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.
標簽： methodology describe catching control
上傳時間： 2014-01-12
上傳用戶：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.
標簽： advantages automation exploited minimize
上傳時間： 2017-04-29
上傳用戶：520
ieee754的標準，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.
上傳時間： 2017-07-28
上傳用戶：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.
標簽： Bandwidth-Efficient Modulation Digital
上傳時間： 2020-05-26
上傳用戶：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.
標簽： Principles Spectrum Spread of
上傳時間： 2020-05-31
上傳用戶：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.
標簽： Transmission Principles Digital of
上傳時間： 2020-05-31
上傳用戶：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.
標簽： Spread-Spectrum Communication Systems 1st
上傳時間： 2020-06-01
上傳用戶：shancjb
基于FPGA設計的相關論文資料大全 84篇用FPGA實現FFT的研究 劉朝暉 韓月秋 摘 要 目的 針對高速數字信號處理的要求，給出了用現場可編程門陣列(FPGA)實現的 快速傅里葉變換(FFT)方案.方法 算法為按時間抽取的基4算法，采用遞歸結構的塊浮點運 算方案，蝶算過程只擴展兩個符號位以適應雷達信號處理的特點，乘法器由陣列乘法器實 現.結果 采用流水方式保證系統的速度，使取數據、計算旋轉因子、復乘、DFT等操作協 調一致，在計算、通信和存儲間取得平衡，避免了瓶頸的出現.結論 實驗表明，用FPGA 實現高速數字信號處理的算法是一個可行的方案. 關鍵詞 離散傅里葉變換； 快速傅里葉變換； 塊浮點運算； 可編程門陣列 分類號 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
標簽： fpga
上傳時間： 2022-03-23
上傳用戶：
對某四輪獨立驅動電動汽車輪轂電機進行研究,設計一種永磁無刷直流電機控制器.以STM32F103RBT6芯片為基礎,對電機驅動電路、采樣電路和保護電路分別進行硬件設計與分析;同時,采用模塊化軟件設計方案,對該控制器的軟件系統進行升級.實驗驗證表明:所設計的電機控制器能使電機響應迅速、轉速穩定、無超調,且電動車動力輸出性能良好.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.
上傳時間： 2022-03-26
上傳用戶：qingfengchizhu
在半導體制冷技術的工作性能及其優缺點研究的基礎上,設計了以單片機為核心控制元件,以TEC1-12706為執行元件的半導體制冷溫度控制系統。采用高精度分段式PID控制算法配合PWM輸出控制的方法實現溫度控制;選擇數字傳感器DS18B20為溫度檢測元件,還包含1602液晶顯示模塊、按鍵調整輸入模塊和H橋驅動模塊等。實際測試表明,該系統結構簡單易行,操作方便,工作性能優良,同時針對該系統專門設計的溫控算法,使半導體制冷器能更好地適應不同工況而充分發揮其制冷制熱工作特性。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.
上傳時間： 2022-03-27
上傳用戶：
