A visible light imaging Thomson scattering （VIS-TVTS） diagnostic system has been developed for the measurement of plasma electron temperature on the HT-7 tokamak. The system contains a Nd：YAG laser （A = 532 nm, re...A visible light imaging Thomson scattering （VIS-TVTS） diagnostic system has been developed for the measurement of plasma electron temperature on the HT-7 tokamak. The system contains a Nd：YAG laser （A = 532 nm, repetition rate 10 Hz, total pulse duration ≈ 10 ns, pulse energy 〉 1.0 J）, a grating spectrometer, an image intensifier （I.I.） lens coupled with an electron multiplying CCD （EMCCD） and a data acquisition and analysis system. In this paper, the measurement capability of the system is analyzed. In addition to the performance of the system, the capability of measuring plasma electron temperature has been proved. The profile of electron temperature is presented with a spatial resolution of about 0.96 cm （seven points） near the center of the plasma.展开更多
This paper presents a novel remote controlled dexterous robot arm with 6 degrees of freedom （DOF）. As a highly integrated mechatronics system, sensors and their signal processing system are integrated inside each jo...This paper presents a novel remote controlled dexterous robot arm with 6 degrees of freedom （DOF）. As a highly integrated mechatronics system, sensors and their signal processing system are integrated inside each joint. To lighten the weight, almost all mechanical parts are made of aluminum and the robot control system is placed outside. The modular concept is adopted during the robot design process for time and cost saving. Considering the much greater torque acted on the two shoulder joints, the joint shells are strengthened in the design to increase joint stiffness and suppress system vibration. Meanwhile, to simplify the maintenance, a new spring pins electronic connector is designed to disassemble every joint, connector and link independently without cutting any cables. The teleoperation technology enables the robot to offer more convenient service definitely for people＇ s daily life. Virtual reality technology is used to solve the time delay problem during teleoperation. Finally, two typical daily chore experiments are implemented to prove the manipulation ability of the dexterous robot arm.展开更多
基金supported by National Natural Science Foundation of China(Nos.11075187,11275233)National Magnetic Confinement Fusion Science Program of China(Nos.2013GB112003,2011GB101003)
文摘A visible light imaging Thomson scattering （VIS-TVTS） diagnostic system has been developed for the measurement of plasma electron temperature on the HT-7 tokamak. The system contains a Nd：YAG laser （A = 532 nm, repetition rate 10 Hz, total pulse duration ≈ 10 ns, pulse energy 〉 1.0 J）, a grating spectrometer, an image intensifier （I.I.） lens coupled with an electron multiplying CCD （EMCCD） and a data acquisition and analysis system. In this paper, the measurement capability of the system is analyzed. In addition to the performance of the system, the capability of measuring plasma electron temperature has been proved. The profile of electron temperature is presented with a spatial resolution of about 0.96 cm （seven points） near the center of the plasma.
文摘This paper presents a novel remote controlled dexterous robot arm with 6 degrees of freedom （DOF）. As a highly integrated mechatronics system, sensors and their signal processing system are integrated inside each joint. To lighten the weight, almost all mechanical parts are made of aluminum and the robot control system is placed outside. The modular concept is adopted during the robot design process for time and cost saving. Considering the much greater torque acted on the two shoulder joints, the joint shells are strengthened in the design to increase joint stiffness and suppress system vibration. Meanwhile, to simplify the maintenance, a new spring pins electronic connector is designed to disassemble every joint, connector and link independently without cutting any cables. The teleoperation technology enables the robot to offer more convenient service definitely for people＇ s daily life. Virtual reality technology is used to solve the time delay problem during teleoperation. Finally, two typical daily chore experiments are implemented to prove the manipulation ability of the dexterous robot arm.
