This paper proposes a novel method for incorporating wave domain prediction in a three-channel(3CH)architecture,which is the optimal architecture from a transparency point of view,to overcome the poor transparency pro...This paper proposes a novel method for incorporating wave domain prediction in a three-channel(3CH)architecture,which is the optimal architecture from a transparency point of view,to overcome the poor transparency problem of using the wave variable method in a time-delay teleoperation system.A 3CH teleoperation control architecture is established by selecting parameters of the 4CH architecture sensibly for the system without force sensor in the master side.The communication channel is divided into a two-port model by combining force and velocity information reasonably to extend the wave variable method to a 3CH architecture.Then the I/O signal of the two-port model is transformed into wave variable.A predictor is added to the wave domain of the master side to further improve the transparency of the system,and a regulator is designed to ensure the passivity of the predictor.Experimental results show that the proposed method can guarantee stability and improve the transparency of the teleoperation system with time-delay.展开更多
3Com公司近日在华盛顿宣布,在经过了大规模的内部测试之后,公司准备将网关与信守(gatekeeper)和后台服务器一同作为Total Control IP电话系统的“初级工具”(starter kit)发售。新的信守和后台服务器组成了3Com独特的三层电信级架构中...3Com公司近日在华盛顿宣布,在经过了大规模的内部测试之后,公司准备将网关与信守(gatekeeper)和后台服务器一同作为Total Control IP电话系统的“初级工具”(starter kit)发售。新的信守和后台服务器组成了3Com独特的三层电信级架构中的第二和第三层,系统的第一层网关已经在去年发布。 Probe Research公司执行副总裁Hilary Mine说:“对于今天的服务提供商来说,真正的挑战并不是来自于语音的打包,而是借助于IP语音来构建和提供有效的服务。”展开更多
The popular and effective food preservation technology based on refrigeration is not sufficient for high-quality products while undergoing logistic operations(transport and retail). One of the basic factors that affec...The popular and effective food preservation technology based on refrigeration is not sufficient for high-quality products while undergoing logistic operations(transport and retail). One of the basic factors that affects the quality of chilled and frozen food products during storage and transport is packaging. A protective function of packaging strongly depends on the material used and its composition. There are different kinds of thermal insulation used for food packaging. One of them, proposed by the authors is a multilayer structure of insulation made of rectangular air cells. The insulation can be prepared by means of plastic film featuring various properties. The paper presents how to improve an effective material designed for food freezing and transport aiming to enhance its thermal resistance through the application of different transparency, reflectivity and emissivity of the film. Mathematical model based on heat exchange equations, including conduction, convection and radiation throughout a number of parallel internal sheets of film of multilayer structures was proposed. Thermal properties depending on different transparency, reflectivity and emissivity of the film were analyzed. The model was verified experimentally showing its compatibility and obtaining a significant influence of thermal resistance according to the type of film used to make air structures, the number and thickness of its layers as well as the gaps between internal folds. For multi-layer insulation designed for the insulation of packed frozen food in the shape of a rectangle, it was recommended to apply film transmittance as small as possible for the internal parts of the structure.展开更多
基金Supported by the National High Technology Research and Development Programme of China(No.2006AA04Z245)the Basic Research Universities Special Fund Operations(No.JUSRP11127)
文摘This paper proposes a novel method for incorporating wave domain prediction in a three-channel(3CH)architecture,which is the optimal architecture from a transparency point of view,to overcome the poor transparency problem of using the wave variable method in a time-delay teleoperation system.A 3CH teleoperation control architecture is established by selecting parameters of the 4CH architecture sensibly for the system without force sensor in the master side.The communication channel is divided into a two-port model by combining force and velocity information reasonably to extend the wave variable method to a 3CH architecture.Then the I/O signal of the two-port model is transformed into wave variable.A predictor is added to the wave domain of the master side to further improve the transparency of the system,and a regulator is designed to ensure the passivity of the predictor.Experimental results show that the proposed method can guarantee stability and improve the transparency of the teleoperation system with time-delay.
基金financially supported by Project No 0401/0180/17 of Wroclaw University of Science and Technology
文摘The popular and effective food preservation technology based on refrigeration is not sufficient for high-quality products while undergoing logistic operations(transport and retail). One of the basic factors that affects the quality of chilled and frozen food products during storage and transport is packaging. A protective function of packaging strongly depends on the material used and its composition. There are different kinds of thermal insulation used for food packaging. One of them, proposed by the authors is a multilayer structure of insulation made of rectangular air cells. The insulation can be prepared by means of plastic film featuring various properties. The paper presents how to improve an effective material designed for food freezing and transport aiming to enhance its thermal resistance through the application of different transparency, reflectivity and emissivity of the film. Mathematical model based on heat exchange equations, including conduction, convection and radiation throughout a number of parallel internal sheets of film of multilayer structures was proposed. Thermal properties depending on different transparency, reflectivity and emissivity of the film were analyzed. The model was verified experimentally showing its compatibility and obtaining a significant influence of thermal resistance according to the type of film used to make air structures, the number and thickness of its layers as well as the gaps between internal folds. For multi-layer insulation designed for the insulation of packed frozen food in the shape of a rectangle, it was recommended to apply film transmittance as small as possible for the internal parts of the structure.