To establish wireless channel suitable for the cabin environment, the power coverage was investigated with distributed antenna system and centralized antenna system based on the actual measurement of channel impulse r...To establish wireless channel suitable for the cabin environment, the power coverage was investigated with distributed antenna system and centralized antenna system based on the actual measurement of channel impulse response. The results indicated that the distributed antenna system has more uniform power coverage than the centralized antenna system. The average relative errors of receiving power of both antennas were calculated. The optimal position of the centralized antenna was obtained by Gaussian function refinement, making the system achieve a better transmission power with the same coverage effect, and providing a reference for antenna location in the future real communication in the cabin.展开更多
This paper presents an efficient robot calibration method with non-contact vision metrology. Using the coplanar pattern to calibrate camera made the active-vision-based end-effector pose measurement be a feasible and ...This paper presents an efficient robot calibration method with non-contact vision metrology. Using the coplanar pattern to calibrate camera made the active-vision-based end-effector pose measurement be a feasible and costeffective way. Kinematic parameter errors were linearized and identified through two-step procedure, thus the singular and non-linear condition was overcome. These errors were then compensated using inverse model method. The whole calibration process is flexible, easy to implement and prevents the error propagation from the earlier stages to the later ones. Calibration was performed on MOTOMAN SV3industrial robot. Experiment results show that the proposed method is easy to setup and with satisfactory accuracy.展开更多
基金Supported by the National High Technology Research and Development Program of China("863"ProgramNo.2009AA011507)+2 种基金National Science and Technology Major Project of the Ministry of Science and Technology of China(No.2009ZX03007-003)National Natural Science Foundation of China(No.61101223)Ph.D.Programs Foundation of Ministry of Education of China(No.20110032120087 and No.20110032110029)
文摘To establish wireless channel suitable for the cabin environment, the power coverage was investigated with distributed antenna system and centralized antenna system based on the actual measurement of channel impulse response. The results indicated that the distributed antenna system has more uniform power coverage than the centralized antenna system. The average relative errors of receiving power of both antennas were calculated. The optimal position of the centralized antenna was obtained by Gaussian function refinement, making the system achieve a better transmission power with the same coverage effect, and providing a reference for antenna location in the future real communication in the cabin.
文摘This paper presents an efficient robot calibration method with non-contact vision metrology. Using the coplanar pattern to calibrate camera made the active-vision-based end-effector pose measurement be a feasible and costeffective way. Kinematic parameter errors were linearized and identified through two-step procedure, thus the singular and non-linear condition was overcome. These errors were then compensated using inverse model method. The whole calibration process is flexible, easy to implement and prevents the error propagation from the earlier stages to the later ones. Calibration was performed on MOTOMAN SV3industrial robot. Experiment results show that the proposed method is easy to setup and with satisfactory accuracy.
