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借助微电子领域中的片上系统,搭建良好的应用开发平台,构造开放式模块化机器人控制器,并利用聚类特性中有代表意义的评价指标即内聚和耦合对所实现的机器人控制器的模块化设计以及开放式结构进行理论分析.同时选取在实现模块化机器人控制器的过程中各个片上系统元素的建立时间和延迟时间等具体参数进行分析和比较.实验表明:利用片上系统实现的控制器,结构良好,模块化程度高,同类模块间平均距离短,内聚强;不同模块间平均距离长,耦合松,体现了良好的开放性.
With the help of the system-on-chip in the field of microelectronics, a good application development platform is set up and an open modular robot controller is constructed. Based on the representative evaluation indexes of clustering characteristics, namely the cohesion and coupling pairs, Modular design and open structure theory analysis.At the same time select the specific parameters of each on-chip system element in the process of realizing the controller of the modularized robot for analysis and comparison.Experiments show that the use of system-on-chip control The device has a good structure, a high degree of modularity, short average distance between similar modules, and strong cohesion. The average distance between different modules is long and the coupling is loose, which shows a good openness.