Real-Time Fuzzy Obstacle Avoidance Using Directional Visual Perception

This paper presents a novel vision-based obstacle avoidance approach for the Autonomous Mobile Robot (AMR) with a PanTilt-Zoom (PTZ) camera as its only sensing modality. The approach combines the morphological closing operation based on Sobel Edge Detection Operation and the (μ-kσ) thresholding technique to detect obstacles to soften the various lighting and ground floor effects. Both the morphology method and thresholding technique are computationaUy simple. The processing speed of the algorithm is fast enough to avoid some active obstacles. In addition, this approach takes into account the history obstacle effects on the current state. Fuzzy logic is used to control the behaviors of AMR as it navigates in the environment. All behaviors run concurrendy and generate motor response solely based on vision perception. A priority based on subsumption coordinator selects the most appropriate response to direct the AMR away from obstacles. Validation of the proposed approach is done on a Pioneer 1 mobile robot.     

Georgia Ports Authority:Faster to Market,Better for Business

Did You Know…?* The Port of Savannah is the fourthlargest container port of the “five”globalU.S. ports.* The Port of Savannah is the biggestportal for China Trade in the U.S. Mid- andSouth Atlantic, handling 44% of total U.S.Mid- and South Atlantic trade with China in2005 alone.* Trade between Savannah and Chinahas grown 139% over the last five years.* With 18 services to China, Savannahhas more direct China services than any otherport on the East Coast.* Through these services,…     

机车用温度调节系统的研究

在机车电气设备和柴油机载热体的冷却和温度调节系统中采用轴流式或离心式风机,但一般缺少温度自动调节系统,因而增大了功率消耗,且不能保证设备在最佳状态下工作。本文提出了一些可行的温度自动调节系统方案,并介绍了用微机的调节执行装置的数学模型,阐述了调节的方法和步骤以及推广使用的前景。     

俄罗斯铁路解决机车不足的问题

至2010年前俄罗斯将淘汰大部分旧机车,但据估计其货运量到2010年将增加26%,客运量增加6%～7%.为满足运输量增长的要求,俄罗斯铁路需要约6 800台电力机车和6 500台内燃机车.文章介绍了俄罗斯制定的机车战略决策.     

用电子计算机以侧扫声纳信号识别海床

直接从海床取样识别其类型,並非总是可行的,可能因取样没有代表性而不可靠。另有一种办法是利用侧扫声纳的散射信号进行海床类型的识别。本文对用侧扫声纳信号进行海床类型识别的统计分析法和频谱分析法进行探讨。所有的模拟数据是在不同海况条件下用中量程侧扫声纳系统取得的,並进行了数字量化和数值处理。本文探讨了海床类型识别中来自频谱特征量的作用,並与散射信号幅度的概率分布的各种特征量加以比较,结果表明频谱特征量能够区分六种类型的海床:砂、泥、粘土、卵石、石子和石块。     

某些因素对汽车化油器燃油定量特性影响的实验评定

化油器是汽油机的重要部件之一。本文就化油器定量特性,对化油器的生产、使用和设计中的一些问题进行了分析和讨论。这对从事汽车设计和制造和使用人员都有一定的参考价值。     

德国和日本磁悬浮高速铁路系统的现状和比较

近几十年来,德国和日本一直在研究和试验磁悬浮高速铁路系统,目的是使其技术达到商业运营的成熟水平.尽管德国和日本磁悬浮高速铁路系统的技术原理及其特点不同,但仍有可比性.现介绍其开发背景及作用方式,就基本原理、线路、车辆、驱动及能耗作了对比分析.