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11.
From "macro" to "micro" manipulation: models and experiments 总被引:1,自引:0,他引:1
A. Menciassi A. Eisinberg I. Izzo P. Dario 《Mechatronics, IEEE/ASME Transactions on》2004,9(2):311-320
This paper addresses various problems related to manipulation in the micro domain, a field which is increasingly important for research and application. Grasping and manipulating parts with size ranging between a few micrometers and about 1 millimeter (defined in this paper as "micro parts") are required for an increasing number of applications: the assembly of micro systems and micro machines; and the operation in tiny and unpredictable environments, such as for inspection and interventions in pipes and for micro surgery. The aim of this work is to find out similarities and differences between traditional manipulation and micro manipulation, by investigating which requirements are still valid and which must be redefined when the object size scales down. The similarities between the two application domains "macro" and "micro" are pointed out along with the differences, and both are taken into account for the evaluation of different grasping typologies. Dedicated models for the adhesion forces arising at the micro level are presented, preliminarily tested, and discussed. 相似文献
12.
John R. Clem Zhidong Hao Ljiljana Dobrosavljević-Grujić Zoran Radović 《Journal of Low Temperature Physics》1992,88(3-4):213-219
We present a generalized variational model of an isolated vortex, valid in the anisotropic case when the external magnetic field is along one of the symmetry directions. We discuss the effects of the field anisotropy on the core and magnetic pinning of individual vortices. 相似文献
13.
How to Control Robots Interacting with Dynamic Environment 总被引:7,自引:0,他引:7
Miomir Vukobratović 《Journal of Intelligent and Robotic Systems》1997,19(2):119-152
The goal of this paper is to shed light on the control problem of constrained robot motion from the aspect of the dynamical nature of the environment with which the robot is in contact. Therefore, the criticism of traditional hybrid control which allows position/force feedback loops to split into independent control with respect to position and force, is not the main point we want to make. Reference to the papers written by the founders of hybrid control and their numerous followers served only to better understand the reason and motivation for suggesting a different approach to control of robots interacting with environment.The paper has a predominantly review character, based on recently published work. It also contains some new, unpublished results in the framework of the unified approach to the position/force control of robots, proposed by the present author and his co-workers. By pointing to the possibility of introducing an environment dynamics in the contact tasks of the machining type, the author emphasizes that the proposed dynamically interactive control can be applied to a completely different class of tasks, in which a contact is made between the system (constructions or structure) and very specific kinds of dynamic environments. 相似文献
14.
Quantum Monte Carlo results for the T = 0 order-disorder transition of two-dimensional dimerized quantum Heisenberg antiferromagnets are presented. For a two-layer model, with the dimers having one member on each plane, the finite-size scaling of the staggered structure factor and the staggered susceptibility is consistent with the 3D classical Heisenberg universality class, as required if the transition is described by the 2+1-dimensional non-linear sigma-model. However, for models with the dimers in a single plane, the behavior does not appear to be consistent with this universality class. 相似文献
15.
The energy balance is discussed for the complex case of bronze or marble statuary horses and particularly the four horses of San Marco in Venice. Having computed the coefficient of exchange between bronze and the atmosphere, the daytime overheating is evaluated for different seasons and orientations of the statues. The equations can be solved with reasonable approximation and both the past and future overheatings can be evaluated as a function of the growing surface weathering and blackening. Therefore, the present analysis points out the chief characteristics of both the diurnal cycle and the variation over the centuries of the response of the bronzes to atmospheric variables. 相似文献
16.
In the early eighties, at the Boris Kidrich Institute Vincha, a method for measuring specific heat and electrical resistivity of electrical conductors in the millisecond resolution range was developed for measurements from room temperature to 1900 K. Over a period of nearly 10 years, the method was applied to different materials, including pure metals, ferrous, and nickel/ chromium alloys, and to the characterization of candidate materials for thermophysical property reference standards. This paper describes the method and reviews the results obtained in specific heat and electrical resistivity studies of ferromagnetic and other materials. The paper also demonstrates capabilities of the method for describing phase transitions or anomalies in pure metals (Fe, Co, Ni) or alloys (Nichrome, austenitic stainless steel).Paper presented at the Second Workshop on Subsecond Thermophysics, September 20–21, 1990, Torino, Italy. 相似文献
17.
The inhibiting action of N-arylpyrroles on aluminium in 0.17 mol dm–3 hydrochloric acid solution, in the temperature range 20–60 °C, was studied using potentiodynamic and electrochemical impedence spectroscopy techniques. The inhibiting efficiency of both investigated compounds 1-(2-fluorophenyl)-2,5-dimethylpyrrole (compound A) and 1-(2-fluorophenyl)-2,5-dimethylpyrrole-3-carbaldehyde (compound B) slightly increases with increasing temperature of the corrosive solution. Inhibitor adsorption on the elecrode surface decreases the apparent activation energy of the hydrogen evolution reaction. Compound A follows the Temkin adsorption isotherm, while its carbaldehyde derivative follows the Langmuir isotherm. The results of the apparent energy of activation and the standard free energy of adsorption point to stronger chemisorption of the compound A. However, due to additional condensation of molecules with carbaldehyde groups on the electrode surface, the carbaldehyde derivative exhibits even better inhibiting efficiency than compound A. The kinetic corrosion parameters, analysed in terms of the impedance data, show a satisfactory agreement with those obtained by the potentiodynamic method. 相似文献
18.
New inclusion methods for the simultaneous determination of the zeros of algebraic, exponential and trigonometric polynomials are presented. These methods are realized in real interval arithmetic and do not use any derivatives. Using Weierstrass' correction some modified methods with the increased convergence rate are constructed. Convergence analysis and numerical example are included. 相似文献
19.
Bojana Obrenić 《Theory of Computing Systems》1994,27(1):41-63
A technique foremulating multicomputer interconnection networks that are based onseparable graphs (graphs having bounded degree and sublinear multicolor recursive bisectors) is presented. Efficient emulations among interconnection networks are necessary for porting programs designed for one network to another.Emulations are formalized asgraph embeddings, where the nodes (processors) of theguest graph (emulated network) are assigned to nodes of thehost graph (emulator), while the edges (communication links) of the guest are routed via paths in the host. The communication slowdown in an emulation depens on thedilation (length of the longest routing path) and thecongestion (number of paths that contend for a host edge) of the embedding. Theexpansion of the embedding (the ratio of the sizes of the host to guest) determines the inefficiency of processor utilization.
Cell trees are introduced as interconnection networks whose special communication properties enable them to serve as intermediate devices in these emulations. Nodes in cell trees are organized into equinumerous parts calledcells; the cells are labeled by nodes of a complete binary tree. Communication in cell trees is restricted to two specific and distinct primitives:cell communication is confined within cells, whiletransfer communication occurs between adjacent cells. Rather than solved directly, the emulation problem for the original guest-host pair is decomposed into two independent parts: emulating the guest by the cell tree, and emulating the cell tree by the host.In emulations of separable graphs by cell trees, the node assignment that ensures small dilation is derived from the separator-based decomposition of guest graphs. The congestion-free edge routing is achieved by coordinatingglobal andlocal phases, which are based on two characteristic cell-tree communication primitives.The technique is instantiated by emulating cell trees on specific host graphs. Withshuffle-like hypercube-derivative networks as hosts new constant-expansion emulations are obtained that have both dilation and congestion logarithmic in the size of the multicolor bisector of guest graphs. These emulations are the first such to have optimal (up to constants)congestion; they provide the firstoptimal algorithm for emulating arbitrary separable graphs on shuffle-like networks. The application of the technique tohypercubes as hosts also produces optimal emulations that differ from those previously known by having smaller expansion constants.This research was supported in part by NSF Grants CCR-88-12567 and CCR-90-13184, and by the University of Massachusetts Graduate School Fellowship for the academic year 1991-92. A preliminary version of this paper was presented at the 3rd ACM Symposium on Parallel Algorithms and Architectures, July 22–24, 1991, in Hilton Head, South Carolina, USA. 相似文献
20.
B. Klaić 《Scientometrics》1990,19(1-2):11-24
The research activity of chemists from the Rugjer Bokovi Institute (RBI, Zagreb, Yugoslavia) was analyzed for the period 1976–1985, covering 2018 research years of scientific work, and 1149 SCI registered papers (0.57 publications per research year). At the average, one paper was published by 3.05 scientists. The papers were published in 235 different journals, most frequently is the nationalCroatica Chemica Acta (171 papers). The publications were divided into two groups: for the periods 1976–1980 and 1981–1985, and for each paper citations were collected in the respective time period. An average publication had 2.58 citations. Chemical papers from the second period had 2.73 citations per paper, which is 85% of the expected value, and this was considerably more than for Yugoslav papers (66%) in general. The papers were classified according to the subfields used in theJournal Citation Reports, and the results compared with the data published bySchubert, Glänzel andBraun. The distribution of citations was also analyzed. 相似文献