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基于网格算法的多仿生机器鱼协调游动控制
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作者 魏洪兴 王田苗 +1 位作者 梁建宏 刘淼 《中国造船》 EI CSCD 北大核心 2004年第1期33-38,共6页
在多仿生机器鱼实验平台上,针对多仿生机器鱼按次通过水中一个狭孔的问题,进行了多机器鱼协调控制的初步研究。基于对实验场景视频图像的处理和识别结果,提出了一种多机器鱼游动路径规划的网格算法,实现了多条机器鱼之间无碰撞、无路径... 在多仿生机器鱼实验平台上,针对多仿生机器鱼按次通过水中一个狭孔的问题,进行了多机器鱼协调控制的初步研究。基于对实验场景视频图像的处理和识别结果,提出了一种多机器鱼游动路径规划的网格算法,实现了多条机器鱼之间无碰撞、无路径干涉的快速游动规划。 展开更多
关键词 网格算法 仿生机器鱼 游动控制 场景视频图像处理 场景视频图像识别 路径干涉
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快切阀液压执行器游动控制的改进设计 被引量:2
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作者 陈江华 杨小南 《液压与气动》 北大核心 2014年第9期108-109,113,共3页
阐述了TRT快速切断阀液压执行器游动控制(简称:快切阀游动控制)的原理。通过对传统快切阀液压游动控制存在问题的分析,提出了快切阀游动控制的改进设计方案和实现方法。该改进设计在多个工程项目中得到应用,确保了TRT系统安全、可靠和... 阐述了TRT快速切断阀液压执行器游动控制(简称:快切阀游动控制)的原理。通过对传统快切阀液压游动控制存在问题的分析,提出了快切阀游动控制的改进设计方案和实现方法。该改进设计在多个工程项目中得到应用,确保了TRT系统安全、可靠和平稳地运行。 展开更多
关键词 TRT快速切断阀 液压执行器 游动控制 环形卸荷槽
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基于双斜面偏转关节的新型仿生机器鱼推进机构研究
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作者 周林 黄贺 +1 位作者 董二宝 杨杰 《机械与电子》 2017年第7期73-76,80,共5页
提出一种用于仿生机器鱼的新型尾部推进机构,该机构主要由双斜面偏转关节构成,可通过调节推进机构的2个驱动电机耦合转动来完成其两自由度偏摆运动。首先,阐明了该两自由度耦合偏摆关节的运动学机理,并通过ADAMS运动仿真,验证了其应用... 提出一种用于仿生机器鱼的新型尾部推进机构,该机构主要由双斜面偏转关节构成,可通过调节推进机构的2个驱动电机耦合转动来完成其两自由度偏摆运动。首先,阐明了该两自由度耦合偏摆关节的运动学机理,并通过ADAMS运动仿真,验证了其应用于机器鱼上实现直线游动的可行性。然后,建立了仿生机器鱼的直线巡游控制策略,并采用无人机航拍在户外水塘中进行了直线游动实验。水下实验测试结果表明,该仿生机器鱼可实现速度可控的直线巡游,最大速度为0.69m/s。与现有结果相比,基于双斜面偏转关节的仿生推进机构可为机器鱼设计提供新的参考。 展开更多
关键词 仿生机器鱼 推进机构 双斜面偏转关节 运动学 游动控制
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Preliminary Study on Biological Control of Cyclops of Zooplankton in Drinking Water Source 被引量:10
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作者 刘冬梅 崔福义 +1 位作者 林涛 张立秋 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2004年第2期184-190,共7页
An ecological project called fish biomanipulation, other than the conventional fishery culture technique, was put forward in this paper for the excess propagation control of Cyclops. The control effects on Cyclops of ... An ecological project called fish biomanipulation, other than the conventional fishery culture technique, was put forward in this paper for the excess propagation control of Cyclops. The control effects on Cyclops of four species of fish were investigated experimentally at stocking density of 30 g per cubic meter of water. The experimental results showed that the food habit of the fish had significant influence on the biological control of Cyclops. The propagation of Cyclops could be controlled effectively and also the water quality was improved simultaneously by stocking the filter-feeding fishes, such as silver carp and bighead carp. Whereas, herbivorous Ctenopharyugodon idellus and omnivorous Cyprinus carpio had no obvious biological effects on controlling the growth of Cyclops and restoring water quality. The results further proved that under condition of proper poly-culture density of silver carp and bighead carp, the number of Cyclops might be controlled at very low level and the eutrophication might be abated by removing the nutrients from water body. 展开更多
关键词 Cyclops of zooplankton EUTROPHICATION BIOMANIPULATION food habit FISH
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Dynamic Control of a Flexible Shaft Mounted in Adaptive or Active Bearing
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作者 Olivier Bonneau Mihai Arghir Pascal Jolly 《Journal of Mechanics Engineering and Automation》 2014年第6期521-527,共7页
The dynamic behavior of rotors is highly influenced by bearing characteristics. In previous works, the authors have shown that it may be beneficial to adapt the bearing behavior to the shaft behavior. Several adaptive... The dynamic behavior of rotors is highly influenced by bearing characteristics. In previous works, the authors have shown that it may be beneficial to adapt the bearing behavior to the shaft behavior. Several adaptive and active components will be developed in this paper in order to control the shaft dynamical amplitude. Different models of hydrodynamic bearings behavior are described. The Reynolds equation resolution may be done by numerical or analytical solutions. A physical analysis of the equation of thin films will identify the most sensitive parameters. The shaft flexibility is taking into account by a modal approach. The fluid-structure coupling process is a simulation, step by step, of the rotor behavior. At each step, the nonlinear fluid force is numerically calculated to obtain the unbalanced shaft response. The results, presented in this paper, concern the dynamic response of unbalanced shaft mounted in adaptive or active bearings: bearings with variable clearance, variable viscosity or variable housing speed. It is shown that the fluid bearing parameters must be adapted to the rotor speed (in particular near or far a critical speed). Then, the paper presents a new kind of active bearing. It works with a mechanical control of the housing position. Several parameters are tested and compared. The robustness of the dynamic control parameters is presented. In conclusion, the bearing adaptation could be very useful to control the shaft dynamic. This limits the effect of the critical speed, in particular by diminishing the shaft amplitude and the dynamic forces transmitted to the housing. 展开更多
关键词 LUBRICATION rotor dynamics adaptive and active journal bearings
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越冬鱼池管理关键措施
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作者 潘清池 岳山峦 《农村科技开发》 2002年第10期21-21,共1页
北方冬季,河面冰封,对越冬鱼池进行科学管理,使水质好、溶氧高,给鱼类提供一个良好的环境,才能达到其安全越冬的目的。1.越冬池的条件在生产中对越冬池的面积要求并不严格,生产者可根据现有的越冬池确定;越冬池的底泥不宜太厚,一般在10... 北方冬季,河面冰封,对越冬鱼池进行科学管理,使水质好、溶氧高,给鱼类提供一个良好的环境,才能达到其安全越冬的目的。1.越冬池的条件在生产中对越冬池的面积要求并不严格,生产者可根据现有的越冬池确定;越冬池的底泥不宜太厚,一般在10~20厘米。在秋冬鱼类并池前10~15天将水排干。 展开更多
关键词 越冬鱼池 管理 施肥 游动控制 补水
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A Game-Theoretic Approach to Elastic Control in Software-Defined Networking 被引量:6
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作者 Hongchang Chen Guozhen Cheng Zhiming Wang 《China Communications》 SCIE CSCD 2016年第5期103-109,共7页
Elastic control could balance the distributed control plane in Software-Defined Networking(SDN). Dynamic switch migration has been proposed to achieve it. However, existing schemes mainly focus on how to execute migra... Elastic control could balance the distributed control plane in Software-Defined Networking(SDN). Dynamic switch migration has been proposed to achieve it. However, existing schemes mainly focus on how to execute migration operation, but not why. This paper designs a decision-making mechanism based on zero-sum game theory to reelect a new controller as the master for migrated switches. It first chooses a switch for migration in the heavy controller which invites its neighbors as the game players to compete for the master role of this switch in the game-playing field(GPF) which is an occasional and loose domain for game-playing. Second, based on the concept of GPF, we design a decentralized strategy to play the game and determine which player as the final master. We implement it by extending the Open Flow protocol. Finally, numerical results demonstrate that our distributed strategy can approach elastic control plane with better performance. 展开更多
关键词 software-defined networking master election game theory OpenFlow
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Research on the interaction design of somatosensory games——With the original game "Dream" in the center
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作者 YANG Yuan WANG Ziyan +1 位作者 SHEN Jiadan FANG Yichen 《International English Education Research》 2016年第12期83-86,共4页
The emergence of the somatosensory interactive technology has changed the ways of the interaction between the users and the computers, so that people can control the computers more freely. This paper focuses on the in... The emergence of the somatosensory interactive technology has changed the ways of the interaction between the users and the computers, so that people can control the computers more freely. This paper focuses on the interactive design of the somatosensory games, and combines the Kinect interactive devices with the popular Unity 3D game engines, and analyzes and designs the realization principles of the somatosensory games, the somatosensory games and the digital somatosensory interactive display. Through the design and production of the original game "Dream", the author discusses the design methods of the game interactive experience while abandoning the traditional human-comouter interactive mode. 展开更多
关键词 Somatosensory game human-computer interaction Kinect equipment
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基于CPG的仿海蟹机器人浮游步态生成方法 被引量:6
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作者 王海龙 张奇峰 +1 位作者 王刚 李彬 《华中科技大学学报(自然科学版)》 EI CAS CSCD 北大核心 2018年第4期86-91,132,共7页
结合仿生游动机理,针对游泳桨推进仿海蟹机器人提出一种基于中枢模式发生器浮游步态生成方法.采用可独立控制频率、幅值、相位延迟和时间非对称系数的一类非线性振荡器作为节律信号发生器,通过最近相邻耦合的方式构建了仿生游动的链式... 结合仿生游动机理,针对游泳桨推进仿海蟹机器人提出一种基于中枢模式发生器浮游步态生成方法.采用可独立控制频率、幅值、相位延迟和时间非对称系数的一类非线性振荡器作为节律信号发生器,通过最近相邻耦合的方式构建了仿生游动的链式中枢模式发生器(CPG)运动控制模型,并分析了振荡单元平衡点的性态,证明了振荡器极限环存在的唯一性和稳定性;在此基础上,引入三个顶层控制信号作为CPG网络的激励,分别用来控制机器人的游动速度、转艏速率和浮潜速率,实现了仿海蟹机器人的三维游动控制.实验结果显示样机具有一定稳定性和机动性,机器人的直线游动速度和转艏速度随着游速控制系数和转艏速率控制系数的增加而增大,最大直线游动速度可达0.41 BL/s,最大原地转艏速率可达1.7 rad/s.仿真及实验结果验证了此中枢模式发生器模型的可行性与所提控制方法的有效性. 展开更多
关键词 仿海蟹机器人 中枢模式发生器 游泳桨 浮游步态生成 游动控制
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越冬鱼池的管理
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作者 潘清池 丘福贵 《新农业》 2003年第10期28-28,共1页
关键词 越冬鱼池 管理 水源 施肥 游动控制 扫雪 补水 补氧
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