Theoretical Investigation of Time Suboptimal Control of Industrial Manipulators Along Specified Paths

A method for the time suboptimal control of an industrial manipulator from an initial position and orientation to a final position and orientation as it moves along a specified path is proposed. Nonlinear system equations that describe the manipulator motion are linearized at each time step along the path. A method which gives the control inputs (joint angular velocities) for time suboptimal control of the manipulator is developed. In the formulation, joint angular velocity and acceleration limitations are also taken into consideration. A six degree of freedom elbow type manipulator is used in numerical examples to verify the method developed.     

F-X域粘弹性波动方程保幅偏移

提出了一种利用粘弹性声波波动方程进行偏移的新方法。其基本思路是,修改成像条件,使修改后的成像方程中考虑振幅补偿,然后利用粘弹性、单程波动方程在F-X域对震源和接收点波场进行延拓,进而完成散射、透射等补偿。理论数据处理和实际地震资料处理表明,该方法理论基础可靠,处理效果明显,能较好地解决实际地质问题。     

A Simon Effect With Stationary Moving Stimuli.

To clarify whether motion information per se has a separable influence on action control, the authors investigated whether irrelevant direction of motion of stimuli whose overall position was constant over time would affect manual left-right responses (i.e., reveal a motion-based Simon effect). In Experiments 1 and 2, significant Simon effects were obtained for sine-wave gratings moving in a stationary Gaussian window. In Experiment 3, a direction-based Simon effect with random-dot patterns was replicated, except that the perceived direction of motion was based on the displacement of single elements. Experiments 4 and 5 studied motion-based Simon effects to point-light figures that walked in place--displays requiring high-level analysis of global shape and local motion. Motion-based Simon effects occurred when the displays could be interpreted as an upright human walker, showing that a high-level representation of motion direction mediated the effects. Thus, the present study establishes links between high-level motion perception and action. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Psychological separation, attachment security, vocational self-concept crystallization, and career indecision: A structural equation analysis.

Structural equation modeling was used to test theoretically based models in which psychological separation and attachment security variables were related to career indecision and those relations were mediated through vocational self-concept crystallization. In contrast to previous studies, which have found either weak or no support for a relation between separation or attachment security variables and career indecision, results based on a sample of 350 college students indicated that some components of separation and attachment security did relate to career indecision in a theoretically supportable direction. Results also revealed that regardless of whether global or component career indecision measures were used, separation and attachment security effects on indecision were at least partially mediated through vocational self-concept crystallization. The strongest mediated relations were observed for the effects of attachment anxiety and maternal separation. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Threshold‐Based Camera Motion Characterization of MPEG Video

We propose an efficient scheme for camera motion characterization in MPEG‐compressed video. The proposed scheme detects six types of basic camera motions through threshold‐based qualitative interpretation, in which fixed thresholds are applied to motion model parameters estimated from MPEG motion vectors (MVs). The efficiency and robustness of the scheme are validated by the experiment with real compressed video sequences.     

动态规划模型在生产存贮中的应用

利用动态规划模型研究了生产管理中生产存贮问题的数学模型，给出了动态规划的最优性原理和动态规划基本方程，并给出了该数学模型求解的一个实例。     

The visual control of reaching and grasping: Binocular disparity and motion parallax.

The primary visual sources of depth and size information are binocular cues and motion parallax. Here, the authors determine the efficacy of these cues to control prehension by presenting them in isolation from other visual cues. When only binocular cues were available, reaches showed normal scaling of the transport and grasp components with object distance and size. However, when only motion parallax was available, only the transpont component scaled reliably. No additional increase in scaling was found when both cues were available simultaneously. Therefore, although equivalent information is available from binocular and motion parallax information, the latter may be of relatively limited use for the control of the grasp. Binocular disparity appears selectively important for the control of the grasp. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Ideal-gas thermodynamic properties for natural-gas applications

Calculating caloric properties from a thermal equation of state requires information such as isobaric heat capacities in the ideal-gas state as a function of temperature. In this work, values for the parameters of thec _p ⁰ correlation proposed by Aly and Lee were newly determined for 21 pure gases which are compounds of natural gas mixtures. The values of the parameters were adjusted to selectedc _p ⁰ data calculated from spectroscopic data for temperatures ranging from 10 to 1000 K. The data sources used are discussed and compared with literature data deduced from theoretic models and caloric measurements. The parameters presented will be applied in a current GERG project for evaluating equations of state (e.g., the AGA 8 equation) for their suitability for calculating caloric properties.     

电子直线加速器中计入纵向与横向耦合效应的束流包络线方程组

一、引言从束流动力学的观点出发,对于粒子束在直线加速器中的运动,有两种主要的分析方法,也即粒子轨迹跟踪法及考察束流包络运动的方法。前者是通过解单粒子运动方程,跟踪大量的单粒子运动轨迹而后进行分析;后者则是通过解束流的包络线方程,根据束流包络的变化来进     

泊松方程数值解法的加速收敛法

用数值方法对泊松方程求解时，往往要对迭代的中间结果作适当的压缩处理，以加快收敛速度和避免溢出。本文提出一种单一指数因子的非线性压缩法。一维数值模拟结果表明，平衡态时不必进行压缩处理。而在非平衡态时，最佳指数压缩因子的大小与杂质浓度有关。参考本文给出的数值计算结果，根据给定器件的杂质浓度分布，选定一最佳指数压缩因子，可以使泊松方程的数值求解过程具有最快的收敛速度。