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91.
Human can handle a deformable object and damp its vibration with recognized skill. However, for an industrial robot, handling a deformable object with acute vibration is often a difficult task. This paper addresses the problem of active damping skill for handling deformable linear objects (DLOs) by using a strategy inspired from human manipulation skills. The strategy is illustrated by several rules, which are explained by a fuzzy and a P controller. A proportional-integral-derivative (PID) controller is also employed to explain the rules as a comparison. The interpretations from controllers are translated into high level commands in a robotic language V+. A standard industrial robot with a force/torque sensor mounted on the wrist was employed to demonstrate the skill. Experimental results showed the fuzzy based damping skill is quite effective and stable even without any previous acknowledge of the deformable linear objects.Category (5) 相似文献
92.
渭河流域水利水保措施减水减沙效益初步分析 总被引:4,自引:1,他引:3
截止1989年底,渭河流域共有水库361座,塘坝2666座,引水有效灌溉面积40.4万公顷,治理总面积8136km~2,治理度17.1%。以1970年为效益计算起始年,并将全流域划分为18个片,分别采用水文法和水保法计算1970~1989年间各项水利水保措施减水减沙量及综合减水减沙效益。水文法算得的综合减水效益为24.1%,减沙效益为30.6%;水保法算得的结果相应为29.9%和30.8%,两者相近。 相似文献
93.
We look at the task of computing the time-evolution of a non-linear system for a long time, in our case under random external
influences. Our specific example is the fatigue evaluation of a wind turbine. To facilitate such a computation, we look at
a reduction of the computational effort by projecting everything on a low-dimensional basis. In this case we take the Karhunen-Loève
basis generated from running the model a little while under the random loading. It is important that the error which is caused
by this reduction process can be controlled. We estimate the error by dual or adjoint methods. This in turn allows the process
of model reduction to be performed adaptively.
Dedicated to the memory of Prof. Mike Crisfield, for his cheerfulness and cooperation as a colleague and friend over many
years. 相似文献
94.
一种高并行度的H.264帧内预测器的VLSI设计 总被引:3,自引:2,他引:1
分析了帧内预测的17种模式,对于每个4×4大小块的16个像素点的不同模式的预测公式之间的相同运算,采用数字强度缩减的方法去除计算的冗余,提出了一种高并行度的帧内预测器,可以每个时钟周期处理16个像素点的预测值。基于SMIC0.18μm工艺,用verilog对该设计进行了VLSI实现,综合后的电路的关键路径最大时延为10ns,电路规模不超过1.4万门,数据吞吐率可以达到1600Msamples/s。从实现结果来看,与采用可重构方法的设计相比,该设计在相同的并行度下减小了电路面积,简化了控制逻辑。 相似文献
95.
Guanghui Wang Lei Huang Rong Yu Nansheng Deng 《Journal of chemical technology and biotechnology (Oxford, Oxfordshire : 1986)》2008,83(5):601-608
BACKGROUND: Endocrine disruptors in the aquatic environment and their potential adverse effects are currently issues of concern. One of these endocrine disruptors is 2,2‐bis(4‐hydroxy‐3‐methylphenyl)propane (BPP). In this work the molecular recognition interaction of BPP with β‐cyclodextrin (β‐CD) was studied using IR spectroscopy and steady state fluorescence spectroscopy, and the photocatalytic degradation behaviour of BPP based on molecular recognition interaction was investigated in a TiO2/UV–visible (λmax = 365 nm) system. This might provide a new method for the treatment of some organic pollutants in wastewater. RESULTS: β‐CD reacts with BPP to form a 1:1 inclusion complex, the formation constant of which is 4.94 × 103 L mol?1. The photodegradation rate constant of BPP after molecular recognition by β‐CD showed a 1.42‐fold increase in the TiO2/UV–visible (λmax = 365 nm) system. The photodegradation of BPP depended on the concentration of β‐CD, the pH value, the gaseous medium and the initial concentration of BPP. The photodegradation efficiency of BPP with molecular recognition was higher than that without molecular recognition. After 100 min of irradiation the mineralisation efficiency of BPP after molecular recognition by β‐CD reached 94.8%, whereas the mineralisation efficiency of BPP before molecular recognition by β‐CD was only 40.6%. CONCLUSION: The photocatalytic degradation of BPP after molecular recognition by β‐CD can be enhanced in the TiO2/UV‐visible (λmax = 365 nm) system. This enhancement is dependent on the enhancement of the adsorption of BPP, the moderate inclusion depth of BPP in the β‐CD cavity and the increase in the frontier electron density of BPP after molecular recognition. Copyright © 2008 Society of Chemical Industry 相似文献
96.
徐宝成 《石油化工安全环保技术》2006,22(1):31-34
有机过氧化物是烯烃聚合工业中重要的引发剂。针对烯烃聚合工业用有机过氧化物自分解温度低、易发生反应失控引发火灾爆炸等情况,简要叙述了有机过氧化物的结构、分类、化学性质以及反应特性,重点对其储存、使用、管理等过程中的危险性进行了分析。提出过氧化物储存、运输、使用、报废等方面的风险消减与事故预防措施。 相似文献
97.
Quality assessment of SRTM C- and X-band interferometric data: Implications for the retrieval of vegetation canopy height 总被引:1,自引:0,他引:1
The Shuttle Radar Topography Mission distinguished itself as the first near-global spaceborne mission to demonstrate direct sensitivity to vertical vegetation structure. Whether this sensitivity is viewed as exploitable signal or unwanted bias, a great deal of interest exists in retrieving vegetation canopy height information from the SRTM data. This study presents a comprehensive application-specific assessment of SRTM data quality, focusing on the characterization and mitigation of two primary sources of relative vertical error: uncompensated Shuttle mast motion and random phase noise. The assessment spans four test sites located in the upper Midwestern United States and examines the dependence of data quality on both frequency, i.e., C-band vs. X-band, and the number of acquired datatakes. The results indicate that the quality of SRTM data may be higher than previously thought. Novel mitigation strategies include a knowledge-based approach to sample averaging, which has the potential to reduce phase noise error by 43 to 80%. The strategies presented here are being implemented as part of an ongoing effort to produce regional- to continental-scale estimates of vegetation canopy height within the conterminous U.S. 相似文献
98.
Strength reduction factors (SRFs) continue to play a key role in obtaining design forces from elastic design spectra (via
response modification factors) in ductility-based earthquake-resistant design. Despite several years of sustained research
efforts, it has not been conclusively shown how SRF for a given singledegree-of-freedom structural system depends on various
source and site parameters. A parametric study is carried out here for the explicit dependence of SRF spectrum (describing
variation of SRF with system period for a given ductility demand) on strong motion duration, earthquake magnitude, geological
site conditions, and epicentral distance in case of (non-degrading) elasto-plastic oscillators. For this, scaled response
spectra are considered for different combinations of earthquake magnitude, site conditions and epicentral distance, and SRF
spectra are generated from 1274 accelerograms recorded in western USA after making those compatible with each of these spectra.
It is shown that there is no clear and significant dependence of SRF spectrum on strong motion duration. Further, the parametric
dependence on earthquake magnitude, site conditions, and epicentral distance broadly conforms to the trends reported by earlier
investigations. In particular, this study confirms that the dependence of SRF spectra on earthquake magnitude should not be
ignored.
This paper has been contributed in honour of Professor R N Iyengar, Indian Institute of Science, on the occasion of his formal
retirement. 相似文献
99.
Ahmad Nozad Golikand Elaheh Lohrasbi Mohammad Ghannadi Maragheh Mehdi Asgari 《Journal of Applied Electrochemistry》2008,38(6):869-874
The effect of carbon surface oxidation on platinum supported carbon particles (Pt/C) with nitric acid was investigated by
cyclic voltammetry, electrochemical impedance spectroscopy, polarization experiments and chronoamperometry. Cyclic voltammograms,
polarization curves and electrochemical impedance spectra showed that the treated catalyst had much larger active surface
area and higher ionic conductivity than the untreated catalyst, and provided enhanced performance for oxygen reduction. The
formation of acidic groups was examined by IR spectra. The Pt/C surface oxidation had a large effect on the performance of
a gas diffusion electrode for oxygen reduction reaction. 相似文献
100.
Namsin Park Takeyuki Shiraishi Kazuyoshi Kamisugi Yoshitaka Hara Keita Iizuka Takashi Kado Shuzi Hayase 《Journal of Applied Electrochemistry》2008,38(3):371-375
A direct ethanol fuel cell (DEFC), which is less prone to ethanol crossover, is reported. The cell consists of PtRu/C catalyst as the anode, Nafion® 117 membrane, and Ni–Co–Fe (NCF) composite catalyst as the cathode. The NCF catalyst was synthesized by mixing Ni, Co, and Fe complexes into a polymer matrix (melamine-formaldehyde resins), followed by heating the mixture at 800 °C under inert atmosphere. TEM and EDX experiments suggest that the NCF catalyst has alloy structures of Ni, Co and Fe. The catalytic activity of the NCF catalyst for the oxygen reduction reaction (ORR) was compared with that of commercially available Pt/C (CAP) catalyst at different ethanol concentrations. The decrease in open circuit voltage (Voc) of the DEFC equipped with the NCF catalysts was less than that of CAP catalyst at higher ethanol concentrations. The NCF catalyst was less prone to ethanol oxidation at cathode even when ethanol crossover occurred through the Nafion®117 film, which prevents voltage drop at the cathode. However, the CAP catalyst did oxidize ethanol at the cathode and caused a decrease in voltage at higher ethanol concentrations. 相似文献