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	A self-calibration method for mobile manipulator 会议论文 OAI收割 Shenyang, China, August 8-11, 2019 作者: Zou HB(邹杭波); Li, Yinghao; Zhu SJ(朱思俊); Gu KF(谷侃锋); Zhang, Xinggang \| 收藏 \| 浏览/下载：29/0 \| 提交时间：2019/09/05 Mobile manipulator Self-calibration Absolute position accuracy
	LABTM control system based on FPGA (EI CONFERENCE) 会议论文 OAI收割 2nd International Conference on Mechatronics and Applied Mechanics, ICMAM 2012, December 8, 2012 - December 9, 2012, Taiwan 作者: Wang Y.; Yu P.; Yu P.; Wang Y.; Wang Y. 收藏 \| 浏览/下载：153/0 \| 提交时间：2013/03/25 This paper presents the digital PI control method for design and simulation of a high precision limited angle brushless torque motor control system in Field Programmable Gate Array device (FPGA). The direct drive structures which are widely applied in many servo control fields. Matlab Xilinx System GeneratorR toolbox based on Fixed-Point Arithmetic is used to design the digital PI controller using DSP architecture plot the responses of the control system and generate the VHDL source code. The control system model consists of a digital PI a real LABTM and a real absolute Inductosyn encoder to rpm and position blocks. Through loading generated codes in process of the simulation that built by the digital discrete model it is verified that the rising time of current loop is only 1.2ms and rate loop is 8ms overshoot is rarely 4.2%. Finally the comprehensive positioning accuracy of system can reach up to 5 arc sec and the rate jitter achieves 5% with the 4 arc sec accuracy absolute Inductosyn. (2013) Trans Tech Publications Switzerland.
	Real-time matching algorithm of navigation image based on corner detection (EI CONFERENCE) 会议论文 OAI收割 International Symposium on Photoelectronic Detection and Imaging 2009: Advances in Imaging Detectors and Applications, June 17, 2009 - June 19, 2009, Beijing, China 作者: Zhang T. 收藏 \| 浏览/下载：46/0 \| 提交时间：2013/03/25 In order to meet requirement of real-time and high accuracy in image matching aided navigation SSDA algorithm is used to match remote sensing image and template image coarsely a fast and effective algorithm of remote sensing image matching based on corner detection is put forward. With the combination of rough and fine match when the matching result is bigger than one to count absolute value sum of energy difference of characteristic point energy to realize fine match of remote sensing image and template image to locate the position of template image in remote sensing image accurately. Simulation experiment proves that the matching of a remote sensing image resolution of 10181530 and a template image resolution of 15090 can be fulfilled within 2.392 second wavelet transform is used to acquire low frequency component to realize image compression to decrease calculation work and increase matching speed. Harris corner detection algorithm is used to detect corner of remote sensing image and template image and energy of every corner is calculated the algorithm is robust and effective real time image navigation can be achieved. 2009 SPIE.
	Correction method for detection of the frequencies of railway fsk signals (EI CONFERENCE) 会议论文 OAI收割 2008 9th International Conference on Signal Processing, ICSP 2008, October 26, 2008 - October 29, 2008, Beijing, China 作者: Yu J. 收藏 \| 浏览/下载：63/0 \| 提交时间：2013/03/25 In order to acquire the information of railway binary frequency-shift keying signals which include upper/down side frequencies and base low-frequency with high-accuracy a novel frequency detection algorithm for France UM-71 system is proposed. Combining fast Fourier transform with the ratio correction method the carrier frequency and the base frequency are obtained. Furthermore the hardware consumption has been decreased. And it possesses the advantage of simple algorithm and fast operation speed. Comparing with the detection of the base frequency the upper/down side frequency of railway signal is more difficult. Based on spectrum analysis and the spectrum correction a new method which adopts the sliding window is put forward in this paper. The absolute differences between the upper side frequencies and the down side frequencies obtained are regarded as the criterion for judgment. Then the set of data in which the maximum absolute value is is to be the result of the upper/down side frequency. Because the sliding window will go through every stage when the upper/down side frequency changes therefore it is not sensitive enough to the position of data which need to be transformed. Using the method mentioned above the experiment results show that the accuracy requirement of the side frequency is satisfied well. 2008 IEEE.