A moored underwater energy conservation system for profiling measurement

There is a need to obtain the hydrologic data including ocean current, wave, temperature and so on in the South China Sea. A new profiling instrument which does not suffer from the damage due to nature forces or incidents caused by passing ships, is under development to acquire data from this area. This device is based on a taut single point mid-water mooring system. It incorporates a small, instrumented vertically profiling float attached via an electromechanical cable to a winch integral with the main subsurface flotation. On a pre-set schedule, the instrument float with sensors is winched up to the surface if there is no strip passing by, which is defined by an on-board miniature sonar. And it can be immediately winched down to a certain depth if the sonar sensor finds something is coming. Since, because Of logistics, the area can only be visited once for a long time and a minimum of 10 times per day profiles are desired, energy demands are severe. To respond to these concerns, the system has been designed to conserve a substantial portion of the potential energy lost during the ascent phase of each profile and subsequently use this energy to pull the instrument down. Compared with the previous single-point layered measuring mode, it is advanced and economical. At last the paper introduces the test in the South China Sea.

一种FPGA的嵌入式可重构机器人控制系统

提出一种基于FPGA的可重构嵌入式微处理器控制系统.在FPGA中嵌入两个NiosⅡ软核,用VHDL语言编写用户自定义组件.在一个由NiosⅡ软核组成的处理器上实现PWM信号生成、编码器信号处理以及多电机同步伺服运算等,在另一个处理器实现机器人任务管理.该控制系统针对微小型爬壁机器人的控制系统设计,不仅具有良好的实时多任务处理能力,而且具有可重构的特点,因而可应用于一类微小型机器人控制系统以提高其设计的灵活性.

小型爬壁机器人系统设计与应用

针对一种小型的双足爬壁机器人,设计开发了基于DSP2812处理芯片的控制系统.该机器人系统采用双足真空吸盘式结构和用3个电机驱动5个关节的欠驱动结构.双足真空吸盘式结构使其可以在光滑的墙面和天棚行走,又能够在交接面之间完成跨步行走.而欠驱动结构减少了电机的数目,从而减小了机器人的尺寸和降低了机器人的质量和能量消耗,但它也给机器人的控制和运动规划带来了新的挑战.已完成的系统设计包括运动模式设计、关节控制、通信模块设计和吸盘足控制等.实验结果证明了所提出方案的可行性.

微小型爬壁机器人机构与控制方法的研究

近十年来人们对专用爬壁机器人领域的研究越来越感兴趣。如清洗高层建筑、石油气罐的喷漆喷砂、核工业设施的检测维护、援助消防和营救工作以及危险环境的远程监控等都急需一种自动化设备。爬壁机器人, 因其可以吸附墙壁表面和携带适当的传感器或工具，是这些工作的最佳候选。 本文中设计了一种反恐侦察爬壁机器人系统。在反恐侦察中，将微小型爬壁机器人上安装无线摄像头、麦克风等装置，代替侦察人员探测狭小空间内部的敌情，不但能提高侦察的准确度，还能增强安全性，减小人员伤亡。针对这一应用背景，国家863 计划提供资金开展了反恐侦察爬壁机器人样机系统的研制项目。 这种侦察爬壁机器人样机采用了两足式结构和欠驱动机构设计，使得机器人具有灵活的运动能力和多种运动方式。该机器人可以壁面爬行、穿越管道和跨越交叉面。两个有力的吸盘足依靠真空泵抽取吸盘内气体来实现吸附墙面。欠驱动机构减少了电机数量，使得机器人尺寸、重量和功耗都较小，但却对控制增加了挑战。机器人运动学方程被求出，这有助于我们理解其运动机理。 机器人上有无线遥控和无线视频传输系统分别负责接收指令和采集图像信息。针对该爬壁机器人在体积，重量，功耗和速度上的要求，本文提出了以TI公司的TMS320F2812DSP 为控制芯片的嵌入式控制系统的设计方案, 控制器的主要功能是实现多电机实时控制，搭建高效可靠的人机通讯和机器人运动规划。层次较高的操作指令采用有限状态机理论实现跟踪机器人运动状态。 电机的伺服控制，是整个控制系统设计中最基本、最重要的部分。对此本文提出了梯形速度规划和PID 控制策略，经过参数优化，基本达到了控制精度的要求。 最后，通过实验验证了机器人高效的能力，表明侦察爬壁机器人样机系统具备了执行反恐侦察的基本功能。

轮足复合式微小型爬壁机器人机构与控制研究

本文以反恐侦查为应用背景，以国家“863”计划支持项目 “微小型爬壁机器人系统样机的研制” （编号：2005AA420230）为依托，在两足尺蠖式微小型爬壁机器人研究的基础上，针对微小型爬壁机器人的机构与控制的难点问题，提出了新型的爬壁机器人机构并设计了机器人的硬件控制系统。本文主要包括以下五方面的研究工作：1.提出了一种新型的轮足复合式爬壁机器人机构，对机器人的机构进行了分析与综合；2.推导了机器人的运动学方程，分析了机器人的移动与越障机理，仿真分析了机器人的移动与越障性能；3.针对控制系统功能模块化的要求，设计了基于DSP与CPLD的硬件控制系统；4. CPLD的硬件逻辑功能设计，实现了控制系统软件功能的硬件化；5. 轮足复合式爬壁机器人系统样机的实验研究。 一、在腿足式和轮式爬壁机器人研究的基础上，基于行星轮系运动及双足真空吸附原理，提出了一种新型轮足复合式爬壁机器人机构；针对机器人功能要求，对机器人的机构进行了设计与分析研究，机器人的运动关节采用非对称设计，将运动与姿态调整复合，减少了运动关节数，结构紧凑。 二、基于D-H坐标变换方法对机器人的运动学特性进行了分析，在此基础上分析了机器人的移动及越障机理，即直线行走、平面旋转和交叉壁面的跨越分析；分析了外角交叉面跨越过程中机器人距离交叉面的安全距离参数范围；仿真分析比较了本文提出的新型轮足复合式爬壁机器人与两足尺蠖式爬壁机器人的运动性能和越障能力。 三、针对机器人控制系统功能的模块化难点问题，设计了基于DSP与CPLD的硬件控制系统；利用CPLD中的硬件逻辑模块可重复调用的优点，方便的实现控制系统功能的扩展，实现了控制系统硬件设计的模块化；CPLD用户自定I/O引脚的功能，有利于提高控制系统硬件设计的灵活性。 四、分析了DSP采样查询方式的系统功能扩展DSP资源占用率高的问题，将原来由软件实现的功能改为在CPLD中由硬件实现，降低了DSP的资源占有率，提高了控制系统的稳定性，实现了控制系统软件功能的硬件化。 五、以新型了轮足复合式爬壁机人样机为实验平台，验证机器人移动与越障机理的理论分析与仿真分析正确性，控制系统的稳定性，以及无线通讯和图像传输的可靠性。 关键词 爬壁机器人；行星轮系；真空吸附；嵌入式控制系统

微功耗海底地震仪的研制

Our motherland has large area of maritime space. Searching and developing ocean becomes more and more important. So Ocean Bottom Seismometer (OBS) as an absolutely necessary equipment can be used in many oceanic fields. OBS not only is an important instrument for discovering structure of lithosphere of ocean bottom, but also plays a main role of oceanic geophysical exploration. The paper introduces my relational work. The MCI micro-power broad frequency seismometer was developed independently. Its power dissipation is less than 300mW. It has some merits including miniature volumeN light mass and cheap price. It is an ideal device not only for the collection high-resolution natural seismic data, but also for the fields of seismic sounding and engineering seismology. Many new high technique were applied to develop this instrument including over-sampling A/D converter, high performance 32bit Micro Process Unit and Flash memory with smart-media interface. Base on the achievement, I have accomplished the showpiece of OBS, which is applied to the deepwater oil and gas geophysical exploration. Because of micro-power dissipation, the seismograph and the sonar releaser can be integrated into a sphere cabin. By this means, the instrument's frequency of resonance and frequency of couple are improved obviously. The data acquisition system of OBS is improved from MCI seismometer. The capacity of flash memory is enlarge from 1G bytes to 8G bytes. The advance MPU in data acquisition system is used to integrate other function modules such as sonar, GPS, compass and digital transmitter.

两种超微细矿物粉体材料的制备及应用研究

Superfine mineral materials are mainly resulted from the pulverization of natural mineral resources, and are a type of new materials that can replace traditional materials and enjoy the most extensive application and the highest degree of consumption in the present day market. As a result, superfine mineral materials have a very broad and promising prospect in terms of market potential. Superfine pulverization technology is the only way for the in-depth processing of most of the traditional materials, and is also one of the major means for which mineral materials can realize their application. China is rich in natural resources such as heavy calcite, kaolin, wollastonite, etc., which enjoy a very wide market of application in paper making, rubber, plastics, painting, coating, medicine, environment-friendly recycle paper and fine chemical industries, for example. However, because the processing of these resources is generally at the low level, economic benefit and scale for the processing of these resources have not been realized to their full potential even up to now. Big difference in product indices and superfine processing equipment and technologies between China and advanced western countries still exists. Based on resource assessment and market potential analysis, an in-depth study was carried out in this paper about the superfine pulverization technology and superfine pulverized mineral materials from the point of mineralogical features, determination of processing technologies, analytical methods and applications, by utilizing a variety of modern analytical methods in mineralogy, superfine pulverization technology, macromolecular chemistry, material science and physical chemistry together with computer technology and so on. The focus was placed on the innovative study about the in-depth processing technology and the processing apparatus for kaolin and heavy calcite as well as the application of superfine products. The main contents and the major achievements of this study are listed as follows: 1. Superfine pulverization processing of mineral materials shall be integrated with the study of their crystal structures and chemical composition. And special attention shall be put on the post-processing technologies, rather than on the indices for particle size, of these materials, based on their fields of application. Both technical feasibility and economic feasibility shall be taken into account for the study about superfine pulverization technologies, since these two kinds of feasibilities serve as the premise for the industrialized application of superfine pulverized mineral materials. Based on this principle, preposed chemical treatment method, technology of synchronized superfine pulverization and gradation, processing technology and apparatus of integrated modification and depolymerization were utilized in this study, and narrow distribution in terms of particle size, good dispersibility, good application effects, low consumption as well as high effectiveness of superfine products were achieved in this study. Heavy calcite and kaolin are two kinds of superfine mineral materials that enjoy the highest consumption in the industry. Heavy calcite is mainly applied in paper making, coating and plastics industries, the hard kaolin in northern China is mainly used in macromolecular materials and chemical industries, while the soft kaolin in southern China is mainly used for paper making. On the other hand, superfine pulverized heavy calcite and kaolin can both be used as the functional additives to cement, a kind of material that enjoys the biggest consumption in the world. A variety of analytical methods and instruments such as transmission and scanning electron microscopy, X-ray diffraction analysis, infrared analysis, laser particle size analysis and so on were applied for the elucidation of the properties and the mechanisms for the functions of superfine mineral materials as used in plastics and high-performance cement. Detection of superfine mineral materials is closely related to the post-processing and application of these materials. Traditional detection and analytical methods for superfine mineral materials include optical microscopy, infrared spectral analysis and a series of microbeam techniques such as transmission and scanning electron microscopy, X-ray diffraction analysis, and so on. In addition to these traditional methods, super-weak luminescent photon detection technology of high precision, high sensitivity and high signal to noise ratio was also utilized by the author for the first time in the study of superfine mineral materials, in an attempt to explore a completely new method and means for the study of the characterization of superfine materials. The experimental results are really exciting! The innovation of this study is represented in the following aspects: 1. In this study, preposed chemical treatment method, technology of synchronized superfine pulverization and gradation, processing technology and apparatus of integrated modification and depolymerization were utilized in an innovative way, and narrow distribution in terms of particle size, good dispersibility, good application effects, low consumption as well as high effectiveness of superfine products were achieved in the industrialized production process*. Moreover, a new modification technology and related directions for producing the chemicals were invented, and the modification technology was even awarded a patent. 2. The detection technology of super-weak luminescent photon of high precision, high sensitivity and high signal to noise ratio was utilized for the first time in this study to explore the superfine mineral materials, and the experimental results can be compared with those acquired with scanning electron microscopy and has demonstrated its unique advantages. It can be expected that further study may possibly help to result in a completely new method and means for the characterization of superfine materials. 3. During the heating of kaolinite and its decomposition into pianlinite, the diffraction peaks disappear gradually. First comes the disappearance of the reflection of the basal plane (001), and then comes the slow disappearance of the (hkl) diffraction peaks. And this was first discovered during the experiments by the author, and it has never before reported by other scholars. 4. The first discovery of the functions that superfine mineral materials can be used as dispersants in plastics, and the first discovery of the comprehensive functions that superfine mineral materials can also be used as activators, water-reducing agents and aggregates in high-performance cement were made in this study, together with a detailed discussion. This study was jointly supported by two key grants from Guangdong Province for Scientific and Technological Research in the 10th Five-year Plan Period (1,200,000 yuan for Preparation technology, apparatus and post-processing research by using sub-micron superfine pulverization machinery method, and 300,000 yuan for Method and instruments for biological photon technology in the characterization of nanometer materials), and two grants from Guangdong Province for 100 projects for scientific and technological innovation (700,000 yuan for Pilot experimentation of superfine and modified heavy calcite used in paper-making, rubber and plastics industry, and 400,000 yuan for Study of superfine, modified wollastonite of large length-to-diameter ratio).

艺术学生的感觉寻求人格比较研究

High sensation seekers have unusual creativities. Recent years Furnham Adrian et al, found that the groups have different arts tendency have higher difference in Sensation seeking dimension than in Big 5. Some studies found arts students have higher level in many dimension. Sensation seeking has an important influence to peoples` aesthetic conception. This thesis measured art (including painting, music, dancing) students and non-art students` trait of sensation seeking Personality, and looked for the similarities and differences between art students and non-art students in development of sensation seeking personality. Try to find the influence of different procession of art study to sensation seeking level. The outcome of this study: 1. In non-art students, sensation seeking level has a decrease from Grade 1 to Grade 3 in college students, especially in males. Male has higher sensation seeking level than female, especially in TAS, DIS and GEN. 2. There are differences between art students and non-art students in sensation seeking. In ES and GEN Painting students have higher level than non-art students, but in TAS dancing students have lower level than non-art students, in BS students studied in music have lower level than non-art students. 3. Tendency of arts development in art students and non-art students has difference from grade 1 to grade 3. Tendency in non-art students has a decrease, but in art students is not so obviously. The developments in TAS、ES、GEN of painting students, in ES、BS、GEN of dancing students, in TAS、ES、GEN of music major students have differences towards to non-art students. Different art studies have possibility to improve opening of experiment and normal sensation seeking level. All the Different art kinds may affect the development of ES and GEN, and ES and GEN may become commonness gradually within all kind art groups. But this commonness is not so notable in Grade 1-3. 4. Between different art kinds have differences. TAS Scores of dancing group is notably lower than scores of music and painting groups, score of painting group in ES BS and GEN is remarkably higher than that of music and dancing groups, and painting group in DIS has a higher score than music group and dancing group. Painting group has highest sensation seeking in all art kinds students, and dancing group has lowest score in TAS. 5. For female, development tendency of all art kinds dimensions have no remarkable difference, except DIS. Interaction in female DIS dimension may be aroused by scores increase of painting group. In other scores development tendency of different kinds arts have no notable difference.

Mini-electrochemical detector for microchip electrophoresis

This paper presents the development of a mini-electrochemical detector for microchip electrophoresis. The small size (3.6 x 5.0 cm(2), W x L) of the detector is compatible with the dimension of the microchip. The use of universal serial bus (USB) ports facilitates installation and use of the detector, miniaturizes the detector, and makes it ideal for lab-on-a-chip applications. A fixed 10 M Omega feedback resistance was chosen to convert current of the working electrode to voltage with second gain of 1, 2, 4, 8, 16, 32, 64 and 128 for small signal detection instead of adopting selectable feedback resistance. Special attention has been paid to the power support circuitry and printed circuit board (PCB) design in order to obtain good performance in such a miniature size. The working electrode potential could be varied over a range of +/-2.5 V with a resolution of 0.01 mV. The detection current ranges from -0.3 x 10(-7) A to 2.5 x 10(-7) A and the noise is lower than 1 pA. The analytical performance of the new system was demonstrated by the detection of epinephrine using an integrated PDMS/glass microchip with detection limit of 2.1 mu M (S/N = 3).