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31.
    
In constrained motion control of a robot, the interaction force is an important variable, which directly describes the state of interaction. It is required in a number of algorithms for interaction control. Desirably, the interaction force has to be measured by force sensors. However, there are inherent limitations with force sensors, such as the cost, sensing noise, limited bandwidth, and the difficulty of physical location at the required place, which is dynamic. In the present paper, the interaction force is estimated by using high order sliding mode observers. An adaptive version of a high order sliding mode observer is developed to robustly reconstruct the interaction force. Experimental results are given to show the effectiveness of the developed algorithms.  相似文献   
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高速铁路铰接式列车车桥系统动力响应分析   总被引:5,自引:0,他引:5       下载免费PDF全文
根据铰接式车辆结构和悬挂形式的特点,建立了铰接车辆单元模型,以现有通用软件为基础直接生成桥梁模型的质量、刚度矩阵,并以实测轨道不平顺为系统激励,求解车桥耦合动力相互作用问题;以欧洲布鲁塞尔-巴黎高速铁路线上的Thalys铰接式列车通过Antoing桥为例,分析了桥梁的动挠度、竖向和横向加速度等动力响应及运行车辆的振动加速度响应,并对铰接式列车的振动特性进行了初步的探讨;最后通过现场试验对分析模型和计算结果进行了验证.  相似文献   
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The orbital control of geostationary satellites requires the periodic execution of manoeuvres for gravitational and solar radiation perturbation compensation. To maintain a fine control of the satellite position, it is usually sufficient to perform orbit corrections every two weeks, firing chemical thrusters. The operational load for the manoeuvre's planning and execution is usually quite low. Innovative technologies for station-keeping are available now, based on high efficiency ion thrusters, which allow a significant propellant saving. They are included in Artemis, a telecommunications satellite developed by the European Space Agency. When low acceleration ion thrusters are adopted, a near continuous orbit control is required; the resulting long firing arcs can be in conflict with some operational or technical constraints. The station-keeping planning is a critical process, since it is not based on periodic impulsive manoeuvres, but rather on quasi-continuous firings. Furthermore the orbit control should be planned more on a seasonal or a yearly cycle rather than on short weekly cycles. Since each manoeuvre is defined by its start time and duration, the total number of parameters involved in a station-keeping optimization process amounts to several tens. The presence of many variables and logical constraints makes the use of classical optimization methods quite complex. The model proposed here is based on genetic algorithms, which allows the convergence to an optimum solution through successive iterations, in which a random set of solutions is progressively selected on the basis of a factor of merit tailored to the target. This paper presents some innovative concepts for station-keeping optimization when ion propulsion is adopted for orbital control; furthermore, the general properties of genetic algorithms are discussed, together with the results obtained in the specific station-keeping application.  相似文献   
35.
A multivariate skimmilk extrusion process, designed to produce an acid coprecipitate was studied in terms of minimizing residual lactose, ash and fines. an experimental model system was utilized to simulate the extrusion process and evaluated using response surface methodology to assess the relationship between the responses (fines, residual lactose and minerals) and the process variables (concentration, pH, temperature, agitation, washing time and wash water ratio). Compromise optimum conditions were derived using the Generalized Distance Approach (GDA) and an Extended Response Surface Procedure (ERSP) which made use of the SAS RSREG procedure with and without constraints. the GDA procedure produced good results in terms of providing an optimum for a general acid casein process, while the ERSP allowed more extensive analysis of the data in terms of assessing specific processing conditions. Although more computing intensive, the ERSP conferred additional flexibility in determining optimal conditions for special situations such as extrusion processing. Both approaches are useful for process engineering, with the GDA being a more general tool while the ERSP is advantageous when the GDA procedure becomes limiting.  相似文献   
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BACKGROUND: The degree to which antithrombotic drugs suppress thrombin generation is unknown. Because hirudin, unlike antithrombin III, binds intravascular thrombin rapidly and selectively to yield a circulating inactive complex of 3- to 4-hour half-life, we used intravenous hirudin in humans to investigate the course of thrombin generation during and early after anticoagulation with this potent, direct antithrombin. METHODS AND RESULTS: Intravascular thrombin was measured with an ELISA for the thrombin-hirudin complex formed during and for 18 hours after stopping a 6-hour infusion of hirudin at 0.1, 0.2, and 0.3 mg.kg-1.h-1 in three groups of six patients each. With free hirudin in 20- to 10,000-fold molar excess of thrombin and peak activated partial thromboplastin times of 2.3 to 3.0 times baseline, mean plasma thrombin-hirudin complex increased from 794 +/- 85 pg/mL (mean +/- SEM) 15 minutes after the start of the infusion to 1617 +/- 151 pg/mL at 6 hours of infusion to 2667 +/- 654 pg/mL at 24 hours. During the 24-hour observation period, plasma concentration of fragment 1.2 (the peptide released during conversion of prothrombin to thrombin) never fell below baseline but rather increased transiently during the hirudin infusion. Plasma concentrations of thrombin-antithrombin III complex (in ng/mL) decreased from 4.34 +/- 0.40 at baseline to 1.64 +/- 0.13 at 6 hours (P < .001) and gradually increased after stopping the infusion to 5.7 +/- 0.87 at 24 hours (nonsignificant compared with baseline). CONCLUSIONS: Measurement of thrombin-hirudin complex may be used as a marker of thrombin generation in humans. Persistent accumulation of thrombin-hirudin complex and generation of fragment 1.2 during and after completion of potent anticoagulation with hirudin suggest thrombin generation is not blocked by high-affinity thrombin inhibition. The persistent formation of thrombin during declining plasma levels of hirudin may contribute to the pathogenesis of rethrombosis early after antithrombin therapy or during inadequate anticoagulation.  相似文献   
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The formation and reduction of passive layers on copper in weakly alkaline solutions saturated with N2 and O2 were studied. Voltammetric and ellipsometric techniques were employed to examine the structural characteristics of the layers formed in the –0.32 to 0.75 V vs RHE potential region. Optical measurements at open circuit potentials (Eoc) were also made to simulate operational conditions. The passive layer consists of a duplex structure: an outer hydrated copper oxide film and an inner dehydrated film. This inner layer is composed of Cu2O with a surface excess of Cu(ii) ions. The growth rate of the oxide layers at controlled potentials is higher in O2 saturated solution. The corrosion resistance of copper depends on the presence of O2 in the electrolyte, on the stirring rate and on the Eoc value.  相似文献   
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介绍了在合成氨改扩建工程中,选择氨合成塔时应着重考虑的工艺参数和结构设计,并在实际工作中得到验证。  相似文献   
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