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排序方式: 共有854条查询结果,搜索用时 0 毫秒
1.
Eduardo Freire Teodiano Bastos-Filho Mário Sarcinelli-Filho Ricardo Carelli 《IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics》2004,34(1):419-429
This paper proposes an alternative approach to address the problem of coordinating behaviors in mobile robot navigation: fusion of control signals. Such approach is based on a set of two decentralized information filters, which accomplish the data fusion involved. Besides these two fusion engines, control architectures designed according to this approach also embed a set of different controllers that generate reference signals for the robot linear and angular speeds. Such signals are delivered to the two decentralized information filters, which estimate suitable overall reference signals for the robot linear and angular speeds, respectively. Thus, the background for designing such control architectures is provided by the nonlinear systems theory, which makes this approach different from any other yet proposed. This background also allows checking control architectures designed according to the proposed approach for stability. Such analysis is carried out in the paper, and shows that the robot always reaches its final destination, in spite of either obstacles along its path or the environment layout. As an example, a control architecture is designed to guide a mobile robot in an experiment, whose results allows checking the good performance of the control architecture and validating the design approach proposed as well. 相似文献
2.
Specific interactions in blends containing Chitosan and functionalized polymers. Molecular dynamics simulations 总被引:2,自引:0,他引:2
Chitosan (CS)/poly(vinyl alcohol) (PVA) and Chitosan/poly(2-hydroxyethyl methacrylate) (P2HEM) blends have been studied through molecular dynamic simulations. In a previous work it was found miscibility between these polymers and it was attributed to hydrogen bonding formation. However, the experimental information obtained was not enough to know which of the interacting groups of Chitosan, i.e. -CH2OH or -NH2, are responsible of the interaction. Therefore, we have performed molecular dynamics simulation runs of 1 ns in order to calculate radial distribution functions (RDF) for the groups tentatively involved in the interaction. The results are correlated with our previous experimental data. This way, we have obtained a more precise conclusive information about the interactions involved as function of the blends composition. For low compositions of PVA and P2HEM the interaction is predominantly with the hydroxymethyl groups of CS while as the composition of PVA and P2HEM increases, the interaction with the amine groups increases. 相似文献
3.
Fernanda R C Damasceno Denise M G Freire Magali C Cammarota 《Journal of chemical technology and biotechnology (Oxford, Oxfordshire : 1986)》2008,83(5):730-738
BACKGROUND: The application of lipase‐rich enzyme pools (such as the crude solid enzymatic preparation (SEP) obtained from Penicillium restrictum solid‐state fermentation of agro‐industrial wastes) to activated sludge systems may be an effective strategy for preventing various operational problems. The continuous addition of SEP to the treatment system can become cost‐prohibitive when in situ production and/or storage are factored in. The application of SEP to high‐fat wastewater treatment would only be justified as an emergency measure, such as a sudden increase in the fat content of the bioreactor influent. Therefore, the primary objective of this work was to investigate the efficiency of a crude SEP during fat shock loads, simulated through the periodic addition of dairy industry waste containing high fat concentrations to the feed stock of an activated sludge system, operated in continuous mode. RESULTS: The test bioreactor exhibited a higher average chemical oxygen demand (COD) removal efficiency than the control bioreactor (83% for control and 90% for test) and the fat accumulation in the biological flocs of the test bioreactor was 3.2 times lower than that in the control bioreactor. Turbidity was also lower in the effluent of the test bioreactor (123 and 66 FTU in control and test, respectively) and it had a shorter recovery time between shock loads, especially when the interval between loads was shorter than one month (biweekly and weekly shock loads). CONCLUSION: The addition of SEP during fat overloads in the reactor feed maintained efficient COD removal in the test bioreactor for 270 days without any operational problems. Copyright © 2008 Society of Chemical Industry 相似文献
4.
The binding thermodynamics of the HIV-1 protease inhibitor acetyl pepstatin and the substrate Val-Ser-Gln-Asn-Tyr-Pro-Ile-Val-Gln, corresponding to one of the cleavage sites in the gag, gag-pol polyproteins, have been measured by direct microcalorimetric analysis. The results indicate that the binding of the peptide substrate or peptide inhibitor is entropically driven; i.e., it is characterized by an unfavorable enthalpy and a favorable entropy change, in agreement with a structure-based thermodynamic analysis based upon an empirical parameterization of the energetics. Dissection of the binding enthalpy indicates that the intrinsic interactions are favorable and that the unfavorable enthalpy originates from the energy cost of rearranging the flap region in the protease molecule. In addition, the binding is coupled to a negative heat capacity change. The dominant binding force is the increase in solvent entropy that accompanies the burial of a significant hydrophobic surface. Comparison of the binding energetics obtained for the substrate with that obtained for synthetic nonpeptide inhibitors indicates that the major difference is in the magnitude of the conformational entropy change. In solution, the peptide substrate has a higher flexibility than the synthetic inhibitors and therefore suffers a higher conformational entropy loss upon binding. This higher entropy loss accounts for the lower binding affinity of the substrate. On the other hand, due to its higher flexibility, the peptide substrate is more amenable to adapt to backbone rearrangements or subtle conformational changes induced by mutations in the protease. The synthetic inhibitors are less flexible, and their capacity to adapt is more restricted. The expected result is a more pronounced effect of mutations on the binding affinity of the synthetic inhibitors. On the basis of the thermodynamic differences in the mode of binding of substrate and synthetic inhibitors, it appears that a key factor to understanding resistance is given by the relative balance of the different forces that contribute to the binding free energy and, in particular, the balance between conformational and solvation entropy. 相似文献
5.
The Role of Network Topologies in the Optical Core of IP-over-WDM Networks with Static Wavelength Routing 总被引:3,自引:0,他引:3
Freire Mário M. Rodrigues Joel J.P.C. Coelho Rui M.F. 《Telecommunication Systems》2003,24(2-4):111-122
In this paper, we present a performance analysis of network topologies for the optical core of IP-over-WDM networks with static wavelength routing. The performance analysis is focused on regular degree four topologies, and, for comparison purposes, degree three topologies are also considered. It is shown that the increase of the nodal degree from three (degree three topology with smallest diameter) to four (degree four topology with smallest diameter) improves the network performance if a larger number of wavelengths per link is available. However, the influence of wavelength interchange on the nodal degree gain is small. The performance of regular degree four topologies with smallest diameter is also compared with the performance of mesh–torus topologies (which are also degree four topologies), and it is shown that the blocking probability of degree four topologies with smallest diameter is about two orders of magnitude lower than the blocking probability of mesh–torus topologies. It is also presented a performance comparison of WDM-based networks with nodal degrees ranging from two to five and it is shown that the increase of the nodal degree from two to three leads to high nodal degree gains, while de increase of the nodal degree from four to five leads to low nodal degree gains. These results show that degree three and degree four topologies are very attractive for use in the optical core of IP-over-WDM networks. 相似文献
6.
Lima A.M.N. Deep G.S. Neto J.S.R. Freire R.C.S. Lobo P.C. 《IEEE transactions on instrumentation and measurement》1994,43(2):133-138
An identification procedure to estimate the parameters of a thermoresistive solar radiation sensor is presented. The proposed technique employs only electrical excitation for the sensor. The estimation algorithm is recursive and is applied to the sensor model derived from the thermodynamic equilibrium differential equations. The simulation and the experimental results demonstrate the validity of the proposed approach 相似文献
7.
8.
The main goal of this work is to find the best way to represent the equilibrium conditions between soybean and air. The experimental study was based on the static method using saturated salt solutions in order to regulate the vapour pressure of the air surrounding the grains. We developed a discrimination study among some ensting equations used for grains. To discriminate these equations we explored some non-linearity measures. The obtained results showed that the Halsey modified equation was the best model in terms of nonsignifiance for bias and non-linearity measures. The distribution for the estimated parameters. using simulation procedures, also showed good normal behavior for the Halsey equation. 相似文献
9.
When immersed in a disturbing electromagnetic field, electronic systems are subject to interference due to the energy injected by the external field into the system through the electronic units and, especially, through the transmission lines connecting units one another. The issue of reducing the unwanted energy injection through connecting transmission lines is addressed in this contribution from the point of view of the routing, i.e. of the disposition of the connecting lines that minimizes the injection. The problem is formulated as an optimization problem, dealt with by the simulated annealing minimization technique combined with an efficient way of computing the field coupling to the lines. Results are reported for various cases, and the relation between the characteristics of the interfering field and the efficiency of the reduction is discussed. 相似文献
10.
Compagnucci Ivan Corradini Flavio Fornari Fabrizio Polini Andrea Re Barbara Tiezzi Francesco 《Software and Systems Modeling》2023,22(3):969-1004
Software and Systems Modeling - The Internet of things has been adopted in several sectors both influencing how people work and enhancing organizations’ business processes. This resulted in... 相似文献