于仁颇黎@机器人

G1 买来不到二天，就被我折腾了不能使用听筒了，原因是刷了android 1.5版本的radio文件，来原始的是android 1.0的RADIO 文件，刷完后直接刷了安卓版2.2的ROM，打电话就经常无声音了，但是切换到扬声器就没有问题，有时听筒还是有声音的。因此，怀疑是RADIO文件的问题。找到HTC DREAM 官方支持页面，下载了RADIO文件，刷新时出现了找不到update.hiapk的问题，看来安卓的系统更改的东西太多了。无奈进入FASTBOOT界面，RESET了G1，重新刷SPL文件，并再刷安卓版2.5 SPL，问题还是一样。降级，发现就好了。至今还奇怪中，不管他，可以用了就行了。

PS:今天又去查了一下手机的辐射，G1的辐射1.11, BB8320 有1.51,而palm Pre 只有0.938,而我原来的Palm treo 680才只有0.78，看来PALM的东西设计真的是不一样。

今天刚好有日食，就拿了张软盘片做滤光拍了张照片。

这是一个比较老的一个项目了，使用机器人去处理一些精密的汽车配件，当中有一些工艺，机器人在这个中间，也扮演了非常重要的作用。整套设备是由来自德国的Frimo公司做的，我所做的就是将机器人的切割轨迹及切割程序编辑出来，下面图片来自frimo公司网站。

有兴趣了解的话，就去他们网站看看,以下为官介绍：

FlexTrim scoring – machines which are ideal for trimming or scoring foils and skins

The FRIMO scoring process technology was developed for the production of invisible airbags in instrument panels. In contrast to the weakening of composite components in which substrate, foam and skin are weakened in one step FRIMO prefers material specific single steps.

The foil or skin is weakened seperately by blade before foaming. After this the weakening of the substrate and the foam takes place. It can be perfectly integrated in the necessary cutting process of the component. Depending on the requirements FRIMO punching machines or milling machines come into operation. Compared to the weakening of composite components a lower invest is needed.

For the invisible airbag weakening of leather parts FRIMO offers a patented process in which the skin is weakend by a rotating circular knife. This proces guarantees a high precision and odourless results with shortest cycle times.

The advantages at one glance:

• Efficient and reliable high precision machines with one or more robots per cell
• Relatively low investment costs 
• Compact and easy to operate machines
• Use of ultrasonic, scalpel, circular or VOCKS blade with release agent application
• Nearly all surface materials can be processed in 3-D geometries, e.g. TPO, TPU, PVC, PU and leather

　　牛年已经在眼前，祝各位朋友牛年大吉，子去丑来腾锦銹，金牛奋地涌春潮。

PS:前几天给国外的同事发了祝福，收到了一个美好的回复祝福，同时也加了一句，what is ox?wiki了一下，发了给他，也留下来自己记录。

what is ox year?

来源：http://en.wikipedia.org/wiki/Ox_(zodiac)

The Ox ( 牛 ) is one of the 12-year cycle of animals which appear in the Chinese zodiac related to the Chinese calendar. The Year of the Ox is denoted by the earthly branch character 丑.

The Ox is the sign of prosperity through fortitude and hard work.
This powerful sign is a born leader, being quite dependable and
possessing an innate ability to achieve great things. As one might
guess, such people are dependable, calm, and modest. Like their animal
namesake, the Ox is unswervingly patient, tireless in their work, and
capable of enduring any amount of hardship without complaint.

Ox people need peace and quiet to work through their ideas, and when
they have set their mind on something it is hard for them to be
convinced otherwise. An Ox person has a very logical mind and is
extremely systematic in whatever they do, even without imagination.
These people speak little but are extremely intelligent. When
necessary, they are articulate and eloquent.

People born under the influence of the Ox are kind, caring souls,
logical, positive, filled with common sense and with their feet firmly
planted on the ground. Security is their main preoccupation in life,
and they are prepared to toil long and hard in order to provide a warm,
comfortable and stable nest for themselves and their families.
Strong-minded, stubborn, individualistic, the majority are highly
intelligent individuals who don’t take kindly to being told what to do.

The Ox works hard, patiently, and methodically, with original
intelligence and reflective thought. These people enjoy helping others.
Behind this tenacious, laboring, and self-sacrificing exterior lies an
active mind.

The Ox is not extravagant, and the thought of living off credit
cards or being in debt makes them nervous. The possibility of taking a
serious risk could cause the Ox sleepless nights.

Ox people are truthful and sincere, and the idea of wheeling and
dealing in a competitive world is distasteful to them. They are rarely
driven by the prospect of financial gain. These people are always
welcome because of their honesty and patience. They have many friends,
who appreciate the fact that the Ox people are wary of new trends,
although every now and then they can be encouraged to try something new.

It is important to remember that the Ox people are sociable and
relaxed when they feel secure, but occasionally a dark cloud looms over
such people and they engage all the trials of the whole world and seek
solutions for them.Also the Ox people are all caring and loving but at
times when you mess with them they will tear out in anger.

　　最近一直在追《越狱》的第四季，这一季真正意义上的可能称的上是王者归来，其精彩程度绝对不亚于第一季。从第一季看到这一周结束的每十三季，全剧始终有一个贯穿的中线，那就是有一种全局的团队协作观在里面。特别是第四季当中的团队，Michael, linc,Sucre,Mahone,Sara及那个为整个团队而奉献了自己４０岁单身生命的brad，在这么一个目标明确，有序并且互相关爱照顾，一往无前的团队工作，一定是一种非凡的享受。当然，越狱本身带给我的体味远不只与此，他让我明白了很多的内容。

　　首先，凡事预则立，不预则废。这个从第一季中我们可以明显的看出来了。Michael为救将要被处以死刑的哥哥Linc，决定进入监狱帮助哥哥越狱。在这之前，他做足了功课，详细了分析了整个计划，搞到了监狱的蓝图，分析了监狱中关押中各种可以利用的人物资源，做了各种预案，以处理一些特别事情的发生。主计划带着备份计划，在出现问题的时候，一直处于绝对的优势，不会因此而受制于人。

　　第二，工预善其事，必先利其器。每一次Michael的计划，不论是从Fox River越狱，还是第四季中的追踪获取Sylla的数据，都考虑了可能需要用到的工具，并且每一种工具的性能都了解的非常清楚，并且也在实际中发挥了非常大的作用。亚洲人的电子技巧，帮助他们轻易的获得了多张Sylla卡的拷贝，如果没有这种工具，也许这次的计划就不会成功的如此顺利。

　　第三，火车开的快，全靠头来带。团队的leader是这个团队的灵魂人物，Michael就是这样的一个Leader.他目标明确，有远见卓识，并且还坚忍不拔，智慧并且冷静，考虑问题周全，为整个团队着想，有极大的凝聚力，让团队的所有人成员信服。

　　第四，没有永远的朋友，也没有永远的敌人。个人需要会让一个人改变自己原来的立场，所以如果有人改变了他的立场，不用奇怪，他是因为的他的需要满足了。朋友和敌人在团队中没有固定的角色，一个时期中可能需要全力争取原先的敌人加入团队中效力，而另一时期中也有可能团队中原有的功臣成为整个团队的公敌。所以，Foxriver的时候,brad可以肆意的攻击Sucre,Michael,但是,他也可以在Sona救Sucre,Brad可以为Michael他们牺牲;Mahone可以和Linc和Michael一起工作而不担心他们突然杀死他，在最后的时候，他们也可以握手言和。

　　第五，伙伴就是伙伴，敌人不是敌人。是的，这与第四条是矛盾的，但是他也是存在合理的。以利相交的朋友，终究为因利而分。真正的伙伴是始终为对方着想的，因此，亲情和爱情还有真正的友情，始终是人生当中最重要的。各种“关系”的本质在于“威慑”与“互利”，二者必取其一,以此而来的信任是不存在的。因此要对这样的人以最大的怀疑，所以 Michael留下了一小片Cylla的电路。

　　第六，目标明确，专心向前。自己在要有明确的目标，并且要为这个目标不断的去努力奋斗。抓主干，剪枝蔓。不要因为一些无谓的事而让你分心，不能好好向前。从经济学角度上来说，专业化会让你的优势明显增加。在前进的途中，别人永远不会像你自己那样在乎你的感受，因此你也不必太过于在意他们对你的看法。重要是在这种前进的途中，你让自己觉得自己是在进步，你从中得到了快乐。

　　第七，与人为善。凡事不可做绝，总要留予他人一些方便。如BRAD般强悍之人也不知道什么时候会重返FOX RIVER。 就是论事，对事不对人。不要得理不饶人，在一些不在事情上，不妨大度一些。

       SAR――Specific Absorption Rate,电磁能量吸收比），即手机对人体的辐射，都是有一定的标准的，比如美国是1.6w/kg,欧洲标准为2.0w/kg.而我国目前还没有相关的标准，但是，据有关消息，我国的标准可能会定在1W/kg.

　　SAR的规程起源于美国，欧盟，日本，韩国等国家和地区。在SAR持应用测量方面，DASY作为世界著名国际标准系统被广泛地使用。

　　DASY是Speag公司的一套专门用来检查SAR的系统，由于在检测过程中，需要探头不断的运动，并要求有极为精确的定位精度，因此，SPEAG的工程师们选择了Staubli的工业机器人。从DASY3开始,Speag选择了Staubli RX90或RX60的机械手臂，CS7/CS7M控制器；到DASY4,选用了Staubli RX90或RX60的机械手臂，CS7B/CS7MB更新版控制器；到现在，Staubli也推出了新型的TX系列机械手臂和CS8系列的控制器，DASY５也开始使用新型的staubli工业机器人，选用了TX60,TX90的机械手臂，CS8C控制器，为我们的手机使用安全把关。

ChRoMicro - Cheap Robotic Microhelicopter HOWTO

2. Off-the-shelf Components

2.1. Helicopter platform

Anumber of inexpensive microhelicopters are now available to RC modelhobbyists: Ikarus Piccolo, MS Hornet, Carboon, Dragonfly, Hummingbird,Tiny, Aerohawk. These are essentially scaled-down versions of regularmodel helicopters, made possible by advances in battery technology.Some models have a rotor head with fixed collective pitch (FP), whileothers have both cyclic and collective pitch (CP). Most have adedicated tail motor rather than a variable-pitch tail rotor.

Arecent radical innovation is the "ProxFlyer" self-stabilizingdeformable rotor design. Unfortunately, current commercialimplementations are too small to be used as robotic platforms. Besides,stability is obtained by sacrificing maneuverability.

For this project we use a commercial ARF microelicopter kit containing:

• A pre-assembled helicopter with collective-pitch rotor, two brushed motors and three miniature servos

• An electronics package with BEC, 6-channel RC receiver, yaw gyro, and motor drivers

• A 41 MHz 6-channel RC transmitter with hardwired CCPM mixing

• A 11.1 V, 850 mAh lithium-polymer battery

• A battery charger.

The aircraft weighs 270 g and can lift at least 50 g of payload.

Theelectronics package is a "black box" which connects all componentstogether. This is in contrast with larger model helicopters, where theconnections between the receiver, gyro, BEC and motor drivers areexposed and documented. Integrating all these components reduces size,weight and cost, but makes modifications harder.

Fortunately,in some commercial microhelicopters, the "black box" can be tinkeredwith fairly easily. It actually consists of two boards connectedback-to-back with a 2×3-pin connector (see Figure 1):

• A generic RC receiver board with seven 3-pin PWM servo outputs.

• A power/gyro board with BEC, gyro, failsafe, and motor controllers.

Figure 1. Contents of the integrated controller in a typical commercial microhelicopter kit.

Table 1 lists the PWM outputs, two of which are routed internally between the two boards.

Table 1. RC receiver PWM outputs.

Channel	Usage
1	Right servo
2	Front servo
3	Main motor (internally connected to the power/gyro board)
4	Tail rotor (internally connected to the power/gyro board)
5	Unused
6	Left servo
B	Unused (12 ms sync pulses)

Any similar helicopter can be used. The main requirements are:

• The controller board must use PWM signals. Generating PCM signals would require more work, especially if proprietary encodings are involved.

• The controller board must expose the multiplexed PWM signal between the FM radio receiver and the demultiplexer (see Section 3.2), or at least the PWM inputs to the motor drivers.

• The helicopter must be strong enough to lift at least 30 g of payload.

• The battery must be able to supply 200mA of additional current.

2.2. Embedded computer

We use a Gumstix single-board computer with the following features:

• 200 MHz XScale PXA255 processor (ARM)

• 4 MiB flash with factory-installed Linux-2.6.10 and utilities

• 64 MiB SDRAM

• General-purpose I/O pins

• I/O daughterboard with 2.54 mm pads

• I2C bus

• Bluetooth module and antenna

• Comprehensive software development environment

Some features are not used:

• Hardware PWM generator: Intended for driving the brightness and contrast of a LCD display. We need more than two channels.

• USB client interface: Intended for ARM-based PDAs. usbnet is useful for logging into the Gumstix, but we can use Bluetooth instead.

2.3. Other equipment

• Linux computer with USB and Bluetooth

• Xbox-compatible controller

• 12 V, 5 A regulated power supply

• 10 Mhz analog oscilloscope (recommended)

3. Hardware

3.1. Voltage regulator mod

The power/gyro board has two +5 V voltage regulators labelled CX1117-5.0 and mounted in parallel. Idle current is 50 mA.

Sincethis +5 V rail is exposed on each servo connector (including the unusedones), the Gumstix can be conveniently powered from it. In order toaccomodate the extra current (100-200 mA total), it might be necessaryto replace the two voltage regulators with a larger, externally-mounted7805.

3.2. PWM injection mod

In order control the helicopter, we modify the RC receiver board so that the Gumstix can inject its own PWM signal into the PWM demultiplexer.

Why not get rid of the receiver board entirely and generate five PWM signals with the Gumstix ? The proposed approach has several advantages:

• No need to build a custom PCB.

• Only three wires between the Gumstix and the helicopter (GND, +5 V, multiplexed PWM).

• The PWM demultiplexer adds one layer of electrical isolation between the Gumstix and the power electronics.

Figure 2 shows details of a typical RC receiver board and the modification. Simply cut the correct PCB trace(s) and connect both ends to a 2-pin connector outside of the plastic enclosure. Chronograms should help locate the signals.

Figure 2. RC receiver board details and modifications (in red).

The original functionality can be restored by disconnecting the Gumstix and inserting a jumper.

3.3. Xbox controller mod

Xbox controllers are widely available, cheap, and have well-defined functionality (unlike PC joysticks). They can be connected to a PC by replacing the proprietary connector with a USB plug.

Alternatively, any USB joystick (a.k.a. joypad or gamepad) with two dual-axis analog sticks can be used. In this case the mixer configuration file must be adjusted to match the layout of the axes (see Section 4.3).

4. Software

Source code is available from http://perso.wanadoo.fr/pascal.brisset/chromicro/dist/chromicro-1.0.tgz.

4.1. MPWM: Multi-channel PWM generator

pxa_mpwm.ko is a timer-based multi-channel PWM signal generator for the PXA255, implemented as a loadable kernel module for linux-2.6.10gum.

It can be configured to a generate a single multi-channel PWM signal and/or multiple single-channel PWM signals on GPIO pins. GPIO pins, channels and timings are configured with module parameters as illustrated in Table 2.

Table 2. MPWM configuration examples.

Application	Module parameters
One output signal with 6 multiplexed PWM channels	modprobe pxa_mpwm gpio=61 nchans=6 tmin=500 tmax=1500 tpause=500 tsync=12000
Same with single-channel servo outputs except CH5	modprobe pxa_mpwm gpio=61 nchans=6 servo=58,59,60,62,-1,63 tmin=500 tmax=1500 tpause=500 tsync=12000
Single-channel servo outputs only	modprobe pxa_mpwm nchans=6 servo=58,59,60,62,-1,63 tmin=500 tmax=1500 tpause=500 tsync=12000

User-mode programs drive the PWM generator through a device interface. See Table 3. PWM generation begins when a program opens the device and sets values for all channels. GPIO pins are reverted to a logical 1 when the program closes the device.

Table 3. MPWM devices.

Device	Usage
/dev/mpwm0	PWM signal #1 (all channels written at once)
/dev/mpwm0-0	Channel #1 of PWM signal #1
/dev/mpwm0-1	Channel #2 of PWM signal #1
/dev/mpwm0-2	Channel #3 of PWM signal #1
/dev/mpwm0-3	Channel #4 of PWM signal #1
/dev/mpwm0-4	Channel #5 of PWM signal #1
/dev/mpwm0-5	Channel #6 of PWM signal #1

MPWM uses OSMR1 (OS Match Register 1), which is normally available on the Gumstix. (OSMR0 is used by the Linux system timer and OSMR3 is used by the watchdog.)

The PXA255 timer period is 270 ns, which provides 11 bits of resolution for a typical PWM signal with 1 ms range. Although MPWM uses a high-priority PXA255 FIQ rather than a regular IRQ, jitter can be as high as several microseconds. This is still good enough for flying a helicopter. See also Section 9.2.

4.2. Bluetooth RC receiver emulator

bluerc_rxis a user-mode program designed to run on the Gumstix. It receives RCdata as UDP packets over a Bluetooth BNEP connection and forwards themto the PWM generator.

The program will terminate if it does notreceive any UDP packet during a configurable interval. This willdisable the PWM outputs and (hopefully) cause the power/gyro board toshutdown the motors.

Usage: bluerc_rx [-p ] [-t ] [-c ]

Example: bluerc_rx -p 9000 -t 2000 -c /dev/mpwm0

4.3. Bluetooth RC transmitter emulator

bluerc_txis a user-mode program designed to run on a Linux host with a Bluetoothdongle and a USB joystick. It reads the positions of the analog sticksand triggers, mixes them linearly into 6 RC channels, and sends thechannel values to the helicopter as 6-byte UDP packets over a BluetoothBNEP link.

Usage: bluerc_tx [-c ] [-r ] [-m ] [-d ] [-p ]

Example: bluerc_tx -c /dev/js0 -r 50 -m xpad_ccpm120_mode2.mix -d 192.168.10.1 -p 9000

The mapping from joystick axes to RC channels is defined by a matrix in the configuration file. Figure 3 shows the default setup.

Procedure 1. Trimming

1. Bring the sticks to the desired "neutral" setting.

2. Depress the "back" button.

3. Allow the sticks to return to their central position.

4. Release the "back" button.

Figure 3. Mixer configuration xpad_ccpm120_mode2.mix.

Figure 4. Coefficients for 120° CCPM mixing.

5. System integration

Figure 5. Helicopter + ARM + Linux.

Figure 6 and Table 4 show the connection with the Gumstix daughterboard.

Figure 6. Rear view with connector on I/O daughterboard.

Table 4. Gumstix daughterboard I/O pin assignments.

Pin	Signal	Usage
10	NACRESET (disconnected)	+5 V CC in
16	GND	GND
18	GPIO61	6-channel PWM out

6. Operation

6.1. Bluetooth remote control

In this scenario (Figure 7) we simply emulate a regular remote control. There are no sensors on the helicopter, no complex embedded software, and no feedback from the helicopter to the ground station.

Figure 7. Bluetooth remote control overview.

For a quick start, try make tx and make rx in the src directory.

Procedure 2. Startup

1. Start bluerc_tx on the PC.

2. Connect the battery. The GPIO pin will be pulled high while the Gumstix is booting.

3. Setup networking over Bluetooth (BNEP). This can be automated with pand.

4. Load pxa_mpwm.ko on the Gumstix. The GPIO pin will be configured for output, but kept at logical 1.

5. Start bluerc_rx on the Gumstix. PWM will be generated as soon as UDP packets are received.

Procedure 3. Shutdown

• Either disconnect the battery, stop bluerc_rx, or stop bluerc_tx.All alternatives should be equally safe. Note that with the original FMremote control, it is mandatory to disconnect the receiver or batterybefore stopping the transmitter.