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An efficient path planning algorithm based on topologic method is presented in this paper.The collision free path planning for three-joint robotic arm consists of three parts:partition of C-space,construction of CN and search for a path in CN.We mainly solved the problems of partitioning the C-space and undging the connectivity between connected blocks,etc.For the motion planning of a robotic arm with a gripper,we developed the concepts of global planning and local planning,and discussed the basic factors for constructing the planning system.In the paper,some evaluation and analysis of the complexity and reliability of the algorithm are given,together with some ideas to improve the efficiency and increase the reliability.At last,some experimental results are pesented to show the efficency and accuracy of the algorithm. 相似文献
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Shizuo Arichi Noriyuki Sakamoto Shozo Himuro Mayumi Miki Masafumi Yoshida 《Polymer》1985,26(8):1175-1180
In order to obtain the additional data concerning the unperturbed dimension of poly-4-substituted styrene, light scattering measurements are performed on the twenty-two fractions with molecular weight of (0.91–352)·104 of poly(4-acetoxystyrene) in dioxan at 25°C, from which the molecular weight obtained was found easily to be evaluated with the gel permeation chromatography using THF. Phase separation experiments for this polymer indicate that the theta state is attained in isopropyl acetate at 19.7°C and butyl acetate at 26.8°C. By making viscosity measurements at that state, the value of KΘ is directly evaluated as 5.4·10?4 dl g?1. The limiting viscosity number is also obtained in good solvents, THF and dioxan, at 25°C and constants of the Mark-Houwink-Sakurada equation in each solvent are determined. Further, approximately the same KΘ as above is obtained from these data with the Stockmayer-Fixman plot. The calculated value of steric factor, 2.37, on this polymer may be plausible, compared with those of polyvinylaromatic derivatives. 相似文献
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系统备份及其误区分析 总被引:1,自引:0,他引:1
张军华 《微电子学与计算机》2002,19(9):34-35
文章对系统备份的几个主要方面进行了讨论,并在此基础上,对系统备分的若干认识误区进行了分析。 相似文献
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The author tested the hypothesis that a history of drug-induced antagonism of alcohol impairment would enhance alcohol tolerance in humans. Groups of participants (N = 21) repeatedly performed a psychomotor task under different drug treatments: 0.65 g/kg alcohol, 4 mg/kg caffeine, or both drugs combined. Tolerance to a 0.65 g/kg alcohol dose challenge was then tested. Results showed that a history of combined alcohol and caffeine administrations increased alcohol tolerance compared with an exposure history to either drug alone. The findings contribute to the understanding of the complexities of polydrug use history and provide a useful model to examine how alcohol tolerance might be affected by a history of coadministration with other drugs (e.g., cocaine and nicotine). (PsycINFO Database Record (c) 2010 APA, all rights reserved) 相似文献
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将近年来兴起的小波理论应用于影象分割技术,提出了一种基于影象直方图小波变换的影象分割方法,并从理论上给出了使用该法所得分割门限的物理意义。实例表明,这种由粗到细引导的多分辨率分析方法,对于复杂影象的分割具有较强的鲁棒性和有效性,克服了传统分割方法中的参数需要人工确定的缺点。 相似文献
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J Strother Moore 《Formal Aspects of Computing》1994,6(1):60-91
We present a formal model of asynchronous communication between two digital hardware devices. The model takes the form of a function in the Boyer-Moore logic. The function transforms the signal stream generated by one processor into that consumed by an independently clocked processor, given the phases and rates of the two clocks and the communications delay. The model can be used quantitatively to derive concrete performance bounds on communications at ISO protocol level 1 (physical level). We use the model to show that an 18-bit/cell biphase mark protocol reliably sends messages of arbitrary length between two processors provided the ratio of the clock rates is within 5% of unity. 相似文献