神奇的壁面清洗爬壁机器人

壁面清洗爬壁机器人是一种高效简便的自动化清洗工具 ,使用安全 ,效率高 ,降低了工人的劳动强度。由哈尔滨工业大学机器人研究所开发研制的壁面清洗爬壁机器人是一种新型移动式服务机器人 ,它由爬壁机器人主体、清洗机构、控制器、遥控系统、安全装置和供气、送水装备等组成。在技术上 ,它是集机械、电子、控制、通讯、计算机等多种学科于一体的技术密集型装置。该机器人有以下特点。(1)吸附可靠 :采用负压原理 ,能可靠地吸附在瓷砖壁面与玻璃幕墙上 ;(2 )移动灵活 :采用两套交流伺服系统驱动双轮 ,可在垂直墙面上自由移动 ,爬高能力达 80米…     

基于PIC单片机的六足机器人的协调控制

根据仿生原理以及六足步行机器人各关节运动的协调性、准确性的控制要求,确定了基于PIC单片机控制的控制系统硬件结构和混合闭环的伺服结构控制方案.控制系统的硬件电路部分主要包括控制器、传感器和电机驱动模块.控制器和传感器分别采用8位PIC系列单片机PIC16F877和反射式红外传感器.六足机器人的驱动则是采用直流伺服电机.针对六足机器人步态控制算法给出的数据特点,采用了先对脉冲总数最大的关节进行插补,然后按照关节间脉冲总数的比例关系再对其他关节进行插补的新插补算法,实现了机器人各关节的指令在每一个位置控制周期内的协调.     

基于倾角传感器技术的全地形水平运载系统

针对在崎岖地形下的运载困难以及稳定性差,影响货物安全运送等问题,设计了一种全地形水平运载系统。采用了六足步行机器人模块与水平调节模块相结合的技术,六足步行机器人模块通过软件控制18位舵机来驱动运动关节,以实现灵活的运动,另外,水平调节模块通过倾角传感器采集地面与水平面的倾斜角度,其角度数据通过51单片机处理来控制液压系统中步进电机的输出量,以实现导杆在油压作用下的升降,完成载物台的水平调节。试验表明:该系统能够在倾斜度为1°~30°范围内自动调节,使其实现水平运载功能。     

上下位机控制的六足仿生机器人设计

设计一模块化的的六足仿生机器人,这种设计可以简化六足机器人的结构而同时能又保障其性能的优越.它采用上下位机的控制形式,选用舵机控制板,以舵机来驱动运动关节,避障模块选取多路红外循迹控制模块,在系统软件控制下,来实现其各项功能.控制系统的模块化设计简化了系统的结构,降低了设计过程的复杂性,使该机器人能更加精确地控制更为复杂运动步态,实现了在地面的稳定运动,具有很强的适应能力.     

CAN总线在遥操作机器人运动控制系统中的应用

遥操作机器人是由操作者远程遥控完成复杂作业任务的特种机器人。实现其复杂的运动控制需要各个执行部件的协调工作。采用多个智能模块控制各个执行部件 ,可实现控制系统的分布智能化。文章介绍了基于CAN总线的运动控制系统的实现 ,并详细描述了智能控制模块CAN控制器的实现     

可轮式运动的小型双足机器人控制系统设计

设计了一种可轮式运动的小型双足机器人控制系统。以单片机为核心控制器,采用舵机驱动关节完成足式运动,采用直流电机驱动车轮完成轮式运动。HMR3000作为传感器进行姿态角检测,辅助机器人完成各种运动。分析了其足式运动、轮式运动和轮足互换的过程并进行了实验验证。结果表明,控制系统为机器人提供了很好的运动控制平台,满足机器人的控制要求。     

基于TMS320LF2407A的教育机器人硬件系统设计

本论文的主要目的就是设计一种基于DSP的模块化教育机器人硬件系统。该教育机器人是以智能小车为载体基于TMS320LF2407A微控制器的嵌入式控制平台及编程环境的一款开放式的机器人控制系统,以各传感器模块设计应用为核心,采用模块化设计思想进行设计,包括系统总体框架的设计、无线通信模块和系统电源、电机驱动硬件电路模块的设计。     

基于虚拟仪器的玻璃微裂纹监控系统的应用研究

针对现有的高空玻璃幕墙服役期质量检测与监控技术的不足,提出了一种基于超声无损探伤技术的高空玻璃幕墙质量监控系统.通过Labview软件设计出的控制及分析界面,实现对爬壁机器人及平台搭载设备的控制;设计了便于高空开展工作的机器人平台结构,确定了满足系统检测要求的采样频率;研究了超声去噪和缺陷诊断的计算方法,并开发了一套玻璃幕墙服役质量跟踪监控软件,实验结果良好.     

一种储油罐内壁清洁机器人的设计

在简单介绍储油罐内壁清洁机器人的国内外现状的基础上,完成了应用于储油罐内爬壁机器人系统的总体方案设计。系统由机器人单元、遥控器单元和上位机单元组成,各单元之间采用无线串口通讯。能够执行前进、后退、转弯等动作,并具有对储油罐壁的清洁和监测的功能。     

基于样条插值的仿壁虎机器人足端脱附轨迹规划

针对仿壁虎机器人足端粘附脱附运动,提出了Spline三次样条插值与Matlab/Simulink半实物仿真相结合的足端轨迹生成及优化的方法。合理选取关键节点,利用三次样条插值,可快速得到所需复杂的光滑轨迹曲线。设计了测试平台并进行半实物仿真,通过分析数据采集卡采集的脱附力的变化趋势,并合理调整三次样条插值数据节点,优化脱附轨迹及其法向力与切向力,使仿壁虎机器人单足脱附过程切向力和法向力保持在较小范围。验证了该方法在单腿运动轨迹生成中的有效性和可行性,为四足步态生成与爬壁实验奠定基础。     

Resolution Enhancement Technology:Integrated Process Solutions using OPC

DUV lithography, using the 248 nm wavelength, is a viable manufacturing option for devices with features at 130 nm and less. Given the low kl value of the lithography, integrated process development is a necessary method for achieving acceptable process latitude. The application of assist features for rule based OPC requires the simultaneous optimization of the mask, illumination optics and the resist.Described in this paper are the details involved in optimizing each of these aspects for line and space imaging.A reference pitch is first chosen to determine how the optics will be set. The ideal sigma setting is determined by a simple geometrically derived expression. The inner and outer machine settings are determined, in turn,with the simulation of a figure of merit. The maximum value of the response surface of this FOM occurs at the optimal sigma settings. Experimental confirmation of this is shown in the paper.Assist features are used to modify the aerial image of the more isolated images on the mask. The effect that the diffraction of the scattering bars (SBs) has on the image intensity distribution is explained. Rules for determining the size and placement of SBs are also given.Resist is optimized for use with off-axis illumination and assist features. A general explanation of the material' s effect is discussed along with the affect on the through-pitch bias. The paper culminates with the showing of the lithographic results from the fully optimized system.     

Cost-effective test solutions for smart card and other integrated flash applications

From its emergence in the late 1980s as a lower cost alternative to early EEPROM technologies, flash memory has evolved to higher densities and speedsand rapidly growing acceptance in mobile applications.In the process, flash memory devices have placed increased test requirements on manufacturers. Today, as flash device test grows in importance in China, manufacturers face growing pressure for reduced cost-oftest, increased throughput and greater return on investment for test equipment. At the same time, the move to integrated flash packages for contactless smart card applications adds a significant further challenge to manufacturers seeking rapid, low-cost test.     

Theoretical analysis of the relationship between the Brillouin gain coefficient and the strain in the optical-fiber sensors

The relation between the power of the Brillouin signal and the strain is one of the bases of the distributed fiber sensors of temperature and strain. The coefficient of the Bfillouin gain can be changed by the temperature and the strain that will affect the power of the Brillouin scattering. The relation between the change of the Brillouin gain coefficient and the strain is thought to be linear by many researchers. However, it is not always linear based on the theoretical analysis and numerical simulation. Therefore, errors will be caused if the relation between the change of the Brillouin gain coefficient and the strain is regarded as to be linear approximately for measuring the temperature and the strain. For this reason, the influence of the parameters on the Brillouin gain coefficient is proposed through theoretical analysis and numerical simulation.     

An improved parallel thinning algorithm with two subiterations

The parallel thinning algorithm with two subiterations is improved in this paper. By analyzing the notions of connected components and passes, a conclusion is drawn that the number of passes and the number of eight-connected components are equal. Then the expression of the number of eight-connected components is obtained which replaces the old one in the algorithm. And a reserving condition is proposed by experiments, which alleviates the excess deletion where a diagonal line and a beeline intersect. The experimental results demonstrate that the thinned curve is almost located in the middle of the original curve connectivelv with single pixel width and the processing speed is high.     

Novel fiber-optical interferometer with miniaturized probe for in-hole measurements

Today, micro-system technology and the development of new MEMS （Micro-Electro-Mechanical Systems） are emerging rapidly. In order for this development to become a success in the long run, measurement systems have to ensure product quality. Most often, MEMS have to be tested by means of functionality or destructive tests. One reason for this is that there are no suitable systems or sensing probes available which can be used for the measurement of quasi inaccessible features like small holes or cavities. We present a measurement system that could be used for these kinds of measurements. The system combines a fiber optical, miniaturized sensing probe with low-coherence interferometry, so that absolute distance measurements with nanometer accuracy are possible.     

Development of the readout system for waveguide multilayer optical card

Waveguide multilayer optical card （WMOC） is a novel storage device of three-dimensional optical information. An advanced readout system fitting for the WMOC is introduced in this paper. The hardware mainly consists of the light source for reading, WMOC, motorized stages addressing unit, microscope imaging unit, CCD detecting unit and PC controlling ＆ processing unit. The movement of the precision motorized stage is controlled by the computer through Visual Basic （VB） language in software. A control panel is also designed to get the layer address and the page address through which the position of the motorized stages can be changed. The WMOC readout system is easy to manage and the readout result is directly displayed on computer monitor.     

Study of waveguide coupling efficiency in hybrid silicon lasers

This paper presents a new method to increase the waveguide coupling efficiency in hybrid silicon lasers. We find that the propagation constant of the InGaAsP emitting layer can be equal to that of the Si resonant layer through improving the design size of the InP waveguide. The coupling power achieves 42% of the total power in the hybrid lasers when the thickness of the bonding layer is 100 nm. Our result is very close to 50% of the total power reported by Intel when the thickness of the thin bonding layer is less than 5 nm. Therefore, our invariable coupling power technique is simpler than Intel＇s.     

Collinear phase-matching study of terahertz-wave generation via difference frequency mixed in GaAs and Inp

The collinearly phase-matching condition of terahertz-wave generation via difference frequency mixed in GaAs and InP is theoretically studied. In collinear phase-matching, the optimum phase-matching wave hands of these two crystals are calculated. The optimum phase-matching wave bands in GaAs and lnP are 0.95-1.38μm and 0.7-0.96μm respectively. The influence of the wavelength choice of the pump wave on the coherent length in THz-wave tuning is also discussed. The influence of the temperature alteration on the phase-matching and the temperature tuning properties in GaAs crystal are calculated and analyzed. It can serve for the following experiments as a theoretical evidence and a reference as well.     

Effects of the alloy compositions on the phonon-polaritons in ternary mixed crystals

Composition dependence of bulk and surface phonon-polaritons in ternary mixed crystals are studied in the framework of the modified random-element-isodisplacement model and the Bom-Huang approximation. The numerical results for Several Ⅱ - Ⅵ and Ⅲ- Ⅴ compound systems are performed, and the polariton frequencies as functions of the compositions for ternary mixed crystals AlxGa1-xAs, GaPxAS1-x, ZnSxSe1-x, GaAsxSb1-x, GaxIn1-xP, and ZnxCd1-xS as examples are given and discussed. The results show that the dependence of the energies of two branches of bulk phonon-polaritons which have phonon-like characteristics, and surface phonon-polaritons on the compositions of ternary mixed crystals are nonlinear and different from those of the corresponding binary systems.     

New insert layer structure OLEDs

An insert layer structure organic electroluminescent device（OLED） based on a new luminescent material （Zn（salen）） is fabricated. The configuration of the device is ITO/CuPc/NPD/Zn（salen）/Liq/LiF/A1/CuPc/NPD/Zn（salen）/Liq/LiF/A1. Effective insert electrode layers comprising LiF（1nm）/Al（5 nm） are used as a single semitransparent mirror, and bilayer cathode LiF（1 nm）/A1（100 nm） is used as a reflecting mirror. The two mirrors form a Fabry-Perot microcavity and two emissive units. The maximum brightness and luminous efficiency reach 674 cd/m^2 and 2.652 cd/A, respectively, which are 2.1 and 3.7 times higher than the conventional device, respectively. The superior brightness and luminous efficiency over conventional single-unit devices are attributed to microcavity effect.