检索结果-内蒙古大学图书馆

OCEANS

作者： Hongli Xu Guannan Li State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang China Institute of informa Shenyang Ligong University Shenyang China

ISBN: (纸本)9781479913084

Formation control has received significant attention in the field of multiple autonomous underwater vehicles (AUVs) in recent years. There are many theoretical methods for solving this problem. But when applying these methods to an actual multiple AUVs system, communication constraints need to be considered because acoustic communication among multiple AUVs often is unreliable in actual ocean environment. This paper focuses on application and validation of a leader-follower approach on multi-AUVs formation maintenance with acoustic communication constraints. The communication interval between AUVs and packet loss rate are researched based on experiments. A leader-follower formation control algorithm based on a Line-Of- Sight guidance law is proposed. The simulation and experiment results show that the proposed method is effective and feasible when keeping a formation with a long delay of underwater acoustic communication, and it is also suitable for short-time communication interruption.

关键词： Acoustics Lead Trajectory Modems Packet loss Vehicles

来源：评论

学校读者我要写书评

暂无评论

Lane detection and recognition based on around-view system

引用

Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) 2013年第SUPPL.I期41卷 233-236页

作者： Gu, Xiaolin Yang, Ming Wang, Bing Wang, Chunxiang Department of Automation and Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai 200240 China Research Institute of Robotics Shanghai Jiao Tong University Shanghai 200240 China

A multi-type lane detection and recognition method using onboard around-view system was proposed, which could provide distinct road information around the vehicle and was less susceptible to occlusion by other vehicles. Firstly, the principle direction of the image was rectified based on Hough transform, as lane markings close to the vehicle are straight. Then x space feature histogram was used to detect regions of interest and y space feature histogram was used to recognize the properties of lane markings, such as number of lines, solid/dashed, and so on. Color information was analyzed in the HSV color space. Finally, a Kalman filter and confidence measurement was used to reduce the impact of noise. Experimental results demonstrated the effectiveness of the proposed method.

关键词： Kalman filters

来源：评论

学校读者我要写书评

暂无评论

Study on interactional characteristics of WT wheelchair robot with stairs during stair-climbing process

Study on interactional characteristics of WT wheelchair robo...

引用

2013 International Conference on Mechanics and Mechatronics, ICMM 2013

作者： Wang, Jian Wang, Ting Yao, Chen Li, Xiao-Fan Wu, Cheng-Dong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Nanta Street 114 Shenyang Liaoning Province China School of Information Science and Engineering Northeastern University Shenyang Liaoning Province China University of Chinese Academy of Science Beijing China

ISBN: (纸本)9783037858714

The characteristics of interaction between WT wheelchair robot and stair environments is analyzed and possible patterns of WT wheelchair robot during the stairs climbing are summarized, and then the criterion to determine the pattern of the wheelchair robot is proposed. stateFLOW module in MATLAB is used to simulating the whole stair-climbing of WT wheelchair robot, and an entire analytical procedure about how to determine the pattern by using the simulation curves is given. © (2013)Trans Tech Publications,Switzerland.

关键词： Stairs

来源：评论

学校读者我要写书评

暂无评论

Fabrication of FET and Sensors Based on Single CuO Nanowire

Fabrication of FET and Sensors Based on Single CuO Nanowire

引用

International Conference on Nanoscience & Technology,China 2013(ChinaNANO 2013)(中国国际纳米科学和技术大会)

作者： Chaolei Huang Xiaojun Tian Jie Liu Zaili Dong Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China University of Chinese Academy of Sciences 19A YuquanluBeijing 100049China State Key Laboratory of RoboticsShenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China

CuO nanowire is an important p-type semiconductor nano-structure materials, and it can be used in many fields for its excellent physical and chemical properties, such as photovoltaic effect, field emission, and chemical and gas sensing, but those research are on CuO nanowires array or large numbers of CuO nanowires prepared on foil.

关键词： CuO nanowire fabrication DEP FET gas sensor photodector

来源：评论

学校读者我要写书评

暂无评论

Atomic Force Microscope Deposition Assisted by Electric Field

Atomic Force Microscope Deposition Assisted by Electric Fiel...

引用

The Second International Conference on Micro Nano Devices,Structure and Computing systems(MNDSCS 2013)

作者： Zeng-Lei Liu Nian-Dong Jiao Zhi-Dong Wang Zai-Li Dong Lian-Qing Liu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Graduate University of Chinese Academy of Sciences Chiba Institute of Technology

This paper introduces atomic force microscope(AFM) deposition method to fabricate nanostructures and nanodevices. Field emission theory is introduced in this paper, which provides theoretical explanation for AFM deposition. Dot matrixes are fabricated by AFM deposition on three different substrates, Si, Au and GaA s. Differences of deposition on the three substrates are discussed. AFM deposition has many practical applications. For example, AFM deposition can be used to solder nano components together to improve electrical properties of nanodevices. Besides nanosoldering, AFM deposition can also be used in fabrication of nanodevices. Thus AFM deposition is a valuable research field for future massive applications of nanodevices.

关键词： Nanostructure AFM Deposition Field Emission

来源：评论

学校读者我要写书评

暂无评论

MEFPDA-SCKF for underwater single observer bearings-only target tracking in clutter

MEFPDA-SCKF for underwater single observer bearings-only tar...

引用

OCEANS

作者： Dengfeng Mei Kaizhou Liu Yanyan Wang University of Chinese Academy of Sciences Beijing China State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang Liaoning Province China

ISBN: (纸本)9781479913084

The MEFPDA-SCKF algorithm, which is based on square-root cubature Kalman filter (SCKF) and maximum entropy fuzzy probabilistic data association (MEFPDA), is proposed for single observer bearings-only target tracking in cluttered underwater environment. SCKF is used to solve the nonlinear state estimation of bearings-only tracking. MEFPDA is used to reduce the interference of clutter and provide reliable bearings. Simulation and field experiment are conducted to verify the effectiveness of the proposed algorithm.

关键词： Target tracking Observers Kalman filters Clutter Probabilistic logic Accuracy Covariance matrices

来源：评论

学校读者我要写书评

暂无评论

Enhancing pose accuracy of space robot by improved differential evolution

引用

Journal of Central South University 2012年第4期19卷 933-943页

作者：刘宇倪风雷刘宏徐文福 State Key Laboratory of Robotics and System Harbin Institute of Technology Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Graduate School

Due to the intense vibration durirLg launching and rigorous orbital temperature environment, the kinematic parameters of space robot may be largely deviated from their nominal parameters. The disparity will cause the real pose （including position and orientation） of the end effector not to match the desired one, and further hinder the space robot from performing the scheduled mission. To improve pose accuracy of space robot, a new self-calibration method using the distance measurement provided by a laser-ranger fixed on the end-effector is proposed. A distance-measurement model of the space robot is built according to the distance from the starting point of the laser beam to the intersection point at the declining plane. Based on the model, the cost function about the pose error is derived. The kinematic calibration is transferred to a non-linear system optimization problem, which is solved by the improved differential evolution （DE） algoritlun. A six-degree of freedom （6-DOF） robot is used as a practical simulation example, and the simulation results show： 1） A significant improvement of pose accuracy of space robot can be obtained by distance measurement only; 2） Search efficiency is increased by improved DE; 3） More calibration configurations may make calibration results better.

关键词： space robot self-calibration laser ranger pose accuracy improved differential evolution

来源：评论

学校读者我要写书评

暂无评论

Modeling of nano piezoelectric actuator based on block matching algorithm with optimal block size

Modeling of nano piezoelectric actuator based on block match...

引用

International Conference on Information and Automation (ICIA)

作者： Yangjie Wei Chengdong Wu Zaili Dong Yuqing He College of Information Science and Engineering Northeastern University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China

ISBN: (纸本)9781479913329

In this paper, a new hysteresis modeling method based on an improved sub-pixel blocking matching algorithm with an optimal block size and the Preisach model is proposed to model the hysteresis behavior of a nano piezoelectric actuator (PA) on nano scale in a real time system. First, the Preisach model about the hysteresis behavior of a piezoelectric actuator is introduced. Then, a real time block matching algorithm is proposed and its block size is optimized with a standard object. Finally, experiments are conducted with respect to a nano-meter movement platform system, and the results show the feasibility and validity of the sub-pixel estimation based block matching algorithm and its application in modeling the hysteresis behavior of PA.

关键词： Hysteresis Motion measurement Mathematical model Voltage measurement Piezoelectric actuators Size measurement

来源：评论

学校读者我要写书评

暂无评论

The Global Stability Analysis of Passive Biped Robot Based on Gradual Point Mapping - Cell Mapping Method

The Global Stability Analysis of Passive Biped Robot Based o...

引用

International Symposium on Instrumentation and Measurement, Sensor Network and Automation

作者： Xizhe Zang Jifeng Bai Yanhe Zhu Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479927173

On the basis of Poincare mapping and cell mapping theories, this paper proposes an improved PCM method that is Gradual Point Mapping - Cell Mapping (GPCM) method. Compared with Point Mapping - Cell Mapping Synthesis (PCM) method, GPCM method proposed can better address the calculation excessive, the credibility guarantee and other issues. The global stability of passive biped robot was analyzed by using GPCM method, the global domains of attraction of a variety of physical parameters' combinations were solved, and we optimized the robot's parameters accordingly. The dynamics simulation and robot prototype experiments show that the robot has strong robustness and can converge to a stable gait by a fast convergence rate.

关键词： Passive Biped Robot Global Analysis Poincare Mapping Domain of Attraction Dynamic Simulation

来源：评论

学校读者我要写书评

暂无评论

Study on the large-scale assembly and fabrication method for SWCNTs nano device

引用

Science China Chemistry 2013年第3期56卷 556-561页

作者： XU Ke TIAN XiaoJun WU ChengDong LIU Jian LI MengXin DONG ZaiLi State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences School of Information & Control Engineering Shenyang Jianzhu University School of Information Science and Engineering Northeastern University

The large-scale assembly and fabrication method for single-walled carbon nanotube(SWCNT) nano devices was *** of SWCNT field effect transistor(FET) was realized by floating potential dielectrophoresis *** simulation of floating potential distribution of the chip was performed by comsol multiphysics coupling *** hundred devices were assembled on the area of less than one square *** fabricated devices were characterized by atomic force microscopy and scanning electron *** experimental results showed that large-scale assembly had been realized,and the success rate of ideal assembly for SWCNT FET had been assessed.

关键词： large-scale single-walled carbon nanotube assembly floating potential dielectrophoresis

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：