期刊文献+
共找到6篇文章
< 1 >
每页显示 20 50 100
采样数据交互的异构非完整轮式机器人集群连通保持切换编队控制
1
作者 陈晨 殷诗雨 +2 位作者 邱星星 邹文成 向峥嵘 《南京理工大学学报》 CAS CSCD 北大核心 2024年第5期615-625,634,F0002,共13页
轮式移动机器人作为一种体积小巧、操作灵活的机器人,广泛应用于工业、农业等领域。考虑到实际情况中,机器人间能够互相交流信息的通讯范围通常是有限制的,且存在非线性、非完整约束等特点,因此针对通讯范围受限的轮式移动机器人编队控... 轮式移动机器人作为一种体积小巧、操作灵活的机器人,广泛应用于工业、农业等领域。考虑到实际情况中,机器人间能够互相交流信息的通讯范围通常是有限制的,且存在非线性、非完整约束等特点,因此针对通讯范围受限的轮式移动机器人编队控制问题的研究很有价值。面对复杂的任务和环境,需要多种机器人的配合,因此该文研究了异构的非完整轮式移动机器人集群,构建了一种采样数据交互模式。采样数据虚拟框架为实际机器人系统提供参考轨迹,降低了机器人之间的通讯要求,不再需要时刻保持通讯。采用含预设性能的控制方法设计了实际机器人的控制器,保证机器人的跟踪误差满足工程应用中期望的稳态性能与瞬态性能要求。最后,通过数值仿真和机器人操作系统(ROS)物理仿真实验验证了所设计控制协议的有效性。 展开更多
关键词 轮式移动机器人 连通保持一致性 编队控制 预设性能控制 采样数据控制 滑模控制
下载PDF
Effect of Different Ways of STPP Retarder Addition on Properties of Recycled Gypsum 被引量:2
2
作者 李志新 彭家惠 qiu xingxing 《Journal of Wuhan University of Technology(Materials Science)》 SCIE EI CAS 2017年第5期1125-1131,共7页
We analyzed the influence of sodium polyphosphate(STPP) on the performances of recycled gypsum(RG). This analysis was performed with two different ways of STPP addition: One was that the STPP was added into Plast... We analyzed the influence of sodium polyphosphate(STPP) on the performances of recycled gypsum(RG). This analysis was performed with two different ways of STPP addition: One was that the STPP was added into Plaster of Paris(POP), then recycled plaster(R-SP) was obtained after a series of processes and the other was that the STPP was directly put into recycled plaster(R-PS). The conclusions confirmed that STPP increased the water demand and delayed the hydration of R-PS. With regard to its hardened performance, STPP provided hardened recycled gypsum with a loose structure which led to the lower strength and higher water absorption than recycled plaster(R-P) without STPP. On the contrary, the water requirement and the setting time were decreased and shortened by STPP in R-SP, respectively. A dense structure was also possessed by R-SP which contributed to the high strength and low water absorption. The analysis shows that STPP is selectively chemisorbed on the(111) face of R-PS crystals, it inhibits the growth in c axis direction, resulting in the extending of setting time and the transformation of morphology, making the hardened R-PS crystals coarsened, which results in high W/P and low strength. Whereas the low W/P is made by both the rod-like crystals of low length-radius possessed by R-SP and the relatively high ζ-potential absolute value caused by –(PO_3Ca) on the surface of R-SP, leading to the complete development of crystals and their close overlapping, thus bringing about the increase of strength. 展开更多
关键词 recycled gypsum sodium polyphosphate adding ways properties
下载PDF
继电器动作时间对保护动作结果的影响 被引量:6
3
作者 王玮 邱星星 +3 位作者 张浩 臧伟 奚霁仲 张震 《安徽电气工程职业技术学院学报》 2022年第2期54-58,共5页
文章通过对单相流变爆炸最终引发失灵保护动作进行讨论,结合相关动作报文及故障录波信息,探讨了控制回路中不同继电器动作时间的配合对保护动作产生的影响,对现场作业中相关二次回路验收有重要意义。
关键词 失灵保护 继电器动作时间 二次回路验收
下载PDF
Grindability, Grading and Wettability of Recycled Plaste
4
作者 Li Zhixin Peng Jiahui +2 位作者 Zhao Haixin qiu xingxing Zhao Min 《Transactions of Tianjin University》 EI CAS 2016年第5期480-485,共6页
The changes of grindability, grading and wettability of recycled plaster(R-P)and the mechanisms of these changes were studied by using vickers hardness, particle size distribution(PSD), scanning electron microscope(SE... The changes of grindability, grading and wettability of recycled plaster(R-P)and the mechanisms of these changes were studied by using vickers hardness, particle size distribution(PSD), scanning electron microscope(SEM) and nitrogen adsorption porosimetry to reveal that R-P was obviously different from plaster of Paris(POP). At the same milling time, R-P had the characteristics of high specific surface area, fine particle diameter and uneven size distribution compared with POP, so R-P possessed both good grindability and poor grading. The water absorption, dissolution rate and mass loss in dry-wet cycle of the hardened recycled gypsum(hardened RG) increased, while the water saturated strength and dry-wet cycle strength decreased significantly compared with the hardened virgin gypsum(hardened VG). Therefore, poor wettability could be seen in R-P. The analyses indicated that the changes of grindability and grading could be attributed to the reduction in hardness and the increase in the porosity of hardened RG and that the poor wettability of R-P was caused by the increase of large pores and the changes of microstructure of hardened RG. 展开更多
关键词 recycled PLASTER GRINDABILITY GRADING WETTABILITY
下载PDF
一起相间短路引起站用变跳闸的分析
5
作者 邱星星 王玮 +4 位作者 许旵鹏 廖叔洋 张浩 王浩 奚霁仲 《安徽电气工程职业技术学院学报》 2021年第4期70-75,共6页
文章通过对变压器发生跳闸后的暂态现象分析,结合系统发生非对称故障的边界条件,对故障电流进行计算分析,确认为变压器绕组发生相间短路。该分析对同类型故障的快速定位有指导意义。
关键词 变压器保护 边界条件 相间短路
下载PDF
造物记忆与族群认同:闽台崇蛇习俗的内涵与演变探析 被引量:2
6
作者 罗礼平 丘星星 李永亮 《装饰》 CSSCI 北大核心 2020年第2期104-107,共4页
作为一种典型的民族习俗,蛇崇拜及其传统造物广泛流传于闽台两地。然而,两者丰富而迥异的演变路径却始终被学者忽略。本文通过剖析闽台早期的社会文化和族群特征为两地的崇蛇起源提供解释,进而发掘其原始内涵与分向演变的发展轨迹,以两... 作为一种典型的民族习俗,蛇崇拜及其传统造物广泛流传于闽台两地。然而,两者丰富而迥异的演变路径却始终被学者忽略。本文通过剖析闽台早期的社会文化和族群特征为两地的崇蛇起源提供解释,进而发掘其原始内涵与分向演变的发展轨迹,以两地造物遗存的比较研究对相关演变进行实证,明晰闽台崇蛇习俗及其传统造物的族群功能,厘清闽台两地的文化渊源,成为我们探索海峡两岸民族变迁史的有效切入点。 展开更多
关键词 闽台 崇蛇习俗 传统造物 内涵演变
原文传递
上一页 1 下一页 到第
使用帮助 返回顶部