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1.
Lyapunov stability of constrained and embedded rigid bodies is considered. The constraints are of the equality type where the desired motion is to take place on an a priori defined submanifold of movement. Special and augmented state spaces for the representation of systems of rigid bodies are presented. A systematic method of stabilizing these augmented systems and a procedure for constructing Lyapunov functions are presented. The representation is applicable to augmented as well as reduced state spaces of the system defined by the constraints. The augmented state space results from the embedding of the free rigid body system in the larger state space of free rigid body and position control states, and in which the Lyapunov function is constructed. The reduced state space results when the system is restricted and is reduced to lie on the submanifold of movement. It is shown that, for the class of rigid bodies and the physical constraints considered, the projected feedback structures, and the reduced Lyapunov function constitute appropriate stabilizing structures for the constrained system. It is shown that the method applies equally to holonomically constrained and visco-elastically coupled rigid bodies. Digital computer simulations of one single rigid body system are presented to demonstrate the feasibility and effectiveness of the method. Applications to natural systems and the role of cartilage, ligaments and muscles in maintaining the integrity and stability of the joints are noted.  相似文献   
2.
Mobility models of nodes have an important role in the evaluation of data dissemination protocols in vehicular ad hoc networks (VANETs). Many recent researches have used the constant velocity mobility models while vehicles have acceleration and their speeds change as they move. Because of the dynamic nature of VANETs, the network changes from a densely connected to the sparsely connected environment in a short time. In sparsely connected networks, it is said that vehicles move in clusters. In this paper, the constant acceleration mobility calculations for the sparsely connected network and its characteristics have been presented. These characteristics are usable for the evaluation of the data dissemination protocols in VANETs. The results show that acceleration affects the number of viewed clusters during the trip and the number of vehicles within a cluster. In fact, acceleration has a significant impact on the network sparsely connection. This matter shows that the appropriate data dissemination protocol should be used to study the acceleration effect which is applicable in sparse networks. The analysis in this research provides the necessary background for better understanding and accurate calculations for the evaluation of data dissemination in VANETs.  相似文献   
3.
The experimental investigation was carried out for dry contact tribosystems to elucidate the ascertained, yet uncharacterized, relationship between the coefficient of friction, η and apparent contact geometry in sliders. This paper presents the results of various experimentally evaluated slider pad width to length ratios, B/L (L is signified with direction of motion), while maintaining the unit loading constant. The empirical data is intended to provide guidance in design and in theoretical prediction of optimum bearing geometry for solid/powder lubricated systems.

In this experiment, a liquid lubricant, two different dry powders (MoS2 and TiO2), and four test specimens with B/L ratios ranging from 0.5 to 2.0 were used. An alternative experimental method has been used to simulate wear debris in the dry contact tribosystems, vis-à-vis dry powders, which were introduced into the interface gap to address the affinity of the wear process. Slider pads' performance characteristics as a function of the applied load (ranging from 34.5 to 345 kPa) and surface speed (0.004 to 4.5 m/sec) were determined at ambient condition. Experimental evidence shows that in the pre-hydrodynamic regime (low speed) the friction coefficient, η, decreases as B/L ratio increased from 0.5 to 1.5. Beyond a B/L ratio of 1.5, η increased with increasing B/L ratios. Optimum B/L ratio of 1 (based on measured minimum η) was identified for operation in the hydrodynamic regime. Overall reduction in η as a function of load was observed which is independent of B/L ratio and lubricant type. Also presented are the velocity effects on slider frictional performance.  相似文献   
4.
Compliant foil bearings operate on either gas or liquid, which makes them very attractive for use in extreme environments such as in high-temperature aircraft turbine engines and cryogenic turbopumps. However, a lack of analytical models to predict the dynamic characteristics of foil bearings forces the bearing designer to rely on prototype testing, which is time-consuming and expensive. In this paper, the authors present a theoretical model to predict the structural stiffness and damping coefficients of the bump foil strip in a journal bearing or damper. Stiffness is calculated based on the perturbation of the journal center with respect to its static equilibrium position. The equivalent viscous damping coefficients are determined based on the area of a closed hysteresis loop of the journal center motion. The authors found, theoretically, that the energy dissipated from this loop was mostly contributed by the frictional motion between contact surfaces. In addition, the source and mechanism of the nonlinear behavior of the bump foil strips were examined. With the introduction of this enhanced model, the analytical tools are now available for the design of compliant foil bearings.  相似文献   
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6.
Uniform quantization of wavelet coefficients introduces perceptually disturbing artifacts by decreasing the visual smoothness. In this paper, the local Holder regularity is used to quantify these changes in visual smoothness. A modified uniform quantization scheme that constrains local regularity reduction is proposed. The quantizer modification is applicable to any uniform quantization scheme and requires no additional side information to be transmitted to the decoder, unlike standard deadzone quantizers. The reconstructed images show a noticeable perceptual improvement as well as an increased PSNR relative to uniform quantization.  相似文献   
7.
The force required to insert a tool into a medium is of major interest for the design and automation of earthmoving machinery. The present work reviews previous investigations on forces encountered during earthmoving processes by cyclic (but nonrotary) excavation machines. The objective is to integrate the formulation for cutting and penetrating forces to those for excavation. Common practices for characterizing an unfrozen medium and the associated tool actions are discussed, followed by a general overview of various models describing earthmoving tasks of penetration, cutting, and excavation. Observation and analysis of cutting and excavation models reveals that there is not a common ground for their validation, but it also identifies a core of key parameters, reduced in number and essential to any further excavation model. The paper suggests a normalized experimental verification and comparison of the models before they can be further used.  相似文献   
8.
Typical image compression algorithms produce data streams which require a very reliable communication-they are not designed for transmission in an environment in which data may be lost or delayed, as provided by current and next-generation wireless communication networks. Compression and transmission provisions that avoid catastrophic failure caused by lost, delayed, or errant packets are therefore imperative in order to provide reliable visual communication over such systems. This robustness is obtained by modifying the source coding and/or adding channel coding. This article presents an overview of both lossy and lossless source coding techniques and combined source/channel techniques providing robustness, presenting examples of successful techniques  相似文献   
9.
Recent experimental work has resulted in certain models for the semicircular canals and otoliths. The accuracy and adequacy of these models are analyzed here by incorporating them in stability studies of biped robots-one-degree and two-degree-of-freedom inverted pendulums. It is shown that a variety of feedback signals can stabilize biped models of these types. Additional information could limit the choice of such signals.  相似文献   
10.
Subband-coded image reconstruction for lossy packet networks   总被引:2,自引:0,他引:2  
Transmission of digital subband-coded images over lossy packet networks presents a reconstruction problem at the decoder. This paper presents two techniques for reconstruction of lost subband coefficients, one for low-frequency coefficients and one for high-frequency coefficients. The low-frequency reconstruction algorithm is based on inherent properties of the hierarchical subband decomposition. To maintain smoothness and exploit the high intraband correlation, a cubic interpolative surface is fit to known coefficients to interpolate lost coefficients. Accurate edge placement, crucial for visual quality, is achieved by adapting the interpolation grid in both the horizontal and vertical directions as determined by the edges present. An edge model is used to characterize the adaptation, and a quantitative analysis of this model demonstrates that edges can be identified by simply examining the high-frequency bands, without requiring any additional processing of the low-frequency band. High-frequency reconstruction is performed using linear interpolation, which provides good visual performance as well as maintains properties required for edge placement in the low-frequency reconstruction algorithm. The complete algorithm performs well on loss of single coefficients, vectors, and small blocks, and is therefore applicable to a variety of source coding techniques.  相似文献   
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