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本文研究当机械臂的终端受有约束时的控制问题,其中心内容是给出“任务规范投影算子”的概念,利用它首先将机械臂的动态方程解耦为两组方程,它们分别描述了运动与约束力,在此基础上给出了机械臂的控制律,使闭环系统跟踪期望的速度与约束力。 相似文献
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G. Cortelazzo G. A. Mian R. Rinaldo 《Multidimensional Systems and Signal Processing》1992,3(2-3):131-160
Spectrum analyzers are ubiquitous in laboratory work concerning one dimensional signals. This is because linear operators are best examined in the frequency domain. Linear operators, such as linear filters, DCT coders, line shufflers, etc., dominate also the video systems scenario. Their frequency domain study is as appropriate and informative as it is in the case of their one-dimensional counterparts. This paper considers the problems associated with the introduction of two well-known spectral estimation techniques, the periodogram and AR estimates, to the context of television signals. The potential for application of spectral estimation to video problems is exemplified by a number of applications related to the fields of enhanced quality television and HDTV. Special attention is paid to the computational aspects, whose effective solution conditions the practical applicability of the proposed spectral estimation techniques.R. Rinaldo is currently at the Department of Electrical and Computer Engineering of the University of California, Berkeley. 相似文献
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Preretinal neovascularization and chronic retinal oedema are the two major sight-threatening complications that can occur during diabetic retinopathy. Ocular neovascularization is strongly associated with retinal ischaemia, and growth factors have been implicated in its pathogenesis. The ischaemic retina is assumed to secrete growth factors that stimulate residual vessels to proliferate. Interest has focused on basic fibroblast growth factor (bFGF), insulin-like growth factor-1 (IGF-1), platelet-derived growth factor (PDGF), transforming growth factor beta (TGF beta) and more recently vascular endothelial cell growth factor (VEGF). Histologic studies have demonstrated the presence of growth factor proteins and receptors and/or their mRNA, mainly VEGF, PDGF, and bFGF, in preretinal membranes of patients with proliferative diabetic retinopathy. Elevated intravitreal levels of IGF-1 and VEGF correlating with neovascular activity have been found in some patients. However, a direct causal relationship between ischaemia, growth factors and neovascularization has not been clearly demonstrated despite considerable research work. To date, the growth factor correlating most closely with neovascularization is VEGF. As many growth factors seem to be produced during the neovascular process, their specific inhibition probably will have limited effects. Laser photocoagulation of the retina has proved beneficial for regression of new vessels, probably through destruction of the ischaemic retina producing neovascular growth factors, and is currently the only treatment for proliferative diabetic retinopathy. Inhibition of IGF-1 by somatostatin analogs has produced unsatisfactory results. Other vascular inhibitors are currently being studied. 相似文献
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Design of robotic visual servo control based on neural network and genetic algorithm 总被引:1,自引:0,他引:1
A new visual servo control scheme for a robotic manipulator is presented in this paper, where a back propagation (BP) neural network is used to make a direct transition from image feature to joint angles without requiring robot kinematics and camera calibration. To speed up the convergence and avoid local minimum of the neural network, this paper uses a genetic algorithm to find the optimal initial weights and thresholds and then uses the BP algorithm to train the neural network according to the data given. The proposed method can effectively combine the good global searching ability of genetic algorithms with the accurate local searching feature of BP neural network. The Simulink model for PUMA560 robot visual servo system based on the improved BP neural network is built with the Robotics Toolbox of Matlab. The simulation results indicate that the proposed method can accelerate convergence of the image errors and provide a simple and effective way of robot control. 相似文献
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Xueming Niu Shuqian Wan Xiaona Rong Mian Lin Nabila Mehwish Kun Wei Bae Hoon Lee 《大分子材料与工程》2021,306(9):2100193
It remains a challenge to maintain the antiadhesion properties of superhydrophobic films after exposure to bacterial environments. In this work, superhydrophobic bactericidal polymer films via the simple incorporation of polyvinylpyrrolidone-iodine (PVP-I) or iodine into polytetrafluoroethylene (PTFE) are fabricated to improve their antiadhesive and antibacterial capability. Superhydrophobic iodine-embedded films, polytetrafluoroethylene/polyvinylpyrrolidone-iodine and polytetrafluoroethylene-iodine (PTFE/PVP-I and PTFE-I), show excellent antiadhesive and bactericidal performances even post exposure to bacterial solutions as compared to iodine-free counterparts by controlling the release of iodine. Especially, superhydrophobic PTFE/PVP-I films display a more sustained iodine release profile and significant antibacterial properties against gram-positive (S. aureus, methicillin-resistant S. aureus (MRSA)) and gram-negative (E. coli) bacteria. Such a facile combination of antiseptic agents and superhydrophobic surface could be widely used for antiseptic biomedical applications. 相似文献
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针对轴流式通风机调速节能的问题 ,从通风机全压方程入手 ,利用最优控制原理 ,推导出了调速控制的轴流式通风机最小能耗运行条件 ,为此类通风机调速节能运行提供了理论依据 相似文献
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DXF是AutoCAD与其他软件进行数据交换的CAD通用图形文件格式。实现了一种DXF读取方式并自动生成数控加工代码。传统算法的读取结果无序,不适用于实际加工,针对这一问题根据提取结果及位置关系生成图元轮廓树,并利用最近邻插入算法对图元轮廓优化排序,得到全局优化的最短切割路径,并通过实例证实了算法的有效性,能满足实际自动编程数控系统的工作需要。 相似文献