基于模糊PID控制算法的导盲机器人研究

结合PID控制对线性定常系统控制的优越性和模糊控制器对复杂非线性系统的有效控制,设计了一种基于模糊PID控制算法实现导盲机器人的避障循迹控制。导盲机器人采用乐高套件搭建而成,避障环节设计采用超声波传感器检测障碍物信息,控制器采集障碍物信息及机器人行驶速度信息,利用模糊PID算法实现避障;循迹环节为克服遇机器人转弯或高速行进时一般PID控制算法稳定性差的不足,采用实时跟踪偏差和偏差变化率来修正PID控制的各个参数,实现对机器人的导航控制,其中机构采用红外传感器进行识别检测。实验结果表明,利用改进算法进行导盲机器人的避障循迹控制,能够极大的提高避障的准确率,精准的循迹。     

基于STC89C52控制系统的校园送餐机器人设计

针对校园安全和学生送餐需求,设计了一种以STC89C52单片机为控制核心的全自动校园送餐机器人。送餐机器人由通过吸盘式直流牵引电磁铁连接的自主行走单元和外卖箱单元组成。控制系统作为送餐机器人的核心,由主控模块、红外传感器模块、超声波避障模块、电机驱动模块、电源模块等部分组成,具有路径识别和自主避障的功能,可以准确地识别目标路径。自主行走单元系统采用PWM调控机器人的速度,安装在机器人底盘上的新型集成红外传感器DRS3100对轨道形状及宽度进行循迹,并将检测到的信号传输给STC89C52,控制机器人左右电机的运转,进而调整运行方向或停止。应用超声波测距模块,通过单片机及程序的控制使送餐机器人在检测到距离障碍物20 cm左右时停止工作。使用运动函数控制机器人的动作完成全自动化送餐。在试制的样机上进行了机器人控制系统性能测试,实验结果表明,该送餐机器人运动平稳,适应能力强,具有很高的实用价值。     

图书管理助手机器人导航避障技术研究

为促进图书管理事业的发展,研发了一种图书管理助手机器人。介绍了机器人的本体结构,采用基于路标的方法对机器人进行导航,避障过程中,充分利用了超声波传感器测距的方法,完成了机器人的设计制作,在实际现场进行了实验,达到了预期目标,为该种机器人的发展提供了一定基础。     

基于模拟CCD传感器和图像矫正的自循迹机器人设计

设计了一种基于模拟CCD图像传感器和图像透视矫正算法的自动循迹机器人。分别完成了机器人的总体设计和软硬件设计。该循迹机器人以32位单片机MK60DN512ZVLQ10为主控制器,采用模拟CCD摄像头获取黑色引导线信息,并转化为有效的舵机和电机控制量。为提高控制精度,利用PID控制算法实现机器人的闭环控制。由于采集的图像存在梯形失真,所以利用图像透视变换对原始图像校正,实现机器人精确的循迹。测试结果表明:该循迹机器人对场地适应性强,具有低成本、低功耗等优点,在核辐射和高压电等特殊环境下有很大的使用价值。     

基于ATmega 2560的智慧快递机器人设计

为有效促进对自动化专业创新性人才的培养,学科竞赛是一种能较好地促进实践环节教学的手段,能够"以赛促教"和"以赛促学"。根据2017年江苏省大学生机器人比赛要求,设计了一款智慧快递机器人,并获得二等奖。该机器人硬件包括四个部分,分别为控制电路部分、循迹部分、避障部分和投掷部分。其中,控制电路部分采用ATmega 2560单片机作为控制器;循迹部分采用红外对管作为循迹传感器;避障部分采用超声波和红外传感器作为避障传感器,投掷部分采用机械臂实现投掷。机器人能够智能避障,自行将包裹从起点运送到终点后,准确投掷到快递箱内并返回到起点继续实现下一轮快递功能。     

双足步行机器人控制电路设计与实现

提出和实现了一种具有语音控制和无线下载功能的双足步行教育机器人的控制电路。系统采用双单片机处理系统,其中包括步行控制电路、红外避障电路、超声波测距电路、语音发音识别电路和电脑无线通讯电路。基于此控制电路的双足步行机器人,具有很好的学习扩展性和新颖性。     

双足步行教育机器人控制电路设计与实现

提出和实现了一种具有语音控制和无线下载功能的双足步行教育机器人的控制电路。本系统采用双单片机处理系统,其中包括步行控制电路、红外避障电路、超声波测距电路、语音发音识别电路、和电脑无线通讯电路。基于此控制电路的双足步行机器人,具有很好的学习扩展性和新颖性。     

基于单片机的自动泊车系统设计

针对城市人群泊车困难的问题,设计基于单片机的自动泊车系统.系统硬件主要由单片机、传感器、舵机、直流电机和数码管组成,软件由主程序、循迹程序、避障程序、超声波程序、感光程序和电机控制模块组成.采用STC89C52单片机为核心接收并处理传感器采集的路面信息,控制电机模块做出相应的动作,实现小车的行走控制、入库时的安全距离监...     

割草机器人避障控制

针对以往割草机器人避障行为控制方法中存在避障路径不易跟踪以及对各类障碍物适应性较差等缺点,提出了基于测距传感器及模糊控制技术的割草机器人避障控制方法,并规划出易于路径跟踪的走折线运行方式．给出了传感器的布置,以超声波传感器测得的机器人左前方障碍物距离和右前方障碍物距离之差以及正前方障碍物距离作为模糊控制器的输入,而以小车方向角作为控制器输出,四周布置的红外传感器用于提高割草机器人在避障过程中的安全性．避障试验结果表明：该控制方法可行并具有灵活性和鲁棒性等优点,可通过改变控制器输入输出论域及折线段长度来设置避障过程中机器人与障碍物间的距离;所布置的传感器能够适应避障的需求．     

轮式智能车的设计

智能小车的循迹避障功能是实现小车完成正常行驶的关键.本文设计了一款基于STM32的轮式智能循线避障小车,采用PID速度控制算法控制电机转速,利用红外传感器采集小车的运行轨迹和障碍物等信息,并将其传递给单片机.通过单片机控制,从而在规定的路线上实现循迹、上下窄桥、上下楼梯和避障及抓取障碍物的功能.该设计具有结构简单,运行稳定,精度高等特点.     

Markedness and its Interpretation in Language Use

Language markedness is a common phenomenon in languages, and is reflected from hearing, vision and sense, i.e. the variation in the three aspects such as phonology, morphology and semantics. This paper focuses on the interpretation of markedness in language use following the three perspectives, i.e. pragmatic interpretation, psychological interpretation and cognitive interpretation, with an aim to define the function of markedness.     

Features of Women's language

Language is a means of verbal communication. People use language to communicate with each other. In the society, no two speakers are exactly alike in the way of speaking. Some differences are due to age, gender, statue and personality. Above all, gender is one of the obvious reasons. The writer of this paper tries to describe the features of women＇s language from these perspectives： pronunciation, intonation, diction, subjects, grammar and discourse. From the discussion of the features of women＇s language, more attention should be paid to language use in social context. What＇s more, the linguistic phenomena in a speaking community can be understood more thoroughly.     

An Analysis of Catherine＇s Character——Wuthering Heights

Wuthering Heights, Emily Bronte＇s only novel, was published in December of 1847 under the pseudonym Ellis Bell. The book did not gain immediate success, but it is now thought one of the finest novels in the English language. Catherine is the key character of this masterpiece, because everybody and everything center on her though she had a short life. We can understand this masterpiece better if we know Catherine well.     

Lower Paleozoic oil relationships within Williston Basin, Canada

The Williston Basin is a significant petroleum province, containing oil production zones that include the Middle Cambrian to Lower Ordovician, Upper Ordovician, Middle Devonian, Upper Devonian and Mississippian and within the Jurassic and Cretaceous. The oils of the Williston Basin exhibit a wide range of geochemical characteristics defined as "oil families", although the geochemical signature of the Cambrian Deadwood Formation and Lower Ordovician Winnipeg reservoired oils does not match any "oil family". Despite their close stratigraphic proximity, it is evident that the oils of the Lower Palaeozoic within the Williston Basin are distinct. This suggests the presence of a new "oil family" within the Williston Basin. Diagnostic geochemical signatures occur in the gasoline range chromatograms, within saturate fraction gas chromatograms and biomarker fingerprints. However, some of the established criteria and cross-plots that are currently used to segregate oils into distinct genetic families within the basin do not always meet with success, particularly when applied to the Lower Palaeozoic oils of the Deadwood and Winnipeg Formation.     

低渗透非均质砂岩油藏启动压力梯度研究

理论推导与室内实验相结合,建立了低渗透非均质砂岩油藏启动压力梯度确定方法。首先借助油藏流场与电场相似的原理,推导了非均质砂岩油藏启动压力梯度计算公式。其次基于稳定流实验方法,建立了非均质砂岩油藏启动压力梯度测试方法。结果表明:低渗透非均质砂岩油藏的启动压力梯度确定遵循两个等效原则。平面非均质油藏的启动压力梯度等于各级渗透率段的启动压力梯度关于长度的加权平均;纵向非均质油藏的启动压力梯度等于各渗透率层的启动压力梯度关于渗透率与渗流面积乘积的加权平均。研究成果可用于有效指导低渗透非均质砂岩油藏的合理井距确定,促进该类油藏的高效开发。     

On Tragic Consciousness In The Works By Ernest Hemingway

As an American modern novelist who were famous in the literary world, Hemingway was not a person who always followed the trend but a sharp observer. At the same time, he was a tragedy maestro, he paid great attention on existence, fate and end-result. The dramatis personae's tragedy of his works was an extreme limit by all means tragedy on the meaning of fearless challenge that failed. The beauty of tragedy was not produced on the destruction of life, but now this kind of value was in the impact activity. They performed for the reader about the tragedy on challenging for the limit and the death.     

Design and analysis of generic LBS application developing platform

Location based services is promising due to its novel working style and contents.A software platform is proposed to provide application programs of typical location based services and support new applications developing efficiently. The analysis shows that this scheme is easy implemented, low cost and adapt to all kinds of mobile nework system.     

Achieving Unusual States of Matter Under High Pressure

正The periodicity of the elements and the non-reactivity of the inner-shell electrons are two related principles of chemistry,rooted in the atomic shell structure.Within compounds,Group I elements,for example,invariably assume the+1 oxidation state,and their chemical properties differ completely from those of the p-block elements.These general rules govern our understanding of chemical structures and reactions.Using first principles calcula-     

Exchange-Correlation and Electronic Excitation Energies from Pairing Matrix Fluctuations

We have developed an adiabatic connection to formulate the ground-state exchange-correlation energy in terms of pairing matrix linear fluctuations.This formulation of the exchange-correlation energy opens a new channel for density functional approximations based on the many-body perturbation theory.We illustrate the potential of such approaches with an approximation based on the particle-particle Random Phase Approximation(pp-RPA).This re-     

Density Functional Theory for the Response of Periodic Systems to Electric Fields Based on the Vector Potential Approach

正The electronic and nuclear(structural/vibrational)response of 1D-3D nanoscale systems to electric fields gives rise to a host of optical,mechanical,spectral,etc.properties that are of high theoretical and applied interest.Due to the computational difficulty of treating such large systems it is convenient to model them as infinite and periodic(at least,in first approximation).The fundamental theoretical/computational problem in doing so is that