聚变堆遥操作上层协同控制系统设计和测试

为了解决聚变堆遥操作维护上层控制系统普遍存在的软件功能模块过于集中、拓展性差、不具备中层运动规划能力等问题,设计了一种基于机器人操作系统(ROS)的上层协同控制系统。该系统采用分布式架构,基于市场成熟的开发平台进行设计,集成了中层运动规划与动力学虚拟仿真功能。通过“轴销抓取”的实验场景测试的结果表明：该系统满足设计需求,运行稳定。     

Spatial-based iterative learning control for motion control applications

For many motion control applications spatial constraints are often more important than temporal constraints. In recent work, we have developed a spatial control strategy called the ε-controller for mobile robot applications. The control strategy is based solely on static path geometry with position (in space) feedback. Motivated by this idea, in this paper, we consider the notion of spatial-based iterative learning control (ILC). Specifically, we consider repetitive operation problems where corrections are made to the control signal from trial to trial. Unlike traditional ILC, however, which updates control signals based on the time elapsed along a trajectory, we instead make updates based on path errors and progress along the path. The idea is demonstrated via simulation for a system with bang–bang velocity control. Experimental results using a high-precision, two-axis gimbal mechanism are presented to show the effectiveness of the strategy.     

Numerical approximation of a viscoelastic frictional contact problemApproximation numérique d'un problème viscoélastique de contact avec frottement

We consider a fully discrete scheme for a quasistatic frictional contact problem between a viscoelastic body and an obstacle. The contact is bilateral, the friction is modeled with Tresca's law and the behavior of the material is described with a viscoelastic constitutive law with long memory. We state an existence and uniqueness result for the discrete solution, followed by error estimate results. Then, we present numerical simulations in the study of a two-dimensional test example. To cite this article: Á. Rodríguez-Arós et al., C. R. Mecanique 334 (2006).     

A model-based and simulation-driven methodology for design of haptic devices

High precision and reliable haptic devices are highly complex products. The complexity that has to be carefully treated in the design process is largely due to the multi-criteria and conflicting character of the functional and performance requirements. These requirements include high stiffness, large workspace, high manipulability, small inertia, low friction, high transparency, as well as cost constraints. The requirements are a basis for creating and assessing design concepts. Concept evaluation relies to a large extent on a systematic usage of kinematic, dynamic, stiffness, friction, and control models. The design process can benefit from a model-based and simulation-driven approach, where one starts from an abstract top-level model that is extended via stepwise refinements and design space exploration into a detailed and integrated systems model that can be physically realized. Such an approach is presented, put in context of the V-model, and evaluated through a test case where a haptic device, based on a Stewart platform, is designed and realized. It can be concluded, based on simulation and experimental results that the performance of this deterministically optimized haptic device satisfies the stated user requirements. Experiences from this case indicate that the methodology is capable of supporting effective and efficient development of high performing haptic devices. However, more test cases are needed to further validate the presented methodology.     

平板显示器运动图像清晰度客观测试技术的研究

本文提出了一种基于高速相机和时域空域解耦人眼视觉系统模型的新型运动图像清晰度客观测试方法,具有采用静态、动态一致的显示线作为评价参数,更完善的人眼视觉系统算法,基于调制度的客观测试能力等优点。本文采用高速相机、瞬态光度计、视频发生器实现了测试系统的原理性试验装置,并研制了软件验证算法。核心算法与测试序列已得到国家发明专利授权并得到系统试验验证。     

基于图像运动检测的子场编码优化算法

针对等离子显示器中运动图像产生的动态伪轮廓现象,提出了一种基于图像运动检测的子场编码优化算法。该算法在分析常用动态伪轮廓和运动补偿算法的基础上,通过检测图像数据的变化差值判断图像的运动状态,并通过图像运动状态选择不同的显示灰度构成方式:静态图像选择全灰度级编码,动态图像选择较少灰度级编码,通过优化编码方式消除图像的动态伪轮廓。实验表明,算法减少了不同运动速度的图像因算法引起的人工纹理,保证了静态图像的显示细节,达到改善显示图像画质的目的。此外,该算法还具有处理速度快,易于硬件实现等优点。     

一种改进的三维递归搜索帧率上转换算法

提出了一种改进的三维递归搜索(3-Dimension Recursive Search,3DRS)帧率上转换算法。相较于3DRS算法,在3个方面提出改进:首先,调整候选运动矢量的选择,充分利用运动失量的空间相关性;其次,增加一次逆序运动估计,加速运动失量收敛;最后,提出一种新的匹配准则以进一步提高运动估计的准确性。实验结果表明,该算法有效提高了运动估计的准确性,所得结果在主客观均取得较好的效果。     

基于Cache的HEVC运动补偿带宽优化设计

作为计算量最多的模块之一,运动补偿占用了解码器与片外数据存储器之间约70%的带宽,是实现超高清视频解码的瓶颈。通过所设计的基于Cache的HEVC运动补偿模块,在保证实时解码数据吞吐量的同时,有效减少了80%的带宽消耗。首先,利用由可复用滤波器构成的插值计算模块和2D Cache设计了可并行化流水线数据处理的运动补偿模块,满足计算过程中高数据吞吐量需求。其次,设计高效内部存储器RAM结构,并提出片内Cache功耗降低的有效解决方案。最后,利用了参考帧数据相关性,设计插值顺序重排,将Cache的硬件开销减少了87.5%。基于HM9.0的HEVC标准测试视频序列实验结构表明,该设计显著地减少了带宽消耗和硬件开销。     

Conservative Approximation–Based Full‐Search Block Matching Algorithm Architecture for QCIF Digital Video Employing Systolic Array Architecture

This paper presents a power‐efficient hardware realization for a motion estimation technique that is based on the full‐search block matching algorithm (FSBMA). The considered input is the quarter common intermediate format of digital video. The mean of absolute difference (MAD) is the distortion criteria employed for the block matching process. The conventional architecture considered for the hardware realization of FSBMA is that of the shift register–based 2‐D systolic array. For this architecture, a conservative approximation technique is adapted to eliminate unnecessary MAD computations involved in the block matching process. Upon introducing the technique to the conventional architecture, the power and complexity of its implantation is reduced, while the accuracy of the motion vector extracted from the block matching process is preserved. The proposed architecture is verified for its functional specifications. A performance evaluation of the proposed architecture is carried out using parameters such as power, area, operating frequency, and efficiency.