移动机器人分布式超声探测系统设计

设计制作了一种基于多处理器的移动机器人分布式超声环境探测系统.该系统由上位工作模式控制模块和下位智能超声传感器阵列组成.下位智能超声传感器选用收发一体式超声传感器,每个传感器均由独立的微处理器控制,完成实时数据处理、抗干扰处理、故障报警以及并行数据通信等功能.上位工作模式控制模块可以根据不同的控制策略,使下位传感器阵列采用“阈值比较法”和“改进型递推均值滤波”算法及EERUF方法并行循环工作模式,实现不同方向传感器分组并行工作,提高了探测的实时性和准确性,以及对移动机器人控制的鲁棒性.仿真和实验的结果都验证了该系统的可靠性和有效性.

基于多微处理器的智能超声探测系统

设计了一种基于多微处理器的智能超声探测系统。该系统采用由上位工作模式控制单元和下位智能超声传感器阵列组成的分布式结构。每个超声传感器均由独立的微处理器控制,并完成实时数据处理、抗干扰处理、故障报警以及数据通信等功能。上位控制单元根据移动机器人的运动状态采用不同的控制策略,使下位传感器阵列分组并行工作,提高了探测系统的实时性;下位传感器采用"阈值比较法"、"改进型递推均值滤波"算法和模糊信息处理技术,提高了探测系统的准确性、可靠性。将该探测系统安装于RIRA-II移动机器人上,进行了基于主动视觉和超声信息的运动目标跟踪实验,实验表明超声探测系统运行可靠、稳定。

ARM处理器在AFM纳米操作系统中的应用

文章介绍了在原子力显微镜(AFM)纳米操作系统中ARM处理器的应用及开发,在此基础上搭建了具有3D力反馈的纳米操作系统。结合AFM纳米操作系统的实时性问题,进行了ARM开发板的系统软件架构和PSD(四象限光电检测器)信号的PID控制结果的分析,使纳米操作系统在实时性和成像的质量等方面都得到相应改进。

基于网络直角坐标机器人视觉伺服系统研究

为了实现定位抓取任务,提出基于网络的直角坐标机器人视觉控制系统。针对机器人运动控制的非线性与强耦合特性,采用神经网络控制器,构建了图像偏差与运动控制量之间的对应关系。通过对图像增强、边缘提取、特征提取等图像处理方法的综合分析,提出了一套优化组合图像处理法。在计算机网络环境下,采用自定义协议实现图像处理器与运动控制器协调控制,并将远程监控应用到机器人控制中。实验结果表明,该系统能够在视野范围内自动实现定位抓取动作。

精密1号装配机器人控制系统的体系结构

介绍了精密1号装配机器人控制系统体系结构的设计与实现。精密1号机器人是国家863计划智能机器人主题立项研制的一台SCARA结构的4轴装配机器人型号样机。它采用直接驱动技术，具有较高的运动速度和定位精度，配有高性能的视觉和力觉传感器，控制系统以Intel公司的iSBC386／12系列计算机和iRMXⅢ实时多任务操作系统为基础，采用上、下两级分布式计算机结构。控制系统除具有一般的机器人控制器的功能外，还具有用户多任务编程、可基于视觉和力觉传感器信息控制、离线编程和图形动画仿真等特性。

一种基于立体视觉的多视点建模方法

论述了一种基于立体视觉的建模方法。该方法利用立体视觉系统在不同视点对景物观测所获得的局部三维几何模型，通过空间特征点匹配和坐标变换将局部模型融合，从而建立景物的完整描述。文章重点介绍了一种基于空间向量的坐标变换求解方法。

智能科学与智能技术

当今智能科学与智能技术是科技界的一个热点。在这方面有很多争议。有些学者怀疑智能技术前景，将现有“智能系统”与人相比，根本上否定有什么智能，认为只不过是一套专用软件。有的则过份乐观，我们认为过份悲观或过份乐观都是错误的，这里首先要区分智能科学与智能技术。前者是研究人所具有的自然现象，后者是开发一种技术去替代人的某些脑力劳动。其次，应正确认识现有智能技术方法的局限性。

基于DM642的香烟小包装外观检测系统

本文设计与实现了一种基于TMS320DM642的香烟小包装外观质量检测系统,详细阐述了该系统的硬件构成、软件流程、检测算法以及针对DSP处理器进行的系统优化。系统以TMS320DM642处理器为核心建立硬件平台,通过摄像头获取香烟小包装图像,采用改进的模板匹配算法对当前图像进行质量检测,最终在监视器上显示检测结果并将检测结果送执行单元进行处理。实验结果表明基于TMS320DM642的香烟小包装检测系统,检测效果快速、准确、有效,应用前景广泛。

基于DM642的车牌识别系统设计

本文设计与实现了一种基于TMS320DM642的车牌识别系统,详细阐述了该系统的硬件构成、软件流程、检测算法以及针对DSP处理器进行的系统优化。系统通过摄像头获取汽车牌照图像,以TMS320DM642处理器为核心建立硬件平台,完成车牌定位,倾斜角校正,字符分割,字符识别等一系列算法。实验结果表明基于TMS320DM642的车牌识别系统准确、有效,应用前景广泛。

基于DSP的烟支重量测控系统的设计与实现

分析了Protos70卷接机组重量测控系统的工作原理,根据烟支密度脉冲信号及同步信号计算单支烟重量作为控制标准。采用DSP处理器为核心单元完成对烟支重量的计算,针对软件中烟条重量的算法进行了优化,提出计算过程中对程序运行和变量的优化方法以保证系统工作的实时性。

嵌入式智能图像处理在火灾预警系统的应用

传统的火灾检测方法一般采用感烟、感温、感光探测器等进行探测。本文提出了一种嵌入式基于图像视觉特征的火灾检测方法,以TI公司的数字多媒体处理器TMS320DM642为核心,设计实现智能前端火灾探测与自动报警系统。通过DM642对视频图像进行采集并结合相应的智能图像处理与模式识别算法,对森林火险进行实时监控。实验结果表明,该系统比传统系统更进一步减少了误报率且具有响应快、监控范围广等优点。

地下水流动数值模拟的并行计算方法研究

Numerical modeling of groundwater is very important for understanding groundwater flow and solving hydrogeological problem. Today, groundwater studies require massive model cells and high calculation accuracy, which are beyond single-CPU computer’s capabilities. With the development of high performance parallel computing technologies, application of parallel computing method on numerical modeling of groundwater flow becomes necessary and important. Using parallel computing can improve the ability to resolve various hydro-geological and environmental problems. In this study, parallel computing method on two main types of modern parallel computer architecture, shared memory parallel systems and distributed shared memory parallel systems, are discussed. OpenMP and MPI (PETSc) are both used to parallelize the most widely used groundwater simulator, MODFLOW. Two parallel solvers, P-PCG and P-MODFLOW, were developed for MODFLOW. The parallelized MODFLOW was used to simulate regional groundwater flow in Beishan, Gansu Province, which is a potential high-level radioactive waste geological disposal area in China. 1. The OpenMP programming paradigm was used to parallelize the PCG (preconditioned conjugate-gradient method) solver, which is one of the main solver for MODFLOW. The parallel PCG solver, P-PCG, is verified using an 8-processor computer. Both the impact of compilers and different model domain sizes were considered in the numerical experiments. The largest test model has 1000 columns, 1000 rows and 1000 layers. Based on the timing results, execution times using the P-PCG solver are typically about 1.40 to 5.31 times faster than those using the serial one. In addition, the simulation results are the exact same as the original PCG solver, because the majority of serial codes were not changed. It is worth noting that this parallelizing approach reduces cost in terms of software maintenance because only a single source PCG solver code needs to be maintained in the MODFLOW source tree. 2. P-MODFLOW, a domain decomposition–based model implemented in a parallel computing environment is developed, which allows efficient simulation of a regional-scale groundwater flow. The basic approach partitions a large model domain into any number of sub-domains. Parallel processors are used to solve the model equations within each sub-domain. The use of domain decomposition method to achieve the MODFLOW program distributed shared memory parallel computing system will process the application of MODFLOW be extended to the fleet of the most popular systems, so that a large-scale simulation could take full advantage of hundreds or even thousands parallel processors. P-MODFLOW has a good parallel performance, with the maximum speedup of 18.32 (14 processors). Super linear speedups have been achieved in the parallel tests, indicating the efficiency and scalability of the code. Parallel program design, load balancing and full use of the PETSc were considered to achieve a highly efficient parallel program. 3. The characterization of regional ground water flow system is very important for high-level radioactive waste geological disposal. The Beishan area, located in northwestern Gansu Province, China, is selected as a potential site for disposal repository. The area includes about 80000 km2 and has complicated hydrogeological conditions, which greatly increase the computational effort of regional ground water flow models. In order to reduce computing time, parallel computing scheme was applied to regional ground water flow modeling. Models with over 10 million cells were used to simulate how the faults and different recharge conditions impact regional ground water flow pattern. The results of this study provide regional ground water flow information for the site characterization of the potential high-level radioactive waste disposal.

Autothermal reforming of n-octane on Ru-based catalysts

In an attempt to effectively integrate catalytic partial oxidation (CPO) and steam reforming (SR) reactions on the same catalyst, autothermal reforming (ATR) of n-octane was addressed based on thermodynamic analysis and carried out on a non-pyrophoric catalyst 0.3 wt.% Ru/K2O-CeO2/gamma-Al2O3. The ATR of n-octane was more efficient at the molar ratio Of O-2/C 0.35-0.45 and H2O/C 1.6-2.2 (independent parameters), respectively, and reforming temperature of 750-800 degrees C (dependent parameter). Among the sophisticated reaction network, the main reaction thread was deducted as: long-chain hydrocarbon -> CH4, short-chain hydrocarbon -> CO2, CO and H-2 formation by steam reforming, although the parallel CPO, decomposition and reverse water gas shift reaction took place on the same catalyst. Low temperature and high steam partial pressure had more positive effect on CH4 SR to produce CO2 other than CO. This was verified by the tendency of the outlet reformate to the equilibrium at different operation conditions. Furthermore, the loss of active components and the formation of stable but less active components in the catalyst in the harsh ATR atmosphere firstly make the CO inhibition capability suffer, then eventually aggravated the ATR performance, which was verified by the characterizations of X-ray fluorescence, BET specific surface areas and temperature programmed reduction. (c) 2005 Elsevier B.V. All rights reserved.