基于雾霾溯源的自循迹智能车的路径控制系统设计

本文设计一种基于雾霾溯源的智能车路径控制系统。该系统采用灰尘传感器实现雾霾浓度的采集和实时LCD输出。同时,智能车循迹雾霾,通过设计雾霾扩散源定位,在基于观测状态的反馈控制下,实现智能车自主循迹前往雾霾浓度最高处的路径控制。

智能采摘机器人路径规划的设计与研究

以四足轮式采摘机器人为研究载体,将采集的果园图像经过灰度化、阈值分割、几何校正、比例尺寸划分等处理,然后进行栅格化;在此基础上,对采摘机器人在作业时的路径进行全局规划,通过蚁群算法寻找出一条无障碍、短距离的行驶路线;同时,结合运动学模型和PID闭环等现代控制理论,将得到的路径信息转化为控制信号,输出占空比变化的PWM波,从而控制电机运转,使得采摘机器人以规定的速度跟踪已规划好的行驶路线;最后,将此理论以嵌入式方式进行软硬件开发,设计出一款路径规划-跟踪控制系统。实验结果表明,利用路径规划-跟踪控制系统的采摘机器人按规划的路径到达目标点的平均概率为94.5%,能够准确、有效地辅助采摘机器人进行采摘作业。

大型深水平台安全控制保障系统设计与应用前景

针对南海大型深水天然气田开发具有高压力、大流量和高风险的特点,提出了一系列大型深水平台安全控制保障措施,包括高完整性压力保护系统、水下隔离阀控制系统、开放路径式气体探测系统设计等。这些安全控制保障系统的合理设计与成功应用,能够全方位地加强南海大型深水气田开发的安全可靠性,具有广泛的推广价值。

Path-tracking Control of a Tractor-aircraft System

An aircraft tractor plays a significant role as a kind of important marine transport and support equipment. It＇s necessary to study its controlling and manoeuvring stability to improve operation efficiency. A virtual prototyping model of the tractor-aircraft system based on Lagrange＇s equation of the first kind with Lagrange mutipliers was established in this paper, According to the towing characteristics, a path-tracking controller using fuzzy logic theory was designed. Direction control herein was carried out through a compensatory tracking approach. Interactive co-simulation was performed to validate the path-tracking behavior in closed-loop, Simulation results indicated that the tractor followed the reference courses precisely on a flat ground.

Intelligent PID guidance control for AUV path tracking

Based on rational behavior model of three layers, a tracking control system is designed for straight line tracking which is commonly used in underwater survey missions. An intelligent PID control law implemented as planning level during the control system using transverse deviation is came up with. Continuous tracking of path expressed by a point sequence can be realized by the law. Firstly, a path tracking control system based on rational behavior model of three layers is designed, mainly satisfying the needs of underactuated AUV. Since there is no need to perform spatially coupled maneuvers, the 3D path tracking control is decoupled into planar 2D path tracking and depth or height tracking separately. Secondly, planar path tracking controller is introduced. For the reason that more attention is paid to comparing with vertical position control, transverse deviation in analytical form is derived. According to the Lyapunov direct theory, control law is designed using discrete PID algorithm whose parameters obey adaptive fuzzy adjustment. Reference heading angle is given as an output of the guidance controller conducted by lateral deviation together with its derivative. For the purpose of improving control quality and facilitating parameter modifying, data normalize modules based on Sigmoid function are applied to input-output data manipulation. Lastly, a sequence of experiments was carried out successfully, including tests in Longfeng lake and at the Yellow sea. In most challenging sea conditions, tracking errors of straight line are below 2 m in general. The results show that AUV is able to compensate the disturbance brought by sea current. The provided test results demonstrate that the designed guidance controller guarantees stably and accurately straight route tracking. Besides, the proposed control system is accessible for continuous comb-shaped path tracking in region searching.

Pattern Formation Control Using QR-Code for Mobile Robots

The article presents multi-pattern formation exchange of mobile robots according to the image signals, programs motion paths using A＊ searching algorithm, and avoids the collision points of motion paths. The system contains an image system, a grid based motion platform, some wireless Radio Frequency （RF） modules and five mobile robots. We use image recognition algorithm to classify variety pattern formation according to variety Quick Response （QR） code symbols on the user interface of the supervised computer. The supervised computer controls five mobile robots to execute formation exchange and presents the movement scenario on the grid based motion platform. We have been developed some pattern formations according to game applications, such as long snake pattern formation, phalanx pattern formation, crane wing pattern formation, sword pattern formation, cone pattern formation, sward pattern tbrmation, T pattern formation, rectangle pattern formation and so on. We develop the user interface of the multi-robot system to program motion paths for variety pattern formation exchange according to the minimum displacement. In the experimental results, the supervised computer recognizes the various QR-code symbols using image system and decides which pattern formation to be selected on real-time. Mobile robots can receive the pattern formation command from the supervised computer, present the movement scenario from the original pattern formation to the assigned pattern formation on the motion platform, and avoid other mobile robots on real-time.