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排序方式: 共有6100条查询结果,搜索用时 31 毫秒
51.
Martin Saska Tomáš Krajník Vojtěch Vonásek Zdeněk Kasl Vojtěch Spurný Libor Přeučil 《Journal of Intelligent and Robotic Systems》2014,73(1-4):603-622
A fault-tolerant method for stabilization and navigation of 3D heterogeneous formations is proposed in this paper. The presented Model Predictive Control (MPC) based approach enables to deploy compact formations of closely cooperating autonomous aerial and ground robots in surveillance scenarios without the necessity of a precise external localization. Instead, the proposed method relies on a top-view visual relative localization provided by the micro aerial vehicles flying above the ground robots and on a simple yet stable visual based navigation using images from an onboard monocular camera. The MPC based schema together with a fault detection and recovery mechanism provide a robust solution applicable in complex environments with static and dynamic obstacles. The core of the proposed leader-follower based formation driving method consists in a representation of the entire 3D formation as a convex hull projected along a desired path that has to be followed by the group. Such an approach provides non-collision solution and respects requirements of the direct visibility between the team members. The uninterrupted visibility is crucial for the employed top-view localization and therefore for the stabilization of the group. The proposed formation driving method and the fault recovery mechanisms are verified by simulations and hardware experiments presented in the paper. 相似文献
52.
Zoran ?ujovi? Radivoje Sreji? Dušan Vu?eli? Dragomir Vitorovi? Branimir Jovan?i?evi? 《Fuel》1995,74(12):1903-1909
A sample of kerogen from Aleksinac oil shale was examined by high-resolution solid-state 13C n.m.r. spectroscopy. The presence and relative proportions of kerogen structural units were estimated using a combination of NQS and T1C methods with a peak-synthesis technique applied to the 13C CP—MAS spectrum. Relaxation parameters from these experiments were used to estimate differences in relative ‘mobility’ of various structural units. The kerogen was found to be highly aliphatic and to contain 79% long-chain aliphatic plus alicyclic structures, as well as 9% aromatic structures. These findings are in good agreement with the characterization of the same kerogen from its oxidation products. 相似文献
53.
Iztok Švab Vojko Musil Ivan Šmit Matjaž Makarovič 《Polymer Engineering and Science》2007,47(11):1873-1880
Mechanical properties of isotactic polypropylene/wollastonite/styrene rubber block copolymers (iPP/wollastonite/SRBC) composites were studied as a function of elastomeric poly(styrene‐b‐ethylene‐co‐butylene‐b‐styrene) triblock copolymer (SEBS) and SEBS grafted with maleic anhydride (SEBS‐g‐MA) content from 0 to 20 vol%. Microphase morphology was stronger influenced by SRBC elastomers than by different wollastonite types. Higher encapsulation ability of SEBS‐g‐MA than SEBS caused more expressive core‐shell morphology and consequently higher notched impact strength as well as yield parameters, but lower Young's modulus. Higher ductility of the composites with SEBS than with SEBS‐g‐MA has been primarily caused by better miscibility of the polypropylene chains with SEBS molecules. Surface properties of components and adhesion parameters also indicated that adhesion at SEBS‐g‐MA/wollastonite interface, which was stronger than the one at the SEBS/wollastonite interface, influenced higher encapsulation of wollastonite particles by SEBS‐g‐MA. POLYM. ENG. SCI., 47:1873–1880, 2007. © 2007 Society of Plastics Engineers 相似文献
54.
An experimental study has been made of temperature profiles incident within a zeolite adsorbent particle in the course of adsorption of n-heptan. Using thermocouple wires 0.1 mm in diameter it has been possible to measure simultaneously the temperatures of the surface and in the centre. It was observed that temperature differences between center of the pellet and ambient stagnant gas may be more than 20°C. The results of this work indicate that the overheating of an adsorbent particle is a very rapid process which is followed by a slow cooling of the hot particle. Experimental data are compared with predictions calculated from the theoretical model. 相似文献
55.
Hae Jin Kim Jin Bae Lee Young-Min Kim Myung-Hwa Jung Z. Jagličić P. Umek J. Dolinšek 《Nanoscale research letters》2007,2(2):81-86
We present synthesis, structure and magnetic properties of structurally well-ordered single-crystalline β-MnO2 nanorods of 50–100 nm diameter and several μm length. Thorough structural characterization shows that the basic β-MnO2 material is covered by a thin surface layer (∼2.5 nm) of α-Mn2O3 phase with a reduced Mn valence that adds its own magnetic signal to the total magnetization of the β-MnO2 nanorods. The relatively complicated temperature-dependent magnetism of the nanorods can be explained in terms of a superposition
of bulk magnetic properties of spatially segregated β-MnO2 and α-Mn2O3 constituent phases and the soft ferromagnetism of the thin interface layer between these two phases. 相似文献
56.
Polymer Bulletin - Solutions of syndiotactic (s) poly (methyl methacrylate) (PMMA) and samples of solid s-PMMA prepared from these solutions were studied by NMR and infrared (IR) spectroscopy and... 相似文献
57.
Sintered negative electrodes for nickel-cadmium secondary cells were studied. Model electrodes prepared by means of three different impregnation methods were evaluated. It was demonstrated that the impregnation procedure may affect properties of active mass and the service life of electrodes in a significant way. 相似文献
58.
59.
Carsten Dachsbacher Jaroslav Křivánek Miloš Hašan Adam Arbree Bruce Walter Jan Novák 《Computer Graphics Forum》2014,33(1):88-104
Recent years have seen increasing attention and significant progress in many‐light rendering, a class of methods for efficient computation of global illumination. The many‐light formulation offers a unified mathematical framework for the problem reducing the full lighting transport simulation to the calculation of the direct illumination from many virtual light sources. These methods are unrivaled in their scalability: they are able to produce plausible images in a fraction of a second but also converge to the full solution over time. In this state‐of‐the‐art report, we give an easy‐to‐follow, introductory tutorial of the many‐light theory; provide a comprehensive, unified survey of the topic with a comparison of the main algorithms; discuss limitations regarding materials and light transport phenomena and present a vision to motivate and guide future research. We will cover both the fundamental concepts as well as improvements, extensions and applications of many‐light rendering. 相似文献
60.
The underpotential deposition of Bi on Au has been investigated by specular reflectance spectroscopy and linear sweep voltammetry. The spectral dependance of ΔR/R caused by Bi adatoms has been determined and compared with the calculated spectrum. A satisfactory agreement between experimental and calculated spectra was found. ΔR/R values have been used to determine the surface concentration of Biad which then has been used to calculate the electrosorption valence of Biad. It has been found that γBi = 2.6. The optical evidence of interaction of Bi ions with gold oxide has been obtained. 相似文献