Some reading excerpts (2011/01/20)

快乐的选择

Sentences from the "The Power Of Positive Thinking":

 

Pray with the belief that sincere prayers can reach out and surround your loved ones with God’s love and protection. 

 

“It’s just as plain as the nose on your face. When I get up in the morning,” he explained, “I have two choices—either to be happy or to be unhappy, and what do you think I do? I just choose to be happy, and that’s all there is to it.”

 

That may seem an oversimplification, and it may appear that the old man was superficial, but I recall that Abraham Lincoln, whom nobody could accuse of being superficial, said that people were just about as happy as they made up their minds to be. You can be unhappy if you want to be. It is the easiest thing in the world to accomplish. Just choose unhappi- ness. Go around telling yourself that things aren’t going well, that nothing is satisfactory, and you can be quite sure of being unhappy. But say to yourself,“Things are going nicely. Life is good. I choose happiness,” and you can be quite certain of having your choice.

 

Suffice it to say that we manufacture our unhappiness by think- ing unhappy thoughts, by the attitudes which we habitually take, such as the negative feeling that everything is going to turn out badly, or that other people are getting what they do not deserve and we are failing to get what we do deserve.

 

That is all that was said, but I am sure that each man in that lounge left the train with those interesting words in mind,“I make it a habit to be happy.”

 

Out of the happiness habit comes a happy life. And because we can cultivate a habit, we therefore have the power to create our own happiness.The reason can be directly traced to the manner in which you began the day in your thoughts.

The Network Simulator, Version 3 -------------------------------- Table of Contents: ------------------ 1) An overview 2) Building ns-3 3) Running ns-3 4) Getting access to the ns-3 documentation 5) Working with the development version of ns-3 Note: Much more substantial information about ns-3 can be found at http://www.nsnam.org 1) An Open Source project ------------------------- ns-3 is a free open source project aiming to build a discrete-event network simulator targeted for simulation research and education. This is a collaborative project; we hope that the missing pieces of the models we have not yet implemented will be contributed by the community in an open collaboration process. The process of contributing to the ns-3 project varies with the people involved, the amount of time they can invest and the type of model they want to work on, but the current process that the project tries to follow is described here: http://www.nsnam.org/developers/contributing-code/ This README excerpts some details from a more extensive tutorial that is maintained at: http://www.nsnam.org/documentation/latest/ 2) Building ns-3 ---------------- The code for the framework and the default models provided by ns-3 is built as a set of libraries. User simulations are expected to be written as simple programs that make use of these ns-3 libraries. To build the set of default libraries and the example programs included in this package, you need to use the tool 'waf'. Detailed information on how use waf is included in the file doc/build.txt However, the real quick and dirty way to get started is to type the command ./waf configure --enable-examples followed by ./waf in the the directory which contains this README file. The files built will be copied in the build/ directory. The current codebase is expected to build and run on the set of platforms listed in the RELEASE_NOTES file. Other platforms may or may not work: we welcome patches to improve the portability of the code to these other platforms. 3) Running ns-3 --------------- On recent Linux systems, once you have built ns-3 (with examples enabled), it should be easy to run the sample programs with the following command, such as: ./waf --run simple-global-routing That program should generate a simple-global-routing.tr text trace file and a set of simple-global-routing-xx-xx.pcap binary pcap trace files, which can be read by tcpdump -tt -r filename.pcap The program source can be found in the examples/routing directory. 4) Getting access to the ns-3 documentation ------------------------------------------- Once you have verified that your build of ns-3 works by running the simple-point-to-point example as outlined in 4) above, it is quite likely that you will want to get started on reading some ns-3 documentation. All of that documentation should always be available from the ns-3 website: http:://www.nsnam.org/documentation/. This documentation includes: - a tutorial - a reference manual - models in the ns-3 model library - a wiki for user-contributed tips: http://www.nsnam.org/wiki/ - API documentation generated using doxygen: this is a reference manual, most likely not very well suited as introductory text: http://www.nsnam.org/doxygen/index.html 5) Working with the development version of ns-3 ----------------------------------------------- If you want to download and use the development version of ns-3, you need to use the tool 'mercurial'. A quick and dirty cheat sheet is included in doc/mercurial.txt but reading through the mercurial tutorials included on the mercurial website is usually a good idea if you are not familiar with it. If you have successfully installed mercurial, you can get a copy of the development version with the following command: "hg clone http://code.nsnam.org/ns-3-dev"
03-08
本项目采用C++编程语言结合ROS框架构建了完整的双机械臂控制系统,实现了Gazebo仿真环境下的协同运动模拟,并完成了两台实体UR10工业机器人的联动控制。该毕业设计在答辩环节获得98分的优异成绩,所有程序代码均通过系统性调试验证,保证可直接部署运行。 系统架构包含三个核心模块:基于ROS通信架构的双臂协调控制器、Gazebo物理引擎下的动力学仿真环境、以及真实UR10机器人的硬件接口层。在仿真验证阶段,开发了双臂碰撞检测算法和轨迹规划模块,通过ROS控制包实现了末端执行器的同步轨迹跟踪。硬件集成方面,建立了基于TCP/IP协议的实时通信链路,解决了双机数据同步和运动指令分发等关键技术问题。 本资源适用于自动化、机械电子、人工智能等专业方向的课程实践,可作为高年级课程设计、毕业课题的重要参考案例。系统采用模块化设计理念,控制核心与硬件接口分离架构便于功能扩展,具备工程实践能力的学习者可在现有框架基础上进行二次开发,例如集成视觉感知模块或优化运动规划算法。 项目文档详细记录了环境配置流程、参数调试方法和实验验证数据,特别说明了双机协同作业时的时序同步解决方案。所有功能模块均提供完整的API接口说明,便于使用者快速理解系统架构并进行定制化修改。 资源来源于网络分享,仅用于学习交流使用,请勿用于商业,如有侵权请联系我删除!
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