An object oriented multi robotic graphic simulation environment is described in this paper. Object oriented programming is used to model the physical objects of the robotic workcell in the form of software objects ...An object oriented multi robotic graphic simulation environment is described in this paper. Object oriented programming is used to model the physical objects of the robotic workcell in the form of software objects or classes. The virtual objects are defined to provide the user with a user friendly interface including realistic graphic simulation and clarify the software architecture. The programming method of associating the task object with active object effectively increases the software reusability, maintainability and modifiability. Task level programming is also demonstrated through a multi robot welding task that allows the user to concentrate on the most important aspects of the tasks. The multi thread programming technique is used to simulate the interaction of multiple tasks. Finally, a virtual test is carried out in the graphic simulation environment to observe design and program errors and fix them before downloading the software to the real workcell.展开更多
For electromagnetic scattering of 3?D complex electrically large conducting targets,a new hybrid algorithm,MoM?PO/SBR algorithm,is presented to realize the interaction of information between method of moment(MoM)and p...For electromagnetic scattering of 3?D complex electrically large conducting targets,a new hybrid algorithm,MoM?PO/SBR algorithm,is presented to realize the interaction of information between method of moment(MoM)and physical optics(PO)/shooting and bouncing ray(SBR).In the algorithm,the COC file that based on the Huygens equivalent principle is introduced,and the conversion interface between the equivalent surface and the target is established.And then,the multi?task flow model presented in this paper is adopted to conduct CPU/graphics processing unit(GPU)tests of the algorithm under three modes,i.e.,MPI/OpenMP,MPI/compute unified device architecture(CUDA)and multi?task programming model(MTPM).Numerical results are presented and compared with reference solutions in order to illustrate the accuracy and the efficiency of the proposed algorithm.展开更多
The purpose of this article is to reduce the barrier of developing a house made scanning probe microscope （SPM）. Here in this paper, we cover all the details of programming an SPM controller with LabVIEW. The main c...The purpose of this article is to reduce the barrier of developing a house made scanning probe microscope （SPM）. Here in this paper, we cover all the details of programming an SPM controller with LabVIEW. The main controller has three major sequential portions. They are system initialization portion, scan control and image display portion and system shutdown portion. The most complicated and essential part of the main controller is the scan control and image display portion, which is achieved with various parallel tasks. These tasks are scan area and image size adjusting module, Y axis scan control module, X axis scan and image transferring module, parameters readjusting module, emergency shutdown module, etc. A NI7831R FPGA board is used to output the control signals and utilize the Z-axis real time feedback controls. The system emergency shutdown is also carried out by the FPGA module. Receiving the shutdown command from the main controller, the FPGA board will move the probe to its XYZ zero position, turn off all the high voltage control signals and also eliminate the possible oscillations in the system. Finally, how to operate the controller is also briefly introduced. That messy wires fly back and forth is the main drawback of LabVIEW programming. Especially when the program is complicated, this problem becomes more serious. We use a real example to show how to achieve complex functionalities with structural programming and parallel multi task programming. The actual code showed in this paper is clear, intuitive and simple. Following the examples showed in this paper, readers are able to develop simple LabVIEW programs to achieve complex functionalities.展开更多
文摘An object oriented multi robotic graphic simulation environment is described in this paper. Object oriented programming is used to model the physical objects of the robotic workcell in the form of software objects or classes. The virtual objects are defined to provide the user with a user friendly interface including realistic graphic simulation and clarify the software architecture. The programming method of associating the task object with active object effectively increases the software reusability, maintainability and modifiability. Task level programming is also demonstrated through a multi robot welding task that allows the user to concentrate on the most important aspects of the tasks. The multi thread programming technique is used to simulate the interaction of multiple tasks. Finally, a virtual test is carried out in the graphic simulation environment to observe design and program errors and fix them before downloading the software to the real workcell.
文摘For electromagnetic scattering of 3?D complex electrically large conducting targets,a new hybrid algorithm,MoM?PO/SBR algorithm,is presented to realize the interaction of information between method of moment(MoM)and physical optics(PO)/shooting and bouncing ray(SBR).In the algorithm,the COC file that based on the Huygens equivalent principle is introduced,and the conversion interface between the equivalent surface and the target is established.And then,the multi?task flow model presented in this paper is adopted to conduct CPU/graphics processing unit(GPU)tests of the algorithm under three modes,i.e.,MPI/OpenMP,MPI/compute unified device architecture(CUDA)and multi?task programming model(MTPM).Numerical results are presented and compared with reference solutions in order to illustrate the accuracy and the efficiency of the proposed algorithm.
文摘The purpose of this article is to reduce the barrier of developing a house made scanning probe microscope （SPM）. Here in this paper, we cover all the details of programming an SPM controller with LabVIEW. The main controller has three major sequential portions. They are system initialization portion, scan control and image display portion and system shutdown portion. The most complicated and essential part of the main controller is the scan control and image display portion, which is achieved with various parallel tasks. These tasks are scan area and image size adjusting module, Y axis scan control module, X axis scan and image transferring module, parameters readjusting module, emergency shutdown module, etc. A NI7831R FPGA board is used to output the control signals and utilize the Z-axis real time feedback controls. The system emergency shutdown is also carried out by the FPGA module. Receiving the shutdown command from the main controller, the FPGA board will move the probe to its XYZ zero position, turn off all the high voltage control signals and also eliminate the possible oscillations in the system. Finally, how to operate the controller is also briefly introduced. That messy wires fly back and forth is the main drawback of LabVIEW programming. Especially when the program is complicated, this problem becomes more serious. We use a real example to show how to achieve complex functionalities with structural programming and parallel multi task programming. The actual code showed in this paper is clear, intuitive and simple. Following the examples showed in this paper, readers are able to develop simple LabVIEW programs to achieve complex functionalities.
