为了实时掌握农业机械自动导航时运行状态的相关参数,并根据监测参数作出相应的调整动作,本文以Visual Studio 2008为开发平台,开发了一套高速插秧机自动导航的运行参数远程监测系统软件。该软件功能主要包括信号检测、数据通讯、控制...为了实时掌握农业机械自动导航时运行状态的相关参数,并根据监测参数作出相应的调整动作,本文以Visual Studio 2008为开发平台,开发了一套高速插秧机自动导航的运行参数远程监测系统软件。该软件功能主要包括信号检测、数据通讯、控制决策、数据显示和数据存储。系统采用Visual Studio 2008中Visual Basic.net 2008语言进行开发,将远程采集的各监测数据经由GSM网络进行无线传输到上位机;并采用Serial Port控件来进行串行通讯,完成PC机与GSM模块之间数据的交换,并对相应控制动作进行相应性能仿真。展开更多
U SB( U niversal Serial Bus)经过了 9年发展 ,已经得到了市场的认可 ,其传输速度达到了最大 480 Mb/s的惊人地步 ,而 USB OTG ( On The Go)的推出更是鼓舞人心 ,其双重角色的强大功能可以使 U SB设备摆脱对 PC的完全依赖。 USB OTG是 ...U SB( U niversal Serial Bus)经过了 9年发展 ,已经得到了市场的认可 ,其传输速度达到了最大 480 Mb/s的惊人地步 ,而 USB OTG ( On The Go)的推出更是鼓舞人心 ,其双重角色的强大功能可以使 U SB设备摆脱对 PC的完全依赖。 USB OTG是 U SB 2 .0规范的补充 ,他使外设可以在无主机参与的情况下直接互连进行通信工程。本文简单介绍了 U SB OTG的工作原理 ,并分析了现在 U SB OTG的应用情况 ,重点针对数码相机伴侣存在的问题 。展开更多
An optimal measurement pose number searching method was designed to improve the pose selection method.Several optimal robot measurement configurations were added to an initial pre-selected optimal configuration set to...An optimal measurement pose number searching method was designed to improve the pose selection method.Several optimal robot measurement configurations were added to an initial pre-selected optimal configuration set to establish a new configuration set for robot calibration one by one.The root mean squares (RMS) of the errors of each end-effector poses after being calibrated by these configuration sets were calculated.The optimal number of the configuration set corresponding to the least RMS of pose error was then obtained.Calibration based on those poses selected by this algorithm can get higher end-effector accuracy,meanwhile consumes less time.An optimal pose set including optimal 25 measurement configurations is found during the simulation.Tracking errors after calibration by using these poses are 1.54,1.61 and 0.86 mm,and better than those before calibration which are 7.79,7.62 and 8.29 mm,even better than those calibrated by the random method which are 2.22,2.35 and 1.69 mm in directions X,Y and Z,respectively.展开更多
The activated carbon wound supercapacitors with TEABF4/propylene carbonate （PC） and TEABF4/acetonitrile （AN） electrolytes were prepared. The effects of the electrolyte and temperature on the capacitance behavior w...The activated carbon wound supercapacitors with TEABF4/propylene carbonate （PC） and TEABF4/acetonitrile （AN） electrolytes were prepared. The effects of the electrolyte and temperature on the capacitance behavior were investigated by cyclic voltammetry （CV） and constant current charge-discharge. Compared with the PC-based supercapacitor, the AN-based supercapacitor has higher capacitance and lower equivalent serial resistance （RES） at discharge currents ranging from 5 to 1 000 mA and 25 ℃. Moreover, temperature effects are more prominent for PC-based supercapacitor than for AN-based supereapacitor. When the measurement temperature ranges from 60 ℃to -40 ℃ the capacitance changes from 5.1 to 2.5 F and RES changes from 135 to 876 mΩ for the PC-based supercapacior, while the AN-based supercapacitor shows less change in capacitance and RES. Thus AN-based supercapacitor exhibits excellent power characteristics and temperature property.展开更多
In order to guarantee safety and stability during physical human-robot-interaction(p HRI) in the occasion of service or industrial operation, a serial integrated rotary joint with the characteristics of passive and ac...In order to guarantee safety and stability during physical human-robot-interaction(p HRI) in the occasion of service or industrial operation, a serial integrated rotary joint with the characteristics of passive and active compliance is proposed. Passive compliance is achieved by a designed elastic element, such that the compliant joint may minimize large force which occurs during accidental impacts and, further, may offer more accurate and stable force control and a capacity for energy storage. Meanwhile, the modeling of the compliant joint is comprehensively analyzed, including the effect of the motor model on the overall control system. In order to realize the active compliance, a new method of impedance control is proposed. On the basis of PD control, a more compliant impedance controller is introduced. Experimental results show that the serial integrated rotary joint can provide more effective safety compliance during physical interaction, which has also been well applied in our designed massage robot and rehabilitation robot.展开更多
Using the mesophase pitch as precursor, KOH and CO2 as activated agents, the activated carbon electrode material was fabricated by physical-chemical combined activated technique for supercapacitor. The influence of ac...Using the mesophase pitch as precursor, KOH and CO2 as activated agents, the activated carbon electrode material was fabricated by physical-chemical combined activated technique for supercapacitor. The influence of activated process on the pore structure of activated carbon was analyzed and 14 F supercapacitor with working voltage of 2.5 V was prepared. The charge and discharge behaviors, the properties of cyclic voltammetry, specific capacitance, equivalent serials resistance （ESR）, cycle properties, and temperature properties of prepared supercapacitor were examined. The cyclic voltammetry curve results indicate that the carbon based supercapacitor using the self-made activated carbon as electrode materials shows the desired capacitance properties. In 1 mol/L Et4NBF4/AN electrolyte, the capacitance and ESR of the supercapacitor are 14.7 F and 60 mΩ respectively, The specific capacitance of activated carbon electrode materials is 99.6 F/g; its energy density can reach 2,96 W.h/kg under the large current discharge condition, There is no obvious capacitance decay that can be observed after 5000 cycles, The leakage current is below 0,2 mA after keeping the voltage at 2.5 V for l h, Meanwhile, the supercapacitor shows desired temperature property; it can be operated normally in the temperature ranging from -40 ℃to 70 ℃,展开更多
Both the traverse subsystem and the elevation subsystem of the all-electrical tank gun control system are composed of electrical drive control system respectively. The parameters of PI regulator in these electrical dr...Both the traverse subsystem and the elevation subsystem of the all-electrical tank gun control system are composed of electrical drive control system respectively. The parameters of PI regulator in these electrical drive control systems affect the performance of the control system seriously. Up to now, there is not a simple and practical method for choosing regulator parameters, which are usually determined by repeated and continual readjustment. This method is low efficient, and the parameters got are not always optimal. A method for on-line adjusting the parameters of PI regulator in the electrical drive control system by computer program is introduced in this paper. The function of adjusting PI parameters of the electrical drive control system is realized by PC program written by VC++ and controlling program written by assemble language and by the communication between PC and DSP completed by the control MSCOMM in VC++6.0. The method as mentioned above which is applied for an all-electrical tank gun control system under development is proved very available, a better performance might be obtained for the all-electrical tank gun control system easily.展开更多
2015年1月20日,Microchip发布SST26WF080B和SST26WF040B新器件,扩展其1.8 V Serial Quad I/OTM（SQI）SuperFlash？系列存储器。新器件备有4 Mbit和8 Mbit两种存储容量,采用Microchip高性能SuperF lash技术制造,可提供业界最快的擦除时...2015年1月20日,Microchip发布SST26WF080B和SST26WF040B新器件,扩展其1.8 V Serial Quad I/OTM（SQI）SuperFlash？系列存储器。新器件备有4 Mbit和8 Mbit两种存储容量,采用Microchip高性能SuperF lash技术制造,可提供业界最快的擦除时间和卓越的可靠性。展开更多
赛灵思公司日前宣布，推出两种针对德州仪器DSP的接口。赛灵思Serial RapidIO接口适用于Virtex-4^TM和Virtex-Ⅱ Pro FPGA，可向TI高性能TMS320C6455 DSP提供高达10Gbps的串行链路。这种高速工业标准链路使面向TIDSP的设计者能够使用赛...赛灵思公司日前宣布，推出两种针对德州仪器DSP的接口。赛灵思Serial RapidIO接口适用于Virtex-4^TM和Virtex-Ⅱ Pro FPGA，可向TI高性能TMS320C6455 DSP提供高达10Gbps的串行链路。这种高速工业标准链路使面向TIDSP的设计者能够使用赛灵思FPGA来进行DSP加速、总线桥接、逻辑合并或实现新外设。新的VLYNQ接口在赛灵思低成本的SpartanTM-3与Spartan．3EFPGA上提供了一种到CoreConnect总线的桥接电路，允许设计者使用FPGA来扩展其基于达芬奇（DaVinci）技术的TMS320DM644x数字媒体处理器或其他任何带有VLYNQ接口的TIDSP的外设数量。展开更多
To increase launching frequency and decrease drag force of underwater projectiles,a serial multiprojectiles structure based on the principle of supercavitation is proposed in this paper.The drag reduction and supercav...To increase launching frequency and decrease drag force of underwater projectiles,a serial multiprojectiles structure based on the principle of supercavitation is proposed in this paper.The drag reduction and supercavitation characteristics of the underwater serial multi-projectiles are studied with computational fluid dynamics(CFD)and machine learning.Firstly,the numerical simulation model for the underwater supercavitating projectile is established and verified by experimental data.Then the evolution of the supercavitation for the serial multi-projectiles is described.In addition,the effects of different cavitation numbers and different distances between projectiles are investigated to demonstrate the supercavitation and drag reduction performance.Finally,the artificial neural network(ANN)model is established to predict the evolution of drag coefficient based on the data obtained by CFD,and the results predicted by ANN are in good agreement with the data obtained by CFD.The finding provides a useful guidance for the research of drag reduction characteristics of underwater serial projectiles.展开更多
In this paper,the character of viral clones from early and late passages after serial passages of Trichoplusia in single nuclear polyhedrosis virus in a Tn SB1-4 cell line is described.It demonstrated that no signific...In this paper,the character of viral clones from early and late passages after serial passages of Trichoplusia in single nuclear polyhedrosis virus in a Tn SB1-4 cell line is described.It demonstrated that no significant difference was observed in the infectivity of the cell culture supernatants of various passages to the cell line.The number of polyhedra produced in a cell and infechvity of polyhedra to T.ni larvae declined strikingly with the increase of passages.The polyhedra without vinons begun to increase from passage to passage.The result of restriction enzyme digestion showed that the DNA restriction fragments of the clones were different from wild virus DNA,although they came from a homogeneous viral DNA.The mutation of viral DNA resulted in the increase of noninfectious polyhedra without vinous and in the increase of the number of polyhedra produced in cell line as wen as virulence of the polyhydrosis inclusion bodys to T.ni larvae after prolonged passages of Tn SNPV in the cell culture.展开更多
文摘为了实时掌握农业机械自动导航时运行状态的相关参数,并根据监测参数作出相应的调整动作,本文以Visual Studio 2008为开发平台,开发了一套高速插秧机自动导航的运行参数远程监测系统软件。该软件功能主要包括信号检测、数据通讯、控制决策、数据显示和数据存储。系统采用Visual Studio 2008中Visual Basic.net 2008语言进行开发,将远程采集的各监测数据经由GSM网络进行无线传输到上位机;并采用Serial Port控件来进行串行通讯,完成PC机与GSM模块之间数据的交换,并对相应控制动作进行相应性能仿真。
文摘U SB( U niversal Serial Bus)经过了 9年发展 ,已经得到了市场的认可 ,其传输速度达到了最大 480 Mb/s的惊人地步 ,而 USB OTG ( On The Go)的推出更是鼓舞人心 ,其双重角色的强大功能可以使 U SB设备摆脱对 PC的完全依赖。 USB OTG是 U SB 2 .0规范的补充 ,他使外设可以在无主机参与的情况下直接互连进行通信工程。本文简单介绍了 U SB OTG的工作原理 ,并分析了现在 U SB OTG的应用情况 ,重点针对数码相机伴侣存在的问题 。
基金Project(2008AA04Z203) supported by the National High Technology Research and Development Program of China
文摘An optimal measurement pose number searching method was designed to improve the pose selection method.Several optimal robot measurement configurations were added to an initial pre-selected optimal configuration set to establish a new configuration set for robot calibration one by one.The root mean squares (RMS) of the errors of each end-effector poses after being calibrated by these configuration sets were calculated.The optimal number of the configuration set corresponding to the least RMS of pose error was then obtained.Calibration based on those poses selected by this algorithm can get higher end-effector accuracy,meanwhile consumes less time.An optimal pose set including optimal 25 measurement configurations is found during the simulation.Tracking errors after calibration by using these poses are 1.54,1.61 and 0.86 mm,and better than those before calibration which are 7.79,7.62 and 8.29 mm,even better than those calibrated by the random method which are 2.22,2.35 and 1.69 mm in directions X,Y and Z,respectively.
基金Project(20803095)supported by the National Natural Science Foundation of ChinaProject(2008AA03Z207)supported by the National High Technology Research and Development Program of China
文摘The activated carbon wound supercapacitors with TEABF4/propylene carbonate （PC） and TEABF4/acetonitrile （AN） electrolytes were prepared. The effects of the electrolyte and temperature on the capacitance behavior were investigated by cyclic voltammetry （CV） and constant current charge-discharge. Compared with the PC-based supercapacitor, the AN-based supercapacitor has higher capacitance and lower equivalent serial resistance （RES） at discharge currents ranging from 5 to 1 000 mA and 25 ℃. Moreover, temperature effects are more prominent for PC-based supercapacitor than for AN-based supereapacitor. When the measurement temperature ranges from 60 ℃to -40 ℃ the capacitance changes from 5.1 to 2.5 F and RES changes from 135 to 876 mΩ for the PC-based supercapacior, while the AN-based supercapacitor shows less change in capacitance and RES. Thus AN-based supercapacitor exhibits excellent power characteristics and temperature property.
基金Project(81473694)supported by the National Natural Science Foundation of ChinaProject(2016A1027)supported by the major Project of Zhongshan City,ChinaProject(2016FZFC007)supported by the Intelligent Equipment and Technology of Automation Research and Development Platform,China
文摘In order to guarantee safety and stability during physical human-robot-interaction(p HRI) in the occasion of service or industrial operation, a serial integrated rotary joint with the characteristics of passive and active compliance is proposed. Passive compliance is achieved by a designed elastic element, such that the compliant joint may minimize large force which occurs during accidental impacts and, further, may offer more accurate and stable force control and a capacity for energy storage. Meanwhile, the modeling of the compliant joint is comprehensively analyzed, including the effect of the motor model on the overall control system. In order to realize the active compliance, a new method of impedance control is proposed. On the basis of PD control, a more compliant impedance controller is introduced. Experimental results show that the serial integrated rotary joint can provide more effective safety compliance during physical interaction, which has also been well applied in our designed massage robot and rehabilitation robot.
基金Project(2007BAE12800) supported by the National Supported Plan for Science and TechnologyProject(06FJ4059) supported by the Hunan Provincial Academician Foundation
文摘Using the mesophase pitch as precursor, KOH and CO2 as activated agents, the activated carbon electrode material was fabricated by physical-chemical combined activated technique for supercapacitor. The influence of activated process on the pore structure of activated carbon was analyzed and 14 F supercapacitor with working voltage of 2.5 V was prepared. The charge and discharge behaviors, the properties of cyclic voltammetry, specific capacitance, equivalent serials resistance （ESR）, cycle properties, and temperature properties of prepared supercapacitor were examined. The cyclic voltammetry curve results indicate that the carbon based supercapacitor using the self-made activated carbon as electrode materials shows the desired capacitance properties. In 1 mol/L Et4NBF4/AN electrolyte, the capacitance and ESR of the supercapacitor are 14.7 F and 60 mΩ respectively, The specific capacitance of activated carbon electrode materials is 99.6 F/g; its energy density can reach 2,96 W.h/kg under the large current discharge condition, There is no obvious capacitance decay that can be observed after 5000 cycles, The leakage current is below 0,2 mA after keeping the voltage at 2.5 V for l h, Meanwhile, the supercapacitor shows desired temperature property; it can be operated normally in the temperature ranging from -40 ℃to 70 ℃,
文摘Both the traverse subsystem and the elevation subsystem of the all-electrical tank gun control system are composed of electrical drive control system respectively. The parameters of PI regulator in these electrical drive control systems affect the performance of the control system seriously. Up to now, there is not a simple and practical method for choosing regulator parameters, which are usually determined by repeated and continual readjustment. This method is low efficient, and the parameters got are not always optimal. A method for on-line adjusting the parameters of PI regulator in the electrical drive control system by computer program is introduced in this paper. The function of adjusting PI parameters of the electrical drive control system is realized by PC program written by VC++ and controlling program written by assemble language and by the communication between PC and DSP completed by the control MSCOMM in VC++6.0. The method as mentioned above which is applied for an all-electrical tank gun control system under development is proved very available, a better performance might be obtained for the all-electrical tank gun control system easily.
文摘2015年1月20日,Microchip发布SST26WF080B和SST26WF040B新器件,扩展其1.8 V Serial Quad I/OTM（SQI）SuperFlash？系列存储器。新器件备有4 Mbit和8 Mbit两种存储容量,采用Microchip高性能SuperF lash技术制造,可提供业界最快的擦除时间和卓越的可靠性。
文摘赛灵思公司日前宣布，推出两种针对德州仪器DSP的接口。赛灵思Serial RapidIO接口适用于Virtex-4^TM和Virtex-Ⅱ Pro FPGA，可向TI高性能TMS320C6455 DSP提供高达10Gbps的串行链路。这种高速工业标准链路使面向TIDSP的设计者能够使用赛灵思FPGA来进行DSP加速、总线桥接、逻辑合并或实现新外设。新的VLYNQ接口在赛灵思低成本的SpartanTM-3与Spartan．3EFPGA上提供了一种到CoreConnect总线的桥接电路，允许设计者使用FPGA来扩展其基于达芬奇（DaVinci）技术的TMS320DM644x数字媒体处理器或其他任何带有VLYNQ接口的TIDSP的外设数量。
基金supported by the National Natural Science Foun-dation of China(Grant No.11972194,12072160).
文摘To increase launching frequency and decrease drag force of underwater projectiles,a serial multiprojectiles structure based on the principle of supercavitation is proposed in this paper.The drag reduction and supercavitation characteristics of the underwater serial multi-projectiles are studied with computational fluid dynamics(CFD)and machine learning.Firstly,the numerical simulation model for the underwater supercavitating projectile is established and verified by experimental data.Then the evolution of the supercavitation for the serial multi-projectiles is described.In addition,the effects of different cavitation numbers and different distances between projectiles are investigated to demonstrate the supercavitation and drag reduction performance.Finally,the artificial neural network(ANN)model is established to predict the evolution of drag coefficient based on the data obtained by CFD,and the results predicted by ANN are in good agreement with the data obtained by CFD.The finding provides a useful guidance for the research of drag reduction characteristics of underwater serial projectiles.
文摘In this paper,the character of viral clones from early and late passages after serial passages of Trichoplusia in single nuclear polyhedrosis virus in a Tn SB1-4 cell line is described.It demonstrated that no significant difference was observed in the infectivity of the cell culture supernatants of various passages to the cell line.The number of polyhedra produced in a cell and infechvity of polyhedra to T.ni larvae declined strikingly with the increase of passages.The polyhedra without vinons begun to increase from passage to passage.The result of restriction enzyme digestion showed that the DNA restriction fragments of the clones were different from wild virus DNA,although they came from a homogeneous viral DNA.The mutation of viral DNA resulted in the increase of noninfectious polyhedra without vinous and in the increase of the number of polyhedra produced in cell line as wen as virulence of the polyhydrosis inclusion bodys to T.ni larvae after prolonged passages of Tn SNPV in the cell culture.
