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21.
We consider the classic problem of pole placement by state feedback. We offer an eigenstructure assignment algorithm to obtain a novel parametric form for the pole-placing feedback matrix that can deliver any set of desired closed-loop eigenvalues, with any desired multiplicities. This parametric formula is then exploited to introduce an unconstrained nonlinear optimisation algorithm to obtain a feedback matrix that delivers the desired pole placement with optimal robustness and minimum gain. Lastly we compare the performance of our method against several others from the recent literature. 相似文献
22.
Cable-direct-driven-robots (CDDRs) provided with a passive serial support represent an interesting and rising evolution of planar cable robots. The paper is devoted to present and analyze a novel CDDR robot. The robot consists in a fully actuated CDDR supported against loading normal to the motion plane with a 3-link passive planar serial manipulator. This hybrid structure combines positive features of both parallel and serial architectures, and prevents out-of-plane movements without the necessity for the robot to be supported on the motion plane. The adoption of a 3-link serial manipulator ensures a greater workspace area compared with similar structures that adopt a smaller number of links, and improves specific characteristics of their dynamics. Nevertheless undesired oscillations may occur since the serial manipulator is underconstrained. For this reason damping elements are inserted in the structure. Simulation examples are presented to demonstrate the novel CDDR concept and its dynamics. In addition, a strategy to select proper values of damping coefficients is presented. 相似文献
23.
A molecular level mechanism is proposed for the highly selective 14-e– oxidative transformation ofn-butane to maleic anhydride on the surface of vanadyl pyrophosphate. The mechanism suggests that the dimeric active sites assume at any given time, one of four possible interconvertible states which differ from each other in the number of available oxygen atoms and the formal oxidation states of the individual vanadium atoms. The relative ratios of active sites in each of the four possible states are dictated by the reaction conditions, the redox properties of the reacting gases and the structure of the vanadyl pyrophosphate active surface. A crucial feature of the mechanism is a pseudo-ozonide surface species formed by the interaction of a chemisorbed dioxygen molecule and an adjacent metal-oxo group. This unusual species is responsible for the initial activation of then-butane, which occurs when the chemisorbed dioxygen abstracts an H-atom from the alkane and the adjacent metal-oxo group reacts with the incipient alkyl radical to form an alkoxy group. The proposed mechanism is entirely consistent with literature reports describing the behaviour of (VO)2P2O7 in flow, pulse and TAP reactors. 相似文献
24.
Mari Paz Lorenzo Sara Goñi Ana Guerrero 《Journal of the American Ceramic Society》2002,85(12):3071-3075
The activation of the pozzolanic reaction of fly ash in portland cement paste immersed in sulfate solution has been studied. Mixtures of two Spanish fly ashes (ASTM class F) with 0%, 15%, and 35% replacement of portland cement by fly ash were immersed in Na2 SO4 solution, of 2880 ppm SO4 2− concentration, for a period of 90 days. The resistance of the different mixtures to the sulfate attack was evaluated using the Koch-Steinegger test. The results showed that all of the mixtures were sulfate resistant, despite the high Al2 O3 content of the fly ash. The diffusion of SO4 2− and Na+ ions through the pore solution activated the pozzolanic reactivity of the fly ashes, causing microstructural changes, which were characterized by X-ray diffraction (XRD), mercury intrusion porosimetry (MIP), and scanning electron microscopy (SEM). As a result, the flexural strength of the mixtures increased, principally for the fly ash of a lower particle size and 35% of addition. 相似文献
25.
Procopio Lorenzo M. Delgado Francisco Enríquez Marco Belabas Nadia 《Quantum Information Processing》2021,20(6):1-3
Quantum Information Processing - A Correction to this paper has been published: https://doi.org/10.1007/s11128-019-2234-5 相似文献
26.
Lorenzo Gatti Marco Guerini Oliviero Stock Carlo Strapparava 《Computational Intelligence》2015,31(4):669-683
The need for creativity is ubiquitous, and mobile devices connected to Web services can help us. Linguistic creativity is widely used in advertisements to surprise us, to get our attention, and to stick concepts in our memory. However, creativity can also be used as a defense. When we walk in the street, we are overwhelmed by messages that try to get our attention with any persuasive device at hand. As messages get ever more aggressive, often our basic cognitive defenses—trying not to perceive those messages—are not sufficient. One advanced defensive technique is based on transforming the perceived message into something different (for instance, making use of irony or hyperbole) from what was originally meant in the message. In this article, we describe an implemented application for smartphones, which creatively modifies the linguistic expression in a virtual copy of a poster encountered on the street. The mobile system is inspired by the subvertising practice of countercultural art. 相似文献
27.
In this paper, we address the problem of output regulation for a broad class of multi‐input multi‐output (MIMO) nonlinear systems. Specifically, we consider input–affine systems, which are invertible and input–output linearizable. This class includes, as a trivial special case, the class of MIMO systems which possess a well‐defined vector relative degree. It is shown that if a system in this class is strongly minimum phase, in a sense specified in the paper, the problem of output regulation can be solved via partial‐state feedback or via (dynamic) output feedback. The result substantially broadens the class of nonlinear MIMO systems for which the problem in question is known to be possible. Copyright © 2015 John Wiley & Sons, Ltd. 相似文献
28.
29.
Torresani L Hertzmann A Bregler C 《IEEE transactions on pattern analysis and machine intelligence》2008,30(5):878-892
This paper describes methods for recovering time-varying shape and motion of non-rigid 3D objects from uncalibrated 2D point tracks. For example, given a video recording of a talking person, we would like to estimate the 3D shape of the face at each instant, and learn a model of facial deformation. Time-varying shape is modeled as a rigid transformation combined with a non-rigid deformation. Reconstruction is ill-posed if arbitrary deformations are allowed, and thus additional assumptions about deformations are required. We first suggest restricting shapes to lie within a low-dimensional subspace, and describe estimation algorithms. However, this restriction alone is insufficient to constrain reconstruction. To address these problems, we propose a reconstruction method using a Probabilistic Principal Components Analysis (PPCA) shape model, and an estimation algorithm that simultaneously estimates 3D shape and motion for each instant, learns the PPCA model parameters, and robustly fills-in missing data points. We then extend the model to model temporal dynamics in object shape, allowing the algorithm to robustly handle severe cases of missing data. 相似文献
30.
Domenico Prattichizzo Author Vitae Lorenzo Ntogramatzidis Author Vitae 《Automatica》2008,44(11):2834-2839
The cheap LQ regulator is reinterpreted as an output nulling problem which is a basic problem of the geometric control theory. In fact, solving the LQ regulator problem is equivalent to keep the output of the related Hamiltonian system identically zero. The solution lies on a controlled invariant subspace whose dimension is characterized in terms of the minimal conditioned invariant of the original system, and the optimal feedback gain is computed as the friend matrix of the resolving subspace. This study yields a new computational framework for the cheap LQ regulator, relying only on the very basic and simple tools of the geometric approach, namely the algorithms for controlled and conditioned invariant subspaces and invariant zeros. 相似文献