Short baseline system (SBL), which is a kind of underwater acoustic locating technology, has widely applicable value. In order to examine the capability of ship model design, the ship model experimentation should have...Short baseline system (SBL), which is a kind of underwater acoustic locating technology, has widely applicable value. In order to examine the capability of ship model design, the ship model experimentation should have high accuracy. This paper focuses on the key techniques of high accuracy locating system, including high accuracy sub-array position emendation, divisional locating, anti multi-path interference measure, etc. Experiments show that the SBL locating systems has received the satisfying effect owing to these key techniques proposed in this paper.展开更多
An accurate low-cost ultrasonic localization system is de- veloped for automated mobile robots in indoor environments, which is essential for automatic navigation of mobile robots with various tasks. Although ultrasen...An accurate low-cost ultrasonic localization system is de- veloped for automated mobile robots in indoor environments, which is essential for automatic navigation of mobile robots with various tasks. Although ultrasenic sensors are more cost-effective than other sensors such as Laser Range Finder （LRF） and vision, but they are inaccurate and directionally ambiguons. First, the matched filter is used to measure the distance accurately. For resolving the computational complexity of the matched filter, a new matched filter algorithm with simple compution is proposed. Then, an ultrasonic localization system is proposed which consists of three ultrasonic receivers and two or mote transmitters for improving position and orientation accuracy was developed. Finally, an extended Kalman filter is designed to estimate both the static and dynamic positions and orientations. Various simu lations and experimental results show that the proposed system is effective.展开更多
A practical serf-localization scheme for mobile robots is proposed and implemented by utilizing sonar sensors. Specifically, the localization problem is solved by employing Monte Carlo method with a new mechanism prop...A practical serf-localization scheme for mobile robots is proposed and implemented by utilizing sonar sensors. Specifically, the localization problem is solved by employing Monte Carlo method with a new mechanism proposed to calculate the samples＇ weights; the convergence and veracity of the sample set are guaranteed by the designed resampling and scattering process. The proposed serf-localization algorithm is fully implemented on a specific mobile robot system, and experimental results illustrate that it provides an efficient solution for the kidnapped problem.展开更多
In this paper,we present a method for localization of a rail autonomous pesticide spraying and sampling robot working in greenhouse using an absolute localization system.Design and implementation of the localization s...In this paper,we present a method for localization of a rail autonomous pesticide spraying and sampling robot working in greenhouse using an absolute localization system.Design and implementation of the localization system comes from the usage of beacon systems each of which is composed of an RF single receiver and an ultrasonic transmitter.The RF single receiver gets the synchronization signal from the mobile robot,and the ultrasonic transmitter sends ultrasonic signal,thus the distance from the beacon to the ultrasonic receiver can be measured.The position of a beacon in coordinate system of robot can be calculated according to distance information from the beacons to two ultrasonic receivers which are mounted on the robot.Based on the coordinate transformation,the position of a mobile robot can be calculated from the beacon＇s absolute position information in the global coordinate system.Experiments demonstrate the effectiveness of the proposed method in real world applications.展开更多
A fully integrated frequency synthesizer with low jitter and low power consumption in 0.18 μm CMOS (complementary metal-oxide semiconductor) technology is proposed in this paper.The frequency synthesizer uses a novel...A fully integrated frequency synthesizer with low jitter and low power consumption in 0.18 μm CMOS (complementary metal-oxide semiconductor) technology is proposed in this paper.The frequency synthesizer uses a novel single-end gain-boosting charge pump, a differential coupled voltage controlled oscillator (VCO) and a dynamic logic phase/frequency detecor (PFD) to acquire low output jitter.The output frequency range of the frequency synthesizer is up to 1 200 MHz to 1 400 MHz for GPS (global position system) application.The post simulation results show that the phase noise of VCO is only 127.1 dBc/Hz at a 1 MHz offset and the Vp-p jitter of the frequency synthesizer output clock is 13.65 ps.The power consumption of the frequency synthesizer not including the divider is 4.8 mW for 1.8 V supply and it occupies a 0.8 mm×0.7 mm chip area.展开更多
This paper describes a CMOS low noise amplifier （LNA） plus the quadrature mixers intended for use in the front-end of portable global positioning system （GPS） receivers. The LNA makes use of an inductively degener...This paper describes a CMOS low noise amplifier （LNA） plus the quadrature mixers intended for use in the front-end of portable global positioning system （GPS） receivers. The LNA makes use of an inductively degenerated input stage and power-constrained simultaneous noise and input matching techniques. The quadrature mixers are based on a Gil- bert cell type. The circuits are implemented in a TSMC 0.18μm RF CMOS process. Measurement results show that a voltage conversion gain of 35dB is achieved with a cascade noise and an input return loss of - 22.3dB. The fully differential figure of 2.4dB,an input ldB compression point of - 22dBm, circuits only draw 5.4mW from a 1.8V supply.展开更多
文摘Short baseline system (SBL), which is a kind of underwater acoustic locating technology, has widely applicable value. In order to examine the capability of ship model design, the ship model experimentation should have high accuracy. This paper focuses on the key techniques of high accuracy locating system, including high accuracy sub-array position emendation, divisional locating, anti multi-path interference measure, etc. Experiments show that the SBL locating systems has received the satisfying effect owing to these key techniques proposed in this paper.
基金supported by the MKE(The Ministry of Knowledge Economy,Korea)the ITRC(Information Technology Research Center)support program(ⅡTA-2009-(C1090-0902-0007))
文摘An accurate low-cost ultrasonic localization system is de- veloped for automated mobile robots in indoor environments, which is essential for automatic navigation of mobile robots with various tasks. Although ultrasenic sensors are more cost-effective than other sensors such as Laser Range Finder （LRF） and vision, but they are inaccurate and directionally ambiguons. First, the matched filter is used to measure the distance accurately. For resolving the computational complexity of the matched filter, a new matched filter algorithm with simple compution is proposed. Then, an ultrasonic localization system is proposed which consists of three ultrasonic receivers and two or mote transmitters for improving position and orientation accuracy was developed. Finally, an extended Kalman filter is designed to estimate both the static and dynamic positions and orientations. Various simu lations and experimental results show that the proposed system is effective.
基金Supported by the National Natural Science Foundation of China (No. 60875055)Natural Science Foundation of Tianjin (No. 07JCY-BJC05400)Program for New Century Excellent Talents in University (No. NCET-06-0210)
文摘A practical serf-localization scheme for mobile robots is proposed and implemented by utilizing sonar sensors. Specifically, the localization problem is solved by employing Monte Carlo method with a new mechanism proposed to calculate the samples＇ weights; the convergence and veracity of the sample set are guaranteed by the designed resampling and scattering process. The proposed serf-localization algorithm is fully implemented on a specific mobile robot system, and experimental results illustrate that it provides an efficient solution for the kidnapped problem.
基金supported by the MKE(The Ministry of Knowledge Economy),Korea,under the ITRC(Information Technology Research Center)support program supervised by the NIPA(National IT Industry Promotion Agency)(NIPA-2010-C1090-1021-0010)
文摘In this paper,we present a method for localization of a rail autonomous pesticide spraying and sampling robot working in greenhouse using an absolute localization system.Design and implementation of the localization system comes from the usage of beacon systems each of which is composed of an RF single receiver and an ultrasonic transmitter.The RF single receiver gets the synchronization signal from the mobile robot,and the ultrasonic transmitter sends ultrasonic signal,thus the distance from the beacon to the ultrasonic receiver can be measured.The position of a beacon in coordinate system of robot can be calculated according to distance information from the beacons to two ultrasonic receivers which are mounted on the robot.Based on the coordinate transformation,the position of a mobile robot can be calculated from the beacon＇s absolute position information in the global coordinate system.Experiments demonstrate the effectiveness of the proposed method in real world applications.
基金Funded by the Communication System Project of Jiangsu Provincial Education Committee under grant No.JHB04010
文摘A fully integrated frequency synthesizer with low jitter and low power consumption in 0.18 μm CMOS (complementary metal-oxide semiconductor) technology is proposed in this paper.The frequency synthesizer uses a novel single-end gain-boosting charge pump, a differential coupled voltage controlled oscillator (VCO) and a dynamic logic phase/frequency detecor (PFD) to acquire low output jitter.The output frequency range of the frequency synthesizer is up to 1 200 MHz to 1 400 MHz for GPS (global position system) application.The post simulation results show that the phase noise of VCO is only 127.1 dBc/Hz at a 1 MHz offset and the Vp-p jitter of the frequency synthesizer output clock is 13.65 ps.The power consumption of the frequency synthesizer not including the divider is 4.8 mW for 1.8 V supply and it occupies a 0.8 mm×0.7 mm chip area.
文摘This paper describes a CMOS low noise amplifier （LNA） plus the quadrature mixers intended for use in the front-end of portable global positioning system （GPS） receivers. The LNA makes use of an inductively degenerated input stage and power-constrained simultaneous noise and input matching techniques. The quadrature mixers are based on a Gil- bert cell type. The circuits are implemented in a TSMC 0.18μm RF CMOS process. Measurement results show that a voltage conversion gain of 35dB is achieved with a cascade noise and an input return loss of - 22.3dB. The fully differential figure of 2.4dB,an input ldB compression point of - 22dBm, circuits only draw 5.4mW from a 1.8V supply.
