Pressure-Based Approach to Estimating the Injection Start and End in Single and Split Common Rail Injection Processes

The deep understanding on sand and sand dunes scale can be useful to reveal the formation mechanism of the sandstorm for early sandstorm forecast. The current sandstorm observation methods are mainly based on conventional meteorological station and satellites remote sensing, which are difficult to acquire sand scale information. A wireless sensing network is implemented in the hinterland of desert, which includes ad hoc network, sensor, global positioning system (GPS) and system integration technology. The wireless network is a three-layer architecture and daisy chain topology network, which consists of control station, master robots and slave robots. Every three robots including one master robot and its two slave robots forms an ad hoc network. Master robots directly communicate with radio base station. Information will be sent to remote information center. Data sensing system including different kinds of sensors and desert robots is developed. A desert robot is designed and implemented as unmanned probing movable nodes and sensors’ carrier. A new optical fiber sensor is exploited to measure vibration of sand in particular. The whole system, which is delivered to the testing field in hinterland of desert (25 km far from base station), has been proved efficient for data acquisition.     

经济型自动化船舶电站控制方案研究

文章阐述了为达到经济性目的，在现行四机组船舶电站控制技术上提出了一种新型控制网络解决方案。该控制网络由一主站S7．200PLC、一从站S7—200PLC及四从站PPU（发电机同步保护装置）组成，PLC和PPU分别主要控制电站逻辑实现和发电机运行，主站PLC与从站PLC、PPU间的通信分别通过PPI和MODBUS实现。网络通信和控制逻辑均在STEP7-Micro／WIN中编程实现。应用实践证明其经济性提高的同时性能依然卓越。     

Formation control of underwater mobile sensing networks

Formation control is essential for an underwater mobile sensing network (UMSN), and an ad hoc network which wirelessly connects underwater vehicles of sensing and/or observing types via acoustic communications, to fulfill mobile sensing tasks. The problem of formation control for a UMSN with varying topology is studied in this paper. The methodology of synthesizing distributed formation controller which stabilizes a UMSN with varying topology is proposed on the basis of the stability analysis of linear time-varying systems.     

循环水动模装置现场总线控制系统的设计与应用

研制了一种循环水动态模拟装置现场总线控制系统的设计方案,采用上位机操作站和下位机智能测控组件组成的现场总线控制系统.上位机采用基于labview语言的监控软件,主要承担监控任务;基于TMS320F2812 DSP的智能测控组件实现实时数据采集和自动控制功能,在上下位机的数据通讯上采用先进的OPC技术.系统具有安全可靠、功能完善、操作简便、性价比高等优点.     

Web服务器与Player的通信机制研究

移动机器人远程控制具有良好的应用前景,其核心问题之一就是操作者与机器人之间的通信,实现数据的有效传输、交换、解析、存储等.提出了一种Web技术和机器人网络服务器Player相结合的3层通信框架,实现了Web服务器与Player服务器间的通信.利用这种通信机制建立的基于Web的移动机器人远程监控系统具有良好的可重构、可扩展,可以扩展支持多用户的协同操作和多机器人的协同工作.     

IP ADDRESS AUTOCONFIGURATION FOR WIRELESS AD HOC NETWORKS

IntroductionWireless ad hoc networks are gaining increas-ing popularity in recent years because of their easeof deployment. No wired base station or infras-tructure is supported,and each hostcommunicatesone anothervia packetradios. In ad hoc networks,routing protocols are challenged with establishingand maintaining multihop routes in the face of mo-bility,bandwidth limitation and power con-straints. In ad hoc networks,each node( host)acts as a router since routes are mostly multihop.Nodes in …     

移动Ad Hoc网络的安全问题和解决方案

移动Ad Hoc网络的自身特点,使它比有线网络更容易遭受攻击。文章首先分析了威胁移动Ad Hoc网络安全的典型攻击,主要讨论了移动Ad Hoc网络的安全路由技术和入侵检测技术两种安全技术,对一些典型安全方案进行了论述与比较。     

基于ZgBee和GPRS的嵌入式桥梁健康监测系统

以有线方式采集传感器数据的缺陷,提出了具有远程数据分管中心、嵌入式现场数据采集子系统、ZigBee无线传感器数据采集网络等3层子系统的监测方案;构建了一个以S3C2440处理器为核心的现场数据采集系统;组建ZigBee无线传感器网络完成现场采集,将融合、预处理后的数据经GPRS网络发回远程数据中心。多源异构传感器采集的实验数据与对应环境变量完全吻合,验证了系统的稳定性与可靠性。     

无线传感器网络中能量有效分簇路由算法

由于无线传感器节点的电源能量有限,提出了一种能量有效分簇路由算法(EECRA).该算法是基于最小能量的数据转发并运用于簇内路由中,簇头由基站根据节点的剩余能量和簇头之间的距离来选定,为了减小簇头节点的能量开销,簇头之间采用了多跳中继的方式将采集的数据发送到基站.仿真结果证明:该算法与LEACH协议相比,不仅提高了网络寿命,同时节点的能耗均衡性、网络扩展性和可靠性都大大的提高.     

3S技术在土地利用调查中的应用

基于无人机遥感图像的分类精度和高分辨率的图像特征,得出面向对象的遥感影像分类方法,即应用无人机遥感技术进行土地利用的快速详查信息提取。运用GIS技术,着重研究土地利用数据库的建立方法及构建过程,通过该数据库构建的时空模型,可有效地避免数据冗余问题,建立的数据库还可实现土地的详查追溯,通过图像的层次叠加获取历史土地详查的全区土地信息。     

基于无线网络的振动监测系统的设计与实现

本文介绍了一种基于振动传感器ADXL105的无线传感器网络节点的设计。详细介绍了节点的硬件组成和软件实现。该节点性能可靠稳定,并能实现低功耗工作,适用于环境状况及建筑物健康状况的远程监测。针对健康监测设计了一种基于CSMA方式的单跳传感器网络通信协议,给出了实验结果。     

A Secure Multi-Routing Platform for Ad Hoc Network

In an ad hoc network, it is usually difficult to optimize the assignment of network routing resources using a single type of routing protocol due to the differences in network scale, node moving mode and node distribution. Therefore, it is desirable to have nodes run multiple routing protocols simultaneously so that more than one protocols can be chosen to work jointly. For this purpose,a multiple routing platform for Ad hoc networks is proposed on a higher level of current routing protocols. In order to ensure the security of the platform, a security mechanism and its formal analysis by BAN logic is given. The simulation results of the network performance demonstrate that the proposed multi-routing platform is practicable in some complex applications.     

Dynamic Obstacle Avoidance for Application of Human-Robot Cooperative Dispensing Medicines

For safety reasons,in the automated dispensing medicines process,robots and humans cooperate to accomplish the task of drug sorting and distribution.In this dynamic unstructured environment,such as a human-robot collaboration scenario,the safety of human,robot,and equipment in the environment is paramount.In this work,a practical and effective robot motion planning method is proposed for dynamic unstructured environments.To figure out the problems of blind zones of single depth sensor and dynamic obstacle avoidance,we first propose a method for establishing offline mapping and online fusion of multi-sensor depth images and 3D grids of the robot workspace,which is used to determine the occupation states of the 3D grids occluded by robots and obstacles and to conduct real-time estimation of the minimum distance between the robot and obstacles.Then,based on the reactive control method,the attractive and repulsive forces are calculated and transformed into robot joint velocities to avoid obstacles in real time.Finally,the robot's dynamic obstacle avoidance ability is evaluated on an experimental platform with a UR5 robot and two KinectV2 RGB-D sensors,and the effectiveness of the proposed method is verified.     

A Distributed Virtual Backbone Formation for Wireless Ad Hoc and Sensor Networks

The virtual backbone is an approach for solving routing problems in wireless ad hoc and sensor networks. A connected dominating set (CDS) was proposed as a virtual backbone to improve the performance of wireless networks. The quality of a virtual backbone is measured not only by approximation factor, which is the ratio of its size to that of minimum CDS, but also time complexity and message complexity. In this paper, a distributed algorithm is presented to construct a minimum CDS for ad hoc and sensor networks. By destroying triangular loops in the virtual backbone, the proposed algorithm can effectively construct a CDS with smaller size. Moreover, our algorithm, which is fully localized, has a constant approximation ratio, linear message and time complexity, and low implementation complexity. The simulation results and theoretical analysis show that our algorithm has better efficiency and performance than conventional approaches.     

复合可重构Ad Hoc网络

随着众多无线通信网络标准的不断涌现,如何解决不同Ad Hoc网络之间互操作性差这一问题逐渐引起了各界的重视,此方面现有研究成果大都集中在重新设计MAC层协议或是链路选择协议上.本文提出了一种新的Ad Hoc网络结构,并解释了这一网络结构所采用的分簇算法、利用可重构终端实现优选物理链路的实现方案,用于解决互操作性差的网桥机制.针对这种全新的网络结构,文中还给出了基于Matlab的仿真平台的实现方法.仿真结果显示,这一新的网络结构可以在小幅增加网络平均时延的代价下提高全网络的数据包投递率.     

COLLISION-FREE OF MULTI-ROBOT SYSTEMS IN VIRTUAL ENVIRONMENT

IntroductionWith the development of automation and con-trol technology,on car- body plant,at present,consideration of multi- robot systems has become abasic requirement. With the help of multi- robotsystems,we can shorten production time,improveproduction quality and quantity,and decrease pro-duction error rate. Buthow multi- robots can coop-erate with each other,especially on welding pro-duction line for car- body,is what we concernabout the most.We hope to find a good way toplan out paths fo…     

一种基于能量模型的AODV改进协议

移动Ad Hoe网络是由一组无线移动主机组成的一个没有任何基础设施或集中管理设备的临时网络.针对网络拓扑易变以及带宽、能源有限等移动Ad Hoe网络的主要特点.在介绍一种能量消耗模型的基础上,提出了一种路由算法,由于该算法是一个NP完全同题,因此给出了一个解决该问题的近似算法,在经典的路由协议AODV基础上进行了仿真实验.实验结果表明新的协议EA-AODV在总能量消耗和网络生存时间方面表现出了很好的性能.     

OBSTACLE-AVOIDANCE NAVIGATION OF MULTIPLE MOBILE ROBOTS

IntroductionRobo Cup,which involves multiple robots in acomplicated environment to achieve specific objec-tives,poses a common standard problem for aboard spectrum of specialize sub- fields in AI andintelligentrobotic agents[1] .The majorcharacteris-tic of the Robo Cup Soccer competition is the dy-namic nature of environment surrounding robots,which includes the problem addressed in this pa-per.In the current research of it[2 ,3 ] ,when the re-searchers think about the problem of avoiding ob…     

A real-time collision-free path planning of a rust removal robot using an improved neural network

In this paper, a real-time collision-free path planning of the rust removal robot in a ship environment is proposed, which is based on an improved biologically inspired neural network algorithm. This improved algorithm is based on the biologically inspired neural network and modified with obstacle detection sensors and kinematic state templates, and is implemented in a ship rust removal robot planning system for dynamic trajectory generation. The real-time optimal trajectory is generated by the biologically inspired neural network, and the moving obstacle detection process of a ship robot working on the wall is simulated with the obstacle detection sensors models. The local real-time trajectory can be re-planned by the updated local map information, where the obstacle detection sensors are used to inspect partial environment information and update the robot nearby information in real time in the original neural network algorithm. At the same time, the method of the kinematic state templates matching and searching is used to solve the pipes’ influence of the rust removal robot climbing on the wall, which can not only provide a smooth path, but also can judge the motion direction and turning angle of the robot. Comparison of the proposed approach with the simulation shows that the improved algorithm is capable of planning a real-time collision-free path with achieving the local environmental information and judging the rust removal robot’s motion direction and turning angle. This proposed algorithm can be good used in the ship rust removal robot.     

基于移动基站的动态无线传感器网络

针对无线传感器网络(WSN)中的“路由热点”问题,提出了在簇头移动的前提下基于事件驱动的基站簇头混合移动策略BS-CH HMS(base station-cluster head hybrid mobile strategy).该策略根据CH(cluster head)移动时的能量损耗确定CH的移动轨迹,制定基站的协作...