A new dynamic path planning method in high dimensional workspace, radial based probabilistic roadmap motion (RBPRM) planning method, is presented. Different from general probabilistic roadmap motion planning methods, ...A new dynamic path planning method in high dimensional workspace, radial based probabilistic roadmap motion (RBPRM) planning method, is presented. Different from general probabilistic roadmap motion planning methods, it uses straight lines as long as possible to construct a path graph, so the final path obtained from the graph is relatively shorter and straighter. Experimental results show the efficiency of the algorithm in finding shorter paths in sparse environment.展开更多
The concentration of volatile fatty acids （VFA） determined from a previous study was used to determine the concentration of carbon dioxide （CO2） and methane （CH4） in pig digesta using the model developed for rum...The concentration of volatile fatty acids （VFA） determined from a previous study was used to determine the concentration of carbon dioxide （CO2） and methane （CH4） in pig digesta using the model developed for ruminant animals. Digesta from the stomach, cecum and colon of pigs （n = 3 dietl） were used for the determination of VFA. The pigs were fed either a low fiber diet （LFD; 8.3% aNDF） as control, or one of the high-fiber diets （HFD, 22.4% aNDF; D1, D2 and D3） containing 1：2, 1：1 and 2：1, oats to barley ratios, respectively. Results indicated that the concentrations of CO2 and CH4 in pigs fed HFD were, on the average, 25.8 and 24.2%, respectively lower （P 〈 0.05） than pigs fed LFD. Pigs fed the highest oat to barley ratio also showed higher （P 〈 0.05） levels of CO2, （8.3%） and CH4 （5.1%）, compared to the average of the two lower ratios （CO2, 5.3% and CH4, 3.3%）. Molar proportions of VFA, CO2 and CH4 in the gut were in the order of VFA 〉 CO2 〉 CH4, at 53.0%, 28.6% and 18.4%, respectively, and CO2 and CH4 combined represented 47% of total gas.展开更多
VFDs （variable frequency drives） are an integral part of many industrial plants and stations. Reliable operation and maintenance of these drives is vital to ensure sustained plant operation and availability. Underst...VFDs （variable frequency drives） are an integral part of many industrial plants and stations. Reliable operation and maintenance of these drives is vital to ensure sustained plant operation and availability. Understanding of the principles of operation of VFD systems as well as knowledge about their required operating environment is necessary for all operating personnel. Many times the operating personnel do not get involved with different technical issues until a complete failure has occurred. Hence, the awareness of the most dominant failure causes has a significant impact on assisting operators to avoid catastrophic failures and tremendous economic losses due to VFD shutdown. Proper plant design, accurate monitoring and data logging, following manufacturer preventive maintenance schedule, and choosing qualified team of operators can be the key to an efficient operation and a long lifetime for any VFD system. In this paper, we have analyzed the electrical and non-electrical causes of VFD failures based on a case study of a typical medium voltage VFD pumping station. Finally, recommendations are given from field analysis and observations.展开更多
文摘A new dynamic path planning method in high dimensional workspace, radial based probabilistic roadmap motion (RBPRM) planning method, is presented. Different from general probabilistic roadmap motion planning methods, it uses straight lines as long as possible to construct a path graph, so the final path obtained from the graph is relatively shorter and straighter. Experimental results show the efficiency of the algorithm in finding shorter paths in sparse environment.
文摘The concentration of volatile fatty acids （VFA） determined from a previous study was used to determine the concentration of carbon dioxide （CO2） and methane （CH4） in pig digesta using the model developed for ruminant animals. Digesta from the stomach, cecum and colon of pigs （n = 3 dietl） were used for the determination of VFA. The pigs were fed either a low fiber diet （LFD; 8.3% aNDF） as control, or one of the high-fiber diets （HFD, 22.4% aNDF; D1, D2 and D3） containing 1：2, 1：1 and 2：1, oats to barley ratios, respectively. Results indicated that the concentrations of CO2 and CH4 in pigs fed HFD were, on the average, 25.8 and 24.2%, respectively lower （P 〈 0.05） than pigs fed LFD. Pigs fed the highest oat to barley ratio also showed higher （P 〈 0.05） levels of CO2, （8.3%） and CH4 （5.1%）, compared to the average of the two lower ratios （CO2, 5.3% and CH4, 3.3%）. Molar proportions of VFA, CO2 and CH4 in the gut were in the order of VFA 〉 CO2 〉 CH4, at 53.0%, 28.6% and 18.4%, respectively, and CO2 and CH4 combined represented 47% of total gas.
文摘VFDs （variable frequency drives） are an integral part of many industrial plants and stations. Reliable operation and maintenance of these drives is vital to ensure sustained plant operation and availability. Understanding of the principles of operation of VFD systems as well as knowledge about their required operating environment is necessary for all operating personnel. Many times the operating personnel do not get involved with different technical issues until a complete failure has occurred. Hence, the awareness of the most dominant failure causes has a significant impact on assisting operators to avoid catastrophic failures and tremendous economic losses due to VFD shutdown. Proper plant design, accurate monitoring and data logging, following manufacturer preventive maintenance schedule, and choosing qualified team of operators can be the key to an efficient operation and a long lifetime for any VFD system. In this paper, we have analyzed the electrical and non-electrical causes of VFD failures based on a case study of a typical medium voltage VFD pumping station. Finally, recommendations are given from field analysis and observations.
