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961.
962.
963.
For a biped pole-climbing robot (BiPCR) with grippers, it is an essential demand to determine the target grasp configuration for climbing and transiting between poles, with the graspable region as a priori knowledge. The graspable region on the target pole is critically important for climbing path planning and motion control. To efficiently compute the graspable region for a BiPCR, we propose a novel binary approximating method in this paper. This method may also be applied to generate the three-dimensional (3-D) workspace of a manipulator with constant orientation. The grasping problem and the concept of graspable region for a BiPCR are first introduced. The binary approximating method and the corresponding algorithms are then presented to generate the graspable region. Additional constraints on a biped climbing robot with five degrees of freedom (DoFs) are presented as a supplement to the algorithm. A series of comprehensive simulations are conducted with the five-DoF and six-DoF climbing robots to verify the effectiveness of the proposed method. Finally, the dexterity of biped climbing robots with different DoFs is discussed. 相似文献
964.
Ping Shen Lifeng Zhang Jianxun Fu Hao Zhou Yi Wang Limei Cheng 《Ceramics International》2019,45(9):11287-11295
In the present study, the wettability between liquid iron with two different Al contents and MgOAl2O3 binary substrates was studied in reducing atmosphere. The contact angles between liquid iron with 18?ppm Al and MgO, MgO·Al2O3, Al2O3 were 133.5°, 113.7°, 126.9° respectively. With the variation of the substrate composition, the contact angles for the intermediate binary phases of the three components (MgO, MgO·Al2O3, Al2O3) obeyed the Cassie theory. In the experiment using iron with 370?ppm Al, all the contact angles were higher than that using low Al-containing iron. The surface of the iron drop was covered with an oxide layer, which mainly consisted of many small particles. With the variation of the substrate gradually from MgO to Al2O3, the composition of the oxide layer changed from MgO·Al2O3 to CaOAl2O3. The formation of the oxide layer prevented the spreading of liquid iron, leading to the increase of the contact angle. 相似文献
965.
966.
Junyang Yu Zhigang Hu Neal N. Xiong He Liu Zhou Zhou 《The Journal of supercomputing》2014,69(3):1068-1086
With the fast development of cloud computing and wide application of cloud storage, the energy efficiency of cloud storage system is drawing significant attention from researchers or specialists. For the typical Dynamo cloud storage system, we design a new policy instead of the consistent hashing policy which is a combination of consistent hashing and sequential policy. The basic idea of this policy is that it divides the nodes into groups and allows each other to be mirror modes so it can find the full coverage subset of data items easily. Also we use autoregressive-moving-average model to estimate the task numbers of servers so that when under low utilization period, certain numbers of servers can be turned off to save energy. Based on the model, we demonstrate that it can save up to 23.7 % energy and maintain load balancing of servers. Furthermore, we compare our policy with Heuristic which is a classical energy conservation policy for cloud storage system that is based on consistent hash table. And we find several advantages of our policy which include finding the minimum subset of full coverage as well as other aspects. 相似文献
967.
Email spam filtering is typically treated as a binary classification problem that can be solved by machine learning algorithms. We argue that a three-way decision approach provides a more meaningful way to users for precautionary handling their incoming emails. Three email folders instead of two are produced in a three-way spam filtering system, a suspected folder is added to allow users make further examinations of suspicious emails, thereby reducing the chances of misclassification. Different from existing ternary email spam filtering systems, we focus on two issues that are less studied, that is, the computation of required thresholds to define the three email categories, and the interpretation of the cost-sensitive characteristics of spam filtering. Instead of supplying the thresholds based on intuitive understandings of the levels of tolerance for errors, we systematically calculate the thresholds based on decision-theoretic rough set model. A loss function is interpreted as the costs of making classification decisions. A decision is made for which the overall cost is minimum. Experimental results show that the new approach reduces the error rate of misclassifying a legitimate email to spam and demonstrates a better performance for the cost-sensitivity aspect. 相似文献
968.
A new model to predict the adsorption equilibrium of mixtures containing supercritical components was presented. The difference in the adsorption mechanism between the supercritical components and the condensable components was accounted for in the new model. Lateral interaction in the adsorbed phase was also considered in the local isotherm. The new model was verified by the experimental data of the mixture CH4/CO2/C2H6 on activated carbon JX101 collected for 283-313 K and pressures up to . It was also verified with the experimental data published previously in literature. Considerable improvement in the prediction precision was achieved in using the new model to predict the adsorption of mixtures on activated carbon. 相似文献
969.
970.
根据电除尘器绝缘子的功能及工况条件,介绍了材质和结构形式的选择。对于电除尘器绝缘子材质的选择,首先要考虑承受运行电压的能力,其次是耐温性能和机械强度。对于结构形式的选择,应考虑有足够的厚度以耐电力冲击、足够大的爬电距离以防漏电或对地闪络、足够大的空间以防出现电晕或空间闪络。另外,介绍了高铝瓷绝缘子的成功应用及其优点。 相似文献