Abstract：The software-based method of firefly-inspired synchronicity algorithm may cause a terrible congestion when the network is close to getting synchronicity. Thus, a congestion avoidance mechanism is proposed for firefly-inspired synchronicity algorithm. This mechanism uses simplified phase model and disperses the transmission of synchronicity messages in the whole period stochastically, which can relieve the congestion effectively. At the end, this mechanism is evaluated by simulations and experiments, which shows that it can speed up the process, relieve the congestion effectively and get good performance in a network with high nodal density.

Abstract：At present，it needs extensive human to sort the product and check the information and dispatch the express,to achieve the automation and intelligence of express industry,decrease labor costs,and improve the efficiency of express delivery industry. The paper designs an intelligent system on express supervision. It adopts Network Composing Technology of ZigBee，builds coordinator node and electric label point，and realizes efficient management and automatic sorting and quick look of express. Via reliable communication protocols，it makes delivering data stably，safely，reliably come true. It designs and processes automatic sort device，which combines automation and information technology. Large number of experiments show that the system achieves the anticipating targets that sorting the express automatically and quick look of express in dispatching.It increases the efficiency of express greatly.

Abstract：The trajectory generation of spray robot based on of off-line programming has become a trend of development of control method of spray robots. On the basis of our analysis and research about existing trajectory generation schemes of 6-axis robots, this essay proposes a scheme that increasing the 7th axis to a 6-axis robot in the design of spray trajectory. The scheme extends the reachable space of the robot by changing movement mode of 6-axis robot, which enables it to accomplish spray on complicated curved surface. Experiments show that the scheme presented in this essay performs better than traditional trajectory generation strategies of 6-axis robot for spray on complex curved surface.

Abstract：Grasping points for industrial robot of the existing production lines are fixed and the artifacts only can be placed with a fixed posture and in a fixed position. The complex industrial production requirements are hard to be satisfied with this assembly model and it is inefficient. The SCARA automatic assembly system based on vision guided is designed to improve the original system. The machine vision system is designed to realize the function of rapid identification, location and attitude determination of the artifacts. The assembly system is designed to achieve the function of precision grasping and placement of the artifacts. The image processing algorithm is actualized by the MFC program of Visual Studio and the coordinate and attitude data are sent to SCARA. The good stability and rapidity of this system are proved by the experiment results. The production requirements can be satisfied and the productivity is improved significantly by this system.

Abstract：In order to solve the problem of poor flexibility and low precision in the indoor localization of mobile robot, a high precision mobile robot indoor positioning system based on Ultra Wideband(UWB) is designed. The system consists of UWB module for wireless sensor networks, including of a UWB radio frequency module, with base station(Anchor) and the tag mounted on the top of the mobile robot(Tag). The system uses the technology of Asymmetric Double Sided Two-Way Range(ADS-TWR) to obtain the distance information between label and each base station, without needing the clock synchronization between base station and Tag. The distance information is transmitted from the base station to the PC through WiFi, and then located after being optimized by using the Kalman filter algorithm. The test results show that the system has the characteristics of simple layout, high precision and high real-time performance. The average positioning error of Static position is less than 13 cm and dynamic position error is less than 20 cm.

Abstract：With the rapid development of Internet of Vehicles(IoV) technology, its security threats have become more and more obvious and received much attention in academia,industry and government department. As one of the intelligent transportation, IoV is typical and advanced. Compared with the traditional Internet, because of its special application environment more, more complex networking and management more difficult, the more prominent security threats of IoV. From the perspective of data communication, this paper put forward the IoV security architecture, mainly analyzes the vehicle area network security threats, vehicular ad hoc networks security threats and vehicular mobile Internet security threats.

Abstract：In order to improve the precision of the reference source, and reduce the power consumption, a low power consumption bandgap reference circuit with curvature compensation was designed. The circuit according to inherent exponential relationship of MOS sub-threshold region compensates higher-order temperature characteristics of PNP transistor emitter junction voltage. The circuit increased only two strands of current mirror making the circuit with low power consumption, and lower temperature coefficient compared with the traditional first order low voltage band gap reference circuit. Based on 130 nm COMS technology of SMIC, simulation show that the temperature is in the range of -20 ℃ to 80 ℃, and the temperature coefficient is 4.6 ppm/℃. The power supply rejection ratio is 60 dB, the output reference voltage is 610 mV. The overall circuit power consumption is 820 nW.

Abstract：To reduce the mutl-sized IDCT resource consume in the decoder of the new generation HEVC(High Efficient Video Coding)，an IDCT processing circuit was proposed.In order to reduce the using of inner registers ,the embedded RAM units in FPGA were used to process the matrix transposition. A uniform circuit architecture of IDCT was derived from the decomposition of coefficient matrix.Pipeline technology was used to speed up the operation.Meanwhile,parallel data schedule will help to reduce the processing latency. Result showed that the throuput is 3.6 points per clock.It can handle 4k×2k@30 f/s video signal.

Abstract：In order to obtain the accurate estimation of harmonics in power system, this paper presents the FFT method using Nuttall forms. In order to obtain the abrupt change of waveform, the wavelet transform is used to detect the transient state of the data. In order to judge the performance of this method, we select MATLAB to simulate the experiment. The results show that the amplitude and phase of the test results are more accurate, and the fitting level is only the result of fundamental wave detection.

Abstract：A calibration algorithm with a reference-injection single was presented in this paper to calibrate the timing mismatch of Time-Interleaved Analog-to-Digital Converter(TIADC). This algorithm used a reference-injection single，which is sampled by the sub-channal′s CLKs of TIADC. We can acquire the timing skew by the operations of the output of the S/H and then feed it back to the multiphase clk. Achieve the compensation of time-skew with variable delay line. The presented calibration algorithm has lower hardware consumption with no restriction on the input single，and could be extended to arbitrary number of channels. Simulation result of 4 channal 12 bits TIADC with MATLAB shows that, with this calibration algorithm, the SFDR rose from 31.009 4 dB to 95.627 0 dB and the SNDR rose from 31.074 9 dB to 73.480 5 dB at the input frequency fin/fs=0.485，was proofed enough the effectiveness of this algorithm.

Abstract：Researching the basic principle of zero-value analysis and the essence of fault sensitivity analysis, the universal security evaluation model for concurrent error detection mechanism and a complete selection criteria of differentiation model is proposed to reduce the complexity of attack analysis. To verify the efficiency of the proposed fault sensitivity zero-value analysis method, the platform for fault sensitivity analysis is builted, and the proposed attack method is verified. Experimental results show that the proposed zero-value analysis method has the advantage of low computational complexity, high accuracy, and simple realization.

Abstract：The extrapolation technique with residual compensation utilizes the quasi-periodic nature of FIR filter impulse response to reduce the complexity of multiple constants multiplication, but the extra delay chains are inherent in the extrapolated impulse response structure. The three new extrapolated impulse response structures by changing the positions of extra delay chains in order to reduce the bit-width are proposed. Numerical examples are presented to demonstrate that one of the proposed new structures can efficiently save hardware resources on VLSI for some kinds of FIR filters, and applicable to low-cost design of digital systems.

Abstract：For the problem of how to logically schedule and efficiently allocation the shader resources of unified shader architecture inside of 3D engine, this paper proposes a task scheduling strategy and a hardware design scheme based on load balancing. Firstly, this paper analyses the characteristics of graphics rendering of unified architecture GPU. Secondly, based on the above analysis, two strategies are put forward. One is shader pre-allocating strategy which can avoid deadlock in graphing pipeline, another is resource scheduling and load balancing strategy based on queue statistics. Finally, the results of all simulation tests with complex rendering scene proves that the strategy proposed on this paper can reduce idle time and increase usage rate of shader resources as well as enhance processing efficient of 3D engine.

Abstract：Though exception handling is crucial for enhancing the reliability of embedded systems, the traditional exception handling methods for hardware are difficult to adapt the development of embedded systems. In this paper, the exception handling requirements of embedded systems was analyzed, and a structural exception handling framework was proposed, in which some new features were introduced. Then taking the case of CGEL, the concrete realization and applying of this exception handling framework for embedded system was described. Comparison results with other exception handling methods show that the exception handling framework has perfect functions and rich interface, and the principle of escalation can help embedded systems to deal with various types of anomalies from multiple aspects.

Abstract：With the development of embedded technology, the advantage of product surface defects detection technology based on image processing is more and more prominent. The technology mainly includes acquisition, matching and recognition of product surface image. This system uses STM32F405 with single-precision floating operation as a core processor, CMOS color digital camera IC OV7610 as an image acquisition sensor, and uses the method of object-oriented with VC++ environment to design control program. They are mainly used for acquisition and processing of image. Experiments show that this system has high stability and meets the demands of real-time and controllable.

Abstract：For simplifying the communication between charger and Battery Management System(BMS), identifying and classifying the data that comes from the BMS correctly, a communication system between charger and BMS based on even trigger have been proposed in this report after studying and analyzing the national standard communication protocols(GB/T 27930-11). The system encapsulates logistic functions for communication flow that defined by the new national standard communication protocol based on the sequence of event trigger and applies the way of waiting fixed trigger data for receiving instead of the traditional interrupt mode. The research shows that this communication system can realize functions such as receiving, identifying, analyzing, classifying, transmitting and responding the BMS data. It optimizes the communication process and provides a convenient reference for the design of communication between charger and BMS.

Abstract：For the issues of large delay and data storage limited by the bandwidth in the handling of high-definition images and video edge detection by computer，an optimized hardware acceleration design scheme using Vivado HLS transform edge detection software code into the RTL hardware circuit is proposed. Hardware acceleration is the computation of function module by the hardware circuit implementation，which is to solve the delay and data bandwidth constrained defect based on the hardware circuit with high working frequency and the custom data width. The results prove that the edge detection hardware acceleration method not only improved in both time delay and data bandwidth, but also shorten the development cycle of the edge detection.

Abstract：This paper analyzes and discusses trusted chain technology and security boot process based on the TCG specifications, then constructs a trusted chain model suitable for embedded platform and a trusted boot implementation method with self-recovery function.Finally, some experiments are carried out on Beaglebone development board to verify its feasibility and make a conclusion.

Abstract：Aiming at the problem of real-time and miniaturization of image processing system, a CMOS data acquisition and processing system are designed by Cyclone IV series FPGAs, which realizes image real-time acquisition, process and dual channel output. The miniature design of the system is achieved by structure optimization. The overall framework of the system, the structure of hardware, FPGA internal functions and the algorithm of image preprocessing are introduced. Finally, the functional experiment of the system is carried out, which can realize real-time image processing and enhance image in the case of dual channel real-time display. The result shows that this designed system is reasonable and feasible in applications.

Abstract：A set of manufacturing traceability system based on PCB RFID anti-metal tag is designed for the discrete manufacturing industry of voltage transformer with voltage transformer. By analyzing product requirements and RFID advantages, this paper describes the various functional modules of the system and build the application architecture of the system. A good anti-metal RFID tag is designed for the product to achieve impedance conjugation matching and low return loss, and the use of three-sided metal enhances the antenna gain and radiation direction. This system enhances the comprehensive competitiveness of enterprises，lays the foundation for intelligent manufacturing and intelligent management.

Abstract：The basic idea of dual redundancy actuator is to ensure the reliability of actuator by switching between different redundancies. In this paper, a method based on the identification reference model is proposed for the fault detection technology of dual redundancy electric actuator of UAV. Firstly, the paper introduces the structure of the dual redundancy actuator, then the model of the actuator system is established through a combination of mechanism and theoretical analysis, and system identification method is used to determine the parameters of the model. Finally, the identified reference model is used to detect the fault of the dual redundancy angle sensor, and the effectiveness of the method is verified by the actual experiment.

Abstract：In view of the practical demand of the image coding and reconstruction system，this paper designed an image processing system based on HPS and FPGA at the DE1-SoC board which can realize the real-time collection, compression, transmission and reconstruction of the image. The IP core of D5M camera , SDRAM and VGA were designed in FPGA, and then the AXI and Avalon bus were used to connect the IP core in QSYS. Linux C programmed was used to achieve the image of CS coding and transmission in HPS. Finally, receiving data and reconstructing image by MATLAB in the PC，it can reduce the resource of FPAG and the complexity of design. The results show that the system can realize the capturing and compression transmission of any natural image, the image compression ratio is about 8%, PSNR is about 41 dB. It has flexible application and portability，and can meet the needs of practical engineering.

Abstract：Using the fractional-N PLL chip ADF4351 as the sampling clock generator and FPGA for identical precision frequency measurement, an equivalent sampling system which has a maximum equivalent sampling rate of 160 GS/s is designed for high-speed oscilloscope under the beat frequency method sequential sampling principle. Combining the clock divider with the digital delay line to produce alternating sampling clock, and using four 8-bit ADC to finish time-interleaved sampling, this system′s highest real-time sampling rate reached 1 GS/s. Due to the low jitter clock source, the system keeps low noise over the designed bandwidth of DC to 500 MHz, whose signal to noise ratio is better than that of the equivalent sampling system based on DDS.

Abstract：In order to achieve accurate, efficient and scalable state-of-the-art electronics decoding, a monitoring method based on hidden Markov model is proposed to embed the handover sparsity and sequence feasibility into the decoding process. Combining single-meter tree decomposition, a fast sequence decoding algorithm is proposed to reduce the time complexity of online decoding to polynomial. Experimental results show that fast sequence decoding makes it possible to monitor the status of a large number of electrical appliances efficiently and accurately.

Abstract：In order to meet the requirement of large amount of seismic data acquisition, a seismic data acquisition interface board based on dual CPCI bus is designed. The board is designed to double CPCI bus structure, and uses high performance FPGA and DDR2 SDRAM for data processing and storage.It can realize the function of high-speed acquisition, preprocessing and CPCI bus transmission of seismic data. The design and implementation of dual CPCI bus structure, memory and high speed communication are introduced. The application results show that the board can meet the requirements of acquisition, processing and storing in the marine seismic exploration.

Abstract：A specialized form of frequency-shift keying-MFSK used on the X-band direct-to-earth communication link during entry, descent, and landing(EDL) of Mars probe and its detection algorithm are analysed. For the problem of how to set the modulation indexes based on Doppler dynamics and the frequency interval between data tones, a lot of research work on how MFSK signal processing performance will be influenced by different modulation indexes, the frequency interval between data tones and the range of Doppler frequency rate during frequency acquisition and tracking has been done. The experiment results are showed as follows. First, the frequency interval between data tones has little influence on signal processing performance and is recommended to be set 80 Hz. Second, the modulation index should be set 45 deg when CNR is below 17 dB-Hz, otherwise, it should be set 48 deg. Third, the value of Doppler frequency rate during carrier frequency acquisition and tracking has large influence on signal processing performance. It may cause signal detection threshold rising by 3 dB when Doppler frequency rate is larger than 500 Hz/s.

Abstract：Acquisition is a key technology in DSSS system. The differential correlation is usually employed to eliminate the effect of frequency deviation. However, as the length of pseudo-code grows and the decrease of the SNR, the traditional differential acquisition algorithms will result in great loss of SNR. This paper presents an improved differential acquisition method, named as MUAC-DF. In the proposed method, the input signal is multiplied by the complex conjugate of the pseudo-code to eliminate its effect. After that, the product is applied to the M-orders Unbiased Auto-Correlation to compensate the SNR loss caused by the differential process. By means of mathematical model to analyze its acquisition performance. MUAC-DF acquisition algorithm is compared with the differential coherent and non-coherent acquisition algorithms through simulation. The simulation results indicate that this algorithm is approximately 4～5 dB superior to the traditional differential acquisition algorithms in improving acquisition sensitivity and more adaptive to work under low SNR.

Abstract：Empirical mode decomposition algorithm has potential applications in sea clutter suppression and target detection, but how to realize automatic selection and discrimination of modal functions is the key problem of this algorithm. In this paper, by analyzing the harmonic model of modal functions, characteristic spectrums are extracted, and target is detected adaptively after selecting appropriate features. Firstly, the echoes of radar are preprocessed by complex EMD. Secondly, characteristic spectrum is extracted from each intrinsic mode function, and then distribution characteristics are obtained. Finally, target detection is realized adaptively based on the difference of distribution characteristics in all mode functions between target and sea clutter. Processing of the measured data from microwave Doppler radar shows that the detection results are consistent with the fact, and detection probability is higher than the traditional detection algorithms under a certain false alarm rate. It provides a new guidance for marine radars to detect small targets.

Abstract：The significant increasing in traffic on mobile data networks results in unacceptable delays for end users and a significant increase in mobile carrier transmission costs. In order to solve this problem, an eNodeB caching mechanism based on intra-cache caching is proposed, its cache performance is improved to realize the efficient application of eNodeB in the cache. Optimizing local caching decisions of eNodeB through cached information within the network. Through the real traffic data collected from the actual network, the proposed cache strategy was experimentally verified. The results show that this mechanism can significantly reduce the network delay and bandwidth consumption.

Abstract：To address the trading deadlock problem in exchanging data packets of Barter routing algorithm for opportunistic networks, a new routing algorithm based on cooperative relays, RACR, is proposed. RACR introduces cooperative relays strategy in the message exchange process, brings in multi-player trade to invoke unidirectional transmission of data packets, and optimizes the judgment of packet deleting, so that it can effectively solve the deadlock problem in message exchange process, which improves the network throughput and reduces the data packets end-to-end delay. Theoretical analysis and simulation results show that RACR can improve network throughput by 7.9%, and the decrease in the average end-to-end delay is more than 8.5%, as compared to Barter routing algorithm and Direct Transmission(DT) routing algorithm.

Abstract：Local mean decomposition(LMD) signal processing method is elaborated and is very suitable for non-stationary signals, which can end effect severely restrict its further application. And promotion of local mirror extension is decomposed basic ways end effect processing，which needs to be mirrored surface in local extreme point. Actual signal is sometimes difficult to satisfy this condition，which may lead to serious distortion signal decomposition. To solve this problem, a conventional mirror extension and neural network is proposed to improve new LMD end effect eliminate the effect by a combination of data extrapolation method. The neural network model predictions fit the data points outside the end of original signal, thereby captures one or more endpoints than the extreme point. And then，mirroring technology forms a closed process, thereby inhibits the end effect. Simulation results show that the proposed method can effectively suppress LMD end effect.

Abstract：This paper puts forward a current synchronization method of wireless measurement that can be used for the PT secondary loop voltage drop,and makes up for the inadequacy of tester based on GPS synchronization.It uses the passing zero signal of the loop current sampling signal as source signal of synchronization,and start measurement synchronization is achieved by shaking hands between master-slave machines.The synchronizations of multipoint sampling in whole cycle are achieved by testing step correction method. The test prototype performances can meet the requirements of relevant national standards,and the new test equipment will be used widely in the industry.

Abstract：Quadrotor aircraft that has four input and six output, is unstable, nonlinear, strong coupling, modeling uncertainties and other characteristics, which is a under actuated system. In view of such systems, scholars have done a lot of research in the design of aircraft control method and controller, such as LQR, sliding mode control, backstepping control and so on. In terms of attitude control that these control algorithms has better effect, but accurate mathematical model need to be established, real time data processing on the processor performance requirement is particularly high, there are a certain difficulties to achieve. Aiming at these problems, this paper takes small quadrotor as the research object, quadrotor dynamics model is established according to the Newton Euler equation. An easy to implement cascade PID controller is designed to control the position and attitude of the aircraft, using Matlab/Simulink to design the controller simulation. The results show that the cascade PID controller can control the attitude and position of the quadrotor quickly, stably and accurately, and has good robustness.

Abstract：A moving object tracking method that a self-adaption searching window based on edge feature is proposed in this paper, which aims at the limitation of the Mean Shift algorithm for the fixed searching kernel window. In video image sequence, when the object is far from or closer to the camera, size of the searching window can change small or big to result in too much background noise existing in the fixed kernel window of Mean Shift searching algorithm either, or does not contain complete object feature, so that the tracking effect becomes worse. This paper uses edge detection to calculate binary image of the field taking the object as the center and slightly larger size than the Mean Shift nuclear window radius as the radius. According to the center of mass of the binary image, this paper utilizes the gradually narrow circle to approach to goal in order to seeking for true Mean Shift kernel window radius, which reached the purpose of kernel functions radius adapting object. Experimental results show that the method of automatically adjusting the Mean Shift nuclear window radius according to the edge feature significantly reduced the effect with the change of the object shape, and accurately and effectively realized moving object tracking.

Abstract：A new low-frequency current ripple isolated flyback topology to stabilize the output current and voltage of PV modules with ultra-small capacitor is proposed in this paper. Therefore Maximum Power Point Tracking(MPPT) can be easily done and high conversion efficiency and high reliability can be achieved at the same time. Operation principle of the new topologies is analyzed in details. Based on this innovation idea, theory analysis, modelling, simulation and test will be carried out to demonstrate the advantages of this novel topology and its control method. The development of this key technology and the control method will provide technical supports and be very useful for a wide application of solar energy.

Abstract：Lower boost capability of traditional Z source inverter limits the Z-source inverter used in some occasions with low input voltage levels. In view of this situation, we propose enhanced quasi-Z-source inverter. Compared to the previous proposed topology, the new topologies have two advantages：voltage boost capacity of the inverter is enhanced to expand the scope of application，higher modulation factor can improve the output power quality. Enhanced topologies were theoretical analyzed in detail. In addition, simulation and experimental results validate the feasibility and superiority of proposed topologies.

Abstract：In order to overcome the deficiencies of traditional AC-AC converter, this paper designed a quasi-Z -source AC/AC converter with voltage stress of a small capacitor,the topology structure and working principle of the circuit are analyzed, this topology is composed of two series quasi-Z-source networks and a single-phase LC filter. A pulse width modulation method(PWM) is chosen to vary the output voltage by controlling the duty cycle. Using MATLAB/Simulink to perform circuit simulation, and finally, the experimental circuit based on TMS320F2812 is built, both of the simulation results and experimental results verify the validity and reliability of the circuit.

Abstract：In this paper, a new control system is put forward in view of the disadvantages of the existing electric vehicle wireless charging control system. The double closed loop control of AC/DC and double close loop control of DC/DC structure, the removal of the traditional control system of wireless signal feedback module, and joined the power factor correction and soft-switch technology. The charging control system are simulated in the MATLAB/Simulink environment, AC/DC, magnetic coupling and DC/DC converter is built, the simulation experiments are performed to test the battery charging process, and the design of the charging system PCB and eventually to build the hardware platform to verify the feasibility and stability of the scheme.