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51.
The problem of controller design for constrained robots with the consideration of computational efficiency is addressed. An efficient adaptive variable structure control algorithm based on a reduced dynamics formulation, is presented for trajectory tracking of an end-effector on a constrained surface with specified constraint forces. It is shown that the objective can be achieved without exact knowledge of robot dynamics and on-line calculation of nonlinear dynamic functions. The control algorithm is constructed with at most three control parameters to be adjusted adaptively, and that number is determined independently of the number of degrees of freedom of the robotic manipulators. A numerical example is presented to illustrate the developed method 相似文献
52.
Matsumoto Y. Suzuki R. Kondo K. Khan M.H. 《IEEE transactions on aerospace and electronic systems》1992,28(3):718-727
In February of 1990, land mobile satellite propagation experiments were conducted in Kyoto City, Japan, using the Engineering Test Satellite V (ETS-V). The signal transmitted from the satellite was received and recorded at a mobile unit moving in different streets of the downtown area. The streets chosen have typical downtown medium and high rise buildings, electric utility poles, trees, etc., which caused obstruction to the satellite line of sight. The propagation characteristics such as fade/nonfade distribution, joint fade and nonfade distribution, phase distribution, and their dependence on the antenna type are discussed for the measured link. Error characteristics in digital communication for the above link have been qualitatively analyzed on the basis of the measured signal level fluctuation. Effect of interleaving and coding to improve the communication link is also discussed 相似文献
53.
A recursive tracking algorithm is presented which uses the strength of target returns to improve track formation performance and track maintenance through target maneuvers in a cluttered environment. This technique combines the interacting multiple model (IMM) approach with a generalized probabilistic data association (PDA), which uses the measured return amplitude in conjunction with probabilistic models for the target and clutter returns. Key tracking decisions can be made automatically by assessing the probabilities of target models to provide rapid and accurate decisions for both true track acceptance and false track dismissal in track formation. It also provides the ability to accurately continue tracking through coordinated turn target maneuvers 相似文献
54.
55.
A perfect third-order loop filter design that can be implemented as a digital filter is obtained which minimizes the noiseless steady-state acceleration rate (jerk) error for a fixed loop noise bandwidth. Simulations were performed to obtain transient responses of the third-order loop plus a sample fourth-order loop under a jerk input. The results enable one to obtain a loop design that minimizes the loop noise bandwidth required for a given steady-state jerk error and thus obtain better noise jitter performance. 相似文献
56.
The Ionization Gauge Investigation for the Streak Mission 总被引:1,自引:0,他引:1
J. H. Clemmons L. M. Friesen N. Katz M. Ben-Ami Y. Dotan R. L. Bishop 《Space Science Reviews》2009,145(3-4):263-283
57.
李达义 《南京航空航天大学学报(英文版)》1998,(1)
本文总结了9项有关ISO9000认证的研究,主要论述了这套国际标准为实施者所带来之利益。这9项研究分别在英国、新西兰、澳大利亚、中国香港特区、美国、巴西、加拿大、法国、德国、日本、韩国、瑞典和荷兰等地进行。研究发现,ISO9000的主要优点有:令运作方式系统化、减少损耗、增加效率和减少顾客投诉。取得ISO9000认证的公司,大多采取较严格的方法去控制分供方。不少取得证书的公司还表示,他们会进一步采用其他的质量管理方法,例如全面优质管理,ISO9000,ISO14000和优质奖的规格。 相似文献
58.
Christoph Mayer Carsten Becker Norbert Jakowski Michael Meurer 《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2011
We present first results of using the European Global Navigation Satellite System (GNSS) Galileo for determining the Total Electron Content (TEC). Furthermore, we describe a calibration technique which can be used to determine GNSS inter-frequency and inter-system biases along with calibrated TEC. 相似文献
59.
Y. Wu D.Y. Yang P.F. Tu Y.Z. Tian Y.H. Guo X.M. Wang X.B. Li 《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2011
The dried, fleshy stems of Cistanche deserticola (Orobanchaceae) are popular tonics in Traditional Chinese Medicine (TCM) to treat the inability of kidney in expelling extra fluid in the body, causing fluid retention, and reform reproductive system. However, the wild plants of C. deserticola have become endangered due to habitat downsizing and over-harvesting for its medicinal usages. The present research was carried out for the following purposes: (1) promoting the space-breeding research; (2) providing molecular evidence for agricultural selective breeding; and (3) protecting this endangered herbal medicine and conserving its genetic resources. 相似文献
60.
Marco B. Quadrelli Paul Backes W. Keats Wilkie Lou Giersch Ubaldo Quijano Jason Keim Daniel Scharf Rudranarayan Mukherjee S. Case Bradford Michael McKee 《Acta Astronautica》2011,68(7-8):947-973
This paper summarizes the modeling, simulation, and testing work related to the development of technology to investigate the potential that shape memory actuation has to provide mechanically simple and affordable solutions for delivering assets to a surface and for sample capture and possible return to Earth. We investigate the structural dynamics and controllability aspects of an adaptive beam carrying an end-effector which, by changing material equilibrium phases, is able to actively decouple the end-effector dynamics from the spacecraft dynamics during the surface contact phase. Asset delivery and sample capture and return are at the heart of several emerging potential missions to small bodies, such as asteroids and comets, and to the surface of large bodies, such as Titan. 相似文献