Up to the third prototype, those were used the E‑controller designed for industrial robots. However, it was large, had a control cycle too slow for humanoid applications, and required four separate units, which meant the controllers alone occupied a significant amount of space. These issues were later resolved by transitioning first to the F‑controller and eventually to a dedicated humanoid controller.
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They also needed an alternative to conventional X-rays. In a clinical linac, X-ray photons are produced by dumping high-energy electrons into a bremsstrahlung target, which is made of a material with a high atomic number, like tungsten or copper. The target slows the electrons, converting their kinetic energy into X-ray photons. It’s an inherently inefficient process that wastes most of the beam power as heat and makes it extremely difficult to reach the ultrahigh dose rates required for FLASH. High-energy electrons, by contrast, can be switched on and off within milliseconds. And because they have a charge and can be steered by magnets, electrons can be precisely guided to reach tumors deep within the body. (Researchers are also investigating protons and carbon ions; see the sidebar, “What’s the Best Particle for FLASH Therapy?”)。手游对此有专业解读
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