Self-localization is a fundamental requirement for the mobile robot. Robot usually contains a large number of dif- ferent sensors, which provide the information of robot localization, and all the sensor information sh...Self-localization is a fundamental requirement for the mobile robot. Robot usually contains a large number of dif- ferent sensors, which provide the information of robot localization, and all the sensor information should be considered for the optimal location. Kalman filter is efficient to realize the information fusion. Used as an efficient sensor fusion algorithm, Kalman filter is an advanced filtering technique which can reduce errors of the position and orientation of the sensors. Kalman filter has been paied much attention to robot automation and solutions to solve uncertainties such as robot localization, navigation, following, tracking, motion control, estimation and prediction. The paper briefly describes Kalman filter theory, and establishes a simple mathematical model based on muti-sensor mobile robot. Meanwhile, Kalman filter is used in robot self-localization by simulations, and it is demonstrated by simulations that Kalman filter is effective.展开更多
This paper presented a design of an automatic lifting system. It is used for large load powered support and improves the old method wherein powered support lifting depends on manual control. This system applies a high...This paper presented a design of an automatic lifting system. It is used for large load powered support and improves the old method wherein powered support lifting depends on manual control. This system applies a high accuracy gear shunt motor to match the flow for 4 lifting cylinders, and also allocates bypass throttles to realize automatic lifting. Through the dis- placement sensor feedback the height deviation among 4 lifting cylinders during the whole lifting process, when the deviation is up to the sitting value, the corresponding bypass throttle is operated immediately to reduce the deviation, so that the moving platform of the powered support would not be stuck. Through real application, it is shown that this system can realize automatic lifting of powered support; the lifting speed is controlled between 5 and 10 mm/s, and the final aligning accuracy is up to 1 mm.展开更多
In the traditional Intemet Protocol （IP） architecture, there is an overload of IP sermntic problems. Existing solutions focused mainly on the infrastructure for the fixed network, and there is a lack of support for ...In the traditional Intemet Protocol （IP） architecture, there is an overload of IP sermntic problems. Existing solutions focused mainly on the infrastructure for the fixed network, and there is a lack of support for Mobile Ad Hoc Networks （MANETs）. To improve scalability, a routing protocol for MANETs is presented based on a locator named Tree-structure Locator Distance Vector （TLDV）. The hard core of this routing method is the identifier/locator split by the Distributed Hash Table （DHT） method, which provides a scalable routing service. The node locator indicates its relative location in the network and should be updated whenever topology changes, kocator space ks organized as a tree-structure, and the basic routing operation of the TLDV protocol is presented. TLDV protocol is compared to some classical routing protocols for MANETs on the NS2 platform Results show that TLDV has better scalability. Key words：展开更多
Using sensor and GPS to make a trajectory planning for the stationary obstacle, autonommus mobile robot can asstmae that it is placed at the center of the map, and from the distance information between autonomous mobi...Using sensor and GPS to make a trajectory planning for the stationary obstacle, autonommus mobile robot can asstmae that it is placed at the center of the map, and from the distance information between autonomous mobile robot and obstacles. But in case of active moving obstacle, many components and information need to process since their moving trace should be considered in real time. This paper mobile robot＇s driving algorithm of unknown dynamic envirormaent in order to drive intelligently to destination using ultrasonic and Global Positional Systern （GPS）. Sensors adjusted the placement dependment on driving of robot, and the robot plans the evasion method according to obstacle which are detected by sensors. The robot saves GPS coordinate of complex obstacle. If there are many repeated driving, robot creates new obstacles to the hr, ation by itself. And then it drives to the destination resolving a large range of local minirmnn point If it needs an intelligent circtmtantial decision, a proposed algorithm is suited for effective obstacle avoidance and arrival at the destination by performing simulations.展开更多
An accurate low-cost ultrasonic localization system is de- veloped for automated mobile robots in indoor environments, which is essential for automatic navigation of mobile robots with various tasks. Although ultrasen...An accurate low-cost ultrasonic localization system is de- veloped for automated mobile robots in indoor environments, which is essential for automatic navigation of mobile robots with various tasks. Although ultrasenic sensors are more cost-effective than other sensors such as Laser Range Finder （LRF） and vision, but they are inaccurate and directionally ambiguons. First, the matched filter is used to measure the distance accurately. For resolving the computational complexity of the matched filter, a new matched filter algorithm with simple compution is proposed. Then, an ultrasonic localization system is proposed which consists of three ultrasonic receivers and two or mote transmitters for improving position and orientation accuracy was developed. Finally, an extended Kalman filter is designed to estimate both the static and dynamic positions and orientations. Various simu lations and experimental results show that the proposed system is effective.展开更多
In this work we study the interaction of the coupled channels ?η and Ξ* ˉK within the chiral unitary approach.The systems under consideration have total isospins 0,strangeness S =-3,and spin 3/2.We study the s wave...In this work we study the interaction of the coupled channels ?η and Ξ* ˉK within the chiral unitary approach.The systems under consideration have total isospins 0,strangeness S =-3,and spin 3/2.We study the s wave interaction which implies that the possible resonances generated in the system can have spin-parity JP= 3/2-.The unitary amplitudes in coupled channels develop poles that can be associated with some known baryonic resonances.We find there is a dynamically generated 3/2-? state with mass around 1800 Me V,which is in agreement with the predictions of the five-quark model.展开更多
基金Research Fund for the Doctoral Program of Higher Education of China(No.20123718120007)
文摘Self-localization is a fundamental requirement for the mobile robot. Robot usually contains a large number of dif- ferent sensors, which provide the information of robot localization, and all the sensor information should be considered for the optimal location. Kalman filter is efficient to realize the information fusion. Used as an efficient sensor fusion algorithm, Kalman filter is an advanced filtering technique which can reduce errors of the position and orientation of the sensors. Kalman filter has been paied much attention to robot automation and solutions to solve uncertainties such as robot localization, navigation, following, tracking, motion control, estimation and prediction. The paper briefly describes Kalman filter theory, and establishes a simple mathematical model based on muti-sensor mobile robot. Meanwhile, Kalman filter is used in robot self-localization by simulations, and it is demonstrated by simulations that Kalman filter is effective.
文摘This paper presented a design of an automatic lifting system. It is used for large load powered support and improves the old method wherein powered support lifting depends on manual control. This system applies a high accuracy gear shunt motor to match the flow for 4 lifting cylinders, and also allocates bypass throttles to realize automatic lifting. Through the dis- placement sensor feedback the height deviation among 4 lifting cylinders during the whole lifting process, when the deviation is up to the sitting value, the corresponding bypass throttle is operated immediately to reduce the deviation, so that the moving platform of the powered support would not be stuck. Through real application, it is shown that this system can realize automatic lifting of powered support; the lifting speed is controlled between 5 and 10 mm/s, and the final aligning accuracy is up to 1 mm.
基金Acknowledgements This work was supported by the Hi-Tech Research and Development Program of China under Grant No.2007AA01Z407 the Co-Funding Project of Beijing Municipal education Commission under Grant No.JD100060630+3 种基金 National Foundation Research Project the National Natural Science Foundation Project under Grant No. 61170295 the Project of Aeronautical Science Foundation of China under Caant No.2011ZC51024 and the Fundamental Research Funds for the Central Universities.
文摘In the traditional Intemet Protocol （IP） architecture, there is an overload of IP sermntic problems. Existing solutions focused mainly on the infrastructure for the fixed network, and there is a lack of support for Mobile Ad Hoc Networks （MANETs）. To improve scalability, a routing protocol for MANETs is presented based on a locator named Tree-structure Locator Distance Vector （TLDV）. The hard core of this routing method is the identifier/locator split by the Distributed Hash Table （DHT） method, which provides a scalable routing service. The node locator indicates its relative location in the network and should be updated whenever topology changes, kocator space ks organized as a tree-structure, and the basic routing operation of the TLDV protocol is presented. TLDV protocol is compared to some classical routing protocols for MANETs on the NS2 platform Results show that TLDV has better scalability. Key words：
基金supported by the MKE(The Ministry of Knowledge Economy),Koreathe ITRC(Information Technology Research Center)support program(NIPA-2010-C1090-1021-0010)
文摘Using sensor and GPS to make a trajectory planning for the stationary obstacle, autonommus mobile robot can asstmae that it is placed at the center of the map, and from the distance information between autonomous mobile robot and obstacles. But in case of active moving obstacle, many components and information need to process since their moving trace should be considered in real time. This paper mobile robot＇s driving algorithm of unknown dynamic envirormaent in order to drive intelligently to destination using ultrasonic and Global Positional Systern （GPS）. Sensors adjusted the placement dependment on driving of robot, and the robot plans the evasion method according to obstacle which are detected by sensors. The robot saves GPS coordinate of complex obstacle. If there are many repeated driving, robot creates new obstacles to the hr, ation by itself. And then it drives to the destination resolving a large range of local minirmnn point If it needs an intelligent circtmtantial decision, a proposed algorithm is suited for effective obstacle avoidance and arrival at the destination by performing simulations.
基金supported by the MKE(The Ministry of Knowledge Economy,Korea)the ITRC(Information Technology Research Center)support program(ⅡTA-2009-(C1090-0902-0007))
文摘An accurate low-cost ultrasonic localization system is de- veloped for automated mobile robots in indoor environments, which is essential for automatic navigation of mobile robots with various tasks. Although ultrasenic sensors are more cost-effective than other sensors such as Laser Range Finder （LRF） and vision, but they are inaccurate and directionally ambiguons. First, the matched filter is used to measure the distance accurately. For resolving the computational complexity of the matched filter, a new matched filter algorithm with simple compution is proposed. Then, an ultrasonic localization system is proposed which consists of three ultrasonic receivers and two or mote transmitters for improving position and orientation accuracy was developed. Finally, an extended Kalman filter is designed to estimate both the static and dynamic positions and orientations. Various simu lations and experimental results show that the proposed system is effective.
基金Supported by the National Basic Research Program(973 Program Grant No.2014CB845406)the National Natural Science Foundation of China under Grant Nos.11475227,11265014the Open Project Program of State Key Laboratory of Theoretical Physics,Institute of Theoretical Physics,Chinese Academy of Sciences,China No.Y5KF151CJ1
文摘In this work we study the interaction of the coupled channels ?η and Ξ* ˉK within the chiral unitary approach.The systems under consideration have total isospins 0,strangeness S =-3,and spin 3/2.We study the s wave interaction which implies that the possible resonances generated in the system can have spin-parity JP= 3/2-.The unitary amplitudes in coupled channels develop poles that can be associated with some known baryonic resonances.We find there is a dynamically generated 3/2-? state with mass around 1800 Me V,which is in agreement with the predictions of the five-quark model.
