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- 저자 : Minglei Shao (검색결과 5 건)
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Minglei Shao,Ji Yeong Lee 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
This paper proposes the path planning and tracking methods for a nonholonomic mobile robot, which is based on the pure pursuit and the generalized Voronoi diagram (GVD) methods. The proposed methods can solve motion tracking problem of the real nonholonomic mobile robot under determining vector length to get the direction of motion based on pure pursuit, the reference velocity and the angular velocity. Another important point is fully considered the initial direction of the robot instead of considering the robot as a directionless point. However, some assumptions are given to make the calculation processes more easy and simple. We can use those methods to direct the robot to explore the unknown environment. The simulation results are presented to verify the performance of proposed methods for the nonholonomic mobile robot. However, this approach is worth drawing on the experience of any other mobile robots.
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일반화된 보로노이 다이어그램을 이용한 논홀로노믹 모바일 로봇의 자율 주행
소명뢰(Minglei Shao),신동익(Dongik Shin),신규식(Kyoosik Shin) 한국생산제조학회 2015 한국생산제조학회지 Vol.24 No.1
This paper proposes an autonomous navigation method for a nonholonomic mobile robot, based on the generalized Voronoi diagram (GVD). We define the look-ahead point for a given motion constraint to determine the direction of motion, which solves the problem of a minimum turning radius for the real nonholonomic mobile robot. This method can be used to direct the robot to explore an unknown environment and construct smooth feedback curves for the nonholonomic robot. As the trajectories can be smoothed, the position of the robot can be stabilized in the plane. The simulation results are presented to verify the performance of the proposed methods for the nonholonomic mobile robot. Furthermore, this approach is worth drawing on the experience of any other mobile robots.
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Research on Peak-detection Algorithm for High-precision Demodulation System of Fiber Bragg Grating
Peng Wang,Xu Han,Simin Guan,Hong Zhao,Minglei Shao 보안공학연구지원센터 2014 International Journal of Hybrid Information Techno Vol.7 No.6
In order to improve the detection accuracy of wavelength, the filtering and curve fitting technologies were applied in the FBG wavelength demodulation system based on tunable F-P filter. These methods could realize the accurate peak-location of output signals of the photo detector. According to the characteristics of noise, the FIR low-pass filter was designed to filter the obtained light power signals so as to provide the input signals with high SNR for the peak-detection algorithms. By analyzing and comparing several typical peak-searching algorithms, the algorithm of Gauss formula nonlinear curve fitting (L-M) was chosen to fit the digitized light power signals. The experimental results show that L-M fitting algorithm reduces the mean square error by 7.5% compared with the Gauss fitting algorithm. For the Gauss signal in the wavelength demodulation system designed in the paper, the L-M algorithm has lower mean square error than other peak-searching algorithms. This algorithm is suitable for FBG wavelength demodulation system based on tunable F-P filter. It can efficiently raise the accuracy of wavelength demodulation system.
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FPGA-Based Real-Time System for Demodulating FBG Wavelength
Peng Wang,Minglei Shao,Xu Han,Shanshan Li 보안공학연구지원센터 2015 International Journal of Smart Home Vol.9 No.6
In order to detect the wavelength drift of FBG (fiber Bragg grating) sensors, the real-time demodulating system based on tunable F-P filter (TFPF) was built. The optical parts of the demodulation system include broadband optical source, TFPF unit, reference grating model, sensing grating array, and couplers. The electronic parts of the demodulation system consist of AD converting unit, DA converting unit, field programmable gate array (FPGA) unit and human-computer interaction unit. With the high-speed data processing capacity, FPGA was utilized to realize digital logic circuits of the demodulation system. It includes resetting unit, phase locked loop (PLL) unit, driving TFPF unit, detecting keys unit, LCD displaying unit, FIR filtering unit and data calculating unit. The demodulating system has such features as high reliability and speed, instantaneity, and programmability. It can satisfy the requirements of wavelength demodulation of FBG sensors in practical engineering.
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A Low-Cost Portable Real-Time EEG Signal Acquisition System Based on DSP
Peng Wang,Shanshan Li,Minglei Shao,Chao Liang 보안공학연구지원센터 2016 International Journal of Signal Processing, Image Vol.9 No.2
EEG apparatus are expensive and bulky. Their real-time performance is weak, and EEG signals are easy to be distorted. In this paper, a low-cost portable EEG signal acquisition system based on DSP is developed. By a noninvasive method with bipolar leads, weak EEG signals are induced to the pre-processing circuits, where they will undergo multi-level amplifying and filtering. Then, the analog signals are converted into digital signals using ADS8320. These digitized signals are filtered in DSP (TMS320VC5509) so that the power interference and physiological artifacts are removed with LMS (Last Mean Square) algorithm and ICA (Independent Component Analysis) algorithm. Experimental results demonstrate that the system can acquire weak EEG signals in real time, display and save the processing results. The acquisition system has the advantages of usableness and portability, and helpful to the popularity of community-based and family-based EEG diagnostic equipments.
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