本期摘要

高頻相移壓電石英凝血檢測系統

注：國家自然科學基金項目（No. 21727810）

作者：扶梅，司士輝*，馮浪霞，張潤

單位：中南大學化學化工學院，湖南長沙 410083

摘要：使用33 MHz壓電石英晶體作為傳感元件，基于DDS固定頻率激勵與智能化相位響應，研制了一款高頻相移壓電石英傳感系統。采用凝血試劑干粉修飾法制備了一次性血凝檢測片，提出了一種基于微分數據處理方式監測凝血時間的新方法。與標準的凝血時間相比，該方法的測量誤差低于10%，表明該系統具有即時檢測凝血時間的潛力，為小型便攜式血凝檢測儀的開發提供了一種有效方法。

關鍵詞：高頻石英晶體；傳感器；相位響應；凝血檢測

中圖分類號：TP212；R446.11 文獻標識碼：A

文章編號：1006-883X(2021)06-0001-05

收稿日期：2021-04-29

A High-frequency Piezoelectric Quartz System Based on Phase Shift for Monitoring Blood Coagulation

FU Mei, SI Shihui*, FENG Langxia, ZHANG Run

College of Chemistry and Chemical Engineering, Central South University, Changsha 410083, China

Abstract:A high-frequency piezoelectric quartz sensing system has been developed using 33 MHz piezoelectric quartz crystal, which is based on DDS fixed frequency excitation and intelligent phase response. In addition, a disposable blood coagulation test chip was prepared by a dry modification way of the coagulation reagent. Meanwhile, a new method for monitoring blood coagulation time was proposed according to the differential data processing. The measurement error of this method is less than 10% compared to the standard blood coagulation time, indicating that the system has the potential to detect blood coagulation time immediately, providing an effective approach for the development of small portable blood coagulation detectors.

Key words:high-frequency quartz crystal; sensor; phase response; blood coagulation detection

基于圖像識別的嵌入式駕駛員疲勞監測終端設計

注：山東省交通廳科技計劃項目“基于云計算的城市交通瓶頸與區域路網協同控制研究”（No.2017B96）

作者：胡冠山

單位：山東交通學院，山東濟南 250357

摘要：疲勞駕駛是導致車輛發生事故的一個主要因素。為了有效防止疲勞駕駛現象的發生，文章研究了一種采用圖像識別對駕駛員疲勞狀態檢測判別的嵌入式監控終端設備。該設備以嵌入式芯片作為核心控制器，利用安裝于駕駛臺前上方的攝像頭采集駕駛員的臉部圖像，微處理器采用HOG-SVM算法識別臉部特征，采用灰度積分投影法來實現對圖像中眼睛張開定位，使用PERCLOS算法判定人的駕駛狀態并實現疲勞狀態語音報警提示，同時把駕駛員狀態遠發送到遠程管理平臺。

關鍵詞：嵌入式；疲勞駕駛；圖像識別

中圖分類號：TP391.41 文獻標識碼：A

文章編號：1006-883X(2021)06-0006-05

收稿日期：2021-04-28

Design of Embedded Driver Fatigue Monitoring Terminal Based on Image Vision

HU Guanshan

Department of Information Technology, Shandong Jiaotong University, Jinan 250357, China

Abstract:Fatigue driving is a major factor leading to vehicle accidents. In order to effectively prevent the occurrence of fatigue driving, the paper studies an embedded monitoring terminal device that uses image vision recognition to detect driver fatigue status. The design uses a single-chip microcomputer as the core controller, uses a camera installed in front of the driver to collect the driver's facial image, uses the HOG-SVM algorithm to locate facial features, uses the PERCLOS algorithm to determine the driving state of the person and realizes the fatigue state voice alarm prompt, and at the same time, the device send the status of the driver to the remote management platform.

Key words:embedded system; fatigue driving; image vision

一種寬量程MEMS組合加速度計的設計與優化

注：北京市教育委員會科技計劃重點資助項目（No. KZ201711232030）； 北京市傳感器重點實驗室開放基金資助項目（No. 2021xxx）

作者：趙耀，張偉

單位：北京信息科技大學傳感器重點實驗室，北京 100101

摘要：為滿足大量程低溫漂的MEMS加速度計性能需求，研制了一款寬量程MEMS組合加速度計，并完成了量程、線性度、交叉耦合、分辨率性能參數的測試。針對加速度計在高低溫工作環境中的零漂過大的問題，分析了影響因素，設計了一種零位溫度補償算法給出解決方案。實驗結果表明：零位溫度補償算法實現了加速度計在-45～+85 ℃溫度范圍內零點漂移小于3 mV，滿足項目需求。

關鍵詞：MEMS加速度計；零位漂移；補償算法

中圖分類號：TN379 文獻標識碼：A

文章編號：1006-883X(2021)06-0010-08

收稿日期：2021-05-10

Design and Optimization of a Wide-range MEMS Combination Accelerometer ZHAO Yao, ZHANG Wei

Key Laboratory of Sensors in Beijing University of Information Science and Technology, Beijing 100101, China

Abstract:In order to meet the performance requirements of MEMS accelerometer with large range and low temperature drift, we developed a wide range MEMS combination accelerometer and completed the testing of range, linearity, cross-coupling and resolution performance parameters. In order to deal with the problem of excessive zero drift of the accelerometer in high and low temperature working environment, we analyzed the influencing factors and designed a zero temperature compensation algorithm giving the solution. The experimental results show that the zero position temperature compensation algorithm achieves the zero drift of the accelerometer in the temperature range of -45～+85 ℃ less than 3 mV, which meets the project requirements.

Key words:MEMS accelerometer; zero drift; compensation algorithm

基于Bang-Bang控制的絞車自動排纜算法研究

作者：林尚飛

單位：中國船舶集團公司第七一五研究所，浙江杭州 310000

摘要：提供一種簡單有效的絞車自動排纜控制算法。首先，介紹絞車自動排纜控制原理，建立卷筒脈沖值和排纜機構脈沖值間的數學模型，同時引入排纜誤差的概念，并分析了絞車不同工況下排纜誤差的取值原則。提出了基于Bang-Bang控制思想的排纜控制算法，詳細描述了排纜機構的運動控制策略。最后，通過仿真驗證控制算法的性能。仿真結果表明，該控制算法能實現排纜機構跟隨運動的快速響應，且穩定性好，是一種經濟實用的絞車排纜控制算法。

關鍵詞：Bang-Bang控制；自動排纜算法；仿真

中圖分類號：TP273 文獻標識碼：A

文章編號：1006-883X(2021)06-0018-04

收稿日期：2021-04-06

Research of Winch Automatic Cable-arrangement Algorithm Based on Bang-Bang Control

LIN Shangfei

No.715 R&D Institute, CSSC, Hangzhou 310000, China

Abstract:In order to provide a simple and effective control algorithm for winch automatic cable-arrangement, firstly, the paper introduce the control principle of automatic cable-arrangement, build the model of winding drum pulse and cabling pulse, introduce the concept of cable-arrangement deviation and the principle of deviation value under different working conditions of the winch. Then, proposed the control algorithm based on Bang-Bang control and describe the motion control strategy of cabling. Finally, the performance of the control algorithm is verified by simulation. The results show that this control algorithm displayed quick and stabilized response for cable-arrangement control, and it is an economical and practical control algorithm.

Key words:Bang-Bang control; automatic cable-arrangement algorithm; simulation

一種智能機器人遠程協作系統的設計實現

作者：夏盛明

單位：福州理工學院計算與信息科學學院，福建福州 350000

摘要：隨著智能科技應用技術的不斷普及，各種各樣的智能機器人開始走入人們的日常生活中。智能機器人的應用領域包括了智能家居、會議迎賓、倉儲運輸，以及在安全領域中的自動巡邏、檢查與排除危險品等各種場景。在室內環境下，智能機器人需要能夠實現自主運動，通過識別環境、位置定位，實現自動規劃行走路線。智能機器人在室內環境活動時，用戶需要能夠遠程訪問管理智能機器人的服務來管理其活動，用于獲得機器人當前的狀態參數信息，同時也可設置機器人運動參數，向智能機器人發出運動指令，引導智能機器人的運動等。文章設計開發了一個智能機器人遠程協作系統，用戶可實現網絡訪問智能機器人并對其進行管理。

關鍵詞：智能機器人；ROS；網絡通信；消息中間件；松耦合；網絡服務中圖分類號：TP311 文獻標識碼：A

文章編號：1006-883X(2021)06-0022-06

收稿日期：2021-04-08

Design and Development of Smart Robot Remote Collaboration System

XIA Shengming

School of Computing and Information Science, FIT, Fuzhou 350000, China

Abstract:With the applications of artificial intelligence becoming popular, all kinds of smart robots come into people's lives. There are a lot of kinds of work the smart robot can do, including the home automation, visitor help service, storage transportation, even in the aspect of security patrol, inspect and handle dangerous packages. In the in-door environment, the smart robot need to move independently sometimes, by recognizing surrounding environment, locateing itself precisely, the smart robot can move by itself. With its self activities in such environment, the smart robot also needs to be supervised by the user. The user usually need to access the smart robot's service, obtaining the smart robot's status information, in the meantime, the user also need to configure the control parameters and settings, to guide the movement of the smart robot. In the paper, a remote collaboration system for the smart robot is introduced. By using this system, the user can access the service of the smart robot from network and can manage the smart robot's activities remotely.

Key words:smart robot; ROS; network communication; message middleware; loosely coupled; network service

具有良好時頻性能的電力系統次同步振蕩模態在線辨識算法

注：國家自然科學基金項目（No.51477010）

作者：李菁，李娟，白淑華

單位：北京信息科技大學自動化學院，北京 100192

摘要：介紹了一種適用于電力系統次同步振蕩在線監測的非平穩信號模態辨識算法，該算法綜合了經典IIR窄帶濾波器組算法及經驗模態分解（empirical mode decomposition，EMD）算法的優點，利用次同步振蕩分析獲得的預知頻率信息，對可能導致模態混疊的相鄰模態做數字濾波器（Infinite Impulse Response，IIR）預處理，再經EMD獲得無混疊的固有模態分量IMF1。該算法具有理想的窄帶選頻特性，且能夠快速反映次同步振蕩及機組扭振發生最初的時域過程，計算量很小，可用于現場在線提取SSO模態特征，有利于更好地實現對次同步振蕩的穩定性判別及閉環控制、機組扭振保護等。最后，利用PSCAD產生的仿真數據及某電廠發生次同步振蕩的現場數據驗證了該算法的有效性。

關鍵詞：次同步振蕩；扭振；IIR；EMD；模態辨識算法

中圖分類號：TM712；TH17 文獻標識碼：A

文章編號：1006-883X(2021)06-0028-07

收稿日期：2021-03-25

An Online Modal Identification Algorithm with Good Time-Frequency Performances for Subsynchronous Oscillation in Power Systems

LI Jing, LI Juan, BAI Shuhua

College of Automation, Beijing Information Science and Technology University, Beijing 100192, China

Abstract:A modal identification algorithm of the non-stationary signal is designed for the online Subsynchronous Oscillation (SSO) monitoring in the power system. Combining the advantages of both the classical Infinite Impulse Response (IIR) narrow band filter bank algorithm and the Empirical Modal Decomposition (EMD) algorithm and making use of the known frequency information gained through the SSO analysis, it does IIR pretreatment for adjacent modes which may cause modal aliasing, and then obtains the first Intrinsic Mode Function (IMF1) without aliasing by way of EMD. The IIREMD algorithm has the ideal performance of distinguishing the modes whose frequencies are very close to each other. Meanwhile, it can effectively reflect the initial dynamic process of the SSO and the generator unit torsional vibration and has a small computation amount. So it can be used to extract SSO modal characteristics online and is advantageous to the better implementation of the judgement of SSO stability, closed-loop control and the protection against generator unit torsional vibration. Finally, this paper uses the simulation data generated by PSCAD and the field data of a subsynchronous oscillation in a power plant to verify the effectiveness of the algorithm.

Key words:SSO; torsional vibration; IIR; EMD; modal identification algorithm