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21.
Philippe Gorce Farid El Hafi Juan Lopez Coronado 《Journal of Intelligent and Robotic Systems》2001,31(4):321-337
This paper focuses on numerical method to solve the dynamic equilibrium of a humanoid robot during the walking cycle with the gait initiation process. It is based on a multi-chain strategy and a dynamic control/command architecture previously developed by Gorce. The strategy is based on correction of the trunk center of mass acceleration and force distribution of the forces exerced by the limbs on the trunk. This latter is performed by mean of a Linear Programming (LP) method. We study the gait initiation process when a subject, initially in quiet erect stance posture, performs a walking cycle. In this paper, we propose to adjust the method for the multiphases (from double support to single support) and multicriteria features of the studied movement. This is done by adapting some specific constraints and criteria in order to ensure the global stability of the humanoid robot along the task execution. For that, we use a Real-Time Criteria and Constraints Adaptation method. Simulation results are presented to demonstrate criteria and constraints influences on the dynamic stability. 相似文献
22.
Nooshin Bigdeli Yousef Farid Karim Afshar 《Engineering Applications of Artificial Intelligence》2012,25(4):753-765
This paper presents a novel image encryption/decryption algorithm based on chaotic neural network (CNN). The employed CNN is comprised of two 3-neuron layers called chaotic neuron layer (CNL) and permutation neuron layer (PNL). The values of three RGB (Red, Green and Blue) color components of image constitute inputs of the CNN and three encoded streams are the network outputs. CNL is a chaotic layer where, three well-known chaotic systems i.e. Chua, Lorenz and Lü systems participate in generating weights and biases matrices of this layer corresponding to each pixel RGB features. Besides, a chaotic tent map is employed as the activation function of this layer, and makes the relationship between the plain image and cipher image nonlinear. The output of CNL, i.e. the diffused information, is the input of PNL, where three-dimensional permutation is applied to the diffused information. The overall process is repeated several times to make the encryption process more robust and complex. A 160-bit-long authentication code has been used to generate the initial conditions and the parameters of the CNL and PNL. Some security analysis are given to demonstrate that the key space of the new algorithm is large enough to make brute-force attacks infeasible and simulations have been carried out with detailed numerical analysis, demonstrating the high security of the new image encryption scheme. 相似文献
23.
George Z. Voyiadjis Farid H. Abed 《International journal for numerical methods in engineering》2006,67(7):933-959
An implicit objective stress update algorithm is proposed for a hypoelastic–viscoplastic model. A thermal/dynamic yield function, which is derived based on the thermal activation analysis and dislocation interaction mechanisms, is used, along with the Consistency approach and the framework of additive viscoplasticity, in deriving the proposed model for fcc metals. The corotational formulation approach is utilized in developing the proposed model in the finite deformation field. For the case of the Newton–Raphson iteration method, a new expression for the consistent (algorithmic) tangent stiffness matrix of rate‐dependent metals is derived by direct linearization of the stress update algorithm. Finite element simulations are performed by implementing the proposed viscoplasticity constitutive models in the commercial finite element program ABAQUS. Numerical implementation for a simple tensile problem is used for validating the material parameters of the OFHC Copper under low and high strain rates and temperatures. The numerical results of the adiabatic true stress–true strain curves compare very well with the experimental data. The effectiveness of the present approach is tested by studying strain localization in a simple plane strain problem. Results indicate excellent performance of the present framework in describing the strain localization problem and in obtaining mesh‐independent results. Copyright © 2006 John Wiley & Sons, Ltd. 相似文献
24.
The fatigue response of a high pressure die-cast AM60B Mg alloy is studied at room and elevated temperatures. The fatigue tests are conducted with stress ratio of R?=?0.1 and frequency of 30?Hz. The main objective is to determine whether elevated temperature would affect the fatigue response of the alloy. In addition, fatigue crack growth characteristics of the alloy is investigated at room temperature. The purpose of this test is to ascertain the capability and accuracy of a finite element approach coupled with the Walker model in assessing the life cycle of the alloy, in consideration of the influence of stress ratio. 相似文献
25.
Lo?c Petigny Sandrine Périno Matteo Minuti Francesco Visinoni Jo?l Wajsman Farid Chemat 《International journal of molecular sciences》2014,15(5):7183-7198
Microwave extraction and separation has been used to increase the concentration of the extract compared to the conventional method with the same solid/liquid ratio, reducing extraction time and separate at the same time Volatile Organic Compounds (VOC) from non-Volatile Organic Compounds (NVOC) of boldo leaves. As preliminary study, a response surface method has been used to optimize the extraction of soluble material and the separation of VOC from the plant in laboratory scale. The results from the statistical analysis revealed that the optimized conditions were: microwave power 200 W, extraction time 56 min and solid liquid ratio of 7.5% of plants in water. Lab scale optimized microwave method is compared to conventional distillation, and requires a power/mass ratio of 0.4 W/g of water engaged. This power/mass ratio is kept in order to upscale from lab to pilot plant. 相似文献
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27.
Ramin Yousefi A. Khorsand Zak Farid Jamali-Sheini 《Materials Science in Semiconductor Processing》2013,16(3):771-777
Undoped and Mg-doped ZnO nanoparticles (NPs) (Zn1?xMgxO, x=0.01, 0.03, and 0.05) were grown by the sol–gel method. X-ray results showed that the products were crystalline with a hexagonal wurtzite phase. Microscopy studies revealed that the undoped ZnO NPs and Zn1?xMgxO NPs had nearly spherical and hexagonal shapes. The size–strain plot (SSP) method was used to study the individual contributions of crystallite sizes and lattice strain on the peak broadening of the undoped and Mg-doped ZnO NPs. Some physical parameters such as strain, stress, and energy-density values were calculated for all reflection peaks of the XRD corresponding to the wurtzite hexagonal phase of ZnO in the 20–100° range from the SSP results. The effect of doping on the band-gap was also investigated by a photoluminescence (PL) spectrometer. The PL results showed that Mg2+ is a good dopant to control band gap of the ZnO properties. 相似文献
28.
Palladium-catalysed amination of bromofluorans and an investigation of their thermochromic behaviour
The palladium-catalysed amination of readily accessible bromofluorans and bromobenzo[a]fluorans has been accomplished with a series of anilines and morpholine. The resulting aminofluorans generated intense black shades upon formulation in methyl stearate containing bisphenol A. The route provides an alternative approach to various amino substituted fluorans without the need of a series of individual diphenylamine intermediates. 相似文献
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