针对四轴机器人的控制问题,提出了一种基于LPC2119和LPC2104的多处理器并行处理的设计方案。首先,介绍了该机器人的意义和应用领域、分布式并行架构的组成,以及各部分硬件结构的设计。针对机器人的行走问题,提出了一种基于时序的路径记...针对四轴机器人的控制问题,提出了一种基于LPC2119和LPC2104的多处理器并行处理的设计方案。首先,介绍了该机器人的意义和应用领域、分布式并行架构的组成,以及各部分硬件结构的设计。针对机器人的行走问题,提出了一种基于时序的路径记忆算法TPMA(Time Based Path Memory Algorithm),并对算法进行了详细描述。然后,对机器人的主要功能模块做了较详细的说明,包括语音控制、红外避障控制及无线控制的实现方法,最后介绍了软件系统的设计并给出了主要程序流程。展开更多
Spin-crossover(SCO)complexes have been extensively studied in the past few decades owing to their bistable nature which find application in a myriad of areas.In order to enhance and optimize the SCO behavior,considera...Spin-crossover(SCO)complexes have been extensively studied in the past few decades owing to their bistable nature which find application in a myriad of areas.In order to enhance and optimize the SCO behavior,considerable attention is being paid towards the synthesis of discrete multinuclear spin-crossover complex systems.Here,two mixed-valence Fe_(2)^(Ⅲ)Fe^(Ⅱ)trinuclear complexes of the formula{[Fe^(Ⅱ)(TPMA)][Fe^(Ⅲ)(TpR)(CN)_(3)]_(2)}·MeOH·2H_(2)O(1)and{[Fe^(Ⅱ)(TPMA)][Fe^(Ⅲ)(TpR)(CN)_(3)]_(2)}·H_(2)O(2)[where TPMA=tris(2-pyridylmethyl)amine,Tp=tris(pyrazol-1-yl)borate,R=3,5-dimethyl for 1 and H for 2]were synthesized and characterized.Magnetic measurements confirmed that complex 1 undergoes SCO at a high temperature(T_(1/2)=410 K for the fresh sample and T_(1/2)=406 K for the dried sample),while complex 2 displays near room temperature SCO(T_(1/2)=283 K for the fresh sample and T_(1/2)(↑)=283 K and T_(1/2)(↓)=257 K for the dried sample).To the best of our knowledge,complex 1 has the highest transition temperature reported among trinuclear SCO complexes so far,which is a remarkable feature of multinuclear materials.Slight structural modifications tend to upend the SCO behavior which paves the way for fine tuning SCO.展开更多
文摘针对四轴机器人的控制问题,提出了一种基于LPC2119和LPC2104的多处理器并行处理的设计方案。首先,介绍了该机器人的意义和应用领域、分布式并行架构的组成,以及各部分硬件结构的设计。针对机器人的行走问题,提出了一种基于时序的路径记忆算法TPMA(Time Based Path Memory Algorithm),并对算法进行了详细描述。然后,对机器人的主要功能模块做了较详细的说明,包括语音控制、红外避障控制及无线控制的实现方法,最后介绍了软件系统的设计并给出了主要程序流程。
基金supported by the National Natural Science Foundation of China(NSFC,21971124 and 22035003).
文摘Spin-crossover(SCO)complexes have been extensively studied in the past few decades owing to their bistable nature which find application in a myriad of areas.In order to enhance and optimize the SCO behavior,considerable attention is being paid towards the synthesis of discrete multinuclear spin-crossover complex systems.Here,two mixed-valence Fe_(2)^(Ⅲ)Fe^(Ⅱ)trinuclear complexes of the formula{[Fe^(Ⅱ)(TPMA)][Fe^(Ⅲ)(TpR)(CN)_(3)]_(2)}·MeOH·2H_(2)O(1)and{[Fe^(Ⅱ)(TPMA)][Fe^(Ⅲ)(TpR)(CN)_(3)]_(2)}·H_(2)O(2)[where TPMA=tris(2-pyridylmethyl)amine,Tp=tris(pyrazol-1-yl)borate,R=3,5-dimethyl for 1 and H for 2]were synthesized and characterized.Magnetic measurements confirmed that complex 1 undergoes SCO at a high temperature(T_(1/2)=410 K for the fresh sample and T_(1/2)=406 K for the dried sample),while complex 2 displays near room temperature SCO(T_(1/2)=283 K for the fresh sample and T_(1/2)(↑)=283 K and T_(1/2)(↓)=257 K for the dried sample).To the best of our knowledge,complex 1 has the highest transition temperature reported among trinuclear SCO complexes so far,which is a remarkable feature of multinuclear materials.Slight structural modifications tend to upend the SCO behavior which paves the way for fine tuning SCO.
