Xiaokang Song

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This paper provides the design and implementation of navigation and control software for an aerospace-level lunar rover validation system. Based on analysing structure characteristics of the navigation and control system, real-time navigation and control software involving interrupt service routine, tasks, and task-task communication is designed and(More)
Wheeled mobile robots have been widely investigated and put into many applications such as planet surface exploration fields and other rough terrain situations. Yaw calculation is of importance for mobile robots to autonomously navigate and control. Sensor-based methods for calculating robotpsilas yaw found their limits in the situations where sensor data(More)
Wheeled mobile robots are increasingly being utilized in unknown and dangerous situations such as lunar surface exploration. Velocity estimation is of importance for lunar rovers to autonomously navigate and successfully traverse on rough terrains. The dynamic effects occurring at the wheel- terrain interface such as wheel slips make it difficult to(More)
In this paper, an asymmetric plasmonic structure composed of two MIM (metal-insulator-metal) waveguides and two rectangular cavities is reported, which can support triple Fano resonances originating from three different mechanisms. And the multimode interference coupled mode theory (MICMT) including coupling phases is proposed based on single mode coupled(More)
A novel model-based method for odometry calculation of all-terrain mobile robots is proposed in this paper. Using an all-terrain mobile robot with passively compliant mechanism as an instance, this paper grasps the wheel slip as a key factor affecting the accuracy of odometry calculation by investigating the physical contact relationship between the wheel(More)
In this paper we present the implementation of proportional integral derivative (PID) controlled mobile robot. we propose a mobile robot control method which based on optical encoder. First, the mobile robot counts the number of pulses from optical sensor. This system rejects the denouncing and optical sensor noises and makes a precise count of both the(More)
Plasmon-based fluorescence modulation has led to important advances in various fields and has paved the way toward promising scientific research aimed at enabling new applications. However, the modulation of fluorescence properties based on both localized surface plasmon (LSP) and cavity modes of propagating surface plasmon polaritons (SPPs) are rarely(More)
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