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越野自主车的远距离超声测障系统 被引量:1
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作者 崔慧海 李焱 周歆 《电子设计工程》 2011年第16期64-67,共4页
在地面自主车辆的导航与控制研究中,超声测障系统对于提高自主车的环境感知能力具有重要作用。面向野外环境自主车应用,设计并实现了一个远距离超声测障系统。该系统由超声传感器阵列、CAN总线通信模块,以及障碍检测上位机软件构成。通... 在地面自主车辆的导航与控制研究中,超声测障系统对于提高自主车的环境感知能力具有重要作用。面向野外环境自主车应用,设计并实现了一个远距离超声测障系统。该系统由超声传感器阵列、CAN总线通信模块,以及障碍检测上位机软件构成。通过时变增益电路提高了超声传感器的发射功率并减小了死区距离;基于自主车控制系统的CAN总线,设计并实现了超声测障系统的通信模块,实现了超声传感器信号的实时采集,并通过CAN总线传送到上位机。野外环境中的实验结果表明,超声测障系统具有良好的探测范围与测距精度。 展开更多
关键词 自主车 超声 TL026 测障
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基于STC单片机的电子罗盘-超声波测障系统设计 被引量:3
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作者 周鹏 《电子设计工程》 2013年第10期163-166,共4页
为了提高移动机器人的定位能力,提出一种基于STC89C52单片机的电子罗盘-超声波测障系统方案,并完成系统的软硬件设计。系统中,电子罗盘模块测试障碍物的方位(角度和方向),超声波模块测试与障碍物的距离,STC89C52单片机系统处理上述数据... 为了提高移动机器人的定位能力,提出一种基于STC89C52单片机的电子罗盘-超声波测障系统方案,并完成系统的软硬件设计。系统中,电子罗盘模块测试障碍物的方位(角度和方向),超声波模块测试与障碍物的距离,STC89C52单片机系统处理上述数据后在液晶显示器LCD1602上显示。实验表明,系统能精确测试障碍物的方位和距离,并实时显示,达到设计要求。 展开更多
关键词 单片机 电子罗盘 超声波 测障
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基于视觉监测的智能盲人拐杖设计 被引量:8
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作者 梁秋艳 葛宜元 牛国玲 《佳木斯大学学报(自然科学版)》 CAS 2015年第4期584-587,共4页
从视觉监测、脉搏监测、超声波测障等方面进行研究,设计一种智能盲人拐杖.通过视觉模块对周围地理环境进行识别与处理,为盲人提供无线语音导航信息及避障信息,方便盲人的日常出行活动,尽量避免事故发生.对盲人所在位置进行GPS定位,使盲... 从视觉监测、脉搏监测、超声波测障等方面进行研究,设计一种智能盲人拐杖.通过视觉模块对周围地理环境进行识别与处理,为盲人提供无线语音导航信息及避障信息,方便盲人的日常出行活动,尽量避免事故发生.对盲人所在位置进行GPS定位,使盲人准确无误的到达目的地.此外,能够对盲人健康状况进行实时监控并在必要的时候进行紧急呼叫. 展开更多
关键词 视觉监 脉搏监 超声波测障 GPS定位 紧急呼叫
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基于ARM处理器的吸尘机器人硬件设计 被引量:3
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作者 李宗学 范文学 +1 位作者 贾翠玲 王利利 《现代电子技术》 2013年第12期103-105,共3页
设计一款具有自主吸尘功能并且结构简单、成本低的小型家用吸尘机器人,实现了室内半自动或者全自动的清洁工作,从一定程度上代替人们做繁杂的家务。在硬件选型上,以ARM Cortex-M3处理器为核心,设计了专门的电机驱动板,通过光电编码反馈... 设计一款具有自主吸尘功能并且结构简单、成本低的小型家用吸尘机器人,实现了室内半自动或者全自动的清洁工作,从一定程度上代替人们做繁杂的家务。在硬件选型上,以ARM Cortex-M3处理器为核心,设计了专门的电机驱动板,通过光电编码反馈电路实现行走模块的闭环控制。主要对传感器模块进行开发,通过合理布置传感器,采用多种传感器融合,使超声波和红外光电传感器协调工作实现对远近距离障碍物的精确检测,提高了对障碍物的准确识别,能够实现自主避障吸尘。 展开更多
关键词 吸尘机器人 硬件策略 ARM处理器 超声传感器 红外测障传感器
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一种基于PID算法的智能小车设计 被引量:13
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作者 邓良益 易佳 +2 位作者 王浩 颜雁军 单飞桥 《科技创新与应用》 2019年第30期93-94,共2页
文章基于PID算法设计了一种智能小车,该小车包括控制模块、探测模块、驱动模块、人机交互模块。以STM32F103芯片为控制模块核心,采用双路全H桥驱动芯片TB6612驱动直流电机,探测模块包括一个超声波测障模块、四个红外循迹对管和光电编码... 文章基于PID算法设计了一种智能小车,该小车包括控制模块、探测模块、驱动模块、人机交互模块。以STM32F103芯片为控制模块核心,采用双路全H桥驱动芯片TB6612驱动直流电机,探测模块包括一个超声波测障模块、四个红外循迹对管和光电编码器、人机交互模块包括一个手机蓝牙APP和LCD彩色液晶显示屏。采用增量式PID算法实现了小车轨迹的精确控制。小车设计的功能有:直行、左右转弯、超声波避障及测距、红外循迹、APP蓝牙远程控制及测速。 展开更多
关键词 增量式PID STM32 超声波测障 蓝牙透传 红外寻迹
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NEW ALGORITHM FOR RECEIVER AUTONOMOUS INTEGRITY MONITORING 被引量:4
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作者 杨传森 徐肖豪 +1 位作者 刘瑞华 赵鸿盛 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI 2010年第2期155-161,共7页
A new integrity metric for navigation systems is proposed based on the measurement domain. Proba-hilistic optimization design offers tools for fault detection by considering the required navigation performance (RNP)... A new integrity metric for navigation systems is proposed based on the measurement domain. Proba-hilistic optimization design offers tools for fault detection by considering the required navigation performance (RNP) parameter and the uncertainty noise. The choice of the proper performance parameter provided the single-valued mapping with the missed detection probability estimates the probability of failure. The desirable characteristics of the residual sensitivity matrix are exploited to increase the efficiency for identifying erroneous observations. The algorithm can be used to support the performance specification and the efficient calculation of the integrity monitoring process. The simulation for non-precision approach (NPA) validates both the viability and the effectiveness of the proposed algorithm. 展开更多
关键词 required navigation performance (RNP) non-precision approach (NPA) receiver autonomous integrity monitoring (RAIM) failure detection and exclusion (FDE)
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软枣猕猴桃全自动采摘机器人设计
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作者 丛闯 梁秋艳 +4 位作者 刘德江 陈怀洋 张敏慧 王雪雨 赵敏 《佳木斯大学学报(自然科学版)》 CAS 2023年第6期106-109,共4页
为解决软枣猕猴桃不能够实现全自动采摘的问题,从视觉监测、超声波测障等方面进行研究,设计一款软枣猕猴桃全自动采摘机器人,通过单双目相机对软枣猕猴桃进行拍照,由图像识别、采集装置进行记录,传输给图像处理装置进行精准识别采摘,同... 为解决软枣猕猴桃不能够实现全自动采摘的问题,从视觉监测、超声波测障等方面进行研究,设计一款软枣猕猴桃全自动采摘机器人,通过单双目相机对软枣猕猴桃进行拍照,由图像识别、采集装置进行记录,传输给图像处理装置进行精准识别采摘,同时本机器配有自动导航避障装置精准识别方位进行控制路径实施精准避障导航,能够实现采摘和收获的自动化,极大地降低采摘损耗和人工成本。 展开更多
关键词 视觉监 超声波测障 图像识别 路径规划
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STUDY OF MULTISENSOR INFORMATION FUSION FILTER IN INTEGRATED NAVIGATION
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作者 胡国辉 杨春钧 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI 1997年第2期122-125,共4页
This paper presents a new information fusion filter in integrated navigation. The method can improve the fault-tolerant performance and make well fault detection, isolation and reconfiguration of the integrated naviga... This paper presents a new information fusion filter in integrated navigation. The method can improve the fault-tolerant performance and make well fault detection, isolation and reconfiguration of the integrated navigation system exist. Based on three sensors'(strapdown system, GPS receiver, Doppler radar) information fusion, a fault-tolerant navigation system is designed with this information fusion filter and two-ellipsoid overlap test. Simulation results show that the design is efficient with the soft-failure of gyro, accelerator, GPS receiver and Doppler radar. 展开更多
关键词 NAVIGATION fault detection information fusion
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Application of Radial Basis Function Network in Sensor Failure Detection
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作者 钮永胜 赵新民 《Journal of Beijing Institute of Technology》 EI CAS 1999年第2期70-76,共7页
Aim To detect sensor failure in control system using a single sensor signal. Methods A neural predictor was designed based on a radial basis function network(RBFN), and the neural predictor learned the sensor sig... Aim To detect sensor failure in control system using a single sensor signal. Methods A neural predictor was designed based on a radial basis function network(RBFN), and the neural predictor learned the sensor signal on line with a hybrid algorithm composed of n means clustering and Kalman filter and then gave the estimation of the sensor signal at the next step. If the difference between the estimation and the actural values of the sensor signal exceeded a threshold, the sensor could be declared to have a failure. The choice of the failure detection threshold depends on the noise variance and the possible prediction error of neural predictor. Results and Conclusion\ The computer simulation results show the proposed method can detect sensor failure correctly for a gyro in an automotive engine. 展开更多
关键词 sensor failure failure detection radial basis function network(BRFN) on line learning
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AN INTERNET-BASED REMOTE MONITORING SYSTEM FOR AUTOMOBILE TESTING SYSTEMS 被引量:3
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作者 倪虹 赵敏 +1 位作者 孙宜涛 姚敏 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI 2002年第2期213-217,共5页
Modern automobile testing systems are complexly computerized measure and control systems, and used in automobile vehicle design centers and assembly plants. Their performance is critical but difficult to be monitored ... Modern automobile testing systems are complexly computerized measure and control systems, and used in automobile vehicle design centers and assembly plants. Their performance is critical but difficult to be monitored efficiently and in real time. This paper introduces an Internet based remote monitoring system for automobile testing systems, and the design and the implementation using Web database and Socket techniques. 展开更多
关键词 MONITORING DATABASE fault diagnosis Socket technology
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Network Fault Analysis from Passive Measurement 被引量:1
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作者 Huang Lisheng Wang Wenyong +1 位作者 Li Changchun Lan Yunhai 《China Communications》 SCIE CSCD 2012年第5期64-74,共11页
A new passive method for automatic dis-covery and bcation of network failure is proposed. This method employs a passive measurement to collect infonmtion and events from network traffic, and em-ploys a rrodel-based re... A new passive method for automatic dis-covery and bcation of network failure is proposed. This method employs a passive measurement to collect infonmtion and events from network traffic, and em-ploys a rrodel-based reasoning system to detect and locate network faults. Measurement points are de-ployed in a backbone network to capture the traffic and then evaluate the Quality of Service (QoS) metrics of end-to-end IP conversations. A muting rrodel is al-so established for the observed network to simulate the attributes and activities of reuters and links. This muting model also deduces the muting path for each IP conversation, and thus the QoS metrics of IP con-versations are mapped into the metrics of paths. With the inforrmtion of shared links of overlapping paths and network torrography technique, the QoS metrics of links can also be estimated, and the poorly rated links are picked out as failure points. This method is imple-mented in a tool named FaultMan, which is deployed in a campus network. Test results have shown its availa-bility in rriddle-scale networks. 展开更多
关键词 passive measurement network fault lo-cation model-based reasoning
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An Efficient Adaptive Failure Detection Mechanism for Cloud Platform Based on Volterra Series 被引量:6
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作者 LIN Rongheng WU Budan YANG Fangchun ZHAO Yao HOU Jinxuan 《China Communications》 SCIE CSCD 2014年第4期1-12,共12页
Failure detection module is one of important components in fault-tolerant distributed systems,especially cloud platform.However,to achieve fast and accurate detection of failure becomes more and more difficult especia... Failure detection module is one of important components in fault-tolerant distributed systems,especially cloud platform.However,to achieve fast and accurate detection of failure becomes more and more difficult especially when network and other resources' status keep changing.This study presented an efficient adaptive failure detection mechanism based on volterra series,which can use a small amount of data for predicting.The mechanism uses a volterra filter for time series prediction and a decision tree for decision making.Major contributions are applying volterra filter in cloud failure prediction,and introducing a user factor for different QoS requirements in different modules and levels of IaaS.Detailed implementation is proposed,and an evaluation is performed in Beijing and Guangzhou experiment environment. 展开更多
关键词 failure detection volterra filter decision tree SELF-ADAPTIVE cloud platform
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Combined ANN prediction model for failure depth of coal seam floors 被引量:5
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作者 WANG Lian-guo ZHANG Zhi-kang +4 位作者 LU Yin-long YANG Hong-bo YANG Sheng-qiang SUN Jian ZHANG Jin-yao 《Mining Science and Technology》 EI CAS 2009年第5期684-688,共5页
Failure depth of coal seam floors is one of the important considerations that must be kept in mind when mining is carried out above a confined aquifer. In order to study the factors that affect the failure depth of co... Failure depth of coal seam floors is one of the important considerations that must be kept in mind when mining is carried out above a confined aquifer. In order to study the factors that affect the failure depth of coal seam floors such as mining depth, coal seam pitch, mining thickness, workface length and faults, we propose a combined artificial neural networks (ANN) prediction model for failure depth of coal seam floors on the basis of existing engineering data by using genetic algorithms to train the ANN. A practical engineering application at the Taoyuan Coal Mine indicates that this method can effectively determine the network struc- ture and training parameters, with the predicted results agreeing with practical measurements. Therefore, this method can be applied to relevant engineering projects with satisfactory results. 展开更多
关键词 artificial neural networks (ANN) floor failure depth genetic algorithms PREDICTION
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DOBUTAMINE MAGNETIC RESONANCE IMAGING PREDICTS CONTRACTILE RESERVE OF CHRONICALLY DYSFUNCTIONAL MYOCARDIUM: COMPARISON WITH FLUORINE-18 FLUORODEOXYGLUCOSE POSITRON EMISSION TOMOGRAPHY 被引量:3
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作者 赵世华 刘少忠 +3 位作者 MarcJanier PierreCroisille JeanP.Roux DidierRevel 《Chinese Medical Sciences Journal》 CAS CSCD 2000年第1期29-34,共6页
This study sought to investigate whether low dose dobutamine MRI can detect residual myocardial viability in patients with chronic myocardial infarction and left ventricular dysfunction. Methods. Eleven patients with ... This study sought to investigate whether low dose dobutamine MRI can detect residual myocardial viability in patients with chronic myocardial infarction and left ventricular dysfunction. Methods. Eleven patients with chronic myocardial infarction and left ventricular dysfunction were employed for identification of viable myocardium by cine MRI during dobutamine infusion. All patients underwent coronary angiography and left ventriculography, 18 FDG PET, MRI at rest and stress.The systolic wall thickening measured at rest and during stress was compared with the results of 18 FDG PET, respectively. Results. A significant difference of either dobutamine induced systolic wall thickening (SWth stress ) or dobutamine induced contractile reserve (ΔSWth= SWth stress - SWth rest ) was present between viable and scar regions (1 0±0 3 versus -0 3 ±0 1, P<0 01; 1 0±0 3 versus -0 2±0 2, P<0 01). Conclusions. Dobutamine induced contractile reserve can be predicted in the regions of akinesia or dyskinesia at rest when systolic wall thickening was 1 0 mm during dobutamine stimulation. 展开更多
关键词 myocardial infarction inotropic agents stress
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A Method for Node Fault Detection in Wireless Sensor Networks 被引量:3
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作者 高志鹏 黄日茂 +1 位作者 陈颖慧 芮兰兰 《China Communications》 SCIE CSCD 2011年第1期28-34,共7页
To reduce excessive computing and communication loads of traditional fault detection methods,a neighbor-data analysis based node fault detection method is proposed.First,historical data is analyzed to confirm the conf... To reduce excessive computing and communication loads of traditional fault detection methods,a neighbor-data analysis based node fault detection method is proposed.First,historical data is analyzed to confirm the confidence level of sensor nodes.Then a node's reading data is compared with neighbor nodes' which are of good confidence level.Decision can be made whether this node is a failure or not.Simulation shows this method has good effect on fault detection accuracy and transient fault tolerance,and never transfers communication and computing overloading to sensor nodes. 展开更多
关键词 wireless sensor network fault detection neighbor nodes
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Fault Detection and Diagnosis of a Gearbox in Marine Propulsion Systems Using Bispectrum Analysis and Artificial Neural Networks 被引量:3
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作者 李志雄 严新平 +2 位作者 袁成清 赵江滨 彭中笑 《Journal of Marine Science and Application》 2011年第1期17-24,共8页
A marine propulsion system is a very complicated system composed of many mechanical components.As a result,the vibration signal of a gearbox in the system is strongly coupled with the vibration signatures of other com... A marine propulsion system is a very complicated system composed of many mechanical components.As a result,the vibration signal of a gearbox in the system is strongly coupled with the vibration signatures of other components including a diesel engine and main shaft.It is therefore imperative to assess the coupling effect on diagnostic reliability in the process of gear fault diagnosis.For this reason,a fault detection and diagnosis method based on bispectrum analysis and artificial neural networks (ANNs) was proposed for the gearbox with consideration given to the impact of the other components in marine propulsion systems.To monitor the gear conditions,the bispectrum analysis was first employed to detect gear faults.The amplitude-frequency plots containing gear characteristic signals were then attained based on the bispectrum technique,which could be regarded as an index actualizing forepart gear faults diagnosis.Both the back propagation neural network (BPNN) and the radial-basis function neural network (RBFNN) were applied to identify the states of the gearbox.The numeric and experimental test results show the bispectral patterns of varying gear fault severities are different so that distinct fault features of the vibrant signal of a marine gearbox can be extracted effectively using the bispectrum,and the ANN classification method has achieved high detection accuracy.Hence,the proposed diagnostic techniques have the capability of diagnosing marine gear faults in the earlier phases,and thus have application importance. 展开更多
关键词 marine propulsion system fault diagnosis vibration analysis BISPECTRUM artificial neural networks Article
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TEST OF BOARD-LEVEL BOUNDARY SCAN INTEGRITY
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作者 臧春华 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI 1998年第2期121-127,共7页
The IEEE Standard 1149.1 boundary scan (BS) implementation provides the internal access required for testing the digital printed circuit board (PCB). However, the integrity of the boundary scan test infrastructure sh... The IEEE Standard 1149.1 boundary scan (BS) implementation provides the internal access required for testing the digital printed circuit board (PCB). However, the integrity of the boundary scan test infrastructure should be tested first to guarantee the validation of the results of the rest functional test and diagnosis. This paper describes the fault models and test principles of the BS test access port (TAP) lines on PCBs. A test algorithm with high fault coverage and short time is then presented for the PCB on which all ICs are BS ones. 展开更多
关键词 fault detection digital integrated circuits test circuits boundary scan design board test
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Research on Mineral Resource Prediction by GA-ANN
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作者 韩万林 张幼蒂 《Journal of China University of Mining and Technology》 2002年第1期15-19,共5页
Fault recognition and coal seam thickness forecast are important problems in mineral resource prediction. Knowledge of multiple disciplines, which include mining engineering, mine geology, seismic prospecting etc, was... Fault recognition and coal seam thickness forecast are important problems in mineral resource prediction. Knowledge of multiple disciplines, which include mining engineering, mine geology, seismic prospecting etc, was used synthetically. Artificial neural network was combined with genetic algorithm to found integrated AI method of genetic algorithm artificial neural network(GA ANN). Fault recognition and coal seam thickness forecast were carried to completion by case studies. And the research results are satisfactory. 展开更多
关键词 GA ANN fault recognition coal seam thickness forecast
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Which prognostic factors should be used in pulmonary arterial hypertension in elderly patients? 被引量:2
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作者 Bahri Akdeniz 《Journal of Geriatric Cardiology》 SCIE CAS CSCD 2017年第1期28-34,共7页
In recent times, the prevalence of pulmonary arterial hypertension creased prevalence of hypertension, diabetes, obesity, arterial stiffness, (PAH) is more commonly seen among elderly populations. The inas well as d... In recent times, the prevalence of pulmonary arterial hypertension creased prevalence of hypertension, diabetes, obesity, arterial stiffness, (PAH) is more commonly seen among elderly populations. The inas well as diastolic dysfunction, may cause endothelial dysfunction and affect pulmonary vasculature. Furthermore, older patients have certain differences in clinical characteristics and outcomes. In this article the special characteristics of aging in PAH patients have been reviewed, while the risk predictors of elderly patients are also discussed. 展开更多
关键词 PROGNOSIS Pulmonary hypertension The elderly
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