基于EtherCAT和TwinCAT的微创手术机器人

在分析几种微创手术机器人控制系统架构的基础上,提出了基于Ethercat总线和TwinCAT运动控制器的控制系统架构,该系统架构采用集中式控制和分布式I/O(输入和输出).基于该控制系统提出了主从控制映射算法,编写了相应的程序,并设计了相关实验对该控制系统和控制算法的有效性进行了验证.实验结果表明:该控制系统稳定可靠,实时性强,灵活易扩展,应用于微创手术机器人系统中极具优势.     

一种新型智能机器人控制系统设计

为异构式多智能体机器人协作研究,设计并实现了一种基于32位嵌入式系统的分布式控制系统。针对传统封闭式控制系统的弊端,采用了开放式模块化的硬件结构,在ARM核心模块基础上通过IIC总线扩展功能模块。功能模块以AVR单片机为核心,独立完成模块功能。软件系统采用了混合式体系结构,应用模块在嵌入式Linux平台上使用自顶向下分层设计,以多任务和基于TCP协议的可靠多机器人通讯机制管理各功能模块,并引入Python脚本解决任务策略变换的灵活性问题。采用了黑板和点对点相结合的多机器人协作通信模式。实验证明,该系统具有良好的开放性,为异构设计、功能扩展、人机混合控制和多机器人协作提供了可靠的平台。     

超密集网络中负载均衡感知的初始关联控制算法

为了解决移动数据流量和大量移动终端的空前增长问题,超密网络部署已作为一种经济高效的解决方案来减轻小蜂窝网络的负载。不同的超密集网络的拓扑结构将导致不同的覆盖范围,每个用户设备将会有多个可接入点。针对这种情况,研究了软件定义的超密集网络下基于分布式和集中式两种方式的初始连接控制。提出了一种集中式的、稳定的、可负载平衡感知的关联控制算法来减少数据面的切换次数。这是一种统一的初始关联控制和负载均衡的管理方式。最后,评估了基于分布式接入和集中式接入的初始关联控制的依照切换次数的稳定性。结果表明,集中式接入的关联控制算法性能比分布式接入更好。     

智能机器人 像人一样聪明（1968）

1968年，美国斯坦福研究所研制出了世界上第一台智能机器人，这就是第三代机器人(第一代机器人属于示教再现型，第二代机器人则具备了感觉能力)，它不仅具有感觉能力，还有独立判断和行动的能力。     

基于模块化设计的相扑机器人研究

在深入研究相扑机器人比赛的基础上,对相扑比赛机器人的控制系统结构、模块功能和软件策略等方面进行了研究,并提出相扑机器人控制系统的模块化设计方案。     

基于拓扑结构的自重构模块化机器人重构策略的研究

为实现模块化机器人的高效控制与对接,在基于有向图的图论拓扑描述和连接矩阵的数学拓扑描述基础上,提出了一种新型的自重构机器人模块拓扑描述综合矩阵,它能准确的表达了机器人模块的连接方式和转角状态信息;利用综合矩阵可以找到构型的根节点,并以根节点为起点利用DFS(Depth-First-Search)得到初始构型与目标构型新的综合矩阵.并对两矩阵进行对比进而得出同构部分与重构部分.按照重构策略仅对重构部分进行重构得到目标构型.减少了参与重构的模块的数量并提高了重构效率,最后利用webots软件对模块化机器人进行仿真来验证重构策略的有效性和可行性.     

基于UMAC的工业机器人运动控制系统设计

文章建立了RB 08型工业机器人D-H模型,对机器人的运动学求解进行了分析;设计了一种基于工业控制计算机(IPC)和运动控制器(UMAC)的模块化分布式机器人控制系统,搭建了机器人运动控制系统硬件平台,完成了控制系统的人机界面、路径规划、示教在线和运动学求解等功能模块的软件设计;最后,针对RB 08机器人工作空间内的2个相邻位置点,进行了笛卡尔空间内的三次样条轨迹规划实验,验证了系统软件的各模块功能软件,同时得到了关节空间内各关节分别采用直线插补和样条插补时的位置跟随误差。     

多自由度模块化链节式8足机器人三总线控制系统设计

多自由度模块化链节式8足机器人的高自由度以及相似的单元结构对其多样步态的实时控制提出新的要求.为解决其控制问题,研究了多足生物的运动特点,并利用从中发现的步态周期传递特性建立了一套适用于多足机器人的控制策略、三总线控制系统及软件算法.经实物样机验证,采用此控制系统的机器人可完成不同步态的灵活切换,并可通过不同的传递周期改变体节之间的相位差.该控制系统可以完成所要求的控制任务,合理简化机器人的步态控制算法和程序.      

一种小型模块化球形探测机器人系统设计实现

搜救、安保等领域探测设备一般较为笨重,使用不便。提出了一种创新结构的小型模块化球形探测机器人系统,体积小巧、使用灵活,可通过磁力连接固定装置,将核心模块与机动模块快速组合,满足不同场景的探测任务需要。机器人系统通过鱼眼摄像头、高清摄像头等传感器进行环境感知,以树莓派及英特尔神经计算棒进行低功耗嵌入式计算,能够实现图像的实时处理和复杂场景下的多目标检测。通过原理样机实验,证明了所提出机械、电气设计和基于深度学习的目标识别方法的可行性和有效性。     

仿生球形两栖机器人多机协同控制系统设计

为了实现球形两栖机器人的多机协同控制系统,利用无线控制的方式,实现上位机对多台机器人的编队控制及远程控制,从而对球形两栖机器人进行组队完成作业规划并统一控制。通过对通信控制协议的编写,拟建立XBee通信模块与单片机之间的系统连接,并且XBee模块之间也可以进行通信,编写串口通信协议,通过上位机对多个球形两栖机器人进行一对多的多机协同控制。上位机采用图形化的编程软件LabVIEW给无线通信模块XBee的发射端发送控制信号,对下位机上装有XBee模块接收端的多机器人进行协同控制。实验证明,本文设计的多机协同控制系统能对多个机器人进行协同控制,实现不同机器人完成不同任务并协同工作的要求。     

Markedness and its Interpretation in Language Use

Language markedness is a common phenomenon in languages, and is reflected from hearing, vision and sense, i.e. the variation in the three aspects such as phonology, morphology and semantics. This paper focuses on the interpretation of markedness in language use following the three perspectives, i.e. pragmatic interpretation, psychological interpretation and cognitive interpretation, with an aim to define the function of markedness.     

Features of Women's language

Language is a means of verbal communication. People use language to communicate with each other. In the society, no two speakers are exactly alike in the way of speaking. Some differences are due to age, gender, statue and personality. Above all, gender is one of the obvious reasons. The writer of this paper tries to describe the features of women＇s language from these perspectives： pronunciation, intonation, diction, subjects, grammar and discourse. From the discussion of the features of women＇s language, more attention should be paid to language use in social context. What＇s more, the linguistic phenomena in a speaking community can be understood more thoroughly.     

An Analysis of Catherine＇s Character——Wuthering Heights

Wuthering Heights, Emily Bronte＇s only novel, was published in December of 1847 under the pseudonym Ellis Bell. The book did not gain immediate success, but it is now thought one of the finest novels in the English language. Catherine is the key character of this masterpiece, because everybody and everything center on her though she had a short life. We can understand this masterpiece better if we know Catherine well.     

Lower Paleozoic oil relationships within Williston Basin, Canada

The Williston Basin is a significant petroleum province, containing oil production zones that include the Middle Cambrian to Lower Ordovician, Upper Ordovician, Middle Devonian, Upper Devonian and Mississippian and within the Jurassic and Cretaceous. The oils of the Williston Basin exhibit a wide range of geochemical characteristics defined as "oil families", although the geochemical signature of the Cambrian Deadwood Formation and Lower Ordovician Winnipeg reservoired oils does not match any "oil family". Despite their close stratigraphic proximity, it is evident that the oils of the Lower Palaeozoic within the Williston Basin are distinct. This suggests the presence of a new "oil family" within the Williston Basin. Diagnostic geochemical signatures occur in the gasoline range chromatograms, within saturate fraction gas chromatograms and biomarker fingerprints. However, some of the established criteria and cross-plots that are currently used to segregate oils into distinct genetic families within the basin do not always meet with success, particularly when applied to the Lower Palaeozoic oils of the Deadwood and Winnipeg Formation.     

低渗透非均质砂岩油藏启动压力梯度研究

理论推导与室内实验相结合,建立了低渗透非均质砂岩油藏启动压力梯度确定方法。首先借助油藏流场与电场相似的原理,推导了非均质砂岩油藏启动压力梯度计算公式。其次基于稳定流实验方法,建立了非均质砂岩油藏启动压力梯度测试方法。结果表明:低渗透非均质砂岩油藏的启动压力梯度确定遵循两个等效原则。平面非均质油藏的启动压力梯度等于各级渗透率段的启动压力梯度关于长度的加权平均;纵向非均质油藏的启动压力梯度等于各渗透率层的启动压力梯度关于渗透率与渗流面积乘积的加权平均。研究成果可用于有效指导低渗透非均质砂岩油藏的合理井距确定,促进该类油藏的高效开发。     

On Tragic Consciousness In The Works By Ernest Hemingway

As an American modern novelist who were famous in the literary world, Hemingway was not a person who always followed the trend but a sharp observer. At the same time, he was a tragedy maestro, he paid great attention on existence, fate and end-result. The dramatis personae's tragedy of his works was an extreme limit by all means tragedy on the meaning of fearless challenge that failed. The beauty of tragedy was not produced on the destruction of life, but now this kind of value was in the impact activity. They performed for the reader about the tragedy on challenging for the limit and the death.     

Achieving Unusual States of Matter Under High Pressure

正The periodicity of the elements and the non-reactivity of the inner-shell electrons are two related principles of chemistry,rooted in the atomic shell structure.Within compounds,Group I elements,for example,invariably assume the+1 oxidation state,and their chemical properties differ completely from those of the p-block elements.These general rules govern our understanding of chemical structures and reactions.Using first principles calcula-     

Exchange-Correlation and Electronic Excitation Energies from Pairing Matrix Fluctuations

We have developed an adiabatic connection to formulate the ground-state exchange-correlation energy in terms of pairing matrix linear fluctuations.This formulation of the exchange-correlation energy opens a new channel for density functional approximations based on the many-body perturbation theory.We illustrate the potential of such approaches with an approximation based on the particle-particle Random Phase Approximation(pp-RPA).This re-     

Density Functional Theory for the Response of Periodic Systems to Electric Fields Based on the Vector Potential Approach

正The electronic and nuclear(structural/vibrational)response of 1D-3D nanoscale systems to electric fields gives rise to a host of optical,mechanical,spectral,etc.properties that are of high theoretical and applied interest.Due to the computational difficulty of treating such large systems it is convenient to model them as infinite and periodic(at least,in first approximation).The fundamental theoretical/computational problem in doing so is that     

On the Thermodynamic Limit for Responses to Static Electromagnetic Fields

For molecular systems,the quantum-mechanical treatment of their responses to static electromagnetic fields usually employs a scalar-potential treatment of the electric field and a vector-potential treatment of the magnetic field.Although the potential for each field separately is associated with the choice of an(unphysical)origin,the precise choice of the origin for the electrostatic field has little consequences for the results.This is different for the