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.     

智能结构应用于船体振动控制的研究

本文从机电耦合弹性体的理论出发,运用Hamilton原理建立一般机电耦合系统的动力分析模型,并推导出有限元分析的耦合系统方程、作动方程及检测方程.以此为基础进行压电控制系统设计.应用LQG算法对简化舱段船壳的振动控制表明,增大结构的阻尼,使结构的振动降低,有效地控制结构振动.