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。     

轮式移动平台两构形间运动变换对机械手的影响

本文研究了连接轮式移动平台两构形的3种路径对机械手的影响．指出需要逆路径连 接的构形在规划移动机械手两构形时应尽量避免使用,对机械手来说移动平台的最好构形应 处于能用直接路径连接的区域内,在进行移动机械手协调规划时不应忽略这点,并为移动机 械手优化准则的提出奠定了基础．     

KJ2005煤井监控系统软件的设计与实现*

针对目前中小型煤井的需求,结合计算机技术和网络技术,采用模块化设计在VC++ 6.0下开发了KJ2005煤井监控系统。对该软件的主要模块进行了简单介绍,并详细介绍了其串口通信接口程序的设计,给出了部分通信源码。应用表明,该系统简单、实用,能及时为用户提供准确信息,能动地减少了事故发生。     

智能遥控控制芯片低功耗设计

在前人低功耗设计研究基础上,实现了智能遥控控制芯片的低功耗设计,重点从系统结构级提出了减少功耗的一些方法,如低功耗模式、降低高频时钟的活动、减少存储器的功耗、减少信号跳变等。     

交叉型平面二自由度移动并联机构运动学性能分析

为研究一种新型平面二自由度移动并联机构的运动学性能,建立其运动学模型,推导出位置正/逆解的解析表达式,定义运动学性能指标,分析不同构型的性能指标表达式,探讨性能指标与机构尺寸之间的关系,并绘制相关的性能图谱.得到该并联机构具有较大有效工作空间与机架尺寸比值、导轨长度短等优点.这些性能图谱为该并联机构的优化提供了参考.     

A 6-DOF adaptive parallel manipulator with large tilting capacity

In this paper, a novel 6 degrees of freedom (DOFs) adaptive parallel manipulator with large tilting capacity is presented. The manipulator consists of four identical peripheral limbs and one center limb connecting the base and the moving platform. Due to the special architecture, the doubly actuated center limb of the manipulator could have infinite inverse solutions. In every configuration of the end-effector, the manipulator can adapt its center limb to the position and orientation with best dexterity. An optimization equation for obtaining the optimized dexterity of the manipulator is introduced to solve this nonholonomic problem, which also makes the manipulator capable of large tilting capacity. Targeting for the application of five-face machining, the detailed kinematic analysis of the manipulator is developed, which includes the closed-form solutions of inverse position problems, the singularity, dexterity, workspace and tilting capability. The analysis developed in this paper shows that the proposed manipulator has large tilting capacity and thus a suitable candidate for five-face machining.