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2.
On the existence and synthesis of multifinger positive grips 总被引:5,自引:0,他引:5
We study the criteria under which an object can be gripped by a multifingered dexterous hand, assuming no static friction between the object and the fingers; such grips are calledpositive grips. We study three cases in detail: (i) the body is at equilibrium, (ii) the body is under some constant external force/torque, and (iii) the body is under a varying external force/torque. In each case we obtain tight bounds on the number of fingers needed to obtain grip.We also present efficient algorithms to synthesize such positive grips for bounded polyhedral/polygonal objects; the number of fingers employed in the grips synthesized by our algorithms match the above bounds. The algorithms run in time linear in the number of faces/sides.The paper may be of independent interest for its presentation of algorithms arising in the study of positive linear spaces.Work on this paper has been supported by Office of Naval Research Grant N00014-82-K.-0381, National Science Foundation Grant No. NSF-DCR-83-20085, and by grants from the Digital Equipment Corporation, and the IBM Corporation. 相似文献
3.
由于底水正韵律油藏的特殊性,在油藏开发后期,实施提高采收率的常规方法难以达到预期效果,油藏挖潜困难。在对羊二庄油田-断块Ⅲ5油藏地质特点分析的基础上。对开发历史上采用的各种治理手段,对断块油藏开发效果进行评价。并利用油藏数值模拟、精细油藏描述等技术,通过对油藏进行油水运移规律、底水油藏数值模拟等研究,得出油藏剩余油分布结论,进一步制定了符合油藏实际情况并在目前技术条件下可以实施的治理方法,目前已实施并取得成功。 相似文献
4.
Crystallization and thermoelectric properties of poly(ε-caprolactone) (PCL)/poly(vinyl butyral) (PVB)/montmorillonite (MMT) nanocomposites containing carbon black (CB) have been studied as a functions of a small amount of amorphous PVB content and a wide range of molecular weight of PVB. X-ray diffraction data of PCL/PVB/MMT nanocomposites indicates most of the swellable silicate layers are exfoliated and randomly dispersed into PCL/PVB system. The band spacings of PCL spherulites in PCL/PVB/MMT nanocomposites decrease with increasing PVB content, and this indicates that increasing the PVB content greatly shortens the period of lamellar twisting. The presence of 1 wt% MMT and higher molecular weight of PVB also shorten the period of PCL lamellar twisting. Nucleation and crystallization parameters, such as growth rate G and Avrami exponent n, can be determined by using POM and DSC isothermally crystallized at 41 °C. For samples with the same CB content, the intensity of positive temperature coefficient (PTC) (IPTC, defined as the ratio of peak resistivity to resistivity at room temperature) of the nanocomposites was increased as the content and the molecular weight of PVB increases. The change of the PTC property related to the morphological difference (i.e. period of lamellar twisting) in the nanocomposites can be discussed. 相似文献
5.
行激励级电路的设计是完全为行输出级服务的,它实质上是行输出级电路设计的一个重要而不可分割的组成部分。因此行激励级电路的设计,自然采用了从显象管偏转线圈和行输出管到激励变压器和行激励级的倒推设计法。 相似文献
6.
Beck J. Gayle; Novy Diane M.; Diefenbach Gretchen J.; Stanley Melinda A.; Averill Patricia M.; Swann Alan C. 《Canadian Metallurgical Quarterly》2003,15(2):184
To examine affect and cognition in differentiating anxiety and depression, 83 older participants with generalized anxiety disorder completed the Cognitive Checklist (CCL) and the Positive and Negative Affect Schedule (PANAS). A 3-factor solution was found for the PANAS: positive affect (PA), anxiety and anger (Negative Affect 1 [NA-1]), and guilt and shame (Negative Affect 2 [NA-2]). A 2-factor structure was noted for the CCL. Correlations with anxiety and depression measures suggested that the CCL Depression (CCL-D) subscale showed stronger correlations with depression, whereas the CCL Anxiety subscale did not uniquely correlate with anxiety. The NA-1 subscale correlated positively with measures of depression and anxiety, whereas the PA subscale showed negative correlations. Hierarchical regression suggested that the CCL-D subscale was a significant predictor of self-reported depression. (PsycINFO Database Record (c) 2010 APA, all rights reserved) 相似文献
7.
In this paper, we consider the classical equations of the positive real lemma under the sole assumption that the state matrix A has unmixed spectrum: σ(A)∩σ(−A)=. Without any other system-theoretic assumption (observability, reachability, stability, etc.), we derive a necessary and sufficient condition for the solvability of the positive real lemma equations. 相似文献
8.
通过长期的工作实践,阐述了适当条件下的金扩散对缩短反向恢复时间,提高二极管2CK28开关速度,满足了反向恢复时间,改善了二极管的反向特性。 相似文献
9.
丁腈橡胶/导电粒子复合材料的正温度系数(PTC)特性 总被引:7,自引:0,他引:7
将导电粒子碳黑和铜粉分别与丁腈橡胶混合制备导电聚合物复合材料,其中碳黑(N550)/丁腈橡胶复合材料的电阻率随温度的变化呈现较强的正温度系数(PTC)效应。讨论了掺入导电粒子浓度、结构和表面性质以及混炼硫化工艺等对该类材料的室温电阻率及PTC效应的影响。 相似文献
10.
Spherical lithium manganese oxide spinel was synthesized by an ultrasonic spray pyrolysis method, and has been characterized using X-ray diffraction, scanning electron microscopy, transimission electron microscopy and electrochemical cycling at 3 V regions. The LiMn2O4 powders were composed of about 10 nm-sized primary particles. The delivered discharge capacity of the synthesized nano-material was 125 mAh g−1 between 2.4 and 3.5 V and its retention was about 96% upon 50 cycling. From the high resolution transmission electron microscopic study, it was found that structural transition of the parent material did not occur even after the 50th electrochemical cycling on the 3 V region. It seems that the reversible structural change is possible for nanocrystalline LiMn2O4 as observed by the X-ray diffraction and transition electron microscopic observations. 相似文献