基于CORBA的多机器人应用互操作系统的研究与实现

本文针对异构分布环境下的多机器人系统 ,提出了一种基于 CORBA规范和框架请求代理 (FRB)这一方式的应用系统集成模型 .为实现分布异构环境下的多机器人的通信、协同、编程 ,支持系统任务重组与重构、应用互操作提供一条有效途径 .并给出了一个自行设计的面向多机器人基于CORBA的对象互操作的方法、机制 .给出基于 CORBA的应用编程接口 (API)与扩展接口定义语言X- IDL,通过基于 CORBA的多机器人基本对象类的建立与对象的实现 ,实现基于 CORBA的多机器人互操作与开放分布处理原型系统 .

DAS24-3B数据采集系统控制系统软件的研制与开发

Under the auspices of the 'knowledge-Innovation Program' of CAS, Institute of Geology and Geophysics has established the Broadband Seismic Laboratory. A new kind of 24-bit high-resolution seismograph DAS24-3B has been designed and manufactured in an effort of developing China's own technology of seismic array. Since these instruments will primarily be used in field operation, there is a need to optimize the system software of data acquisition system (DAS) to enhance its stability, compatibility and maintenance. The design ideas of the system software of DAS24-3B are partly learned from the advanced DAS 72A-08. In this system there are two exclusive communication programs DNAPI-COM1 and DNAPI-LPT1, which are suitable for all standard industrial computers with ECP parallel port and serial port. By these exclusive parallel and serial communication interface the system software is split into three parts, acquisition program, user's control program and graphical display program, which can function well in separate units and can run correctly in whole. The three parts of DAS24-3B's system software possess different functions and advantages. The function of acquisition program is to control the process of seismic data acquisition. DAS24-3B system reduced its power and harddisk read-write disturbance by using the extended memory attached to its CPU, which functions as enlarging the data buffer of system and lessening the times of harddisk read-write operations. Since GPS receiver of DAS is strongly sensitive to the around environment and has the possibility of signal loss the acquisition program has been designed with the ability to automatically trail the GPS locked time. The function of user's controlling program is to configure the system's work environment, to inform the user's commands to DAS, to trail the status of DAS in real-time. The function of graphical display program is to illustrate data in figures, to convert data file into some common formatted file, to split data file in parts and combine data files into one. Both user's control program and graphical display program are API (Application Programming Interface) in window 95/98 system. Both possess the features of clearness and friendship by use of all kind of window controls, which are composed by menu, toolbar, statusbar, dialogue box, message box, edit box, scrollbar, time control, button and so on. Two programs of systemic exception handles are provided to treat the trouble in field. The DAS24-3B DAS has been designed to be easier to use-better ability, more stable and simpler. It has been tested in field and base station and has been proved more suitable for field operation of seismic array than other native instruments.