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1.
In this paper, the special construction of a parallel robot, called spatial servopneumatic multi-axis test facility, will be discussed. The investigations include the following aspects: (i) the laboratory set-up of the robot, (ii) various results obtained in laboratory experiments, taking into account quite different control algorithms and command-input signals, (iii) a comparison of the laboratory experiments with the computer simulations of Part I of this paper, and ({vi}) a quality check of the results compared with the cost of the different controller realizations. The results of both the computer simulations and the laboratory experiments show: (i) The dynamic behavior of the parallel structure can be tremendously improved by using sophisticated nonlinear control algorithms. (ii) This improvement has to be paid by a drastically increased amount of work for deriving the model equations and control algorithms, and by augmented hardware cost of the sensing elements and controller electronics. (iii) Carefully developed model equations and identified model parameters provide theoretical models of the complex parallel structure that are very close to reality. This enables the design engineer to systematically investigate constructive alternatives of the design parameters, sensor and actuator concepts, and control strategies of the MAP prior to their hardware realization.This work has been supported by the German Science Foundation (DFG) under Contract No. Ha 1666/6-3. 相似文献
2.
Daniele Cauzzi Roberto Giordano Enrico Sappa Antonio Tiripicchio Marisa Tiripicchio Camellini 《Journal of Cluster Science》1993,4(3):279-296
The title complex (complex1) was the first alkyne-substituted triruthenium dihydrido cluster to be reported and was characterized by spectroscopy as a triangular cluster with the alkyne parallel to a Ru-Ru edge. Recently, we have found that1 is a key intermediate in the homogeneous hydrogenation of diphenylacetylene catalyzed by tetrahedral Ru4 and FeRu3 clusters. Since the discovery of1, a great number of complexes with alkynes parallel to a cluster edge have been reported; at present this is the more common bonding mode for alkynes on trinuclear clusters. The structural features of1 allow a comparison with those of other ruthenium-containing derivatives and help to draw suggestions of the role of1 in hydrogenation catalysis. 相似文献
3.
王胜奎 《数学的实践与认识》2006,36(5):5-10
根据松纵坑切梢小蠹的主要生物学特征,通过分析抚育间伐持续控制松纵坑切梢小蠹虫害的机理,应用复杂适应系统(CA S)理论,建立了模拟松纵坑切梢小蠹虫害的一种动态演化数学模型,并讨论了模型的收敛性.然后选用昆明小哨林场为背景,进行了各种抚育间伐决策的仿真,从中优选抚育间伐决策.结果表明:模拟优化方案与实际调查统计分析结果一致:均为弱度间伐与中弱度间伐控制蠹害效果最好.最后通过森林积材量与虫害程度之间的优化,给出了抚育间伐的优化策略. 相似文献
4.
5.
The collision-generated hybridization which has been found responsible for the on-site mixing of the atomic-likef-state and the band-liked states in mixed valence solids has been studied for the cerium solid. A practical expression which depends on the lattice
constant and temperature has been obtained for the collision-generated hybridization. Numerical calculations show that the
valence varies continuously with lattice constant and that temperature makes the transition smoother. The collision-generated
hybridization is found to be of significant strength in the intermediate valence regime; but over a wide range of the valence
near 3.5 it varies rather slowly without preferring a particular valence. Factors which can assist the collision-generated
hybridization in stabilizing the mixed valence phase at a particular lattice constant are discussed. 相似文献
6.
7.
T. N. Sokolova V. R. Kartashov I. V. Timofeev Yu. K. Grishin N. S. Zefirov 《Russian Chemical Bulletin》1994,43(3):461-465
The dependence of the regiochemistry of the mercuration of bornylene on the nature of the mercurating reagent and on the solvent has been found. The structures of the intermediate and transition state in these reactions have been proposed.Translated fromIzvestiya Akademii Nauk. Seriya Khimicheskaya, No. 3, pp. 501–505, March, 1994. 相似文献
8.
9.
In this paper, based on known crystal structures of square pyramid (SP) and trigonal bipyramid (TBP) penta coordinated phosphorus compounds containing amino acid side chains, such as amino, carboxyl, hydroxyl or thiol, a software for survey the P(5)-structure of phosphorylated proteins was derived. By this software, it was found that 382 of 398 phosphorus related kinases (96%) from current PDB could go through the penta-coordinated phosphorus transition state or intermediate. 相似文献
10.
The phenomenological amplitude for the reaction πN→ππN fixed by fittings to the experimental data in the energy region 0.300 ≤P
Lab≤ 500 MeV/c is used for modelling the Chew–Low extrapolation and Olsson–Turner threshold approach. It is shown that the uncritical
application of the former results in enermous theoretical errors, the extracted values being in fact random numbers. The results
of the Olsson–Turner method are characterized by significant systematic errors coming from unknown details of the isobar physics.
Received: 10 December 1997 相似文献