoption of constant frequency PWM control makes the design of the input and output filter link and the high frequency transformer simple. The transformation ratio regulation so as to achieve low voltage output and electrical insulation can be realized by using high frequency transformer.
基金Sponsored by the Science and Technology Ministry of Heilongjiang Province(Grant No.GC04A107).
文摘The organic static induction transistors (OSITs) are fabricated by the method of evaporating and plating in a vacuum with copper phthalocyanine (CuPc) dye, and has a five layered structure of Au/CuPc/Al/CuPc/Au. The experiment reveals that OSITs have obtained a low driving voltage, high current density and high switch speed such as I_ DS = 1.2×10 -6 A/mm2, and the degree of 1 000 Hz. The OSITs have excellent operation characteristics of typical static induction transistors.
基金Sponsored by the Scientific Research Foundation of Harbin Institute of Technology(Grant No.HIT.2000.65).
文摘According to the data of the experiment made in mechanical tensile of Polycarbonate in high temperature, experiments were done to polycarbonate sheet by hot gas pressure bulge-forming. It was found that selecting and combination of the processing parameters were vital to the quality. In the experiments and numerical simulation with the software of DYNAFORM, the processing parameters have been studied.The results showed that the method of discontinuous pressure and pressure preservation advantage the forming; when temperature and pressure meet the forming conditions, the longer time of pressure preservation promotes sufficient forming.
基金The MKE(the Ministry of Knowledge Economy),Korea,under the ITRC(Information Technology Research Center)support program supervised by the NIPA(National IT Industry Promotion Agency) (NIPA-2012-H0301-12-2006)
文摘This paper proposes a technique that global positioning system(GPS)combines inertial navigation system(INS)by using unscented particle filter(UPF)to estimate the exact outdoor position.This system can make up for the weak point on position estimation by the merits of GPS and INS.In general,extended Kalman filter(EKF)has been widely used in order to combine GPS with INS.However,UPF can get the position more accurately and correctly than EKF when it is applied to real-system included non-linear,irregular distribution errors.In this paper,the accuracy of UPF is proved through the simulation experiment,using the virtual-data needed for the test.
基金supported bythe MKE(The Ministry of Knowledge Economy,Korea)the ITRC(Information Technology Research Center)support program(NIPA-2010-C1090-1021-0010)
文摘This paper presents an optimal trajectory planning method of the dual arm manipulator using Dual Arm Manipulability Measure （DAMM）. When the manipulator carries an object from a certain position to the destination, various trajectory candidates could be conskied. TO select the optimal trajectacy from the several candidates, energy, time, and the length of the tmjecttay could be utilized. In order to quantify the carrying effidency of dual-arms, DAMM has been defined and applied for the decision of the optimal path. DAMM is defined as the interaction of the manipulability ellipsoids of the dualarras, while the manipulability measure irdicates the relationship between the joint velocity and the Cartesian velocity for each ann. The cast function for achieving the optimal path is defined as the Summation of the distance to the goal and inverse of this DAMM, which aims to generate the efficient motion to the goal. It is confirmed that the optimal path planning keeps higher manipulability through the short distance path by using computer simulation. To show the effectiveness of this cooperative control algorithm experimentally, a 5-DOF dual-ann robot with distributed controllers for synchronization control has been developed and used for the experiments.
基金Sponsored by the Research Fund of Harbin Institute of Technology (Grant No.HITMD 2001.18).
文摘This paper analyzes the operation parameters of the time delay and integration (TDI) line scan CCD camera, such as resolution, line rate, clock frequency, etc. and their mathematical relationship is deduced. By analyzing and calculating these parameters, the working clocks of the TDI CCD line scan camera are designed, which guarantees the synchronization of the line scan rate and the camera movement speed. The IL-E2 TDI CCD of DALSA Co. is used as the sensor of the camera in the paper. The working clock generator used for the TDI CCD sensor is realized by using the programmable logic device (PLD). The experimental results show that the working clock generator circuit satisfies the requirement of high speed TDI CCD line scan camera.
基金The MKE(the Ministry of Knowledge Economy),Korea,under the Human Resources Development Program for Robotics Support Program supervised by the NIPA(National IT Industry Promotion Agency) (NIPA-2012-H1502-12-1002)the MKE,Korea,under the ITRC(Information Technology Research Center)Support Program supervised by the NIPA(NIPA-2012-H0301-12-2006)
文摘Humanoid mobile manipulator which is based on two-wheel inverted pendulum robot has been studied.Balance control is a key problem for this kind of centroid-variable robot.Due to the principle of two wheel inverted pendulum,a timely angle compensation is necessary to make the system keep balance when the centroid changes.In this paper,a method based on coordinate transformation is introduced to get the compensatory angle and a 12-DOF mobile manipulator is also used to check the method.Simulation and experimental results show the effectiveness of the method.
