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361.
Grasping Strategy in Space Robot Capturing Floating Target 总被引:3,自引:3,他引:0
When the space robot captures a floating target, contact impact occurs inevitably and frequently between the manipulator hand and the target, which seriously impacts the position and attitude of the robot and grasping security. “Dynamic grasping area” is introduced to describe the collision process of manipulator grasping target, and grasping area control equation is established. By analyzing the impact of grasping control parameters, base and target mass on the grasping process and combining the life experience, it is found that if the product of speed control parameter and dB adjustment parameter is close to but smaller than the minimum grasping speed, collision impact in the grasping process could be reduced greatly, and then an ideal grasping strategy is proposed. Simulation results indicate that during the same period, the strategy grasping is superior to the accelerating grasping, in that the amplitude of impact force is reduced to 20%, and the attitude control torque is reduced to 15%, and the impact on the robot is eliminated significantly. The results would have important academic value and engineering significance. 相似文献
362.
Yongheng Zhao Yanxia Zhang 《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2008,41(12):1955-1959
The automated classification of objects from large catalogs or survey projects is an important task in many astronomical surveys. Faced with various classification algorithms, astronomers should select the method according to their requirements. Here we describe several kinds of decision trees for finding active objects by multi-wavelength data, such as REPTree, Random Tree, Decision Stump, Random Forest, J48, NBTree, AdTree. All decision tree approaches investigated are in the WEKA package. The classification performance of the methods is presented. In the process of classification by decision tree methods, the classification rules are easily obtained, moreover these rules are clear and easy to understand for astronomers. As a result, astronomers are inclined to prefer and apply them, thus know which attributes are important to discriminate celestial objects. The experimental results show that when various decision trees are applied in discriminating active objects (quasars, BL Lac objects and active galaxies) from non-active objects (stars and galaxies), ADTree is the best only in terms of accuracy, Decision Stump is the best only considering speed, J48 is the optimal choice considering both accuracy and speed. 相似文献
363.
Optimum parameter matching obtained by experiments for coring drilling into lunar simulant 总被引:1,自引:0,他引:1
Zhen Zhao Tao Chen Yong Pang 《Advances in Space Research (includes Cospar's Information Bulletin, Space Research Today)》2019,63(7):2239-2244
This paper performs a series of ground experiments (on the Earth) to obtain optimum parameter matching for a future core drill on the Moon. Three common stages, I, II, III, are recognized with respect to the cut per revolution (CPR), which is defined as the ratio between the feeding speed and the rotating speed. The optimum matching between the feeding speed and the rotating speed for drills locates at the boundary position between Stage II and Stage III, where the coring rate saturates and the weight on the bit and the driving torque are still low. Further data analysis of the ground experiments reveals that the optimum matching signifies a proportional relation between the maximum conveying rate (MCR) by the groove of the auger and its rotating speed. The kinetic analysis in an ideal condition without gravity, the friction from the auger groove and the pressure at the bit confirm a similar proportion. The correlation between the proportions needs further study to determine whether the optimum matching obtained on the ground can be directly applied to future drills on the Moon. 相似文献
364.
分析了制造业企业在IT系统建设方面遇到的困境以及进行企业IT生产力优化的必要性,提出了企业进行IT生产力优化的基本方法体系,阐释了利用面向服务的架构(SOA)、开放组织架构框架(TOGAF)、ESB模式构建灵活稳健的企业IT架构的技术路线,并给出了针对制造业的解决方案参考模型。 相似文献
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电火花加工计算机辅助工艺过程设计系统 总被引:1,自引:0,他引:1
介绍电火花计算机辅助工艺过程设计系统(CAPPS),用于为一个给定目标选择最佳操作。同时,还考虑了其它的会影响EDM加工过程的加工方法(如铣削等)。系统的输入信息是在已有的CAD信息的基础上产生的基于CAPP特征的工件描述。每个特征类对应于一个特定的一般工艺规程,并由系统对其进行评价,然后基于最低成本的原则,计算出最优工艺规程。同时还介绍了一种计算工时的通用方法。 相似文献
370.
A non-local vectorial total variational model for multichannel SAR image speckle suppression 总被引:1,自引:0,他引:1
This paper aims at the multichannel synthetic aperture radar(SAR)image speckle reduction.This paper proposes a novel energy minimized regularization model for multichannel image denoising,which is an extension of the non-local total variational model for gray-scale image.It contains two terms,namely the vectorial data fidelity term and the non-local vectorial total variation term.The latter is constructed by high-dimensional non-local gradient that contains the structure information of the multichannel image.The existence and the uniqueness of the solution of the model are proved.A fixed point iterative algorithm is designed to acquire the solution of this model.The convergence property of this algorithm is proved as well.This model is applied to the multipolarimetric and multi-temporal RADARSAT-2 images despeckling.The result shows that this model performs better than the original vectorial total variational model on texture preserving. 相似文献