If there are local defects in the solar cell module, the output efficiency of the module will decrease. This article introduces the detection of local defect of solar cell module based on the infrared image technology. It finally establishes an image library which contains some infrared images of seven kinds of defects and a basic standard which can judge the quality of the module. The reasons of some defects are listed in the article. The unqualified rate will greatly decrease for the technique. The research is helpful to eliminate the module that contains recessive defects. The life of the modules also will be extended.
Visual SLAM techniques have proven to be effective methods for estimating robust position and attitude in the field of robotics. However, current monocular SLAM algorithms cannot guarantee timeliness of system startup due to the problematic initialization time and the low success rates. This paper introduces a rectilinear platform motion hypothesis and thereby converts the estimation problem into a verification problem to achieve fast monocular SLAM initialization. The proposed method is simulation tested on a fixed-wing UAV. Tests show that the proposed method can produce faster initialization of visual SLAM and that the advantages are more profound on systems with sparse image features.
Multi-Agent Particle Environment (MPE) [1] proposed by OpenAI is applied to the study of multi-agent reinforcement learning strategies. However, the motion rules of the agent are excessively simplified. In order to make the environment more suitable to small fixed-wing aircraft, we have made following improvements: 1. The dynamic model of the agent in the MPE does not conform to the characteristics of the fixed-wing aircraft. In order to simulate the dynamic characteristics of the fixed-wing aircraft, a speed-related damping mechanism is introduced into the two-dimensional motion environment. 2. Since the MPE lacks the control module for single agent, the MPE cannot meet the challenges raised by single agent control. A two-layer controller is proposed which includes the outer layer (Total Energy Control System and L_1) and the inner layer (PID). 3. The MPE does not contain any decision module. In order to comprehensively study the collaborative decision-making behavior of aircrafts in target allocation, a swarm decision module is added to the environment. In addition, the concept of control period is introduced to reduce the gap between simulation and the actual situation. Finally, several simulations were carried out to test the improved Multi-Agent Aircraft Environment (MAE). The test cases include the outer layer with L1 and Total Energy Control System (TECS) algorithm in two dimensions, the PID inner layer control algorithm and the designed auction algorithm. The tests complete the process of single aircraft flight, Multiple aircrafts scan-search flight and Multiple aircrafts dynamical-waypoint flight, which verifies the effectiveness of MAE.
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