水费计量远程抄表系统软件抗干扰技术

文章介绍了以单片机控制的水费计量远程抄表系统的抗干扰问题.文章根据系统的组成结构,分析了干扰产生的原因和主要特点,在软件上设计了具有特色的长延时软件滤波抗干扰措施,分时段对各种干扰信号进行处理。通过软件抗干扰措施的实施,干扰信号被有效地控制,系统的计量准确性得到了很大提高。实践表明,这些抗干扰措施简单易行、经济实用、提高了控制系统的可靠性。     

基于边缘计算和深度学习的城市违章行为智能分析

本文提出了一种基于深度学习的城市管理违章行为的分析算法,可以智能分析出视频流中的常见违章行为,用于城市管理人员的远程执法,节省了人力;将深度学习算法部署在前端的边缘计算设备,显著的减小了云数据中心的计算压力和数据传输的延时,改善了系统的性能。     

基于Berkeley DB的监控系统的设计与实现

本文在分析了嵌入式远程实时监控系统的实际需求之后，提出了基于嵌入式数据库的应用系统架构方案。通过对嵌入式数据库Berkely DB在S3C44BOX和μClinux环境下的使用方法介绍，结合实例说明了嵌入式数据库在远程监控系统中的应用方法。     

轨道交通工程安全风险管理与远程监控系统设计与开发

基于近年来轨道交通工程建设风险高、安全事故层出不穷的特点,进行了轨道交通安全风险管理与远程监控系统的设计与开发工作。通过对国内外轨道交通建设工程现状的调研,得出了轨道交通安全风险管理与远程监控的基本方法。通过大量的测试与分析,开发出了集数据采集、汇总分析、预测报警、流程管理、应急指挥于一体的轨道交通安全风险管理与远程监控系统。最后通过宁波轨道交通工程项目实际运行,得出结论:本系统符合轨道交通工程建设的实际要求,能够提高轨道交通工程施工的安全状况,有效降低和消除安全风险。     

IP网络远程监控技术浅析

本文通过对基于IP的远程监控技术的分析,提出了远程监控系统组建的解决方案及关键技术的处理,在现有IP网络实现测控系统设备的远程监控。     

我国二次文献出版延时问题及其国内外对比分析

本文分析了我国二次文献数据库存在的问题，通过对国内外数据库收录文献数量的年代分布的统计进行了对比分析，讨论了二次文献的出版延时及引起的损失问题，以我国著名检索工具《全国报刊索引》为例与国外著名检索期刊做了出版等效延时指标计算分析比较。     

一种基于Web的远程可视化系统的设计与实现

本文对传统的基于WEB的远程可视化系统进行了分类，分析了各类的优缺点，为适应多类学科研究的可视化需要，结合各类传统系统的优点，设计出一套组件式的远程可视化系统，并最后介绍了在此系统上所开发的两个应用实例。     

基于Internet的远程医疗会诊及教学系统

基于Internet的远程医疗会诊及教学系统是通过视频会议技术来实现的。该文主要讲述了我院最早通过电话拨号来实现远程会诊及教学系统的缺点及现在如何来通过网络实现远程医疗会诊及教学功能并论述了该系统功能、系统模型及系统设计与实现,最后对系统的性能进行了评价。     

浅析施工现场远程无线监控管理系统

介绍了远程无线监控系统的的结构及功能，与有线网络系统比较的优点，分析了施工企业运用远程无线监控管理技术的必要性及所带来的效用。     

光伏电站远程数据中心系统架构设计

光伏电站远程数据中心的系统架构的设计对整个光伏电站数据的处理以及系统的构架等有着十分重要的作用和意义。通过对光伏电站远程数据中心系统的基本逻辑结构和功能体系等方面进行分析和了解,进行了远程数据的汇总分析,并由此分析了数据的通信方式和通信协议以及实际的应用功能。     

基于DSP带机械手臂履带式移动机器人

履带式移动机器人在军事侦察、反恐防暴、防核化及污染等危险与恶劣环境作业中有着广阔的应用。本机器人控制系统采用了DSP结构的嵌入式伺服控制系统以及遥控/半自主的工作方式,使得机器人工作更具实用性,而嵌入式控制系统则保证了控制系统重量轻、体积小、实时性好、可靠性高的要求。机器人带有多功能机械手臂,现场视频实时传输,履带式移动平台和远程控制相结合。     

An analytical inverse kinematics solution with joint limits avoidance of 7-DOF anthropomorphic manipulators without offset

The inverse solution calculation speed and the configuration control are very important for anthropomorphic manipulators with 7 degree-of-freedom (DOF). In order to realize the combined control of global arm configuration manifolds and local self-motion of 7-DOF anthropomorphic manipulators without offset, an analytical inverse kinematics solution method is proposed in this paper. By defining a new arm reference plane for 7-DOF anthropomorphic manipulators, it uses arm angle to deal with local self-motion and orientation control to deal with global arm configuration manifolds. All possible inverse kinematics solutions for target pose can be intuitively expressed with the assistance of the parameters of arm angle and orientation control. Meanwhile, the corresponding singularity is also taken into account and a detection metric is provided. Furthermore, the problem of joint limits avoidance is mapped to the selection of arm angle in null space, and the Self-Adaptive Particle Swarm Optimization algorithm is introduced to obtain the optimal arm angle that can maximize the avoidance of joint limits. Simulation results show the proposed method has such advantages as fast calculation speed, high precision and high stability.     

DP-based path planning of a spherical mobile robot in an environment with obstacles

A direct approach to path planning of a 2-DOFs (Degrees of Freedom) spherical robot based on Bellman?s dynamic programming (DP) is introduced. The robot moves in an environment with obstacles and employs DP to find optimal trajectory by minimizing energy and preventing obstacle collision. While other path planning schemes rely on pre-planned optimal trajectories and/or feedback control techniques, in this approach there is no need to design a control system because DP yields the optimal control inputs in a closed loop (feedback) form. In other words, after completing the DP table, the optimal control inputs are known for every state in the admissible region and the robot can move toward the final position without colliding with obstacles. This enables the robot to function well in semi- or even non-observable environments. Results from several simulated experiments show that the proposed approach is capable of finding an optimal path from any given position/orientation towards a predefined target in an environment with obstacles within the admissible region. The method is very promising compared to other path planning schemes.     

Generic two-degree-of-freedom linear and fuzzy controllers for integral processes

This paper presents a new framework for the design of generic two-degree-of-freedom (2-DOF), linear and fuzzy, controllers dedicated to a class of integral processes specific to servo systems. The first part of the paper presents four 2-DOF linear PI controller structures that are designed using the Extended Symmetrical Optimum method to ensure the desired overshoot and settling time. The second part of the paper presents an original design method for 2-DOF Takagi-Sugeno PI-fuzzy controllers based on the stability analysis theorem. Experimental results for the speed control of a servo system with variable load illustrate the performance of the new generic control structures.     

MIMO fuzzy sliding mode controlled dual arm robot in load transportation

The control problem of the cooperative motion of a two-link dual arm robot during handling and transportation of an object was studied in this paper. Since these types of robots are frequently preferred for hazardous applications such as transportation of radioactive materials and disposal of explosives, a robust non-chattering sliding mode controller (SMC) improved by a multiple-input multiple-output (MIMO) fuzzy logic unit was applied to the robot to track the desired trajectory with high accuracy and transport the load safely. In order to assess the performance of the proposed MIMO fuzzy sliding mode controller (MIMO-FSMC) in presence of parameter variations and external disturbances, a sudden load variation and noise were introduced to the robot system. If compared with classical SMC, tracking errors with smaller magnitudes and faster convergence to zero were obtained by using the proposed MIMO-FSMC. Numerical results suggest that this type of control method may safely be used for cooperative motion control of dual arm robots in load handling and transport applications in hazardous environments with high accuracy.     

Fuzzy sliding mode control design of Markovian jump systems with time-varying delay

This paper studies the robust stochastic stabilization problem for a class of fuzzy Markovian jump systems with time-varying delay and external disturbances via sliding mode control scheme. Based on the equivalent-input-disturbance (EID) approach, an online disturbance estimator is implemented to reject the unknown disturbance effect on the considered system. Specifically, to obtain exact EID estimation Luenberger fuzzy state observer and a low-pass filter incorporated to the closed-loop system. Moreover, novel fuzzy EID-based sliding mode control law is constructed to ensure the stability of the closed-loop system with satisfactory disturbance rejection performance. By employing Lyapunov stability theory and some integral inequalities, a new set of delay-dependent robust stability conditions is derived in terms of linear matrix inequalities (LMIs). The resulting LMI is used to find the gains of the state-feedback controller and the state observer a for the resulting closed-loop system. At last, numerical simulations based on the single-link arm robot model are provided to illustrate the proposed design technique.     

工业机器人运用技术

工业机器人运用技术是指在现有工业机器人的基础上所研发的应用技术,其主要目的是增强工业机器人的感知适应能力、降低用户使用难度、缩短示教与编程时间、提高工业机器人的运动精度以及拓宽其应用范围。然而,工业机器人运用技术一直以来没有得到足够的重视,造成工业机器人的设计制造与应用需求脱节,不仅限制了工业机器人的应用和普及,也制约了工业机器人产业自身的大规模发展。文章针对现有工业机器人在制造自动化应用中所存在的问题,系统地归纳和分析了工业机器人运用技术的重点研发方向,主要包括:提高易用性的直觉示教与快捷编程、提高绝对定位精度的运动标定与误差补偿以及拓宽应用范围的力-运动混合控制等关键共性技术。部署和实施相关技术的研发对于提高我国工业机器人的运用水平、加快制造业向智能化升级的步伐具有重要的意义。     

抽油机井实时监测控制系统的研究与应用

针对目前油田抽油机井生产实际工作中存在的问题,结合抽油机井的工作状况,开发研制了抽油机井实时监测控制系统,该系统可实现人工智能控制,能够自动控制,自动适应负载的变化,实现无人看守;设计了GSM／GPRS方式的远程无线监控功能,实现数字化、网络化、集约化、可视化管理,实现遥控、防盗与故障报警等功能。经过几年来的试验与应用,取得了较好的效果,各项技术指标均达到了要求。     

Composite fuzzy voltage-based command-filtered learning control of electrically-driven robots with input delay using disturbance observer

This paper presents an improved composite fuzzy learning control for uncertain electrically-driven robot manipulators with input delay and the external disturbances. In the framework of the backstepping algorithm, fuzzy systems are employed to approximate the unknown terms where the accuracy of fuzzy learning is also considered by defining prediction errors. With the aid of integral technique and the dynamic surface control, a variable is engendered for the system in such a way that the input-delayed robotic system is converted to the non-delayed robotic system. Besides, the command-filtered control is used to cope with the complexity explosion of the backstepping-based design. In order to improve the robust behavior of the control system, the proposed control scheme is equipped with disturbance observers (DOBs). Different from the previous works, the information of the input-delayed, the compensated error surfaces (obtained from the command-filtered approach), the prediction errors and the disturbance estimations (derived from DOBs) are unified to construct the proposed control framework. The stability of the overall system is verified by the Lyapunov theorem. The efficiency of the proposed concept is illustrated using various simulations for an electrically-driven robot manipulator in the presence of uncertainties.