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11.
In this study, zero-valent iron (ZVI) was produced using iron oxide that is a by-product of a pickling line at a steel works. The reaction activity of the produced ZVI was evaluated through a series of decomposition experiments of Orange II aqueous solution. The size of ZVI particles increased with reduction temperature due to coalescence. Correspondingly, the specific surface area of ZVI decreased with increasing reduction temperature. The decomposition efficiency of synthesized ZVI particles was higher at a lower pH. In particular, no significant decomposition reaction was observed at pH of 4 and higher. The rate of the ZVI-assisted decomposition of Orange II was increased by addition of H2O2 at pH of 3, whereas it was reduced by addition of H2O2 at a higher pH of 6. Nevertheless, simultaneous use of ZVI, UV and H2O2 led to a considerable increase in the decomposition rate even at a high pH condition (pH = 6). 相似文献
12.
Termination is one of the most interesting problems when dealing with context-sensitive rewrite systems. Although a good number of techniques for proving termination of context-sensitive rewriting (CSR) have been proposed so far, the adaptation to CSR of the dependency pair approach, one of the most powerful techniques for proving termination of rewriting, took some time and was possible only after introducing some new notions like collapsing dependency pairs, which are specific for CSR. In this paper, we develop the notion of context-sensitive dependency pair (CSDP) and show how to use CSDPs in proofs of termination of CSR. The implementation and practical use of the developed techniques yield a novel and powerful framework which improves the current state-of-the-art of methods for automatically proving termination of CSR. 相似文献
13.
The paper deals with the problem of motion planning of anthropomorphic mechanical hands avoiding collisions and trying to
mimic real human hand postures. The approach uses the concept of “principal motion directions” to reduce the dimension of
the search space in order to obtain results with a compromise between motion optimality and planning complexity (time). Basically,
the work includes the following phases: capturing the human hand workspace using a sensorized glove and mapping it to the
mechanical hand workspace, reducing the space dimension by looking for the most relevant principal motion directions, and
planning the hand movements using a probabilistic roadmap planner. The approach has been implemented for a four finger anthropomorphic
mechanical hand (17 joints with 13 independent degrees of freedom) assembled on an industrial robot (6 independent degrees
of freedom), and experimental examples are included to illustrate its validity. 相似文献
14.
Atrial Fibrillation (AF) is the most common supraventricular tachyarrhythmia. Recently, it has been suggested that AF is partially organized on its onset and termination, thus being more suitable for antiarrhythmia and to avoid unnecessary therapy. Although several invasive and non-invasive AF organization estimators have been proposed, the organization time course in the first and last minutes of AF has not been quantified yet. The aim of this work is to study non-invasively the organization variation within the first and last minutes of paroxysmal AF. The organization was evaluated making use of sample entropy, which can robustly estimate electrical atrial activity organization from surface ECG recordings. This work proves an organization decrease in the first minutes of AF onset and an increase within the last minute before spontaneous AF termination. These results are in agreement with the conclusions reported by other authors who made use of invasive recordings. 相似文献
15.
Interval state observers provide an estimate on the set of admissible values of the state vector at each instant of time. Ideally, the size of the evaluated set is proportional to the model uncertainty, thus interval observers generate the state estimates with estimation error bounds, similarly to Kalman filters, but in the deterministic framework. Main tools and techniques for design of interval observers are reviewed in this tutorial for continuous-time, discrete-time and time-delayed systems. 相似文献
16.
This paper addresses the problem of interval observer design for unknown input estimation in linear time-invariant systems. Although the problem of unknown input estimation has been widely studied in the literature, the design of joint state and unknown input observers has not been considered within a set-membership context. While conventional interval observers could be used to propagate with some additional conservatism, unknown inputs by considering them as disturbances, the proposed approach allows their estimation. Under the assumption that the measurement noise and the disturbances are bounded, lower and upper bounds for the unmeasured state and unknown inputs are computed. Numerical simulations are presented to show the efficiency of the proposed approach. 相似文献
17.
In this study, a hybrid intelligent solution system including neural networks, genetic algorithms and simulated annealing has been proposed for the inverse kinematics solution of robotic manipulators. The main purpose of the proposed system is to decrease the end effector error of a neural network based inverse kinematics solution. In the designed hybrid intelligent system, simulated annealing algorithm has been used as a genetic operator to decrease the process time of the genetic algorithm to find the optimum solution. Obtained best solution from the neural network has been included in the initial solution of genetic algorithm with randomly produced solutions. The end effector error has been reduced micrometer levels after the implementation of the hybrid intelligent solution system. 相似文献
18.
Catalin Gheorghiu Pierre Labossière Alexandre Ra?che 《Canadian Metallurgical Quarterly》2004,8(3):211-218
Many countries around the world have tremendous needs to repair and strengthen their transportation infrastructure. Almost everywhere, traffic loads have reached levels largely exceeding design expectations. Northern countries also experience severe winter conditions that are combined with an extensive use of deicing salts and accelerate structural deterioration. In Canada, the extent of deterioration has prompted many authorities, including the federal and provincial governments, to investigate the potential use of fiber-reinforced polymer products to extend the life of their existing structures. However, it is widely recognized that the large-scale implementation of these products is often impaired by the lack of data on their durability. This paper presents an experimental project undertaken in order to assess the durability of reinforced concrete beams externally strengthened with two types of carbon-fiber-reinforced polymer (CFRP). The beams were first exposed to either wet-dry cycles or continuous immersion in water and then were loaded in fatigue. Finally, they were tested quasi-statically under four-point bending up to failure. The test results presented here provide some insights on the potential long-term performance of CFRP-strengthened beams exposed to severe environmental conditions. 相似文献
19.
Felipe Espinosa Elena López Raúl Mateos Manuel Mazo Ricardo García 《Autonomous Robots》2001,11(2):137-148
This paper presents the theoretical support and experimental results of the application of advanced and intelligent control techniques to the drive control and trajectory tracking systems on a robotic wheelchair. The adaptive optimal control of the differential drive helps to improve the automatic guidance system's safety and comfort taking into consideration operating conditions such as load and distribution changes or motion actuator limitations. Furthermore, the incorporation of an optimal controller to minimize location errors and a fuzzy controller to adapt the linear velocity to the characteristics of the trajectory, provide the vehicle with a high degree of intelligence and autonomy, even when faced with obstacles. The global control solution implemented increases the features of the wheelchair for handicapped people, especially for those with a high degree of disability. 相似文献
20.
In this paper we aim at extending the non-derivable condensed representation in frequent itemset mining to sequential pattern mining. We start by showing a negative example: in the context of frequent sequences, the notion of non-derivability is meaningless. Therefore, we extend our focus to the mining of conjunctions of sequences. Besides of being of practical importance, this class of patterns has some nice theoretical properties. Based on a new unexploited theoretical definition of equivalence classes for sequential patterns, we are able to extend the notion of a non-derivable itemset to the sequence domain. We present a new depth-first approach to mine non-derivable conjunctive sequential patterns and show its use in mining association rules for sequences. This approach is based on a well known combinatorial theorem: the Möbius inversion. A performance study using both synthetic and real datasets illustrates the efficiency of our mining algorithm. These new introduced patterns have a high-potential for real-life applications, especially for network monitoring and biomedical fields with the ability to get sequential association rules with all the classical statistical metrics such as confidence, conviction, lift etc. 相似文献