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基于红外和超声波的机器人自主充电系统设计 被引量:2
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作者 曾世藩 李文威 +2 位作者 周广兵 郑辉 郑楚鑫 《制造业自动化》 CSCD 2020年第3期53-57,共5页
充电电池是移动机器人的主要动力源,为了使机器人实现自我能源管理,自主充电是移动机器人必不可少的一种功能。目前,国内外机器人自主充电方式多种多样,但存在着传感器数量多、算法复杂和成本偏高等问题。为实现更简单、成本更低廉的自... 充电电池是移动机器人的主要动力源,为了使机器人实现自我能源管理,自主充电是移动机器人必不可少的一种功能。目前,国内外机器人自主充电方式多种多样,但存在着传感器数量多、算法复杂和成本偏高等问题。为实现更简单、成本更低廉的自主充电功能,提出了基于红外回归反射和超声波测距的新型充电对准方法,给出了该方法的理论依据和算法流程,设计了相应的自主充电装置。样机测试结果表明,搭载有本套自主充电装置的移动机器人能够在4米范围内实现自主充电,证明了该套装置的有效性。 展开更多
关键词 自主充电 移动机器人 红外回归反射 超声波测距 控制算法
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Mapping of Total Carbon and Clay Contents in Glacial Till Soil Using On-the-Go Near-Infrared Reflectance Spectroscopy and Partial Least Squares Regression 被引量:2
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作者 SHEN Zhang-Quan SHAN Ying-Jie +1 位作者 PENG Li JIANG Yu-Gen 《Pedosphere》 SCIE CAS CSCD 2013年第3期305-311,共7页
Characterizing spatial variability of soil attributes, using traditional soil sampling and laboratory analysis, is cost prohibitive. The potential benefit of managing soils on a site-specific basis is well established... Characterizing spatial variability of soil attributes, using traditional soil sampling and laboratory analysis, is cost prohibitive. The potential benefit of managing soils on a site-specific basis is well established. High variations in glacial till soil render detailed soil mapping difficult with limited number of soil samples. To overcome this problem, this paper demonstrates the feasibility of soil carbon and clay mapping using the newly developed on-the-go near-infrared reflectance spectroscopy (NIRS). Compared with the geostatistics method, the partial least squares regression (PLSR), with NIRS measurements, could yield a more detailed map for both soil carbon and clay. Further, by using independent validation dataset, the accuracy of predicting could be improved significantly for soil clay content and only slightly for soil carbon content. Owing to the complexity of field conditions, more work on data processing and calibration modeling might be necessary for using on-the-go NIRS measurements. 展开更多
关键词 independent validation on-the-go measurement soil carbon mapping soil clay mapping soil sensors
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