[ 0.000000]Linux version 6.6.0-simba (build@602-lab) #1 SMP PREEMPT

[ 0.000000]Command line: root=/dev/nvme0n1p2 ro console=tty0

[ 0.000000]BIOS-provided physical RAM map:

[ 0.000000]BIOS-e820: [mem 0x0000000000100000-0x00000003ffffffff] usable

[ 0.000000]NX (Execute Disable) protection: active

[ 0.003812]DMI: SIMBA ROBOTICS / HLJU-602 DEVELOPMENT PLATFORM

[ 0.012406]tsc: Fast TSC calibration using PIT

[ 0.019821]ACPI: Early table checksum verification enabled

[ 0.027109]Built 1 zonelists, mobility grouping on. Total pages: 4194304

[ 0.034506]Kernel command line: boot.mode=lab system.role=robotics

[ 0.042817]Memory: 16384000K available (14336K kernel code)

[ 0.051932]SLUB: HWalign=64, Order=0-3, MinObjects=0, CPUs=8

[ 0.064214]rcu: Preemptible hierarchical RCU implementation.

[ 0.078625]smpboot: Allowing 8 CPUs, 0 hotplug CPUs

[ 0.093716]smp: Bringing up secondary CPUs ...

[ 0.108942]smp: Brought up 1 node, 8 CPUs

[ 0.124580]clocksource: Switched to clocksource tsc

[ 0.138021]NET: Registered PF_NETLINK/PF_ROUTE protocol family

[ 0.156437]PCI: Using configuration type 1 for base access

[ 0.178652]iommu: Default domain type: Translated

[ 0.204389]usbcore: registered new interface driver usbfs

[ 0.226714]usbcore: registered new interface driver hub

[ 0.251930]SCSI subsystem initialized

[ 0.278043]pps_core: LinuxPPS API ver. 1 registered

[ 0.302185]PTP clock support registered

[ 0.346907]nvme nvme0: pci function 0000:01:00.0

[ 0.389241]nvme nvme0: 8/0/0 default/read/poll queues

[ 0.437658]EXT4-fs (nvme0n1p2): mounted filesystem with ordered data mode

[ 0.482013]VFS: Mounted root (ext4 filesystem) readonly on device 259:2.

[ 0.513892]devtmpfs: mounted

[ 0.548370]Freeing unused kernel image memory: 2816K

[ 0.602415]Run /sbin/init as init process

[ OK ]Started Journal Service.

[ OK ]Mounted Kernel Debug File System.

[ OK ]Reached target Local File Systems.

[ 1.028640]can: controller area network core initialized

[ 1.146872]can0: link becomes ready / bitrate 1000000

[ 1.284509]usb 1-2: new high-speed USB device using xhci_hcd

[ 1.395216]uvcvideo: Found UVC camera / vision pipeline ready

[ OK ]Started Sensor Fusion Service.

[ OK ]Started Motor Control / CAN Bus Interface.

[ OK ]Started Vision Inference Runtime.

[ OK ]Started Team Telemetry / Field Diagnostics.

[ OK ]Reached target Network is Online.

[ OK ]Reached target Multi-User System.

[ 2.602000]simba: all subsystems nominal / ready for the arena

[ SIMBA ]BUILD. TEST. ITERATE. // ENGINEERING BEYOND LIMITS.

[ REPLAY ]simulated boot sequence / reconnecting to tty0 ...

[ 0.000000]Linux version 6.6.0-simba (build@602-lab) #1 SMP PREEMPT

[ 0.000000]Command line: root=/dev/nvme0n1p2 ro console=tty0

[ 0.000000]BIOS-provided physical RAM map:

[ 0.000000]BIOS-e820: [mem 0x0000000000100000-0x00000003ffffffff] usable

[ 0.000000]NX (Execute Disable) protection: active

[ 0.003812]DMI: SIMBA ROBOTICS / HLJU-602 DEVELOPMENT PLATFORM

[ 0.012406]tsc: Fast TSC calibration using PIT

[ 0.019821]ACPI: Early table checksum verification enabled

[ 0.027109]Built 1 zonelists, mobility grouping on. Total pages: 4194304

[ 0.034506]Kernel command line: boot.mode=lab system.role=robotics

[ 0.042817]Memory: 16384000K available (14336K kernel code)

[ 0.051932]SLUB: HWalign=64, Order=0-3, MinObjects=0, CPUs=8

[ 0.064214]rcu: Preemptible hierarchical RCU implementation.

[ 0.078625]smpboot: Allowing 8 CPUs, 0 hotplug CPUs

[ 0.093716]smp: Bringing up secondary CPUs ...

[ 0.108942]smp: Brought up 1 node, 8 CPUs

[ 0.124580]clocksource: Switched to clocksource tsc

[ 0.138021]NET: Registered PF_NETLINK/PF_ROUTE protocol family

[ 0.156437]PCI: Using configuration type 1 for base access

[ 0.178652]iommu: Default domain type: Translated

[ 0.204389]usbcore: registered new interface driver usbfs

[ 0.226714]usbcore: registered new interface driver hub

[ 0.251930]SCSI subsystem initialized

[ 0.278043]pps_core: LinuxPPS API ver. 1 registered

[ 0.302185]PTP clock support registered

[ 0.346907]nvme nvme0: pci function 0000:01:00.0

[ 0.389241]nvme nvme0: 8/0/0 default/read/poll queues

[ 0.437658]EXT4-fs (nvme0n1p2): mounted filesystem with ordered data mode

[ 0.482013]VFS: Mounted root (ext4 filesystem) readonly on device 259:2.

[ 0.513892]devtmpfs: mounted

[ 0.548370]Freeing unused kernel image memory: 2816K

[ 0.602415]Run /sbin/init as init process

[ OK ]Started Journal Service.

[ OK ]Mounted Kernel Debug File System.

[ OK ]Reached target Local File Systems.

[ 1.028640]can: controller area network core initialized

[ 1.146872]can0: link becomes ready / bitrate 1000000

[ 1.284509]usb 1-2: new high-speed USB device using xhci_hcd

[ 1.395216]uvcvideo: Found UVC camera / vision pipeline ready

[ OK ]Started Sensor Fusion Service.

[ OK ]Started Motor Control / CAN Bus Interface.

[ OK ]Started Vision Inference Runtime.

[ OK ]Started Team Telemetry / Field Diagnostics.

[ OK ]Reached target Network is Online.

[ OK ]Reached target Multi-User System.

[ 2.602000]simba: all subsystems nominal / ready for the arena

[ SIMBA ]BUILD. TEST. ITERATE. // ENGINEERING BEYOND LIMITS.

[ REPLAY ]simulated boot sequence / reconnecting to tty0 ...

[ 0.000000]Linux version 6.6.0-simba (build@602-lab) #1 SMP PREEMPT

[ 0.000000]Command line: root=/dev/nvme0n1p2 ro console=tty0

[ 0.000000]BIOS-provided physical RAM map:

[ 0.000000]BIOS-e820: [mem 0x0000000000100000-0x00000003ffffffff] usable

[ 0.000000]NX (Execute Disable) protection: active

[ 0.003812]DMI: SIMBA ROBOTICS / HLJU-602 DEVELOPMENT PLATFORM

[ 0.012406]tsc: Fast TSC calibration using PIT

[ 0.019821]ACPI: Early table checksum verification enabled

[ 0.027109]Built 1 zonelists, mobility grouping on. Total pages: 4194304

[ 0.034506]Kernel command line: boot.mode=lab system.role=robotics

[ 0.042817]Memory: 16384000K available (14336K kernel code)

[ 0.051932]SLUB: HWalign=64, Order=0-3, MinObjects=0, CPUs=8

[ 0.064214]rcu: Preemptible hierarchical RCU implementation.

[ 0.078625]smpboot: Allowing 8 CPUs, 0 hotplug CPUs

[ 0.093716]smp: Bringing up secondary CPUs ...

[ 0.108942]smp: Brought up 1 node, 8 CPUs

[ 0.124580]clocksource: Switched to clocksource tsc

[ 0.138021]NET: Registered PF_NETLINK/PF_ROUTE protocol family

[ 0.156437]PCI: Using configuration type 1 for base access

[ 0.178652]iommu: Default domain type: Translated

[ 0.204389]usbcore: registered new interface driver usbfs

[ 0.226714]usbcore: registered new interface driver hub

[ 0.251930]SCSI subsystem initialized

[ 0.278043]pps_core: LinuxPPS API ver. 1 registered

[ 0.302185]PTP clock support registered

[ 0.346907]nvme nvme0: pci function 0000:01:00.0

[ 0.389241]nvme nvme0: 8/0/0 default/read/poll queues

[ 0.437658]EXT4-fs (nvme0n1p2): mounted filesystem with ordered data mode

[ 0.482013]VFS: Mounted root (ext4 filesystem) readonly on device 259:2.

[ 0.513892]devtmpfs: mounted

[ 0.548370]Freeing unused kernel image memory: 2816K

[ 0.602415]Run /sbin/init as init process

[ OK ]Started Journal Service.

[ OK ]Mounted Kernel Debug File System.

[ OK ]Reached target Local File Systems.

[ 1.028640]can: controller area network core initialized

[ 1.146872]can0: link becomes ready / bitrate 1000000

[ 1.284509]usb 1-2: new high-speed USB device using xhci_hcd

[ 1.395216]uvcvideo: Found UVC camera / vision pipeline ready

[ OK ]Started Sensor Fusion Service.

[ OK ]Started Motor Control / CAN Bus Interface.

[ OK ]Started Vision Inference Runtime.

[ OK ]Started Team Telemetry / Field Diagnostics.

[ OK ]Reached target Network is Online.

[ OK ]Reached target Multi-User System.

[ 2.602000]simba: all subsystems nominal / ready for the arena

[ SIMBA ]BUILD. TEST. ITERATE. // ENGINEERING BEYOND LIMITS.

[ REPLAY ]simulated boot sequence / reconnecting to tty0 ...

04 / ROBOT FLEET

ENGINEERED
FOR THE ARENA.

三台原型，三个战术角色。每一项参数背后，都是结构、控制和算法共同权衡的结果。

二相性 · 零号 — UNIT 01INFANTRY

二相性 · 零号细节图 1

二相性 · 零号细节图 2

01 / 032023—2026

INFANTRY · 步兵

二相性 · 零号

Duality N0

队内首台全向轮、下供弹步兵，首次应用基于 YOLO 的“催化剂”自瞄系统。

底盘全向轮

最大速度4 m/s

弹丸容量约 500 发

控制方案主从控制

设计特点

较旧底盘提升约 40% 传动效率
模块化设计，便于快速维修
高可靠下供弹结构
随动式自瞄系统

比赛记录

◆2024 RMUL 辽宁站 3V3 三等奖
◆2024 RMUL 步兵对抗赛二等奖

开发团队

彭戈总师 / 机械设计祁彬整机代码罗毓斐自瞄

NEXT UNIT激波 · 零号

激波 · 零号 — UNIT 02HERO

激波 · 零号细节图 1

激波 · 零号细节图 2

02 / 032023—2026

HERO · 英雄

激波 · 零号

Shockwave N0

独立完成机械结构设计的英雄机器人，采用双摩擦轮与鹅颈下供弹，并搭载“催化剂”自瞄系统。

最大速度1.3 m/s

弹丸容量约 70 发

吊射距离≤ 20 m

吊射精度≤ 7 cm

设计特点

双摩擦轮远距离吊射
高性能机动底盘
弹道计算提升射击精度
轻量化整机设计

比赛记录

◆2024 RMUL 辽宁站 3V3 三等奖

开发团队

闫芃森总师 / 机械设计孙弋雯代码负责刘立达自瞄

NEXT UNIT扩散 · 零号

扩散 · 零号 — UNIT 03SENTRY

扩散 · 零号细节图 1

扩散 · 零号细节图 2

03 / 032023—2024

SENTRY · 哨兵

扩散 · 零号

Diffusion N0

由旧步兵改装的哨兵验证平台，“催化剂”自瞄与“旋光”决策算法均在这里完成验证。

底盘麦克纳姆轮

最大速度2 m/s

弹丸容量约 150 发

控制方案集成控制

设计特点

强化学习多变量决策
决策与火控高度耦合
视觉 / 雷达融合感知
弹药管理集成决策

比赛记录

◆2024 RMUL 辽宁站 3V3 三等奖

开发团队

杨毅总师 / 机械设计韩翔宇电控系统黄瑞视觉算法

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