RS—485串行接口及其构成的工业测控网络

ＲＳ－４８５串行接口具有电路结构简单、通讯速率高、通讯距离远等诸多优点,在集散工业测控系统中得到了广泛的应用。本文讨论了ＲＳ－４８５串行接口的特点,介绍了ＲＳ－４８５串行接口的具体电路及其典型的应用实例。     

基于FT232R的USB-RS232转换模块的设计

通用串行总线(USB)以其传输速度快、占用资源少、真正的即插即用等优点正在逐步成为通用的计算机与外设的接口而取代传统的RS232总线。以传统的RS232接口为数据通信通道的外部设备与PC的通信面临一个转换的问题。该文介绍的是基于FT232R芯片实现USB和RS232之间的转换模块的设计。使用此芯片优点是数据收发和协议转换工作全部由芯片独立完成,而无需干预。     

POS机软件升级的方法与设计

该文介绍了POS（Point of Sales,销售点终端）系统中软件升级的方法,从中选出一种方法作为软件升级的案例,从硬件的设计开始,一直到软件的设计,详细说明了如何进行软件升级。     

Control of three-link underactuated manipulators using a switching method of fuzzy energy regions

In general, manipulators used for industry and in academic laboratories have actuators to drive each joint. On the other hand, underactuated manipulators handled by our research have some passive or free joints without actuators and brakes. We recently developed a switching method of fuzzy energy regions to control such manipulators. In such a method, it is necessary to design parameters related to energy regions and the gains of some partly stable controllers based on the computed torque method. Here, the switching method is applied for a three-link underactuated manipulator. We optimize such design parameters related to fuzzy energy regions by a genetic algorithm. The effectiveness of the present method is illustrated with some simulations. This work was presented in part at the 12th International Symposium on Artificial Life and Robotics, Oita, Japan, January 25–27, 2007     

西门子S7—300软冗余PLC在垃圾焚烧发电厂自控系统中的应用

本文主要介绍西门子S7—300软冗余PLC系统在垃圾焚烧发电厂中的应用,以已经竣工的“深圳市医疗废物处置中心”的自动控制系统为例详细描述了软冗余系统的设计选型、编程以及在小型垃圾发电厂中的应用。     

A PC-Based Simulator/Controller/Monitor Software for a Generic 6-DOF Manipulator

General form application is a very important issue in industrial design. Prototyping a design helps in determining system parameters, ranges and in structuring better systems. Robotics is one of the industrial design fields in which prototyping is crucial for improved functionality. Developing an environment that enables optimal and flexible design using reconfigurable links, joints, actuators and sensors is essential for using robots in the education and industrial fields. We propose a PC-based software package to control, monitor, and simulate a generic 6-DOF (six degrees of freedom) robot including a spherical wrist. This package may be used as a black box for the design implementations or as a white (detailed) box for learning about the basics of robotics and simulation technology.     

A Two-Layer Robot Controller Design Using Evolutionary Algorithms

The results obtained by a rule-based proportional, integral, derivative (PID) precompensator controller applied to a two-joint manipulator are discussed. The end effector is made to follow a specified trajectory obtained from the inverse kinematics by an appropriate design of a fuzzy control law. The desired trajectory is determined by the values of the joint variables and the structural kinematics parameters of the manipulator. The performance of the PID controller is exploited here to build a fuzzy precompensator that will enhance the conventional PID and to obtain better performances and results. The fuzzy rule base of the precompensator designed is found by associating two evolutionary algorithms that search for the optimal solution.     

Design and Testing of a Robotic System for mr Image-guided Interventions

The effective integration of robotics together with magnetic resonance (mr) technology is expected to facilitate the real-time guidance of various diagnostic and therapeutic interventions. Specially designed robotic manipulators are required for this purpose, the development of which is a challenging task given the strong magnetic fields and the space limitations that characterize the mr scanning environment. A prototype mr-compatible manipulator is presented, designed to operate inside cylindrical mr scanners. It was developed for the study of minimally invasive diagnostic and therapeutic interventions in the abdominal and thoracic area with real-time mr image guidance. Initial tests were performed inside a high-field clinical mr scanner and included mr-compatibility tests and phantom studies on image-guided targeting.     

Windows9x中串并行并存通讯系统设计与实现

详细介绍了运用面向对象程序设计语言VB5．0,开发在同一智能系统中同时采用RS232串口和GPIB并口的综合性实时数据采集处理系统的实现,解决了MSComm控件在VB5．0及5．0以上版本中应用于仪器命令字的ASCⅡ码传送时的特殊问题。