基于B/S模式的手臂机器人网络教学实验系统设计与实现

【作者】 杨瑶华；

【导师】 赖旭芝；

【作者基本信息】 中南大学 ， 计算机应用技术， 2004， 硕士

【摘要】 目前，远程实验教学多数是利用虚拟技术实现，但是在虚拟实验室中，实验者操纵的所有仪器设备都是数字化的对象，而非实验设备实物。因此，所获得的实验结果都是通过公式计算得到的数据，而不是对远程实验的实际反映。如果用户能够远程操纵实验设备实物进行实验，远程实验将更为真实和形象。针对这种需要，建立一个能够远程控制实验设备实物的网络教学实验系统将是一条有效的解决途径。 本论文以若干台手臂机器人为研究平台建立一个面向全球的网络教学实验系统。通过Internet网，远程用户能够操纵手臂机器人完成控制实验，并能在客户浏览器中观看实验的视频录像，能够进行在线仿真实验，能够在系统的数据库中保存实验记录和查询实验记录。 手臂机器人网络教学实验系统具有实时、动态交互和跨平台的特点。系统设计基于B／S三层体系结构，服务器端和客户端软件都利用Java语言开发，后台控制软件采用VC++工具开发。为了实现多用户远程监控、仿真、保存实验记录和查询历史实验等功能，系统采用了多线程、Applet和JDBC等开发技术。在服务器设计中，利用排队实验算法解决了多用户竞争访问的冲突问题；在系统通信设计中，采用把浮点数转换成字符串形式传输的方法，解决了后台VC控制程序和纯Java服务器通信时的数据移植问题。 系统建成后，在校园网内进行了调试。调试结果表明，用户可以进行远程监控实验和仿真实验，并且可以把实验记录保存在远程数据库，还可以根据用户名或实验参数查询历史实验记录。系统在校园网内具有较好的实时性、动态交互性和跨平台性，能够同时为多用户提供远程实验服务，达到了预期目标。因此，它是解决远程实验教学问题的一个有效途径，适用于广大理工科院校的远程实验教学。更多还原

【Abstract】 Presently most virtual laboratories are built on the basis of the virtual technology, which produces a problem that user can only operate the virtual equipment instead of the real one through the network. And the result of the experiment is counted by mathematical formula, which can’t reflect the actual experiments exactly. To this problem, it is an effective solution to set up a network experiment system to control the remote real equipment.The network experiment system presented in this paper uses several arm robots as the experimental object. On the local browser, the remote user can operate the arm robot under long-distance supervision and watch the real-time video of the experiment, and also can take experiments of simulation online. Moreover, user can save the data of experiments to the server and search the memories from it.The system has three specialties that are the real-time transmitting, the dynamic interactive style and the independence of the flat. The system uses B/S architecture model with three layers. And its software of the server and the web client is programmed with Java, and the applications of the back control are programmed under Visual C++ 6.0. In the process of development, the technologies such as the multi-thread, Applet and JDBC are applied to realize the experimental functions of controlling the arm robot under long-distance supervision, simulating, saving and searching. Arithmetic of queuing and experimenting is designed and carried into execution in the server to deal with the collision that is caused by more requests of the remote control experiment in the same period. And the problem of the data transplant between the Java server and the VC++ application is resolved by translating the control parameters from float types into character types in the communication.The system was debugged within the campus, and the result showed that it gained our expected ends. It realized the functions of controlling the arm robot under long-distance supervision, simulating, saving and searching, had good capacities of real time, dynamic interaction andindependence of the flat, and could provide the remote experiment service to multi-user at the same period. So it is an effective solution to the remote experiment teaching, and can be used in the experimental course of the science and engineering major.更多还原