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71.
A sensor-driven control model and a minimum effort control algorithm in terms of time and energy expended during the execution of a movement strategy are described and validated for a multijointed cooperating robotic manipulator. Considering smooth, human-like (anthropomorphic) movements, using joint motion profiles achievable in real time as well as sensory information from all joints, and evaluating the total work expended by each manipulator joint during the execution of a movement strategy, a minimum effort motion trajectory is synthesized to precisely and efficiently position the robotic arm end-effector. This sensor-based approach significantly reduces the computational requirements for such cooperative motion. The minimum effort control algorithm generates several human-like arm movement strategies and selects the best strategy on the basis of expendable effort. The algorithm has an inherent basis to deal with obstacles in an efficient way. Detailed examples are described from the simulation studies. © 1994 John Wiley & Sons, Inc. 相似文献
72.
Prof. Dr.-Ing. Andreas Visser Dipl.-Ing. Dipl.-Oec. Frank W. Peinemann 《Forschung im Ingenieurwesen》1996,62(6):149-160
Zusammenfassung Es werden die prinzipiellen Einsatzm?glichkeiten neuronaler Netwwerke zur Modellbildung, Steuerung und Regelung von Robotern
sowie zur Unterstützung sensomotorischer Aktionen dargelegt. Einige ausgew?hlte neuronale Regelungskonzepte werden vorgestellt
und auf ihre Stabilit?t, Robustheit, Genauigkeit sowie Echtzeitf?higkeit hin untersucht. Ferner wird gezeigt, wie sich neuronale
Regelungskonzepte in industrielle Robotersteuerungen integrieren lassen. 相似文献
73.
Chemical mechanical polishing of polymer films 总被引:2,自引:0,他引:2
Strategies to reduce capacitance effects associated with shrinking integrated circuit (IC) design rules include incorporating
low resistivity metals and insulators with low dielectric values, or “low-κ” materials. Using such materials in current IC
fabrication schemes necessitates the development of reliable chemical mechanical polishing (CMP) processes and process consumables
tailored for them. Here we present results of CMP experiments performed on FLARE™ 2.0 using a specialized zirconium oxide
(ZrO2) polishing slurry. FLARE™ 2.0 is a poly(arylene) ether from AlliedSignal, Inc. with a nominal dielectric constant of 2.8.
In addition, we provide insight into possible removal mechanisms during the CMP of organic polymers by examining the performance
of numerous abrasive slurries. Although specific to a limited number of polymers, the authors suggest that the information
presented in this paper is relevant to the CMP performance of many polymer dielectric materials. 相似文献
74.
Laura M. Haas Michael J. Carey Miron Livny Amit Shukla 《The VLDB Journal The International Journal on Very Large Data Bases》1997,6(3):241-256
In this paper, we re-examine the results of prior work on methods for computing ad hoc joins. We develop a detailed cost model for predicting join algorithm performance, and we use the model to develop cost formulas
for the major ad hoc join methods found in the relational database literature. We show that various pieces of “common wisdom” about join algorithm
performance fail to hold up when analyzed carefully, and we use our detailed cost model to derive op
timal buffer allocation schemes for each of the join methods examined here. We show that optimizing their buffer allocations
can lead to large performance improvements, e.g., as much as a 400% improvement in some cases. We also validate our cost model's
predictions by measuring an actual implementation of each join algorithm considered. The results of this work should be directly
useful to implementors of relational query optimizers and query processing systems.
Edited by M. Adiba. Received May 1993 / Accepted April 1996 相似文献
75.
Schmidt Frank L.; Law Kenneth; Hunter John E.; Rothstein Hannah R.; Pearlman Kenneth; McDaniel Michael 《Canadian Metallurgical Quarterly》1993,78(1):3
Using a large database, this study examined 3 refinements of validity generalization procedures: (1) a more accurate procedure for correcting the residual standard deviation (SD) for range restriction to estimate SDp, (2) use of r? instead of study-observed rs in the formula for sampling error variance, and (3) removal of non-Pearson rs. The 1st procedure does not affect the amount of variance accounted for by artifacts. The addition of the 2nd and 3rd procedures increased the mean percentage of validity variance accounted for by artifacts from 70 to 82%, a 17% increase. The cumulative addition of all 3 procedures decreased the mean SDp estimate from .150 to .106, a 29% decrease. Six additional variance-producing artifacts were identified that could not be corrected for. In light of these it was concluded that the obtained estimates of mean SDp and mean validity variance accounted for were consistent with the hypothesis that the true mean SDp value is close to zero. These findings provide further evidence against the situational specificity hypothesis. (PsycINFO Database Record (c) 2010 APA, all rights reserved) 相似文献
76.
Prof. Dr.-Ing. A. M. Miri Dipl.-Ing. F. Schunn Dipl.-Ing. C. Sihler Dr. W. W. Maurer Dr. A. Ulbricht 《Electrical Engineering (Archiv fur Elektrotechnik)》1995,78(4):223-228
Übersicht Um die Betriebssicherheit großer supraleitender Magnetsysteme für die Kernfusionsforschung zu gewährleisten, muß die im Magnetsystem gespeicherte Energie schnell entladen werden können. Durch die veränderlichen großvolumigen Magnetfelder werden in benachbarten leitfähigen Strukturen durch Induktion hohe Wirbelströme hervorgerufen. Durch sie treten dort elektromagnetische Kräfte. auf, die einzelne Komponenten mechanisch überlasten können. Zur Berechnung dieser Kräfte wurde eine einfache numerischanalytische Methode entwickelt, die im folgenden vorgestellt und mit Finite-Elemente-Verfahren verglichen wird.
Calculation of eddy current densities and forces around large superconducting coils for nuclear fusion
Contents The reliable operation of the superconducting magnet systems used for the magnetic confinement in nuclear fusion research requires the ability of a fast discharge of the stored magnetic energy. The corresponding magnetic field variation gives rise to high eddy currents by inductive coupling with surrounding conductive components. The eddy current forces can lead to a mechanical overload of some of these components. A simple numerical-analytical method was developed in order to calculate these forces. This method is presented and compared with the Finite Element Method.相似文献
77.
Prof. Dipl.-Ing. Dr.techn. Walter Gretler Prof. Dr. Si-min Zeng 《Forschung im Ingenieurwesen》1996,62(5):105-115
A numerical simulation of unsteady compressible flow induced by two high-speed trains in oncoming traffic within a tunnel
is presented. The computations were carried out by means of a second-order accurate Harten-Yee type upwind TVD scheme. In
order to take the effect of friction into account, a source term is included in the governing flow equations. In the computation,
moving boundary configurations were used to simulate the two trains passing through the tunnel. As geometrical configuration,
the Einmalberg tunnel, where experimental data are available, was selected. The computational results agree reasonably well
with their experimental counter-part. The waves interaction and the waves propagation process at the tunnel entrance and exit
as well as within the tunnel are addressed. Finally, the influence on the transmitted waves at the tunnel exit portal and
the variation of the negative pressure drop during the passage of the two trains are discussed. 相似文献
78.
Michael Anthony Puso Tod A. Laursen 《International journal for numerical methods in engineering》2002,54(8):1161-1194
In this work, a method is developed for smoothing three‐dimensional contact surfaces. The method can be applied to both regular and irregular meshes. The algorithm employs Gregory patches to interpolate finite element nodes and provide tangent plane continuity between adjacent patches. The resulting surface interpolation is used to calculate gaps and contact forces, in a variationally consistent way, such that contact forces due to normal and frictional contact vary smoothly as slave nodes transition from one patch to the next. This eliminates the ‘chatter’ which typically occurs in a standard contact algorithm when a slave node is situated near a master facet edge. The elimination of this chatter provides a significant improvement in convergence behaviour, which is illustrated by a number of numerical examples. Furthermore, smoothed surfaces also provide a more accurate representation of the actual surface, such that resulting stresses and forces can be more accurately computed with coarse meshes in many problems. This fact is also demonstrated by the numerical examples. Published in 2002 by John Wiley & Sons, Ltd. 相似文献
79.
Dimitrios Tzovaras Nikos Grammalidis Michael G. Strintzis 《Signal Processing: Image Communication》1998,11(3):205-230
In the present paper techniques are examined for the coding of the depth map and disparity fields for stereo or multiview image communication applications. It is assumed that both the left and right channels of the multiview image sequence are coded using block- or object-based methods. A dynamic programming algorithm is used to estimate a disparity field between each stereo image pair. Depth is then estimated and occlusions are optionally detected, based on the estimated disparity fields. Spatial interpolation techniques are examined based on the disparity/depth information and the detection of occluded regions using either stereoscopic or trinocular camera configurations. It is seen that the presence of a third camera at the transmitter site improves the estimation of disparities, the detection of occlusions and the accuracy of the resulting spatial interpolation at the receiver. Various disparity field and depth map coding techniques are then proposed and evaluated, with emphasis given to the quality of the resulting intermediate images at the receiver site. Block-based and wireframe modeling techniques are examined for the coding of isolated depth or disparity map information. Further, 2D and 3D motion compensation techniques are evaluated for the coding of sequences of depth or disparity maps. The motion fields needed may be available as a byproduct of block-based or object-based coding of the intensity images. Experimental results are given for the evaluation of the performance of the proposed coding and spatial interpolation methods. 相似文献
80.