Safety in the use of robotics outside factories or processing plants has become a matter of great international concern. Domestic robots and those intended to assist nurses and surgeons in hospitals are examples of cases where safety and reliability are considered critical. The safe performance of robot systems depends on many factors, including the integrity of the robot's hardware and software, the way it communicates with sensory and other production equipment, the reliable function of the safety features present and the way the robot interacts with its environment. The use of systematic techniques such as Fault and Event Tree analysis to examine the safety and reliability of a given robotic system is presented. Considerable knowledge is needed before the application of such analysis techniques can be translated into safety specifications or indeed ‘fail-safe’ design features of robotic systems. The skill and understanding required for the formulation of such specifications is demonstrated here based on a number of case studies. 相似文献
Rainfall forecasting plays many important role in water resources studies such as river training works and design of flood warning systems. Recent advancement in artificial intelligence and in particular techniques aimed at converting input to output for highly nonlinear, non-convex and dimensionalized processes such as rainfall field, provide an alternative approach for developing rainfall forecasting model. Artificial neural networks (ANNs), which perform a nonlinear mapping between inputs and outputs, are such a technique. Current literatures on artificial neural networks show that the selection of network architecture and its efficient training procedure are major obstacles for their daily usage. In this paper, feed-forward type networks will be developed to simulate the rainfall field and a so-called back propagation (BP) algorithm coupled with genetic algorithm (GA) will be used to train and optimize the networks. The technique will be implemented to forecast rainfall for a number of times using rainfall hyetograph of recording rain gauges in the Upper Parramatta catchment in the western suburbs of Sydney, Australia. Results of the study showed the structuring of ANN network with the input parameter selection, when coupled with GA, performed better compared to similar work of using ANN alone. 相似文献
Factors such as inhibitor concentration, solution hydrodynamics, and temperature influence the performance of corrosion inhibitor mixtures. The simultaneous studying of the impact of different factors is a time- and cost-consuming process. The use of experimental design methods can be useful in minimizing the number of experiments and finding local optimized conditions for factors under the investigation. In the present work, the inhibition performance of a three-component inhibitor mixture against corrosion of St37 steel rotating disk electrode, RDE, was studied. The mixture was composed of citric acid, lanthanum(III) nitrate, and tetrabutylammonium perchlorate. In order to decrease the number of experiments, the L16 Taguchi orthogonal array was used. The “control factors” were the concentration of each component and the rotation rate of RDE and the “response factor” was the inhibition efficiency. The scanning electron microscopy and energy dispersive x-ray spectroscopy techniques verified the formation of islands of adsorbed citrate complexes with lanthanum ions and insoluble lanthanum(III) hydroxide. From the Taguchi analysis results the mixture of 0.50 mM lanthanum(III) nitrate, 0.50 mM citric acid, and 2.0 mM tetrabutylammonium perchlorate under the electrode rotation rate of 1000 rpm was found as optimum conditions. 相似文献
Because of the major limitations in drinking water resources, the industries need to use unprocessed water sources for their cooling systems; these water resources contain major amount of hardening cations. So, mineral scales are formed in cooling water systems during the time and cause major problems. The use of green anti-scaling materials such as carboxylic acids is considered due to their low risks of environmental pollution. In the present work, the scale inhibition performance of tartaric acid as a green organic material was evaluated. Chemical screening tests, cathodic and anodic voltammetry measurements and electrochemical impedance spectroscopy (EIS), field emission scanning electron microscopy (FESEM), energy-dispersive x-ray and x-ray diffraction, were used for the evaluation of the scale inhibition performance. The results showed that tartaric acid can prevent calcium carbonate precipitation significantly. The hard water solution with 2.0 mM of tartaric acid indicated the highest scale inhibition efficiency (ca. 68%). The voltammetry, EIS and FESEM results verified that tartaric acid can form smooth and homogeneous film on steel surface through formation of Fe(III)-tartrate complexes and retard the local precipitation of calcium carbonate deposits. 相似文献
Efforts have been devoted to synthesize and characterize processable polymers with desired properties. Herein, four different series of aromatic and aliphatic terpolyamides were prepared via solution phase polycondensation of 4,4′-oxydianiline and hexamethylenediamine (HMDA) with various diacids chlorides (isophthalyol dichloride, terepthalyol dichloride, 1, 1′-ferrocene dicarboxylic acid chloride and trans-azobenzene-4, 4′-dicarbonyl chloride). The structural, morphological and physico-chemical nature of as prepared polymers was explored by Fourier-transform infrared spectroscopy, scanning electron microscopy, thermal analysis (TGA and DSC), and wide-angle x-ray diffraction. Moreover, an aliphatic diamine was incorporated in varying concentration as a flexible methylene spacer and the effect of its concentration on the properties of polyamides was also studied. Changes in various physico-chemical properties such as solubility, inherent viscosity, surface morphology and flame retarding behaviour were investigated. Marked difference in morphology and solubility was observed with the change in the ratio of segments in the chain. Inherent viscosities of polymers ranged from 1.8052–1.6274 dl/g indicating reasonably moderate molecular weights. Interestingly, ferrocene based aromatic polymers were more thermally stable (Tg 260 °C, Ti 310 °C, Th 525 °C, Tf 720 °C, for PF0), and also found to exhibit best flame retarding behavior (limiting oxygen index value for PF0is LOI 33.15%).
A series of nanocrystalline Li0.25Ni0.5Fe2.25−xErxO4 (x=0.00, 0.02, 0.06, 0.08, and 0.10) ferrite powders, having a cubic spinel crystal structure and a low value of coercivity, was synthesized by the sol–gel auto-combustion route. The structure, morphology and magnetic properties of the prepared nanoferrites were characterized by powder X-ray diffraction (XRD), scanning electron microscopy (SEM), transmission electron microscopy (TEM), and the magnetic property measurement system (MPMS). A well-defined single phase spinel structure is confirmed in all the samples by X-ray diffraction analysis. The lattice parameters of the samples increase slightly with increasing the erbium content. The crystallite size of the Er-doped samples is smaller than that of pure Li–Ni ferrite, and decrease regularly in the range of 36.0–14.5 nm. It has been observed that the magnetic properties of these ferrites are strongly influenced by the added erbium content. The magnetic measurements indicate that saturation magnetization (Ms) and coercivity (Hc) decrease gradually with the increase of Er content in the lattice. 相似文献
The authors aimed to design nanofibrous (NF) scaffolds that facilitate odontogenic and osteogenic differentiation of human dental pulp-derived mesenchymal stem cells (DPSCs) in vitro. For this purpose, hydroxyapatite (HA)–loaded poly (L-lactic acid)/poly (?-caprolactone) (PLLA:PCL 2;1) blend NFs were prepared using the electrospinning method. Alizarin red activity and cell viability were evaluated by MTT assay, and SEM revealed the proliferation properties of NF scaffolds. QRT-PCR results demonstrated that HA-loaded PLLA/PCL can lead to osteoblast/odontoblast differentiation in DPSCs through the up-regulation of related genes, thus indicating that electrospun biodegradable PCL/PLA/HA has remarkable prospects as scaffolds for bone and tooth tissue engineering. 相似文献
The inhibition performance of Basic yellow 13 dye on mild-steel corrosion in hydrochloric acid solution was studied at 25 °C
using weight loss and electrochemical techniques. The effect of inhibitor concentration on inhibition efficiency has been
studied. Inhibition efficiency increased with increase of Basic yellow 13 concentration. The results showed that this inhibitor
had good corrosion inhibition even at low concentrations (95% for 0.005 M Basic yellow 13) and its adsorption on mild-steel
surface obeys Langmuir isotherm. ΔGads was calculated and its negative value indicated spontaneous adsorption of the Basic yellow 13 molecules on the mild-steel
surface and strong interaction between inhibitor molecules and metal surface. The value of ΔGads was less than 40 kJmol−1, indicating electrostatic interaction between the charged inhibitor molecules and the charged metal surface, i.e., physical
adsorption. 相似文献
Stochastic Dynamic Programming (SDP) is widely used in reservoir operation problems. Besides its advantages, a few drawbacks have leaded many studies to improve its structure. Handling the infeasible conditions and curse of dimensionality are two major challenges in this method. The main goal of this paper is proposing a new method to avoid infeasible conditions and enhance the solution efficiency with new discretization procedure. For this purpose, an optimization module is incorporated into regular SDP structure, so that, near optimal values of state variables are determined based on the available constraints. The new method (RISDP) employs reliability concept to maximize the reservoir releases to satisfy the downstream demands. Applying the proposed technique improves the reservoir operating policies compared to regular SDP policies with the same assumptions of discretization. Simulation of reservoir operation in a real case study indicates about 15% improvement in objective function value and elimination of infeasible conditions by using RISDP operating policies. 相似文献