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排序方式: 共有2304条查询结果,搜索用时 78 毫秒
51.
Fabien Tâche Wolfgang Fischer Gilles Caprari Roland Siegwart Roland Moser Francesco Mondada 《野外机器人技术杂志》2009,26(5):453-476
This paper describes the Magnebike robot, a compact robot with two magnetic wheels in a motorbike arrangement, which is intended for inspecting the inner casing of ferromagnetic pipes with complex‐shaped structures. The locomotion concept is based on an adapted magnetic wheel unit integrating two lateral lever arms. These arms allow for slight lifting off the wheel in order to locally decrease the magnetic attraction force when passing concave edges, as well as laterally stabilizing the wheel unit. The robot has the main advantage of being compact (180 × 130 × 220 mm) and mechanically simple: it features only five active degrees of freedom (two driven wheels each equipped with an active lifter stabilizer and one steering unit). The paper presents in detail design and implementation issues that are specific to magnetic wheeled robots. Low‐level control functionalities are addressed because they are necessary to control the active system. The paper also focuses on characterizing and analyzing the implemented robot. The high mobility is shown through experimental results: the robot not only can climb vertical walls and follow circumferential paths inside pipe structures but it is also able to pass complex combinations of 90‐deg convex and concave ferromagnetic obstacles with almost any inclination regarding gravity. It requires only limited space to maneuver because turning on the spot around the rear wheel is possible. This high mobility enables the robot to access any location in the specified environment. Finally the paper analyzes the maximum payload for different types of environment complexities because this is a key feature for climbing robots and provides a security factor about the risk of falling and slipping. © 2009 Wiley Periodicals, Inc. 相似文献
52.
Nils Paust Christian Litterst Tobias Metz Michael Eck Christoph Ziegler Roland Zengerle Peter Koltay 《Microfluidics and nanofluidics》2009,7(4):531-543
In this paper we present a new concept of creating and using capillary pressure gradients for passive degassing and passive methanol supply in direct methanol fuel cells (DMFCs). An anode flow field consisting of parallel tapered channels structures is applied to achieve the passive supply mechanism. The flow is propelled by the surface forces of deformed CO2 bubbles, generated as a reaction product during DMFC operation. This work focuses on studying the influence of channel geometry and surface properties on the capillary-induced liquid flow rates at various bubbly gas flow rates. Besides the aspect ratios and opening angles of the tapered channels, the static contact angle as well as the effect of contact angle hysteresis has been identified to significantly influence the liquid flow rates induced by capillary forces at the bubble menisci. Applying the novel concept, we show that the liquid flow rates are up to thirteen times higher than the methanol oxidation reaction on the anode requires. Experimental results are presented that demonstrate the continuous passive operation of a DMFC for more than 15 h. 相似文献
53.
Klara Suchan Justus Just Pascal Beblo Carolin Rehermann Aboma Merdasa Roland Mainz Ivan G. Scheblykin Eva Unger 《Advanced functional materials》2023,33(3):2206047
Photo- and charge-carrier-induced ion migration is a major challenge when utilizing metal halide perovskite semiconductors for optoelectronic applications. For mixed iodide/bromide perovskites, the compositional instability due to light- or electrical bias induced phase-segregation restricts the exploitation of the entire bandgap range. Previous experimental and theoretical work suggests that excited states or charge carriers trigger the process, but the exact mechanism is still under debate. To identify the mechanism and cause of light-induced phase-segregation phenomena, the full compositional range of methylammonium lead bromide/iodide samples are investigated, MAPb(BrxI1-x)3 with x = 0…1, by simultaneous in situ X-ray diffraction (XRD) and photoluminescence (PL) spectroscopy during illumination. The quantitative comparison of composition-dependent in situ XRD and PL shows that at excitation densities of 1 sun, only the initial stage of photo-segregation is rationalized with the previously established thermodynamic models. However, a progression of the phase segregation is observed that is rationalized by considering long-lived accumulative photo-induced material alterations. It is suggested that (additional) photo-induced defects, possibly halide vacancies and interstitials, need to be considered to fully rationalize light-induced phase segregation and anticipate the findings to provide crucial insight for the development of more sophisticated models. 相似文献
54.
Protecting and preserving clear barrier layers for flexible packaging materials In‐line thermal evaporation of organic topcoat layer 下载免费PDF全文
The end market for transparent flexible barrier films is larger than for metallized films. Presently, the market is still dominated by polymeric barrier layers but the used chemicals may be harmful for the environment. An alternative would be transparent thin layers deposited by vacuum deposition techniques using reactive processes. Ceramic materials like silicon oxide or aluminum oxide are used having a film thickness of just ~10 nm, a coating uniformity of +/?5% across and along the film at a barrier performance below 2.0 sccm/m2d for oxygen transmission rate (OTR) and below 1.0 g/m2d for water vapor transmission rate (WVTR) on PET substrates. In this paper, details will be provided about the deposition processes for these barrier layers using thermal evaporation, plasma‐assisted thermal evaporation as well as deposition by electron beam evaporation. An important factor for these high barrier transparent coatings is also to withstand the downstream processes in the whole packaging stream like slitting, lamination, printing etc. One solution is to protect the barrier layers by a Topcoat. For example, off‐line deposition of lacquers is used in field but the market penetration is low due to high process and material costs. An in‐situ Topcoat deposition is a smart solution to overcome this issue saving time and costs. Such an approach will be also described in the presentation and the impact on the performance of the final package will be discussed. 相似文献
55.
Marc Karle Johannes W?hrle Junichi Miwa Nils Paust G��nter Roth Roland Zengerle Felix von Stetten 《Microfluidics and nanofluidics》2011,10(4):935-939
We demonstrate controlled transport of superparamagnetic beads in the opposite direction of a laminar flow. A permanent magnet
assembles 200 nm magnetic particles into about 200 μm long bead chains that are aligned in parallel to the magnetic field
lines. Due to a magnetic field gradient, the bead chains are attracted towards the wall of a microfluidic channel. A rotation
of the permanent magnet results in a rotation of the bead chains in the opposite direction to the magnet. Due to friction
on the surface, the bead chains roll along the channel wall, even in counter-flow direction, up to at a maximum counter-flow
velocity of 8 mm s−1. Based on this approach, magnetic beads can be accurately manoeuvred within microfluidic channels. This counter-flow motion
can be efficiently be used in Lab-on-a-Chip systems, e.g. for implementing washing steps in DNA purification. 相似文献
56.
Geert Poels Ann Maes Frederik Gailly Roland Paemeleire 《Information Systems Journal》2011,21(1):63-89
The Resources‐Events‐Agents (REA) model is a semantic data model for the development of enterprise information systems. Although this model has been proposed as a benchmark for enterprise information modelling, only few studies have attempted to empirically validate the claimed benefits of REA modelling. Moreover, these studies focused on the evaluation of REA‐based system implementations rather than directly assessing the REA‐modelled conceptual schemas that these systems are based on. This paper presents a laboratory experiment that measured the user understanding of diagrammatic conceptual schemas developed using the REA model. The theoretical foundation for the hypotheses are cognitive theories that explain pattern recognition phenomena and the resulting reduction in cognitive effort for understanding conceptual schemas. The results of the experiment indicate a more accurate understanding of the business processes and policies modelled when users recognize the REA model’s core pattern of enterprise information in the diagram. The implication for modelling practice is that the use of the REA model improves the requirements engineering process by facilitating the user validation of conceptual schemas produced by analysts, and thus helps ensuring the quality of the enterprise information system that is developed or implemented. 相似文献
57.
Fabien Tâche François Pomerleau Gilles Caprari Roland Siegwart Michael Bosse Roland Moser 《野外机器人技术杂志》2011,28(2):180-203
The MagneBike inspection robot is a climbing robot equipped with magnetic wheels. The robot is designed to drive on three‐dimensional (3D) complexly shaped pipe structures; therefore it is necessary to provide 3D visualization tools for the user, who remotely controls the robot out of sight. The localization system is required to provide a 3D map of the unknown environment and the 3D location of the robot in the environment's map. The localization strategy proposed in this paper consists of combining 3D odometry with 3D scan registration. The odometry model is based on wheel encoders and a three‐axis accelerometer. Odometry enables the tracking of the robot trajectory between consecutive 3D scans and is used as a prior for the scan matching algorithm. The 3D scan registration facilitates the construction of a 3D map of the environment and refines the robot position computed with odometry. This paper describes in detail the implementation of the localization concept. It presents the lightweight, small‐sized 3D range finder that has been developed for the MagneBike. It also proposes an innovative 3D odometry model that estimates the local surface curvature to compensate for the absence of angular velocity inputs. The different tools are characterized in detail based on laboratory and field experiments. They show that the localization concepts reliably track the robot moving in the specific application environment. We also describe various techniques to optimize the 3D scanning process, which is time consuming, and to compensate for the identified limitations. These techniques are useful inputs for the future automatization of the robot's control and optimization of its localization process. © 2010 Wiley Periodicals, Inc. 相似文献
58.
59.
Das Internet ist heute eine globale Infrastruktur, deren st?ndige Verfügbarkeit mehr oder weniger als gegeben angenommen wird.
Die Einführung neuer Technologien (z. B. Multicast, IPv6) in diese Infrastruktur erweist sich aus unterschiedlichen Gründen
als schwierig. Vielmehr haben sich Overlay-Netze in diesem Kontext als Innovationsmotor etabliert. Diese werden von Endger?ten
am Netzrand aufgespannt, ben?tigen somit keine neuen Komponenten in der Netzinfrastruktur und lassen sich selbstorganisierend
sowie skalierbar einsetzen. Interessant sind diese Eigenschaften auch für den Overlay-basierten Aufbau und Betrieb von Kommunikationsnetzen
an sich, mit dem Ziel, unbeeinflusst von Mobilit?t, Multi-Homing und Heterogenit?t der Protokolle und Zugangsnetze nahtlose
Konnektivit?t zwischen Endger?ten herzustellen. Dieser Artikel zeigt anhand von Beispielen auf, wie Overlays die Entwicklung
neuer Dienste im Internet vorantreiben k?nnen. Als Beispiel für eine Overlay-basierte Netzarchitektur, welche die Realisierung
neuer Dienste und Anwendungen erm?glicht, wird die Architektur zur Realisierung von Spontanen Virtuellen Netzen (SpoVNet) und deren Netzabstraktionsschicht ariba detailliert vorgestellt. 相似文献
60.
Roland Schnaubelt George Weiss 《Mathematics of Control, Signals, and Systems (MCSS)》2010,21(4):265-301
We investigate two classes of time-varying well-posed linear systems. Starting from a time-invariant scattering-passive system,
each of the time-varying systems is constructed by introducing a time-dependent inner product on the state space and modifying
some of the generating operators. These classes of linear systems are motivated by physical examples such as the electromagnetic
field around a moving object. To prove the well-posedness of these systems, we use the Lax–Phillips semigroup induced by a
well-posed linear system, as in scattering theory. 相似文献