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1、Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial automation as a separate subject. Manipulator applic
2、ation began to filter into welding, logistics, mechanical processing, and other industries. Especially at high or very low temperatures, full of poisonous gases, high radiation case, robot in similar circumstances showed great use also brings great convenience to the staff. Precisely because of this
3、 robot to get peoples attention began to be a high degree of development. Labor rates, working conditions, labor intensive aspects of promoting development. Both at home and abroad to develop the PLC (programmable logic controller) is in various special circumstances and under special conditions set
4、 for mechanical devices. Now turned on the development of the microelectronics automatic control technology and the rapid development of the trains, the success of PLC hardware software and simulation control win big and successful development, now continues to develop as a factory automation standa
5、rds. Because robots are good development of the technology makes a good optimization of productive capital, and robot shows this unique advantages, such as: has good compatibility, wide availability, hardware is complete, and programming that can be mastered in a short time, so in the context of ind
6、ustrial PLC applications became ubiquitous. Manipulator in many developed country agriculture and industry has been applied, such as the use of mechanical harvesting large areas of farmland, repeated operations on the high-speed line that uses a robotic arm, and so on. Today, the high level of autom
7、ation combined with restrictions on the manipulator development level is slightly lower than the international. The design is mainly arm welding machine by PLC Automation control. This of design let designers on in school by learn of has a must of consolidation, understand has some usually didnt opp
8、ortunities awareness in world range within some leading level of knowledge has has must awareness, hope designers can in yihou of design in the can success of using in this design in the proceeds of experience 1.2 manipulator in both at home and abroad of research profile automation mechanical arm r
9、esearch began Yu 20th century medium-term, after years with with computer and automation technology of development, Makes mechanical arm on the Grand stage of industrial automation and shine, gradually became an industrial evaluation standards, and its importance can be seen. Now original robotic ar
10、m spent most of mass production and use on the production line, which is programmed robotic arm. As the first generation of manipulator position control systems main features, although not back several generations that can detect the external environment, but can still successfully complete like wel
11、ding, painting, delivery as well as for materials simple movements. Second generation mechanical arms are equipped with sensors and manipulators have the environment there is a certain amount of sense, when the mechanical arm is to use the program as a basis. Difference is that the robot begand家教中心管
12、理系统数据库设计说明书组 号:_ _成 员:_ _ _ _1、总体ER图设计学员教员辅导授课课程评价缴纳费用管理员发布公告信息反馈1m1mnmnmknm协议号教员n缴纳时间缴纳方式备注评价等级备注评价时间反馈时间满意度反馈建议类型2、数据库逻辑结构2.1命名规则1、表命名:使用英文字母(可以使用汉语拼音)。单词首字母大写。2、列命名:使用英文字母(可以使用汉语拼音)。单词首字母大写。3、约束命名:使用表名或列名组合及约束类型,中间使用“_”连接。2.2关系分析1.用户信息表Users(User_id,User_name,User_pwd, Type) 分析:因为User_id是主键,而且Use
13、r_name不允许重复,所以主键只有一个属性,不存在部分依赖,又因为User_id User_name,所以不存在非主属性对主键User_id的传递依赖,所以该关系属于3NF。2.学员信息表Student(Sno, SUser_id, SName , SSex, Birthday, Town, Other, Phone, Pname, School, Grade, Study)分析:因为只有Sno是主键,所以不存在部分依赖,因此该关系属于2NF。但存在非主属性Pname通过Phone对主键Sno的传递依赖,所以该关系不属于3NF。3.教员信息表Teacher(Tno, Tuser_id, Tn
14、ame, Tsex, Birthday, Photo, Station, Introduction, Degree, School, Major)分析:因为只有Tno是主键,且不存在部分依赖跟传递依赖,所以该关系也属于3NF。4.课程信息表Course(Cno, Cname)分析:从这表可以很明显地看到,只有Cno是主键,且不存在部分依赖跟传递依赖,所以该关系也属于3NF。5.学员/教员课程信息表STC(STCno , User_id, Cno, Money, Day) 分析:此表只有STCno是主键,则不存在部分依赖,又不存在非主属性对主键的传递依赖,所以该关系属于3NF。6.教授情况表Ji
15、aoshou(Jno, Sno, Tno, Cno , Ano, Type)分析:此表中Jno是主键,除此之外其他都不是主键,且又不存在非主属性对主键的传递依赖,所以该关系属于3NF。7.协议表Agreement(Ano , Content , Time , Limit)分析:这表中只有Ano是主键,所以不存在部分依赖,又不存在非主属性对主键Ano的传递依赖,所以这关系也属于3NF。8.公告信息表Placard(Pno, Title , Content , Time)分析:此表主键只有Pno是而已,且不存在部分依赖跟传递依赖,所以此关系也属于3NF。9.服务反馈表ServiceInfo(Sin
16、o, User_id, Time , Mangyidu , Advice )分析:因为只有Sino是主键,所以不存在部分依赖,又不存在非主属性对主键Sino的传递依赖,所以此关系属于3NF。10.费用表Fee(Fno , FeeType, Price)分析:因为只有Fno是主键,所以肯定不存在部分依赖,且又不存在传递依赖,所以这关系属于3NF。11.教学评价表Evaluate(Eno, Sno, Tno, Scale, Remark , Time)分析:此表中只有Eno是主键,又不存在部分依赖跟传递依赖,所以此关系属于3NF。12.匹配信息表Matching(Mno, Sno, Tno , T
17、ime, Limit)分析:因为只有Mno是主键,所以不存在部分依赖,又不存在非主属性对主键Mno的传递依赖,所以此关系属于3NF。13.缴纳信息表Pay(Pno, Sno, Fno, Time, Remark, Way)分析:因为只有Pno是主键,所以不存在部分依赖,又不存在非主属性对主键Pno的传递依赖,所以此关系属于3NF。2.3 表信息2.3.1表汇总表名功能说明Users存储用户的基本信息Stuent存储学员信息的表Teacher存储教员信息的表Course存储课程信息的表STC存储学员/教员选择课程信息的表Jiaoshou存储试教/授教情况的表Agreement存储学员跟教员签订协
18、议信息的表Placard存储公告信息的表ServiceInfo存储服务反馈的表Fee存储缴纳费用的表Evaluate存储教学评价的表Matching存储匹配信息的表Pay存储缴纳信息的表2.3.2用户信息表用户信息表:Users字段名称含义数据类型是否允许空主外键其他约束User_id用户编号Numeric(6)否主键从1开始自增User_name用户名Varchar(8)否唯一User_pwd密码Varchar(16)否Type类型char(6)默认学员2.3.3 学员信息表学员信息表:Student字段名称含义数据类型是否允许空主外键其他约束Sno学员编号Numeric(6)否主键从1开始
19、自增Suser_id用户编号Numeric(6)否外键Sname姓名Varchar(8)否Ssex性别Char(2)默认男Birthday出生年月smalldatetime否Town镇Varchar(10)否Other补充地址Varchar(20)Phone联系电话Numeric(11)否Pname联系人姓名Varchar(8)否School就读学校Varchar(15)否Grade就读年级Varchar(10)否Study学习情况Varchar(300)2.3.4 教员信息表教员信息表:Teacher字段名称含义数据类型是否允许空主外键其他约束Tno教员编号Numeric(6)否主键从1开始
20、自增Tuser_id用户编号Numeric(6)否外键Tname姓名Varchar(8)否Tsex性别Char(2)否默认男Birthday出生年月smalldatetime否Phone联系电话Numeric(11)否Station身份Varchar(10)默认在校老师Introduction个人简介Varchar(300)否Degree学历Varchar(6)否School学校Varchar(15)Major专业Varchar(15)2.3.5 课程信息表课程信息表:Course字段名称含义数据类型是否允许空主外键其他约束Cno课程编号Char(6)否主键从1开始自增Cname课程名Varc
21、har(10)否唯一2.3.6 学员/教员课程信息表学员/教员课程信息表:STC字段名称含义数据类型是否允许空主外键其他约束STCno编号Numeric(6)否主键从1开始自增User_id用户编号Numeric(6)否外键Cno课程编号Char(6) 否外键Money授课时费Money否Day授课星期Varchar(10)否2.3.7 教授情况表教授情况表:Jiaoshou字段名称含义数据类型是否允许空主外键其他约束Jno教授号Numeric(6)否主键从1开始自增Sno学员编号Numeric(6)否外键Tno教员编号Numeric(6)否外键Cno课程编号Char(6)否外键Ano协议号N
22、umeric(6)否外键Type类型Varchar(6)默认试教2.3.8 协议表协议表:Agreement字段名称含义数据类型是否允许空主外键其他约束Ano协议号Numeric(6)否主键从1开始自增Content协议内容Varchar(500)否Time签订时间DatetimeLimit确认期限Datetime否2.3.9 公告信息表公告信息表:Placard字段名称含义数据类型是否允许空主外键其他约束Pno公告编号Numeric(6)否主键从1开始自增Title公告标题Varchar(20)否Content公告内容Varchar(300)否Time发布时间Datetime2.3.10 服
23、务反馈表服务反馈表:ServiceInfo字段名称含义数据类型是否允许空主外键其他约束Sino反馈编号Numeric(6)否主键从1开始自增User_id用户编号Numeric(6)否外键Time反馈时间DatetimeMangyidu满意度Varchar(8)默认非常满意Advice反馈建议Varchar(100)2.3.11 费用表费用表:Fee字段名称含义数据类型是否允许空主外键其他约束Fno费用编号Numeric(6)否主键从1开始自增Feetype费用类型Varchar(10)否Price费用金额Money否2.3.12 教学评价表教学评价表:Evaluate字段名称含义数据类型是否
24、允许空主外键其他约束Eno评价编号Numeric(6)否主键Sno学员编号Numeric(6)否外键Tno教员编号Numeric(6)否外键Scale评价等级Varchar(10)否默认非常好Remark备注Varchar(100)Time评价时间Datetime2.3.13 匹配信息表匹配信息表:Matching字段名称含义数据类型是否允许空主外键其他约束Mno匹配编号Numeric(6)否主键Sno学员编号Numeric(6)否外键Tno教员编号Numeric(6)否外键Time匹配时间DatetimeLimit确认期限Datetime否2.3.14 缴纳信息表缴纳信息表:Pay字段名称含
25、义数据类型是否允许空主外键其他约束Pno缴纳编号Numeric(6)否主键Sno学员编号Numeric(6)否外键Fno费用编号Numeric(6)否外键Time缴纳时间DatetimeRemark备注Varchar(100)Way缴纳方式Varchar(10)否3、数据库的创建3.1数据库的建立CREATE DATABASE teachingON(NAME=teaching,FILENAME=D:sql_datateaching.mdf ,SIZE=10MB,MAXSIZE=50MB,FILEGROWTH=10% )LOG ON(NAME=teaching_log,FILENAME=D:sq
26、l_datateaching_log.ldf ,SIZE=2MB,MAXSIZE=5MB,FILEGROWTH=1MB )3.2数据表的创建1、用户信息表的创建create table Users(User_id numeric(6)identity not null primary key,User_name varchar(8) not null unique,User_pwd varchar(16) not null,Type char(6) null default(学员) )2、学员信息表的创建create table Student(Sno numeric(6)identity n
27、ot null primary key,Suser_id numeric(6) not null constraint S_Fore foreign key references Users(User_id),Sname varchar(8) not null,Ssex char(2) null default(男),Birthday smalldatetime not null,Town varchar(10) not null,Other varchar(20) null,Phone numeric(11) not null,Pname varchar(8)not null,School
28、varchar(15) not null,Grade varchar(10) not null,Study varchar(300) null)3、教员信息表的创建create table Teacher(Tno numeric(6)identity not null primary key,Tuser_id numeric(6) not null constraint T_Fore foreign key references Users(User_id),Tname varchar(8) not null,Tsex char(2) null default(男),Birthday smal
29、ldatetime not null,Photo image null,Phone numeric(11) not null,Station varchar(10) null default(在校教师),Introduction varchar(300) not null,Degree varchar(6) not null,School varchar(15)null,Major varchar(15)null)4、课程信息表的创建create table Course(Cno char(6)not null primary key,Cname varchar(10)not null uni
30、que)5、学员/教员课程信息表的创建create table STC(STCno numeric(6)identity not null primary key,User_id numeric(6) not null constraint STC_id_Fore foreign key references Users(User_id),Cno char(6) not null constraint STC_cno_Fore foreign key references Course(Cno),Money money not null,Day varchar(5) not null,Star
31、t_time datetime null,End_time datetime null)6、教授情况表的创建create table Jiaoshou(Jno numeric(6)identity not null primary key,Sno numeric(6) not null constraint J_Sno_Fore foreign key references Student(Sno),Tno numeric(6) not null constraint J_Tno_Fore foreign key references Teacher(Tno),Cno char(6) not
32、null constraint J_Cno_Fore foreign key references Course(Cno),Ano numeric(6) not null constraint J_Ano_Fore foreign key references Agreement(Ano),Type varchar(6) null default(试教)7、协议表的创建create table Agreement(Ano numeric(6)identity not null primary key,Content varchar(500) not null,Time datetime nul
33、l,Limit datetime not null)8、公告信息表的创建create table Placard(Pno numeric(6)identity not null primary key,Title varchar(20) not null,Content varchar(300) not null,Time datetime null)9、服务反馈表的创建create table ServiceInfo(Sino numeric(6)identity not null primary key,User_id numeric(6) not null constraint SI_F
34、ore foreign key references Users(User_id),Time datetime null,Mangyidu varchar(8)null default(非常满意),Advice varchar(100) null)10、费用表的创建create table Fee(Fno numeric(6)identity not null primary key,Feetype varchar(10) not null,Price money not null)11、教学评价表的创建create table Evaluate(Eno numeric(6)identity
35、not null primary key,Sno numeric(6) not null constraint E_Sno_Fore foreign key references Student(Sno),Tno numeric(6) not null constraint E_Tno_Fore foreign key references Teacher(Tno),Scale varchar(10) null default(非常好),Remark varchar(100) null,Time datetime null)12、匹配信息表的创建create table Matching(Mn
36、o numeric(6)identity not null primary key ,Sno numeric(6) not null constraint M_Sno_Fore foreign key references Student(Sno),Tno numeric(6) not null constraint M_Tno_Fore foreign key references Teacher(Tno),Time datetime null,Limit datetime not null)12、缴纳信息表的创建create table Pay(Pno numeric(6)identity
37、 not null primary key,Sno numeric(6) not null constraint Pay_Sno_Fore foreign key references Student(Sno),Fno numeric(6) not null constraint Pay_Fno_Fore foreign key references Fee(Fno),Time datetime null,Remark varchar(100) null,Way varchar(10) not null)5min filter: from 20 0mL filtrate, into anoth
38、er 50mL Brown in a volumetric flask, Add hydrochloric acid (1+11) to scale, time distribution and avoid light. BHT standard solution: weigh accurately 0.0500 g BHT. with a small amount of methanol dissolved. moved into the 100mL Brown volumetric flask. well diluted to scale. keep in dark place. Per
39、ml of this solution corresponds to 0.50 mg BHT. BHT standard liquid: when drawing 1.0mLBHT standard solution, placed in 50mL Brown flask, add methanol to scale, and mix, keep in dark place. This solution is equivalent to 10.0 g per ml gBHT. 3, instruments steam distillation apparatus. Glycerine bath
40、. SPECTRO photometer. 4, treated the steps analyzed: weigh 2 g5 g sample (about 0.40 mg BHT) in 100 mL distillation flask, add 16.0 g of anhydrous calcium chloride powder and water 10.0 mL. when Glycerin bath when the temperature reaches 165 c temperature. Alembic in Glycerin bath, connect the steam
41、 generator and condenser. Condenser tube bottom immersed in 200mL containing 50mL alcohol bottle, distillation, distillation rate 1.5 per minute mL2mL, 50 min60 min to collect about 100 mL distillate (along with the original holding about 150 mL of methanol, .c M1-samples for determination of BHT in
42、 quality, in micrograms (g g); M2-quality of the sample, expressed in grams (g); Total volume of samples after V1-distillation units of milliliters (mL); Absorb the volume of samples for determination of V2-. units to milliliters (mL) a resultmanipulator control mode and programmable controllers int
43、roduction 2.1 Select discussion with manipulator control 2.1.1 classification of control relays and discrete electronic circuit can control old industrial equipment, but also more common. Mainly these two relatively cheap and you can meet the old-fashioned, simple (or simple) industrial equipment. S
44、o he can see them now, however these two control modes (relay and discrete electronic circuits) are these fatal flaws: (1) cannot adapt to the complex logic control, (2) only for the current project, the lack of compatibility and (3) not reforming the system with equipment improvements. Spring for t
45、he development of Chinas modern industrial automation technology the substantial increase in the level of industrial automation, completed the perfect relay of the computer too much. In terms of controlling the computer showed his two great advantages: (1) each of the hardware can be installed on on
46、e or more microprocessors; (2) the official designer of the software writing content control is all about. Now in several ways in the context of industrial automation can often be seen in three ways: (1) Programmable Logical Controller (referred to as IPC); (2) Distributed Control System (DCS for short
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