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211.
212.
Mobile robots can be used in many applications, such as exploration, search and rescue, reconnaissance, security, and cleaning.
Mobile robots usually carry batteries as their energy source and their operational time is restricted by the finite energy
available from the batteries. Therefore, energy constraints are critical to the service time of mobile robots. This paper
investigates the minimum-energy control problem for translational trajectory generation, which minimizes the energy drawn
from the batteries. Optimal control theory is used to find the optimal velocity trajectory in analytic form. To demonstrate
energy efficiency obtainable, we performed simulations of minimum-energy velocity control and compared the results with loss-minimization
control and energy-optimal trapezoidal velocity profiles. Simulation results showed that significant energy savings can be
achieved, of up to 9% compared with loss-minimization control and up to 10% compared with energy-optimal trapezoidal velocity
profile. We also performed an actual robot experiment using Pioneer 3-AT platform to show the validity of the proposed minimum-energy
velocity control. The experimental results revealed that the proposed minimum-energy velocity control can save the battery
energy up to 10% compared with loss-minimization control.
Categories (3): Robot control, (5): RobotMotion Planning 相似文献
213.
Michael Fox Richard Hastings Scott Lovald Juan Heinrich 《Journal of Failure Analysis and Prevention》2007,7(3):165-174
A failure analysis case study is presented for a two-piece aerosol containing tetrafluoroethane, commonly referred to as Refrigerant
134a. A gentleman was preparing to recharge the air conditioning system of an automobile when the bottom exploded off the
aerosol container, propelling the body of the aerosol container like a rocket, which hit the man in the eye and blinded him
in that eye. The aerosol was never connected to the air conditioner, therefore backpressure from the air conditioner (AC)
compressor was ruled out as a cause for the explosion. The objective of the study was to determine why the aerosol exploded.
Several recently developed test methods were used, including two types of heat-to-burst tests and a puncture chamber to measure
the pressure-versus-temperature behavior of aerosols. More common test methods were also used, such as water bath pressure
tests, hydro pressure burst tests, pneumatic pressure burst tests, hardness measurements, weight measurements, metallography,
scanning electron microscopy (SEM), energy-dispersive spectroscopy (EDS), and an accident scenario recreation. A semi-empirical
correlation between the hardness and weights of the container bottoms was used to determine the explosion temperature and/or
pressure. This semi-empirical correlation agrees in principle with an analysis of the explosion pressures using finite-element
analysis (FEA). The root cause for the explosion was determined to be a lack of strength of the bottom of the two-piece aerosol
coupled with heating the aerosol to temperatures significantly above room temperature. 相似文献
214.
M. Del C. Ruiz J. A. González J. B. Rivarola 《Metallurgical and Materials Transactions B》2004,35(3):439-448
The mechanism and kinetics of β-Ta2O5 chlorination, mixed with sucrose carbon, have been studied by a thermogravimetric technique. The investigated temperature
range was 500 °C to 850 °C. The reactants and reaction residues were analyzed by scanning electronic microscopy (SEM), X-ray
diffraction (XRD), and Brunauer-Emmett-Teller method for surface area (BET). The effect of various experimental parameters
was studied, such as carbon percentage, temperature, chlorine partial pressure, and flow, use of the multiple sample method,
and carbon previous oxidation. The carbon percentage and previous treatment have an effect on the system reactivity. The temperature
has a marked effect on the reaction rate. In the 500 °C to 600 °C temperature interval, the apparent activation energy is
144 kJ/mol of oxide, while at higher temperatures, the activation energy decreases. With high chorine partial pressures, the
order of reaction is near zero. The kinetic contractile plate model, X=kt, considering carbon oxidation as the controlling stage, is the one with the best fit to the experimental data. A probable
mechanism for the carbochlorination of β-Ta2O5 is proposed: (1) activation of chlorine on the carbon surface, (2) chlorination of Ta2O5, (3) oxidation of carbon, and (4) recrystallization of β-Ta2O5. 相似文献
215.
This work is an experimental study of mechanisms for transition to turbulence in the boundary layer on a rotating disk. In
one case, the focus was on a triad resonance between pairs of traveling cross-flow modes and a stationary cross-flow mode.
The other was on the temporal growth of traveling modes through a linear absolute instability mechanism first discovered by
Lingwood (1995, J Fluid Mech 314:373–405). Both research directions made use of methods for introducing controlled initial
disturbances. One used a distributed array of ink dots placed on the disk surface to enhance a narrow band of azimuthal and
radial wave numbers of both stationary and traveling modes. The size of the dots was small so that the disturbances they produce
were linear. Another approach introduced temporal disturbances by a short-duration air pulse from a hypodermic tube located
above the disk and outside the boundary layer. Hot-wire sensors primarily sensitive to the azimuthal velocity component, were
positioned at different spatial (r,θ) locations on the disk to document the growth of disturbances. Spatial correlation measurements were used with two simultaneous
sensors to obtain wavenumber vectors. Cross-bicoherence was used to identify three-frequency phase locking. Ensemble averages
conditioned on the air pulses revealed wave packets that evolved in time and space. The space–time evolution of the leading
and trailing edges of the wave packets were followed past the critical radius for the absolute instability, r
c
A
. With documented linear amplitudes, the spreading of the disturbance wave packets did not continue to grow in time as r
c
A
was approached. Rather, the spreading of the trailing edge of the wave packet decelerated and asymptotically approached a
constant. This result supports the linear DNS simulations of Davies and Carpenter (2003, J Fluid Mech 486:287–329) who concluded
that the absolute instability mechanism does not result in a global mode, and that linear-disturbance wave packets are dominated
by the convective instability. In contrast, wave-number matching between traveling cross-flow modes confirmed a triad resonance
that lead to the growth of a low azimuthal number (n = 4) stationary mode. At transition, this mode had the largest amplitude. Signs of this mechanism can be found in past flow
visualization of transition to turbulence in rotating disk flows. 相似文献
216.
217.
In this paper we consider two performance modelling techniques from the perspectives of model construction, generation of
an underlying continuous time Markov process, and the potential for reduction in the Markov process. Such careful comparison
of modelling techniques allows us to appreciate the strengths and weaknesses of different approaches, and facilitates cross-fertilization
between them. In the present case we take a characteristic of one formalism, functional rates in Stochastic Automata Networks,
and introduce it to the other formalism, Performance Evaluation Process Algebra. We investigate the benefits of this cross-fertilization,
particularly from the perspectives of Markov process generation and reduction. 相似文献
218.
219.
With increasing globalization, communication across language and cultural boundaries is becoming an essential requirement
of doing business, delivering education, and providing public services. Due to the considerable cost of human translation
services, only a small fraction of text documents and an even smaller percentage of spoken encounters, such as international
meetings and conferences, are translated, with most resorting to the use of a common language (e.g. English) or not taking
place at all. Technology may provide a potentially revolutionary way out if real-time, domain-independent, simultaneous speech
translation can be realized. In this paper, we present a simultaneous speech translation system based on statistical recognition
and translation technology. We discuss the technology, various system improvements and propose mechanisms for user-friendly
delivery of the result. Over extensive component and end-to-end system evaluations and comparisons with human translation
performance, we conclude that machines can already deliver comprehensible simultaneous translation output. Moreover, while
machine performance is affected by recognition errors (and thus can be improved), human performance is limited by the cognitive
challenge of performing the task in real time. 相似文献
220.
The development of autonomous mobile machines to perform useful tasks in real work environments is currently being impeded
by concerns over effectiveness, commercial viability and, above all, safety. This paper introduces a case study of a robotic
excavator to explore a series of issues around system development, navigation in unstructured environments, autonomous decision
making and changing the behaviour of autonomous machines to suit the prevailing demands of users. The adoption of the Real-Time
Control Systems (RCS) architecture (Albus, 1991) is proposed as a universal framework for the development of intelligent systems. In addition it is explained how the use
of Partially Observable Markov Decision Processes (POMDP) (Kaelbling et al., 1998) can form the basis of decision making in the face of uncertainty and how the technique can be effectively incorporated into
the RCS architecture. Particular emphasis is placed on ensuring that the resulting behaviour is both task effective and adequately
safe, and it is recognised that these two objectives may be in opposition and that the desired relative balance between them
may change. The concept of an autonomous system having “values” is introduced through the use of utility theory. Limited simulation
results of experiments are reported which demonstrate that these techniques can create intelligent systems capable of modifying
their behaviour to exhibit either ‘safety conscious’ or ‘task achieving’ personalities. 相似文献