用三束磁光盘驱动器的自动光学海量存储系统

一种高速磁光盘驱动器的自动光学海量存储系统（ＭＳＳ）业已研制开发．它的特点是：采用１３０ｍｍＩＳＯ标准磁光盘，有很高的写入数据传输率和高效存储盘盒。作为关键装置──一种高速磁光盘驱动器已经研制出来。这种驱动器提供了高速数据写入容量，它比平常采用的磁光盘驱动器约大１０倍．这种光学ＭＳＳ写入和读出数据传输率为２．１ＭＢ／ｓ，存储容量为２５０ＧＢ～１ＴＢ，盘盒平均处理时间为５ｓ。根据性能模拟，业已证实，光学ＭＳＳ可用于贮存多媒体数据的低通信量的随机存储文件和高速ＤＡＳＤ后备文件．     

软硬天师

有问题找我：（ｒｊ＠ｐｃｍ．ｃｏｍ．ｃｎ）（５１０６３１）广州华南师范大学电脑杂志社问：我买了一个二手富士通ＳＣＳＩＭ２５１２Ａ　ＭＯ驱动器,接在一个ＩＳＡ插槽的ＳＣＳＩ接口卡上（ＡＨＡ１５１０Ｂ）,在Ｗｉｎｄｏｗｓ　９８里可自动识别并且使用正常。我想开机时先由ＭＯ启动,可是在ＢＩＯＳ中将启动顺序设置为“ＳＣＳＩ,Ｃ,Ａ”或是“ＳＣＳＩ,Ａ,Ｃ”,都是直接从Ｃ盘开始启动,把硬盘和软驱的数据线、电源线拔下来,还是不行。请问这是否跟ＭＯ驱动器和ＳＣＳＩ接口卡的ＩＤ跳线有关？　答：首先请查看ＳＣＳＩ接…     

无线局域网MAC标准

８０２．１１为无线局域网标准，其物理层的无线媒体决定了它与现有的有线局域网（ＬＡＮ）的媒体访问控制（ＭＡＣ）层不同，具有独特的媒体访问控制机制，各站以载波侦听多路访问／碰撞避免（ＣＳＭＡ／ＣＡ）的方式共享无线媒体。本文结合具体设计研制过程，介绍ＭＡＣ的分布式协调功能（ＤＣＦ）和点协调功能（ＰＣＦ）、及ＭＡＣ帧格式等。     

怎样防止他人使用你的计算机

假设某某在你的机器上,利用ＣＭＯＳ密码破译软件或口令计算软件（从网上下载：／／ｗｗｗ．．ｎｅｗｈｕａ．ｃｏｍ．ｃｎ或ｗｗｗ．ｌｏｓｔｐａｓｓｗａｒｄ．ｃｏｍ／）,或通过重写软件Ａｗｄｆｌａｓｈ．ｅｘｅ,或用ＤＥＢＵＧ命令的一Ｏ ７０ １０;－Ｏ７１００。利用ＣＭＯＳＲＡＭ在加电自检时发现奇偶校验错而进入ＣＭＯＳ,从而更改其相关选项：例如更改了 Ｂｏｏｔ Ｓｑｕｅｎｃｅ： Ｃ：, Ａ：（驱动器启动顺序,有的机器是Ｆｉｒｓｔ Ｓｑｕｅｎｃｅ项）,而使系统从软驱进行引导。并在ＭＳＤＯＳ． ＳＹＳ或ＣＯＮＦＩＧ…     

基于广义逆的指数型联想存储器模型

基于Ｋｏｈｏｎｅｎ的广义逆联想存储模型ＧＩＡＭ（ｇｅｎｅｒａｌｉｚｅｄｉｎｖｅｒｓｅａｓｏｃｉａｔｉｖｅｍｅｍｏｒｙ）和Ｍｕｒａｋａｍｉ的最小平方联想存储ＬＳＡＭ（ｌｅａｓｔｓｑｕａｒｅｓａｓｓｏｃｉａｔｉｖｅｍｅｍｏｒｙ）原理，本文提出了一个指数型联想存储器．该模型的存储性能经计算机模拟证实，远远优于ＧＩＡＭ和ＬＳＡＭ，通过适当地调节参数，几乎可达到完全的联想．对输入噪声方差，无需先验假设，同时还实现了一定程度的非线性映射特性.     

近邻软磁层（SAL）偏置型磁阻头的微磁学分析

本文采用微磁学的方法，计算ＳＡＬ偏置型磁阻头的磁阻元件（ＭＲ）的电流和膜厚、ＳＡＬ的膜厚以及ＭＲ与ＳＡＬ之间的距离对偏置的影响，同时计算了ＭＲ元件的电阻车随信号场的变化，为ＳＡＬ偏置型磁阻头的设计和改进提供理论依据。     

统计遗传算法

本文讨论了遗传算法中框架定理的不足之处，并对之进行了改进，然后分析了遗传算法与Ａ算法的相似性，以及遗传算法的概率性质．由此联想到它与ＳＡ算法的相似性，在此基础上，作者将原先发展的一套ＳＡ算法的理论移植到遗传算法中来，建立一个新的算法，称之为统计遗传算法（简记为ＳＧＡ算法）．为适合于优化计算，作者引入最大值统计量及其对应的ＳＡ算法（简称为ＳＭＡ算法），并将ＳＭＡ算法与ＧＡ算法相结合（记为ＳＧＡ（ＭＡＸ）算法）．新的算法不仅提高了算法的精度和降低了计算的复杂性，而且能克服ＧＡ算法中出现“早熟”的现象以及提供进行并行计算的可能性．更主要的是新的方法为ＧＡ算法的精度、可信度和计算复杂性的定量分析提供了理论和方法上的有力工具.     

VAX／VMS CAMAC驱动器的移植

本文给出移植ＣＡＭＡＣ驱动器的意义，简要介绍了ＣＡＭＡＣＶＭＳ和驱动器的有关的基本概念与移植时遇到的问题及其解决办法。是一年多移植工作的系统总结。     

多智能体协调系统的研究及实现方法

本文介绍了多智能体（ＭＡＳ）协调系统的发展、研究现状,以及ＭＡＳ的主要研究内容和关键技术,并以机器人足球比赛的方式作为研究多智能体协调系统的典型问题进行讨论。     

用VISUAL FOXPRO设计多媒体播放器

本文介绍了利用ＶＩＳＵＡＬＦＯＸＰＲＯ的应用程序接口ＦＯＸＴＯＯＬＳ调用ＷＩＮＤＯＷＳ的ＤＬＬ库开发多媒体播放器的原理及实现技术，利用该播放器可以对波形文件（．ＷＡＶ），数字音乐，（．ＭＩＤ），视频图象（．ＡＶＩ）动画（．ＦＬＡ）音频，压缩视频（．ＭＰＧ）Ｖ－ＣＤ视频，（．ＤＡＴ）等进行控制和播放。     

一种微小型蠕动机器人的步态分析

介绍了一种形状记忆合金(SMA)驱动的微型蠕动机器人的结构和工作原理,并对蠕动机器人的直线运动原理和转弯运动原理分别进行了详细的分析和论述。此外,还通过详细的实验对蠕动机器人步距与SMA驱动器电流的关系、蠕动机器人转弯角度与SMA驱动器电流的关系,以及蠕动机器人响应速度与SMA驱动器电流的关系进行了分析,并确定了SMA驱动器的加热电流。     

新型仿生水下子母机器人系统设计

传统的水下子母机器人在水下作业时母机器人会有噪音大、体积大和隐蔽性差的缺点,而且子机器人作为提高水下机器人位置精度和续航时间的重要手段大多采用尾部摆动、机身两侧划水、小型螺旋桨推进等方式,造成运动过程中稳定性差、噪音大而且尺寸难以微型化的缺点.为了克服这些不足,设计一种新型仿生水下子母机器人系统.该系统球形母机器人采用喷水电机进行喷水推进,减少噪音,增加隐蔽性,并为微型子机器人提供控制信号和能源.微型子机器人以樽海鞘为原型基于仿生原理设计,在水下运动透明度高、隐蔽性强、稳定性高.建立球形母机器人的喷水推进器和微型子机器人的微型驱动器的驱动力计算模型,同时建立微型子机器人的水下转向模型.最后制作子母机器人样机并进行子母机器人的水下运动实验,以验证所设计的子母机器人系统的有效性.     

An earthworm-like micro robot using shape memory alloy actuator

A novel bio-mimetic micro robot with wireless control and wireless power supply using shape memory alloy (SMA) actuator is developed. There have been many kinds of mobile micro robot using the micro actuators such as ionic polymer metal composite (IPMC), micro motors and piezo actuators. These actuators generally require electric cable for power supply, which might highly influence the mobility of the micro robot. Therefore, a perfect wireless micro robot comprising telemetry and batteries is realized using only one SMA spring actuator and one silicone bellow. The SMA actuator and bellow play a role in contraction and extension of an earthworm muscle respectively. Based on theoretical analysis, specifications of a SMA actuator and a bellow are properly selected. For temporal stopping, setae of earthworm mimicked claws are employed. On the issue of control, the proposed robot is controlled according to On/Off signal via wireless communication. The operation is customized through tuning of on-/off-time of an actuator and using different type batteries such as a lithium, silver oxide and alkaline battery. After the design and experiment, we find out that the earthworm-like micro robot without wired power supply and control can move freely without limitation of working space and be fabricated easily.     

A biomimetic underwater microrobot with multifunctional locomotion

Underwater microrobots are in urgent demand for applications such as pollution detection and video mapping in limited space. Compact structure, multi-functionality, and flexibility are normally considered incompatible characteristics for underwater microrobots. Nevertheless, to accomplish our objectives, we designed a novel inchworm-inspired biomimetic locomotion prototype with ionic polymer metal composite (IPMC) actuators, and conducted experiments to evaluate its crawling speed on a flat underwater surface. Based on this type of biomimetic locomotion, we introduced a new type of underwater microrobot, using ten IPMC actuators as legs or fingers to implement walking, rotating, floating, and grasping motions. We analysed the walking mechanism of the microrobot and calculated its theoretical walking speed. We then constructed a prototype of the microrobot, and carried out a series of experiments to evaluate its walking and floating speeds. Diving/surfacing experiments were also performed by electrolysing the water around the surfaces of the actuators. The microrobot used six of its actuators to grasp small objects while walking or floating. To implement closed-loop control, we employed three proximity sensors on the microrobot to detect an object or avoid an obstacle while walking.     

Design of an shape memory alloy-actuated biomimetic mobile robot with the jumping gait

This paper reports the design, simulation, analysis, and experiments of mesoscale fourlegged robots that can locomote by a jumping gait using only shape memory alloy (SMA) wires as actuators. Through studies of the structure and function of leg muscle groups in vertebrates’ lower musculoskeletal system, three types of muscles are selected for robot leg design, and each muscle is then replaced by an SMA wire in the robot model. Two types of robot models are proposed and analyzed using three sets of computer simulation. It can be concluded from the simulation that the sequence of SMA muscle activation, activation arrangement of the rear and the front legs, and the foot length are primary factors determining the jumping performance. It is observed that when the robot has three degrees of freedom for each leg and a foot length of 40 mm, the maximum jumping height is approximately 120% of the robot’s height and the maximum distance per jump is about 35% of its length. In addition, two robot prototypes are presented based on the design models and experimental results. The simulation and experimental results are found to show good agreement. The overall results show that the proposed robot design and SMA actuation method are feasible for all SMA-driven jumping robots.     

一种空间仿生柔性机器人设计与智能规划仿真方法

针对传统空间刚体机器人存在的自由度有限和环境适应性差等缺陷,基于生物体结构提出了一种受“尺蠖”与“蛇”启发的适用于空间在轨服务的柔性机器人。首先,搭建了柔性机器人原型样机,研究了镍钛形状记忆合金（SMA）驱动器的驱动特性,设计了可视化控制界面并通过实物实验验证了机器人原型样机的可操控性。然后,设计了一种基于所提柔性机器人结构的Q学习算法和相应的奖励函数,搭建了柔性机器人仿真模型并在仿真环境中完成了基于Q学习的机器臂自主学习规划仿真实验。实验结果显示机器臂能够在较短时间内收敛到稳定状态并自主完成规划任务,表明所提出算法具有有效性和可行性,强化学习方法在柔性机器人的智能规划与控制中具有良好的应用前景。     

Development of a novel type of microrobot for biomedical application

This paper proposes a new type of microrobot that can move along a narrow area such as blood vessels which has great potential for application in microsurgery. Also, the development of a wireless microrobot that can be manipulated inside a pipe by adjusting an external magnetic field has been discussed. The model microrobot utilizes an electromagnetic actuator as the servo actuator to realize movement in biomedical applications. The structure, motion mechanism, and evaluation characteristic of motion of the microrobot have been discussed, and the directional control can be realized via the frequency of the input current. The moving experiments have been carried out in branching points in the horizontal direction, and the moving speed of the robot has been measured in vertical direction by changing frequency. Based on the results, the microrobot has a rapid response, and it can clear out dirt which is adhering to the inner wall of pipe. This microrobot will play an important role in both industrial and medical applications such as microsurgery.     

Development of an underwater biomimetic microrobot with compact structure and flexible locomotion

Compact structure and flexibility is normally considered as a pair of incompatible characteristics for legged microrobots. Most robots choose complex structure of multi-joint legs to attain the flexibility, while some microrobots have poor flexibility for miniaturization. To attain a microrobot with both compact structure and flexible locomotion, we designed a novel type of biomimetic locomotion employing ionic conducting polymer film (ICPF) actuators as one-DOF legs. We developed several prototype microrobots using this locomotion. In this paper, a microrobot using this biomimetic locomotion, named Walker-3, utilizing six ICPF actuators with two-DOF motion is developed. It is 30 mm in length, 55 mm in width and 8 mm in height (in static state). Experimental results indicate that Walker-3 can attain 6 mm/s of walking speed and 7.1 deg/s of rotating speed and climb on a 30° ascent at a speed of 0.5 mm/s with control signal of 10 V, 0.5 Hz. It is also suitable for uncertain terrain, such as climbing on a stairs less than 2 mm high and striding over a pit less than 5 mm wide. It has better flexibility, balance and load ability than its predecessors. We compared it with some legged microrobots and the result shows a microrobot with this biomimetic locomotion can have both compact structure and multi DOF locomotion.     

Development of an artificial muscle linear actuator using ionic polymer–metal composites

We are developing an artificial muscle linear actuator using ionic polymer-metal composites (IPMC)—electro-active polymers that bend in response to electric stimuli—and the goal of our study is applying the actuator to robotic applications, especially to a biped walking robot. In this paper, we will describe the structure of the actuator and an empirical model of the actuator which has two inputs and one output, and whose parameters are identified from input-output data. Based on the empirical model, basic experiments and position control of the linear actuator are demonstrated. Then, we consider walking control of a small-sized biped walking robot. In the application we assume that the developed actuators are connected both in series and in parallel to a joint of the walking robot so that the actuators supply enough torque to the robot, and that they are stretched and compressed enough. It is shown throughout simulations that the biped walking robot with the actuators can walk on level ground with a period synchronized with the period of the input signal.     

Development of ICPF Actuated Underwater Microrobots

It is our target to develop underwater microrobots for medical and industrial applications. This kind of underwater microrobots should have the characteristics of flexibility,good response and safety. Its structure should be simple and it can be driven by low voltage and produces no pollution or noise. The low actuating voltage and quick bending responses of Ionic Conducting Polymer Film (ICPF) are considered very useful and attractive for constructing various types of actuators and sensors. In this paper, we will first study the characteristics of the ICPF actuator used in underwater microrobot to realize swimming and walking. Then, we propose a new prototype model of underwater swimming microrobot utilizing only one piece of ICPF as the servo actuator. Through theoretic analysis, the motion mechanism of the microrobot is illustrated. It can swim forward and vertically. The relationships between moving speed and signal voltage amplitude and signal frequency is obtained after experimental study. Lastly, we present a novel underwater crab-like walking microrobot named crabliker-1.It has eight legs, and each leg is made up of two pieces of ICPF. Three sample processes of the octopod gait are proposed with a new analyzing method. The experimental results indicate that the crab-like underwater microrobot can perform transverse and rotation movement when the legs of the crab collaborate.