检索结果-内蒙古大学图书馆

电子测量与仪器学报 2006年第3期20卷 88-92页

作者：郑红梅刘正士合肥工业大学机械与汽车工程学院合肥230009

介绍了自行研制的机器人六维腕力传感器动态性能标定系统。由加载试验台、压电式力传感器、电荷放大器、自行研制的数据采集系统、数据处理与性能分析系统、图表和数据输出系统等部分组成。在加载试验台上可对六维传感器的各维分别进行... 详细信息

介绍了自行研制的机器人六维腕力传感器动态性能标定系统。由加载试验台、压电式力传感器、电荷放大器、自行研制的数据采集系统、数据处理与性能分析系统、图表和数据输出系统等部分组成。在加载试验台上可对六维传感器的各维分别进行单向加载;压电式力传感器为准确抓取阶跃信号的开始时刻提供了依据;数据采集系统将腕力传感器和压电式传感器输出的模拟信号进行采样并将采样数据保存到数据文件中,数据处理与性能分析的系统由主程序、数据处理和性能分析程序组成,主程序按顺序调用各程序模块并传输数据,数据处理和性能分析程序可对数据进行预处理和FFT、自功率谱、相关等的计算,识别腕力传感器的模态参数。本文还对某一传感器的Fz方向进行了动态标定,给出了该传感器的模态参数和工作频带。

关键词：加载试验台压电式力传感器数据采集数据处理

来源：评论

学校读者我要写书评

暂无评论

Ultrasonic accurate sensor platform

Ultrasonic accurate sensor platform

引用

12th Annual IEEE Conference Mechatronics and Machine Vision in Practice, M2VIP 2005

作者： Ong, Clement Amat, Anna Margarita S. Ling, Gerome Ivan C. Ng, Dennis Alberto M. Suatengco, Marco Niccolo G. College of Computer Studies De La Salle University 2401 Taft Avenue Manila Philippines

ISBN: (纸本)9781604236149

Ultrasonic sensors are popular devices to use for wheeled mobile-robot sensing requirements, to provide distance-to-object information. However limited resolution due to sensor beamwidth, incorrect ranging due to multiple reflections, and loss of echo due to specular reflections make the use of alternative sensor systems practically mandatory. This paper presents the implementation of a highperformance 2D sonar ranging system described by Heale and Kleeman in "Fast Target Classification Using Sonar". The system is implemented on PIC18F448 and PIC18F548 microcontrollers interfaced with a PC through the Extended Parallel Protocol (EPP). A DC motor is used to rotate a pair of Polaroid 7000 sensors 360 degrees around the vertical axis. Echoes received are digitized at a sampling rate in excess of 600KHz, are buffered then sent to the PC for processing. In this paper it is shown that despite uncontrolled chirp timing jitters in the transmitter circuitry of the transducer system, an alternative method of signal processing.aside from that suggested by Kleeman is viable: tests show the ability of the system to range objects at distances from 0.30 meters up to 2.0 meters, with accuracy within three millimeters. The system is able to automatically identify planar as well as corner structures, with an allowable tilt and skew of 10 and 13 degrees respectively.

关键词： Ultrasonic sensors

来源：评论

学校读者我要写书评

暂无评论

FPGA based hardware architecture for HIT/DLR hand

FPGA based hardware architecture for HIT/DLR hand

引用

2005 IEEE/RSJ International Conference on Intelligent robots and Systems

作者： R. Wei X.H. Gao M.H. Jin Y.W. Liu H. Liu N. Seitz R. Gruber G. Hirzinger Robot Research Institute Harbin Institute of Technology Harbin China Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany

In this paper, FPGA (field programmable gate array) based hardware architecture for the HIT/DLR hand has been investigated. With the FPGAs for lower level control and DSP (digital signal processor) for higher level control, the whole hardware is very intelligent. By using the high capacity of FPGAs, the additional hardware such as communication controller and PWM generators, can be implemented in a single chip and the hardware system is more flexible and compact. In each finger there is an FPGA for data collection, brushless DC motors control and communication with palm's FPGA by point-to-point serial communication (PPSeCo). The kernel of the hardware system is a PCI-based high speed floating-point DSP for data processing. and FPGA for high-speed (up to 25Mbps) real-time serial communication with the palm's FPGA. There needs only 4 cables for the data transmission and the sampling cycle for each sensor is only 200 /spl mu/s. This paper presents the basic ideas behind the HIT/DLR hand's hard- and software architecture adapted to new needs in data processing.

关键词： Field programmable gate arrays Hardware Level control Digital signal processing.chips Communication system control Pulse width modulation Data processing Digital signal processors Control systems Fingers

来源：评论

学校读者我要写书评

暂无评论

DLR hand II: hard- and software architecture for information processing

DLR hand II: hard- and software architecture for information...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： S. Haidacher J. Butterfass M. Fischer M. Grebenstein K. Joehl K. Kunze M. Nickl N. Seitz G. Hirzinger Institute for Robotics and Mechatronics German Aerospace Center Germany

In the robotic community more and more hands have been developed. These newly designed manipulators greatly outperform their ancestors in terms of available sensor signals, applicable grasping force, mechanical stability, reliability, kinematic design and more. This development extends the possible range and complexity of applications of robotic grippers also to areas outside of well structured laboratories and simple tasks. It also calls for more flexible control structures to provide a framework for implementing and executing these newly arising tasks without having to start from scratch for each new task. During the last few years we developed a control system architecture for DLR hand II that proved to be useful for a great variety of different applications. This paper presents the basic ideas behind DLR hand II's hard- and software architecture adapted to new needs in data processing.

关键词： Software architecture Information processing robot sensing systems signal design Application software Manipulators Mechanical sensors Grasping Force sensors Stability

来源：评论

学校读者我要写书评

暂无评论

Study on the method to adjust the measuring attitude and signal processing.for optical fiber distance and orientation integrated proximity sensor

Study on the method to adjust the measuring attitude and sig...

引用

International Conference on sensor Technology (ISTC 2001)

作者： Liu, GX Kuang, YC Zheng, SX S China Univ Technol Inst Opt & Mechatron Dept Mechatron Engn Guangzhou 510640 Peoples R China

ISBN: (纸本)0819441198

A novel four-eyes robust optical fiber distance and orientation measuring integrated proximity sensor is presented in this paper. The transducer can measure the distance and orientation of the object's surface at the same time, and is insusceptible to the fluctuation of the optical power output and variation of the object surface's reflectivity. The transducer's measuring attitude control is one of the important content studied in this paper. Base on the prior research, which verifies that the measuring pose does exist and there is only one such attitude, further study on optimizing the attitude adjusting control is done to improve the system's real time performances. In view of the complexity of the transducer's mode, an improved BP neural network data processing.method is proposed to solve the difficulty in real time data processing. By partition the multi-output BP network into several single output ones and subsection the range of input variables, the sensor's accuracy of pose estimation is significantly increased.

关键词： optic fiber sensor proximity sensor robot attitude adjusting

来源：评论

学校读者我要写书评

暂无评论

An image sensor with fast extraction of objects' positions - rough vision processor

An image sensor with fast extraction of objects' positions -...

引用

IEEE International Conference on Image processing

作者： A. Watanabe O. Tooyama M. Miyama M. Yoshimoto J. Akita Kanazawa University Kanazawa Japan Future University-Hakodate Hakodate Japan

An integration of the signal processing.circuits with the image acquiring device, which is called the vision chip and can process information in parallel, is proposed for fast image processing. In applications for robot vision, not only the detailed information, such as shape or texture, but also the rough information, such as 'something is around here', are important and useful. We consider the detecting of centroids of objects in the focal plain as the rough vision processing. which is useful in practical application, and describe its implementation using two components; the centroid detector and the coordinate generator. First, we describe the fast flag generation algorithm indicating the centroid of objects, and its implementation using an analog parallel signal processing.architecture. Next, we describe a novel encoding algorithm for flag positions indicating the centroids in order to obtain their coordinates.

关键词： Image sensors signal processing.algorithms Object detection Data mining signal processing Circuits Image processing robot sensing systems robot kinematics robot vision systems

来源：评论

学校读者我要写书评

暂无评论

Remote sensing and acoustic telemetry

Remote sensing and acoustic telemetry

引用

OCEANS

作者： D. Green T. Nguyen Benthos Inc. North Falmouth MA USA ECE Department University of California San Diego CA USA

There is a growing need for remote underwater sensing and imaging without the burden of cabled connectivity to the outside world, and the best method for achieving this is with acoustic communications. However, the acoustic link is only one aspect of the problem, as the sensor system needs to interface with the modem, and perhaps with intermediary subsystems to provide some level of data pre-processing. We are developing an integrated processor/modem capability to provide the sensor developer with much of the signal processing.capability needed to prepare and store sensor-level data, and to transmit information and receive commands as required. Our prototype development for such a system is focused on still-frame image compression and transmission in support of robotic crawlers in a mine-countermeasure (MCM) mission. Image compression is based on novel wavelet-based algorithms developed in part by the University of California at San Diego (UCSD). The robotic crawlers are a development of Foster-Miller Inc. and the Naval Coastal Systems Station. Benthos provides the acoustic and RF links for command and control and image/sensor transmission. The sensor computer which performs the image compression is a micro-PC with extensive capabilities for R and D applications, including sensor-level data processing. in-situ data fusion, and connectivity to the modem. The modem currently supports signaling up to 2400 bps (raw data rate), although 100 bps to 800 bps are more likely to be used in other than vertical channels. We show examples of full and compressed images, the latter as received via an acomms-to-RF modem gateway buoy. Enhancements expected include incorporation of much higher data rate signaling methods, and customized signal processing.for raw sensor-level data.

关键词： Remote sensing Telemetry Modems Image coding Underwater acoustics Acoustic sensors robot sensing systems Crawlers Image sensors signal processing

来源：评论

学校读者我要写书评

暂无评论

How to introduce a priori visual and behavioral knowledge for autonomous and mobile robots to operate in known environments

How to introduce a priori visual and behavioral knowledge fo...

引用

International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： P. Bonnin O. Stasse V. Hugel P. Blazevic IUT de Villetaneuse et Laboratoire de Transport et Traitement de lInformation L2T1 Universite de Paris 13 Villetaneuse France Laboratoire de Robotique de Paris Velizy-Villacoublay France

ISBN: (纸本)0780372417

To operate in a known and dynamic environment, a robot needs two different kinds of a priori knowledge : behavioral and visual. In this paper we propose a general methodology to introduce this a priori knowledge, and we illustrate it by an application : the software developments for the AIBO robots to play soccer. The more difficult task is to extract reliable visual information. It is the reason why a priori knowledge is already introduced at the level of vision processing. Without reliable vision information it is impossible for the robot to switch to the tight behavior, and consequently to play.

关键词： Mobile robots Data mining Programming robot vision systems Switches Layout Engines sensor systems Application software signal generators

来源：评论

学校读者我要写书评

暂无评论

Open system architecture modular tool kit for motion and machining process control

引用

IEEE-ASME TRANSACTIONS ON MECHATRONICS 2000年第3期5卷 281-291页

作者： Erol, NA Altintas, Y Ito, MR Spectrum Signals Inc Burnaby BC V5A 4X1 Canada Univ British Columbia Dept Engn Mech Vancouver BC V67 1Z4 Canada Univ British Columbia Dept Elect & Comp Engn Vancouver BC V67 1Z4 Canada

A user-friendly reconfigurable and modular monitoring and control system for computerized numerical control (CNC) machine tool control and machining process monitoring is described. The main part of the system is a fully integrated combination of a real-time preemptive operating system (ORTS-DSP) for machine-level soft real-time tasks running on digital signal processor (DSP) boards and an enhanced Windows-NT-based environment (ORTS-PC/NT), running on a PC, for applications such as high-level operator-machine interfaces and high-level communications with the ORTS-DSP tasks on the DSP boards. The system has a vendor-neutral architecture, and supports multiple DSP boards and multiple PC host computers for distributed operation. A transparent communication protocol allows connection between software modules on the same or different DSP boards and the host Windows NT computers. The communication connections can be set up at runtime via a scripting language. ORTS allows modular integration of new functions developed in the C language, and can be reconfigured to control robots, machine tools, or other processes, using simple script commands. The system can be used as an architecture modular operating system for the progressive development of real-time signal processing. motion, and process control applications. Sample applications for machine tool control and sensor-assisted machining applications are presented. An adjunct component of the above system is a module called the Intelligent Machining Module which is intended to provide an easy-to-use subsystem for sensor-assisted machining, IMM is a fast, synchronous, runtime configurable signal processing.network that can be reconfigured by means of plug-in software modules (PIMs) to form a sensor-based control or signal processing.system for applications that can take advantage of synchronous processing. Examples of existing PIMs are peak and average detectors, fast Fourier transforms, and control algorithms. IMM can be use

关键词： computerized numerical control control digital signal processor machine tool monitoring open architecture operating system real time robot

来源：评论

学校读者我要写书评

暂无评论

Video switching and sensor fusion for multi-camera sensing systems

Video switching and sensor fusion for multi-camera sensing s...

引用

Conference on Intelligent robots and Computer Vision XIX: Algorithms, Techniques, and Active Vision

作者： Saxena, M Selvaraj, V Dhareshwar, R Hall, EL Univ Cincinnati Ctr Robot RES Cincinnati OH 45221 USA

ISBN: (纸本)0819438626

With the low cost of solid-state camera systems, it is now possible to include many cameras on a mobile robot or other machine. However, video processing.is still relatively expensive. Therefore it is often desirable to share several cameras with a single processor. The purpose of this paper is to describe the design of a video switching system that permits eight cameras to be multiplexed with a single chip. Multiples of eight could also easily be accomplished. The heart of the system is a Maxim video switch. The user simply selects using a three-bit control signal, which camera signal is selected. The output of the video switch is then the desired camera image. One application of this video switch is a four camera input system to a mobile robot being constructed at the University of Cincinnati. Other applications include surveillance and other mobile systems. The decision as to which camera to observe can be made automatically from a computer providing a great versatility. For example, supplemental motion detectors could be used to activate the camera selection for a surveillance system. Higher-level logic has been used on our mobile robot application. Still higher-level logic could be used to fuse the video information in various ways before processing. The significance of this device is that it provides a wealth of video information to be used at the discretion of either a human viewer or automatic system.

关键词： computer vision video switching multiplexing mobile robot

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：