obot control, a subject aimed at making robots behave as desired, has been
extensively developed for more than two decades. Among many books being
published on this subject, a common feature is to treat a robot as a single
system that is to be controlled by a variety of control algorithms depending on
different scenarios and control objectives. However, when a robot becomes more
complex and its degrees of freedom of motion increase substantially, the needed
control computation can easily go beyond the scope a modern computer can
handle within a pre-specified sampling period. A solution is to base the control
on subsystem dynamics.
Mobile communication devices like smart phones or tablet PCs enable us to
consume information at every location and at every time. The rapid development
of new applications and new services and the demand to access data in real time
create an increasing throughput demand. The data have to be transmitted reliably
to ensure the desired quality of service. Furthermore, an improved utilization of
the bandwidth is desired to reduce the cost of transmission.
OSCILLATORS are key building blocks in integrated transceivers. In wired and
wireless communication terminals, the receiver front-end selects, amplifies and
converts the desired high-frequency signal to baseband. At baseband the signal can
then be converted into the digital domain for further data processing and demodula-
tion. The transmitter front-end converts an analog baseband signal to a suitable high-
frequency signal that can be transmitted over the wired or wireless channel.
The focus of this book is on developing computational algorithms for transmit wave-
form design in active sensing applications, such as radar, sonar, communications and
medical imaging. Waveforms are designed to achieve certain desired properties, which
are divided into three categories corresponding to the three main parts in the book,
namely good aperiodic correlations, good periodic correlations and beampattern match-
ing.
For many years prior to the 1970s, engineers designed and built switch mode
power supplies (SMPSs) using methods based largely on intuitive and exper-
imentally derived techniques. In general, these power supplies were able to
achieve their primary goal of high-efficiency power conversion; unfortu-
nately, due to the lack of adequate theoretical analysis techniques, many of
these power supplies only marginally met their desired performance require-
ments. In many cases, they were considered to be unreliable.
A kinematically redundant manipulator is a serial robotic arm that has more
independently driven joints than are necessary to define the desired pose (position
and orientation) of its end-effector. With this definition, any planar manipulator (a
manipulator whose end-effector motion is restrained in a plane) with more than
three joints is a redundant manipulator. Also, a manipulator whose end-effector can
accept aspatialposeisaredundant manipulator ifithas morethan sixindependently
driven joints. For example, the manipulator shown in Fig. 1.1 has two 7-DOF arms
mounted on a torso with three degrees of freedom (DOFs). This provides 10 DOFs
for each arm. Since the end-effector of each arm can have a spatial motion with six
DOFs, the arms are redundant.
#nclude<reg51.h>#include<intrins.h>#銷nclude<math.h>#include<string.h>struct PID{unsigned int SetPoint；//設定目標 desired Value unsigned int Proportion；//比例常數Proportional Const unsigned int integral；//積分常數Integral Const unsigned int Derivative://微分常數Derivative Const unsigned int LastError；//Emorl-1]unsigned int PrevError；//Errorl-2]unsigned int SumError；//Sums of Errors struct PID spid；//PID Control Structure unsigned int rout；//PID Response（Output）unsigned int rin://PID Feedback（Input）sbit data1=P100；sbit clk=P141；sbit plus=P240；sbit subs=P241：sbit stop=P22；sbit output=P34；sbit DQ=P33；unsigned char flag，flag_1=0；unsigned char high_time，low_time，.count=0，/占空比調節參數unsigned char set_temper=35；unsigned char temper；unsigned chari：unsigned charj=0；unsigned ints；
