In the context of human-robot and robot-robot interactions, the better cooperation can be achieved by predicting the other party’s subsequent actions based on the current action of the other party. The time duration for adjustment is not sufficient provided by short term forecasting models to robots. A longer duration can by achieved by mid-term forecasting. But the mid-term forecasting models introduce the previous errors into the follow-up forecasting and amplified gradually, eventually invalidating the forecasting. A new mid-term forecasting with error suppression based on restricted Boltzmann machine(RBM) is proposed in this paper. The proposed model can suppress the error amplification by replacing the previous inputs with their features, which are retrieved by a deep belief network(DBN). Furthermore, a new mechanism is proposed to decide whether the forecasting result is accepted or not. The model is evaluated with several datasets. The reported experiments demonstrate the superior performance of the proposed model compared to the state-of-the-art approaches.
Microstructural observations of brittle materials indicated that a variety of microdefect events can be responsible not only for inelastic behaviour, but also for macroscopic crack front irregularity. This irregularity produces an increase in the fracture toughness of the material. In this paper, this irregularity is analysed by fractal geometry in a very simple manner; a fractal model of crack branching is established. Both microscopic and macroscopic analytical results show that the toughness can be raised appreciably as a fractal geometric effect of the irregularity.
Résumé Des observations microscopiques sur des matériaux fragiles ont montré qu'une variété d'évènements à l'échelle du microdéfaut peuvent être responsables non seulement du comportement inélastique, mais aussi de l'irrégularité du front d'une fissure macroscopique. Cette irrégularité provoque un accroissement de la ténacité à la rupture du matériau. Dans cette étude, on analyse de manière très simple cette irrégularité par fractogéométrie (Mandelbrot) et on établit un modèle fractal relatif à une fissure qui se ramifie. Les résultats de l'analyse microscopique et macroscopique montrent qu'un effet fractogéométrique de l'irrégularité du front de fissure est d'accroitre de manière appréciable la ténacité.
The equilibrium Ca3P2(s) = 3[Ca] + 2[P] was studied at 1600 ° by equilibrating liquid iron, saturated with Ca3P2, and contained in a TiN crucible, with Ca vapor. The source of Ca was liquid Ca contained in an Mo crucible, and the vapor
pressure of Ca was varied by varying the position of the Mo crucible in the temperature gradient of a vertical tube furnace.
A least-squares analysis of the data gave and. The simultaneous equilibria CaO(s) = [Ca] + [O] and CaS(s) = [Ca] + [S] were studied at 1600 ° by equilibrating liquid iron, contained in a pressed and sintered CaO-CaS crucible with
Ca vapor. The advantage of this technique is that two equilibrium constants,Kcas andKcao, and two interaction coefficients, and can be determined from one set of experiments. It was determined that, at 1600 °,Kcas = 5.9 × 10−8Kcao = 5.5 × 10−9,, and.
Formerly Graduate Students 相似文献
The characterization of LaxSr1−x MnO3 powders produced by spray pyrolysis using scanning electron microscopy (SEM) and transmission electron microscopy (TEM) observation,
specific surface area (Brunauer-Emett-Teller), and particle size distribution measurements shows that the resultant large
particles are loose agglomerates consisting of many small particles. However, the sintered tiny particles can form hard agglomerates,
and the particle size increases remarkably. The structures of the powders before and after sintering were identified by x-ray
diffraction (XRD). The study of the electrical property of the powder shows that the powder is a metallic conductor. In a
reducing atmosphere, the powder can be decomposed. When the powder is cofired with yttria-stabilized zirconia 5% (YSZ) powder
at 1200 °C for 5 h, no new phase is produced, and the powder remains a single provskite hexagonal-rhombohedral structure. 相似文献
1. IntroductionThe transition metal silicides have attraeted much attention because of their potentialapplicatiOIl in very large scale integration (VLSI) de.ice[1]. Near-noble metal silicides canbe used as Schottky al1d ohn1ic col1tacts in silicon-based d… 相似文献