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91.
A computationally efficient, obstacle avoidance algorithm for redundant robots is presented in this paper. This algorithm incorporates the neural networks and pseudodistance function D
p in the framework of resolved motion rate control. Thus, it is well suited for real-time implementation. Robot arm kinematic control is carried out by the Hopfield network. The connection weights of the network can be determined from the current value of Jacobian matrix at each sampling time, and joint velocity commands can be generated from the outputs of the network. The obstacle avoidance task is achieved by formulating the performance criterion as D
p>d
min (d
min represents the minimal distance between the redundant robot and obstacles). Its calculation is only related to some vertices which are used to model the robot and obstacles, and the computational times are nearly linear in the total number of vertices. Several simulation cases for a four-link planar manipulator are given to prove that the proposed collision-free trajectory planning scheme is efficient and practical. 相似文献
92.
The effect of Pseudomonas aeruginosa infection on clinical parameters in steady-state bronchiectasis
PL Ho KN Chan MS Ip WK Lam CS Ho KY Yuen KW Tsang 《Canadian Metallurgical Quarterly》1998,114(6):1594-1598
STUDY OBJECTIVE: To investigate the effect of Pseudomonas aeruginosa infection on clinical parameters in Chinese patients with noncystic fibrosis and steady-state bronchiectasis. DESIGN: Prospective, cross-sectional clinicomicrobiological study with informed consent. SETTING: Consecutive outpatient recruitment from a specialist bronchiectasis respiratory clinic. PATIENTS: Outpatients (n = 100; 62 women; 55.1+/-16.7 years old; FEV1/FVC 1.4+/-0.7/2.1+/-0.9 L), who had stable respiratory symptoms for more than 3 weeks. MEASUREMENTS AND RESULTS: Respiratory pathogens isolated from the sputum were: Pseudomonas aeruginosa (33), Haemophilus influenzae (10), Moraxella catarrhalis (2), other Gram-negative bacilli (5), Streptococcus pneumoniae (6), Staphylococcus aureus (5), mycobacteria (3), and yeast (1). Clinical parameters in patients with positive isolation of P aeruginosa were compared with those without the organism in the sputum culture (non-P aeruginosa). In the P aeruginosa group, the FEV1/FVC ratio and sputum volume were lower (p < 0.005) and higher (p < 0.0001), respectively, than those of the non-P aeruginosa group. The FEV1/FVC ratio (< 60%) and sputum volume (grading > 5) were independently associated with a positive sputum isolation of P aeruginosa with odds ratios of 3.1 (confidence interval [CI] 1.2 to 8.4; p < 0.01) and 4.7 (CI 1.6 to 13.3; p < 0.001), respectively. CONCLUSIONS: P aeruginosa is the predominant respiratory pathogen isolated in the sputum of Chinese patients with steady-state bronchiectasis, and its isolation is associated with high sputum output (> or = 75th quartile) and moderately severe airflow obstruction (FEV1/FVC < 60%). 相似文献
93.
As part of our studies on the structural and dynamic properties of hyperthermostable proteins, we have investigated the unfolding pathways of the small iron-sulfur protein rubredoxin from Pyrococcus furiosus (RdPf) at pH 2. Unfolding has been initiated by temperature jump, triggered by manual mixing of a concentrated protein solution into a thermally preequilibrated buffer. The process has been followed in real time by absorption, tryptophan fluorescence emission, and far-UV circular dichroism. Unlike the case of the mesophilic rubredoxin from Clostridium pasteurianum (RdCp), RdPf displays a complex unfolding kinetics, pointing to the formation of at least three intermediates. All of the steps, including the one involving metal ion release, are extremely slow. However, hydrophobic core relaxation--not Fe3+ loss--is rate-determining for RdPf unfolding. This clearly rules out the fact that Fe3+ is solely responsible for the kinetic stability of RdPf. Results have been discussed in terms of sequential vs parallel pathways, and the possible role of irreversible phenomena has been taken into consideration. Aggregation does not appear to play a significant role in the observed kinetic complexities. According to a proposed sequential mechanism, partial release of secondary structure elements precedes iron loss, which is then followed by further loss of beta-sheet content and, finally, by hydrophobic relaxation. Although the main features of the RdPf unfolding mechanism remain substantially unchanged over the experimentally accessible temperature range, final hydrophobic relaxation gets faster, relative to the other events, as the temperature is decreased. A qualitative assessment of the unfolding activation parameters suggests that this arises from the very low activation energies (Ea) that characterize this step. 相似文献
94.
KJ Barakat K Cheng WW Chan BS Butler TM Jacks KD Schleim DF Hora GJ Hickey RG Smith AA Patchett RP Nargund 《Canadian Metallurgical Quarterly》1998,8(11):1431-1436
A new class of potent, orally active phenyl piperazine-based GH secretagogues have been discovered from attempts to mimic the arrangement of the phenyl substituent in the spiroindanyl piperidine and spiroindoline sulfonamide privileged structures of 4 and 1, respectively. The best of these compounds, 18 (EC50 = 2.8 nM) is nearly as potent as MK-0677 for releasing GH from rat pituitary cells. 相似文献
95.
96.
97.
Meraj Talha Rauf Hafiz Tayyab Zahoor Saliha Hassan Arslan Lali M. IkramUllah Ali Liaqat Bukhari Syed Ahmad Chan Shoaib Umar 《Neural computing & applications》2021,33(17):10737-10750
Neural Computing and Applications - Lung cancer is a deadly disease if not diagnosed in its early stages. However, early detection of lung cancer is a challenging task due to the shape and size of... 相似文献
98.
We propose a novel fault detection and localization scheme for all-optical networks with the information of real-time data
traffic. Our adaptive fault localization framework is based on combining passive and proactive monitoring solutions, together
with adaptive management in two phases. Numerical results indicate that our proposed scheme has good scalability, in terms
of the number of fault monitors required. Also, we show that our framework allows more flexible network design, and requires
much less monitoring bandwidth when compared with the passive monitoring solutions. 相似文献
99.
This paper addresses the problem of designing robust tracking control for a class of uncertain wheeled mobile robots actuated by brushed direct current motors. This class of electrically‐driven mechanical systems consists of the robot kinematics, the robot dynamics, and the wheel actuator dynamics. Via the backstepping technique, an intelligent robust tracking control scheme that integrates a kinematic controller and an adaptive neural network‐based (or fuzzy‐based) controller is developed such that all of the states and signals of the closed‐loop system are bounded and the tracking error can be made as small as possible. Two adaptive approximation systems are constructed to learn the behaviors of unknown mechanical and electrical dynamics. The effects of both the approximation errors and the unmodeled time‐varying perturbations in the input and virtual‐input weighting matrices are counteracted by suitably tuning the control gains. Consequently, the robust control scheme developed here can be employed to handle a broader class of electrically‐driven wheeled mobile robots in the presence of high‐degree time‐varying uncertainties. Finally, a simulation example is given to demonstrate the effectiveness of the developed control scheme. 相似文献
100.
Junhan Lee Chan Gook Park 《International Journal of Control, Automation and Systems》2012,10(3):506-516
This paper presents a new scheme for fault detection and isolation in a satellite system. The purpose of this paper is to develop detection, isolation and identification algorithms based on a cascade filter for both total and partial faults in a satellite attitude control system (ACS). The cascade filter consists of a decentralized Kalman filter (DKF) and a bank of interacting multiple model (IMM) filters. The cascade filter is utilized for detection and diagnosis of anticipated sensor and actuator faults in a satellite ACS. Other fault detection and isolation (FDI) schemes are compared with the proposed FDI scheme. The FDI procedure using a cascade filter was developed in three stages. In the first stage, two local filters and a master filter detect sensor faults. In the second stage, the FDI scheme checks sensor residuals to isolate sensor faults, and 11 Extended Kalman filters with actuator fault models detect wherever actuator faults occur. In the third stage of the FDI scheme, four filters identify the fault type, which is either a total or partial fault. An important feature of the proposed FDI scheme is that it can decrease fault isolation time and accomplish not only fault detection and isolation but also fault type identification using a scalar penalty in the conditional density function. 相似文献