The accumulation of two independent, broadly applicable formulations for determining the boundary to manipulator workspaces, presented elsewhere, are compared in this paper. Insights gained from one method are used to explain behavior exhibited in the other. Results are also compared and validated. A numerical formulation based on continuation methods is used to map curves that are on the boundary of a manipulator workspace. Analytical criteria based on row rank deficiency criteria of the manipulator's analytical Jacobian are used to map a family of one-dimensional solution curves on the boundary. The other formulation, based on a similar rank-deficiency criteria, yields analytic boundaries parametrized in terms of surface patches on the boundary. Results concerning the applicability of the numerical method to open- and closed-loop systems are compared with those limited to the open-loop for the analytical method. Conclusions regarding the behavior of the manipulator on geometric entities characterized by singular curves, higher-order bifurcation points, and surfaces inside the workspace are drawn. Applicability of both methods and their limitations are also addressed. 相似文献
The sinuous antennas have a numerous applications in military and civil systems such as direction finding systems and reflector feeds due to their superior broadband characteristics and simultaneous polarization capability. In this paper, design, construction and measurements of planar sinuous antennas are investigated for 1–5 GHz frequency range. Feeding sections of this antenna are realized by using microstrip tapered baluns. We have determined the microstrip tapered balun dimensions using Ansoft HFSS-simulation program. The performances of the manufactured antenna are measured using HP vector network analyzer. Polarization patterns and return loss characteristics of the designed antenna that have been measured in anechoic chamber, are presented. 相似文献
A new methodology, called hybrid predictive dynamics (HPD), is introduced in this work to simulate human motion. HPD is defined as an optimization-based motion prediction approach in which the joint angle control points are unknowns in the equations of motion. Some of these control points are bounded by the experimental data. The joint torque and ground reaction forces are calculated by an inverse algorithm in the optimization procedure. Therefore, the proposed method is able to incorporate motion capture data into the formulation to predict natural and subject-specific human motions. Hybrid predictive dynamics includes three procedures, and each is a sub-optimization problem. First, the motion capture data are transferred from Cartesian space into joint space by using optimization-based inverse kinematics (IK) methodology. Secondly, joint profiles obtained from IK are interpolated by B-spline control points by using an error-minimization algorithm. Third, boundaries are built on the control points to represent specific joint profiles from experiments, and these boundaries are used to guide the predicted human motion. To predict more accurate motion, the boundaries can also be built on the kinetic variables if the experimental data are available. The efficiency of the method is demonstrated by simulating a box-lifting motion. The proposed method takes advantage of both prediction and tracking capabilities simultaneously, so that HPD has more applications in human motion prediction, especially towards clinical applications. 相似文献
A general optimization formulation for transition walking prediction using 3D skeletal model is presented. The formulation
is based on a previously presented one-step walking formulation (Xiang et al., Int J Numer Methods Eng 79:667–695, 2009b). Two basic transitions are studied: walk-to-stand and slow-to-fast walk. The slow-to-fast transition is used to connect
slow walk to fast walk by using a step-to-step transition formulation. In addition, the speed effects on the walk-to-stand
motion are investigated. The joint torques and ground reaction forces (GRF) are recovered and analyzed from the simulation.
For slow-to-fast walk transition, the predicted ground reaction forces in step transition is even larger than that of the
fast walk. The model shows good correlation with the experimental data for the lower extremities except for the standing ankle
profile. The optimal solution of transition simulation is obtained in a few minutes by using predictive dynamics method. 相似文献
Performance data are presented for methane oxidation on alumina-supported Pd, Pt, and Rh catalysts under both fuel-rich and fuel-lean conditions. Catalyst activity was measured in a micro-scale isothermal reactor at temperatures between 300 and 800 °C. Non-isothermal (near adiabatic) temperature and reaction data were obtained in a full-length (non-differential) sub-scale reactor operating at high pressure (0.9 MPa) and constant inlet temperature, simulating actual reactor operation in catalytic combustion applications.
Under fuel-lean conditions, Pd catalyst was the most active, although deactivation occurred above 650 °C, with reactivation upon cooling. Rh catalyst also deactivated above 750 °C, but did not reactivate. Pt catalyst was active above 600 °C. Fuel-lean reaction products were CO2 and H2O for all three catalysts.
The same catalysts tested under fuel-rich conditions demonstrated much higher activity. In addition, a ‘lightoff’ temperature was found (between 450 and 600 °C), where a stepwise increase in reaction rate was observed. Following ‘lightoff’ partial oxidation products (CO, H2) appeared in the mixture, and their concentration increased with increasing temperature. All three catalysts exhibited this behavior.
High-pressure (0.9 MPa) sub-scale reactor and combustor data are shown, demonstrating the benefits of fuel-rich operation over the catalyst for ultra-low emissions combustion. 相似文献
Boron nitride thin films have been deposited by plasma assisted chemical vapour deposition (PACVD) from non-toxic material and have been shown to have a high content of the cubic phase under certain conditions of substrate temperature and r.f. power, as measured by infrared absorption and refractive index. The electronic properties of these films have been measured and exhibited high resistivity and breakdown field strength. Al/BN/n-Si MIS diodes have been constructed and these show that the BN insulator contains negative charges. The interface state density is relatively low, however, and there is no Fermi level pinning within the bandgap 相似文献
Selecting ambient media services in a smart home monitoring environment is challenging. Services in such an environment should be ubiquitous, adaptive, and robust with respect to access and delivery. Many different techniques exist for selecting services in smart environments, for example, dynamic programming, genetic algorithms, and fuzzy logic. However, existing approaches to service selection fail to address the dynamic nature of the services and the requirement of considering the user context and user satisfaction. We address this issue by proposing an ant-inspired service selection framework based on dynamic user preferences and satisfaction. This ant-inspired approach is robust to failures and adaptive to dynamic context. The proposed framework enables different categories of residents (e.g., elderly people, fathers with children, mothers, and so on) to access various media services in such a way that their experiences are optimized with regard to their surrounding environment. Experimental results demonstrate the viability of the proposed framework. 相似文献
In ubiquitous computing environments, providing appropriate services and information to users at the right place in the right way is challenging for many reasons: different user interests, heterogeneous devices and services, dynamic networks, information overload, or differing privacy levels, for example. Agent technology is a paradigm expected to play an increasing role in complex computing environments, and due to the increasing popularity of social networking services, we expect to see the convergence of agent and social web technologies. The goal of this theme issue is to bring together state-of-the-art research contributions that examine the convergence of agent technologies and social networks for ubiquitous computing. 相似文献
The cytotoxicity of fullerene C60 particles on two mammalian cell lines, i.e. the Chinese hamster ovary (CHO) cells and the Madin-Darby canine kidney (MDCK) cells, has been investigated. Although innate fullerene particles have a very low solubility in deionized (DI) water, these particles can be dissolved in the tetrahydrofuran (THF) solvent at a great value. Further, the dissolved fullerene particles in the THF solvent could be extracted into a DI water solution at a significantly increased solubility. The formation of fullerene particle aggregates is believed to be the cause of the increased solubility. Results presented here show that once the concentration of the fullerene aggregates reaches a certain level, the cells start to die. The lethal dosage LD50, which is defined as the lowest fullerene concentration that results in a 50% cell death within 24 h, has been determined. Furthermore, the percentage of cell mortality increased with increasing fullerene concentration and incubation time yielding a negative effect on cell viability. These results, illustrated by atomic force microscopy (AFM), dynamic light scattering (DLS) and other microscopic techniques, will help to better understand the side effects of fullerene particles in mammalian cells. 相似文献