In the context of human-robot and robot-robot interactions, the better cooperation can be achieved by predicting the other party’s subsequent actions based on the current action of the other party. The time duration for adjustment is not sufficient provided by short term forecasting models to robots. A longer duration can by achieved by mid-term forecasting. But the mid-term forecasting models introduce the previous errors into the follow-up forecasting and amplified gradually, eventually invalidating the forecasting. A new mid-term forecasting with error suppression based on restricted Boltzmann machine(RBM) is proposed in this paper. The proposed model can suppress the error amplification by replacing the previous inputs with their features, which are retrieved by a deep belief network(DBN). Furthermore, a new mechanism is proposed to decide whether the forecasting result is accepted or not. The model is evaluated with several datasets. The reported experiments demonstrate the superior performance of the proposed model compared to the state-of-the-art approaches.
In this study, a kind of imidazole type poly(ionic liquid) ([PEP-MIM]Cl) is synthesized, which can disperse carbon effectively. [PEP-MIM]Cl is used as an intermediate to coat carbon on the poly(acrylic acid)(PAA-co-MBA) via ion exchange to obtain conductive polymer composite (CPC). A series of characterizations are performed. Experiments show that carbon can be coated on the PAA-co-MBA uniformly, and compared with using carbon as filler, this method requires less carbon to achieve good conductive performance. The carbon layer on the polymer's surface is enriched via the swelling-shrinking properties of PAA-co-MBA according to the SEM images. Furthermore, in combination with 3D printing technology, PAA-co-MBA can be designed into different shapes to achieve various functions such as pressure-sensing element. Finally, a new type of CPC named carbon clad polymeric laminate (CCPL) is prepared by using the carbon coating method and 3D printing technology. It has the potential to replace copper clad laminate (CCL) and printed circuit board (PCB), to a certain extent. This technology expands the preparation method and application of the CPC such as flexible and wearable conductive fabrics. 相似文献
Comparative experiments are performed in friction stir welding (FSW) of dissimilar Al/Mg alloys with and without assistance of ultrasonic vibration. Metallographic characterization of the welds at transverse cross sections reveals that ultrasonic vibration induces differences in plastic material flow in two conditions. In FSW, the plastic material in the peripheral area of shoulder-affected zone (SAZ) tends to flow downward because of the weakening of the driving force of the shoulder, and a plastic material insulation layer is formed at the SAZ edge. When ultrasonic vibration is exerted, the stirred zone is divided into the inner and outer shear layers, the downward material flow trend of the inner shear layer disappears and tends to flow upward, and the onion-ring structure caused by the swirl motion is avoided in the pin-affected zone. By improving the flow behavior of plastic materials in the stirred zone, ultrasonic vibration reduces the heat generation, accelerates the heat dissipation in nugget zone and changes the thermal cycles, thus inhibiting the formation of intermetallic compound layers.
The corrosion behavior of 13Cr martensitic stainless steel in a CO2 environment in a stimulated oilfield was studied with potentiodynamic polarization and the impedance spectra technique. The
results showed that the microstructure of the surface scale clearly changed with temperature. This decreased the sensitivity
of pitting corrosion and increased the tendency toward general (or uniform) corrosion. The capacitance, the charge transfer
resistance, and the polarization resistance of the corrosion product scale decrease with increasing temperature from 90 to
120 °C, and thus the corrosion is a thermal activation controlled process. Charge transfer through the scale is difficult
and the corrosion is controlled by a diffusion process at a temperature of 150 °C. Resistance charge transfer through the
corrosion product layer is higher than that in the passive film. 相似文献
Hardware security has become more and more important in current information security architecture. Recently collected reports have shown that there may have been considerable hardware attacks prepared for possible military usage from all over the world. Due to the intrinsic difference from software security, hardware security has some special features and challenges. In order to guarantee hardware security, academia has proposed the concept of trusted integrated circuits, which aims at a secure circulation of IC design, manufacture and chip using. This paper reviews the main problems of trusted integrated circuits, and concludes four key domains of the trusted IC, namely the trusted IC design, trusted manufacture, trusted IP protection, and trusted chip authentication. The main challenges in those domains are also analyzed based on the current known techniques. Finally, the main limitations of the current techniques and possible future trends are discussed. 相似文献