液压四足机器人的实时分散解耦控制

针对液压驱动四足机器人单腿协调性难以保证的问题,开发了一种实时分散解耦控制系统：基于PC-Based控制系统架构,在RTX环境下模块化了实时控制子任务,并对多任务的处理进行了实时调度,搭建出了机器人的实时分散控制系统框架;针对单腿系统设计了基于PID神经元网络的广义解耦控制算法,并将其嵌入到整体程序框架中,实现了多腿联动的分散解耦控制。物理样机实验表明开发的控制系统能够满足分散解耦控制算法的实时性要求,提高了四足机器人运动的协调性,进而保证其连续稳定地行走,具有一定的独创性与实用价值。     

基于LVDT的新型信号调理电路的设计研究

LVDT线性可变差动变压器,其输出信号为两个线圈的差动电压信号,能够实时的、高准确性的将机械位移信号转化成电信号。传统LVDT信号调理电路存在不易散热、检测修复困难、性价比低、适用范围窄等问题,本文设计了一种新型LVDT信号调理电路,该信号调理电路由驱动电路、整流归一化电路和滤波放大电路组成,测试结果能够匹配LVDT的输出信号特性,达到LVDT信号调理的各项指标要求,实验结果表明本设计具有一定的可行性。     

Monitoring of amoxicilline and ceftazidime in the microdialysate of diabetic foot and serum by capillary electrophoresis with contactless conductivity detection

Determination of the broad-spectrum antibiotics amoxicilline (AMX) and ceftazidime (CTZ) in blood serum and microdialysates of the subcutaneous tissue of the lower limbs is performed using CE with contactless conductivity detection (C⁴D). Baseline separation of AMX is achieved in 0.5 M acetic acid as the background electrolyte and separation of CTZ in 3.2 M acetic acid with addition of 13% v/v methanol. The CE-C⁴D determination is performed in a 25 µm capillary with suppression of the EOF using INST-coating on an effective length of 18 cm and the attained migration time is 4.2 min for AMX and 4.4 min for CTZ. The analysis was performed using 20 µl of serum and 15 µl of microdialysate, treated by the addition of acetonitrile in a ratio of 1/3 v/v and the sample is injected into the capillary using the large volume sample stacking technique. The LOQ attained in the microdialysate is 148 ng/ml for AMX and 339 ng/ml for CTZ, and in serum 143 ng/ml for AMX and 318 ng/ml for CTZ. The CE-C⁴D method is employed for monitoring the passage of AMX and CTZ from the blood circulatory system into the subcutaneous tissue at the sites of diabetic ulceration in patients suffering from diabetic foot syndrome and also for measuring the pharmacokinetics following intravenous application of bolus antibiotic doses.     

基于LPC2210和SSD1339的PM-OLED驱动控制电路

为了避免早期无源矩阵有机电致发光器件驱动控制电路的一些缺陷,如:"串扰"和"交叉"效应以及电路连接比较复杂,用两种方法实现了基于飞利浦公司生产的LPC2210控制芯片和晶门科技公司的SSD1339驱动芯片的驱动控制电路。首先介绍了有机电致发光器件的结构和发光原理以及芯片SSD1339和LPC2210的主要的特点;分析和比较了SSD1339的8080系列并行口和LPC2210外部存储控制单元的读写时序;分别利用LPC2210的通用输入输出单元和外部存储控制单元,成功的控制SSD1339驱动128RGB×128点阵有机电致发光屏。实验结果表明:两种方法不仅可以有效地克服早期驱动控制电路的缺陷,而且可以使有机电致发光屏显示出高质量的图片;用外部存储控制单元实现的驱动控制电路,可以实现约80 Hz的驱动帧频;而使用通用输入输出单元实现的驱动控制电路,可以单步跟踪数据的传输,因此它具有方便查错的优势。本次实验为在不同的集成环境下无源矩阵有机电致发光器件驱动控制电路的设计奠定基础。     

半导体激光器驱动电路设计

设计了一种半导体激光器驱动电路,论述了半导体激光器的构造及其电路原理,阐述了半导体激光器驱动电路中恒流电路与恒压电路的工作原理与设计思路.通过在电路设计中增加恒压电路模块,有效地降低了半导体激光器的功耗.     

280mm×280mm口径单脉冲过程电光开关

用于高功率惯性约束聚变(ICF)激光驱动器的大口径电光开关均采用等离子体电极泡克耳斯盒。与传统的等离子体电极电光开关原理不同,单脉冲过程驱动电光开关没有独立的大电流等离子体发生单元,而只是通过具有较高幅值的正负开关脉冲完成对大口径电光开关的驱动。介绍单脉冲过程驱动等离子体电极泡克耳斯盒电光开关的设计,并建立280 mm×280 mm口径电光开关实验平台,利用连续激光器测试了电光开关特性,实验测得该电光开关中心处开关效率为99.3%,开关上升时间为90 ns。     

红外焦平面阵列成像动态仿真系统

红外热像仪的研制离不开各种图像处理算法的设计、仿真和优化;结合虚拟仪器技术和可编程多模式驱动技术,开发了红外焦平面阵列成像动态仿真系统软硬件平台;利用这一平台,通过图形化软件编程, 可进行多模式红外焦平面阵列的各种图像处理算法的动态仿真,实时验证其成像效果,及时进行修改和优化。工程应用实践表明：系统对盲元检测与补偿、非均匀性校正和直方图修正等算法的验证与优化取得了满意的效果;该系统为红外热像仪设计仿真、算法的适用性和实时性验证以及算法的优化提供了灵活实用的工具。     

FED显示驱动电路结构及其场发射特性分析

从场发射的基本原理出发,分析了影响场发射电流的内外因素。阴极表面强电场是产 生发射电流的必要条件,但像素的不均匀性和场发射特性的非线性导致无法产生精确的发射电流,由此带来了亮度调节的可控性差;阴极驱动电路作为发射电流回路的一部分,其电路结构直接影响发射电流的控制特性,分析表明电流驱动模式能对阳极束电流进行精确控制,是实现FED亮度控制的理想驱动方式。     

一种大屏幕彩色FED显示系统的研制

论述了印刷型场致发射显示器驱动系统的工作原理,采用AL芯片以及FPGA控制等技术研制出了能驱动显示VGA分辨率的FED显示系统.能显示视频图像,图像亮度达250 cd/m2、对比度达300:1,图像灰度等级达256级,有效显示对角线尺寸为63.5 cm(25in).     

A Molecular-Wide and Electron Density-Based Approach in Exploring Chemical Reactivity and Explicit Dimethyl Sulfoxide (DMSO) Solvent Molecule Effects in the Proline Catalyzed Aldol Reaction

Modelling of the proline (1) catalyzed aldol reaction (with acetone 2) in the presence of an explicit molecule of dimethyl sulfoxide (DMSO) (3) has showed that 3 is a major player in the aldol reaction as it plays a double role. Through strong interactions with 1 and acetone 2, it leads to a significant increase of energy barriers at transition states (TS) for the lowest energy conformer 1a of proline. Just the opposite holds for the higher energy conformer 1b. Both the ‘inhibitor’ and ‘catalyst’ mode of activity of DMSO eliminates 1a as a catalyst at the very beginning of the process and promotes the chemical reactivity, hence catalytic ability of 1b. Modelling using a Molecular-Wide and Electron Density-based concept of Chemical Bonding (MOWED-CB) and the Reaction Energy Profile–Fragment Attributed Molecular System Energy Change (REP-FAMSEC) protocol has shown that, due to strong intermolecular interactions, the HN-C-COOH (of 1), CO (of 2), and SO (of 3) fragments drive a chemical change throughout the catalytic reaction. We strongly advocate exploring the pre-organization of molecules from initially formed complexes, through local minima to the best structures suited for a catalytic process. In this regard, a unique combination of MOWED-CB with REP-FAMSEC provides an invaluable insight on the potential success of a catalytic process, or reaction mechanism in general. The protocol reported herein is suitable for explaining classical reaction energy profiles computed for many synthetic processes.