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101.
102.
The modern society is fuelled by very comprehensive grids of gas and liquid pipelines. In recent years, various in-pipe robots have been developed for inspection and maintenance tasks inside such pipes. In this paper, a novel in-pipe robot is proposed and developed for gas/oil well interventions at thousands of meters downhole. Due to the nature of such intervention, in-pipe robot design must be capable of carrying a very large payload, as large as 2500?N inside a pipe with diameter as small as 54?mm. The proposed design concept is based on a compound planetary gearing system. One of the major novelties of this design is the use of pipe wall as a ring gear for one stage of the compound planetary gear system; the other novelty is the generation of helical angle when the planetary gears are expanded to press on the pipe wall. The proposed concept is compact, efficient, and has never been reported before. In this paper, the helical angle, the velocity, and load capability of the proposed system will be analyzed. The load transportation capability of the proposed robot is also measured based on an experiment. Initial data have shown great potential in carrying large payloads. 相似文献
103.
Social networks often demonstrate a hierarchical organization, with communities embedded within other communities; moreover, nodes can be shared between different communities, i.e. communities in social networks may be overlapping. In this paper, we define a hierarchical overlapping community structure to present overlapping communities of a social network at different levels of granularity. Discovering the hierarchical overlapping community structure of a social network can provide us a deeper understanding of the complex nature of social networks. We propose an algorithm, called D-HOCS, to derive the hierarchical overlapping community structure of social networks. Firstly, D-HOCS generates a probability transition matrix by applying random walk to a social network, and then trains a Gaussian Mixture Model using the matrix. Further D-HOCS derives overlapping communities by analyzing mean vectors of the Gaussian mixture model. Varying the number of components, D-HOCS repeatedly trains the Gaussian mixture model, detecting the overlapping communities at different levels of granularity. Organizing the overlapping communities into a hierarchy, D-HOCS can finally obtain the hierarchical overlapping community structure of the social network. The experiments conducted on synthetic and real dataset demonstrate the feasibility and applicability of the proposed algorithm. We further employ D-HOCS to explore Enron e-mail corpus, and obtain several interesting insights. For example, we find out a coordinator who coordinated many sections of the Enron Corporation to complete an important task during first half of 2001. We also identify a community that corresponds to a real organization in Enron Corporation. 相似文献
104.
In this paper, nonlinear mapping (NM)-based backstepping control design is presented for a class of strict-feedback nonlinear systems with output constraint. By mapping output value set onto the set of all real numbers, the constrained system is transformed into a new strict-feedback unconstrained system to employ the traditional backstepping control while simultaneously preventing the constraint from being violated. It is proved that the original system has the similar convergence and bounded properties with the new one. Besides the nominal case where full knowledge of the plant is available, we also tackle scenarios wherein parametric uncertainties are present. Furthermore, the comparison with barrier Lyapunov function-based algorithm reveals the advantages of NM algorithm. The closed-loop system is guaranteed to be stable in the sense that all signals involved remain bounded, and the tracking error converges to zero asymptotically. Simulation studies illustrate the performance of the proposed control. 相似文献
105.
106.
In this paper, hyperbranched polyesters (HPs) were synthesized in the molten state from 2,2-bis(hydroxymethyl) propionic acid (bis-MPA) and 2-ethyl-2-hydroxymethyl-1,3-propanediol (TMP) using acid catalysis. The modified hyperbranched polyesters were obtained through the chemical modification of the hyperbranched polyester cores by substituting a controlled fraction of the terminal hydroxyl groups with touluene-4-sulfonyl chloride using triethylamine (TEA) as an acceptor of HCl. The resultant polyesters were characterized by 1H NMR, 13C NMR, FT-IR, UV and GPC and their self-assembly behaviors were investigated. The results revealed that self-assembled structures could be formed in selected solvents (trichloromethane/acetone or trichloromethane/n-hexane). 相似文献
107.
108.
针对远程开关控制技术的需求,提出一种基于GSM的远程开关控制装置设计.该装置的主要特点为使用公众GSM网络进行数据的传递,用户通过手机发送短信即可实现对设备开关的远程异地控制.详细介绍了该装置的硬件设计方案和单片机程序的设计方法,并对设计的装置进行了测试.测试与分析结果表明,设计的装置能实现远程开关控制和返回状态等各种功能,运行效果良好. 相似文献
109.
本文通过对二氧化硫的形成及危害的阐述,以及对我市近几年大气中二氧化硫监测结果的分析,针对发展趋势和存在的问题,根据实际情况提出相应的建议。 相似文献
110.