In this paper we describe a control methodology for catching a fast moving object with a robot manipulator, where visual information is employed to track the trajectory of the target. Sensing, planning and control are performed in real-time to cope with possible unpredictable trajectory changes of the moving target, and prediction techniques are adopted to compensate the time delays introduced by visual processing and by the robot controller. A simple but reliable model of the robot controller has been taken into account in the control architecture for improving the performance of the system. Experimental results have shown that the robot system is capable of tracking and catching an object moving on a plane at velocities of up to 700 mm/s and accelerations of up to 1500 mm/s2.
标签： methodology describe catching control
上传时间： 2014-01-11
上传用户：qq521
The advantages of automation can be exploited in order to solve or to minimize the needs of manual approach. In order to support the development of survey accurate cadastral system, an automatic programming approach will be adopted. Database selection system will conduct several outliers integrity checking, rebuild cadastral spatial topology (cadastral lot) and make selfcorrection procedures based on cadastral survey concepts and mathematical model respective to the cadastral lots selected. This is to ensure that all cadastral lots are kept in a closed polygon and provide accurate and "clean" cadastral information.. This system was developed in windows environment.
标签： advantages automation exploited minimize
上传时间： 2017-04-28
上传用户：520
ieee754的标准，原英文版的！Twenty years ago anarchy threatened floating-point arithmetic. Over a dozen commercially significant arithmetics boasted diverse wordsizes, precisions, rounding procedures and over/underflow behaviors, and more were in the works. “Portable” software intended to reconcile that numerical diversity had become unbearably costly to develop. Thirteen years ago, when IEEE 754 became official, major microprocessor manufacturers had already adopted it despite the challenge it posed to implementors. With unprecedented altruism, hardware designers had risen to its challenge in the belief that they would ease and encourage a vast burgeoning of numerical software. They did succeed to a considerable extent. Anyway, rounding anomalies that preoccupied all of us in the 1970s afflict only CRAY X-MPs — J90s now.
上传时间： 2017-07-27
上传用户：894898248
Traditional modulation methods adopted by space agencies for transmit- ting telecommand and telemetry data have incorporated subcarriers as a sim- ple means of separating different data types as well ensuring no overlap between the radio frequency (RF) carrier and the modulated data’s frequency spectra.
标签： Bandwidth-Efficient Modulation Digital
上传时间： 2020-05-26
上传用户：shancjb
The goal of this book is to provide a concise but lucid explanation and deriva- tion of the fundamentals of spread-spectrum communication systems. Although spread-spectrum communication is a staple topic in textbooks on digital com- munication, its treatment is usually cursory, and the subject warrants a more intensive exposition. Originally adopted in military networks as a means of ensuring secure communication when confronted with the threats of jamming and interception, spread-spectrum systems are now the core of commercial ap- plications such as mobile cellular and satellite communication.
标签： Principles Spectrum Spread of
上传时间： 2020-05-31
上传用户：shancjb
This book stems from its ancestor Digital Transmission Theory,published by Prentice-Hall in 1987 and now out of print. Following the suggestion of several colleagues who complained about the unavailability of a textbook they liked and adopted in their courses, laying a strong emphasis on wireless communication. We hope that those who liked the previous book will find again its flavor here,while new reader, untouched by nostalgia, will judge it favorably.
标签： Transmission Principles Digital of
上传时间： 2020-05-31
上传用户：shancjb
The goal of this book is to provide a concise but lucid explanation and deriva- tion of the fundamentals of spread-spectrum communication systems. Although spread-spectrum communication is a staple topic in textbooks on digital com- munication, its treatment is usually cursory, and the subject warrants a more intensive exposition. Originally adopted in military networks as a means of ensuring secure communication when confronted with the threats of jamming and interception, spread-spectrum systems are now the core of commercial ap- plications such as mobile cellular and satellite communication.
标签： Spread-Spectrum Communication Systems 1st
上传时间： 2020-05-31
上传用户：shancjb
基于FPGA设计的相关论文资料大全 84篇用FPGA实现FFT的研究 刘朝晖 韩月秋 摘 要 目的 针对高速数字信号处理的要求，给出了用现场可编程门阵列(FPGA)实现的 快速傅里叶变换(FFT)方案.方法 算法为按时间抽取的基4算法，采用递归结构的块浮点运 算方案，蝶算过程只扩展两个符号位以适应雷达信号处理的特点，乘法器由阵列乘法器实 现.结果 采用流水方式保证系统的速度，使取数据、计算旋转因子、复乘、DFT等操作协 调一致，在计算、通信和存储间取得平衡，避免了瓶颈的出现.结论 实验表明，用FPGA 实现高速数字信号处理的算法是一个可行的方案. 关键词 离散傅里叶变换； 快速傅里叶变换； 块浮点运算； 可编程门阵列 分类号 TP39； TN957.511 Implementation of FFT with FPGA Technology Liu Zhaohui Han Yueqiu (Department of Electronics Engineering, Beijing Institute of Technology, Beijing 100081) Abstract Aim To propose a scheme for implementing FFT with FPGA in accor-dance with the requirement for high speed digital signal processing. Methods The structure of FPGA and requirement of system were considered in the experiment, radix-4 algorithm of DIT and recursive structure were adopted. The group float point arithmetic operation was used in the butterfly and the array multiplier was used to realize multiplication. Results The pipeline pattern was used to ensure the system speed, it made fetching data, calculating twiddle factor, complex multiplication and D
标签： fpga
上传时间： 2022-03-22
上传用户：lostxc
对某四轮独立驱动电动汽车轮毂电机进行研究,设计一种永磁无刷直流电机控制器.以STM32F103RBT6芯片为基础,对电机驱动电路、采样电路和保护电路分别进行硬件设计与分析;同时,采用模块化软件设计方案,对该控制器的软件系统进行升级.实验验证表明:所设计的电机控制器能使电机响应迅速、转速稳定、无超调,且电动车动力输出性能良好.A permanent magnet brushless direct current motor controller was designed by studying the hub motor of a four-wheel independent drive electric vehicle.Based on STM32 F103RBT6 chip,the hardware design and analysis of motor drive circuit,sampling circuit and protection circuit were carried out respectively.At the same time,modular software design scheme was adopted to upgrade the software system of the controller.Experimental results show that the designed motor controller can ensure the motor fast response,stable speed,no overshoot,and good power output performances.
上传时间： 2022-03-25
上传用户：qingfengchizhu
在半导体制冷技术的工作性能及其优缺点研究的基础上,设计了以单片机为核心控制元件,以TEC1-12706为执行元件的半导体制冷温度控制系统。采用高精度分段式PID控制算法配合PWM输出控制的方法实现温度控制;选择数字传感器DS18B20为温度检测元件,还包含1602液晶显示模块、按键调整输入模块和H桥驱动模块等。实际测试表明,该系统结构简单易行,操作方便,工作性能优良,同时针对该系统专门设计的温控算法,使半导体制冷器能更好地适应不同工况而充分发挥其制冷制热工作特性。Based on the study of the performance and advantages and disadvantages of thermoelectric cooler(TEC)technology,a thermoelectric cooling temperature control system with single-chip microcomputer as the core control element and TEC1-12706 as the executive element was designed. High precision piecewise PID control algorithm combined with PWM output control method is adopted to realize temperature control. The digital sensor DS18B20 is selected as the temperature detection element. It also includes 1602 LCD module,key adjustment input module and H bridge drive module. The actual test shows that the system has simple structure,convenient operation and excellent performance. Meanwhile,the temperature control algorithm specially designed for the system can make the semiconductor cooler better adapt to different working conditions and give full play to its refrigeration and heating characteristics.
上传时间： 2022-03-26
上传用户：pagedown
