To meet the requirements of high performance, low cost, and easy operation of the robot, a brushless motor drive and control system for the robot joint is designed, including CAN bus, WPF upper host computer developme...To meet the requirements of high performance, low cost, and easy operation of the robot, a brushless motor drive and control system for the robot joint is designed, including CAN bus, WPF upper host computer development, and magnetic encoders, and other sensors, in which the STM32 F103 chip is used as the main control chip, and the DRV8323 is a brushless motor drive chip. The principle of field-oriented control(FOC) brushless motor drive is elaborated.Meanwhile, the drive and control system design is completed from both hardware and software aspects. Finally, the PID algorithm is used for the closed-loop speed test of the robot joint. The experimental result shows that the designed robot joints and control system run smoothly and reliably, have the characteristics of modularization and miniaturization, and are suitable for the control of micro-service robots and manipulators.展开更多
An image trust root is a special type of soft trust root for trusted computing. However,image trust root generation is difficult,as it needs a corresponding stable logic feature generation model and algorithm for dyna...An image trust root is a special type of soft trust root for trusted computing. However,image trust root generation is difficult,as it needs a corresponding stable logic feature generation model and algorithm for dynamical and sustained authentication. This paper proposes a basic function of constructing new scale-spaces with deep detecting ability and high stability for image features aimed at image root generation. According to the heat distribution and spreading principle of various kinds of infinitesimal heat sources in the space medium,a multi-embed nonlinear diffusion equation that corresponds to the multi-embed nonlinear scale-space is proposed,a HARRIS-HESSIAN scale-space evaluation operator that aims at the structure acceleration characteristics of a local region and can make use of image pixels' relative spreading movement principle was constructed,then a single-parameter global symmetric proportion(SPGSP) operator was also constructed. An authentication test with 3000 to 5000 cloud entities shows the new scale-space can work well and is stable,when the whole cloud has 5%-50% behavior with un-trusted entities. Consequently,it can be used as the corresponding stable logic feature generation model and algorithm for all kinds of images,and logic relationships among image features for trust roots.展开更多
基金Project(51805368) supported by the National Natural Science Foundation of ChinaProject(2018QNRC001) supported by the Young Elite Scientists Sponsorship Program by China Association for Science and TechnologyProject(DMETKF2021017) supported by Open Fund of State Key Laboratory of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technology,China。
文摘To meet the requirements of high performance, low cost, and easy operation of the robot, a brushless motor drive and control system for the robot joint is designed, including CAN bus, WPF upper host computer development, and magnetic encoders, and other sensors, in which the STM32 F103 chip is used as the main control chip, and the DRV8323 is a brushless motor drive chip. The principle of field-oriented control(FOC) brushless motor drive is elaborated.Meanwhile, the drive and control system design is completed from both hardware and software aspects. Finally, the PID algorithm is used for the closed-loop speed test of the robot joint. The experimental result shows that the designed robot joints and control system run smoothly and reliably, have the characteristics of modularization and miniaturization, and are suitable for the control of micro-service robots and manipulators.
基金The national natural science foundation (61672442,61503316,61273290,61373147)Xiamen Scientific Plan Project (2014S0048,3502Z20123037)+1 种基金Fujian Scientific Plan Project (2013HZ00041)Fujian provincial education office A-class project(JA13238)
文摘An image trust root is a special type of soft trust root for trusted computing. However,image trust root generation is difficult,as it needs a corresponding stable logic feature generation model and algorithm for dynamical and sustained authentication. This paper proposes a basic function of constructing new scale-spaces with deep detecting ability and high stability for image features aimed at image root generation. According to the heat distribution and spreading principle of various kinds of infinitesimal heat sources in the space medium,a multi-embed nonlinear diffusion equation that corresponds to the multi-embed nonlinear scale-space is proposed,a HARRIS-HESSIAN scale-space evaluation operator that aims at the structure acceleration characteristics of a local region and can make use of image pixels' relative spreading movement principle was constructed,then a single-parameter global symmetric proportion(SPGSP) operator was also constructed. An authentication test with 3000 to 5000 cloud entities shows the new scale-space can work well and is stable,when the whole cloud has 5%-50% behavior with un-trusted entities. Consequently,it can be used as the corresponding stable logic feature generation model and algorithm for all kinds of images,and logic relationships among image features for trust roots.
