共查询到20条相似文献,搜索用时 109 毫秒
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纳米技术与分子生物学的结合将开创分子仿生学新领域。分子仿生学模仿细胞生命过程的各个环节 ,以分子水平上的生物学原理为参照原型 ,设计制造各种各样的可对纳米空间进行操作的“功能分子器件” ,即纳米生物机器人。纳米机器人的研制和开发将成为21世纪科学发展的一个重要方向 ,对医学产生巨大影响。细胞就是纳米机器细胞本身就是一个活生生的纳米机器 ,这一点早就得到了科学家的肯定。细胞有一些与人类尺度机械相类似的分子机械 :细菌细胞膜上的旋转马达转动着它的轴 ,从外表看来它类似于一个电动机。另外一些(分子机械 )勉强类似于我… 相似文献
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近年来,纳米技术不断发展,尤其是纳米材料和纳米机器人的发展,使生物传感器和医疗技术取得巨大突破和变革,成为当前研究的热点内容之一.结合纳米生物传感器的特点和优势,主要介绍了纳米生物传感的发展趋势和典型应用,并对纳米机器人在医疗领域的应用前景进行了做简要介绍. 相似文献
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本文介绍了一个用于装配机器人的多传感器系统的设计思想和实现方案.提出了在装配任务导向下的监测任务规划模型,讨论了多物理传感器信息融合方法,多目标三层次感知信息决策模型,以及相应的实现系统层次结构.目的是在目标级上实现装配机器人系统的动态闭环. 相似文献
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针对传统神经网络机器人路径规划中存在需要学习,对运动目标追踪速度较慢的问题,提出了一种带自反馈的生物激励神经网络机器人路径规划方法。该机器人路径规划算法的路径生成过程是由神经网络组成的动态变化的神经元活性值状态路线图来实现的。通过神经元活性值的传播,机器人被目标点全局吸引,同时障碍物使自己处在活性值最低点,起到推开机器人以避免碰撞的目的,为了增强算法对运动目标的追踪能力引入了新的权值函数求取方法。仿真结果表明该方法生成的路径是连续的、平滑的,比原方法产生的路径更优,并且算法能对快速变化的动态环境作出迅速反应。 相似文献
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This paper describes a voltage-induction type electrostatic film motor that operates by feeding electric power to the slider by electrostatic induction. In the electrostatic motor, applying voltages to both of its stator and slider contributes to its fine positioning resolution and better controllability. However, in some cases such as relatively small motors, the electric wires connected to the slider could cause mechanical disturbances to the motor motion. In the new electrostatic motor, electric wires are connected only to the stator, thus the slider motion is not disturbed. The power to the slider is transferred by electrostatic induction between induction electrodes fabricated in both of the stator and the slider. The proposed motor has a two- to four-phase driving-electrode configuration, which consists of a two-phase driving electrode in the slider and a four-phase driving electrode in the stator. The paper first analyzes the thrust force characteristics of the driving-electrode configuration, and then analyzes the characteristics of voltage-induction configuration, both based on capacitance-network analysis. Experimental results showed good agreements with the analyses, confirming the feasibility of the voltage-induction type electrostatic motor. 相似文献
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管道广泛应用于海洋、核电以及航空航天等重大工程中,是采油平台、蒸汽发生器等重要工程装备的关键结构之一.当有外部流体经过时,管道会发生流固耦合振动行为,是导致重大装备振动破坏和失效的重要原因之一,已成为重大工程设计必须解决的关键问题.本文针对外流作用下柔性管道流固耦合非线性动力学机理这一科学问题,梳理了国内外学者的重要研究成果,重点分析了柔性管道分别在横向外流和轴向外流作用下的流固耦合非线性振动行为.从实验研究、仿真分析和理论建模等方面进行了深入地探讨,揭示了外部流体对管道动力学行为的影响机制.最后,对当前国内外研究现状进行了简要的总结,并给出了这一研究仍存在的难点与挑战. 相似文献
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We propose a camera actuating system using a spherical ultrasonic motor for inspection of the inside wall of a small pipe. The spherical ultrasonic motor has advantages that include three degrees of freedom, high responsiveness and high accuracy all within a compact body. We describe here the development of an outer rotor spherical ultrasonic motor (OR-SUSM) that enables a camera to rotate by more than 360° along the side of the pipe. All components, including the OR-SUSM, the sensing system, and the electric circuits, are designed to be assembled in the pipe inspection device with outer diameter of 52?mm. To control the system, the phase difference and frequency of the applied voltages are used. The rotational direction is determined by the phase difference and the angular velocity is controlled by the frequency. The completed system can be controlled to within 2° in an experimental pipe inspection test. 相似文献
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近年来,DNA自组装成为DNA计算及纳米材料科学等领域研究的热点,它关系着DNA计算机的发展.DNA分子如何组装已成为许多学者关注的焦点.为此,文中主要围绕着DNA分子组装成的初级元件的类型:一条长的DNA单链、多条短寡核苷酸链和自组装单元,重点从自组装的初级元件形成的一维、二维及三维结构上讨论DNA自组装技术与方法.文中讨论了这些技术的原理及应用的研究进展,并且分析了DNA自组装应用于DNA计算的主要难点及解决方案.首先,编码的好坏决定着实验是否能实施;其次,DNA单链之间组装的角度及初级原件之间的连接是影响自组装体产量的关键因素;从具体的实验操作上看,每条DNA单链的浓度比例及退火温度则决定着自组装的成败.随着学科之间的高度交叉,DNA自组装将是材料学、信息学、生物学等领域的重要研究方向,也是推动DNA计算机发展的重要手段. 相似文献
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This article gives a concise but intensive survey on one of the subfieldsof natural computing – Molecular Computing. Starting with making a brief revisit to Adleman's pioneering work, this paper will give an overviewof selected topics of the field from theory to experiments, while the stressis primarily put on research of theoretical achievements of molecular computing models. 相似文献
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A nonlinear model of an electromechanical actuator (EMA) system for aerofin control is presented. The EMA is realized with
a permanent magnet brush DC motor controlled by a constant current driver. In this paper we introduced a simulation model
that includes nonlinearities of the motor driver. A PID position controller was designed using the simulation model, although
it was impossible to develop a linear model. The simulation results have been of the great importance for understanding the
system behavior and successful control system implementation. The proposed control system has experimentally been validated
on a test bench. The EMA-AFC test bench is designed to provide real operating conditions.
The text was submitted by the authors in English. 相似文献
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《Advanced Robotics》2013,27(1):59-69
The general problem of including impulse effects in Lagrangian dynamics is discussed. A self-consistent method is developed and a corresponding block-diagram representation including initial conditions is constructed. An example of collision between two dissimilar robots is provided for illustration. A synthesis method for system control laws is derived from the Lagrangian. Application to control of impulse variations is discussed. 相似文献
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提出了一个馈能式主动控制系统的设计方案,首先给出了一种馈能式主动控制的电机作动器的驱动方式,使得作动器能够在三种工作模式下进行功能切换.其次,分析了三种模式的工作时间比与能量平衡之间的关系,给出了能够实现能量平衡的基本条件,并得到了系统达到能量平衡的条件.最后,通过一个馈能式主动控制系统设计的算例验证了方法的可行性.仿真结果表明,该主动控制系统能够有效降低振动激励的干扰,并且能够达到能量平衡,即不需要外部的能量供给. 相似文献
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陶瓷驱动器应用中的滞环特性及研究进展 总被引:1,自引:0,他引:1
陶瓷驱动器作为高精度定位系统设计的关键器件,其滞环特性一直是影响被控系统性能的重要因素,因此滞环特性的建模与控制是目前亟待解决的核心技术问题。本文首先介绍了陶瓷启动器的滞环特性及其对高精度定位的不利影响,然后重点论述了国内外在陶瓷驱动器应用于非线性系统控制中的主要建模与控制方法。 相似文献