基于Euler算法的全向轮机器人位姿检测

现代机器人多借助于参照物定位,多受制于参照物。对于此问题,这里介绍了一种基于码盘和Euler算法定位的无参照物的全向轮机器人设计。利用120度分布的三个全向轮的结构优势,设计了一款能实现在二维平面内移动定位的机器人。此机器人通过采集2个相对编码器和一个绝对编码器数据来获取机器人位姿信息,并接收上位机发送的坐标指令和用Euler算法计算机器人运动坐标,然后将机器人位姿信息与计算出来的坐标相比较,对机器人进行姿态矫正,最终达到追踪有效给定坐标的目的。     

基于激光定位的变电站智能巡检机器人导航系统设计

导航和定位是变电站智能巡检机器人完全自主运行的关键,针对巡检机器人现有导航定位方式的不足,将激光定位技术应用于巡检机器人导航,设计了巡检机器人激光导航系统,详细介绍了系统的软硬件结构及实现方法,并在室外环境下对导航系统进行了实验测试;实验结果表明,巡检机器人运行平稳,具有较高的导航控制精度;实验中机器人的运行轨迹重合度较好,直线运行时运动轨迹与路径横向垂直偏差在±15mm以内,航向偏差可控制在±1.5°左右。     

去散焦模糊的折反射全向成像系统设计

随着高分辨率传感器和大光圈的采用,光圈和反射面曲率造成的折反射全向成像散焦模糊问题越发突出。提出了一种有效去除散焦模糊的折反射全向成像系统设计。理论分析折反射成像散焦模糊的原因,建立全向图点扩展函数与实景空间物点及成像系统虚像位置的关系;在一次曝光成像时间内匀速旋转镜头对焦环,通过累积曝光使全向图散焦模糊核具有期望的空间不变性;利用反卷积算法对散焦模糊全向图进行复原,得到全局清晰的全向图像。该方法较好地解决了折反射全向成像散焦模糊问题,对提高折反射全向成像质量,促进其在相关领域的广泛应用具有重要意义。     

基于信息冗余检验的支持向量机时间序列预测自由参数选取方法

支持向量机建模中的一个关键和难点问题是自由参数的设置. 不同于以往应用残差的简单统计量选取最佳模型的方法, 本文提出通过检 验模型在训练集上的拟合残差是否不含冗余信息作为选择自由参数的依据. 进一步提出应用全向相关函数(omni-directional correlaton function, ODCF)检验残差信息冗余并给出应用方法,并从理论分析和数值仿真两 方面给出该方法正确性的证明.在两个典型的非线性时间序列(年 均太阳黑子数和Mackey-Glass数据)上进行了实验,实验结果优于相关 文献记载及基于校验集方法的预测性能.     

基于无源性的不确定机器人的力控制

根据无源性理论,从一个较新的角度对机器人系统的力控制问题进行了研究.一个严格无源的动态系统一般具有良好的动态特性和较强的鲁棒性.因此在力控制中采用无源化方法对力控制器进行设计.对于机器人建模的不准确性及环境的影响,本文采用在力控制回路中加入一个补偿项来补偿模型的不确定性.仿真结果表明这种控制方案使系统获得了较好的动态性能和较强的鲁棒性.     

基于WSN的智能农机自动导航控制系统研究

为了提高农机的自动化和智能化作业水平,采用无线传感器网络设计了农机自动导航控制系统,系统主要由车载导航控制终端、后台服务器和ZigBee无线传感器网络组成;车载导航控制终端在嵌入式控制器S3C2240平台上开发设计,主要采用PID模糊控制算法对农机的运动状态进行调节和与服务器的通信;后台服务器根据要作业的区域利用定步长连续寻点方法进行了农机行驶的路径规划,接收移动车载导航控制终端上传的接收信号强度指示RSSI后,借助多点定位算法进行精确定位,并向移动车载导航控制终端下达期望的速度和方向指令;实验结果表明:设计的智能农机自动导航控制系统能够实现精确定位和速度控制,平均定位误差为仅为0.217 m,在设定运动速度为1 m/s时,实际的平均速度为0.984 m/s,能够完全满足农机自动导航作业的需要。     

一维光子晶体研究进展

一维光子晶体由于其制备的优势以及对光传播模式控制的优异性能使其在不同研究领域得到了广泛关注。文章介绍了一维介电以及金属－介电光子晶体的最新研究进展和应用前景,并系统综述了一维材料中全向能隙,布儒斯特角控制,超折射光学效应以及光子局域化等对光传输的影响。     

准全向平板超材料吸波体的设计

本文设计了一种具有准全向吸波特性的平板超材料吸波体,其准全向吸波特性是由超材料吸波单元的双面吸波、极化不敏感和宽入射角实现的.理论分析和仿真结果表明:该吸波体在6.18 GHz的确有一个双面吸波的吸收点,且吸收率对极化角和入射角均不敏感.提取的等效阻抗表明可以调节超材料的电磁响应使其在吸收频率处与自由空间阻抗匹配来抑制反射.仿真的能量损耗分布表明:该吸波体对电磁波的吸收主要源于基板的介质损耗;采用两种不同介质基板的设计可使前吸波体与后吸波体的耦合度明显降低、抑制耦合所导致的传输.该吸波体可能在许多领域具有 关键词： 准全向吸波 双面吸波 极化不敏感 宽入射角     

基于DSP的全方位移动平台无线遥控系统

以全方位移动平台为研究对象,针对移动平台的全向运动控制,基于TI公司的TMS320F2812和无线数传模块设计了无线遥控系统;该系统将数据采集程序、通信协议和纠错编码算法集成在高速DSP系统上,具有信道选择灵活、接口标准、易维护的优点;并且对遥控通信系统的硬件和软件进行了设计,构建了适合于移动平台的可靠通信协议;最后进行了传输距离和响应时间试验,试验结果是无线遥控系统的稳定传输距离可达100 m,发射端和接收端的响应时间分别小于20 ms和80 ms,数据传输错误率低于0.003%且可完成数据的及时更新;试验结果表明该系统的响应时间短,数据传输稳定,可以完成对移动平台的实时全向运动姿态的操控。     

基于梯度下降和二分法的移动机器人轨迹规划方法

轨迹规划是移动焊接机器人轨迹控制的基础,是该系统中重要的组成部分。为了提高多关节移动焊接机器人轨迹规划的效率和精确性,同时考虑到多关节焊接机器人的运动特性提出了一种梯度下降法和二分法结合的轨迹规划方法。移动焊接机器人由机械杆和机器人移动平台组成,由于移动平台提供移动性使得移动焊接机器人相对固定的机械臂有更大的工作空间。近年来,此类系统的研究已在经学术界和工业界迅猛发展。论文首先建立移动焊接机器人的运动学模型,并且阐述梯度下降法和二分法结合算法的设计步骤。然后,采用典型的正弦波形作为焊缝轨迹,通过仿真验证该方法的应用前景和可行性。     

Enlargement of omnidirectional electronic gap in the graphene superlattice heterostructures with Gaussian profile potential voltages

A valid method is used to extend the omnidirectional electronic gap (OEG) of Gaussian gapped graphene superlattices (GSLs) heterostructure. The heterostructure consists of two superlattices with different width ratios of potentials. Each superlattice comprises a periodic repetition of a unit cell consisting of 21 layers with the potential voltages varying according to a Gaussian function and another layer with a fixed potential voltage. The potential width ratios of constituent Gaussian gapped GSL are established utilizing the lower and upper energy edges of omnidirectional electronic gap depending on the width ratio of potentials. Moreover, it is shown that the width of OEG of the heterostructure is sensitive to lattice constant, which can be applicable to the development of graphene-based electronics.     

Omnidirectional transmission and reflection of pseudospin-1 Dirac fermions in a Lieb superlattice

We study the behavior of pseudospin-1 Dirac fermions in a Lieb lattice subjected to an external periodic potential. It is found that there exists a zero-averaged wave-number passband at the incident energy corresponding to half of the potential step, in contrast to zero-averaged wave-number gap in graphene superlattices. By tuning the sublattice site-energy, the passband can be turned into an omnidirectional gap. Consequently, a transformation from omnidirectional transmission to reflection, accompanied with a switch of conductance from maximum to zero can be realized easily. It is expected that the controllable properties are useful for some applications in optical or electronic devices.     

Assessing approximate broadband omnidirectional antireflection

By introducing the notion of wavelength- and angle-averaged transmittance, we assess in a systematic way the possibility of achieving approximate omnidirectional antireflection in a wide spectral range by using double-layer systems. We also determine the optimum range of thicknesses for which this broadband omnidirectional antireflection occurs.     

An omnidirectional 3D sensor with line laser scanning

An active omnidirectional vision owns the advantages of the wide field of view (FOV) imaging, resulting in an entire 3D environment scene, which is promising in the field of robot navigation. However, the existing omnidirectional vision sensors based on line laser can measure points only located on the optical plane of the line laser beam, resulting in the low-resolution reconstruction. Whereas, to improve resolution, some other omnidirectional vision sensors with the capability of projecting 2D encode pattern from projector and curved mirror. However, the astigmatism property of curve mirror causes the low-accuracy reconstruction. To solve the above problems, a rotating polygon scanning mirror is used to scan the object in the vertical direction so that an entire profile of the observed scene can be obtained at high accuracy, without of astigmatism phenomenon. Then, the proposed method is calibrated by a conventional 2D checkerboard plate. The experimental results show that the measurement error of the 3D omnidirectional sensor is approximately 1 mm. Moreover, the reconstruction of objects with different shapes based on the developed sensor is also verified.     

Omnidirectional bandgap in Cantor dielectric multilayers

Analysis of the transmission spectrum of Cantor dielectric multilayers for obliquely incident plane wave shows that the main bandgap shifts towards higher frequencies, substantially retaining its shape, as the incidence angle increases for both s- and p-polarization of the impinging wave. For suitable refractive index values of the two constituent materials a range of frequencies can be found where transmission of the incident wave is almost completely forbidden at any angle of incidence. This omnidirectional bandgap can be found also for lossy media. In this case the stop-band widens as the tangent loss increases, while the depth of the stop-band does not change significantly. Comparison with the periodic quarter-wave stack shows that the Cantor multilayer exhibits a narrower omnidirectional bandgap with transmissivity values that are about one order of magnitude lower.     

基于λ/4膜系的全角度反射镜

本文介绍了一种用λ/4膜系设计特定波长范围内的全偏振全角度反射镜的方法,给出了反射带中心波长、边缘波长及带宽的表达式,并对如何避免Brewster窗作了定量分析.     

Terahertz wave omnidirectional dielectric mirror

We design an omnidirectional dielectric mirror that operates over a wide terahertz wavelength range and is based on a periodic bilayer (tellurium and polystyrene) structure. The structure is characterized by using transfer matrix calculation. Results of simulation show that the presented dielectric mirror is highly reflecting for all incidence angles and TE as well as TM polarization in the frequency band from 0.451 to 0.821 THz (i.e. wavelength ranges from 365.5 to 665.5 μm), when the incidence angle is less than 45°. Tolerance analysis reveals a large tolerance to fabrication errors.     

Confinement in a planar waveguide with porous silicon omnidirectional mirrors as confining walls

We present the design and study of waveguide structures based on porous silicon where the light confinement is not due to the usual total reflection effect but to the use of photonic crystals (PCs) as confining walls. These PC are omnidirectional mirrors (OMs), consisting of the periodic repetition of two porous silicon layers with different refractive indices and thicknesses. They reflect the radiation for all angles of incidence within a frequency range called the omnidirectional band gap (OBG). We have followed the PC formalism to investigate the properties of the OM as a multimode waveguide: the number of modes within the band gap, their field spatial distribution and their confinement as a function of the frequency and the core thickness.     

Transmission properties of a double-periodic quasi-crystal containing single-negative materials

The transmission properties of a double-periodic quasi-crystal containing single-negative materials are investigated with the transfer matrix method and effective medium theory. It is shown that the double-periodic quasi-crystal has a single-negative band gap between the zeros of average permittivity and average permeability of the effective medium. These zeros are affected only by the filling factor of the structure, and are independent from the order of the double-periodic quasi-crystal. Moreover, we show that the periodic structure created by repeating the double-periodic quasi-crystal has some omnidirectional band gaps at the single-negative frequency region. The number of such omnidirectional band gap increases by increasing the order of double-periodic quasi-crystal. Then, the structure can be used as a multichannel filter.     

Design of broad omnidirectional total reflectors based on one-dimensional dielectric and magnetic photonic crystals

Omnidirectional total reflectors based on one-dimensional dielectric and magnetic photonic crystals are investigated in this paper. We adopt the transmission matrix method to analyze the transmission properties of such reflectors and use the decimal genetic algorithm to obtain broad omnidirectional total reflection (ODTR) bandwidth. Finally, an omnidirectional total reflector with very broad ODTR bandwidth of 1.34ω₀ is achieved.