基于MiniGUI的康复机械手控制软件研究
摘要
当前,嵌入式系统被广泛应用于信息家电、移动设备、网络设备和工业控制、医疗仪器等领域,市场前景广阔。随着嵌入式设备在人们日常生活中日益广泛的使用,人们对高性能嵌入式系统的要求也越来越迫切。因此,对嵌入式系统的关键技术的研究有相当重要的实际意义。
本文以康复机械手的开发为研究背景,结合嵌入式系统开发的关键技术,主要论述了康复机械手嵌入式Linux系统平台的构建和基于MiniGUI的控制软件的设计与实现。论文的主要内容包括:
首先,在深入研究嵌入式系统的发展现状、详细分析系统开发特点和过程的基础上,结合Linux自身的优点,选择用Linux操作系统搭建康复机械手嵌入式系统。通过编译安装引导程序、定制内核和制作文件系统,完成嵌入式Linux软件平台的构建,同时在PC机上建立交叉开发环境。
其次,通过比较嵌入式Linux下几种典型的GUI系统的优缺点,选择了面向嵌入式应用的轻量级图形用户界面支持系统MiniGUI作为开发支持系统;重点分析了MiniGUI的体系结构、消息机制和面向对象技术的应用,并采用模块化设计思想,完成了康复机械手应用软件的结构设计,使软件具有可扩展性;基于MiniGUI完成了用户界面系统的设计,并把电机控制模块、数据采集处理及转存模块和附加功能模块有机融合到界面显示模块中,实现了对手指关节的活动范围、关节力、速度的精确控制和实时数据采集。
最后,通过交叉编译和移植,完成了嵌入式应用软件从宿主机到目标板的移植,证明了该软件具有良好的可移植性。联机调试,针对不同的参数设置,对本系统进行了大量的测试,验证了软件的可靠性和合理性。
Now, embedded system which is widely applied in the fields of Information Appliance, mobile device, network device, industrial control and medical instrument has a prosperous future. People have an urgent demand of embedded system with high capability as embedded device is widely used in people's daily life. So it is significant to study the key technologies of embedded system.
With the development of rehabilitation manipulator as the background of studying and combining the key technologies of embedded system, the paper mainly describes the design of embedded Linux operating system and the research on control software based on MiniGUI.
Through studying the situation of the development of embedded system, particularly analysing the characteristics and processes of the developing and combining the advantages of Linux, the author choosed Linux as embedded operating system and finished building the platform of software through compiling and installing bootloader, reducing kernel and making file system. At the same time, the author built the cross-compiling circumstance on PC.
Through the analysis of advantages and disadvantages of several typical GUI systems under embedded Linux, the author choosed light-weight MiniGUI as developing supporting system which is open to embedded application. Based on the analysises of MiniGUI, the framework of recovering hand's software was designed by modules. The author finished the design of user interface based on MiniGUI, syncretized motor control, data sampling and saving and other mudules into Graphic User Interface. And it could control the range, force and velocity of joints precisely, sample real-time data.
Finally, the software of embedded system was successfuliy transplanted from PC to target board, which proves it has good capacity of transplant. To different parameters, the author did a lot of experiments through online test. And it verifies that the design of the software is reliable and reasonable.
本文以康复机械手的开发为研究背景,结合嵌入式系统开发的关键技术,主要论述了康复机械手嵌入式Linux系统平台的构建和基于MiniGUI的控制软件的设计与实现。论文的主要内容包括:
首先,在深入研究嵌入式系统的发展现状、详细分析系统开发特点和过程的基础上,结合Linux自身的优点,选择用Linux操作系统搭建康复机械手嵌入式系统。通过编译安装引导程序、定制内核和制作文件系统,完成嵌入式Linux软件平台的构建,同时在PC机上建立交叉开发环境。
其次,通过比较嵌入式Linux下几种典型的GUI系统的优缺点,选择了面向嵌入式应用的轻量级图形用户界面支持系统MiniGUI作为开发支持系统;重点分析了MiniGUI的体系结构、消息机制和面向对象技术的应用,并采用模块化设计思想,完成了康复机械手应用软件的结构设计,使软件具有可扩展性;基于MiniGUI完成了用户界面系统的设计,并把电机控制模块、数据采集处理及转存模块和附加功能模块有机融合到界面显示模块中,实现了对手指关节的活动范围、关节力、速度的精确控制和实时数据采集。
最后,通过交叉编译和移植,完成了嵌入式应用软件从宿主机到目标板的移植,证明了该软件具有良好的可移植性。联机调试,针对不同的参数设置,对本系统进行了大量的测试,验证了软件的可靠性和合理性。
Now, embedded system which is widely applied in the fields of Information Appliance, mobile device, network device, industrial control and medical instrument has a prosperous future. People have an urgent demand of embedded system with high capability as embedded device is widely used in people's daily life. So it is significant to study the key technologies of embedded system.
With the development of rehabilitation manipulator as the background of studying and combining the key technologies of embedded system, the paper mainly describes the design of embedded Linux operating system and the research on control software based on MiniGUI.
Through studying the situation of the development of embedded system, particularly analysing the characteristics and processes of the developing and combining the advantages of Linux, the author choosed Linux as embedded operating system and finished building the platform of software through compiling and installing bootloader, reducing kernel and making file system. At the same time, the author built the cross-compiling circumstance on PC.
Through the analysis of advantages and disadvantages of several typical GUI systems under embedded Linux, the author choosed light-weight MiniGUI as developing supporting system which is open to embedded application. Based on the analysises of MiniGUI, the framework of recovering hand's software was designed by modules. The author finished the design of user interface based on MiniGUI, syncretized motor control, data sampling and saving and other mudules into Graphic User Interface. And it could control the range, force and velocity of joints precisely, sample real-time data.
Finally, the software of embedded system was successfuliy transplanted from PC to target board, which proves it has good capacity of transplant. To different parameters, the author did a lot of experiments through online test. And it verifies that the design of the software is reliable and reasonable.
引文
1 O’Driscoll SW, Giori NJ. Continuous passive motion (CPM): theory and principles of clinical application. J Rehabil Res Dev. 2000, 37(2):179~188
2 Y. L. Fu, F. X. Zhang, X. Ma, Q. G. Meng. Development of a CPM Machine for Injured Fingers. Proceedings of the 2005 IEEE Engineering in Medicine and Biology 27th Annual Conference, Shanghai, China, 2005:3541~3544
3 Przywara A; Kusch R.; Naunin D. Real-time operating systems on small embedded devices for industrial control and communication. Industrial Electronics Society. 2003, 3:2047~2052
4 Geer D. Survey: Embedded Linux Ahead of the Pack. Distributed Systems Online, IEEE. 2004, 5(10):3
5 Nakajima T, Iwasaki M, Ochiai S. Issues for making Linux predictable. Applications and the Internet (SAINT) Workshops. 2002:8~14
6 Lennon A. Embedding Linux. IEE Review. 2001, 47(3):33~37
7 吕京建, 肖海桥. 面向二十一世纪的嵌入式系统综述. http://www.bol-system.com/
8 吴朝晖教授纵谈嵌入式技术. 微电脑世界. 2000, (49):21~23
9 李小将. 樊天晴嵌入式系统在信息家电中的应用. 计算机工程. 2002, (4):10~13
10 何小庆. 嵌入式实时操作系统的现状和未来. 单片机与嵌入式系统应用. 2001, (3):57~59
11 潘成源, 徐勇, 李鑫. 嵌入式 Linux 在车载导航系统中的应用. 计算机技术与发展. 2006, (5):67~72
12 张积红, 吴强. 嵌入式 Linux 研究及其在 ARM 上的移植. 电脑知识与技术. 2005, (8):105~109
13 Seongsoo Hong. Embedded linux outlook in the PostPC industry. Object-Oriented Real-Time Distributed Computing. 2003, 4:37~40
14 Siyi Zou, Guangchun Zhang, Guangning Wu. The application of embedded real-time Linux in intelligent insulation on-line monitoring. Electrical Insulating Materials. 2001, 4:201~204
15 Soejima K, Matsuda M, Iino T, Hayashi T, Nakajima T. Building audio and visualhome appliances on Linux. Applications and the Internet (SAINT). 2002:25~30
16 董士海. 用户界面的今天和明天. 计算机世界, 1997, (7):10~13
17 罗从难, 耿增强等.嵌入式的图形用户界面. 测控技术, 2000, (19):43~45
18 孙少华, 徐立中. 基于嵌入式 Linux 系统的图形用户界面综述. 微型机与应用, 2005, (4):133~135
19 Marchesotti M., Podesta R, Migliardi M. A Measurement-Based Analysis of the Responsiveness of the Linux Kernel. Engineering of Computer Based Systems. 2006:397~408
20 Boke C, Gotz M, Heimfarth T, El Kebbe D. (Re-) configurable real-time operating systems and their applications. Object-Oriented Real-Time Dependable Systems. 2003:148~155
21 李书鹏. 基于 ARM 的仿生康复手嵌入式系统的硬件设计. 哈尔滨工业大学硕士论文. 2005:22~30
22 邹思轶. 嵌入式 Linux 设计与应用. 清华大学出版社. 2002:236~260
23 魏忠, 蔡永, 雷红卫. 嵌入式开发详解. 电子工业出版社. 2003:32~40
24 纪竞舟, 付宇卓. 基于 ARM LINUX 的嵌入式 GUI 的研究和移植. 计算机仿真. 2005, (3):13~15
25 张娟, 张雪兰. 基于嵌入式 Linux 的 GUI 应用程序的实现. 计算机应用. 2003, (4):24~27
26 探矽工作室. 嵌入式系统开发圣经. 北京:中国青年出版社. 2002
27 Wayne Wolf. Computers as Components: Principles of Embedded Computing System Design. Morgan Kaufmann. 2001
28 Ramamritham K, Arya K. System support for embedded applications. VLSI Design. 2003:22
29 李彪. 嵌入式 Linux 在测控通信系统中的应用研究. 国防科技大学硕士论文. 2002:10~25
30 Jian Yang, Yu Chen, Huayong Wang, Bibo Wang. A Linux kernel with fixed interrupt latency for embedded real-time system. Embedded Software and Systems. 2005:8
31 Che-Tai Lee, Zeng-Wei Rong, Jim-Min Lin. Linux kernel customization for embedded systems by using call graph approach. Design Automation Conference, 2003. Proceedings of the ASP-DAC 2003. Asia and South Pacific 21-24 Jan. 2003:689~692
32 Tan T K. Raghunathan A, Jha N K. Embedded operating system energy analysis and macro-modeling. Computer Design: VLSI in Computers and Processors. 2002:515~522
33 李善平 , 刘文峰 , 王焕龙 . Linux 与嵌入式系统 . 清华大学出版社 . 2003:232~260
34 SAMSUNG ELECTRONICS, S3C2410X 32-BIT RISC MICROPROCESSOR USER'S MANUAL, Revision 1.2, www.samsung.com
35 白伟平, 包启亮. 基于 ARM 的嵌入式 Boot Loader 浅析. 微计算机信息. 2006, (11):56~59
36 詹荣开. 嵌入式 BootLoader 技术内幕. www.tech.ccidnet.com
37 魏永明. 实时嵌入式 Linux 系统上 GUI 的发展与展望. 微电脑世界. 2000, (49):33~35
38 Drossu R, Obradovic Z, Fletcher J. A flexible graphical user interface for embedding heterogeneous neural network simulators. Education, IEEE Transactions. 1996, 39(3):367~374
39 Cranford J C, Oliver D, Wilz P D. A Web-based GUI for the set up and maintenance of the wave models at the naval oceanographic office. Oceans '02 MTS/IEEE. 2002, 2:853~858
40 Charles J. Linux Support Ranges from GUI to Big Blue. Computer. 1999, 32(5):20~22
41 魏永明. 面向实时嵌入式系统的图形用户界面支持系统----MiniGUI 背景,发展及优势. http://www.cn.ibm.com/developerWorks/linux/
42 魏永明. 面向实时嵌入式系统的图形用户界面支持系统----MiniGUI 编译、安装和配置. http://www.cn.ibm.com/developerWorks/linux/
43 Microwindows:http://microwindows.censoft.com/
44 OpenGUI:http://www.tutok.sk/fastgl/
45 Qt/Embedded:http://www.trolltech.com/products/qt/embedded/
46 MiniGUI:http://www.minigui.org/
47 GNU:http://www.gnu.org/
48 MPL:http://www.mozilla.org/MPL/MPL-1.l.html
49 周晓光, 翟尹羚. 基于嵌入式 Linux 下的 MiniGUI 的应用. 电脑知识与技术. 2005, (35):32~35
50 安成锦, 孙茂阳. 基于嵌入式 Linux 系统的 MiniGUI 图形界面开发. 现代电子技术. 2005, (20):45~49
51 傅竹青, 陈定方. 基于 Linux 和 MiniGUI 的数据传输测试仪表监控终端系统的研究. 电信科学. 2005, (12):23~27
52 徐广毅, 张晓林, 崔迎炜, 杨欣昕, 吴小伟. 嵌入式 Linux 系统中 GUI 系统的研究与移植. 单片机与嵌入式系统应用. 2004, (10):98~102
53 Jaclik A, Kolenko T, Zupancic B. A graphical user interface of a 3D simulation model for a steel-billet reheating process in a walking-beam furnace. IEEE. 2003, 1:469~473
54 Hisamatsu T, Ogawa A, Sugiura K. Software compatibility and human interface for DV over IP. Applications and the Internet Workshops. 2003:188~191
55 北京飞漫软件技术有限公司. MiniGUI 编程指南. 2004
56 谢春, 陶烨, 瞿坦, 汪秉文. 基于嵌入式 Linux 系统的多进程图形用户界面GUI 系统研究[J]. 工业控制计算机. 2003, (5):44~50
2 Y. L. Fu, F. X. Zhang, X. Ma, Q. G. Meng. Development of a CPM Machine for Injured Fingers. Proceedings of the 2005 IEEE Engineering in Medicine and Biology 27th Annual Conference, Shanghai, China, 2005:3541~3544
3 Przywara A; Kusch R.; Naunin D. Real-time operating systems on small embedded devices for industrial control and communication. Industrial Electronics Society. 2003, 3:2047~2052
4 Geer D. Survey: Embedded Linux Ahead of the Pack. Distributed Systems Online, IEEE. 2004, 5(10):3
5 Nakajima T, Iwasaki M, Ochiai S. Issues for making Linux predictable. Applications and the Internet (SAINT) Workshops. 2002:8~14
6 Lennon A. Embedding Linux. IEE Review. 2001, 47(3):33~37
7 吕京建, 肖海桥. 面向二十一世纪的嵌入式系统综述. http://www.bol-system.com/
8 吴朝晖教授纵谈嵌入式技术. 微电脑世界. 2000, (49):21~23
9 李小将. 樊天晴嵌入式系统在信息家电中的应用. 计算机工程. 2002, (4):10~13
10 何小庆. 嵌入式实时操作系统的现状和未来. 单片机与嵌入式系统应用. 2001, (3):57~59
11 潘成源, 徐勇, 李鑫. 嵌入式 Linux 在车载导航系统中的应用. 计算机技术与发展. 2006, (5):67~72
12 张积红, 吴强. 嵌入式 Linux 研究及其在 ARM 上的移植. 电脑知识与技术. 2005, (8):105~109
13 Seongsoo Hong. Embedded linux outlook in the PostPC industry. Object-Oriented Real-Time Distributed Computing. 2003, 4:37~40
14 Siyi Zou, Guangchun Zhang, Guangning Wu. The application of embedded real-time Linux in intelligent insulation on-line monitoring. Electrical Insulating Materials. 2001, 4:201~204
15 Soejima K, Matsuda M, Iino T, Hayashi T, Nakajima T. Building audio and visualhome appliances on Linux. Applications and the Internet (SAINT). 2002:25~30
16 董士海. 用户界面的今天和明天. 计算机世界, 1997, (7):10~13
17 罗从难, 耿增强等.嵌入式的图形用户界面. 测控技术, 2000, (19):43~45
18 孙少华, 徐立中. 基于嵌入式 Linux 系统的图形用户界面综述. 微型机与应用, 2005, (4):133~135
19 Marchesotti M., Podesta R, Migliardi M. A Measurement-Based Analysis of the Responsiveness of the Linux Kernel. Engineering of Computer Based Systems. 2006:397~408
20 Boke C, Gotz M, Heimfarth T, El Kebbe D. (Re-) configurable real-time operating systems and their applications. Object-Oriented Real-Time Dependable Systems. 2003:148~155
21 李书鹏. 基于 ARM 的仿生康复手嵌入式系统的硬件设计. 哈尔滨工业大学硕士论文. 2005:22~30
22 邹思轶. 嵌入式 Linux 设计与应用. 清华大学出版社. 2002:236~260
23 魏忠, 蔡永, 雷红卫. 嵌入式开发详解. 电子工业出版社. 2003:32~40
24 纪竞舟, 付宇卓. 基于 ARM LINUX 的嵌入式 GUI 的研究和移植. 计算机仿真. 2005, (3):13~15
25 张娟, 张雪兰. 基于嵌入式 Linux 的 GUI 应用程序的实现. 计算机应用. 2003, (4):24~27
26 探矽工作室. 嵌入式系统开发圣经. 北京:中国青年出版社. 2002
27 Wayne Wolf. Computers as Components: Principles of Embedded Computing System Design. Morgan Kaufmann. 2001
28 Ramamritham K, Arya K. System support for embedded applications. VLSI Design. 2003:22
29 李彪. 嵌入式 Linux 在测控通信系统中的应用研究. 国防科技大学硕士论文. 2002:10~25
30 Jian Yang, Yu Chen, Huayong Wang, Bibo Wang. A Linux kernel with fixed interrupt latency for embedded real-time system. Embedded Software and Systems. 2005:8
31 Che-Tai Lee, Zeng-Wei Rong, Jim-Min Lin. Linux kernel customization for embedded systems by using call graph approach. Design Automation Conference, 2003. Proceedings of the ASP-DAC 2003. Asia and South Pacific 21-24 Jan. 2003:689~692
32 Tan T K. Raghunathan A, Jha N K. Embedded operating system energy analysis and macro-modeling. Computer Design: VLSI in Computers and Processors. 2002:515~522
33 李善平 , 刘文峰 , 王焕龙 . Linux 与嵌入式系统 . 清华大学出版社 . 2003:232~260
34 SAMSUNG ELECTRONICS, S3C2410X 32-BIT RISC MICROPROCESSOR USER'S MANUAL, Revision 1.2, www.samsung.com
35 白伟平, 包启亮. 基于 ARM 的嵌入式 Boot Loader 浅析. 微计算机信息. 2006, (11):56~59
36 詹荣开. 嵌入式 BootLoader 技术内幕. www.tech.ccidnet.com
37 魏永明. 实时嵌入式 Linux 系统上 GUI 的发展与展望. 微电脑世界. 2000, (49):33~35
38 Drossu R, Obradovic Z, Fletcher J. A flexible graphical user interface for embedding heterogeneous neural network simulators. Education, IEEE Transactions. 1996, 39(3):367~374
39 Cranford J C, Oliver D, Wilz P D. A Web-based GUI for the set up and maintenance of the wave models at the naval oceanographic office. Oceans '02 MTS/IEEE. 2002, 2:853~858
40 Charles J. Linux Support Ranges from GUI to Big Blue. Computer. 1999, 32(5):20~22
41 魏永明. 面向实时嵌入式系统的图形用户界面支持系统----MiniGUI 背景,发展及优势. http://www.cn.ibm.com/developerWorks/linux/
42 魏永明. 面向实时嵌入式系统的图形用户界面支持系统----MiniGUI 编译、安装和配置. http://www.cn.ibm.com/developerWorks/linux/
43 Microwindows:http://microwindows.censoft.com/
44 OpenGUI:http://www.tutok.sk/fastgl/
45 Qt/Embedded:http://www.trolltech.com/products/qt/embedded/
46 MiniGUI:http://www.minigui.org/
47 GNU:http://www.gnu.org/
48 MPL:http://www.mozilla.org/MPL/MPL-1.l.html
49 周晓光, 翟尹羚. 基于嵌入式 Linux 下的 MiniGUI 的应用. 电脑知识与技术. 2005, (35):32~35
50 安成锦, 孙茂阳. 基于嵌入式 Linux 系统的 MiniGUI 图形界面开发. 现代电子技术. 2005, (20):45~49
51 傅竹青, 陈定方. 基于 Linux 和 MiniGUI 的数据传输测试仪表监控终端系统的研究. 电信科学. 2005, (12):23~27
52 徐广毅, 张晓林, 崔迎炜, 杨欣昕, 吴小伟. 嵌入式 Linux 系统中 GUI 系统的研究与移植. 单片机与嵌入式系统应用. 2004, (10):98~102
53 Jaclik A, Kolenko T, Zupancic B. A graphical user interface of a 3D simulation model for a steel-billet reheating process in a walking-beam furnace. IEEE. 2003, 1:469~473
54 Hisamatsu T, Ogawa A, Sugiura K. Software compatibility and human interface for DV over IP. Applications and the Internet Workshops. 2003:188~191
55 北京飞漫软件技术有限公司. MiniGUI 编程指南. 2004
56 谢春, 陶烨, 瞿坦, 汪秉文. 基于嵌入式 Linux 系统的多进程图形用户界面GUI 系统研究[J]. 工业控制计算机. 2003, (5):44~50
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