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141.
This paper presents the results of a study in the design of a neural network based adaptive robotic control scheme. The neural network used here is a two hidden layer feedforward network and the learning scheme is the well-known backpropagation algorithm. The neural network essentially provides the inverse of the plant and acts in conjunction with a standard PD controller in the feedback loop. The objective of the controller is to accurately control the end position of a single link manipulator in the presence of large payload variations, variations in the link length and also variations in the damping constant. Based on results of this study, guidelines are presented in selecting the number of neurons in the hidden layers and also the parameters for the learning scheme used for training the network. Results also indicate that increasing the number of neurons in the hidden layer will improve the convergence speed of learning scheme up to a certain limit beyond which the addition of neurons will cause oscillations and instability. Guidelines for selecting the proper learning rate, momentum and fast backpropagation constant that ensure stability and convergence are presented. Also, a relationship between the r.m.s. error and the number of iterations used in training the neural network is established. 相似文献
142.
MULTI-PROJECT SCHEDULING WITH EXPLICIT LATENESS COSTS 总被引:5,自引:0,他引:5
We propose a heuristic procedure for planning and scheduling multiple projects subject to limited resource availabilities. We depart from previous research in that explicit lateness costs for each project are considered. Our procedure involves aggregate analysis using linear programming to determine target resource loading profiles for each project that optimize trade-offs of lateness costs among projects, followed by detailed multi-project scheduling consistent with the target profiles. Target profiles and detailed schedules are iteratively modified through N iterations, where N is the number of projects. The procedure can be used to jointly schedule previously committed and newly proposed projects, as well as to assign due dates to proposed projects. We compare the performance of our procedure to that of the traditional minimum slack heuristic, as well to a simple extension of the minimum slack rule that accounts for lateness costs. On a set of 60 multi-project test problems adapted from the Patterson set of single-project problems, results are very favorable for our proposed algorithm. 相似文献
143.
A new hybrid active power filter (APF) topology 总被引:12,自引:0,他引:12
In this paper, a new hybrid active power filter topology is presented. A higher-voltage, low-switching frequency insulated gate bipolar transistor (IGBT) inverter and a lower-voltage high-switching frequency metal oxide semiconductor field effect transistor (MOSFET) inverter are used in combination to achieve harmonic current compensation. The function of the IGBT inverter is to support utility fundamental voltage and to compensate for the fundamental reactive power. The MOSFET inverter fulfills the function of harmonic current compensation. To further reduce cost and to simplify control, the IGBT and MOSFET inverters share the same DC-link via a split capacitor bank. With this approach harmonics can be cancelled over a wide frequency range. Compared to the conventional APF topology, the proposed approach employs lower dc-link voltage and generates less noise. Simulation and experimental results show that the proposed active power filter topology is capable of compensating for the load harmonics 相似文献
144.
Certain new sulfide-smelting processes and coal-gasification processes generate high-strength sulfur dioxide streams, for
which a new process for converting sulfur dioxide to elemental sulfur needs to be developed because no process exists that
is generally and economically applicable to the treatment of such streams. A thermodynamic and experimental investigation
to develop a new process for converting sulfur dioxide to elemental sulfur by a cyclic process involving calcium sulfide and
calcium sulfate without generating secondary pollutants was carried out. In this process, the starting raw material, calcium
sulfate, is reduced by a suitable reducing agent, such as hydrogen, to produce calcium sulfide, which is used to reduce sulfur
dioxide to elemental sulfur vapor and calcium sulfate. The latter is, in turn, reduced to regenerate calcium sulfide. In this
Part I, detailed experimental results are presented on the kinetics of the reaction between sulfur dioxide and calcium-sulfide
pellets, which produces elemental sulfur and calcium sulfate. The experiments were carried out at temperatures between 1023
and 1088 K and sulfur-dioxide partial pressures between 9 and 60 kPa by the use of a thermogravimetric analysis (TGA) technique.
The rate of this reaction was demonstrated by the conversion of 40 pct calcium-sulfide pellets obtained from the hydrogen
reduction of fresh calcium sulfate in 10 minutes at 1073 K under a sulfur-dioxide partial pressure of 43 kPa. The reactivity
decreased somewhat during the first three cycles but remained largely unchanged thereafter up to the tenth cycle. This characteristic
of the pellets is important because the solids must be reusable for repeated cycles to avoid generating secondary pollutants.
A pore-blocking model was found to fit the reaction rate. The reaction is first order with respect to sulfur-dioxide partial
pressure and has an activation energy of 101 to 134 kJ/mol (24 to 32 kcal/mol) for calcium-sulfide pellets reacted and regenerated
several different times. Sulfur dioxide-containing streams from certain sources, such as the regenerator off-gas from an integrated-gasification,
combined-cycle, desulfurization unit and new sulfide-smelting plants, contain much higher partial pressures of SO2. In these cases, the rate of the first reaction is expected to be proportionally higher than in the test conditions reported
in this article. The reduction kinetics of calcium-sulfate pellets with hydrogen gas is reported in the accompanying Part
II. 相似文献
145.
Microbiological denitrification of red beet juice 总被引:1,自引:0,他引:1
Dorota Walkowiak-Tomczak 《European Food Research and Technology》2002,215(5):401-406
The purpose of study was the determination of optimal conditions for red beet juice denitrification by Paracoccus denitrificans bacteria as well as the evaluation of the usefulness of microbiologically treated juice for the production of a natural colouring preparation for foods. Total reduction of nitrates was found during bacterial culturing at 25 and 30 °C, at an initial pH of 7.0-8.0 and juice osmotic pressure of 900-1100 mOsm/kg. Microbiological denitrification procedure affected colour, taste and aroma of the juice. However, the use of juice as food colouring and component was made feasible by acidification and partial evaporation of water together with volatile substances. 相似文献
146.
Kim DeFronzo Haselhoff 《Journal of Urban Affairs》2002,24(4):425-443
I argue that the motivation for the San Fernando Valley secession movement can be explained as a desire for local control based on democratic ideals, but I emphasize that the movement is also motivated in part by the tangible benefits that accompany such autonomy. After a brief look at possible economic and racial motivations behind the secession movement, I look for a political divide between the city and the Valley, based on literature that has found political divisions between urban and suburban areas. Evidence of a political divide is mixed, but does indicate that the Valley lacks representation in comparison to the rest of the city. Valley residents may also fear increasing minority political power, which could erode the dominance of Valley whites at the polls. There is also evidence that those who favor secession are most dissatisfied with representation and most concerned with getting their fair share of services from the city, indicating a strong desire for more local control. Images of a smaller, more democratic government, and a more engaged local civic community are prime motivations in the Valley’s quest for autonomy, though the possibility of reduced taxes, land use control, and increased political power do offer secessionists clear substantive benefits in addition to more democratic goals. 相似文献
147.
Hyun-Goo Kim Wha-Nam Myung K. Sumiyama K. Suzuki 《Journal of Alloys and Compounds》2002,340(1-2):270-274
We report upon the chemical leaching and magnetic properties of nanoscale crystalline Al0.6(Co25Cu75)0.4 alloy powders produced by rod milling. X-Ray diffractometry (XRD), transmission electron microscopy, differential scanning calorimetry, vibrating sample magnetometry, and superconducting quantum interference device magnetometry were used to characterize the as-milled and leached specimens. After 400 h of milling, only the b.c.c. phase of the intermetallic compound γ-Al3.892Cu6.10808 was detected by XRD. After annealing the leached specimen at 600 °C for 1 h, the nanoscale crystalline phase was transformed into the f.c.c. Cu phase, and this was accompanied by a change in the magnetic properties. The peaks of the magnetization shifted towards lower temperature with increasing external field. The temperature behavior at Tf (45 K) for direct current (d.c.) magnetic susceptibility measurements was quite different for field cooling and zero-field cooling. After cooling the leached specimen from 800 °C, magnetization increased gradually. 相似文献
148.
Chuang-Yuan Lee Eun Sok Kim 《Journal of microelectromechanical systems》2006,15(4):745-755
This paper describes the design, fabrication, and characterization of the first MEMS piezoelectric tunable capacitors employing zinc oxide (ZnO) actuation. Relatively simple design rules for the device-structure optimization for largest deflection are shown from simulation results based on theoretical equations. The ZnO-actuated tunable capacitors are accordingly designed and fabricated with both surface and bulk micromachining techniques. Through the surface micromachining process, sacrificial silicon is removed with XeF/sub 2/, and parylene is successfully used as a supporting layer for a piezoelectric unimorph cantilever. For comparison, other two different structures using plasma-enhanced chemical-vapor deposition (PECVD) SiN and SU-8 as supporting layers are also fabricated. Deflection analyses are performed for three specific structures, among which the parylene-supported one is demonstrated to have the largest displacement and most suitable for tunable capacitor application. For bulk-micromachined tunable capacitor, we have implemented a novel design of a large structure driven by a ZnO unimorph, and obtained a tuning ratio of more than 21:1 (0.46 pF-10.02 pF). This is the highest tuning ratio reported to date for parallel-plate tunable capacitors while requiring an applied voltage of only 35 V. 相似文献
149.
150.
Woo Gon Kim Sung Ho Kim Woo Seog Ryu 《Journal of Mechanical Science and Technology》2002,16(11):1420-1427
The Monkman-Grant (M-G) and its modified parameters were evaluated for type 316LN and modified 9Cr-Mo stainless steels prepared
with minor element variations. Several sets of creep data for the two alloy systems were obtained by constant-load creep tests
in 550-650°C temperature range. The M-G parameters,m, m’,C, andC’ were proposed and discussed for the two alloy systems. Them value of the M-G relation was 0.90 in type 316LN steel and 0.84 in modified 9Cr-Mo steel. Them’, value of the modified relation was 0.94 in type 316LN steel and 0.89 in 9Cr-Mo steel. Although creep fracture modes and
creep properties between type 316LN and modified 9Cr-Mo steels showed a basic difference, the M-G and its modified relations
demonstrated linearity quite well. Them’ of modified relation almost overlapped regardless of the creep testing conditions and chemical variations in the two alloy
systems, and the parameterm’ was closer to unity than that of the M-G relation. 相似文献