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51.
This paper focuses on the visual servo control of an uncalibrated robotic arm with an eye-in-hand camera. Without a prior knowledge of the kinematics of the robotic arm or camera calibration, the proposed hybrid Jacobian controller can track a moving object using visual feedback and joint-space velocity feedback. The proposed hybrid control method is a combination of the uncalibrated visual servoing and approximate Jacobian feedback control. First, the Jacobian matrix from joint-space to image-space is estimated by recursive least-squares (RLS) algorithm, and then the approximate Jacobian feedback controller is designed by using visual feedback and joint-space velocity feedback. The performances of the proposed control methods are illustrated by computer simulations. 相似文献
52.
Analyses of the mating-type ratio of protoplast monokaryons to spores in 28 strains of Lentinula edodes were performed through statistical methods. The results showed that the segregation distortion phenomenon commonly exists in both types of Lentinula edodes, 17 out of the 28 samples did not display the expected 1∶1 ratio of protoplast monokaryons; and among them 8 fruiting strains distorted 1∶1∶1∶1 segregation of spores. The degree of distortion in all tested wild strains was significantly lower than that of cultured strains. In fruiting test of positive-negative parent, predominant spores were those with the mating type identical to dikaryotic parent, indicating that the predominance of nuclei mainly depends on the mating type of dikaryotic parent. Data from di-mon mating test verified that monokaryons with acceptor nuclear type are present exclusively in a large amount after dedikaryotization, suggesting that the specificities among B factors and some other unknown factors in cytoplasm are probably responsible for the phenomenon of skewed segregation. 相似文献
53.
The optimal model and simulating model of the Hanjiang cascade reservoirs operation with one day as its calculating period are established to coordinate the contradictions between power generating and shipping. The optimal model is solved by progressive optimality algorithm method adopting the theory of large system decomposing and coordinating. By analyzing the water allocation results obtained from six schemes, which are two cascades, four cascades and seven cascades joint operation considering shipping or not, the contradiction degree between power generating and shipping is investigated and some joint operation schemes are proposed. 相似文献
54.
Computational fluid dynamics for dense gas-solid fluidized beds 总被引:11,自引:0,他引:11
Many computational fluid dynamics (CFD) models for describing the hydrodynamics of dense gas-solid flows in fluidized beds have been put forward in the past few decades. These models treat the solid phase as continuum or discrete particles, which leads to Eulerian-Eulerian or Eulerian-Lagrangian formulations, respectively. Different governing equations and closure relations essentially result from an insufficient understanding of the complex gas?particle and particle?particle interactions for gas?solid flows. The current status of these models is discussed briefly in this paper. All the approaches in the literature modify only the solid phase momentum balance equation introducing various forms of the solid phase stress tensor and the solid phase pressure drop in the Eulerian-Eulerian models. Taking them into consideration, a new model for predicting the fluid behavior of dense gas?solid flows in fluidized beds has been developed, which contains new terms in both the particle and gas phase momentum balance equations and requires only the use of an experimental drag force correlation. Several results are shown to verify the model’s reliability, which include the homogeneous fluidization of Geldart type A particles, the bubbling and jetting fluidization of Geldart type B particles in rectangular beds, and fluid dynamics in a complicated geometry for a bubbling?bed of a fast internally circulating fluidized?bed biomass gasifier. 相似文献
55.
Shanning DONG Long WU Nigel PATERSON Alan A. HEROD Denis R. DUGWELL Rafael KANDIYOTI 《自然科学进展(英文版)》2005,15(13):67-75
The aim of the work was to investigate the fate of injectant coal in blast furnaces and the origin of extractable materials in blast furnace carryover dusts. Two sets of samples including injectant coal and the corresponding carryover dusts from a full sized blast furnace and a pilot scale rig have been examined. The samples were extracted using 1-methyl-2-pyrrolidinone (NMP) solvent and the extracts studied by size exclusion chromatography (SEC). The blast furnace carryover dust extracts contained high molecular weight carbonaceous material, of apparent mass corresponding to 107?108 u, by polystyrene calibration. In contrast, the feed coke and char prepared in a wire mesh reactor under high temperature conditions did not give any extractable material. Meanwhile, controlled combustion experiments in a high-pressure wire mesh reactor suggest that the extent of combustion of injectant coal in the blast furnace tuyeres and raceways is limited by time of exposure and very low oxygen concentration. It is thus likely that the extractable, soot-like material in the blast furnace dust originated in tars is released by the injectant coal. Our results suggest that the unburned tars were thermally altered during the upward path within the furnace, giving rise to the formation of heavy molecular weight (soot-like) materials. 相似文献
56.
胡茂林 《安徽大学学报(自然科学版)》2003,27(2):4-9
研究在RN中的一般形式的P-拉普拉斯方程-div(|Du|p-2Du)=f(x,u)(N>P>1).在一定的条件下得到正确和多解.首先建立相应的变分范函,利用H lder和Sobolev不等式证明此范函满足Palais-Smale条件,然后利用爬山原理证明了解的存在性.最后利用严格最大值原理证明了正解的存在性. 相似文献
57.
HE Chenxia FENG Dengmin WU Wenjun DING Youfa CHEN Li CHEN Haoming YAO Jihua SHEN Qi LU Daru & XUE Jinglun . State Key Laboratory of Genetic Engineering Institute of Genetics School of Life Sciences Fudan University Shanghai China . Changhai Hospital The Second Military Medical University Shang-hai China . Hospital of Lishui Zhejiang China Correspondence should be addressed to Xue Jinglun 《科学通报(英文版)》2003,48(8)
The transfection of plasmid DNA into mammalian cells is an indispensable tool in the study of gene transfer and gene function. Since the original report in 1990 on the successful expression of a reporter gene in muscle[1], plasmid DNA injection has been widely used to mediate gene transfer study. As a gene transfer vector, naked DNA has many obvious advantages. It is easy and cheap to be prepared and more safe after transfection. But the plasmid mediated gene expression is low because of t… 相似文献
58.
分析了DV视频和1394采集卡的主要性能特点,介绍了基于PC的DV视频的采集和编辑技巧,为初学者提供一些解决影视编辑中常见问题的经验和方法。 相似文献
59.
60.
设计了数字化语音教室学生终端的解决方案,分析了硬件双核结构的特点,结合CPU两个内核不同的体系结构,在DSP内核上连接A/D,D/A模块实现语音信号I/O通道以及实时实现语音编解码算法,在ARM内核上移植了μC/OS-Ⅱ嵌入式操作系统,H.323应用系统、键盘,显示器等用户接口模块均由μC/OS-Ⅱ统一管理和调度,语音终端综合应用了嵌入式软件设计技术,多媒体技术,计算机微处理器技术和网络技术,也可以作为Internet网络多革体终端的基础。 相似文献