二维邻接矩阵的可视化

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88E1116R_Datasheet，marvell以太网phy芯片手册，全本88E1116RM A RV E LL. Alaska Gigabit Ethernet TransceiverOVERVIEWFEATURESThe Alaska 88E1116R Gigabit Ethernet Transceiver is10/100/1000BASE-TIEEE 802.3 complianta physical layer device containing a single GigabitSupports reduced pin count GMII(RGMID)interfaceEthernet transceiver. The transceiver implements theFour RGMii timing modesEthernet physical layer portion of the 1000BASE-T,100BASE-TX. and 10base-t standards. t is manufacIntegrated mdi interface termination resistors thateliminate twelve passive componentstured using standard digital CMOS process and con-tains all the active circuitry required to implement theEnergy Detect and Energy Detect+ low powerphysical layer functions to transmit and receive data onmodesstandard Cat 5 unshielded twisted pairThree loopback modes for diagnosticsThe 88E1116R device has two regulators to generateDownshift"mode for two-pair cable installationsall required voltages. The 88E1116R device can beFully integrated digital adaptive equalizers, echopowered by a single 1.8V, 2.5V, or 3. 3V supply Alternacancellers, and crosstalk cancellerstively, if the regulators are not used, then the 88E1116RAdvanced digital baseline wander correctiondevice can be powered by a 1. 8v and 1.2V supplyAutomatic MDi/MDIX crossover at all speeds ofThe 88E1116R device incorporates the Marvell@ VirtualoperationCable Tester (VCTTM)feature, which uses TimeAutomatic polarity correctionDomain Reflectometry(TDR)technology for the remotelEEE 802. 3u compliant Auto-Negotiationidentification of potential cable malfunctions, thusSoftware programmable LEd modes including LEDreducing equipment returns and service calls. UsingtestingVCT, the alaska 88E1116R device detects and reportspotential cabling issues such as pair swaps, pair polar-Supports IEEE 1149.1 JTAGity and excessive pair skew. The device will also detectMDC/MDIO Management Interfacecable opens, shorts or any impedance mismatch in theCRC checker, packet countercable and reporting accurately within one meter the disPacket generationtance to the faultVirtual Cable Tester(VCT)The 88E1116R device integrates MDI interface terminaAuto-Calibration for MAc Interface outputstion resistors into the Phy. this resistor integrationComa Mode supportfacilitates board layout and reduces board cost byRequires a single 1.8v supplyreducing the number of extenal components. The new10 pads can be supplied with 1.8V, 2.5V, or 3. 3VMarvell calibrated resistor scheme will achieve andexceed the accuracy requirements of the IEEE 802.3Two regulators generate all required voltagesRegulator can be supplied with 1.8V,2.5V or 3.3Vreturn loss specificationsCommercial gradeThe 88E1116R device supports the reduced gmll64-Pin QFN package(RGMI)for direct connection to a MAC/Switch portThe 88E1116R device uses advanced mixed-signal processing to perform equalization, echo and crosstalkcancellation, data recovery, and error correction at agigabit per second data rate. The device achievesrobust performance in noisy environments with very lowpower dissipationThe 88E 1116R device is offered in a 64-pin QFn pack-The 88E1116R device is footprint compatible with the88E1116 device As the 88E 1116R device employs integrated MDi interface terminations, all external mDIinterface termination resistors and capacitors must beremoved when migrating from the 88E1116 to88E1116R. See 88E1116 to 88E1116R Migration Appli-cation note for more detailsCopyright o 2007 MarvellCONFIDENTIALDoC. No. MV-S104224-00. Rev.March 1. 2007. AdvanceDocument Classification: Proprietary InformationPage 388E1116RMARVELLo Alaska Gigabit Ethernet TransceiverMagnMedia Types10/1001000Mbps88E1116R|a盖10BASEEthernet macRJ-45Device100BASE-TX1000BASE-TMAC InterfaceRGMII88E1116R Device used in Copper ApplicationDoc. No. MV-S104224-00. Rev.CONFIDENTIALCopyright o 2007 MarvellPage 4Document Classification: Proprietary InformationMarch 1. 2007. AdvanceTable of contentsSECTION 1. SIGNAL DESCRIPTION1.1 Pin Description101.1.1 Pin Type Definitions1264 Pin QFN Pin Assignment List- Alphabetical by Signal Name.……,…,,…,161.3 O State at Various Test or reset modes .mmm.,17SECtION 2. FUNCTIONAL SPECIFICATIONS2.1 Copper Media Interface..国面画192.2 MAC Interface(RGMII)4192.2.1 10/100 Mbps Functionality2.2.2 TX ER and RX ER Codingaaaaaiiaia t23Lo。 pback……………,….….….,.,…….…,…,….….……,…….……………212.3.1 MAC Interface Loopback212.3.2 Line Loopback.222.3.3 EXternal Loopback24 Synchronizing F|FQ….…,,…,…,,,,,,…,,,,,…,,,…,,,,…,……242.5 Copper Media Transmit and receive Function.man..m日a252.5.1 Transmit side Network Interface252.5.2 Encoder2.5.3 Receive Side Network Interface2.5. 4 Decoder2.6 Regulators and Power Supplies282.6.1 AVDD2.6.2 AVDDC282.6.3 AVDDR292.6.4 AVDDX2.6.5DVDD…292.6.6 VDDO26.7 VDDOR.292.7 Power Management302.7.1 Low Power Modes2.72 Low Power Operating Modes……2.7.3 RGMl Effect on Low Power modes3228Auto- Negotiation.........……33Copyright o 2007 MarvellCONFIDENTIALDoC. No. MV-S104224-00. Rev.March 1. 2007. AdvanceDocument Classification: Proprietary InformationPage 588E1116RMARVELL Alaska Gigabit Ethernet Transceiver2.9 Downshift Feature…352.10 Advanced virtual Cable Tester362.10.1 Maximum Pe2.10.2 First Peak372.10.3 Offsetp2. 10. 4 Sample Poin2.10.5 Pulse Amplitude and Pulse Width392. 10.6 Drop Link...392.10.7 VCTTM With Link Up392.11 Data Terminal Equipment (DTE)Detect........2.12 CRC Error Counter and frame Counter412.12. 1 Enabling the crc error counter and frame counter.412.13 Packet generator412.14 MDI/MDIX Crossover422.15P。 olarity Correction..…432.16LED,,,,,,,,,,,…,…,,442.16.1 LED Polarity452.16.2 Pulse Stretching and Blinking.462. 16.3 Bi-Color LED Mixing472.16.4 Modes of Operation482.17 EEE 1149.1 Controller522.17.1 BYPASS Instruction522.17.2 SAMPLE/PRELOAD Instruction.52217.3 EXTEST Instruction552,17.4 The clamP Instruction552,17.5 The high-z Instruction552.17.6 ID CODE Instruction552.18 Interrupt.552.19 Automatic and Manual Impedance Calibration.……,…,…,…,…,…,…,……562. 19. MAC Interface calibration circuit562.19.2 MAC Interface Calibration Register Definitions2. 19.3 Changing Auto Calibration Targets2. 19. 4 Manual Settings to The Calibration Registers“““582.20 Configuring the 88E1116R Device..2.20. 1 Hardware Configuration612.20.2 Software Configuration-Management Interface632.21 Temperature sensor64Doc. No. MV-S104224-00. Rev.CONFIDENTIALCopyright o 2007 MarvellDocument Classification: Proprietary InformationMarch 1. 2007. AdvanceSECTION 3 REGISTER DESCRIPTION65SECTION 4, ELECTRICAL SPECIFICATIONS1104.1. Absolute Maximum Ratings,…,…,…,…,,…,…,…,…,…,…,,…,…,……,1104.2. Recommended Operating Conditions..,,.,……,,……1114.3. Package Thermal Information.………….……….…………1124.3.1 Thermal Conditions for 64-pin QFn Package1124. 4. Current Consumption...........面量量…1134.4.1 Current Consumption AVDD..1134.4.2 Current Consumption AVDDC..1134.4.3 Current Consumption AVDDR1144.4.4 Current Consumption AVDDX1144.4.5 Current Consumption DVDD4.4.6 Current Consumption VDDo1154.4.7 Current Consumption VDDOR1154.4.8 Current Consumption Center Tap1154.5. DC Operating Conditions1164.5.1 Non-RGMlI Digital Pins1164.5.2 Internal resistor Description4.5.3 Stub-Series Transceiver LogIc (55/.21174.5 4 EEE DC Transceiver Parameters1194.6. AC Electrical Specifications1204.6.1 Reset Timing ..1204.6.2 XTAL IN/XTAL OUT Timing1214.6.3 LED to CONFIG Timing1214.7 RGMII Interface Timing……,,…1224.7.1 RGMl AC Characteristics4.7.2 RGMII Delay Timing for different RGMiI Modes1234.8. MDC/MDIO Timing…12549. JTAG Timing…,,…1264.10.EEE AC Transceiver parameters1274.11. Latency Timing........….…1284.11.1 RGMII to 1000BASE-T Transmit Latency Timingaa“aa1284.11.2 RGMII to 100BASE-TX Transmit Latency Timing1284.11.3 RGMiI to 10BASE-T Transmit Latency Timing4. 11. 4 1000BASE-T to RGMll Receive Latency Timing1304. 11.5 100BASE-TX to RGMII Receive Latency Timing.1304.11.610 BASE-T to RGMll Receive Latency Timing……….….…………,130SECTION 5. PACKAGE MECHANICAL DIMENSIONS1315.1 64-Pin QFN Package...131Copyright o 2007 MarvellCONFIDENTIALDoC. No. MV-S104224-00. Rev.March 1. 2007. AdvanceDocument Classification: Proprietary InformationPage 788E1116RMARVELL Alaska Gigabit Ethernet TransceiverSECTION 6. ORDER INFORMATION1336.1 Ordering Part Numbers and Package Markings1336.1.1 RoHS 5/6 Marking Example1346.1.2 RoHS 6/6 Marking Example135Doc. No. MV-S104224-00. Rev.CONFIDENTIALCopyright o 2007 MarvellPage 8Document Classification: Proprietary InformationMarch 1. 2007. AdvanceSignal DescriptionSection 1. Signal DescriptionThe 88E1116R device is a 10/100/1000BASE-T Gigabit Ethernet transceiverFigure 1: 88E1116R Device 64-Pin QFN Package(Top view)文gg9廿廿廿廿廿廿凵廿廿廿凵廿守令导好寸守哥导$85#將RX CTRL4932TSTPTRXDIO5031MDIPIORXD[51EPAD-VSS30d MDIN[O]VDDOR52290 AVDDRX CLK5328叫NCRXD[2]54AVDDRXD]5526MD|P[1VDDOR56VREF57MARVEL L③24E MDIP[2TXD0]□5823MDIN[2TXD[1]B5988E1116R22AVDDTX_CLK F6021AVDDTXD[2Top ViewMDIP[3TXD3]□62190 MDIN[3]TⅩCTRL6318□NCCONFIG[O]64CTRL18三s回口cc×O百口口艺艺安安Copyright o 2007 MarvellCONFIDENTIALDoc. No. MV-S104224-00 RevMarch1.2007. AdvanceDocument Classification: Proprietary InformationPage 988E1116RMARVELL. Alaska Gigabit Ethernet Transceiver1.1 Pin Description1.1.1 Pin Type DefinitionsPin Ty peDefinitionHInput with hysteresisVOInput and outputInput onlOutput onlPUIntemal pullPDInternal pull downOpen drain outputTri-state outputADC sink capabilityDoC. No. MV-S104224-00 RevCONFIDENTIALCopyright o 2007 MarvellPage 10Document Classification: Proprietary InformationMarch.2007. Advance

推挽式变压器设计方案,一看就懂。。。简单，易懂

simulink 永磁同步电机双闭环仿真实例，共包含四个仿真实例，均可以运行通过，还包含部分仿真资料，可供需要进行永磁同步电机仿真的工程师参考

扩展卡尔曼滤波训练的神经网络matlab代码

一种基于模糊算法的移动机器人路径规划策略． 利用超声波传感器对环境进行探测， 得到关于障碍物和目标的信息． 运用模糊推理将障碍位置信息与目标位置信息模糊化，建立模糊规则并解模糊最终使机器人可以很好的避障，从而实现了移动机器人的路径规划。第4期陈卫东:基于模糊算法的移动机器人路径规划按照同样的方法,可以建立起多种条件下的控制规则的合成隶属度结果规则.类似于这样的控制规则可归纳总结为很多条.在模糊控制规则的制定上采用基于控制器行为特性的方NB NSPS PBNBSPS PBA0.7式,将动作分为若干基本行为,复杂的行为可由几个简0.303X)嬷单行为按次序构成,可简化模糊控制规则的确定,并可10-5减少模糊控制规则的数目,避开被控对象的特性建模cmis-10-510 cm/s(a)左轮加速度b)右轮加速度3.4模糊推理图8左右轮合成隶属度函数模糊推理是模糊控制器的核心,它具有模拟人的3.5解模糊基于模糊概念的推理能力,该推理过程是基于模糊逻通过模糊推理得到的结果是一个模糊集合.但在辑中的蕴含关系及推理规则来进行的由模糊规则推实际模糊控制中,必须要有一个确定值才能控制或驱理出输岀量的隶属度根据 Mamdani模糊推理方法求取动执行机构.将模糊推理结果转化为精确值的过程称模糊关系矩阵0为解模糊.所以,解模糊的作用是将模糊集合映射为为了说明模糊推理控制器的工作过程,这里以机个确定的点.也就是把上面推理合成得到的左右轮加器人在FD=105cm;ID=117cm;RD=40cm;θ=45deg;υ速度模糊集合转化为一个精确值来控制机器人的运=3.5cm/s的状态为例来说明推理决策的过程.査询数动解模糊方法的选择与隶属度函数形状的选择、推理据库中的规则,此状态下的模糊规则为表格中的第5、方法的选择相关. MATLAB提供5种解模糊方法:面积6、11和12.由模糊规则的推理与合成(取极小,取极大)重心法、面积等分法、平均最大隶属度法、最大隶属度得到输出的隶属度如下取小法和最大隶属度取大法.本文仿真采用的重心第五个规则推理结果法.这种方法也称为质心法或面积中心法,是所有解模糊化方法中最为合理、最流行和引人关注的方法.该方NB NS 1Z PS PBNB NS 1ZPSPB法的数学表达式是0.3031p1(a)d(a1)10 cm/s2左轮加速度2)ALaI(a)左轮加速度b)右轮加速度图4规则5推理的左右轮合成隶属度函数第六规则推理结果:ar uR(ar)d(a,)右轮加速度=(3)NB NS IZ PS PBNB NSPS PB式中,表示输出模糊子集所有元素的隶属度值在连续0.20.2论域上的代数积分,而加速度的取值是表示其左右两0m/s2-10-5cn边的面积为相等.该方法计算复杂,但它包含了输出模(a)左轮加速度(b)右轮加速度图5规则6推理的左右轮合成隶属度函数糊子集所有元素的信息,也较精确.采用重心法将模糊第十一规则推理结果量转换成清晰量,再经过线性尺度变换为实际输入给直流电机的控制量控制移动机器人的移动NB NS 1Z PS PBNB NS IZ PS PB0.74仿真实验及结果分析为了验证本文提出的模糊控制方法的可行性,在10-5105cm/s210-5cnMatlab中利用 Simulink建立系统仿真模型,对控制规则(a)左轮加速度(b)右轮加速度图6规则11推理的左右轮合成隶属度函数进行了仿真,假设移动机器人的行驶速度为0.6m/s,使第十二规则推理结果:用 Fuzzy logic工具箱软件对模糊算法进行了仿真.在仿n真过程中,起点和终点的位置可以任意设置,障碍物的NB NS IZ PS PBPS大小、形状和位置也可以任意设置,这样就可以在任意环境下检验算法的正确性和可靠性0.20.2图9为当起点为(0,0),目标点为(9,9),在障碍物100cm/s2-10-5cmls存在时模糊算法和势场法的路径规划仿真.由图我们(a)左轮加速度(b)右轮加速度图7规则12推理的左右轮合成隶属度函数可以看出,模糊算法比势场法规划的路径更优.其工作4电子学报011年代价更小,行走的路径也更短由于速度的控制,比文5结论献[12]中只对转向角进行控制节省大量时间移动机器人由于传感器的限制以及周围环境的不移动机器人路径规划仿真确定性,很难预先对机器人的移动路径进行规划.本文目标点釆用了的模糊控制算法对移动机器人进行控制.这种8算法对移动机器人的运行环境几乎没有什么限制,它能在情况很复杂的未知环境里运行.对障碍物的形状及其个数也没有什么约束.并可避开传统算法中存在障碍物的对移动机器人的定位精度敏感,对环境信息依赖性强等缺点.并且通过对速度的控制使机器人比以前只2模糊算法路径dd对转角控制进行路径规划节省时间,具有很强的时效性.从实验中的移动轨迹可以看出,移动机器人的行为0起始点势场法路径表现出很好的一致性、连续性和稳定性参考文献10x/m图9模糊算法和势场法的仿真对比图[1]李磊,叶涛,谭民,等.移动机器人技术研究现状与未来在相同的环境下用A算法和模糊算法也进行了J].机器人,2002,24(5):475-480仿真对比,仿真路径图如图10.应用两种算法获得的最Li Lei, Ye Tao, Tan Ming. Present state and future development优路径如图所示.其中,A*算法计算量较大,并且Aof mobile robot technology research [J. Robot. 2002, 24(5)算法只能在环境信息已知的情况下找到路径而不适合475-480.(in Chinese)部分环境信息已知的情况,而且很不适合动态环境的2 Pradhan, DR Parhi, A K Panda. Potential feld method to路径规划.模糊算法显然比A算法规划的路径更优,navigate several mobile robots[ J. Applied Intelligence, 2006(25):321-333并且能够实现移动机器人的实时避障3]郝宗波,洪炳熔.未知环境下基于传感器的移动机器人路移动机器人路径规划仿真径规划[J].电子学报,2006,34(5):953-956目标点Hao Zong-bo, Hong Bing-rong Sensor-based path planning for8mobile robot in unknown environment[J. Acta ElectronicaSinica, 2006, 34(5): 953-956(in Chinese)64]周兰凤,洪炳熔.用基于知识的遗传算法实现移动机器人障碍物路径规划[J].电子学报,2006,34(5):911-914Zhou Lan-feng; Hong Bing-rong. a knowledge based geneticalgorithm for path planning of a mobile robot[ J. Acta Elec2模糊算法路径tronic Sinica, 2006, 34 (5): 911-914(in Chinese0[5]高庆吉,雷亚莉,胡丹丹,等.基于自适应感知复位算法的起始点A*算法路径移动机器人定位[J.电子学报,2007,35(11):2166-217110Gao Qing-ji, Lei Ya-li, Hu Dan-dan. A robot localizationr/m图10模糊算法和A*算法的仿真对比图method based on adaptive sensor resetting algorithm[ J].Acta对比实验表明,模糊算法不但优于人工势场法,也Electronica Sinica, 2007, 35(11): 2166-2171.(in Chinese)优于A算法模糊算法大大优化移动机器人的路径规6TLLe,C-JWu. Fuzzy motion planning of mobile robots in划,是一种很智能的路径规划方法.模糊算法仿真成功unknown environments[J]. Journal of Intelligent and RoboticSystems,2003,37(2):177-191(下转第980页)证明使用模糊控制进行路径规划时对移动机器人的运行环境几乎没有什么限制,它能在未知环境里运行.对作者简介障碍物的形状及其个数也没有什么约東.从仿真实验陈卫东男,1972年生于吉林长春,教授,主要研究方向为机器中的移动轨迹可以看出,移动机器人的行为表现出比人控制,智能算法及其应用,图像处理等较好的一致性、连续性和稳定性.采用模糊控制算法避E-mail:wdchen@ysu.edu.cn开了传统算法中存在的对移动机器人的定位精度敏朱奇光男,1978年生于浙江宁波,讲师,博士研究生,主要研究感、对环境的信息依赖性强等缺点方向为机器人控制,智能算法及其应用第4期陈卫东:基于模糊算法的移动机器人路径规划

在matlab中实现中值滤波算法的源代码，可以分别在一维、二维和三维中使用，可以自由调节滤波窗口的大小，方便对数据进行处理。

STM32+MQTT+SIM800使用AT指令实现；通过自建服务器测试完成，支持连接、订阅、发布、心跳保持；全部使用AT指令控制；

是学习电机学，以及在工程中应用查阅得很好的一本文献资料。

通信信号识别的经典仿真，有数字的和模拟的，非常有价值