This report summarizes the results of a two-year research effort on sensornets for vehicle traffic classification. At the study outside, our main goals were to understanding the communications requirements for traffic monitoring systems (both short-range wireless inside a traffic sensornet, and wide-area to a central Traffic Management System), developing self-configuring traffic monitoring systems, and integrating prior work with these new results. The key outcomes of our research are to understand communications in a classification system, to carefully evaluate the effects of signature matching, and to further develop self-configuration. Finally, we tested our new approaches through a second major data collection exercise at USC.

关键词：通信；车辆分类；通信网络；安全通信；交通管理

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This paper evaluates the dual-pulse case and compares it with the conventional single-pulse case. Analytical expressions for symbol error rate and bit error rate are first derived and numerically evaluated, for the strong, negative-exponential turbulent atmosphere; and bandwidth efficiency and throughput are subsequently assessed. It is shown that, under a set of practical constraints including pulse width and pulse repetition frequency (PRF), dual-pulse PPM enables a better channel utilization and hence a higher throughput than it single-pulse counterpart. This result is new and different from the previous idealistic studies that showed multi-pulse PPM provided no essential information-theoretic gains than single-pulse PPM.

关键词：通信；脉冲位置调制；无线通信；自由空间光通信；深空光通信

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This paper presents a method based on a multi-objective self-adaptive differential evolution (MOSaDE) algorithm to improve the parametric reconfiguration feature in the optimal design of a parallel robot.We propose a MOSaDE algorithm,in which both trial vector generation strategies and their associated control parameter values are gradually self-adapted by learning from their previous experiences in generating promising solutions.Consequently,a more suitable generation strategy along with its parameter settings can be determined adaptively to match different phases of the search process.Furthermore,a constraint-handling mechanism is added to bias the search to the feasible region of the search space.The obtained solution will be a set of optimal geometric parameters and optimal PID control gains.The results obtained in a set of experiments performed mechatronic system show the effectiveness of the proposed approach.

关键词：光机电；机器人；多目标优化；微分进化

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In order to achieve the quick and accurate adjustment of the robot fish,there are two plans,which are based on ant-colony-algorithm movement strategy.These plans are aimed at 2D robot fish in the ant colony algorithm,and the key judgment of the robot fish relies on the branches of physic matters,together with the best match of the fish in its current speed.However,according to the dynamic algorithm project,the feedback of dynamic variable movement can process adjustment automatically.In every period,these two examples by which the 2D Simulation results show the robot fish can be adjusted on the policy path.To achieve optimal combination of speed and direction,the shortest time has a strong ability to adapt effectively to meet the simulation of robot fish or action of the action decision-making.

关键词：光机电；机器人；模拟机器鱼；蚁群算法；行动决策;

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This paper presents a two-dimensional movement and the one-dimensional rotating 3 DOF robot that can be used to pick up, delivery and place riveting column, thin axis (referred to as riveting column) and other parts, forming the assembly systems of riveting of sheet metal. In addition to the robot, the system also has moving table, clamp, a number of riveting column station and spin riveter etc. Moving table is equipped with the clamp, it can move in the X and Y directions, respectively. The clamp that fixed the sheet metal work-piece can move in Z-direction, which make it easy for assembling the riveting axis into the riveting holes on the work-piece. Robot can move along the Y axis and swing around the Z axis, make the nozzle that is in the end of manipulator move between riveting column stations and spin riveter, which pick up and place the riveting column. A number of riveting column station is used for store riveting column and sorting them. Spin riveter rotates while moving along the Z axis at the same time, by pressure and rotational force it completes the column riveting on sheet metal parts.

关键词：光机电；机器人；移动；转动

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A complete coverage path planning algorithm,which combines local space coverage with global planning,is proposed.At first,environmental model of mobile robot in a space with obstacles is built by Boustrophedon unit decomposition method,and mobile robot realizes coverage in a reciprocating way in local space.S econdly,it takes local space divid ing,sub-space connecting sequence and sub-space walking route into account,then a completely 4onnected distance matrix that represents the connecting relation ship ofth e coverage sp ace are defined.Thirdly,dynamic programming algorithm is used to optimize this matrix and a shortest global coverage sequence is acquired.Simulation example proves the effectiveness of the proposed algorithm.

关键词：光机电；机器人；动态编程算法；路径规划

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The problem of optimally routing the wiring in large-scale modular skins for robots is gaining much attention in the literature. Theoretically, the problem is NP-hard. On the basis of previous work [3], [37], we solve the skin wiring problem using an Ant Colony Optimization approach. In this Chapter, we address the problem of designing a good pheromone structure: we propose five alternatives, which are validated using both real and artificially generated problem instances.

关键词：光机电；机器人；费洛蒙结构；皮肤布线

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The four-wheel differential omni-directional mobile robot has shown a strong research value and application prospect.This paper explored the kinematics and dynamics model of the omni-directional mobile robot by former differential and rear differential features,with a particular focus on its path planning strategy.The design includes path planning reference point,whilst analysis was made on the temporary path design strategy for linear and circular two features,with the resulting temporary path being optimal and most valid.This paper concludes with the research results that are available for providing the necessary preliminary studies and theoretical basis for the control of the mobile robot of this type.

关键词：光机电；机器人；运动学；动力学；临时道路

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Two-wheeled self-balanced robot based on the inverted pendulum model belongs to the category of the wheeled robots and it shares many characters with inverted pendulum,which are nonlinear,strong coupling,multi-variable and parameter uncertainty.Because there are many methods to keep this unstable robot self-balanced,this kind of robot has become an ideal platform to verify various kinds of control theories.In this paper,the two-wheeled robot is built on LEGO NXT set and depends on the sensors like gyro,angle transducer to keep upright.The mathematic and kinetic model of the robot is established according to the Lagrangian Dynamics and state-space equation of the whole system is presented.At last,a kind of state feedback control with the state observer is set up to make the system closed and stable.

关键词：光机电；机器人；拉格朗日动力学；状态反馈控制；状态观测器

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In order to solve the problems of complete coverage path and obstacle avoidance with the mobile robot,the complete coverage planning was described first,and then the algorithm of the complete coverage path planning was analyzed.The complete traversal algorithm and the obstacle avoidance strategy of the robot around the barrier were put forward.Finally,the traversal control flow chart of the traversal robot implemented in Single Chip Microcomputer (SCM) was obtained.After the above analysis,the algorithm was simple,practical,and low repeatability,and high efficiency.The algorithms could effectively solve the difficulty of complete coverage path and obstacle avoidance with the robot.

关键词：光机电；机器人；路径规划；避障策略

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