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101.
How to Control Robots Interacting with Dynamic Environment 总被引:7,自引:0,他引:7
Miomir Vukobratović 《Journal of Intelligent and Robotic Systems》1997,19(2):119-152
The goal of this paper is to shed light on the control problem of constrained robot motion from the aspect of the dynamical nature of the environment with which the robot is in contact. Therefore, the criticism of traditional hybrid control which allows position/force feedback loops to split into independent control with respect to position and force, is not the main point we want to make. Reference to the papers written by the founders of hybrid control and their numerous followers served only to better understand the reason and motivation for suggesting a different approach to control of robots interacting with environment.The paper has a predominantly review character, based on recently published work. It also contains some new, unpublished results in the framework of the unified approach to the position/force control of robots, proposed by the present author and his co-workers. By pointing to the possibility of introducing an environment dynamics in the contact tasks of the machining type, the author emphasizes that the proposed dynamically interactive control can be applied to a completely different class of tasks, in which a contact is made between the system (constructions or structure) and very specific kinds of dynamic environments. 相似文献
102.
103.
泡沫铝的动态压缩性能和吸能性研究 总被引:9,自引:0,他引:9
通过测量泡沫铝在动态和准静态压缩条件下的应力 -应变曲线 ,研究了泡沫铝的准静态和动态压缩行为以及不同应变条件下的吸能性 ,并对其应变率效应进行了分析。结果表明 ,在高应变速率和准静态压缩下 ,泡沫铝的σ -ε曲线均表现出弹性变形段、平缓段和密实段三阶段特征 ;泡沫铝的压缩性能具有明显的应变速率敏感性 ,随应变速率的提高 ,流动应力上升 ,吸能性升高 相似文献
104.
采用美国PDI公司开发的PDI-S软件,对不同缺陷基桩的反射波法低应变动测曲线进行数值模拟,对动测曲线的特征进行归纳与总结,以便在解释反射波法曲线时作为参考与借鉴,提高基桩质量检测的可靠度。 相似文献
105.
106.
Yu. S. Gorbunov A. G. Ageev R. V. Vasil’eva B. M. Korol’kov 《Power Technology and Engineering (formerly Hydrotechnical Construction)》2007,41(3):166-170
A system for the direct measurement of steam flow in steam lines after a steam generator, which utilizes a special design
of pneumometric tubes and a computing unit that accounts for variation in steam pressure, has been developed to improve the
quality of water-level regulation in the steam generators of VVéR-1000 power-generating units in the stationary and transitional
modes. The advantage of the pneumometric tubes consists in their structural simplicity, high erosion resistance, and absence
of irrevocable losses during measurement of steam flow. A similar measurement system is used at foreign NPP. The measurement
system in question has been placed in experimental service at the No. 3 unit of the Balakovo NPP, and has demonstrated its
worthiness. This measurement system can also be used to determine steam flow in the steam lines of NPP units with VVéR-1000
and VVéR-440 reactors, and PBMK-1000 power-generating units.
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Translated from élektricheskie Stantsii, No. 3, March 2007, pp. 23–26. 相似文献
107.
Traditionally, companies used to view themselves as separate entities and did not devote efforts to collaborate with other echelons of the extended enterprise. This even happened at multi-site companies owning different plants that belonged to the same supply chain. However, manufacturing facilities of the same supply chain should intensively share information and coordinate planning and scheduling tasks in order to get a globally optimized solution. This paper discusses some specific characteristics of the planning and scheduling problem in the extended enterprise including an analysis of a case study, and reviews the available state-of-the-art research studies in this field. Most studies suggest that integrated approaches can have a significant impact on the system performance, in terms of lower production costs, and less inventory levels. The paper provides some conclusions and suggestions of future works. 相似文献
108.
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110.
泥岩压实动态分析法定量评价石油初次运移 总被引:3,自引:0,他引:3
在分析影响油气初次运移主要因素的基础上,剖析应用泥岩压实静态分析方法研究油气初次运移的局限性,提出应用泥岩压实动态分析方法定量评价油气初次运移的观点,并建立了相应的地质模型、数学模型和模拟流程。以栓辽盆地乾长凹陷为例,对主要烃源层青山口组进行压实动态分析,并估算其油气初次运移量,计算结果与其它多种方法计算结果以及前人计算结果十分接近。 相似文献