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1.
《Mechatronics》2021
Producing a stable and agile bionic eye for visual image acquisition in robotics is a challenging task. In this paper, we design a bionic eye with mirror-symmetric distribution and cross-connection of flexible ropes. This mechanism is based on oculomotor law and the physiological structure of the extraocular muscles (EOMs). Specifically, the basic structural parameters are determined by Listing’s law, and the unique connection of the flexible ropes can realize the functions of the recti and oblique muscles. Furthermore, to mimic the trochlea structure, a pulley mechanism is constructed to permit the free movement of the flexible ropes. Through simulation and physical experiments, it is demonstrated that the bionic eye mechanism can move with agility under the structural parameters. The experimental results indicate that the proposed bionic eye mechanism has a superior motion accuracy of 2.798 mm, which is 6.7% of the maximum motion distance, and the repeatable accuracy of the mechanism can up to 0.210 mm. 相似文献
2.
This paper considers a novel distributed iterative learning consensus control algorithm based on neural networks for the control of heterogeneous nonlinear multiagent systems. The system's unknown nonlinear function is approximated by suitable neural networks; the approximation error is countered by a robust term in the control. Two types of control algorithms, both of which utilize distributed learning laws, are provided to achieve consensus. In the provided control algorithms, the desired reference is considered to be an unknown factor and then estimated using the associated learning laws. The consensus convergence is proven by the composite energy function method. A numerical simulation is ultimately presented to demonstrate the efficacy of the proposed control schemes. 相似文献
3.
This paper summarizes the basics of pulsed thermal nondestructive testing (TNDT) including theoretical solutions, data processing algorithms and practical implementation. Typical defects are discussed along with 1D analytical and multi-dimensional numerical solutions. Special emphasis is focused on defect characterization by the use of inverse solutions. A list of TNDT terms is provided. Applications of active TNDT, mainly in the aerospace industry, are discussed briefly, and some trends in the further development of this technique are described. 相似文献
4.
地理空间信息网格调度技术,要比传统的高性能计算中的调度技术复杂,原因是如果将全部网格资源作为一个应用程序的调度和执行目标,必将导致通信延迟、成本昂贵、执行低效等。为此,综合考虑应用程序特性、机器特性等,研究设计了地理空间信息网格高性能调度技术中的应用程序调度模型,包括地理空间信息网格应用程序分析;资源特性分析;应用程序分解;性能预测;资源调度;机器选择;任务映射;任务调度;任务调度器和调度器管理模块。以实现为不同的应用程序匹配不同的计算资源,提高计算资源的利用率和应用程序的执行效率。 相似文献
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三峡船闸深槽开挖与锚固工程量大,工期紧,施工强度高,施工难度大。因此,合理的施工程序有利于边坡稳定和施工,是快速和高质量施工的关键。分析了永久船闸直立墙基坑开挖与锚固施工程序的复杂性和进行研究的必要性。介绍了设计阶段研究船闸开挖与锚固的施工程序。对施工过程中研究施工程序时考虑的因素,研究的主要内容以及实际采用的施工程序作了简要的分析,归纳和总结。 相似文献
8.
Vatroslav Bubalo Vjekoslav Jerolimov Ivo Bau
i Mladen Andreis Zorica Veksli 《Polymer International》2005,54(5):848-853
The electron‐spin‐resonance (ESR) spin‐probe method, was used to study the heterogeneity of denture resins based on poly(methyl methacrylate). Results for three resins processed by microwave energy, conventional curing and cold curing (depending on the curing procedure and exposed to ageing in various environmental conditions) were compared. All three cured resins were stored over the same time (1200 h) in distilled water at ambient temperature and in artificial saliva at 348 K. The temperature‐dependent ESR spectra of a spin probe dispersed in the denture resins are analyzed in terms of line‐shapes and line‐widths. The appearance of two spectral components was taken as an indication of resin heterogeneity. The results reveal that the cold‐cured resin has a lower local density in comparison with microwave and conventionally cured resin. The amount of residual monomer also contributes to the local motion of polymer segments. The change of denture resins exposed to ageing is influenced both by the structure of the original resin and the ageing conditions. Restricted motion of a spin probe incorporated into the acrylic resins exposed to accelerated ageing suggests additional crosslinking of polymer chains. The differences are observed for all the investigated resins, but the highest change is observed with the cold‐cured resin. The ESR results are accompanied by Tg and Tm measurements. Copyright © 2005 Society of Chemical Industry 相似文献
9.
本文所讲述的是美国国家公园服务中心在评估申请提案、制定审查方案过程中所应用的各种标准和准则 ,同时也列出了一些认识、保护未列入国家公园体系中其他重要资源的途径和方法。 相似文献
10.
Yong Xia Rongming Lin 《International journal for numerical methods in engineering》2004,59(1):153-172
Order reduction is a computationally efficient method to estimate some lowest eigenvalues and the corresponding eigenvectors of large structural systems by reducing the order of the original model to a smaller one. But its accuracy is limited to a small range of frequencies that depends on the selection of the retained degrees of freedom. This paper proposes a new iterative order reduction (IOR) technique to obtain accurately the eigensolutions of large structural systems. The technique retains all the inertia terms associated with the removed degrees of freedom. This hence leads to the reduced mass matrix being in an iterated form and the reduced stiffness matrix constant. From these mass and stiffness matrices, the eigensolutions of the reduced system can be obtained iteratively. On convergence the reduced system reproduces the eigensolutions of the original structure. A proof of the convergence property is also presented. Applications of the method to a practical GARTEUR structure as well as a plate have demonstrated that the proposed method is comparable to the commonly used Subspace Iteration method in terms of numerical accuracy. Moreover, it has been found that the proposed method is computationally more efficient than the Subspace Iteration method. Copyright © 2003 John Wiley & Sons, Ltd. 相似文献