毕业设计（论文）
外文翻译
题目: PLC与机器人控制原理
专业: 电气工程及其自动化
班级: 11电气1班
学生: 胡洋(20114128)
指导教师: 尹有为
高科学院
2015 年
附录一：
一、外文翻译译文
随着的不断进步，机器人控制将有更多的选择，包括使用开放式控制软件控制多个供应商的机器人，采用可编程逻辑控制器（PLC ）以及非机器人控制器。
机器人可以胜任更多的工作
如果现有的工具在使用上缺乏灵活性，且不能支持机器人应用，那么是时候升级你的工具了。通过开源的机器人操作系统和软件，机器人可以在更广泛的工业领域大显身手。这也正是美国西南研究院（SwRI）推出ROS-Industrial的初衷。
机器人应该在更多的领域得到广泛的应用，为此SwRI推出了开源的工业机器人软件ROS-Industrial，并建立了相关的工作组，以扩大机器人技术的应用和提高机器人的互操作性。 ROS是机器人操作系统的缩写。去年12月5日的季度会议上，SwRI制定了ROS-Industrial未来发展的大方向，审核了新的机器人技术，并公布了相关的工作成果。
根据美国机器人工业协会（RIA）的最新统计数据，机器人应该能胜任更多的工作，来自SwRI机器人和自动化工程项目高级研究工程师Shaun Edwards这样认为。 ROS-Industrial软件的核心目标就是通过标准的机器人界面和扩展的机器人操作系统（ROS）拓宽机器人的应用领域。来自去年7月份的统计数据显示，贡献者为该计划撰写了超过30个程序，将近100,000行代码，其中27%为注释。
“我们想做的就是限制对ROS-Industrial编程所需要的技能的数量。往这个方向努力的第一步就是BRIDE。”Edwards说。
BRIDE是一个合成词，是BRIC（机器人最佳实践）和IDE（集成开发环境）的缩写。BRIDE为元模型在Eclipse平台下提供了定义和转换的框架。目前，它支持Orocos和ROS 。
更简单的机器人工具链
Fraunhofer IPA工业机器人部门项目经理Alexander Bubeck 将BRIDE描述为基于模型的软件开发工具链。当前，工业和服务机器人软件开发方面的挑战主要包括：代码复用率低，需要创建
更易于理解的代码，以推动标准和最佳实践的更广泛应用；缩短学习曲线；以及允许分布式开发等。ROS在降低对机器人编程的学习曲线方面的表现非常出色，加入模型驱动工程（ MDE ）将使流程更加简洁。
通过创建一个模型驱动工程组件框架层，从底部的组件到元模型层（采用统一建模语言UML，在它上面是元元模型层），机器人软件工程将得以更好地实施。Bubeck说，我们的目的是将编程中出现的问题细化，如计算、通讯、协调和配置，最终实现代码可以在制造商之间共享。例如：一些制造商虽然提供了软件库，但描述相同功能的软件组件并不能跨平台重复使用，必须重建。设想一下，如果木材、管线、窗户和设备都是采用定制化的规格设计，那么建造一间房子的成本要贵出多少？
为了更高的效率
Fraunhofer IPA公司的Florian Weisshardt描述了一家来自欧盟的工厂一天的工作状态，该工厂现在有超过18个合作伙伴，以及超过800万欧元的预算。该项目的目标是开发新的技术和商业模式，以减少工厂安装时间（从几个月缩短到一天）和相关成本。可能的时间安排如下：
首先，分析工作流程，然后为工作设计自定义组件，打印三维组件。上午8点，将所有组件发货到工厂。上午10点卸载，并开始自我校准。下午12点培训和教育。下午4点结束。
为了减少时间、精力和成本，集成的工具链需要开发、测试、安装和部署机器人的软件组件。公司预计今年6月推出一个工作原型，10月发布第一个原型，并在2015年10月推出最终版本，Weisshardt说。ROS的最新进展
Yaskawa美国公司莫托曼机器人事业部高级项目工程师Eric Marcil介绍说，该公司在今年早些时候发布了ROS界面，并预期在明年上半年发布更新版本，新版本将覆盖莫托曼双臂机器人在内的ROS。
Caterpillar公司的自动化工程师Joe Spanier推荐了一款针对运动规划的ROS应用软件——MoveIt！。它更适用于ROS的驱动程序，可用于激光扫描仪，在焊接应用中这将通过省去机器人触摸感测环节，从而节省时间。
来自加拿大国家研究委员会机器人和自动化研究室的Jason Michel Lambert，正在负责与ROS相关的硬件在环和快速原型工作。他对ROS实时界面非常感兴趣，并正在与Kuka和Comau公司一起致力于这方面的研究，使ROS更接近工厂底层应用。
荷兰Delft机器人研究所的研究员Gijs vd Hoorn介绍说，目前该研究所支持Fanuc堆栈，MoveIt！组态和动态插件。未来的工作将包括改善Fanuc驱动器，并支持扩展到更多的制造商和输入/输出设备。随着一些机器人加强了关节力矩和工具的力反馈功能， ROS将可以适用于更多的组装和磨削应用。
Los Alamos国家实验室博士后研究助理Brian O'Neil，正在致力于为零件无法在预定时间前固定或者定位不准确的情况寻找更好的自动化装配方案。
ALTEN Mechatronics公司正在开发一个图形化的用户界面，使ROS适用于工业应用，预期在2014年发布新产品。
一名来自佐治亚理工学院的机器人博士研究生Kelsey Hawkins，正在为Universal Robot公司研发一款驱动产品，旨在为机器人提供更快的控制回路。ROS为管理新的控制回路提供了界面，而不需要让机器人停下来测试新控制器。
SwRI研究院在去年10月发布了更具指导意义的ROS-Industrial教程、文档、培训材料和代码审查，以进一步推广ROS的应用。
基于PLC的控制vs.专有的机器人控制器
对于已经使用PLC来
实现其他机器控制功能的设备来说，将机器人控制集成到PLC 中可能是一个更明智的选择，而不是依赖由机器人制造商提供的机器人控制器。
随着越来越多制造业企业发现机器人物料搬运解决方案在生产设施和配送中心应用上的优势，有一个问题必须要考虑清楚，就是如何最好地控制机器人。机器人原始设备制造商（OEM ）们通常将其自己的控制器集成到机器人中，不过最新的技术发展，让人们有了更多的选择，比如通过PLC来控制机器人。
对于已经使用PLC来实现其他机器控制功能的设备来说，将机器人控制集成到PLC中，而不是依赖于OEM厂商提供的专有控制器可能是一个更明智的选择。
机器人控制变得更容易
大部分工程师和技术人员对PLC都有所了解，因此可以在基于PLC的机器人系统轻松实现读取和故障排除，而无需学习机器人OEM厂商的专有控制语言。尽管操作人员仍然需要了解如何操作机器人，但利用现有的PLC知识，可极大地减少管理、维护和操作机器人系统所需的培训时间。 PLC控制可以使操作进一步简化：
■通用编程控制（软件，电缆等）；
■通用软件接口；
■通用的程序备份/恢复方法；
■通用的程序文档。
简化机器人控制界面
机器人物料搬运解决方案往往是复杂的系统，需要整合机器人与非机器人系统。常见的系统组件包括进料和卸料输送机、托盘供应机和搬运车。过去的情况是PLC控制非机器人系统部件，机器人控制器必须与系统控制器接口，通过数据信号交换和互锁来实现所需的功能。根据应用的复杂性，与不同的控制模块接口可能会带来相当大的挑战。
新的方法是将机器人和其他系统组件的控制集成到同一个PLC中，这样既避免了单独的控制系统之间的接口问题，也大大降低了系统的复杂性。例如，一个控制器可以使用相同的硬件和软件平台处理多个工艺和设备，不但降低了OEM厂商的集成和开发成本，也削减了最终用户的生命周期成本。
共享控制架构
与其他设施的机器控制一样，基于PLC的机器人控制也使用相同的控制架构，从而实现在一点上对传统的自动化设备和机器人进行控制。与同一控制面板中的其他硬件一样，机器人控制使用相同的绘图命名法（线数、编号等），这降低了控制系统设计的复杂性。采用共同控制架构的其他好处包括：
■简化故障排除和维护；
■减少面板尺寸；
■简化培训；
■通用备件。简化机器人通讯
大多数专有的OEM控制器都通过输入/输出（I/O）模块实现机器人控制器与PLC之间的通讯。然而，采用基于PLC的机器人控制省去了这种额外的通讯，取而代之的是直接与机器人的I/O 接口通讯，操作就像控制系统中的任何其他I/O通讯一样简单。除了简化I/O通讯以外，基于PLC的机器人控制使运营商能够使用适用于PLC的硬件、I/O以及通讯协议，而无需适用于OEM控制器。相比于OEM控制器，基于PLC的机器人控制支持更广泛的I/O 硬件和通讯协议这样做，因此更容易适应并与更多的系统控制应用程序进行集成。
统一的界面
通过基于PLC的机器人控制，人机界面（HMI）能够与系统始终保持一致，示教器也不再显示机器人控制器的主界面。报警系统、故障记录、数据监控以及所有其他功能现在直接与机器人控制器接口。独特的故障和自定义操作也可以被添加，并直接改变到机器人控制器。人机界面可聚焦特定应用程序，并具有更灵活的架构，从而简化了对操作人员的培训。
降低维护和升级成本
生产设施需要集成多种类型的机器，通常在填料、包装、码垛、包装和输送机领域的应用多倾向采用基于PLC的控制。如果每个OEM设备都采用一个独特的控制方案，集成的系统可能具有功能性，但那对于维护和升级来说就是一场梦魇。出于这个原因，绝大多数厂商都会选择适用于控制器和OEM硬件的控制方案。
一个好的通用的控制系统，可以让升级和维护变得更简单，并降低总成本。将机器人控制器集成到基于PLC的控制系统不仅可以为终端用户节省单独的机器控制设计所需的额外成本，还能够降低总体拥有成本。
更高的兼容性
由于OEM机器人控制器属性以及相关培训的要求都具有特殊性，许多厂商都更倾向于使用既有品牌的工业机器人。由于不愿意支持多机器人品牌或不同的OEM控制接口，阻碍了很多企业选择最适合的机器人模型。基于PLC的机器人控制器能够适用于多个品牌，最终用户在选择未来的解决方案时，不用再“锁定”最初的机器人品牌。
基于PLC的机器人控制为机器人集成商引入了一套新的决策机制。尽管有一定的优势，系统集成商以及其他厂商有的时候会发现基于PLC的控制也并不总是最好的选择。考虑到大量安装基础和高度专业化的应用需求，机器人密集型环境，如汽车行业，可能不愿意放弃原有的OEM控制器。此外，一些机器人OEM制造商也不提供基于PLC的控制器。
当决定选择何种机器人控制器时，必须考虑可用性、功能性和成本。如果机器人需要与大量的PLC控制的设备接口时，并具有熟悉PLC控制的技术人员，采用基于PLC的控制方法显然比专有的OEM控制器更节省运营和维护的成本。一个有信誉的机器人集成商将致力于为客户提供最适合的最终解决方案，无论是基于PLC还是OEM。
工业PC让机器人集成更简单
硬件和软件的进步，如多核处理器和工业以太网技术的发展，使工程师能够将运动控制、通讯技术以及人机界面集成到更具成本效益的机器人解决方案中。
在原有良好的控制基础上，加入开放式控制硬件和软件，可以带来更好的机器设计，实现与机器人的无缝集成。对于机器制造商来说，可能是一个“改变游戏规则”的机遇，将机器人技术整合到更多的应用中去，即使是那些对成本最敏感的应用领域。
通过与整体自动化系统共享，用户可以减少布线、网络和软件平台的费用，同时显著减少机器占用空间。这带来了更高性能的机电一体化和机器人解决方案，尤其是在对变化的产品流进行包装和复杂的物料输送情况下。
以前，大多数机器控制架构采用的是独立的机器人控制器实现机器人的运动控制。这样就需要与通用机器控制不同的单独编程，以及特定工程的通信基础设施，每个应用都需要定制化的型
材。然而，今天，机器人以及其他运动控制已经可以通过工业PC （IPC）工作，并在同一软件环境下编程。现在很多IPC都标配了先进的多核心处理器，能够一台机器上实现所有自动化的控制，尤其是在机器人密集应用的场合，对机器人的灵巧度和速度有很高的要求。只要很小的一部分CPU处理能力就可以满足机器人运动控制的需要，留出了充足的储备用于其它功能，如测量、状态监测、视觉系统、丰富的多媒体文档、培训和教程资料。事实上，它可以轻松地在同一个控制器上运行两个或多个Delta机器人，通过电子齿轮、凸轮表、 G代码和其他标准运动控制技术，协调多个机器人和辅助轴之间的运动控制，
另一种使能技术的发展也使得机器人设备得到了更广泛的应用，那就是诸如EtherCAT之类的工业以太网技术。在机器人领域中，EtherCAT网络已成为全球公认的标准，它让运动控制解决方案与机械的集成变得更加迅速。除了微秒级的通信速度和高精度之外， EtherCAT也带来了无需添加硬件和软件层的强大诊断功能。例如，EtherCAT可以自动检测系统中断，同时通过“动态及时处理”——一种灵活的数据处理机制，在进行网络通信的同时更快地解决问题。在网络上所有的EtherCAT设备可以独立接收和处理数据，无需更高级别的设备来轮询组网。
附录二：
一丶外文原文
With the continuous progress of robot control, will have more options, including the use of opensoftware controlling multiple suppliers robot, using programmable logic controller (PLC) andnon robot controller.
Robots can do more work
If the lack of flexibility in the use of existing tools, and can not support the robot application,then it is time to upgrade your tools. The robot operating system and open source software,the robot can display one's skill to the full wider fields. This is the USA Southwest Research Institute (SwRI) launched the original intention of ROS-Industrial.
The robot should be widely applied in more fields, the SwRI launched the open sourcesoftware ROS-Industrial industrial robot, and established the relevant working group, in order to expand the application of robot technology and improve the
robot's interoperability. ROS isthe abbreviation of robot operating system. Last December 5th a quarterly meeting, SwRI established the direction of future development of ROS-Industrial audit, new robot technology,and the publication of the relevant work.
According to the America Robot Industry Association (RIA) the latest statistics, the robot should be able to do more work, from SwRI robotics and Automation Engineering Advanced Research Project Engineer Shaun Edwards said. The core objective of ROS-Industrial software is the operating system of robot interface and extend the standard of (ROS) to broaden the application field of robot. Statistical data from July last year, contributor to the plan written more than 30 programs, nearly 100000 lines of code, including 27% notes.
"We want to do is to limit the number of ROS-Industrial programming skills. The first step inthis direction is BRIDE." Edwards said.
BRIDE is a portmanteau word, BRIC (robot best practice) and IDE (integrated development environment) ". BRIDE is the element model in the Eclipse platform provides a framework for defining and conversion. At present, it supports Orocos and ROS.
A simple robot tool chain
Fraunhofer IPA industrial robot Department Project Manager Alexander Bubeck described BRIDE as software development tool chain based on model. At present, the industrial and service robot software development challenges mainly include: the code reuse rate is low, you need to create the code easier to understand, to promote more widely application standards and best practices; shorten the learning curve and allows distributed development. ROS is excellent in reducing the learning curve for robot programming aspects, with Model Driven Engineering (MDE) will make the process more simple.
By creating a model driven engineering component framework layer, from the bottom of theassembly to the meta model layer (the unified modeling language UML, it is the meta model layer), the robot will be able to better implement the software engineering. Bubeck said, our objective is to refine the
problems appearing in the programming, such as computing,communication, coordination and configuration, finally realizes the code can be shared among manufacturers. For example: although some manufacturers provide a software library, but the description of software components of the same function and not cross platform of repeated use, must rebuild. Imagine, if the wood, pipeline, windows and equipment are designed using customized specifications, then build a house in the cost of expensive?
For better efficiency
Fraunhofer IPA, Florian Weisshardt describes a factory from the EU working state of the day,the factory now has more than 18 partners, and more than 8000000 euros in budget. The goal of this project is to develop new technologies and business models, in order to reducethe factory installation time (shortened from a few months to a day) and related costs. Theschedule is as follows:
First of all, analyze the work flow, then work for the design of custom components, 3D printingcomponents. 8 in the morning, all the components shipped to the factory. 10 in the morningand start unloading, self calibration. 12 pm train and educate. The end of 4 p.m..
In order to reduce the time, effort and cost, the integrated tool chain need softwarecomponent development, testing, installation and deployment of the robot. The company is expected to launch in June this year, a working prototype, released in October, the first prototype, and launched the final version in 2015 October, Weisshardt said. The latest progress of ROS
Yaskawa Usa Inc Motoman robot division senior project engineer Eric Marcil said, the company released the ROS interface in the earlier this year, and is expected to release in the first half of next year the updated version, the new version will cover Motoman arm robot,ROS.
Caterpillar's Automation Engineer Joe Spanier recommended a motion planning application software -- MoveIt ROS!. It is more suitable for the ROS driver, can be used in welding applications in laser scanner, which will save by robot touch sensing link, so as to save time.
From the National Research Council of Canada, robotics and automation laboratory JasonMichel Lambert, is responsible for the hardware in the loop and rapid prototyping workassociated with ROS. He is very interested in the ROS real-time interface, and is working with Kuka and Comau together in this area, the ROS is closer to the factory floor applications.
Holland Delft Robotics Institute researcher Gijs VD Hoorn said, the present study supports the Fanuc stack, MoveIt! Configuration and dynamic plug-ins. Future work will include improvedFanuc drive, extended to the manufacturer and input / output devices and more support. Withsome robot joint torque tools and strengthen the force feedback function, ROS will be suitable for assembling and grinding applications more.
Los Alamos National Laboratory, a postdoctoral research associate Brian O'Neil, is committed to looking for automated assembly parts can not be better at a predetermined time before thefixed or inaccurate positioning of the situation.
ALTEN Mechatronics is developing a graphical user interface, the ROS is suitable forindustrial applications, is expected to release new products in 2014.
A robot from the Georgia Institute of Technology doctoral student Kelsey Hawkins, is aUniversal Robot drive product
development company, aims to provide faster loop control forrobot. ROS provides the interface for the control circuit of the new management, without the need to stop testing new robot controller.
SwRI Research Institute released a more instructive ROS-Industrial tutorial, documents,training materials and code review in October last year, to further promote the use of ROS.
The robot controller PLC control vs. based on proprietary
Have to use PLC to
To realize the control function of other machine equipment, robot
control will be integrated into PLC may be a more sensible choice, rather than relying on the robot controller is provided by the robot manufacturer.
With more and more manufacturing enterprises to find solutions in the application of material handling robot production facilities and distribution center on the edge, there is a problemmust be considered, is how best to control robot. The robot original equipment manufacturer(OEM) usually will be its own controller integrated into the robot, but the latest technologydevelopment, so that people have more choices, such as through the PLC to control therobot.
Have to use PLC to realize the control function of the other machine equipment, the robot control is integrated into PLC, rather than relying on proprietary controller in OEMmanufacturers may be a more sensible choice.
Robot control easier
Most of the engineers and technicians to understand the PLC, so it can be in the robot system based on PLC easily read and troubleshooting, without learning robot OEM vendor'sproprietary control language. Although the operators still need to know how to operate the robot, but knowledge of PLC, can greatly reduce the management,maintenance and operation of the robot system required training time. PLC control operation can be further simplified:
- general programming control (software, cable);
- general software interface;
In the general program of backup / restore method;
In general the program document
A simplified robot control interface
The robot of material handling solutions are often complex system, the need to integrate nonrobot and robot system. Common system components including feeding and unloadingconveyor, pallet supply machine and truck. The past is PLC control component of the robot system, the robot controller must interface with the system controller, and interlockingfunctions needed to implement the data exchange of signals. According to the complexity of the application, and the control module of the
interface may bring considerable challenges.
The new method is to control the robot and other system components are integrated into aPLC, so as to avoid the problem of interface between individual control system, but also greatly reduces the complexity of the system. For example, a controller can use the same hardware and software platform of multi technology and equipment, not only reduces the cost of integration and development OEM manufacturers, the life cycle cost cut end user. Shared control architecture
As with other machine control facilities, robot control PLC also use control architecture based on the same, so as to achieve the automation and robotic of traditional in point control. The same as with other hardware in the control panel, robot control using the same drawingnomenclature (line number, number), which reduces the complexity of control system design.The other benefits include common control architecture:
Trouble shooting and maintenance - simplified;
- reduce panel size;
- Simplified training;
General spare parts. Simplified robot communication
Most of the proprietary OEM controller through the input / output (I/O) module and PLC communication between the robot controller. However, the PLC robot control eliminates the need for this additional communication based on I/O communication interface, replace sb. isdirectly with the robot, like any other I/O communication operation in the control system as simple. In addition to simplify the I/O communication, so that the operator can use for PLChardware, I/O communication protocol and PLC based robot control, without the need for OEMcontroller. Compared to the OEM controller, PLC robot control supports a wider range of I/O hardware and communication protocol based on this, it is easier to adapt and more application control system integration.
Unified interface
The PLC based robot control, man-machine interface (HMI) system and to keep consistent,demonstrator will no
longer display the main interface of the robot controller. Alarm system,fault recording, data monitoring and all other functions now directly with the robot controller interface. Unique fault and custom operation can also be added directly, and change to the robot controller. The man-machine interface can focus on specific applications, and has more flexible architecture, thus simplifying the operation of personnel training.
To reduce the cost of maintenance and upgrade
Production facilities need to integrate various types of machines, usually used in packing,packaging, packaging and palletizing, conveyor field more tend to adopt the control based on PLC. If each OEM device uses a unique control scheme, the integrated system may have a function, but for the maintenance and upgrade is a nightmare. For this reason, mostmanufacturers will choose the control scheme for controller and OEM hardware.
A good general control system, can make upgrade and maintenance easier, and reduce the total cost of. The robot controller is integrated into the control system based on PLC can not only save a separate machine control cost of design required for the end user, also can reduce the total cost of ownership.
Higher compatibility
The OEM robot controller attributes and relevant training requirements are of specialindustrial robots, many manufacturers are more inclined to use the existing brand. Becausenot willing to support multi robot brands or different OEM control interface, hinder the robot model is the most suitable choice of many enterprises. The robot controller PLC can be applied to a number of brand based on the end user, in the choice of future solutions, the firstrobot brand no longer "locked".
PLC based robot control robot integrators introduced a new decision-making mechanism.Although there are certain advantages, system integrators and other manufacturerssometimes found control based on PLC is not always the best choice. Considering theapplication demand and the installation of a large number of highly specialized, intensive environments robot, such as the automotive industry, may not
be willing to give up the original OEM controller. In addition, some manufacturers do not provide OEM robot controller based on PLC.
When the choice of robot controller, must consider the usability, functionality and cost. If the robot needs a large number of PLC devices and control interface, and is familiar with thetechnical staff of PLC control, the control method based on PLC OEM controller is moreobviously than proprietary to save the cost of operation and maintenance. A reputable robotintegrators will be committed to providing the ultimate solution for the most suitable for the customer, whether it is PLC or OEM based on.
Higher compatibility
The OEM robot controller attributes and relevant training requirements are of specialindustrial robots, many manufacturers are more inclined to use the existing brand. Becausenot willing to support multi robot brands or different OEM control interface, hinder the robot model is the most suitable choice of many enterprises. The robot controller PLC can be applied to a number of brand based on the end user, in the choice of future solutions, the firstrobot brand no longer "locked".
PLC based robot control robot integrators introduced a new decision-making mechanism.Although there are certain advantages, system integrators and other manufacturerssometimes found control based on PLC is not always the best choice. Considering theapplication demand and the installation of a large number of highly specialized, intensive environments robot, such as the automotive industry, may not be willing to give up the original OEM controller. In addition, some manufacturers do not provide OEM robot controller based on PLC.
When the choice of robot controller, must consider the usability, functionality and cost. If the robot needs a large number of PLC devices and control interface, and is familiar with thetechnical staff of PLC control, the control method based on PLC OEM controller is moreobviously than proprietary to save the cost of operation and maintenance. A reputable robotintegrators will be committed to providing the ultimate solution for the most suitable for
the customer, whether it is PLC or OEM based on.
Let PC industrial robot integrated more simple
The progress of the development of hardware and software, such as multi-core processor and industrial Ethernet technology, will enable engineers to motion control, communication technology and human-machine interface are integrated into a more cost-effective solution inrobot.
In the original basis of good control, adding open control hardware and software, machinedesign can bring better, achieve seamless integration with the robot. For machinemanufacturers, may be a "game changer" opportunities, robot technology integrated into moreapplications, even those applications are most sensitive to the cost of.
By sharing with the overall automation system, the user can reduce the wiring, network andsoftware costs, while significantly reducing the space occupied by the machine. This bringsmore high performance electromechanical and robot solutions, especially in the change ofproduct flow and complex packing material conveying case.
Previously, most machine control architecture is used to achieve the robot motion controlrobot controller independent. This requires the universal machine control and separatedifferent programming, as well as the specific project communication infrastructure, each application requires customized profiles. However, today, robots and other motion control has been through industrial PC (IPC), and programming in the environment under the same software. Now a lot of IPC standard multi core processor advanced, to achieve control of allautomation machine, especially in the intensive application of robots, robot dexterity andspeed have very high demand. Only a small part of the CPU capacity can meet the needs of robot motion control, set aside ample reserve for other functions, such as measurement,monitoring, visual system, rich multimedia documents, training and tutorials. In fact, it can easily run two or more Delta robot in the same controller, through the electronic gear, cam table, G code and other standard motion control technology, the coordination between robotsand auxiliary axis motion control,
Another development of the technology also makes the robot equipment widely, it is like EtherCAT Industrial Ethernet technology. In the field of robotics, EtherCAT network has become a globally recognized standard, which makes the motion control solutions and mechanical integration becomes more rapidly. In addition to the microsecond communication speed and high precision, EtherCAT also brings a powerful diagnostic function without addinghardware and software layer. For example, EtherCAT can interrupt the automatic detection system, at the same time through the "dynamic timely treatment" -- a flexible data processing mechanism, faster to solve problems in network communication at the same time. In the network on all EtherCAT devices can receive and process the data, without the need for a higher grade equipment to polling network.
市场营销策略外文文献及翻译 Marketing Strategy Market Segmentation and Target Strategy A market consists of people or organizations with wants,money to spend,and the willingness to spend it.However,within most markets the buyer' needs are not identical.Therefore,a single marketing program starts with identifying the differences that exist within a market,a process called market segmentation, and deciding which segments will be pursued ads target markets. Marketing segmentation enables a company to make more efficient use of its marketing resources.Also,it allows a small company to compete effectively by concentrating on one or two segments.The apparent drawback of market segmentation is that it will result in higher production and marketing costs than a one-product,mass-market strategy.However, if the market is correctly segmented,the better fit with customers' needs will actually result in greater efficiency. The three alternative strategies for selecting a target market are market aggregation,single segment,and multiple segment.Market-aggregation strategy involves using one marketing mix to reach a mass,undifferentiated market.With a single-segment strategy, a company still uses only one marketing mix,but it is directed at only one segment of the total market.A multiple-segment strategy entails
工业设计原著选读 优秀的产品设计 第一个拨号电话1897年由卡罗耳Gantz 第一个拨号电话在1897年被自动电器公司引入，成立于1891年布朗强，一名勘萨斯州承担者。在1889年，相信铃声“中央交换”将转移来电给竞争对手，强发明了被拨号系统控制的自动交换机系统。这个系统在1892年第一次在拉波特完成史端乔系统中被安装。1897年，强的模型电话，然而模型扶轮拨条的位置没有类似于轮齿约170度,以及边缘拨阀瓣。电话，当然是被亚历山大格雷厄姆贝尔（1847—1922）在1876年发明的。第一个商业交换始建于1878（12个使用者），在1879年，多交换机系统由工程师勒罗伊B 菲尔曼发明,使电话取得商业成功,用户在1890年达到250000。 直到1894年，贝尔原批专利过期，贝尔电话公司在市场上有一个虚拟的垄断。他们已经成功侵权投诉反对至少600竞争者。该公司曾在1896年，刚刚在中央交易所推出了电源的“普通电池”制度。在那之前，一个人有手摇电话以提供足够的电力呼叫。一个连接可能仍然只能在给予该人的名义下提出要求达到一个电话接线员。这是强改变的原因。 强很快成为贝尔的强大竞争者。他在1901年引进了一个桌面拨号模型，这个模型在设计方面比贝尔的模型更加清晰。在1902年，他引进了一个带有磁盘拨号的墙面电话，这次与实际指孔，仍然只有170度左右在磁盘周围。到1905年，一个“长距离”手指孔已经被增加了。最后一个强的知名模型是在1907年。强的专利大概过期于1914年，之后他或他的公司再也没有听到过。直到1919年贝尔引进了拨号系统。当他们这样做，在拨号盘的周围手指孔被充分扩展了。 强发明的拨号系统直到1922年进入像纽约一样的大城市才成为主流。但是一旦作为规规范被确立，直到70年代它仍然是主要的电话技术。后按键式拨号在1963年被推出之后，强发明的最初的手指拨号系统作为“旋转的拨号系统”而知名。这是强怎样“让你的手指拨号”的。 埃姆斯椅LCW和DCW 1947 这些带有复合曲线座位，靠背和橡胶防震装置的成型胶合板椅是由查尔斯埃姆斯设计，在赫曼米勒家具公司生产的。 这个原始的概念是被查尔斯埃姆斯（1907—1978）和埃罗沙里宁（1910—1961）在1940年合作构想出来的。在1937年，埃姆斯成为克兰布鲁克学院实验设计部门的领头人，和沙里宁一起工作调查材料和家具。在这些努力下，埃姆斯发明了分成薄片和成型胶合板夹板，被称作埃姆斯夹板，在1941年收到了来自美国海军5000人的订单。查尔斯和他的妻子雷在他们威尼斯，钙的工作室及工厂和埃文斯产品公司的生产厂家一起生产了这批订单。 在1941年现代艺术博物馆，艾略特诺伊斯组织了一场比赛用以发现对现代生活富有想象力的设计师。奖项颁发给了埃姆斯和沙里宁他们的椅子和存储碎片，由包括埃德加考夫曼，大都会艺术博物馆的阿尔弗雷德，艾略特诺伊斯，马尔塞布鲁尔，弗兰克帕里什和建筑师爱德华达雷尔斯通的陪审团裁决。 这些椅子在1946年的现代艺术展览博物馆被展出，查尔斯埃姆斯设计的新的家具。当时，椅子只有三条腿，稳定性问题气馁了大规模生产。 早期的LCW（低木椅）和DWC（就餐木椅）设计有四条木腿在1946年第一次被埃文斯产品公司（埃姆斯的战时雇主）生产出来，被赫曼米勒家具公司分配。这些工具1946年被乔治纳尔逊为赫曼米勒购买，在1949年接手制造权。后来金属脚的愿景在1951年制作，包括LCW（低金属椅）和DWC（就餐金属椅）模型。配套的餐饮和咖啡桌也产生。这条线一直
顾客满意策略与顾客满意营销 原文来源：《Marketing Customer Satisfaction 》自20世纪八十年代末以来, 顾客满意战略已日益成为各国企业占有更多的顾客份额, 获得竞争优势的整体经营手段。 一、顾客满意策略是现代企业获得顾客“货币选票”的法宝随着时代的变迁, 社会物质财富的极大充裕, 顾客中的主体———消费者的需求也先后跨越了物质缺乏的时代、追求数量的时代、追求品质的时代, 到了20世纪八十年代末进入了情感消费时代。在我国, 随着经济的高速发展,我们也已迅速跨越了物质缺乏时代、追求数量的时代乃至追求品质的时代, 到今天也逐步迈进情感消费时代。在情感消费时代, 各企业的同类产品早已达到同时、同质、同能、同价, 消费者追求的已不再是质量、功能和价格, 而是舒适、便利、安全、安心、速度、跃动、环保、清洁、愉快、有趣等,消费者日益关注的是产品能否为自己的生活带来活力、充实、舒适、美感和精神文化品位, 以及超越消费者期望值的售前、售中、售后服务和咨询。也就是说, 今天人们所追求的是具有“心的满足感和充实感”的商品, 是高附加值的商品和服务,追求价值观和意识多元化、个性化和无形的满足感的时代已经来临。 与消费者价值追求变化相适应的企业间的竞争, 也由产品竞争、价格竞争、技术竞争、广告竞争、品牌竞争发展到现今的形象竞争、信誉竞争、文化竞争和服务竞争, 即顾客满意竞争。这种竞争是企业在广角度、宽领域的时空范围内展开的高层次、体现综合实力的竞争。它包括组织创新力、技术创新力、管理创新力、产业预见力、产品研发力、员工向心力、服务顾客力、顾客亲和力、同行认同力、社会贡献力、公关传播沟通力、企业文化推动力、环境适应力等等。这些综合形象力和如何合成综合持久的竞争力, 这就是CSft略所要解决的问题。CS寸代,企业不再以“自己为中心”,而是以“顾客为中心”；“顾客为尊”、“顾客满意”不再是流于形式的口号, 而是以实实在在的行动为基础的企业经营的一门新哲学。企业不再以质量达标, 自己满意为经营理念, 而是以顾客满意, 赢得顾客高忠诚度为经营理念。企业经营策略的焦点不再以争取或保持市场占有率为主, 而是以争取顾客满意为经营理念。因此, 营销策略的重心不再放在竞争对手身上而是放在顾客身上, 放在顾客现实的、潜在的需求上。当企业提供的产品和服务达到了顾客事先的期望值, 顾客就基本满意；如果远远超越顾客的期望值, 且远远高于其他同行, 顾客才真正满意；如果企业能不断地或长久地令顾客满意, 顾客就会忠诚。忠诚的顾客不仅会经常性地重复购买, 还会购买企业其它相关的产品或服务；忠诚的顾客不仅会积极向别人推荐他所买的产品, 而且对企业竞争者的促销活动具有免疫能力一个不满意的顾客会将不满意告诉16-20个人, 而每一个被告知者会再传播给12-15个人。这样, 一个不满意者会影响到二、三百人。在互联网普及的今天, 其影响则更大。据美国汽车业的调查, 一个满意者会引发8笔潜在的生意, 其中至少有一笔会成交。而另一项调查表明, 企业每增加5%的忠诚顾客, 利润就会增长25%-95%。一个企业的80%的利润来自20%的忠诚顾客；而获取一个新顾客的成本是维持一个老顾客成本的6倍。所以,美国著名学者唐?佩 珀斯指出: 决定一个企业成功与否的关键不是市场份额, 而是在于顾客份额。 于是, 企业纷纷通过广泛细致的市场调研、与消费者直接接触、顾客信息反馈等方式来了解顾客在各方面的现实需求和潜在需求。依靠对企业满意忠诚的销售、服务人员, 定期、定量地对顾客满意度进行综合测定, 以便准确地把握企业经营中与“顾客满意” 目标的差距及其重点领域, 从而进一步改善企业的经营活动。依靠高亲和力的企业文化、高效率的人文管理和全员共同努力, 不断地向顾客提供高附加值的产品, 高水准的亲情般的服
当今时代是一个自动化时代，交通灯控制等很多行业的设备都与计算机密切相关。因此，一个好的交通灯控制系统，将给道路拥挤，违章控制等方面给予技术革新。随着大规模集成电路及计算机技术的迅速发展，以及人工智能在控制技术方面的广泛运用，智能设备有了很大的发展，是现代科技发展的主流方向。本文介绍了一个智能交通的系统的设计。该智能交通灯控制系统可以实现的功能有：对某市区的四个主要交通路口进行控制：个路口有固定的工作周期，并且在道路拥挤时中控制中心能改变其周期：对路口违章的机动车能够即时拍照，并提取车牌号。在世界范围内，一个以微电子技术，计算机和通信技术为先导的，一信息技术和信息产业为中心的信息革命方兴未艾。而计算机技术怎样与实际应用更有效的结合并有效的发挥其作用是科学界最热门的话题，也是当今计算机应用中空前活跃的领域。本文主要从单片机的应用上来实现十字路口交通灯智能化的管理，用以控制过往车辆的正常运作。 研究交通的目的是为了优化运输，人流以及货流。由于道路使用者的不断增加，现有资源和基础设施有限，智能交通控制将成为一个非常重要的课题。但是，智能交通控制的应用还存在局限性。例如避免交通拥堵被认为是对环境和经济都有利的，但改善交通流也可能导致需求增加。交通仿真有几个不同的模型。在研究中，我们着重于微观模型，该模型能模仿单独车辆的行为，从而模仿动态的车辆组。 由于低效率的交通控制，汽车在城市交通中都经历过长时间的行进。采用先进的传感器和智能优化算法来优化交通灯控制系统，将会是非常有益的。优化交通灯开关，增加道路容量和流量，可以防止交通堵塞，交通信号灯控制是一个复杂的优化问题和几种智能算法的融合，如模糊逻辑，进化算法，和聚类算法已经在使用，试图解决这一问题，本文提出一种基于多代理聚类算法控制交通信号灯。 在我们的方法中，聚类算法与道路使用者的价值函数是用来确定每个交通灯的最优决策的，这项决定是基于所有道路使用者站在交通路口累积投票，通过估计每辆车的好处(或收益)来确定绿灯时间增益值与总时间是有差异的，它希望在它往返的时候等待，如果灯是红色，或者灯是绿色。等待，直到车辆到达目的地，通过有聚类算法的基础设施，最后经过监测车的监测。 我们对自己的聚类算法模型和其它使用绿灯模拟器的系统做了比较。绿灯模拟器是一个交通模拟器，监控交通流量统计，如平均等待时间，并测试不同的交通灯控制器。结果表明，在拥挤的交通条件下，聚类控制器性能优于其它所有测试的非自适应控制器，我们也测试理论上的平均等待时间，用以选择车辆通过市区的道路，并表明，道路使用者采用合作学习的方法可避免交通瓶颈。 本文安排如下：第2部分叙述如何建立交通模型，预测交通情况和控制交通。第3部分是就相关问题得出结论。第4部分说明了现在正在进一步研究的事实，并介绍了我们的新思想。
Positioning in Practice Strategic Role of Marketing For large firms that have two or more strategic business units (SBUs), there are generally three levels of strategy: corporate-level strategy, strategic-business-unit-level (or business-level) strategy, and marketing strategy. A corporate strategy provides direction on the company's mission, the kinds of businesses it should be in, and its growth policies. A business-level strategy addresses the way a strategic business unit will compete within its industry. Finally, a marketing strategy provides a plan for pursuing the company's objectives within a specific market segment. Note that the higher level of strategy provides both the objectives and guidelines for the lower level of strategy. At corporate level, management must coordinate the activities of multiple strategic business units. Thus the decisions about the organization's scope and appropriate resource deployments/allocation across its various divisions or businesses are the primary focus of corporate strategy.Attempts to develop and maintain distinctive competencies tend to focus on generating superior financial, capital, and human resources; designing effective organizational structures and processes; and seeking synergy among the firm's various businesses. At business-level strategy, managers focus on how the SBU will compete within its industry. A major issue addressed in business strategy is how to achieve and sustain a competitive advantage. Synergy for the unit is sought across product-markets and across functional department within the unit. The primary purpose of a marketing strategy is to effectively allocate and coordinate marketing resources and activities to accomplish the firm's objectives within a specific product-market. The decisions about the scope of a marketing strategy involve specifying the target market segment(s) to pursue and the breadth of the product line to offered. At this level of strategy, firms seek competitive advantage and synergy through a well-integrated program of marketing mix elements tailored to the needs and wants of customers in the target segment(s). Strategic Role of Positioning Based on the above discussion, it is clear that marketing strategy consists of two parts: target market strategy and marketing mix strategy. Target market strategy consists of three processes: market segmentation, targeting (or target market selection), and positioning. Marketing mix strategy refers to the process of creating a unique
Interaction design Moggridge Bill Interaction design，Page 1-15 USA Art Press, 2008 Interaction design (IxD) is the study of devices with which a user can interact, in particular computer users. The practice typically centers on "embedding information technology into the ambient social complexities of the physical world."[1] It can also apply to other types of non-electronic products and services, and even organizations. Interaction design defines the behavior (the "interaction") of an artifact or system in response to its users. Malcolm McCullough has written, "As a consequence of pervasive computing, interaction design is poised to become one of the main liberal arts of the twenty-first century." Certain basic principles of cognitive psychology provide grounding for interaction design. These include mental models, mapping, interface metaphors, and affordances. Many of these are laid out in Donald Norman's influential book The Psychology of Everyday Things. As technologies are often overly complex for their intended target audience, interaction design aims to minimize the learning curve and to increase accuracy and efficiency of a task without diminishing usefulness. The objective is to reduce frustration and increase user productivity and satisfaction. Interaction design attempts to improve the usability and experience of the product, by first researching and understanding certain users' needs and then designing to meet and exceed them. (Figuring out who needs to use it, and how those people would like to use it.) Only by involving users who will use a product or system on a regular basis will designers be able to properly tailor and maximize usability. Involving real users, designers gain the ability to better understand user goals and experiences. (see also: User-centered design) There are also positive side effects which include enhanced system capability awareness and user ownership. It is important that the user be aware of system capabilities from an early stage so that expectations regarding functionality are both realistic and properly understood. Also, users who have been active participants in a product's development are more likely to feel a sense of ownership, thus increasing overall satisfa. Instructional design is a goal-oriented, user-centric approach to creating training and education software or written materials. Interaction design and instructional design both rely on cognitive psychology theories to focus on how users will interact with software. They both take an in-depth approach to analyzing the user's needs and goals. A needs analysis is often performed in both disciplines. Both, approach the design from the user's perspective. Both, involve gathering feedback from users, and making revisions until the product or service has been found to be effective. (Summative / formative evaluations) In many ways, instructional
原文来源：李海宏《Marketing Customer Satisfaction》[A].2012中国旅游分销高峰论坛.[C].上海 Marketing Customer Satisfaction 顾客满意策略与顾客满意营销 Since the 20th century, since the late eighties, the customer satisfaction strategy is increasingly becoming business has more customers share the overall business competitive advantage means. 自20世纪八十年代末以来,顾客满意战略已日益成为各国企业占有更多的顾客份额,获得竞争优势的整体经营手段。 First, customer satisfaction strategy is to get a modern enterprise customers, "money votes" magic weapon 一、顾客满意策略是现代企业获得顾客“货币选票”的法宝 With the changing times, the great abundance of material wealth of society, customers in the main --- consumer demand across the material has a lack of time, the number of times the pursuit, the pursuit of quality time to the eighties of the 20th century entered the era of the end consumer sentiment. In China, with rapid economic development, we have rapidly beyond the physical absence of the times, the pursuit of the number of times and even the pursuit of quality and age of emotions today gradually into the consumer era. Spending time in the emotion, the company's similar products have already reached the same time, homogeneous, with the energy, the same price, consumers are no longer pursue the quality, functionality and price, but the comfort, convenience, safety, comfort, speed, jump action, environmental protection, clean, happy,
(文档含英文原文和中文翻译) 中英文翻译原文：
DESIGN and ENVIRONMENT Product design is the principal part and kernel of industrial design. Product design gives uses pleasure. A good design can bring hope and create new lifestyle to human. In spscificity,products are only outcomes of factory such as mechanical and electrical products,costume and so on.In generality,anything,whatever it is tangibile or intangible,that can be provided for a market,can be weighed with value by customers, and can satisfy a need or desire,can be entiled as products. Innovative design has come into human life. It makes product looking brand-new and brings new aesthetic feeling and attraction that are different from traditional products. Enterprose tend to renovate idea of product design because of change of consumer's lifestyle , emphasis on individuation and self-expression,market competition and requirement of individuation of product. Product design includes factors of society ,economy, techology and leterae humaniores. Tasks of product design includes styling, color, face processing and selection of material and optimization of human-machine interface. Design is a kind of thinking of lifestyle.Product and design conception can guide human lifestyle . In reverse , lifestyle also manipulates orientation and development of product from thinking layer.
英文 Because of the rapid development of our economy resulting in the car number of large and medium-sized cities surged and the urban traffic, is facing serious test, leading to the traffic problem increasingly serious, its basically are behaved as follows: traffic accident frequency, to the human life safety enormous threat, Traffic congestion, resulting in serious travel time increases, energy consumption increase; Air pollution and noise pollution degree of deepening, etc. Daily traffic jams become people commonplace and had to endure. In this context, in combination with the actual situation of urban road traffic, develop truly suitable for our own characteristics of intelligent signal control system has become the main task. Preface In practical application at home and abroad, according to the actual traffic signal control application inspection, planar independent intersection signal control basic using set cycle, much time set cycle, half induction, whole sensor etc in several ways. The former two control mode is completely based on planar intersection always traffic flow data of statistical investigation, due to traffic flow the existence of variable sex and randomicity, the two methods have traffic efficiency is low, the scheme, the defects of aging and half inductive and all the inductive the two methods are in the former two ways based on increased vehicle detector and according to the information provided to adjust cycle is long and green letter of vehicle, it than random arrived adaptability bigger, can make vehicles in the parking cord before as few parking, achieve traffic flowing effect In modern industrial production,current,voltage,temperature, pressure, and flow rate, velocity, and switch quantity are common mainly controlled parameter. For example: in metallurgical industry, chemical production, power engineering, the papermaking industry, machinery and food processing and so on many domains, people need to transport the orderly control. By single chip microcomputer to control of traffic, not only has the convenient control, configuration simple and flexible wait for an advantage, but also can greatly improve the technical index by control quantity, thus greatly improve product quality and quantity. Therefore, the monolithic integrated circuit to the traffic light control problem is an industrial production we often encounter problems. In the course of industrial production, there are many industries have lots of traffic equipment, in the current system, most of the traffic control signal is accomplished by relays, but relays response time is long, sensitivity low, long-term after use, fault opportunity increases greatly, and adopts single-chip microcomputer control, the accuracy of far greater than relays, short response time, software reliability, not because working time reduced its performance sake, compared with, this solution has the high feasibility. About AT89C51 (1)function characteristics description: AT89C51 is a low power consumption, high performance CMOS8 bit micro-controller, has the 8K in system programmable Flash memory. Use high-density Atmel company the beltpassword nonvolatile storage technology and manufacturing, and industrial 80S51 product instructions and pin fully compatible. Chip Flash allow program memory in system programmable, also suitable for conventional programmer. In a single chip, have dexterous 8 bits CPU and in system programmable Flash, make AT89C51 for many embedded control application system provides the high flexible, super efficient solution. AT89C51 has the following standard function: 8k bytes Flash, 256 bytes RAM, 32-bit I/O mouth line, the watchdog timer, two data pointer, three 16 timer/counter, a 6 vector level 2 interrupt structure, full-duplex serial port, piece inside crystals timely clock circuit. In addition, AT89C51 can drop to 0Hz static logic operation, support two software can choose power saving mode. Idle mode, the CPU to stop working, allowing the RAM, timer/counter, serial ports, interruption continue to work. Power lost protection mode, RAM content being saved, has been frozen, microcontroller all work stop, until the next interruption or hardware reset so far. As shown in
本科毕业设计（论文） ( 2012届) （外文翻译） 题目： 学院:__________ ____________ 专业:_________ 市场营销_____________ 班级:_________ ___________ 姓名:___________ ______________ 学号:________ __________ 指导老师:___________ ___________
原文题目：《市场定位策略》 作者：Powpaka Samart 原文出处:1999,Sasin Journal of Management,5,79-97 市场定位策略 定位的战略性角色 营销策略由两部分组成：目标市场战略和营销组合战略。目标市场战略三个过程组成：市场细分，目标（或目标市场选择），市场定位等。营销组合战略指的是创造一个独特的产品，分销，促销和定价策略（4PS）的过程，旨在满足客户的需求和希望。目标市场战略和营销组合策略有密切的联系，有很强的相互依存关系。目标市场战略是用来制订营销组合策略方针。 市场细分是把一个市场当中具有相似需求和特点、可能会对特定产品和特定的营销程序产生相似回应的人们，分成不同的客户的子集的过程。目标或目标市场的选择是一个或多个，通过评估每个细分市场，寻求利益的相对吸引力，而且该公司业务的相对优势。最后，定位是设计产品和发展战略营销计划，共同在目标市场建立一个持久的竞争优势的过程。 目标市场定位战略的概念是众所周知的，尤其是被大多数消费品营销从业者在制定市场营销组合策略有用作为非理论概念的方式。然而在实践中，营销人员往往绕过正式的定位，直接制定营销组合策略。这可能是由于这样的事实，这些经理们不知道如何获取感知图---表明这是一个客户原始需求的产品的位置。 本文的目的是展示营销从业者能够获得定位和营销组合策略制定的感知图的现实途径。具体来说，感知映射及其关系的定位总是被第一时间注意到。这是通过统计技术的讨论，可以遵循用于创建感知图。最后，通过因子分析定位过程的例子是证明。 目标市场战略 目标市场战略是确定一个（或多个目标市场）的过程和它的（或他们）独特的定位。目标市场策略包括：（1）市场细分，（2）市场选择，（3）市场定位。 市场细分。市场细分是一个分割成几部分或几个同质异构的潜在市场的进程。换句话说，在一个潜在的市场客户可能有不同的偏好。因此，使用产品和产品计划并不是一个有效和高效的办法。为了有效和有效率，管理者需要根据顾客的喜好对潜在顾客进行整合，根据该公司的实力，用独特的服务来满足其中一个或多个组别细分市场。另一种看待市场细分的方式是测试市场是否存在同质偏好或者需求差异性。良好的市场细分结果应具有以下特征的部分：（1）实体性（即：每个细分市场的容量足够大），（2）可盈利/可辨识/可测性（即每个段可在人口或消费心理特征方面的描述）（3）无障碍性（即媒体消费和