MISCIBILITY, MICROSTRUCTURE, AND DYNAMICS OF BLENDS CONTAINING BLOCK-COPOLYMER .3. MOLECULAR-MOTION IN HOMOPOLYSTYRENE AND POLYSTYRENE 4-ARM STYRENE-BUTADIENE STAR BLOCK-COPOLYMER BLENDS

The proton spin-spin relaxation times (T-2(H)) at different temperatures (from 160 to 390 K) have been determined for polystyrene (PS) and four-arm star styrene-butadiene block copolymer (SB-4A) and its blends with PS of different molecular weights (M(PS)

基于ARM的研磨抛光机器人运动控制器的设计

本文设计了研磨抛光机器人分布式控制系统中的一种运动控制器,并对运动控制器基于AT91M40800微控制器的硬件结构、基于μC/OS-Ⅱ实时操作系统的软件模块和采用的参数模糊自整定PID机器人关节位置控制策略进行了详细介绍。实验表明该控制器可以大大降低研磨抛光机器人的位置跟踪误差。提高了关节控制的计算及处理能力,易于扩展和维护。

基于ARM的可编程控制系统实现

采用ARM设计小型可编程控制器,提供基于以太网和OPC标准的组态监控接口。用户采用符合IEC61131-3标准的梯形图方式对控制器自由编程,并通过计算机网络对其进行程序调试、下载和数据通信,从而实现了一套经济实用的小型可编程控制系统。

基于ARM的智能型定氮仪的研制

通过对凯氏定氮法和整个系统控制原理的分析,介绍了一种基于ARM的测定物质中氮元素含量的系统,该系统采用ARM微控制器LPC2214作为整个系统的控制核心,通过步进电机驱动进行标准溶液的滴定和光电检测确定滴定终点,形成闭环系统,实现了准确测定物质中氮元素的含量。文中给出了系统软硬件设计方案,对其实现方法及关键技术进行了研究。实验结果表明:该系统工作稳定,测量数据准确,具有一定的应用价值。

ARM处理器在AFM纳米操作系统中的应用

文章介绍了在原子力显微镜(AFM)纳米操作系统中ARM处理器的应用及开发,在此基础上搭建了具有3D力反馈的纳米操作系统。结合AFM纳米操作系统的实时性问题,进行了ARM开发板的系统软件架构和PSD(四象限光电检测器)信号的PID控制结果的分析,使纳米操作系统在实时性和成像的质量等方面都得到相应改进。

ARM嵌入式系统在纳米操作系统中的应用研究

近年来，随着微纳米科技的迅速发展，机电产品有望向更微观化、高性能化发展，这将促进材料、制造、电子、生物医学、信息等领域新的科学技术出现，在新的科学技术层次上为可持续发展的理论提供物质和技术保障。微纳米科技最终目标是研究和发现微纳尺度物质所具有的新颖的物理、化学和生物学现象与特性。并以此为基础来设计、制作、组装成新的材料、组件或系统，实现与之相应的特定功能，促进新的科学技术发展与变革，这无疑具有十分重要的科学意义和经济价值。而实现这个目标的使能技术便是微纳米尺度下观测、操作和装配的科学方法与相关的技术和装备，因此开展微纳米操作研究具有特别重要的意义。微纳米操作是微纳米制造科学技术的重要内容之一，使用探针模式的机器人化微纳操作方法，实现在微纳米尺度物体的可控操作，对促进我国微纳米科学技术发展具有特别重要的意义。 目前已有的基于探针的纳米技术装置如SPM (Scanning Probe Microscope)是基于探针模式的纳米观测基本装置。在此基础上研究发展的基于探针的纳米操作已成为纳米科技研究的新领域，是目前世界上各国正在大力开发的前沿研究课题。但目前市场上的SPM等纳米观测设备缺乏驱动控制与信息交互功能和开放界面，限制了用户在此基础上开发纳米操作、装配等功能的能力，因而研究具有信息交互能力的、可进行在线操作控制与宏-微-纳观信息交互的纳米操作监控系统，进而发展成具有自动化/机器人化功能的纳米作业系统队纳米科学技术发展、纳米制造的实现无疑具有重要意义。本论文的科研内容是以面向纳米制造的机器人化系统为研究背景，在自主技术的基础上，开展应用ARM嵌入式系统构成纳米作业系统的实时控制器研究。实时多任务的操作控制系统是纳米作业系统的核心技术，可以实时进行基于探针的传感信息采集、状态反馈控制、形貌观测数据生成、作业运动轨迹生成、位置反馈控制等功能的数据处理与实现。本论文重点介绍以SAMSUNG公司的ARM9处理器芯片S3C2410为嵌入式控制器系统的核心，在移植嵌入式Linux作为操作系统的基础上，开发具有实时数据采集与控制指令、通信功能的人机交互界面。基于ARM的实时控制器的研究为探针模式的纳米观测与操作系统开发提供了关键技术，可以提供开放的AFM系统，促进操作型纳米系统的研究与实现，可以保证纳米观测与操作控制的实时性，可以为纳米作业控制方法提供方便的编程、开发功能。本论文主要研究了面向纳米作业的基于ARM嵌入式实时控制器硬件结构及软件系统的研究与开发过程。首先介绍嵌入式系统的基本概念和特点；其次介绍基于SPM模式的纳米操作系统性能与技术特点；第三，根据纳米作业系统的技术功能要求，详细介绍了具有实时多任务管理功能的硬件系统的设计，重点解决核心板和扩展板各部分功能模块的设计；第四，详细介绍了嵌入式Linux操作系统下的应用程序开发模式及开发过程；最后，详细介绍了嵌入式Linux操作系统下的应用程序开发，主要工作是完成SPM纳米操作系统中的ARM开发平台的功能接口模块的调试及Linux系统下多线程技术在本系统中的应用。本次毕业设计已完成ARM开发平台在整个SPM纳米操作系统中要实现的各个功能模块，结合SPM纳米操作系统的实时性问题，进行了ARM开发平台的系统软件架构分析和利用多线程技术的以太网通信实验，在一定程度上提高了纳米操作系统中的实时性和成像质量。

Line Kinematics for Whole-Arm Manipulation

A Whole-Arm Manipulator uses every surface to both sense and interact with the environment. To facilitate the analysis and control of a Whole-Arm Manipulator, line geometry is used to describe the location and trajectory of the links. Applications of line kinematics are described and implemented on the MIT Whole-Arm Manipulator (WAM-1).

A Self-Organizing Neural Model of Motor Equivalent Reaching and Tool Use by a Multijoint Arm

This paper describes a self-organizing neural model for eye-hand coordination. Called the DIRECT model, it embodies a solution of the classical motor equivalence problem. Motor equivalence computations allow humans and other animals to flexibly employ an arm with more degrees of freedom than the space in which it moves to carry out spatially defined tasks under conditions that may require novel joint configurations. During a motor babbling phase, the model endogenously generates movement commands that activate the correlated visual, spatial, and motor information that are used to learn its internal coordinate transformations. After learning occurs, the model is capable of controlling reaching movements of the arm to prescribed spatial targets using many different combinations of joints. When allowed visual feedback, the model can automatically perform, without additional learning, reaches with tools of variable lengths, with clamped joints, with distortions of visual input by a prism, and with unexpected perturbations. These compensatory computations occur within a single accurate reaching movement. No corrective movements are needed. Blind reaches using internal feedback have also been simulated. The model achieves its competence by transforming visual information about target position and end effector position in 3-D space into a body-centered spatial representation of the direction in 3-D space that the end effector must move to contact the target. The spatial direction vector is adaptively transformed into a motor direction vector, which represents the joint rotations that move the end effector in the desired spatial direction from the present arm configuration. Properties of the model are compared with psychophysical data on human reaching movements, neurophysiological data on the tuning curves of neurons in the monkey motor cortex, and alternative models of movement control.

Multi-party actions as a route to collective redress for mass arm, having particular regard to environmental mass harm

Accepted Version

The influence of crank configuration on muscle activity and torque production during arm crank ergometry

This study investigated the effect of crank configuration on muscle activity and torque production during submaximal arm crank ergometry. Thirteen non-specifically trained male participants volunteered. During the research trials they completed a warm-up at 15 W before two 3-min exercise stages were completed at 50 and 100 W; subjects used either a synchronous or asynchronous pattern of cranking. During the final 30-s of each submaximal exercise stage electromyographic and torque production data were collected. After the data had been processed each parameter was analysed using separate 2-way ANOVA tests with repeated measures. The activity of all muscles increased in line with external workload, although a shift in the temporal pattern of muscle activity was noted between crank configurations. Patterns of torque production during asynchronous and synchronous cranking were distinct. Furthermore, peak, minimum and delta (peak-minimum) torque values were different (P < 0.05) between crank configurations at both workloads. For example, at 100 W, peak torque using synchronous [19.6 (4.3) Nm] cranking was higher (P < 0.05) compared to asynchronous [16.8 (1.6) Nm] cranking. In contrast minimum torque was lower (P < 0.05) at 100 W using synchronous [4.8 (1.7) Nm] compared to asynchronous [7.3 (1.2) Nm] cranking. There was a distinct bilateral asymmetry in torque production during asynchronous cranking with the dominant transmitting significantly more force to the crank arm. Taken together, these preliminary data demonstrate the complex nature of muscle activity during arm crank ergometry performed with an asynchronous or synchronous crank set-up. Further work is required to determine how muscle activity (EMG activity) and associated patterns of torque production influence physiological responses and functional capacity during arm crank ergometry.

The effects of cadence and power output upon physiological and biomechanical responses to incremental arm-crank ergometry

The aim of this study was to examine the effects of cadence and power output on physiological and biomechanical responses to incremental arm-crank ergometry (ACE). Ten male subjects (mean +/- SD age, 30.4 +/-5.4 y; height, 1.78 +/-0.07 m; mass, 86.1 +/-14.2 kg) undertook 3 incremental ACE protocols to determine peak oxygen uptake (VO2 peak; mean of 3 tests: 3.07 +/- 0.17 L.min-1) at randomly assigned cadences of 50, 70, or 90 r.min-1. Heart rate and expired air were continually monitored. Central (RPE-C) and local (RPE-L) ratings of perceived exertion were recorded at volitional exhaustion. Joint angles and trunk rotation were analysed during each exercise stage. During submaximal power outputs of 50, 70, and 90 W, oxygen consumption (VO2) was lowest for 50 r.min-1 and highest for 90 r.min-1 (p < 0.01). VO2 peak was lowest during 50 r.min-1 (2.79 +/-0.45 L.min-1; p < 0.05) when compared with both 70 r.min-1 and 90 r.min-1 (3.16 +/-0.58, 3.24 +/-0.49 L.min-1, respectively; p > 0.05). The difference between RPE-L and RPE-C at volitional exhaustion was greatest during 50 r.min-1 (2.9 +/- 1.6) when compared with 90 r.min-1 (0.9 +/- 1.9, p < 0.05). At VO2 peak, shoulder range of motion (ROM) and trunk rotation were greater for 50 and 70 r.min-1 when compared with 90 r.min-1 (p < 0.05). During submaximal power outputs, shoulder angle and trunk rotation were greatest at 50 r.min-1 when compared with 90 r.min-1 (p < 0.05). VO2 was inversely related to both trunk rotation and shoulder ROM during submaximal power outputs. The results of this study suggest that the greater forces required at lower cadences to produce a given power output resulted in greater joint angles and range of shoulder and trunk movement. Greater isometric contractions for torso stabilization and increased cost of breathing possibly from respiratory-locomotor coupling may have contributed increased oxygen consumption at higher cadences.