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基于stm32的自动定位识别弹药抛射机器人硬件设计 被引量:3
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作者 周永宏 王月红 《科技风》 2019年第21期100-100,共1页
本文介绍一种基于stm32单片机的自动定位识别弹药抛射机器人,该机器人采用三轮全向轮作为底盘,实现全方位移动,使用陀螺仪编码器作为移动机器人平面定位的传感系统,实现移动机器人的准确定位,达到毫米级定位精度,使用摄像头识别绣球的... 本文介绍一种基于stm32单片机的自动定位识别弹药抛射机器人,该机器人采用三轮全向轮作为底盘,实现全方位移动,使用陀螺仪编码器作为移动机器人平面定位的传感系统,实现移动机器人的准确定位,达到毫米级定位精度,使用摄像头识别绣球的颜色来控制机器人发射绣球的位置,使用丝杆滑台来调节绣球的发射角度,使用气缸发射绣球。该机器人定位迅速、准确、摄像头识别准确、结构简单。 展开更多
关键词 三轮全向轮底盘 陀螺仪 丝杆滑台 气缸发射 STM32
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Phase Invariant Proper Orthogonal Decomposition for the Study of a Compressed Vortex
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作者 Julien MOREAU Mark FOGLEMAN +1 位作者 G.CHARNAY J.BOREE 《Journal of Thermal Science》 SCIE EI CAS CSCD 2005年第2期108-113,共6页
We propose here an experimental investigation of a vortex submitted to a radial perturbation while being compressed. This experiment reproduces a model situation of the complex flows that take place in a real engine c... We propose here an experimental investigation of a vortex submitted to a radial perturbation while being compressed. This experiment reproduces a model situation of the complex flows that take place in a real engine cylinder. An isolated tumbling flow is first submitted to an injection of fluid and then compressed and measurements are realised by Particle Image Velocimetry (PIV). The Proper Orthogonal Decomposition is known to be an unbiased method to identify the coherent structures of turbulent flows. It is possible to make this decomposition for a given phase or to create a set of basis functions with the whole set of compression stroke velocity fields.First, the experimental set-up will be presented, then the second part provides the POD principle. Results of phased POD decomposition of the compression of the unperturbated vortex will be presented. Finally results from the time invariant POD will be discussed to study the influence of the jet perturbation in the compression of a vortex. 展开更多
关键词 TURBULENCE POD PIV cycle to cycle fluctuations.
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