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91.
To perform assembly tasks requiring compliant manipulation, the robot must follow a motion trajectory and exert an appropriate force profile while making compliant contact with a dynamic environment. For this purpose, a generalized impedance in the task space consisting of a second-order function relating the motion errors and interaction force errors is introduced such that the contact force can be commanded and controlled. With generalized impedance control, the robot can behave with a desired dynamic characteristic when it interacts with the environment. To ensure the success of the assembly, a strategy during task planning which takes into consideration the interrelation between motion and force trajectories as well as contact compliance is introduced. The generalized impedance control method is applied to the prismatic joint of a selective compliance assembly robot arm (SCARA) robot for inserting a printed circuit board (PCB) into an edge connector socket. Depending on the progress of the parts joining operation, various amount of interaction forces are generated which have to be accommodated. It is demonstrated that an assembly strategy which consists of a sequence of carefully planned target impedance can enable the task to be executed in a desirable manner. The effectiveness of this approach is illustrated through experiments by comparing the results with those obtained using a well-established position control scheme as well as the original impedance control method 相似文献
92.
1. A case of poisoning due to the raw root tuber of a Chinese medicinal plant, Alocasia macrorrhiza is presented. 2. The patient developed neurological (severe pain and numbness in the perioral area and throat) and gastrointestinal (nausea, vomiting, abdominal pain) symptoms immediately after eating the root tuber. 3. A macrorrhiza has properties and morphology very similar to another medical plant. A. odora. The root tuber of the latter is known to contain a neurotoxin sapotoxin. 相似文献
93.
Wang H. Kwong S. Kok C.-W. Chan M.-Y. 《Vision, Image and Signal Processing, IEE Proceedings -》2006,153(5):677-683
A new analytical model to eliminate redundant discrete cosine transform (DCT) and quantisation (Q) computations in block-based video encoders is proposed. The dynamic ranges of the quantised DCT coefficients are analysed, then a threshold scheme is derived to determine whether the DCT and Q computations can be skipped without video quality degradation. In addition, fast DCT/inverse DCT (IDCT) algorithms are presented to implement the proposed analytical model. The proposed analytical model is compared with other comparable analytical models reported in the literature. Both the theoretical analysis and experimental results demonstrate that the proposed analytical model can greatly reduce the computational complexity of video encoding without any performance degradation and outperforms other analytical models 相似文献
94.
Total variation blind deconvolution 总被引:54,自引:0,他引:54
We present a blind deconvolution algorithm based on the total variational (TV) minimization method proposed by Acar and Vogel (1994). The motivation for regularizing with the TV norm is that it is extremely effective for recovering edges of images as well as some blurring functions, e.g., motion blur and out-of-focus blur. An alternating minimization (AM) implicit iterative scheme is devised to recover the image and simultaneously identify the point spread function (PSF). Numerical results indicate that the iterative scheme is quite robust, converges very fast (especially for discontinuous blur), and both the image and the PSF can be recovered under the presence of high noise level. Finally, we remark that PSFs without sharp edges, e.g., Gaussian blur, can also be identified through the TV approach. 相似文献
95.
A computationally efficient, obstacle avoidance algorithm for redundant robots is presented in this paper. This algorithm incorporates the neural networks and pseudodistance function D
p in the framework of resolved motion rate control. Thus, it is well suited for real-time implementation. Robot arm kinematic control is carried out by the Hopfield network. The connection weights of the network can be determined from the current value of Jacobian matrix at each sampling time, and joint velocity commands can be generated from the outputs of the network. The obstacle avoidance task is achieved by formulating the performance criterion as D
p>d
min (d
min represents the minimal distance between the redundant robot and obstacles). Its calculation is only related to some vertices which are used to model the robot and obstacles, and the computational times are nearly linear in the total number of vertices. Several simulation cases for a four-link planar manipulator are given to prove that the proposed collision-free trajectory planning scheme is efficient and practical. 相似文献
96.
The effect of Pseudomonas aeruginosa infection on clinical parameters in steady-state bronchiectasis
PL Ho KN Chan MS Ip WK Lam CS Ho KY Yuen KW Tsang 《Canadian Metallurgical Quarterly》1998,114(6):1594-1598
STUDY OBJECTIVE: To investigate the effect of Pseudomonas aeruginosa infection on clinical parameters in Chinese patients with noncystic fibrosis and steady-state bronchiectasis. DESIGN: Prospective, cross-sectional clinicomicrobiological study with informed consent. SETTING: Consecutive outpatient recruitment from a specialist bronchiectasis respiratory clinic. PATIENTS: Outpatients (n = 100; 62 women; 55.1+/-16.7 years old; FEV1/FVC 1.4+/-0.7/2.1+/-0.9 L), who had stable respiratory symptoms for more than 3 weeks. MEASUREMENTS AND RESULTS: Respiratory pathogens isolated from the sputum were: Pseudomonas aeruginosa (33), Haemophilus influenzae (10), Moraxella catarrhalis (2), other Gram-negative bacilli (5), Streptococcus pneumoniae (6), Staphylococcus aureus (5), mycobacteria (3), and yeast (1). Clinical parameters in patients with positive isolation of P aeruginosa were compared with those without the organism in the sputum culture (non-P aeruginosa). In the P aeruginosa group, the FEV1/FVC ratio and sputum volume were lower (p < 0.005) and higher (p < 0.0001), respectively, than those of the non-P aeruginosa group. The FEV1/FVC ratio (< 60%) and sputum volume (grading > 5) were independently associated with a positive sputum isolation of P aeruginosa with odds ratios of 3.1 (confidence interval [CI] 1.2 to 8.4; p < 0.01) and 4.7 (CI 1.6 to 13.3; p < 0.001), respectively. CONCLUSIONS: P aeruginosa is the predominant respiratory pathogen isolated in the sputum of Chinese patients with steady-state bronchiectasis, and its isolation is associated with high sputum output (> or = 75th quartile) and moderately severe airflow obstruction (FEV1/FVC < 60%). 相似文献
97.
As part of our studies on the structural and dynamic properties of hyperthermostable proteins, we have investigated the unfolding pathways of the small iron-sulfur protein rubredoxin from Pyrococcus furiosus (RdPf) at pH 2. Unfolding has been initiated by temperature jump, triggered by manual mixing of a concentrated protein solution into a thermally preequilibrated buffer. The process has been followed in real time by absorption, tryptophan fluorescence emission, and far-UV circular dichroism. Unlike the case of the mesophilic rubredoxin from Clostridium pasteurianum (RdCp), RdPf displays a complex unfolding kinetics, pointing to the formation of at least three intermediates. All of the steps, including the one involving metal ion release, are extremely slow. However, hydrophobic core relaxation--not Fe3+ loss--is rate-determining for RdPf unfolding. This clearly rules out the fact that Fe3+ is solely responsible for the kinetic stability of RdPf. Results have been discussed in terms of sequential vs parallel pathways, and the possible role of irreversible phenomena has been taken into consideration. Aggregation does not appear to play a significant role in the observed kinetic complexities. According to a proposed sequential mechanism, partial release of secondary structure elements precedes iron loss, which is then followed by further loss of beta-sheet content and, finally, by hydrophobic relaxation. Although the main features of the RdPf unfolding mechanism remain substantially unchanged over the experimentally accessible temperature range, final hydrophobic relaxation gets faster, relative to the other events, as the temperature is decreased. A qualitative assessment of the unfolding activation parameters suggests that this arises from the very low activation energies (Ea) that characterize this step. 相似文献
98.
KJ Barakat K Cheng WW Chan BS Butler TM Jacks KD Schleim DF Hora GJ Hickey RG Smith AA Patchett RP Nargund 《Canadian Metallurgical Quarterly》1998,8(11):1431-1436
A new class of potent, orally active phenyl piperazine-based GH secretagogues have been discovered from attempts to mimic the arrangement of the phenyl substituent in the spiroindanyl piperidine and spiroindoline sulfonamide privileged structures of 4 and 1, respectively. The best of these compounds, 18 (EC50 = 2.8 nM) is nearly as potent as MK-0677 for releasing GH from rat pituitary cells. 相似文献
99.
100.