单片机研发.docx

单片机研发.docx

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单片机研发

单片机的数据采集、通信模块和外围电路设计，基于USB传输的数据传输细节

软件与硬件系统系统开发工具与实验环境测试与调试单片机电路测试环境与测试方案

元器件的设计要求

能源技术与仪表自动化

Optimizedhardwaredesignforthedivertorremotehandlingcontrolsystem?

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FusionEngineeringandDesign

AkeyITERmaintenanceactivityistheexchangeofthedivertorcassettes.OneofthemajorfocusesoftheEURemoteHandling（RH）programmehasbeenthestudyanddevelopmentoftheremotehandlingequipmentnecessaryfordivertorexchange.Thecurrentmajorstepinthisprogrammeinvolvestheconstructionofafullscalephysicaltestfacility,namelyDTP2（DivertorTestPlatform2）,inwhichtodemonstrateandrefinetheRHequipmentdesignsforITERusingprototypes.ThemajorobjectiveoftheDTP2projectistheproofofconceptstudiesofvariousRHdevices,butisalsoimportanttodefineprinciplesforstandardizingcontrolhardwareandmethodsaroundtheITERmaintenanceequipment.

ThispaperfocusesondescribingthecontrolsystemhardwaredesignoptimizationthatistakingplaceatDTP2.HeretherewillbetwoRHmovers,namelytheCassetteMultifuctionalMover（CMM）,CassetteToroidalMover（CTM）andassistingwaterhydraulicforcefeedbackmanipulators（WHMAN）locatedaboardeachMover.TheideahereistousecommonRealTimeOperatingSystems（RTOS）,measurementandcontrolIO-cardsetc.forallmaintenancedevicesandtostandardizesensorsandcontrolcomponentsasmuchaspossible.

Inthispaper,newoptimizedDTP2controlsystemhardwaredesignandsomeinitialexperimentationwiththenewDTP2RHcontrolsystemplatformarepresented.TheproposednewapproachisabletofulfilthefunctionalrequirementsforbothMoverandManipulatorcontrolsystems.Sincethenewcontrolsystemhardwaredesignhasreducedarchitecturethereareanumberofbenefitscomparedtotheoldapproach.Thesimplifiedhardwaresolutionenablestheuseofasinglesoftwaredevelopmentenvironmentandasinglecommunicationprotocol.Thiswillresultineasiermaintainabilityofthesoftwareandhardware,lessdependenceontrainedpersonnel,easiertrainingofoperatorsandhencereducedthedevelopmentcostsofITERRH.

ArticleOutline

1.Introduction

2.CMMoperatingsystemhardwarearchitecture

3.OverviewoftheoriginalCMM/HLCsoftwarearchitectureforthereal-timePC

3.1.Basicdesign

3.2.Softwarecomponents

3.3.Performance

4.Evolutiontowardsmulti-corearchitecture

4.1.OriginalarchitecturewithmultipleCPUcores

4.2.Separatingcommunication

4.3.Futuredevelopment

5.Parallelismvs.improvedCPUspeed

6.Conclusionsaboutmultiplecores

7.ProposalforoptimizedCMMcontrolsystemhardwarearchitecture

7.1.Effectsofoptimization

7.1.1.Generally

7.1.2.HMIPCanduserinterface

7.1.3.HostPCandreal-timesystem

Acknowledgements

Open-architecturesystembasedonareconfigurablehardware–softwaremulti-agentplatformforCNCmachines?

JournalofSystemsArchitecture

Newgenerationofmanufacturingsystemsendowstheirintelligenceandreconfigurabilitytothecomputerizednumericalcontroller（CNC）machines.Thispaperpresentsanopen-architectureplatformbasedonmulti-agenthardware–softwareunits,bydevelopinganovelMulti-AgentDistributedCONtroller（MADCON）system.Thissystemintendstofulfilltherequirementsofreconfigurabilityforthenextgenerationofintelligentmachines.Thedesignofintelligentdrivesforthissystemfollowsahardware–softwareco-designapproachusingasimpleandintuitivestructure.ThehardwareunitsoftheproposedsystemintegratecontrolandmonitoringfunctionsprovidinganFPGA-basedopenarchitectureforreconfigurableapplications.Ontheotherhand,softwarecomponentsweredevelopedutilizingtheXMLstructureforsystemdescriptionfiles,gatheringfeatureslikeaflowchartdescriptivelanguageandagraphicuser-interface.MADCONwasappliedtoaretrofittedtoCNClatheforcontrolandmonitoringinordertovalidatetheproposedarchitecturetowardsthedevelopmentofnewgenerationintelligentmanufacturingsystems.

ArticleOutline

1.Introduction

2.MADCONarchitecture

2.1.Systemoverview

2.2.MADCONhardwareplatform

2.3.MADCONsoftwareplatform

2.4.MADCONconnectionprotocol

3.Hardware–softwareco-design

4.Descriptionofsystems

4.1.DRCdescription

4.1.1.Communicationports

4.1.2.Registers

4.1.3.Packages

4.1.4.Programs

4.2.Projectintegration

4.2.1.Moduleinstantiation

4.2.2.Petrinet

4.2.3.Frontpanel

4.2.4.Virtualinstrumentation

5.Acaseofstudy

6.Resultsanddiscussion

7.Conclusions

Acknowledgements

Asoftwareengineeringapproachforthedevelopmentofheterogeneousroboticapplications?

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RoboticsandComputer-IntegratedManufacturing

Oneofthemostevidentcharacteristicsofroboticapplicationsisheterogeneity:

largeroboticprojectsinvolvemanydifferentresearcherswithverydifferentprogrammingneedsandareasofresearch,usingavarietyofhardwareandsoftwarethatmustbeintegratedefficiently（i.e.:

withalowdevelopmentcost）toconstructapplicationsthatsatisfynotonlyclassicroboticrequirements（fault-tolerance,real-timespecifications,intensiveaccesstohardware,etc.）butalsosoftwareengineeringaspects（reusability,maintainability,etc.）.Mostexistingsolutionstothisproblemeitherdonotdealwithsuchheterogeneityordonotcoverspecificroboticneeds.Inthispaperweproposeaframeworkfortheintegrationofheterogeneousroboticsoftwarethroughasoftwareengineeringapproach:

theBABELdevelopmentsystem,whichisaimedtocoverthemainphasesoftheapplicationlifecycle（design,implementation,testing,andmaintainance）whenunavoidableheterogeneityconditionsarepresent.Thecapabilitiesofoursystemareshownbyitssupportfordesigningandimplementingdiverserealroboticapplicationsthatuseseveralprogramminglanguages（C,C++,JAVA）,executionplatforms（RT-operatingsystems,MS-Windows,nooperatingsystematall）,communicationmiddleware（CORBA,TCP/IP,USB）,andalsoavarietyofhardwarecomponents（PersonalComputers,microcontrollers,andawidediversityofsensorandactuatordevicesinmobilerobotsandmanipulatorarms）.

ArticleOutline

1.Introduction

2.Previousandrelatedwork

3.Heterogeneousroboticplatformsforbabelevaluation

4.DesignofroboticapplicationsinBABEL:

thearacnespecification

4.1.Theportablepartofthedesign

4.2.Thenon-portablepartofthedesign

4.3.Integratingtheportableandthenon-portable

5.Implementationofapplications:

theBABELMD

6.Executionofapplications:

theBABELEM

7.Debuggingapplications:

theBABELDebugger（D）

8.Maintenanceofapplications:

theBABELDS

9.Conclusionsandfuturework

Automaticsynthesisandverificationofreal-timeembeddedsoftwareformobileandubiquitoussystems?

ComputerLanguages,Systems&Structures

Currentlyavailableapplicationframeworksthattargettheautomaticdesignofreal-timeembeddedsoftwarearepoorinintegratingfunctionalandnon-functionalrequirementsformobileandubiquitoussystems.Inthiswork,wepresenttheinternalarchitectureanddesignflowofanewlyproposedframeworkcalledVerifiableEmbeddedReal-TimeApplicationFramework（VERTAF）,whichintegratesthreetechniquesnamelysoftwarecomponent-basedreuse,formalsynthesis,andformalverification.Componentreuseisbasedonaformalunifiedmodelinglanguage（UML）real-timeembeddedobjectmodel.Formalsynthesisemploysquasi-staticandquasi-dynamicschedulingwithmulti-layerportableefficientcodegeneration,whichcanoutputeitherreal-timeoperatingsystems（RTOS）-specificapplicationcodeorautomaticallygeneratedreal-timeexecutivewithapplicationcode.Formalverificationintegratesamodelcheckerkernelfromstategraphmanipulators（SGM）,byadaptingitforembeddedsoftware.TheproposedarchitectureforVERTAFiscomponent-basedwhichallowsplug-and-playfortheschedulerandtheverifier.Thearchitectureisalsoeasilyextensiblebecausereusablehardwareandsoftwaredesigncomponentscanbeadded.ApplicationexamplesdevelopedusingVERTAFdemonstratesignificantlyreducedrelativedesigneffortascomparedtodesignwithoutVERTAF,whichalsoshowshowhigh-levelreuseofsoftwarecomponentscombinedwithautomaticsynthesisandverificationincreasesdesignproductivity.

ArticleOutline

1.Introduction

2.DesignandverificationflowinVERTAF

2.1.UMLmodeling

2.2.Real-timeembeddedsoftwarescheduling

2.3.Formalverification

2.4.Componentmapping

2.5.Codegeneration

3.Analysisandevaluation

4.Conclusion

PreliminarydesignofthecontrolanddataacquisitionsystemsfortheNeutralBeamTestFacility?

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TheNeutralBeamTestFacility,whichwillbebuiltinPadova,Italy,isaimedatdevelopingtheITERheatingneutralbeaminjector（HNB）andattestingandoptimizingitsoperationuptonominalperformancebeforeinstallationonITER.ItrequiresthedevelopmentoftwoindependentexperimentsreferredtoasSPIDER（sourceforproductionofionsofdeuteriumextractedfromRfplasma）andMITICA（megavoltITerinjector&conceptadvancement）.SPIDERwillexplorethefull-sizenegativeionsourceforITER,whereasMITICAwillexplorethefull-sizeITERneutralbeaminjector.Bothexperimentswillbedesignedforlong-pulseoperation,upto3600?

s,asITERitself.MITICAincludesthreefunctionalcomponents:

theheatingneutralbeaminjectorplantsystem（HNB）,whichisthedeviceundertest;theauxiliaryplantsystem（AUX）,whichincludesallequipmenttooperatetheHNBinthetestfacility（e.g.thelocalelectricgridtofeedtheHNBpowersupplies）,andMITICAsupervisorysystemthatisanelectronics/informaticsinfrastructuretooperatethefacility.Thepaperintroducestherequirementsforthecontrolanddataacqu