微定位仿生机器人的设计与实验研究

根据尺蠖运动原理设计了一种新型微定位仿生运动模块．以压电陶瓷作为驱动元件．柔性铰链为导向机构，实现大范围移动和高精度定位。采用模块化设计思想，将两个运动模块集成，研制成功两维微定位仿生运动机器人。研制压电陶瓷驱动双重杠杆放大的刻字作业工具，并与微定位机器人结合实现了光盘表面的刻字作业，验证了系统的有效性。     

基于Adams的仿生机械鱼鱼尾机构设计

水下生物的高效率、低噪声、高速度、高机动性等优点,使其成为科学家们研制新型高速、低噪音、机动灵活的仿生水下机器人模仿的对象。本文设计的对象是仿生鱼水下机器人的鱼尾摆动机构。利用Adams仿真软件设计出符合鱼尾摆动要求的结构,具有可快速反应、能改变摆动幅度、可偏向摆动的功能。     

基于ZigBee的多机器鱼控制方案

ZigBee技术具有低成本、低功耗、低传输速率等特点。基于ZigBee技术的多机器鱼控制方案采用CC1110实现了多机之间的协作与通信,可满足一定范围数据采集及处理要求。仿生机器鱼的研究已成为目前机器人研究领域的热点。仿生机器鱼在水中运输、水下搜救、军事侦察以及海底资源勘探等极为复杂的水下环境有着广泛的应用前景。就目前的机器鱼技术水平而言,单机器鱼在信息的获取、     

浅谈数码相机感光元件性能对数字影像的影响

现在，随着人们生活水平的提高，数码相机作为一个家庭常用数码产品已经逐渐走进我们的日常生活当中。数码相机的核心技术就是感光元件，不同的感光元件性能也不一样，对数字影像的影响也不一样，因此在选择数码相机的时候要对感光元件有一个充分的了解。本文以四色CCD、superCCD等感光元件研究为基础，分析不同感光元件性能对数字影像的影响，揭示感光元件的重要作用。     

机器人制作从入门到精通从菜鸟到高手的晋级之路

《机器人制作从入门到精通》是《仿生机器人制作入门》一书的姊妹篇。与《仿生机器人制作入门》的简单、灵活和易实现相比，这本书侧重的是从工程学角度有系统地展开制作。书中包含了12个完整的制作项目，以实例的形式向读者介绍了开展业余机器人制作应该具备的思路和技术。     

弯曲型介电型电活性聚合物驱动器的建模研究

介电型电活性聚合物(DEAP)由于其大应变,高效率及高能量密度等优点,在仿生机器人领域具有广泛的应用前景。该文设计制作了一种可实现弯曲变形的DEAP驱动器,根据弹性大变形理论建立驱动器的机电耦合模型,通过微分方程组的迭代求解获得激励电压与输出角度、侧向输出力之间的关系。试验结果表明,在5kV电压下,该驱动器可产生最大75°的弯曲角度,最大侧向输出力达到0.7N。试验结果与理论结果较吻合,验证了驱动器设计与分析的有效性。以该驱动器为驱动单元,构建了一种仿生爬行机器人,初步试验表明了该类型驱动应用于仿生机器人的可行性,可为仿生机器人摆动驱动提供一种新的实现方法。     

基于STC15W的水下机器人控制系统设计

为克服当前水下探测、水下救援的困难,设计了一台智能控制的水下机器人.该水下机器人控制系统以STC15W单片机为中央控制器,外围电路搭载了无线通信模块、陀螺仪模块、摄像头模块、舵机模块等.水下机器人工作时,陀螺仪、摄像头等模块实时采集水下环境参数,把它转换为电信号发送给单片机;单片机按预先设定的程序进行分析、运算;单片机...     

基于频移键控的仿海豚哨声水声通信技术

针对水下隐蔽声通信的需求,该文提出一种基于频移键控的仿海豚哨声水声通信方法,通过模拟海豚哨声以降低通信信号被发现的概率,从而实现水下隐蔽声通信。该方法将信息调制生成的基带信号以一定比例与海豚哨声信号时频谱轮廓曲线相加获得合成哨声时频谱,再生成合成哨声作为仿生通信信号。接收端提取接收到的合成哨声与本地生成的存在固定频差的海豚哨声相干相乘,经过低通滤波获得频移键控信号进行信息解调,实现仿生通信。通过时频相关系数和Mel倒谱距离分析了通信信号仿生效果。仿真与海试试验验证了该方法的可行性,当码元宽度为0.1s时可在2km距离上实现有效通信,且时频相关系数不低于0.99。该方法调制解调原理简单,系统资源消耗更少,更易于工程实现,为仿生水声通信算法的实际应用提供技术支撑。     

基于MOOS的AUV的数据采集和监控系统

随着海洋事业的发展,对海洋的探测和开发工作提出了更高要求。自主式水下机器人能很好的适应水下复杂的环境,通过自主导航定位,路径规划来完成相应的工作。为实现水下机器人稳定可靠的数据采集工作,采用以MOOS为平台的分布式设计方法,提高了数据采集系统的精度和效率,从而提高了AUV导航定位的准确性和可靠性。     

SMA驱动的仿章鱼多关节柔性臂研究及发展分析

仿生柔性臂是从自然界软体动物的运动功能中获得灵感,基于功能仿生和结构仿生原理研制的新型机械臂。采用形状记忆合金(ShapeMemoryAlloy,SMA)丝作为制动器,能有效提高仿生机械臂的柔性,减轻重量,简化结构,研制一种SMA丝驱动的高性能仿生柔性机械臂为水下探测、取样提供一种重要智能装备,研究具有理论意义和实用价值。本项目从章鱼触手的解剖结构中获得灵感,提出研制一种驱动-缠绕-抓取一体化的软体柔性臂机器人。建立好力学模型后,通过记忆合金丝驱动柔性臂。本实验研究不同电压以及占空比的作用下,柔性比的弯曲结果。实验验证了力学模型的成立,实现了柔性臂连续行的矢量弯曲,得到了驱动电压、驱动时间、弯曲角度以及占空比之间的关系。     

面向水下机器人协同的LiFi通信技术研究

针对水下机器人在进行船舶无损检测和清污协同作业时出现的通信受干扰和传输延迟等问题,提出了一种基于LiFi通信技术的水下机器人协同作业的解决方案。将水下机器人载有的照明灯作为信号源,通过调制器将数据调制后以LED灯亮灭的形式发送,在另一个水下机器人上载有接收光载波信号的光电接收器,通过解调获取光信息。实验结果表明,LiFi通信具有传输数据快,安全性高,电磁干扰小,成本低廉等特点,提高了水下机器人的协同能力、信息安全性和精确性。     

水下机器人水质参数检测与异常校验系统

设计了一种水下机器人上的水质参数检测与异常校验系统.水下机器人利用声纳导航模块和搭载式惯性导航模块对当前时刻的速度、方位和深度进行定位测量.传感器检测模块测量机器人当前所处位置的水质参数,通过RS232接口传送到机器人内置微处理器.异常校验模块获取微处理器发送的传感器数据信息,利用小波变换检测信号的极值点,以确认系统运行是否存在故障.通过对小波变换的高频噪声设置阈值消除噪声干扰,以达到异常校验结果的精确度.无线通信网络将校验结果和水质参数发送到岸基设备.岸基设备将当前位置的水质参数与水下机器人航迹经纬度相匹配,形成水质经纬度分布数据.岸基设备安装有我们自主开发的Density Map软件,可直观地显示检测区域的水质参数/浓度经纬度分布图.通过在现场与传统水质参数仪对比实验测试,验证了系统设计的可行性以及水质参数测量结果的合理性.     

Robotic system for underwater inspection of bridge piers

The research objective is to develop an automated robotic system that will enable safe and cost-effective underwater inspection of bridge substructures. The system concept being developed is a semiautonomous robotic system that can carry a sensor platform underwater to detect scour, deterioration, or damage to support columns. It provides positional data and sensor information (video images) to the system operator; these can be verbally annotated while being recorded. The operator initiates basic commands and transmits them to the underwater apparatus. On-board microprocessor-based controllers automatically accomplish the detailed control. The primary underwater apparatus has a team of two identical mobile robots designed to travel along opposite surfaces of the pier while connected to each another by a cable and winch system. Each robot has rubber tracks or wheels with cleats and is driven by internal motors. Tensioning the cables that connect the two robots provides traction. The robots can move both vertically and horizontally. While each robot operates its own drive motors and cable winches, coordination of movement and cable tensioning occurs automatically through feedback between the robots and the control console. Multiple robots, evenly spaced around a support column, may inspect larger structures     

PVDF压电纤维仿生柔性传感器水下传感特性研究

感知器官对于许多动物必不可少,尤其是生活在水下的生物。该文以聚偏二氟乙烯(PVDF)为材料,模仿水生动物海豹的触须设计制备了一种表面四电极PVDF压电纤维仿生柔性传感器。利用激振源测试所制备的传感器性能,包括输出不同的波形测试对不同激励的感知,对水动力的感知及对水下运动物体方向的感知。实验结果表明,该传感器对不同激励的感知性能很好,速度检测极限可达0.15 mm/s,且有良好的方向性检测能力,对水下情况感知的应用前景广。     

Mote-based underwater sensor networks: opportunities, challenges, and guidelines

Most underwater networks rely on expensive specialized hardware for acoustic communication and modulation. This has impeded wide scale deployments of underwater sensor networks and has forced researchers to use simulations to investigate these systems. To address these issues, this paper examines a system that integrates off-the-shelf acoustic hardware built-in to sensor modules with software modems for establishing underwater acoustic links. Because the hardware in our system is readily available, we have conducted several rounds of field experiments to evaluate it. Building on our recent field experiments in a river, canal, pond, and swimming pool, this paper outlines the technical and logistical challenges for deploying software-driven underwater sensor networks. The design choices include methods for signal modulation at the sender, and symbol synchronization, signal filtering, and signal demodulation at the receiver. We also discuss higher layer communication protocol issues, with a focus on cross-layer optimization, as well as practical solutions to logistical deployment challenges, such as waterproofing and casing, calibration, and fouling. The design guidelines in this paper lay the groundwork for further development of software-driven of underwater sensor networks.     

三维水下传感器网络覆盖优化算法

针对三维水下传感器网络模型,对水下传感器网络的覆盖优化问题进行了描述,提出利用虚拟势场算法CAT（coverage-enhancing algorithm for three-dimensional sensor networks）调整水下传感器节点与浮标节点间缆绳的距离,逐渐消除网络中的感知重叠区域和覆盖盲区,进而实现整个水下传感器网络覆盖增强.在仿真实验中,通过CAT算法与ETG算法的比较,验证了CAT算法的有效性.     

Depth-enhanced mobile robot teleguide based on laser images

3D stereoscopic visualization may provide a user with higher comprehension of remote environment in teleoperation when compared to 2D viewing. Works in the literature have addressed the contribution of stereo vision to improve perception of some depth cues often for abstract tasks, and it is hard to find contributions specifically addressing mobile robot teleguide. The authors of this paper have investigated stereoscopic viewing in mobile robot teleguide based on video images in a previous work and pointed out advantages of stereo viewing in this type of application as well as shortcomings inherent to the use of visual sensor, e.g. image transmission delay. The proposed investigation aims at testing mobile robot teleguide based on a different sensor: the laser sensor. The use of laser is expected to solve some problems related to visual sensor while maintaining the advantage of having stereoscopic visualization of a remote environment. A usability evaluation is proposed to assess system performance. The evaluation runs under the same setup of the previous study so to have an experimental outcome comparable to the previous one. The evaluation involves several users and two different 3D visualization technologies. The results show a strong improvement in users’ performance when mobile robot teleguide based on laser sensor is (depth-) enhanced by stereo viewing. Some differences are detected between the use of laser and visual sensor which are discussed.     

Localization in terrestrial and underwater sensor‐based m2m communication networks: architecture,classification and challenges

Localizing machine‐type communication (MTC) devices or sensors is becoming important because of the increasing popularity of machine‐to‐machine (M2M) communication networks for location‐based applications. These include such as health monitoring, rescue operations, vehicle tracking, and wildfire monitoring. Moreover, efficient localization approaches for sensor‐based MTC devices reduce the localization error and energy consumption of MTC devices. Because sensors are used as an integral part of M2M communication networks and have achieved popularity in underwater applications, research is being conducted on sensor localization in both underwater and terrestrial M2M networks. Major challenges in designing underwater localization techniques are the lack of good radio signal propagation in underwater, sensor mobility management, and ensuring network coverage in 3D underwater M2M networks. Similarly, predicting the mobility pattern of MTC devices, trading‐off energy consumption and location accuracy pose great design challenges for terrestrial localization techniques. This article presents a comprehensive survey on the current state‐of‐the‐art research on both terrestrial and underwater localization approaches for sensor‐based MTC devices. It also classifies localization approaches based on several factors, identifies their limitations with potential solutions, and compares them. Copyright © 2015 John Wiley & Sons, Ltd.     

水下传感器网络路由协议研究

现有水下传感器网络路由协议都属于地理路由协议,需要知道各个节点的水下三维位置信息,从而导致大量水下通信,难以有效延长网络生存时间。本文深入分析了现有研究的不足,提出一种基于深度信息与能量均衡的水下路由协议,只需要节点深度信息,节点间通信量极少;设计了协议的算法,并提出了空洞处理对策。     

Low-Power Based Coherent Acoustic Modem for Emerging Underwater Acoustic Sensor Networks

Smart, small, inexpensive sensor nodes are used to construct underwater acoustic sensor networks. In addition, with the recent increase in the importance of underwater applications, the need for underwater communication has become more important. Hence, an acoustic modem capable of effective underwater communications has become more necessary for the sensor nodes to obtain underwater data. To develop an acoustic modem for effective underwater communications, some limitations must be overcome, such as the very short transmission range of radio waves, limited power supply, and high cost of commercial acoustic modems. Recently, low-power, low-cost acoustic modems have been developed. However, the data rates of these modems are so slow that sensor nodes cannot perform energy-efficient protocols. The objective of this work is to develop an acoustic modem capable of supporting high data rates. We introduce a coherent acoustic modem that uses waterproof ultrasonic sensors to process acoustic waves. The proposed modem is based on a low-power, low-cost, short-range concept, and it also supports a high data rate for energy-efficient MAC and routing protocols. Underwater experiments are conducted to evaluate the performance improvements of our modem. Experimental results show that our modem has the best performance among all recently developed low-power modems and that it is preferable to develop a coherent modem able to perform effective underwater communications.