A low‐profile antenna with circularly polarized reconfigurable and omnidirectional radiation patterns

A low profile circularly polarized (CP) antenna with reconfigurable polarization is designed and presented, which can radiate omnidirectional patterns that can be switched between left‐hand circularly polarized (LHCP) and right‐hand circularly polarized (RHCP). A pair of arc‐shaped complementary dipoles is acted as reconfigurable elements by bridging four pin diodes at the dipole arced arms. A meander phase shift line is employed to connected the arc dipole arms and plate cavity to adjust the phase relationship of two sources. The proposed antenna exhibits the omnidirectional radiation pattern by combining six identical elements placed in a circular array configuration. 24 p‐i‐n diodes are exploited to six elements, by manipulating the dc bias voltage across the diodes, the polarization state of the antenna can be switched. The patterns of the antenna are similar to that of a dipole, but its size is only about Φ0.87 × 0.029λ₀ at 5.8 GHz. The overlapped bandwidth of measured 3‐dB axial ratio (AR) and 10‐dB return loss is 5.724‐5.87 and 5.738‐5.91 GHz for two polarization states, which are right on the target of ISM band. It can be well adapted to medical diagnosis systems.     

反馈控制采集的双模式折反射全景成像处理系统

为解决折反射全景成像系统中的采样分辨率与帧速之间的矛盾,通过反馈控制图像传感器的参数配置,设计并实现了一个全局与局部双模式的全景成像处理系统.在全局模式下,为保证采集帧速率,使用行列跳跃模式采集完整的环状全向图,并将其展开为包含360°全局信息的柱面全景图像;在局部模式下,根据感兴趣区域的空间位置设置采样窗口大小及位置,以逐像素采样模式只采集全向图中相应的一块矩形区域,并将其展开为对应视线方向上高清晰度的局部透视图;最后给出了DSP+FPGA结构的系统硬件设计方案.实验结果表明了该系统设计的科学性及实用性.     

用于全向无线电能传输的两种磁矢量控制方式对比分析

为实现全向无线电能传输,基于二维正交磁耦合机构提出了磁矢量旋转和磁矢量定向的控制方式。首先,采用基波等效分析法(fundamental harmonic approximation, FHA)设计使电压增益可调的LCC/S谐振补偿网络。其次,依据两种控制方式的机理给出激励电流的控制方法,从理论上对比二者传输效率差异同位置的关系。在上述基础上,由Ansys/Maxwell仿真得到两种控制方式的磁场时空特点,并基于空间互感分布的Matlab/Simulink仿真模型验证了两种控制方式的可行性。最后,搭建一台实验样机对理论分析进行验证,测得样机的传输效率的空间分布。仿真和实验结果表明：所提控制方式均可应用于正交磁耦合机构实现全向无线电能传输,磁矢量定向效率优于磁矢量旋转,平均效率提升了33.18%。     

A Visible and Near-Infrared Light-Fueled Omnidirectional Twist-Bend Crawling Robot

In recent years, although light-driven soft actuators have attracted intense scientific attention and achieved remarkable progress, the design and construction of an intelligent robotic system with maneuverability, self-adaptability, untethered control, and greater freedom of action, in particular the omnidirectional motion capability on a plane, remains challenging. Herein, four types of photo-thermal fillers and an unprecedented twist-bend actuation mode is introduced into a liquid crystal elastomer-based soft robot. The obtained twist-bend crawling robot not only exhibits in situ rotation, four-way turning, and four-way linear motion under light irradiation with four wavelength bands (520, 655, 808, and 980 nm), but also demonstrates the ability to avoid obstacles in complex geographical environments. This work may bring a new perspective for fabrication and development of soft robots that can adapt to dynamic and complex environmental conditions.     

Quasi-min-max MPC for visual servoing stabilization of omnidirectional wheeled mobile robots

This paper proposes a new visual servoing quasi-min-max MPC algorithm for stabilization control of an omnidirectional wheeled mobile robot subject to physical and visual constraints. The visual servoing dynamics of the robot are modeled as the state-dependent linear error system with nonlinear control inputs of rotation and deflection velocities of wheels. The state-dependent linear error system is covered as linear parameters-varying models which is used to design the visual servoing quasi-min-max MPC controller. The actual control inputs of the robot are then computed by the solution of an inverse algebraic equation of the MPC actions. The recursive feasibility and stability of the new visual servoing MPC are ensured by some LMIs conditions. The performance and practicability of the visual servoing MPC are verified by some simulation and experiment results.     

八轮全向移动平台的控制系统设计

针对目前国内工业应用中提出的八Mecanum轮全向移动平台的构想,提出其控制系统的设计与实现方案.研究通过八轮全向移动平台的原理分析,提出总体设计方案,以STM32单片机为控制核心,通过接收遥控信号协同驱动8个Mecanum轮,实现移动平台的全向移动以及零转弯半径转动.详述了控制系统软硬件的模块化设计,并在此基础上研制了样机.通过实验验证了控制系统设计的可行性,对于推进国内全向移动平台的工业化应用具有一定的意义.     

一类特定全方位摄像头外极曲线计算

研究了由双曲面镜面与球面镜面共同组成折反射系统并结合普通透视摄像头所构成的一类特定全景视觉系统,推导了该全方位摄像头成像模型以及外极曲线的计算过程,分析了外极曲线特性,最后通过实验进行理论验证.实验结果表明,本文所提出的计算方法可快速准确地得到外极曲线,有利于全景图像立体匹配过程中对应点的搜索匹配.     

Kinematic control of free rigid bodies using dual quaternions

This paper proposes a new type of control laws for free rigid bodies. The start point is the dual quaternion and its characteristics. The logarithm of a dual quaternion is defined, based on which kinematic control laws can be developed. Global exponential convergence is achieved using logarithmic feedback via a generalized proportional control law, and an appropriate Lyapunov function is constructed to prove the stability. Both the regulation and tracking problems are tackled. Omnidirectional control is discussed as a case study. As the control laws can handle the interconnection between the rotation and translation of a rigid body, they are shown to be more applicable than the conventional method.     

全维视觉机器人距离标定方法

通过分析全维视觉系统的特点,总结出了常用全维视觉系统距离的标定方法,指出了各自的应用范围及优缺点.并针对应用范围最广的插值标定方法存在"单个采样点对标定精度影响较大"的缺点,提出了一种利用人工神经网络进行标定的新方法.实验证明,该距离标定方法不但可以节省标定时间,还可以提高标定精度.     

A compact omnidirectional dual‐circinal rectenna for 2.45 GHz wireless power transfer

A compact dual‐circinal rectenna with omnidirectional characteristic is designed for microwave wireless power transmission at 2.45 GHz. A novel dual‐circinal receiving antenna with the reflection coefficient of ?32.5 dB is proposed which is formed by expanding folded curves. By designing an impedance matching network with a 60 ° radial stub and a single stub, a rectifier is presented with the maximum efficiency of 55.6 % and the output dc voltage of 1.19 V under the input power of 0 dBm. Simulation and measurements have been carried out for the antenna and the rectifier. The measured results agree well with the simulated value. The results of rectenna experiment show that the maximum conversion efficiency is 51% at 2.45 GHz when the input power is 0 dBm. The proposed rectenna has the characteristics of compact size and omnidirectional harvesting which are advantageous in RF energy harvesting applications.