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11.
This paper presents a noncertainty equivalent adaptive motion control scheme for robot manipulators in the absence of link velocity measurements. A new output feedback adaptation algorithm, based on the attractive manifold design approach, is developed. A proportional-integral adaptation is selected for the adaptive parameter estimator to strengthen the passivity of the system. In order to relieve velocity measurements, an observer is designed to estimate the velocities. The controller guarantees semiglobal asymptotic motion tracking and velocity estimation, as well as L∞ and L2 bounded parameter estimation error. The effectiveness of the proposed controller is verified by simulations for a two-link robot manipulator and a four-bar linkage. The results are further compared with the earlier certainty-equivalent adaptive partial and full state feedback controller to highlight potential closed-loop performance improvements. 相似文献
12.
A major requirement of many real-time embedded systems is to have time-predictable interaction with the environment. More specifically, they need fixed or small sampling and I/O delays, and they cannot cope with large delay jitters. Non-preemptive execution is a known method to reduce the latter delay; however, the corresponding scheduling problem is NP-Hard for periodic tasks. In this paper, we present Precautious-RM as a predictable linear-time online non-preemptive scheduling algorithm for harmonic tasks which can also deal with the former delay, namely sampling delay. We derive conditions of optimality of Precautious-RM and show that satisfying those conditions, tight bounds for best- and worst-case response times of the tasks can be calculated in polynomial-time. More importantly, response time jitter of the tasks is analyzed and it is proven that under specific conditions, each task has either one or two values for response time, which leads to improving the predictability of the system interaction with the environment. Simulation results demonstrate efficiency of Precautious-RM in increasing accuracy of control applications. 相似文献
13.
Armin Salsani Jahanbakhsh Daneshian Shahram Shariati Abdolreza Yazdani-Chamzini Mehdi Taheri 《Neural computing & applications》2014,24(7-8):1823-1831
With growing use of roadheaders in the world and its significant role in the successful accomplishment of a tunneling project, it is a necessity to accurately predict performance of this machine in different ground conditions. On the other hand, the existence of some shortcomings in the prediction models has made it necessary to perform more research on the development of the new models. This paper makes an attempt to model the rate of roadheader performance based on the geotechnical and geological site conditions. For achieving the aim, an artificial neural network (ANN), a powerful tool for modeling and recognizing the sophisticated structures involved in data, is employed to model the relationship between the roadheader performance and the parameters influencing the tunneling operations with a high correlation. The database used in modeling is compiled from laboratory studies conducted at Azad University at Science and Research Branch, Tehran, Iran. A model with architecture 4-10-1 trained by back-propagation algorithm is found to be optimum. A multiple variable regression (MVR) analysis is also applied to compare performance of the neural network. The results demonstrate that predictive capability of the ANN model is better than that of the MVR model. It is concluded that roadheader performance could be accurately predicted as a function of unconfined compressive strength, Brazilian tensile strength, rock quality designation, and alpha angle R 2 = 0.987. Sensitivity analysis reveals that the most effective parameter on roadheader performance is the unconfined compressive strength. 相似文献
14.
Mechanical properties of wood plastic composites (WPCs) manufactured from sawdust and virgin and/or recycled plastics, namely high density polyethylene (HDPE) and polypropylene (PP), were studied. Sawdust was prepared from beech industrial sawdust by screening to the desired particle size and was mixed with different virgin or recycled plastics at 50% by weight fiber loading. The mixed materials were then compression molded into panels. Flexural and tensile properties and impact strength of the manufactured WPCs were determined according to the relevant standard specifications. Although composites containing PP (virgin and recycled) exhibited higher stiffness and strength than those made from HDPE (virgin and recycled), they had lower unnotched impact strengths. Mechanical properties of specimens containing recycled plastics (HDPE and PP) were statistically similar and comparable to those of composites made from virgin plastics. This was considered as a possibility to expand the use of recycled plastics in the manufacture of WPCs. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 100: 3641–3645, 2006 相似文献
15.
Mehdi Tajvidi 《应用聚合物科学杂志》2005,98(2):665-672
A natural fiber hybrid composite containing equal proportions of kenaf fibers (KFs) and wood flour (WF) as the reinforcements and polypropylene (PP) as the polymer matrix was prepared, and its static and dynamic mechanical properties were compared with KF/PP and WF/PP composites. Static tensile and flexural tests and dynamic mechanical analysis (DMA) were carried out. The hybrid composite exhibited tensile and flexural moduli and strength values closer to those of the KF composite, which indicated a higher reinforcing efficiency of KFs compared with WF. DMA revealed that although the glass‐transition temperature remained unchanged by the replacement of half of the WF by KFs, the α‐transition temperature of the hybrid composite was identical to that of WF composite. The magnitudes of both the α and β (glass) transitions of the hybrid composite were comparable to that of the WF/PP composite. © 2005 Wiley Periodicals, Inc. J Appl Polym Sci 98: 665–672, 2005 相似文献
16.
Mehdi Kaytoue Sergei O. Kuznetsov Juraj Macko Amedeo Napoli 《Annals of Mathematics and Artificial Intelligence》2014,70(1-2):55-79
Biclustering numerical data became a popular data-mining task at the beginning of 2000’s, especially for gene expression data analysis and recommender systems. A bicluster reflects a strong association between a subset of objects and a subset of attributes in a numerical object/attribute data-table. So-called biclusters of similar values can be thought as maximal sub-tables with close values. Only few methods address a complete, correct and non-redundant enumeration of such patterns, a well-known intractable problem, while no formal framework exists. We introduce important links between biclustering and Formal Concept Analysis (FCA). Indeed, FCA is known to be, among others, a methodology for biclustering binary data. Handling numerical data is not direct, and we argue that Triadic Concept Analysis (TCA), the extension of FCA to ternary relations, provides a powerful mathematical and algorithmic framework for biclustering numerical data. We discuss hence both theoretical and computational aspects on biclustering numerical data with triadic concept analysis. These results also scale to n-dimensional numerical datasets. 相似文献
17.
Mehdi Qasim Jinan Al‐Dabbagh Naser Mahmoud Ahmed V.G. Chigrinov Gurumurthy Hegde 《Journal of the Society for Information Display》2014,22(4):187-190
Indium tin oxide‐coated thin films (200 nm) are deposited on glass substrates by using R.f. sputtering technique. Here, we investigate the influence of new technique of treatment, which is called as “oil thermal annealing” on the nano‐structured indium tin oxide thin films at fixed temperature (150 °C) which improves adhesion strength, electrical conductivity and optical properties (transmittance) of the films. Oil thermal annealing is used to reduce inherent defects that may be introduced during the prepared thin film and cooling processes. Proposed technique is highly suitable for liquid crystal displays, solar cells and organic light emitting diodes, and many other display‐related applications. 相似文献
18.
Water uptake characteristics and some mechanical properties of polypropylene composites containing three types of natural fillers, purified α‐cellulose, wastepaper fibers, and wood flour were studied. The fiber contents were 15, 25, and 35% by weight. Two percent maleic anhydride polypropylene (MAPP) was also added to the mix, as the compatibilizer agent. Mixing process was performed in a Brabender Plasticorder until a constant torque was reached. Composites made out of these combinations were then pressed in a laboratory press and ASTM standard test specimens were cut out of the sheets. Water absorption and tensile tests were performed on these specimens. The results showed a significant difference between the various filler types regarding water uptake. Water uptake also increased by the increase in filler content. Tensile strength and elongation at break in composites declined when compared with pure polypropylene, but their modulus of elasticity increased. Among the three types of fillers, no significant discrepancies were observed in terms of improving mechanical properties in composites. Filler content increase had no drastic effect regarding strength improvement. © 2003 Wiley Periodicals, Inc. J Appl Polym Sci 88: 941–946, 2003 相似文献
19.
Relating Sediment Yield Estimations to the Wet Front Term Using Rainfall Simulator Field Experiments
Norouzi-Shokrlu Akbar Pajouhesh Mehdi Abdollahi Khodayar 《Water Resources Management》2020,34(13):4181-4196
Water Resources Management - Depth to wet front is generally considered as the amount of water that penetrates into soil and wets the internal soil layer. This is an important variable especially... 相似文献
20.
Mehdi Bidabadi Farzad Faraji Dizaji Hossein Beidaghy Dizaji Moslem Safari Ghahsareh 《中南工业大学学报(英文版)》2014,(1):326-337
In this work, the effect of various effective dimensionless numbers and moisture contents on initiation of instability in combustion of moisty organic dust is calculated. To have reliable model, effect of thermal radiation is taken into account. One- dimensional flame structure is divided into three zones: preheat zone, reaction zone and post-flame zone. To investigate pulsating characteristics of flame, governing equations are rewritten in dimensionless space-time ((, r/, ~) coordinates. By solving these newly achieved governing equations and combining them, which is completely discussed in body of article, a new expression is obtained. By solving this equation, it is possible to predict initiation of instability in organic dust flame. According to the obtained results by increasing Lewis number, threshold of instability happens sooner. On the other hand, pulsating is postponed by increasing Damk6hler number, pyrolysis temperature or moisture content. Also, by considering thermal radiation effect, burning velocity predicted by our model is closer to experimental results. 相似文献