Pulse current is adjusted by pulse width modulation(PWM)signals from the single-chip processor. In addition, multiple $MA actuators' cooperation helps the active catheter to succeed in guiding motion.

利用单片机输出的脉宽调制（PWM）信号对脉冲电流进行调节和多个驱动器之间的相互配合作用，实现主动导管的导向动作。

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The attorney for Ma'Lik Richmond filed a motion Monday saying that further prosecution of Richmond violates his due process and equal protection rights and asks the judge or state to dismiss the case.

NPR: Lawyer Seeks Dismissal In Ohio HS Player Rape Case