On-line real-time path planning of mobile robots in dynamic uncertain environment

A new path planning method for mobile robots in globally unknown environment with moving obstacles is pre- sented. With an autoregressive (AR) model to predict the future positions of moving obstacles, and the predicted position taken as the next position of moving obstacles, a motion path in dynamic uncertain environment is planned by means of an on-line real-time path planning technique based on polar coordinates in which the desirable direction angle is taken into consideration as an optimization index. The effectiveness, feasibility, high stability, perfect performance of obstacle avoidance, real-time and optimization capability are demonstrated by simulation examples.

An On-Line Scheduler over Hard Real-Time Communication System

By thorough research on the prominent periodic and aperiodic scheduling algorithms,anon-line hard real-time scheduler is presented,which is applicable to the scheduling of packets over a link.This scheduler,based on both Rate Monotonic,pinwheel scheduling algorithm Sr and Polling Serverscheduling algorithms,can rapidly judge the schedulability and then automatically generate a bus tablefor the scheduling algorithm to schedule the packets as the periodic packets.The implementation of thescheduler is simple and easy to use,and it is effective for the utilization of bus link.The orderly executionof the bus table can not only guarantee the performance of the hard real time but also avoid the blockageand interruption of the message transmission.So the scheduler perfectly meets the demand of hard real-time communication system on the field bus domain.

An FPGA-based real-time image processing system

This paper analyzes the current difficulties encountered in on-line inspection systems of strip surface quality, specifically relating to problems with real-time processing of huge amounts of data. To address this need, this paper describes an FPGA-based high-speed image processing module with both hardware and software aspects. Improving these two aspects together will help the system achieve real-time processing of massive image data, and simplifies the architecture of the strip surface quality on-line inspection system.

Imaging protein crystal growth behaviour in batch cooling crystallisation

The temporal and spatial growth behaviour of protein crystals, subject to different cooling strategies in protein crystallisation was investigated. Although the impact of temperature and cooling rate on crystal growth of small molecules was well documented, much less has been reported on their impact on the crystallisation of proteins. In this paper, an experimental set-up is configured to carry out such a study which involves an automatic temperature controlled hot-stage crystalliser fitted with a real-time imaging system. Linbro parallel crystallisation experiments(24-well plate) were also conducted to find the suitable initial conditions to be used in the hot-stage crystallisation experiments, including the initial concentration of HEW lysozyme solutions, precipitate concentration and pH value. It was observed that fast cooling rates at the early stage led to precipitates while slow cooling rates produced crystal nuclei, and very slow cooling rates, much smaller than for small molecules are critical to the growth of the nuclei and the crystals to a desired shape. The interesting results provide valuable insight as well as experimental proof of the feasibility and effectiveness of cooling as a means for achieving controlled protein crystallisation, compared with the evaporation approach which was widely used to grow single large crystals for X-ray diffraction study. Since cooling rate control can be easily achieved and has good repeatability, it suggests that large-scale production of protein crystals can be effectively achieved by manipulating cooling rates.

Research on the performance of heavy-haul rail breakage detection using track circuit

Rail breakage is one of the major safety risks in railway transportation.Because of the large axle weight,high density and large capacity of the heavy-haul railway,the damage to rail caused by heavy-haul train wheels will be more serious than that caused by ordinary passenger and cargo trains,resulting in a higher frequency of rail breakage.Taking the Daqin Railway Line as the research object,this paper analyses and discusses rail breakages occurring in interstation tracks and in-station tracks by establishing the ZPW-2000A track circuit calculation model considering the land leakage resistance between the rail line tracks;introduces the defining standards and measurement index of the broken rail coefficient to quantitatively analyse the influence of various influencing factors on the rail breakage inspection performance under the most unfavourable working conditions;and compares the model simulation data,the laboratory model data and the field test results to verify its effectiveness,so as to provide a reference and theoretical basis for the subsequent improvement and solution of the heavy-haul railway rail breakage problem.