In this paper, we present a novel method to predict human motion, seeking to combine the advantages of both data-based and knowledge-based motion prediction methods. Our method relies on a database of captured motions for reference and introduces knowledge in the prediction in the form of a motion control law, which is followed while resembling the actually performed reference motion. The prediction is carried out by solving an optimization problem in which the following conditions are imposed to the motion: must fulfill the goals of the task; resemble the reference motion selected from the database; follow a knowledge-based dynamic motion control law; and ensure the dynamic equilibrium of the human model, considering its interactions with the environment. In this work, we apply the proposed method to a database of clutch pedal depression motions, and we present the results for three predictions. The method is validated by comparing the results of the prediction to motions actually performed in similar conditions. The predicted motions closely resemble the motions in the validation database and no significant differences have been noted either in the motion’s kinematics or in the motion’s dynamics. 相似文献
Sometimes the complex structures of nature inspire human constructions. Gothic construction has shown that forces can cross space along intricate paths that may even be arbitrary if correctly dimensioned. In some way, ribbed structures are like trees where the branches conduct forces instead of sap; they operate as branches and trunks descending by fractal ways. Here we discuss reciprocal tree-like fractal structures and the difficulty in their design and erection and solutions for constructive details, as well as the possible analytical questions and automatic generation by means of proper software. The results are shown in the design of the Natural Interpretation Centre in Melilla where we have proposed two connected trees like shown at figures included below. 相似文献
AbstractSewage treatment can be classified into three phases: liquid, gaseous, and solid. Treatment of solids is performed in several steps, and the greatest difficulty in removing water from sewage sludge is due to the bound water present in the sludge. Thus, biodrying, a drying method that can be classified as biological, has been recently applied to treat this type of waste. This review paper aims to report and compile data from 49 biodrying assays of sewage sludge found in the literature (through the present, 2019) into one synthesis table, to discuss and compare the numerous variables found in these papers and their implications for biodrying, and to suggest possibilities for future research. This paper additionally intends to improve knowledge of biodrying and to consequently contribute to the monitoring and understanding of the process. 相似文献
The role of La2O3 loading in Pd/Al2O3-La2O3 prepared by sol–gel on the catalytic properties in the NO reduction with H2 was studied. The catalysts were characterized by N2 physisorption, temperature-programmed reduction, differential thermal analysis, temperature-programmed oxidation and temperature-programmed desorption of NO.
The physicochemical properties of Pd catalysts as well as the catalytic activity and selectivity are modified by La2O3 inclusion. The selectivity depends on the NO/H2 molar ratio (GHSV = 72,000 h−1) and the extent of interaction between Pd and La2O3. At NO/H2 = 0.5, the catalysts show high N2 selectivity (60–75%) at temperatures lower than 250 °C. For NO/H2 = 1, the N2 selectivity is almost 100% mainly for high temperatures, and even in the presence of 10% H2O vapor. The high N2 selectivity indicates a high capability of the catalysts to dissociate NO upon adsorption. This property is attributed to the creation of new adsorption sites through the formation of a surface PdOx phase interacting with La2O3. The formation of this phase is favored by the spreading of PdO promoted by La2O3. DTA shows that the phase transformation takes place at temperatures of 280–350 °C, while TPO indicates that this phase transformation is related to the oxidation process of PdO: in the case of Pd/Al2O3 the O2 uptake is consistent with the oxidation of PdO to PdO2, and when La2O3 is present the O2 uptake exceeds that amount (1.5 times). La2O3 in Pd catalysts promotes also the oxidation of Pd and dissociative adsorption of NO mainly at low temperatures (<250 °C) favoring the formation of N2. 相似文献
Changes in fats during the ripening of 'chorizo'-a Spanish dry sausage- elaborated by traditional and industrial processes have been studied. Total free fatty acids (FFA), carbonyls, volatile fatty acids (acetic acid), TBA number and individual FFA were determined. A marked increase of total free fatty acids was observed, although an increase of rancidity was not detected. Except in one of the batches studied in which a rise in carbonyls was reported, these compounds remained unchanged during the ripening in the rest of the batches analysed. No significant change occurred in the proportions of different free fatty acids during ripening in both types of 'chorizo'. There was a marked increase of acetic acid during the first days of ripening followed by a slow fall in the ultimate stages. 相似文献
Multimedia Tools and Applications - It is proposed a forensic method for the capture device identification from digital images, which requires two elements: i) a digital image subject to... 相似文献
The “River Disease” (RD), a disorder impacting honeybee colonies located close to waterways with abundant riparian vegetation (including Sebastiania schottiana, Euphorbiaceae), kills newly hatched larvae. Forager bees from RD-affected colonies collect honeydew excretions from Epormenis cestri (Hemiptera: Flatidae), a planthopper feeding on trees of S. schottiana. First-instar honeybee larvae fed with this honeydew died. Thus, we postulated that the nectars of RD-affected colonies had a natural toxin coming from either E. cestri or S. schottiana. An untargeted metabolomics characterization of fresh nectars extracts from colonies with and without RD allowed to pinpoint xanthoxylin as one of the chemicals present in higher amounts in nectar from RD-affected colonies than in nectars from healthy colonies. Besides, xanthoxylin was also found in the aerial parts of S. schottiana and the honeydew excreted by E. cestri feeding on this tree. A larva feeding assay where xanthoxylin-enriched diets were offered to 1st instar larvae showed that larvae died in the same proportion as larvae did when offered enriched diets with nectars from RD-colonies. These findings demonstrate that a xenobiotic can mimic the RD syndrome in honeybee larvae and provide evidence of an interspecific flow of xanthoxylin among three trophic levels. Further, our results give information that can be considered when implementing measures to control this honeybee disease.