A robust unified controller was proposed for wheeled mobile robots that do not satisfy the ideal rolling without slipping constraint.Practical trajectory tracking and posture stabilization were achieved in a unified f...A robust unified controller was proposed for wheeled mobile robots that do not satisfy the ideal rolling without slipping constraint.Practical trajectory tracking and posture stabilization were achieved in a unified framework.The design procedure was based on the transverse function method and Lyapunov redesign technique.The Lie group was also introduced in the design.The left-invariance property of the nominal model was firstly explored with respect to the standard group operation of the Lie group SE(2).Then,a bounded transverse function was constructed,by which a corresponding smooth embedded submanifold was defined.With the aid of the group operation,a smooth control law was designed,which fulfills practical tracking/stabilization of the nominal system.An additional component was finally constructed to robustify the nominal control law with respect to the slipping disturbance by using the Lyapunov redesign technique.The design procedure can be easily extended to the robot system suffered from general unknown but bounded disturbances.Simulations were provided to demonstrate the effectiveness of the robust unified controller.展开更多
The transfer alignment of SINS/GPS navigation system of a high-speed marine missile was investigated. With the help of the big acceleration of a high-speed missile, the transfer alignment was changed into a three-time...The transfer alignment of SINS/GPS navigation system of a high-speed marine missile was investigated. With the help of the big acceleration of a high-speed missile, the transfer alignment was changed into a three-time alignment. The azimuth alignment was coarsely finished in 10s in the first time alignment, the horizontal alignment was accurately and rapidly finished in the second time alignment, and the azimuth alignment was accurately finished in the third time alignment. Because the second time alignment and the third time alignment were finished by GPS after the missile was launched, the horizontal alignment and the second azimuth alignment got rid of the influence of the warship body flexibility deforming. The precision and rapidity of the horizontal alignment were prominently increased due to the vertical launch of the marine missile with the big acceleration. Simulation verifies the effectiveness of the proposed alignment method.展开更多
Using GIS, GPS, GPRS and RFID, a dynamic information management system of digital mining in an open pit was designed and developed.A linear programming model was set up in a practical application.By the model, the sys...Using GIS, GPS, GPRS and RFID, a dynamic information management system of digital mining in an open pit was designed and developed.A linear programming model was set up in a practical application.By the model, the system can automatically draw up production plan of ore blending well every day.The system can monitor and dispatch open-pit trucks and shovels well, and can play back their historical paths.It can monitor and control the process of mining production in real time.By RFID, the system can also count the number of trucks'delivery and shovels'loading automatically.Experiments on real scenes show that the performance of this system is stable and can satisfy production standards of mining in open pits.展开更多
At the middle pylon of a three-pylon two-span suspension bridge, the effect of unbalanced loads on the adjacent spans may result in a series of technical bottlenecks in design, such as stability and anti-slippage betw...At the middle pylon of a three-pylon two-span suspension bridge, the effect of unbalanced loads on the adjacent spans may result in a series of technical bottlenecks in design, such as stability and anti-slippage between saddles and main cables. This article presents the researches conducted on structure selection and behavior characteristics of middle pylon, interaction mechanism between main cables and saddles and their anti-slippage safety performance, elastic and plastic stability analysis and safety assessment of steel middle pylon, and fatigue design load and method for steel pylon of Taizhou Bridge. According to the research results, a longitudinal inverted Y shape steel middle pylon is used in design, effectively solving many technical difficulties, and this type of pylon has become a suitable middle pylon structural form for many three-ovlon two-soan susoension bridges.展开更多
A high stabilized low dropout(LDO) voltage regulator fabricated for GPS radio frequency(RF) chip in SMIC 0.18μm CMOS technology is presented.The LDO mainly consists of bandgap reference,error amplifier,resistive feed...A high stabilized low dropout(LDO) voltage regulator fabricated for GPS radio frequency(RF) chip in SMIC 0.18μm CMOS technology is presented.The LDO mainly consists of bandgap reference,error amplifier,resistive feedback network and AC current path.A fast current path is added to improve the performance of LDO's transient response.Equivalent series resistance(ESR)compensation and internal Miller compensation are used to constitute the frequency compensation.The measurement results of the transient response of the output voltage show that it can recover within 2μs with less than 120 mV ripple when the load current is changed from 0 to 100 mA.The total quiescent current of LDO and bandgap reference(without load) is 260 μA.展开更多
This study introduced an automatic authentication technique for checking the genuineness of a vehicle. The rough set-based technique was used to handle the uncertainty arisen from artifacts in the acquired images impr...This study introduced an automatic authentication technique for checking the genuineness of a vehicle. The rough set-based technique was used to handle the uncertainty arisen from artifacts in the acquired images imprinted on a vehicle. However, it has been proved to be NP-hard to find all reductions and the minimal reduction, and generally different heuristic algorithms were used to find a set of reductions and the Ganssian distribution was used to describe the uncertainty to achieve the minimal reduction. On the basis of inductive logic programming, the technique can distinguish between two similar images, as is superior to the conventional pattern-recognition technique being merely capable of classifier. Furthermore, it can avoid some failures of the technique based on the correlation coefficient to authenticate binary image. The experiments show an accuracy rate close to 93. 2%.展开更多
Distortion is a technical indicator in the field of voice signal processing. The design is a portable distortion degree tester, based on Field-Progranmmble Gate Array （FleA, EP2C20） as the cote, using harmonic analy...Distortion is a technical indicator in the field of voice signal processing. The design is a portable distortion degree tester, based on Field-Progranmmble Gate Array （FleA, EP2C20） as the cote, using harmonic analysis method which better solve the distortion problem of acctwacy. It can achieve the signal transformation from the time-domain to the frequency-donkain, and is widely used for signal spectrum analysis. All the componets used in the design are low power, high perf-, low drift and industrial grade compionents. The reference voltage sources of ADC and DAC have identical performance of high stability, high precision. The dtr.k is the precise stable clock with FPGA temperature compensation. This project can get the cost-effective, high-precision, low power and portable design goals.展开更多
基金Project (60234030) supported by the National Natural Science Foundation of ChinaProject supported by the TRAPOYT of Ministry of Education of China
文摘A robust unified controller was proposed for wheeled mobile robots that do not satisfy the ideal rolling without slipping constraint.Practical trajectory tracking and posture stabilization were achieved in a unified framework.The design procedure was based on the transverse function method and Lyapunov redesign technique.The Lie group was also introduced in the design.The left-invariance property of the nominal model was firstly explored with respect to the standard group operation of the Lie group SE(2).Then,a bounded transverse function was constructed,by which a corresponding smooth embedded submanifold was defined.With the aid of the group operation,a smooth control law was designed,which fulfills practical tracking/stabilization of the nominal system.An additional component was finally constructed to robustify the nominal control law with respect to the slipping disturbance by using the Lyapunov redesign technique.The design procedure can be easily extended to the robot system suffered from general unknown but bounded disturbances.Simulations were provided to demonstrate the effectiveness of the robust unified controller.
文摘The transfer alignment of SINS/GPS navigation system of a high-speed marine missile was investigated. With the help of the big acceleration of a high-speed missile, the transfer alignment was changed into a three-time alignment. The azimuth alignment was coarsely finished in 10s in the first time alignment, the horizontal alignment was accurately and rapidly finished in the second time alignment, and the azimuth alignment was accurately finished in the third time alignment. Because the second time alignment and the third time alignment were finished by GPS after the missile was launched, the horizontal alignment and the second azimuth alignment got rid of the influence of the warship body flexibility deforming. The precision and rapidity of the horizontal alignment were prominently increased due to the vertical launch of the marine missile with the big acceleration. Simulation verifies the effectiveness of the proposed alignment method.
基金Supported by Shannxi Leading Academic Discipline ProjectShannxi Science and Technology Project(the Key Industries R&D Programme)(2009K08-25)
文摘Using GIS, GPS, GPRS and RFID, a dynamic information management system of digital mining in an open pit was designed and developed.A linear programming model was set up in a practical application.By the model, the system can automatically draw up production plan of ore blending well every day.The system can monitor and dispatch open-pit trucks and shovels well, and can play back their historical paths.It can monitor and control the process of mining production in real time.By RFID, the system can also count the number of trucks'delivery and shovels'loading automatically.Experiments on real scenes show that the performance of this system is stable and can satisfy production standards of mining in open pits.
基金National Science and Technology Support Programs of China(No.2009BAG15B02)Key Programs for Science and Technology Development of Chinese Transportation Industry(No.2008-353-332-180)"333 High-level Personnel Training Project"Special Funded Projects in Jiangsu Province
文摘At the middle pylon of a three-pylon two-span suspension bridge, the effect of unbalanced loads on the adjacent spans may result in a series of technical bottlenecks in design, such as stability and anti-slippage between saddles and main cables. This article presents the researches conducted on structure selection and behavior characteristics of middle pylon, interaction mechanism between main cables and saddles and their anti-slippage safety performance, elastic and plastic stability analysis and safety assessment of steel middle pylon, and fatigue design load and method for steel pylon of Taizhou Bridge. According to the research results, a longitudinal inverted Y shape steel middle pylon is used in design, effectively solving many technical difficulties, and this type of pylon has become a suitable middle pylon structural form for many three-ovlon two-soan susoension bridges.
基金Supported by the Communication Systems Project of Jiangsu Department(No.JHB04010)
文摘A high stabilized low dropout(LDO) voltage regulator fabricated for GPS radio frequency(RF) chip in SMIC 0.18μm CMOS technology is presented.The LDO mainly consists of bandgap reference,error amplifier,resistive feedback network and AC current path.A fast current path is added to improve the performance of LDO's transient response.Equivalent series resistance(ESR)compensation and internal Miller compensation are used to constitute the frequency compensation.The measurement results of the transient response of the output voltage show that it can recover within 2μs with less than 120 mV ripple when the load current is changed from 0 to 100 mA.The total quiescent current of LDO and bandgap reference(without load) is 260 μA.
基金Sponsored by the National High Technology Research and Development Program of China (Grant No. 2003AA1Z2610)
文摘This study introduced an automatic authentication technique for checking the genuineness of a vehicle. The rough set-based technique was used to handle the uncertainty arisen from artifacts in the acquired images imprinted on a vehicle. However, it has been proved to be NP-hard to find all reductions and the minimal reduction, and generally different heuristic algorithms were used to find a set of reductions and the Ganssian distribution was used to describe the uncertainty to achieve the minimal reduction. On the basis of inductive logic programming, the technique can distinguish between two similar images, as is superior to the conventional pattern-recognition technique being merely capable of classifier. Furthermore, it can avoid some failures of the technique based on the correlation coefficient to authenticate binary image. The experiments show an accuracy rate close to 93. 2%.
文摘Distortion is a technical indicator in the field of voice signal processing. The design is a portable distortion degree tester, based on Field-Progranmmble Gate Array （FleA, EP2C20） as the cote, using harmonic analysis method which better solve the distortion problem of acctwacy. It can achieve the signal transformation from the time-domain to the frequency-donkain, and is widely used for signal spectrum analysis. All the componets used in the design are low power, high perf-, low drift and industrial grade compionents. The reference voltage sources of ADC and DAC have identical performance of high stability, high precision. The dtr.k is the precise stable clock with FPGA temperature compensation. This project can get the cost-effective, high-precision, low power and portable design goals.
