Predictive control architecture for real-time image moments based servoing of robot manipulators

This paper presents a real-time architecture for visual servoing of robot manipulators using nonlinear based predictive control. In order to increase the robustness of the control algorithm, image moments were chosen to be the visual features which describe the objects from the image. A visual predictive architecture is designed to solve tasks addressed to robot manipulators with an eye-in-hand configuration. An implementation of the proposed architecture is done so that the capabilities of a 6 d.o.f robot manipulator are extended. The results of different experiments conducted with two types of image moments based controllers (proportional and predictive with reference trajectory) are presented and discussed.     

Partitioned and Implicit–Explicit General Linear Methods for Ordinary Differential Equations

Implicit–explicit (IMEX) time stepping methods can efficiently solve differential equations with both stiff and nonstiff components. IMEX Runge–Kutta methods and IMEX linear multistep methods have been studied in the literature. In this paper we study new implicit–explicit methods of general linear type. We develop an order conditions theory for high stage order partitioned general linear methods (GLMs) that share the same abscissae, and show that no additional coupling order conditions are needed. Consequently, GLMs offer an excellent framework for the construction of multi-method integration algorithms. Next, we propose a family of IMEX schemes based on diagonally-implicit multi-stage integration methods and construct practical schemes of order up to three. Numerical results confirm the theoretical findings.     

Influence of alginite on the reflectance of vitrinite from Joadja,NSW, and some other coals and oil shales containing alginite

Reflectance data for vitrinite occurring in torbanites indicate that the mean maximum reflectance and the range of reflectance values are significantly lowered by the presence of alginite. This is the probable cause of apparently anomalous rank gradients in some deep oil exploration wells. Intermaceral effects need to be considered in assessing rank or maturity from vitrinite reflectance, and by inference, in most other methods. The interpretation of the cause of the effect is open to further study but the findings are highly significant in relation to coal utilization, oil and gas exploration, and studies of oil shales.     

Compatibility of polysaccharide/maleic copolymer blends. IV. Thermal behavior of hydroxypropyl cellulose‐containing blends

The compatibility of the hydroxypropyl cellulose (HPC) with maleic acid–vinyl acetate copolymer in the solid state was studied by thermogravimetry, thermo‐optical analysis, differential scanning calorimetry (DSC), Fourier transform infrared spectroscopy (FTIR), and optical microscopy. It was established that physical interactions are prevalent in blends with a high content of HPC, whereas chemical interactions predominate in blends with a medium and low content of HPC. By increasing the temperature, the thermochemical reactions are favored. Thermal properties are dependent on the mixing ratio of the components. © 2003 Wiley Periodicals, Inc. J Appl Polym Sci 88: 2585–2597, 2003     

4D video textures for interactive character appearance

4D Video Textures (4DVT) introduce a novel representation for rendering video‐realistic interactive character animation from a database of 4D actor performance captured in a multiple camera studio. 4D performance capture reconstructs dynamic shape and appearance over time but is limited to free‐viewpoint video replay of the same motion. Interactive animation from 4D performance capture has so far been limited to surface shape only. 4DVT is the final piece in the puzzle enabling video‐realistic interactive animation through two contributions: a layered view‐dependent texture map representation which supports efficient storage, transmission and rendering from multiple view video capture; and a rendering approach that combines multiple 4DVT sequences in a parametric motion space, maintaining video quality rendering of dynamic surface appearance whilst allowing high‐level interactive control of character motion and viewpoint. 4DVT is demonstrated for multiple characters and evaluated both quantitatively and through a user‐study which confirms that the visual quality of captured video is maintained. The 4DVT representation achieves >90% reduction in size and halves the rendering cost.     

Reynolds number scaling of flow in a Rushton turbine stirred tank. Part I—Mean flow, circular jet and tip vortex scaling

We consider scaling of flow within a stirred tank with increasing Reynolds number. Experimental results obtained from two different tanks of diameter 152.5 and 292.1 mm, with a Rushton turbine operating at a wide range of rotational speeds stirring the fluid, are considered. The Reynolds number ranges from 4000 to about 78,000. Phase-locked stereoscopic PIV measurements on three different vertical planes close to the impeller give phase-averaged mean flow on a cylindrical surface around the impeller. The scaling of θ- and plane-averaged radial, circumferential and axial mean velocity components is first explored. A theoretical model for the impeller-induced flow is used to extract the strength and size of the three dominant elements of the mean flow, namely the circumferential flow, the jet flow and the pairs of tip vortices. The scaling of these parameters with Reynolds number for the two different tanks is then obtained. The plane-averaged mean velocity scales with the blade tip velocity above a Reynolds number of about 15,000. However, parameters associated with the jet and tip vortices do not become Reynolds number independence until Re exceeds about 10⁵. The results for the two tanks exhibit similar Reynolds number dependence, however, a perfect collapse is not observed, suggesting a sensitive dependence of the mean flow to the finer details of the impeller.     

A systematic review of the potential hurdles of interoperability to the emergency services in major incidents: recommendations for solutions and alternatives

This study presents a narrative synthesis of a systematic literature review relating to multi-agency interoperability and major incident decision-making in high risk, high stake environments. The review methodology includes the identification of relevant studies, a critical appraisal of the concepts inherent in the main review question and a narrative synthesis of the central themes that relate to the study as a whole. The review firstly outlines what, currently, appear to be the perceived defining features of successful interoperability by using the SAFE-T phase model of major incident decision-making. It then considers whether these defining features are realistically achievable in major incident practice. Findings suggest that the current definition of an interoperable network is too demanding for the inherent complexity and dynamic nature of the major incident task environment. Individual teams tend to focus on agency-specific behaviour, as opposed to coordinated multi-team functioning, and so collective interoperability is not achieved. Inevitably, this reduces the ability to perform collaborative behaviours, including decision-making and action implementation. The paper concludes that aiming for the current conceptualisation of interoperability along a hierarchical command structure may actually inhibit effective decision-making. Instead, multi-agency systems would do better to work towards an improved understanding of a non-hierarchical and decentralised yet interoperable major incident management network. Recommendations include the need to relate theory and practice in the development of multi-agency decision-making via simulation-based training and to deepen our understanding of interoperability to prevent inertia in high risk, high stake major incident environments.     

1994年我国工程塑料进展

根据国内有关工程塑料的文献,报道了1994年国内热塑性树脂及塑料、热固性树脂及塑料、成型加工技术的进展,以及工程塑料在国民经济各个领域中的研究开发和应用。     

Gas-liquid mass transfer in three-phase fluidized beds with viscous pseudoplastic liquids

Liquid phase volumetric mass transfer coefficients for oxygen were determined in three-phase fluidized beds of 8 mm glass spheres fluidized by a cocurrent flow of air and pseudoplastic polysaccharide solutions (carboxymethyl cellulose, xanthan). A semi-theoretical relation for the effective shear rate was suggested. The mass transfer coefficients could be correlated, together with literature data for particle diameters of 3 mm and 5 mm in other liquids, using the terminal velocity as the particle-specific property.     

Alpha olefin sulfonates from a commercial SO3-Air reactor

Alpha olefin sulfonate (AOS) can be made by SO₃-air sulfonation of straight chain alpha olefins followed by saponification of the neutralized product. The sulfonation step forms unsaturated sulfonic acids, sultones and sultone sulfonic acids. Hydrolysis of the various sultones yields a mixture of unsaturated and hydroxy sulfonates. Sulfonation of commercial mixtures of straight chain alpha olefins in a large-scale SO₃ falling film unit has given AOS of 1.5–3.0% oil based on active content and tristimulus color of about 40% saturation (2% solution) which is readily bleachable with 1–3% NaOCl to about 10–15% saturation. Performance of AOS made from C₁₅−C₁₈ alpha olefin is comparable to that of the high-foaming C₁₁−C₁₄ LAS in both detergency and dishwashing foam. It is superior to similar products made from internal straight chain olefins. The product shows a low order of toxicity and biodegrad-ability slightly better than that of LAS. A C₁₅−C₁₆ AOS blend is especially attractive in liquid detergent formulations. Presented at the AOCS Meeting, Los Angeles, April 1966.