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111.
This article investigates virtual reality (VR)-based teleoperation with robustness against modeling errors. VR technology is an effective way to overcome the large time delay during space robot teleoperation. However, it depends highly on the accuracy of model. Model errors between the virtual and real environment exist inevitably. The existing way to deal with the problem is by means of either model matching or robot compliance control. As distinct from the existing methods, this article tries to combine model matching and robot compliance control. On one hand, the status of the virtual robot is corrected by using the position sensor data from robot joints before and during teleoperation, and the pose of the virtually manipulated object is obtained with visual recognition technology. On the other hand, compliance control algorithms of impedance control based on joint torque sensors and hybrid position/force control based on a wrist sensor have been executed in order to eliminate the small sustaining model errors. A VR-based teleoperation system of satellite on-orbit self-serving is built up. In order to verify the proposed method, an experiment deploying the solar panel troubled by malfunction is carried out through teleoperation. It shows that the large model errors are removed with the model matching method and the adopted compliance control is robust against the remaining small model errors. 相似文献
112.
将介绍虚拟仪表设计软件的设计思路和功能作用。首先介绍了现有的虚拟仪表设计方法,分析其优缺点;之后介绍自主研发的虚拟仪表设计软件的特点,分析设计思路,分解介绍各模块的功能,给出仿真案例及最后的仿真效果。该虚拟仪表设计软件完全自主研发,具有易用性、可迅速建模、容易更改,模块化,通用性等特点。 相似文献
113.
虚拟量仪——一种新的量仪设计思想 总被引:1,自引:0,他引:1
从虚拟仪器和虚拟现实技术出发,提出了虚拟量仪这一新概念,并对虚拟量仪的定义、特点、优点、结构形式以及虚拟量仪设计的基本思想、基本内容和关键技术作了分析。 相似文献
114.
针对目前河流仿真所存在的计算效率低,渲染效果不够真实的问题, 介绍了一种基于物理规律的河流实时仿真的方法.提出了一种Poisson圆盘分布的算法,可实现屏幕空间的优秀的分布样式,该算法产生的分布粒子用于表达河流的速度场,进而重构河流表面; 采用一种纹理精灵的技术,通过纹理的动态访问和纹理混合,有效地实现河流表面的渲染.仿真实验证明:该方法可以产生渲染效果非常逼真的河流视景,并能够满足实时仿真的要求. 相似文献
115.
Abstract Landmarks are salient objects in an environment. They play an important role in navigation by serving as orientation aids and marking decision points. Recently, there have been several efforts to design methods to automatically designate certain buildings with salient features as landmarks. All of these methodologies consist of similar steps: (a) establishing a neighborhood, usually around an intersection, (b) performing statistical or data mining analysis to find the building with outlier characteristics, and (c) establishing this salient building as the local landmark. Although these advances are significant, we believe that there are still several key issues that need to be fully addressed in order to realize the new generation of Automatic Landmark Detection Systems (ALDSs). Currently, the main shortcomings in the domain of ALDSs is the lack of a thorough and systematic study of attributes of objects that are analyzed to select landmarks, and deficient experimental verification of the benefits of ALDSs to the end users. Unless, these shortcomings are thoroughly addressed, the viability, applicability, and usefulness of ALDSs are uncertain. On the other hand, automatic landmark detection has the potential to be a dynamic, fascinating, and interdisciplinary research topic with wide applicability. Therefore, the goal of this paper is to discuss the current shortcomings in the domain of landmark detection, propose some preliminary solutions, and provide general guidelines for implementation of the new generation of ALDSs. Specifically, we discuss and promote the importance of: (a) widening the types of attributes analyzed in the landmark detection process, (b) weighting each attribute relative to its significance, (c) extending the types of objects considered as landmark candidates beyond just buildings, (d) identifying landmarks outside the vicinity of intersections, (e) identifying false landmarks along routes, and (f) using virtual environments for experiments with ALDSs. Throughout the paper, we discuss several demonstrative examples and experiments to clarify and support the ideas and concepts that are being promoted. 相似文献
116.
利用VXI总线技术开放式的体系结构和模块化的自动测试技术的优势,结合国产无人机现状,研发了基于虚拟仪器的综合检测系统.该系统具有通用性好、扩展性强、标准化程度高的特点.文章给出了测试仪的硬件配置和在LabWindows/CVI环境下的软件模块化设计方案及实现方法. 相似文献
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118.
利用有限差分法对金属零件在数控机械加工过程产生热量的分布进行了数值分析,为计算金属零件热应力变形提供基础,是虚拟制造中机械加工工艺过程规划虚拟仿真的一种新方法。 相似文献
119.
120.
敏捷制造中的委托代理是通过计算机网络为各类企业的合作、交流、资料查询等提供服务 ,它是网络环境下实施敏捷制造的有效措施。文章着重研究了委托代理系统的功能 ,并分析了我国制造企业实现敏捷制造以及委托代理的可行性。 相似文献