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33081.利用分级机器人对西红柿进行外部特征提取和分类的方法研究
[电气机械和器材制造业,计算机、通信和其他电子设备制造业] [2013-12-24]
The color and shape feature are very important quality characteristic for classification of fruits. The dominant grading color histogram feature and radius normal angle histogram feature were presented in this paper. They can well represent the color and shape information of fruits respectively and are not sensitive to the changes of scale, translation and rotation. Experiment results showed both histogram features can effectively distinguish between different grade fruits and have high classification accuracy. They are suitable for real-time application.
关键词：机器人；颜色；机器视觉；质量特征；水果
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33082.光伏输出平滑与储能
[电气机械和器材制造业,电力、热力、燃气及水生产和供应业,计算机、通信和其他电子设备制造业] [2013-12-24]
This report describes an algorithm, implemented in Matlab/Simulink, designed to reduce the variability of photovoltaic (PV) power output by using a battery. The purpose of the battery is to add power to the PV output (or subtract) to smooth out the high frequency components of the PV power that that occur during periods with transient cloud shadows on the PV array. The control system is challenged with the task of reducing short-term PV output variability while avoiding overworking the battery both in terms of capacity and ramp capability. The algorithm proposed by Sandia is purposely very simple to facilitate implementation in a real-time controller. The control structure has two additional inputs to which the battery can respond. For example, the battery could respond to PV variability, load variability or area control error (ACE) or a combination of the three.
关键词：储能；太阳能；算法；容量；云；控制系统；电池；光伏电源
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33083.微机械传感器的声信号的谱分解
[计算机、通信和其他电子设备制造业,电气机械和器材制造业] [2013-12-24]
This technical report is duplicative documentation of the approved doctorial thesis of one of the co-authors. The research was funded in part by the U.S. Army Aviation and Missile Research, Development, and Engineering Center (AMRDEC) for the development of micromechanical sensors under the Army Technology Objective (ATO) of Sensor, Warhead, and Fuzing Technology Integrated for Combined Effects (SWFTICE). Particular technical progress at AMRDEC within this report includes resonant array processing (Chapter 3), electrets integration with Microelectromechanical Systems (MEMS) with localized heater fabrication for wafer bonding and microcharging grids for in-situ charging using microcoronas (Chapter 4), and processing of MEMS transducers (Chapter 5).
关键词：传感器；微机电系统；军导弹；加热器；集成系统；光谱
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33084.通过使用子目标建立基于视觉的移动机器人导航
[信息传输、软件和信息技术服务业,计算机、通信和其他电子设备制造业] [2013-12-23]
This chapter discusses how a vision based robot navigation scheme can be developed, in a two-layered architecture, in collaboration with IR sensors. The algorithm employs a subgoal based scheme where the attempt is made to follow the shortest path to reach the final goal and also simultaneously achieve the desired obstacle avoidance. The algorithm operates in an iterative fashion with the objective of creating the next subgoal and navigating upto this point in a single iteration such that the final goal is reached in minimum number of iterations, as far as practicable.
关键词：机器人 子目标 导航
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33085.通过化学优化模式在摄动力矩下优化的模糊跟踪控制器的自主移动机器人
[电气机械和器材制造业,计算机、通信和其他电子设备制造业] [2013-12-23]
This paper addresses the tracking problem for the dynamic model of a unicycle mobile robot. A novel optimization method inspired on the chemical reactions is applied to solve this motion problem by integrating a kinematic and a torque controller based on fuzzy logic theory. Computer simulations are presented confirming that this optimization paradigm is able to outperform other optimization techniques applied to this particular robot application.
关键词：机器人；优化模式；自主；控制器
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33086.磁轮式爬壁机器人:设计和实现
[计算机、通信和其他电子设备制造业,电气机械和器材制造业] [2013-12-23]
This paper presents a climbing robot, with wheeled locomotion and adhesion through permanent magnets. This machine was developed to be used in the inspection of several types of man-made ferromagnetic structures, such as towers for wind turbines, fuel storage tanks, ship hulls, etc., in order to, for instance, detect weaknesses due to corrosion. In this article are presented the main aspects taken into consideration for its design, as well as several constructive aspects, among which are detailed its mechanical and electrical construction, the implemented control architecture and the Human-Machine Interface (HMI) for its control. The distinguishing characteristic of this robot is its dynamic adjustment system of the permanent magnets to assure the machine adhesion to the surfaces when crossing slightly irregular and curved surfaces with a large radius.
关键词：机器人 磁轮式
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33087.机器人与蝴蝶
[计算机、通信和其他电子设备制造业,电气机械和器材制造业] [2013-12-23]
This is a non-technical personal view paper describing how I arrived to the field of fuzzy sets and systems, getting around on the roads opened by Professor Zadeh. Then it is followed by some comments on fuzziness and on the future. The first time I heard of fuzzy sets was during a seminar of Arnold Kaufmann (later on I also read an interview of L.A. Zadeh, called "Les ensembles Flous - un concept precis", in l'lnformatique, 1970) while he was presenting Zadeh's theory and his own research. He was carrying with him the manuscript of his first book on the subject.
关键词：机器人；蝴蝶；模糊集
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33088.移动机器人导航
[计算机、通信和其他电子设备制造业,信息传输、软件和信息技术服务业] [2013-12-23]
This chapter introduces the basic concepts of autonomous navigation of mobile robots and the utility of using vision as the sensing mechanism in achieving the desired objectives. The chapter discusses the broad categories of vision-based navigation in indoor and outdoor environments. Different prominent directions of research in this context are introduced and also different broad modalities of obstacle detection and avoidance are presented.
关键词：机器人；移动；导航
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33089.基于触觉的机器人遥控操作:与真实环境交互
[电气机械和器材制造业,计算机、通信和其他电子设备制造业] [2013-12-23]
Robot teleoperation via haptic interface has been increasingly studied in recent years. In fact, the capacity to remotely feel the forces being exerted on a robot end-effector is a major advantage for many modern robot applications. This study aims to explore the capabilities of a low-cost haptic device, a force/torque sensor and a commercially available industrial robot, both together for haptic-based robot teleoperation purposes. A ballistic approach is implemented to make the mapping between the motion produced on the haptic device by the operator and the resulting robot motion. Inspired by some studies in the field of robot haptics, the robot and haptic device are connected by a virtual spring, which allows the operator to feel the sensation of pull and push the robot at the same time that teleoperates it. Results related to the process of robot
关键词：机器人；遥控；交互
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33090.≤60nm覆盖精度的纳米压印光刻技术
[计算机、通信和其他电子设备制造业] [2013-12-23]
Nanoimprint lithography (NIL) is a high-resolution, high-throughput and cost-effective nano-patterning technology. However, the overlay accuracy is lagging behind the resolution because of the high cost of mechanical precision. We have built an inexpensive stand-alone machine based on the wafer bowing nanoimprint process, and demonstrated single-point overlay of two transferred pattern layers with an accuracy of ≤60 nm.
关键词：纳米压印；覆盖；光刻
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