医用微型机器人可视化运动仿真的研究.pdf

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医用微型机器人可视化运动仿真的研究.pdf

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ABSTRACT Thegoalofthispaperistoestablishacomputersimulationsystemfora non-invasivemicro-robotinvented勿ProfessorZhouYinsheng.Thesystemcanbe usedtoobservethemovementofthemicro-robotdirect执andcanfinditsusein demonstrationofteaching,paramaticoptimizationandperformanceevaluation. Theresearchstatusandfutureofthemicro-robot,computersimulationandthe relative即户cationispresentedinthefirstchapter.Themeaningofthisissueis addressed.Thegoalsofthisissueandtheproblemstoberesolvedarepresented. Inchapter2,thequestionofmicro-robotcomputersimulationisdefined.The designrequirementsareanalyzed,theoverallschemeispresented,andthesystematic structureandgeneralflowisgenerated. Inchapter3,themechanismofmovementwhentherobotmovesinmicro-tubes fulloffluidisanalyzedaccordingtothetheoryofhydrodynamiclubrication.Onthe assumptionthatthemucusisakindofNewton-fluidandtheelasticdistortionofthe intestineisignored,amathematicsmodelofmicro-robotmovementsimulationis established Inchapter4,anewmethodofphysicalmodelingrfomthepointofviewof softwareintegrationispresented.Usingtheexistingsculpturalmodelingsoftware, thesimulationsystemcangetthegeometrical,topologicalandphysicalinformation ofthephysicalmodel妙dataexchangestandard,andthenrebuilditwithVisualC++ andOpenGL.Thismethodcannotonlymakethebestuseoftheadvantageofthe existingsculpturalmodelingsoftware,extendtheabilityof3DmodelingofOpenGL, shortenthedevelopperiodandreducethecostofdevelopment,butalsorealizewhat youseeiswhatyouget.Thismethodimprovesthedirectnessandefficiencyof modelingprocessgreatly.Anewmethodofscenemanagementbasedondirected acyclinegraphdatastructureispresented.Thewholesceneiscomposedofaseries ofindependentnodes.Theprocessofinteractivescenedrawingistheprocessof traversingdirectedacyclinegraphanddrawing. Inchapter5,thesimulationsystemisanalyzed,designedandprogrammedwith object-orientedmethod.Thissystemiscomposedoffourlayers,sothesystemis extendable,reusabelanditslay