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关节型机器人的似人操作构型规划 被引量:2
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作者 甘亚辉 戴先中 陆志远 《控制理论与应用》 EI CAS CSCD 北大核心 2013年第5期549-557,共9页
对关节型机器人的操作构型进行规划时,本文提出了一种新的规划方法,它结合了似人评估准则和机器人传速特性优化的概念,可实现有最大末端传速特性的操作,同时与人类手臂操作的特点最为相似.该方法首先利用应用人体工程学中的快速上肢评... 对关节型机器人的操作构型进行规划时,本文提出了一种新的规划方法,它结合了似人评估准则和机器人传速特性优化的概念,可实现有最大末端传速特性的操作,同时与人类手臂操作的特点最为相似.该方法首先利用应用人体工程学中的快速上肢评价准则(RULA)对机器人的操作空间进行划分,然后在各子空间内最大化机器人末端沿指定方向的传速速率.最终选定一个最符合人类操作特性又同时满足操作任务的机器人操作构型.通过在2自由度平面机器人和7自由度拟人机械臂上的规划实验进一步展示了本方法的使用,规划结果验证了其有效性. 展开更多
关键词 操作构型规划 似人程度 上肢评价 应用人体工程学 传速速率
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Internet服务商的分析与选择
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作者 王玉富 《现代计算机》 1999年第2期51-52,共2页
关键词 INTERNET网 服务商 频宽 传速速率
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基于似人特性的机器人拟人臂自主抓取动作规划
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作者 陆志远 罗灿威 《工业控制计算机》 2014年第3期10-11,13,共3页
针对拟型服务机器人在家庭环境中的自主抓取任务,提出了一种强调运动姿态似人特性的机器人手臂动作的运动规划方法。该方法基于人体工程学中的快速上肢评估准则评价机器人运动姿态的似人特性,并在此基础上以机器人传速速率最优为目标规... 针对拟型服务机器人在家庭环境中的自主抓取任务,提出了一种强调运动姿态似人特性的机器人手臂动作的运动规划方法。该方法基于人体工程学中的快速上肢评估准则评价机器人运动姿态的似人特性,并在此基础上以机器人传速速率最优为目标规划机器人持物动作的姿态构型。最后以Motoman SDA10D拟人双臂机器人为例,具体介绍了该方法的应用和规划的结果,规划结果证明了该方法的可行性和有效性。 展开更多
关键词 拟人机器人 似人特性 上肢评估 传速速率
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RATE-DEPENDENT SLOW CONDUCTION VELOCITY IN THE CAVO-TRICUSPID ISTHMUS AND SEPTUM IN PATIENTS WITH ATRIAL FLUTTER
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作者 方丕华 NancyLRadtke +2 位作者 TonyW.Simmons WesleyK.HaistyJr. DavidM.Fitzgerald 《Chinese Medical Sciences Journal》 CAS CSCD 2003年第2期75-79,共5页
Purpose. To evaluate and compare the effects of heart rate on conduction velocity in the cavotricus-pid isthmus (CTI) and septum in patients with and without typical atrial flutter (AF) using electro-anatomic mapping ... Purpose. To evaluate and compare the effects of heart rate on conduction velocity in the cavotricus-pid isthmus (CTI) and septum in patients with and without typical atrial flutter (AF) using electro-anatomic mapping (EAM) of the right atrium (RA).Methods. Ten patients(age 53+10 yrs,7M/3F)with AF and 13 patients (age 51+11 yrs, 5M/8F) with atrio-ventricular nodal reentrant tachycardia (AVNRT) underwent conventional electrophysionogical study, electro -anatomic mapping and radiofrequency ablation. Using EAMs obtained during coronary sinus pacing at pacing cycle length (PCL) 600 ms, 400 ms, and 300 ms, we evaluated conduction velocities in the CTI and septum of RA in 10 patients with AF and compared EAMs to 13 patients with AVNRT to determine whether the conduction slowing required to maintain AFL was related to changes in volume alone or altered RA electrophysiology.Results. Conduction velocities in CTI and septum were significantly slower at all PCL when AF was compared to AVNRT(P<0.05). Additionally, in the AF group, septal conduction velocities were slower at PCL 600 ms and 400 ms, but not at 300 ms compared to CTI (P<0.05). In AF, during PCL 300. conduction in CTI slowed significantly compared to PCL 600 and 400 ms such that there was no difference between CTI and septum at PCL 300.Conclusions. There is slower conduction in the septum compared to the CTI in all patients. However, in patients with AF, there is significant slowing of conduction in the CTI and septum as well as decremen-tal rate-dependent slowing of conduction in the CTI. These findings indicate that in addition to RA enlargement, changes in atrial electrophysiology distinguish AF patients from patients with AVNRT. 展开更多
关键词 atrial flutter electro-anatomic map cardiac electrophysiology
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Experimental investigation of methyl tert-butyl ether dissolution in saturated porous media
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作者 李洪 赵雷 +1 位作者 高鑫 李鑫钢 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2015年第10期1685-1690,共6页
This study aims to investigate methyl tert-butyl ether(MTBE) dissolution in saturated porous media.A series of1 D column experiments were conducted in laboratory to obtain MTBE dissolution data with different groundwa... This study aims to investigate methyl tert-butyl ether(MTBE) dissolution in saturated porous media.A series of1 D column experiments were conducted in laboratory to obtain MTBE dissolution data with different groundwater velocity,initial MTBE saturation and grain size of porous medium,and in the presence of other nonaqueous liquids.Results indicate that higher groundwater velocity increases MTBE dissolution rate and higher initial MTBE saturation reduces effective permeability to slow MTBE dissolution rate.Smaller grain size medium gives higher MTBE dissolution rate because of higher permeability.The addition of trichloroethylene enhances MTBE dissolution,with an optimal mass ratio of 10:2,while the presence of p-xylene prolongs complete dissolution of MTBE.Mass transfer correlations are developed for MTBE dissolution rate based on the degree of MTBE saturation Sn.Mass transfer rate is characterized by Re' with a high exponent for 0.3000<Sn<0.5482,while it is related to medium grain size and Sn for Sn≤0.3000. 展开更多
关键词 MTBE DISSOLUTION Mass transfer Porous media Organic compounds
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