共查询到20条相似文献,搜索用时 46 毫秒
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该文提出了一个Stewort并联机器人仿真系统,重点说明了其中对于并联机器人运动学仿真及控制系统仿真中的系统构成和规划算法,最后给出了一个应用该系统进行Stewort并联机器人仿真的例子,为Stewort并联机器人的研究提供了有效的仿真数据。 相似文献
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RoboCup小型机器人仿真系统 总被引:3,自引:0,他引:3
通过对机器人硬件进行仿真,可以有效地提高控制软件的开发效率,并降低硬件的损耗。该文实现了一个RoboCup小型机器人仿真系统,该系统的仿真对象是机器人足球比赛中的所有硬件要素,包括机器人的运动学特性、击球和带球装置、视觉系统的噪声和盲区、以及无线通讯系统的延迟等。该文还分析了真实系统中各仿真对象的物理特性及其实现难点,给出了仿真系统的软件架构和接口定义,描述了各仿真功能的具体实现。通过分析仿真结果表明此系统达到了比较理想的效果,可以为其它相似系统提供有益的参考。 相似文献
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空间机器人在未来的太空探索中将代替宇航员从事空间作业,而空间机器人在计算机上的寞及仿真是设计及研制中的重要组成部分,此文详细讨论了空间机器人的建模方法,包括建立几何模型和运动学模型,文中第3节介绍了哈尔滨工业大学研制的空间机器人仿真系统的各组成部分及所完成的功能,并在第4节中给出了实验仿真结果,仿真结果表明该仿真系统具有可靠性,实时性。 相似文献
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提出了一种高效地构建开放式的机器人3D仿真环境的方法.该方法以Matlab软件为平台,充分结合Pro/E等3D实体设计软件、Matlab机器人工具箱和Matlab 3D动画技术建立可视化程度高、细节显示逼真的机器人3D仿真研究平台.以应用广泛的VA1400弧焊机器人为例,详细介绍了机器人3D仿真模型的建立、仿真实体的数据导入和仿真系统的3D动画演示等步骤,最终得到一个系统软件开放程度高、可视化效果逼真的机器人3D仿真环境.给出了仿真系统的部分显示效果,验证了本方法的有效性. 相似文献
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针对已有的机器人仿真平台无法直接用于刚软混杂机器人仿真的问题,提出了一种用于刚软混杂机器人仿真的刚软耦合模型.该模型通过一个中间过渡层将现有的刚体机器人仿真平台和软体机器人仿真平台的底层物理模型耦合起来,使得现有的2类仿真平台可以在同一架构下完成刚软混杂机器人的仿真.在机器人操作系统下,采用Gazebo和SOFA仿真平台开发了基于刚软耦合模型的刚软混杂机器人仿真系统.通过单个软体气动执行器弯曲过程的仿真与样机对比实验以及刚软混杂机器人多物体抓取仿真实验验证了所提出的耦合模型用于刚软混杂机器人仿真的有效性. 相似文献
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张涛 《计算机测量与控制》2015,23(1):86-89
为了设计一种具有低成本、低功耗、易操作、功能强且可靠性高的煤矿井下安全分站,针对煤矿安全生产实际,文章提出了采用MCS-51系列单片机为核心、具有CAN总线通信接口的煤矿井下安全监控分站的设计方案;首先给出煤矿井下安全监控分站的整体构架设计,然后着重阐述模拟量输入信号处理系统的设计过程,最后说明单片机最小系统及其键盘、显示、报警、通信等各个组成部分的设计;为验证设计方案的可行性与有效性,使用Proteus软件对设计内容进行仿真验证,设计的煤矿井下安全监控分站具有瓦斯、温度等模拟量参数超标报警功能和电机开停、风门开闭等开关量指示功能;仿真结果表明:设计的煤矿井下安全监控分站具有一定的实际应用价值. 相似文献
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In modern service-oriented architectures, database access is done by a special type of services, the so-called data access services (DAS). Though, particularly in data-intensive applications, using and developing DAS are very common today, the link between the DAS and their implementation, e.g. a layer of data access objects (DAOs) encapsulating the database queries, still is not sufficiently elaborated, yet. As a result, as the number of DAS grows, finding the desired DAS for reuse and/or associated documentation can become an impossible task. In this paper we focus on bridging this gap between the DAS and their implementation by presenting a view-based, model-driven data access architecture (VMDA) managing models of the DAS, DAOs and database queries in a queryable manner. Our models support tailored views of different stakeholders and are scalable with all types of DAS implementations. In this paper we show that our view-based and model driven architecture approach can enhance software development productivity and maintainability by improving DAS documentation. Moreover, our VMDA opens a wide range of applications such as evaluating DAS usage for DAS performance optimization. Furthermore, we provide tool support and illustrate the applicability of our VMDA in a large-scale case study. Finally, we quantitatively prove that our approach performs with acceptable response times. 相似文献
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《Information & Management》2016,53(6):787-802
Discrepant technological events or situations that entail a problem, a misunderstanding or a difficulty with the Information Technology (IT) being employed, are common in the workplace, and can lead to frustration and avoidance behaviors. Little is known, however, about how individuals cope with these events. This paper examines these events by using a multi-method pragmatic approach informed by coping theory. The results of two studies – a critical incident study and an experiment – serve to build and test, respectively, a theoretical model that posits that individuals use a variety of strategies when dealing with these events: they experience negative emotions, make external attributions, and adopt engagement coping strategies directed at solving the event, eventually switching to a disengagement coping strategy when they feel they have no control over the situation. Furthermore, users’ efforts may result in ‘accidental’ learning as they try to overcome the discrepant IT events through engagement coping. The paper ends with a discussion of the results in light of existing literature, future opportunities for research, and implications for practice. 相似文献
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Distributed real-time simulation is a young technology field but its practice is under increasing demands. In recent years the author and his collaborators have been establishing a new approach called the distributed time-triggered simulation (DTS) scheme which is conceptually simple and easy to use but widely applicable. The concept was initiated in the course of developing a new-generation object-oriented real-time programming scheme called the time-triggered message-triggered object (TMO) programming scheme. Some fundamental issues inherent in distributed real-time simulation that were learned during recent experimental studies are discussed along with some approaches for resolving the issues. An execution engine developed to support both the TMOs engaged in control computation and the TMOs engaged in DTS is also discussed along with its possible extensions that will enable significantly larger-scale DTSs. 相似文献
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Zusammenfassung Mit zunehmender Größe der Softwaresysteme verschärfen sich die für die Software-Herstellung typischen Probleme: Beherrschen großer Objektmengen, Erhalten der Systemkonsistenz, Kontrolle der ständigen Änderungseinflüsse und Gewährleisten einer langen Lebensdauer. Die Disziplin Konfigurationsmanagement bildet den methodischen Ansatz, diese Probleme besser zu beherrschen. Software-Konfigurationsmanagement faßt die Herstellung von Softwaresystemen als eine Abfolge von kontrollierten Änderungen an gesicherten Zwischen- und Endergebnissen auf. Dargestellt werden die Objekte und Funktionen des Software-Konfigurationsmanagements sowie die hierfür in großen Software-Projekten benötigten Methoden, Instanzen und Hilfsmittel. 相似文献
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《浙江大学学报:C卷英文版》2014,(11)
正http://www.zju.edu.cn/jzus http://www.springerlink.com Aim The Journals of Zhejiang University-SCIENCE(A/B/C)are edited by the international board of distinguished Chinese and foreign scientists,and are aimed to present the latest developments and achievements in scientific research in China and 相似文献
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Zhao-hui WU 《浙江大学学报:C卷英文版》2014,(10)
正Brain-machine interfaces(BMIs)aim at building a direct communication pathway between the brain and an external device,and represent an area of research where significant progress has been made during the past decade.Based on BMIs,mind information can be read out by neural signals to control 相似文献
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《浙江大学学报:C卷英文版》2014,(10)
正http://www.zju.edu.cn/jzus http://www.springerlink.com Aim The Journals of Zhejiang University-SCIENCE(A/B/C)are edited by the international board of distinguished Chinese and foreign scientists,and are aimed to present the latest developments and achievements in scientific research in China and overseas to the world’s scientific circles,especially to stimulate 相似文献
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《浙江大学学报:C卷英文版》2014,(8)
正http://www.zju.edu.cn/jzus http://www.springerlink.com Aim The Journals of Zhejiang University-SCIENCE(A/B/C)are edited by the international board of distinguished Chinese and foreign scientists,and are aimed to present the latest developments and achievements in scientific research in China and overseas to the world’s scientific circles,especially to stimulate 相似文献