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排序方式: 共有7917条查询结果,搜索用时 31 毫秒
81.
Martin Saska Tomáš Krajník Vojtěch Vonásek Zdeněk Kasl Vojtěch Spurný Libor Přeučil 《Journal of Intelligent and Robotic Systems》2014,73(1-4):603-622
A fault-tolerant method for stabilization and navigation of 3D heterogeneous formations is proposed in this paper. The presented Model Predictive Control (MPC) based approach enables to deploy compact formations of closely cooperating autonomous aerial and ground robots in surveillance scenarios without the necessity of a precise external localization. Instead, the proposed method relies on a top-view visual relative localization provided by the micro aerial vehicles flying above the ground robots and on a simple yet stable visual based navigation using images from an onboard monocular camera. The MPC based schema together with a fault detection and recovery mechanism provide a robust solution applicable in complex environments with static and dynamic obstacles. The core of the proposed leader-follower based formation driving method consists in a representation of the entire 3D formation as a convex hull projected along a desired path that has to be followed by the group. Such an approach provides non-collision solution and respects requirements of the direct visibility between the team members. The uninterrupted visibility is crucial for the employed top-view localization and therefore for the stabilization of the group. The proposed formation driving method and the fault recovery mechanisms are verified by simulations and hardware experiments presented in the paper. 相似文献
82.
Zoran ?ujovi? Radivoje Sreji? Dušan Vu?eli? Dragomir Vitorovi? Branimir Jovan?i?evi? 《Fuel》1995,74(12):1903-1909
A sample of kerogen from Aleksinac oil shale was examined by high-resolution solid-state 13C n.m.r. spectroscopy. The presence and relative proportions of kerogen structural units were estimated using a combination of NQS and T1C methods with a peak-synthesis technique applied to the 13C CP—MAS spectrum. Relaxation parameters from these experiments were used to estimate differences in relative ‘mobility’ of various structural units. The kerogen was found to be highly aliphatic and to contain 79% long-chain aliphatic plus alicyclic structures, as well as 9% aromatic structures. These findings are in good agreement with the characterization of the same kerogen from its oxidation products. 相似文献
83.
The polyesterification and isomerization reaction of 1,6-hexane diol and maleic anydride in a melt without catalyst was studied by 13C and 1H n.m.r. spectroscopy. The structure and concentration of oligoester species during the polyesterification and isomerization were determined depending on the reaction temperature and time. According to the number and configuration of repeating units determined from 1H n.m.r. spectra kinetics of both reactions were also considered. The degree of isomerization is continuously increasing in the investigated reaction range. 相似文献
84.
A model employing the correction factors of Marek and Standart, but using a concentration-dependent liquid phase association factor of Jenkins—Robinson, has been used to model vapour—liquid equilibrium data for mixtures of acetic acid with benzene, toluene, o-xylene and p-xylene. With the aim to use systems of acetic acid—benzene and acetic acid—toluene as the test mixtures for distillation columns, the examination of the systems of acetic acid—aromatic hydrocarbons was undertaken. The model promises to be useful in modelling isobaric and isothermal data of acetic acid—benzine, acetic acid—toluene, acetic acid-p-xylene and acetic acid-o-xylene systems. Deviation plots show that the isothermal and isobaric data are represented well. 相似文献
85.
Summary
2,5-Dihydro-2,5-dimethoxyfuran (DHMF) was polymerized via constant current electrolysis (CCE), in CH3CN-NaClO4 solvent-electrolyte couple. Poly(DHMF) was obtained from the anolyte. The effect of current density, temperature, monomer and electrolyte concentrations on the polymer yield have been examined. The apparent activation energy for CCE of DHMF was found to be 37.2 kj/mol. The FTIR and 1H-NMR analyses show that DHMF polymerizes by a ring opening. Molecular weight of poly(DHMF) was found by using cryoscopy. 相似文献
86.
Hae Jin Kim Jin Bae Lee Young-Min Kim Myung-Hwa Jung Z. Jagličić P. Umek J. Dolinšek 《Nanoscale research letters》2007,2(2):81-86
We present synthesis, structure and magnetic properties of structurally well-ordered single-crystalline β-MnO2 nanorods of 50–100 nm diameter and several μm length. Thorough structural characterization shows that the basic β-MnO2 material is covered by a thin surface layer (∼2.5 nm) of α-Mn2O3 phase with a reduced Mn valence that adds its own magnetic signal to the total magnetization of the β-MnO2 nanorods. The relatively complicated temperature-dependent magnetism of the nanorods can be explained in terms of a superposition
of bulk magnetic properties of spatially segregated β-MnO2 and α-Mn2O3 constituent phases and the soft ferromagnetism of the thin interface layer between these two phases. 相似文献
87.
88.
Carsten Dachsbacher Jaroslav Křivánek Miloš Hašan Adam Arbree Bruce Walter Jan Novák 《Computer Graphics Forum》2014,33(1):88-104
Recent years have seen increasing attention and significant progress in many‐light rendering, a class of methods for efficient computation of global illumination. The many‐light formulation offers a unified mathematical framework for the problem reducing the full lighting transport simulation to the calculation of the direct illumination from many virtual light sources. These methods are unrivaled in their scalability: they are able to produce plausible images in a fraction of a second but also converge to the full solution over time. In this state‐of‐the‐art report, we give an easy‐to‐follow, introductory tutorial of the many‐light theory; provide a comprehensive, unified survey of the topic with a comparison of the main algorithms; discuss limitations regarding materials and light transport phenomena and present a vision to motivate and guide future research. We will cover both the fundamental concepts as well as improvements, extensions and applications of many‐light rendering. 相似文献
89.
The underpotential deposition of Bi on Au has been investigated by specular reflectance spectroscopy and linear sweep voltammetry. The spectral dependance of ΔR/R caused by Bi adatoms has been determined and compared with the calculated spectrum. A satisfactory agreement between experimental and calculated spectra was found. ΔR/R values have been used to determine the surface concentration of Biad which then has been used to calculate the electrosorption valence of Biad. It has been found that γBi = 2.6. The optical evidence of interaction of Bi ions with gold oxide has been obtained. 相似文献
90.
Irena Orović Milica Orlandić Srdjan Stanković 《Multimedia Tools and Applications》2014,70(3):1503-1519
An image watermarking technique based on the concept of JPEG2000 algorithm is proposed. Biorthogonal wavelet 9/7 transform is used to provide a set of coefficients suitable for watermark embedding. The statistical properties of different subbands are analyzed in order to choose the number of decomposition levels and position of subbands, which will assure the best compromise between the watermark transparency and robustness. The JPEG2000 quantization is applied to avoid insignificant wavelet coefficients, while the remaining ones are used for watermarking. The optimal and blind watermark detection is based on the nonlinear score function and appropriate model of coefficients distribution. The performance of the proposed procedure is tested on examples with various images, showing robustness under different attacks, while maintaining high image quality. 相似文献