簡介：附錄附錄附錄附錄1KINEMATICANDDYNAMICSYNTHESISOFAPARALLELKINEMATICHIGHSPEEDDRILLINGMACHINEABSTRACTTYPICALLY,THETERM‘‘HIGHSPEEDDRILLING’’ISRELATEDTOSPINDLECAPABILITYOFHIGHCUTTINGSPEEDSTHESUGGESTEDHIGHSPEEDDRILLINGMACHINEHSDMEXTENDSTHISTERMTOINCLUDEVERYFASTANDACCURATEPOINTTOPOINTMOTIONSTHENEWHSDMISCOMPOSEDOFAPLANARPARALLELMECHANISMWITHTWOLINEARMOTORSASTHEINPUTSTHEPAPERISFOCUSEDONTHEKINEMATICANDDYNAMICSYNTHESISOFTHISPARALLELKINEMATICMACHINEPKMTHEKINEMATICSYNTHESISINTRODUCESANEWMETHODOLOGYOFINPUTMOTIONPLANNINGFORIDEALDRILLINGOPERATIONANDACCURATEPOINTTOPOINTPOSITIONINGTHEDYNAMICSYNTHESISAIMSATREDUCINGTHEINPUTPOWEROFTHEPKMUSINGASPRINGELEMENTKEYWORDSPARALLELKINEMATICMACHINEHIGHSPEEDDRILLINGKINEMATICANDDYNAMICSYNTHESIS1INTRODUCTIONDURINGTHERECENTYEARS,ALARGEVARIETYOFPKMSWEREINTRODUCEDBYRESEARCHINSTITUTESANDBYINDUSTRIESMOST,BUTNOTALL,OFTHESEMACHINESWEREBASEDONTHEWELLKNOWNSTEWARTPLATFORM1CONFIGURATIONTHEADVANTAGESOFTHESEPARALLELSTRUCTURESAREHIGHNOMINALLOADTOWEIGHTRATIO,GOODPOSITIONALACCURACYANDARIGIDSTRUCTURE2THEMAINDISADVANTAGESOFSTEWARTTYPEPKMSARETHESMALLWORKSPACERELATIVETOTHEOVERALLSIZEOFTHEMACHINEANDRELATIVELYSLOWOPERATIONSPEED3,4WORKSPACEOFAMACHINETOOLISDEFINEDASTHEVOLUMEWHERETHETIPOFTHETOOLCANMOVEANDCUTMATERIALTHEDESIGNOFAPLANARSTEWARTPLATFORMWASMENTIONEDIN5ASANAFFORDABLEWAYOFRETROFITTINGNONCNCMACHINESREQUIREDFORPLASTICMOULDSMACHININGTHEDESIGNOFTHEPKM5ALLOWEDADJUSTABLEGEOMETRYTHATCOULDHAVEBEENOPTIMALLYRECONFIGUREDFORANYPRESCRIBEDPATHTYPICALLY,CHANGINGTHELENGTHOFONEORMORELINKSINACONTROLLEDSEQUENCEDOESTHEADJUSTMENTOFPKMGEOMETRYTHEAPPLICATIONOFTHEPKMSWITH‘‘CONSTANTLENGTHLINKS’’FORTHEDESIGNOFMACHINETOOLSISLESSCOMMONTHANTHETYPEWITH‘‘VARYINGLENGTHLINKS’’ANEXCELLENTEXAMPLEOFA‘‘CONSTANTLENGTHLINKS’’TYPEOFMACHINEISSHOWNIN6RENAULTAUTOMATIONCOMAUHASBUILTTHEMACHINENAMED‘‘URANESX’’THEHSDMDESCRIBEDHEREINUTILIZESAPARALLELMECHANISMWITHCONSTANTLENGTHLINKSDRILLINGOPERATIONSAREWELLINTRODUCEDINTHELITERATURE7ANEXTENSIVEEXPERIMENTALSTUDYOFHIGHSPEEDDRILLINGOPERATIONSFORTHEAUTOMOTIVEINDUSTRYISREPORTEDIN8DATAWASCOLLECTEDFROMHUNDREDSCONTROLLEDDRILLINGEXPERIMENTSINORDERTOSPECIFYTHEPARAMETERSREQUIREDFORQUALITYDRILLINGIDEALDRILLINGMOTIONSAND21EQUATIONSOFMOTIONOFTHEPKMMODULEWITHRIGIDLINKSUSINGCOMPLEXNUMBERREPRESENTATIONOFMECHANISMS12,THEKINEMATICEQUATIONSOFTHETOOLUNITINDICATEDASPART3WHICHINCLUDESTHEPLATFORM,THESPINDLEANDTHETOOLAREDEVELOPEDASFOLLOWSTHEDISPLACEMENTOFTHETOOLISANDWHEREBISTHEDISTANCEBETWEENPOINTBANDPOINTC,RISTHELENGTHOFLINKABTHELENGTHSOFLINKAB,CDANDCEAREEQUALTHEVELOCITYOFTHETOOLISWHERETHEACCELERATIONOFTHETOOLISWHERETHEDYNAMICEQUATIONSOFTHEPKMMODULEAREDEVELOPEDUSINGLAGRANGE’SEQUATIONOFTHESECONDKIND13ASSHOWNINEQ7

簡介：外文翻譯譯文1風工程與工業(yè)空氣動力學雜志74761998967976風洞效應結(jié)構(gòu)舞動的研究和分析風洞效應結(jié)構(gòu)舞動的研究和分析OCHABART,JLLILIEN摘要摘要舞動是一個大振幅，低頻率，架空電線的風致振動。在絕大多數(shù)情況下，輸電導線上存在覆冰這使導線的截面形狀發(fā)生改變，從而使其發(fā)生空氣動力學失穩(wěn)。本文通過在架空導線上形成一個典型的覆冰形狀并進行研究風洞試驗中產(chǎn)生的舞動。文章的第一部分已測得在不同風速作用下舞動準靜態(tài)空氣動力學系數(shù)。第二部分在風洞實驗中用彈簧懸掛模型，使得實驗系統(tǒng)盡可能地接近真實的架空導線（允許縱向，橫向和旋轉(zhuǎn)運動）。在適當?shù)墓ソ窍聦Ь€就會發(fā)生舞動。對電力工作人員來說，有兩種舞動鄧哈托舞動和顫振。前者是一個空氣動力學不穩(wěn)定問題，因為引起這個問題的主要因素是覆冰的空氣動力學特性。顫振是一個氣動彈性問題，因為對這種失穩(wěn)來說，導線的結(jié)構(gòu)特性顯得同樣重要。同時它存在至少兩個自由度之間振動的相互耦合。它們都被試驗記錄。這些試驗提供一套完整的數(shù)據(jù)并在舞動過程中記錄極限環(huán)。這些測量結(jié)果可用于數(shù)值模型驗證和防舞動措施的效率評價（失諧，增加垂直、扭轉(zhuǎn)阻尼，轉(zhuǎn)動慣量的改變等）。關(guān)鍵詞關(guān)鍵詞振動；風洞；架空導線；舞動11引言引言架空導線舞動會帶來相位間閃絡并對導線、裝置或輸電塔造成損害。它影響到能源傳輸?shù)目煽啃?。此外，建造費用必須增加，以減少閃絡的概率。文獻911中總結(jié)了許多實際觀察結(jié)果，主要在單導線方面。目前盡管有許多有關(guān)風洞方法的論文2，3，6，13，但據(jù)筆者所知，除了一篇研究單條導線有部分結(jié)果的論文外14，仍未發(fā)表有關(guān)架空導線完全實驗數(shù)據(jù)的論文。這塊領(lǐng)域有很多錄像資料，但無法取得導線或風速或覆冰形狀的數(shù)據(jù)，而且（但非常明顯）在已觀察的事件中沒有覆冰的空氣動力學特性的數(shù)據(jù)。最近一些足尺測試將會在不久的將來取得一些非常吸引人的結(jié)果17。實際上，過去有人曾對容易導致鄧哈托舞動的人工D形覆冰進行了一些實地測試1。在我們看來，這種測試不能重現(xiàn)架空導線真實的舞動，或者說僅僅是異常的重現(xiàn)。架空導線上覆著的濕雪，霜或冰都不會形成D字形截面15。只有當很薄的偏心覆著層受到迎風作用時才會導致偏離偏心覆著層原始位置的DENHARTOG舞動。但大多數(shù)覆冰情況下并不是這樣的。獲得完整數(shù)據(jù)的一個簡單廉價的方法是進行實驗測試。因為把整個架空導線放入風洞中是不可能的，而減小規(guī)模尺寸又模擬不出真實現(xiàn)象。于是我們在實驗中采用一系列小線段的懸浮模型。導線、人工覆冰和風保持與外界一致，給模型適當?shù)念l率振蕩來模擬跨度和跨與跨之間的相互作用。如他人一樣4，68，考慮三頻率（水平、豎向和扭轉(zhuǎn)）的基本影響因素，進行適當?shù)臏y試安裝。我們還沒獲得有關(guān)索中張力改變的反應，但是這種現(xiàn)象很容易通過模擬來實現(xiàn)，而且它不是評價舞動的穩(wěn)定性和一些參數(shù)的影響（像失諧、馳振等等）的基本參數(shù)。我們的風洞試驗將通過全面完整的一組數(shù)據(jù)來驗證一個數(shù)值計算模型。此外文翻譯譯文3該系統(tǒng)用剛性桿架成懸空結(jié)構(gòu)，用三個測力計（最大負載10公斤，01％的偏差的全尺實測）來測量氣動力系數(shù)。兩個垂直測力計（放在圖5中的1和2位置）用來測量垂直力（L）和力矩（M）。第三個（放在3位置）用來測量拉力（D）。在五種不同風速作用下（在820M/S），對每個風攻角測量三次（時距超過一分種）得到各個力的平均值。風攻角的增量為?5，覆蓋了?360范圍內(nèi)的風攻角。圖3顯示了特定風速下的實驗測量值。圖3風速為了15米/秒下的系數(shù)值為了獲得有用的曲線,我們采用了不同的數(shù)據(jù)處理方式平均，樣條或傅立葉插值。圖4是最后結(jié)果的一個說明。這個數(shù)字表明，對大多數(shù)風攻角來說，風速對升力系數(shù)的影響是有限的。這同樣也適用于其它系數(shù)。實際上，系數(shù)變化作為風速的函數(shù)對每一個風攻角來說是不同的。圖4不同風速下的升力系數(shù)

簡介：學號24081900389南湖學院南湖學院畢業(yè)設(shè)計（論文）英文翻譯英文題目英文題目RESEARCHONFUZZYCONTROLFORSTEAMGENERATORWATERLEVEL中文題目中文題目蒸汽發(fā)生器水位模糊控制研究文獻出處文獻出處COMPUTER,MECHATRONICS,CONTROLANDELECTRONICENGINEERINGCMCE,2010INTERNATIONALCONFERENCEONDATEOFCONFERENCE2426AUG2010作者姓名作者姓名PENGWEI譯者姓名譯者姓名楊勝專業(yè)業(yè)機械設(shè)計制造及其自動化完成時間完成時間2012525THEBALANCEOFTHESTEAMGENERATORWATERLEVELISMAINTAINEDTHROUGHTHEMATCHBETWEENTHEWATERFLOWANDSTEAMFLOWTHEPROCESSTHATWATERLEVELCHANGESWITHTHESTEAMFLOWORWATERFLOWCHANGINGCANBEREGARDEDASASIMPLEINTEGRATIONPROCESS,BUTIMPACTOFTHEWATERFLOWANDSTEAMFLOW‘SCHANGEONWATERLEVELISDIFFERENTADYNAMICSCHARACTERISTICSUNDERWATERFLOWDISTURBANCESUPPOSESTEAMFLOWGSREMAINSUNCHANGED,ANDWATERFLOWGWSTEPINCREASES,ONTHEONEHANDBECAUSETHETEMPERATUREOFFEEDWATERISMUCHLOWERTHANTHETEMPERATUREOFSATURATEDWATERINTHESTEAMGENERATOR,SOTHAT,WHENFEEDWATERENTERING,ITWILLABSORBALOTOFEXTRAHEAT,THEVAPORPHASEBUBBLECONTENTSWILLREDUCE,RESULTINGINWATERLEVELDECREASINGONTHEOTHERHAND,THEINCREASEINWATERFLOWGWMADEITGREATERTHANSTEAMLOAD,ANDCAUSEWATERLEVELINCREASESLINEARLYCOMPREHENSIVETWOFACTORS,AFTERTHESTEPINCREASEOFTHEWATERFLOW,THEWATERLEVELRISEHASATIMEDELAYPROCESS,SHOWINGADOWNTHENUPBDYNAMICCHARACTERISTICSUNDERSTEAMLOADDISTURBANCESUPPOSEFEEDWATERFLOWGWREMAINSUNCHANGED,ANDSTEAMLOADGSSTEPINCREASES,ONTHEONEHANDTHEWATERLEVELWILLFLOWDOWNBECAUSETHESTEAMFLOWRATEISGREATERTHANTHEWATERFLOWRATEONTHEOTHERHAND,ASTHESTEAMLOADINCREASED,VAPORPRESSUREISREDUCEDTHEBUBBLEVOLUMEONTHELIQUIDSURFACEINCREASES,CAUSINGTHEWATERLEVELINCREASEDCOMPREHENSIVETWOFACTORS,AFTERTHESTEPINCREASEOFTHESTEAMFLOWRATE,THEWATERLEVELDOWNHASATIMEDELAYPROCESS,SHOWINGAUPTHENDOWNTHEIMPACTONTHEWATERLEVELOFWATERFLOWORSTEAMFLOWSTEPPINGDECREASEDHASSIMILARPRINCIPLEASABOVEASANALYSISCANBESEENASABOVE,WHENTHEWATERFLOWORSTEAMLOADCHANGE,THEWATERLEVELDIDNOTFOLLOWTHECHANGEIMMEDIATELY,BUTTHEREISANOPPOSITEPROCESSATFIRSTTHISPHENOMENONISCALLED“FALSEWATERLEVEL“PHENOMENONIIIDESIGNOFWATERLEVELFUZZYCONTROLLERTHECONVENTIONALPIDCONTROLLERHASAPOORCONTROLPERFORMANCETOTHESTEAMGENERATORTHATEXIST“FALSEWATERLEVEL”CHARACTERISTICS,SHOWINGAGREATEROVERSHOOTINTHETRACKINGTIMEBUTAWELLDESIGNEDFUZZYCONTROLLERISABLETOOVERCOMETHE“FALSEWATERLEVEL“PHENOMENON,ANDHASGOODCONTROLPERFORMANCEASSTRUCTUREOFFUZZYCONTROLLERTHESTRUCTURESHOWEDINFIGURE1

簡介：中文中文38273827字外文資料外文資料EDGEFEATUREEXTRACTIONBASEDONDIGITALIMAGEPROCESSINGTECHNIQUESABSTRACTEDGEDETECTIONISABASICANDIMPORTANTSUBJECTINCOMPUTERVISIONANDIMAGEPROCESSINGINTHISPAPERWEDISCUSSSEVERALDIGITALIMAGEPROCESSINGTECHNIQUESAPPLIEDINEDGEFEATUREEXTRACTIONFIRSTLY,WAVELETTRANSFORMISUSEDTOREMOVENOISESFROMTHEIMAGECOLLECTEDSECONDLY,SOMEEDGEDETECTIONOPERATORSSUCHASDIFFERENTIALEDGEDETECTION,LOGEDGEDETECTION,CANNYEDGEDETECTIONANDBINARYMORPHOLOGYAREANALYZEDANDTHENACCORDINGTOTHESIMULATIONRESULTS,THEADVANTAGESANDDISADVANTAGESOFTHESEEDGEDETECTIONOPERATORSARECOMPAREDITISSHOWNTHATTHEBINARYMORPHOLOGYOPERATORCANOBTAINBETTEREDGEFEATUREFINALLY,INORDERTOGAINCLEARANDINTEGRALIMAGEPROFILE,THEMETHODOFBORDERINGCLOSEDISGIVENAFTEREXPERIMENTATION,EDGEDETECTIONMETHODPROPOSEDINTHISPAPERISFEASIBLEINDEXTERMSEDGEDETECTION,DIGITALIMAGEPROCESSING,OPERATOR,WAVELETANALYSISIINTRODUCTIONTHEEDGEISASETOFTHOSEPIXELSWHOSEGREYHAVESTEPCHANGEANDROOFTOPCHANGE,ANDITEXISTSBETWEENOBJECTANDBACKGROUND,OBJECTANDOBJECT,REGIONANDREGION,ANDBETWEENCLEMENTANDCLEMENTEDGEALWAYSINDWELLSINTWONEIGHBORINGAREASHAVINGDIFFERENTGREYLEVELITISTHERESULTOFGREYLEVELBEINGDISCONTINUOUSEDGEDETECTIONISAKINDOFMETHODOFIMAGESEGMENTATIONBASEDONRANGENONCONTINUITYIMAGEEDGEDETECTIONISONEOFTHEBASALCONTENTSINTHEIMAGEPROCESSINGANDANALYSIS,ANDALSOISAKINDOFISSUESWHICHAREUNABLETOBERESOLVEDCOMPLETELYSOFARWHENIMAGEISACQUIRED,THEFACTORSSUCHASTHEPROJECTION,MIX,ABERRANCEANDNOISEAREPRODUCEDTHESEFACTORSBRINGONIMAGEFEATURESBLURANDDISTORTION,CONSEQUENTLYITISVERYDIFFICULTTOEXTRACTIMAGEFEATUREMOREOVER,DUETOSUCHFACTORSITISALSODIFFICULTTODETECTEDGETHEMETHODOFIMAGEEDGEANDOUTLINECHARACTERISTICSDETECTIONANDEXTRACTIONHASBEENRESEARCHHOTINTHEDOMAINOFIMAGEPROCESSINGANDANALYSISTECHNIQUEEDGEFEATUREEXTRACTIONHASBEENAPPLIEDINMANYAREASWIDELYTHISPAPERMAINLYDISCUSSESABOUTADVANTAGESANDDISADVANTAGESOFSEVERALEDGEDETECTIONOPERATORSAPPLIEDINTHECABLEINSULATIONPARAMETERMEASUREMENTINORDERTOGAINMORELEGIBLEIMAGEOUTLINE,FIRSTLYTHEACQUIREDIMAGEISFILTEREDANDDENOISEDINTHEPROCESSOFDENOISING,WAVELETTRANSFORMATIONISUSEDANDTHENDIFFERENTOPERATORSAREAPPLIEDTODETECTEDGEINCLUDINGDIFFERENTIALOPERATOR,LOGOPERATOR,CANNYOPERATORANDBINARYMORPHOLOGYOPERATORFINALLYTHEEDGEPIXELSOFIMAGEARECONNECTEDUSINGTHEMETHODOFBORDERINGCLOSEDTHENACLEARANDCOMPLETEIMAGEOUTLINEWILLBEOBTAINEDIIIMAGEDENOISINGASWEALLKNOW,THEACTUALGATHEREDIMAGESCONTAINNOISESINTHEPROCESSOFFORMATION,TRANSMISSION,RECEPTIONANDPROCESSINGNOISESDETERIORATETHEQUALITYOFMANYADVANTAGESSUCHASTHESTRONGADAPTIVEABILITY,CALCULATINGQUICKLY,COMPLETELYRECONSTRUCTED,ETCSOTHESIGNALTONOISERATIOOFIMAGECANBEIMPROVEDEFFECTIVELYMAKINGUSEOFWAVELETTRANSFORMIIIEDGEDETECTIONTHEEDGEDETECTIONOFDIGITALIMAGEISQUITEIMPORTANTFOUNDATIONINTHEFIELDOFIMAGEANALYSISINCLUDINGIMAGEDIVISION,IDENTIFICATIONOFOBJECTIVEREGIONANDPICKUPOFREGIONSHAPEANDSOONEDGEDETECTIONISVERYIMPORTANTINTHEDIGITALIMAGEPROCESSING,BECAUSETHEEDGEISBOUNDARYOFTHETARGETANDTHEBACKGROUNDANDONLYWHENOBTAININGTHEEDGEWECANDIFFERENTIATETHETARGETANDTHEBACKGROUNDTHEBASICIDEAOFIMAGEDETECTIONISTOOUTSTANDPARTIALEDGEOFTHEIMAGEMAKINGUSEOFEDGEENHANCEMENTOPERATORFIRSTLYTHENWEDEFINETHEEDGEINTENSITYOFPIXELSANDEXTRACTTHESETOFEDGEPOINTSTHROUGHSETTINGTHRESHOLDBUTTHEBORDERLINEDETECTEDMAYPRODUCEINTERRUPTIONASARESULTOFEXISTINGNOISEANDIMAGEDARKTHUSEDGEDETECTIONCONTAINSTHEFOLLOWINGTWOPARTS1USINGEDGEOPERATORSTHEEDGEPOINTSSETAREEXTRACTED2SOMEEDGEPOINTSINTHEEDGEPOINTSSETAREREMOVEDANDANUMBEROFEDGEPOINTSAREFILLEDINTHEEDGEPOINTSSETTHENTHEOBTAINEDARECONNECTEDTOBEALINETHECOMMONUSEDOPERATORSARETHEDIFFERENTIAL,LOG,CANNYOPERATORSANDBINARYMORPHOLOGY,ETCADIFFERENTIALOPERATORDIFFERENTIALOPERATORCANOUTSTANDGREYCHANGETHEREARESOMEPOINTSWHEREGREYCHANGEISBIGGERANDTHEVALUECALCULATEDINTHOSEPOINTSISHIGHERAPPLYINGDERIVATIVEOPERATORSOTHESEDIFFERENTIALVALUESMAYBEREGARDEDASRELEVANTEDGEINTENSITYANDGATHERTHEPOINTSSETOFTHEEDGETHROUGHSETTINGTHRESHOLDSFORTHESEDIFFERENTIALVALUESFIRSTDERIVATIVEISTHESIMPLESTDIFFERENTIALCOEFFICIENTSUPPOSETHATTHEIMAGEISFX,Y,ANDITSOPERATORISTHEFIRSTORDERPARTIALDERIVATIVE,THEYREPRESENT?F/?X,?F/?YTHERATEOFCHANGETHATTHEGRAYFISINTHEDIRECTIONOFXANDYYETTHEGRAYRATEOFΑCHANGEINTHEDIRECTIONOFAISSHOWNINTHEEQUATION11?F?Α?F?XCOSΑ?F?YSINΑUNDERCONSECUTIVECIRCUMSTANCES,THEDIFFERENTIALOFTHEFUNCTIONISDF?F?XDX?F?YTHEDIRECTIONDERIVATIVEOFFUNCTIONFX,YHASAMAXIMUMATACERTAINPOINTANDDYTHEDIRECTIONOFTHISPOINTISARCTANTHEMAXIMUMOFDIRECTIONDERIVATIVEIS?F?Y/?F?XTHEVECTORWITHTHISDIRECTIONANDMODULUSISCALLEDASTHEGRADIENTOF?F?X2?F?Y2THEFUNCTIONF，THATIS,SOTHEGRADIENTMODULUSOPERATORISDESIGNED?FX,Y?F?X,?F?XINTHEEQUATION22GFX,Y?F?X2?F?Y2

簡介：本科畢業(yè)論文（或設(shè)計）外文翻譯中文中文7100字本科畢業(yè)論文本科畢業(yè)論文設(shè)計設(shè)計外文翻譯題目關(guān)于柑橘青果病的兩種韌皮部桿菌的關(guān)于柑橘青果病的兩種韌皮部桿菌的PCR檢測檢測本科畢業(yè)論文（或設(shè)計）外文翻譯211植物材料長春花（薔薇屬）和甜橙（柑橘科），均受到亞洲菌系和非洲菌系的兩種不同病菌的感染，并體現(xiàn)初出早期的癥狀。這兩類植物，其中感染亞洲菌系的主要放置在白天30℃和晚上25℃的溫室中；感染非洲菌系的放置在白天25℃和晚上20℃的溫室中；另外健康的長春花和柑橘植物通過播種，在25/20℃的溫室里生長獲得。12提取植物中的DNA使用默里和湯普生提出的常規(guī)CTAB（十六烷基三甲基溴化銨）法來抽提DNA。提取柑橘葉片研磨液，準備PCR。121方法1取05G的葉片中脈，用刀片切成細小的碎片放在一個碟狀的可使用的研缽中，加入1ML的03MNACL。研磨成漿液狀態(tài)，用注射器收集進行100G的低速離心時，進行離心。PCR既可以直接在10折至100折的稀釋的懸浮液上完成，也可以在懸浮液以16000G離心5MIN后形成的沉淀物和用100UL滅菌水的稀釋液上進行。122方法2取葉片中脈（大約01G至03G），用刀片切成細小的碎片放在一個碟狀的可使用的研缽中，加入1ML的TE緩沖液（10MMTRISPH80,400MMEDTA,1SDS）,另外加入025MG蛋白酶K。將研磨成漿液轉(zhuǎn)移到EPPENDORF離心管中，在65℃情況下孵化2H。懸浮液12000G情況下離心15MIN，混入1ML的引物DNA凈化樹脂。這樹脂轉(zhuǎn)變成圓柱體，然后用2ML80的異丙醇洗滌兩次，接著加入50UL熱水（80℃），1MIN后，這個EPPENDORF離心管的圓狀物在16000G情況下離心30S。重復該步驟，取出100UL清液（導出液），取兩個10UL的導出液分別用作PCR。2PCR擴增反應普通引物FD1和RP1被用作常規(guī)的原核生物16SRDNA的擴增；引物OI2C和OI1，用為亞洲菌系（印度浦那品種）16SRDNA的擴增；引物OA1用作非洲菌系（南非的內(nèi)爾斯普雷特品種）的16SRDNA的擴增，引物OI1同樣可以用作擴增非洲菌系，除了有三個基本的變化。因而它們用來作韌皮部桿菌的16SDNA的特異性擴增。PCR反應是在50UL的混合溶液中進行的，其中含有05ΜM的底物、200ΜM的三磷酸脫氧腺苷、78MM的TRISHCL（PH88）、2MMMGCL2、17MMNH42SO4、10MMΒ巰基乙醇、005W1去垢劑、200ΜG/MLBSA（GIBCO公司生產(chǎn)）還有25U的TAQ聚合酶（GIBCO公司生產(chǎn)）。溫度循環(huán)器可以調(diào)成以下系列步驟來進行PCR92℃30S、54℃30S和72℃60S，循環(huán)35次，以FD1/RP1為引物；92℃40S（變性）和72℃90S（退火和延伸），循環(huán)35次，以O(shè)I2C/OI1,OI2C/OA1或者OI2C/OI1/OA1為引物。擴增反應結(jié)束后，用8ΜL反應混合液在07的瓊脂糖凝膠中進行電泳分析。限制性內(nèi)切酶分析擴增限制性內(nèi)切酶分析擴增DNADNA片段片段在最后，用35ΜL的量（根據(jù)制造廠商而定）20U的XBA1限制性內(nèi)切酶來切割8ΜL擴增DNA片段，靜置時間為一晚上。這種切割的DNA片段通過4的瓊脂糖凝膠中進行電泳分析。3樣品回收

簡介：英文翻譯英文翻譯

簡介：SEEDISCUSSIONS,STATS,ANDAUTHORPROFILESFORTHISPUBLICATIONATHTTPS//WWWRESEARCHGATENET/PUBLICATION/273025406INFLUENCEOFSKEWANGLEONCONTINUOUSCOMPOSITEGIRDERBRIDGEARTICLEINJOURNALOFBRIDGEENGINEERINGJULY2012DOI101061/ASCEBE194355920000273CITATIONS4READS62AUTHORS,INCLUDINGGHOLAMREZANOURIKHARAZMIUNIVERSITY42PUBLICATIONS41CITATIONSSEEPROFILEALLINTEXTREFERENCESUNDERLINEDINBLUEARELINKEDTOPUBLICATIONSONRESEARCHGATE,LETTINGYOUACCESSANDREADTHEMIMMEDIATELYAVAILABLEFROMGHOLAMREZANOURIRETRIEVEDON26AUGUST2016SPECIFICATIONSUNDERESTIMATEDTHEBENDINGMOMENTSBYASMUCHAS28FOREXTERIORGIRDERSINNORMALBRIDGESANDTHATFORASKEWANGLEOF60°,THEMAXIMUMMOMENTINTHEINTERIORGIRDERWASAPPROXIMATELY71OFTHATINANORMALBRIDGEHELBAANDKENNEDY1994TESTEDCONTINUOUSSKEWEDCOMPOSITEBRIDGESTODEFINECOLLAPSELOADSTHERESULTSWEREPRESENTEDFORBOTHSIMPLYSUPPORTEDANDCONTINUOUS,TWOSPAN,SKEWEDCOMPOSITEBRIDGESEBEIDOANDKENNEDY1996A,BINVESTIGATEDTHEINFLUENCEOFTHESKEWANGLE,ASWELLASOTHERDESIGNPARAMETERS,ONTHESHEARANDREACTIONDISTRIBUTIONFACTORSOFCONTINUOUS,TWOSPAN,COMPOSITESTEELCONCRETEBRIDGESKHALOOANDMIRZABOZORG2003,USINGTHEFINITEELEMENTANALYSISFEAMETHOD,ANALYZEDTHREEDIMENSIONAL3D,SIMPLYSUPPORTED,SKEWEDBRIDGESWITHVARIOUSSPANLENGTHS,SKEWANGLES,GIRDERSPACINGS,ANDARRANGEMENTSOFINTERNALTRANSVERSEDIAPHRAGMSTHEYSHOWEDTHATTHELOADDISTRIBUTIONFACTOROFEXTERIORGIRDERSWASREDUCEDBY24FORASKEWANGLEOF60°COMPAREDWITHNONSKEWEDBRIDGESINADDITION,THESTUDYSHOWEDTHESENSITIVITYOFTHELOADDISTRIBUTIONFACTORSOFTHEINTERIORGIRDERSWITHRESPECTTOTHESKEWANGLEFORDECKSWITHASKEWANGLEOF60°,THEDISTRIBUTIONFACTORSDECREASEDBY263COMPAREDWITHNONSKEWEDBRIDGESITWASCONCLUDEDTHATTHELOADDISTRIBUTIONFACTORSOFTHEAASHTOSTANDARDSPECIFICATIONSWEREUPTO431HIGHERTHANTHOSEFOUNDBYFEAKHALOOANDMIRZABOZORG2003SUGGESTEDTHATGIRDERLIVELOADDISTRIBUTIONFACTORSSHOULDBEREEVALUATEDFORSKEWEDBRIDGESHUANGETAL2004CARRIEDOUTFIELDTESTSANDTHEORETICALANALYSESUSINGFEAFORTWOSPANCONTINUOUSSLABONSTEELGIRDERCOMPOSITEBRIDGESWITHASKEWANGLEOF60°ASHEBOETAL2007STUDIEDTHEEFFECTOFDYNAMICLOADSONASKEWBOXGIRDERCONTINUOUSBRIDGEITWASFOUNDTHATTHEINFLUENCEOFSKEWINBOTHTHESTATICANDDYNAMICBEHAVIORSOFTHEBRIDGEWITHINTHESKEWANGLERANGEOF0°–30°WASVERYSMALLMENASSAETAL2007CONDUCTEDFEAONASIMPLYSUPPORTEDONESPANMULTILANESKEWREINFORCEDCONCRETESLABBRIDGETHEYCONCLUDEDTHATTHERATIOBETWEENTHEFEALONGITUDINALMOMENTSFORSKEWEDANDSTRAIGHTBRIDGESWASALMOST1FORBRIDGESWITHASKEWANGLELESSTHAN20°THISRATIODECREASEDTO075FORBRIDGESWITHSKEWANGLESBETWEEN30°AND40°,ANDFURTHERDECREASEDTO05ASTHESKEWANGLEOFTHEBRIDGEINCREASEDTO50°INTHOSESTUDIES,THEEFFECTSOFTRANSVERSEDIAPHRAGMARRANGEMENTANDSPANRATIOHAVENOTBEENCONSIDEREDINTHISPAPER,THEEFFECTOFTHESKEWANGLEANDOTHERDESIGNPARAMETERSONTHEBENDINGMOMENT,SHEARFORCE,ANDDISTRIBUTIONFACTOROFTWOSPANCONTINUOUSCOMPOSITESTEELCONCRETEBRIDGESARESTUDIEDUSINGFEATHERESULTSOFTHEFEAFORSKEWEDBRIDGESARECOMPAREDWITHTHEREFERENCESTRAIGHTBRIDGESASWELLASTHEAASHTOSTANDARDSPECIFICATIONSANDAASHTOLRFDSPECIFICATIONSINADDITION,THEACCURACYOFASIMPLEEQUATIONFORSKEWEDBRIDGESINAPREVIOUSSTUDYISEXAMINEDANDTHEEFFECTSOFTHETRANSVERSEDIAPHRAGMARRANGEMENTANDSPANRATIOARESTUDIEDSEVENTYTWOMODELCASESAREANALYZEDWITHVARIOUSSPANRATIOS1,155,AND182,SKEWANGLES0°–60°,ANDTWOARRANGEMENTSOFINTERNALTRANSVERSEDIAPHRAGMSDESCRIPTIONOFBRIDGEMODELSANDASSUMPTIONSTWOLANEBRIDGESWITHANOVERALLWIDTHOF118MWITHSIXISECTIONGIRDERSWERECONSIDEREDTHESTRUCTUREWASIDEALIZEDUSINGTHEFOLLOWINGASSUMPTIONS1THESKEWEDDECKSWERESLABONGIRDERANDCONSISTEDOFSIXSTEELISECTIONEDLONGITUDINALGIRDERSTHATARESPACEDAT2M,CENTERTOCENTER2ALLMATERIALSWEREELASTICANDHOMOGENEOUS3THEDECKSLABANDLONGITUDINALIGIRDERSWERESIMPLYSUPPORTEDATTHEABUTMENTANDWERECONTINUOUSOVERTHEPIERSTHELENGTHOFTHEFIRSTSPANWAS24M,WITHSPANRATIOSNSECONDSPANLENGTH/FIRSTSPANLENGTHOF1,155,AND182TWODIFFERENTARRANGEMENTSFORTHEINTERMEDIATETRANSVERSEDIAPHRAGMWERESTUDIEDINTHEFIRSTPATTERN,ATRANSVERSEDIAPHRAGMWASPERPENDICULARTOTHELONGITUDINALGIRDERSANDINTHESECONDONE,ATRANSVERSEDIAPHRAGMWASPARALLELTOTHESUPPORTINGLINEOFTHEDECKTHESKEWANGLEVARIED0–45°FORTHEFIRSTPATTERNAND0–60°FORTHEPARALLELONETHEGIRDERSWERESTEELISECTIONSWITHAHEIGHTOF2MANDSECTIONMODULUSOFSX?0046M3WEUSEDL808MMFORTHEXTYPEINTERMEDIATEDIAPHRAGMWITHATOPANDBOTTOMCORDCROSSFRAMEFORALLBRIDGES,25CMTHICKCONCRETEDECKSLABSOF30MPACOMPRESSIVESTRENGTHWEREUSEDANDWEREREINFORCEDONTHETOPANDBOTTOMBYA400MM2∕MAREAOFSTEELMESHEBEIDOANDKENNEDY1996A,BFIG1SHOWSTHECROSSSECTIONOFFINITEELEMENTMODELFEMANDTWOARRANGEMENTSOFTRANSVERSEDIAPHRAGMSFINITEELEMENTANALYSISMANYVARIATIONSHAVEBEENUSEDINTHELITERATURETOFORMULATETHEGIRDERSLABMODELHAYSETAL1986DEVELOPEDAMODELUSINGQUADRILATERALSHELLELEMENTSFORTHEBRIDGEDECKANDSPACEFRAMEELEMENTSFORTHEGIRDERSTHISTYPEOFMODELISSIMILARTOTHEECCENTRICBEAMMODELEXCEPTTHEELEMENTSARESIMPLYCONNECTEDATTHECENTEROFGRAVITYANDARIGIDLINKISNOTREQUIREDATRUEECCENTRICBEAMAPPROACHWASPRESENTEDBYIMBSENANDNUTT1978THEMODELUTILIZEDSHELLELEMENTSANDBEAMELEMENTSCONNECTEDBYRIGIDLINKSTOREPRESENTTHEDECKANDGIRDERS,RESPECTIVELYBROCKENBROUGH1986USEDADETAILEDBEAMAPPROACHANDDIVIDEDTHEBEAMINTOTHREEPARTSEACHFLANGEWASMODELEDASABEAMELEMENT,ANDTHEWEBWASMODELEDASASHELLELEMENTTHESLABUTILIZEDSHELLELE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簡介：CONTROLENGINEERINGPRACTICE142006137–147ANEXPERIMENTALSTUDYONTHEOPTIMIZATIONOFCONTROLLERGAINSFORANELECTROHYDRAULICSERVOSYSTEMUSINGEVOLUTIONSTRATEGIESMINYOUNGKIM?,CHUNGOHLEEDEPARTMENTOFMECHANICALENGINEERING,KOREAADVANCEDINSTITUTEOFSCIENCEANDTECHNOLOGY,3731,GUSEONGDONG,YUSEONGGU,DAEJEON,305701,KOREARECEIVED11OCTOBER2003ACCEPTED20JANUARY2005AVAILABLEONLINE12MARCH2005ABSTRACTTHISPAPERDEALSWITHANEXPERIMENTALOPTIMIZATIONPROBLEMOFTHECONTROLLERGAINSFORANELECTROHYDRAULICPOSITIONCONTROLSYSTEMTHROUGHEVOLUTIONSTRATEGIESESSBASEDMETHODTHEOPTIMALCONTROLLERGAINSFORTHECONTROLSYSTEMAREOBTAINEDBYMAXIMIZINGFITNESSFUNCTIONDESIGNEDSPECIALLYTOEVALUATETHESYSTEMPERFORMANCEINTHISPAPER,FORANELECTROHYDRAULICPOSITIONCONTROLSYSTEMWHICHWOULDREPRESENTAHYDRAULICMILLSTANDFORTHEROLLGAPCONTROLINPLATEHOTROLLINGS,THETIMEDELAYCONTROLLERTDCISDESIGNED,ANDTHREECONTROLPARAMETERSOFTHISCONTROLLERAREDIRECTLYOPTIMIZEDTHROUGHASERIESOFEXPERIMENTSUSINGTHISMETHODITISSHOWNTHATTHENEAROPTIMALVALUEOFTHECONTROLLERGAINSISOBTAINEDINABOUT5THGENERATION,WHICHCORRESPONDSTOAPPROXIMATELY150EXPERIMENTSTHEOPTIMALCONTROLLERGAINSAREEXPERIMENTALLYCONFIRMEDBYINSPECTINGTHEFITNESSFUNCTIONTOPOLOGIESTHATREPRESENTSYSTEMPERFORMANCEINTHEGAINSPACESITISFOUNDTHATTHEREARESOMELOCALOPTIMUMSONAFITNESSFUNCTIONTOPOLOGYSOTHATTHEOPTIMIZATIONOFTHETHREECONTROLPARAMETERSOFATDCBYMANUALTUNINGCOULDBEATASKOFGREATDIFFICULTYTHEOPTIMIZEDRESULTSVIATHEESCOINCIDEWITHTHEMAXIMUMPEAKPOINTINTOPOLOGIESITISALSOSHOWNTHATTHEPROPOSEDMETHODISANEFFICIENTSCHEMEGIVINGECONOMYOFTIMEANDLABORINOPTIMIZINGTHECONTROLLERGAINSOFFLUIDPOWERSYSTEMSEXPERIMENTALLYR2005ELSEVIERLTDALLRIGHTSRESERVEDKEYWORDSCONTROLLERGAINOPTIMIZATIONEVOLUTIONSTRATEGIESTIMEDELAYCONTROLAUTOMATICCONTROLLERGAINSEARCHELECTROHYDRAULICSERVOSYSTEM1INTRODUCTIONRECENTLY,THERESEARCHONTHEOPTIMIZATIONANDADAPTATIONOFCONTROLLERGAINSORPARAMETERSFORIMPROVINGTHESYSTEMPERFORMANCEINHYDRAULICANDPNEUMATICSERVOSYSTEMSHASBEENAFIELDOFINCREASINGINTERESTFLEMINGKLEIN,1992JEON,LEE,HYUNCHOI,LEE,WATTON,1989THEPRESSUREFLOWCHARACTERISTICSOFVALVE,THESATURATIONOFVALVEANDCYLINDER,THELEAKAGEFLOWCHARACTERISTICSOFVALVEANDCYLINDERWITHVARIATIONOFSUPPLYPRESSURE,THEFRICTIONCHARACTERISTICINCYLINDER,THEVARIATIONOFVISCOSITYANDCOMPRESSIBILITYOFWORKINGFLUIDWITHTHETEMPERATURE,THEFLOWCHARACTERISTICDUETOTHESHAPEOFPIPELINE,ANDMOSTIMPORTANTLY,THEVARIATIONOFTHESYSTEMGAINSWITHTHESUPPLYPRESSUREANDTHELOADPRESSURETHEREFORE,WHENTHESEFLUIDPOWERSYSTEMSARECONTROLLED,THECONTROLLERGAINSAREADJUSTEDONTHEFOUNDATIONOFEXPERT’SINTUITIVEKNOWLEDGEABOUTTHESYSTEMANDTHEARTICLEINPRESSWWWELSEVIERCOM/LOCATE/CONENGPRAC09670661/SEEFRONTMATTERR2005ELSEVIERLTDALLRIGHTSRESERVEDDOI101016/JCONENGPRAC200501010?CORRESPONDINGAUTHORTEL82428693253FAX82428693210EMAILADDRESSMYKIMLCAKAISTACKRMYKIMSTRUCTURESPRINGTHROUGHLINEARVARIABLEDIFFERENTIALTRANSFORMERLVDT,ANDTHEDEFORMATIONOFMATERIALSPRINGTHROUGHLINEARSCALETHEROLLGAPCONTROLCYLINDERISACYLINDEROFRAMTYPEASINREALHOTROLLINGPROCESS,ANDTHEDISTURBANCECYLINDERISJUSTUSEDTOAPPLYADISTURBANCETOTHESYSTEMDURINGROLLGAPCONTROLACONTROLCURRENTSIGNALI1OFTHECLOSEDLOOPISUSEDTOPERFORMTHEPOSITIONCONTROLOFROLLGAPCONTROLCYLINDER,WHICHISINPUTTEDTOASERVOVALVECONNECTEDTORAMCYLINDERTHEOTHERCURRENTSIGNALI2OFTHEOPENLOOPISUSEDTOGENERATEADISTURBANCE,WHICHISINPUTTEDTOASERVOVALVECONNECTEDTODISTURBANCECYLINDERINTHISARTICLE,RESPONSESOFTHESYSTEMWITHTHEFIXEDDISTURBANCECYLINDERARECONSIDEREDTABLE1SHOWSSOMEOFTHETECHNICALSPECIFICATIONSOFTHEEXPERIMENTALSETUPCOMPOSEDOFPOWERUNIT,ROLLGAPCONTROLCYLINDER,STRUCTURESPRING,MATERIALSPRING,LINEARSCALE,SERVOVALVE,ANDINTERFACECARD22ATIMEDELAYCONTROLLERTDCFORTHEPOSITIONCONTROLSYSTEMASELECTEDCONTROLLERFORTHEPOSITIONCONTROLOFTHISSYSTEMISTHETDCYOUCEFTOUMIHSIAGAO,1990,WHICHISBASEDONTHEESTIMATIONOFUNKNOWNEFFECTSDUETOSYSTEMUNCERTAINTIESUSINGTHEARTICLEINPRESSSERVOVALE1SERVOVALE2I2I1AMPUDACMICROCOMPUTERSTRUCTURESPRINGROLLGAPCONTROLCYLINDERXLINEARSCALELOADCELLMATERIALSPRINGDISTURBANCECYLINDERFIG1SCHEMATICDIAGRAMOFTHEELECTROHYDRAULICPOSITIONCONTROLSYSTEMTABLE1SPECIFICATIONSOFTHECOMPONENTSUSEDINTHEEXPERIMENTPARTS/INSTRUMENTSCOMPANY/MODELNUMBERSPECIFICATIONSPOWERUNITVICKERSSUPPLYPRESSURE703KGF/CM2ROLLGAPCONTROLCYLINDERTAIYO/140H7PISTONDIAMETER40MMSTRUCTURESPRINGOSPRINGCONSTANT90KGF/MMMATERIALSPRINGOSPRINGCONSTANT45KGF/MMSERVOVALVEMOOG/73101RATEDFLOW95LPMAT703KGF/CM2LINEARSCALEHEIDENHAIN/LS603CRESOLUTION1MMINTERFACECARDNANOTECH/LABINMASTER12BITD/A710V16BITCOUNTERMYKIM,COLEE/CONTROLENGINEERINGPRACTICE142006137–147139

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簡介：OVERVIEWARTICLEANALYSISOFBUILDINGENVIRONMENTASSESSMENTFRAMEWORKSANDTHEIRIMPLICATIONSFORSUSTAINABILITYINDICATORSYUYAKAJIKAWATOSHIHIROINOUETHONGNGEEGOHRECEIVED28JUNE2010/ACCEPTED25MARCH2011/PUBLISHEDONLINE23APRIL2011?INTEGRATEDRESEARCHSYSTEMFORSUSTAINABILITYSCIENCE,UNITEDNATIONSUNIVERSITY,ANDSPRINGER2011ABSTRACTGREENCONSTRUCTIONISGAININGINCREASINGATTENTIONINTHEGLOBALCONTEXTHOWEVER,THECONSTRUCTIONOFSUSTAINABLEGREENBUILDINGSANDENVIRONMENTSINVOLVESDIFFERENTTOOLSANDSYSTEMSANDDIVERSEPERSPECTIVESTHEREFORE,THEDEVELOPMENTOFENVIRONMENTALASSESSMENTTOOLSISANIMPORTANTTASKFORMANAGINGGREENHOUSINGANDGREENBUILDINGPROJECTSINTHISPAPER,WEDISCUSSTHEBENEFITS,LIMITATIONS,ANDFUTUREDIRECTIONSOFTHEASSESSMENTFRAMEWORKTHEREAREFOURCHARACTERISTICSOFBUILDINGENVIRONMENTALASSESSMENT,IE,COMPREHENSIVENESS,DESIGNGUIDELINE,SIGNALING,ANDCOMMUNICATIONTOOLS,WHICHAFFORDBOTHBENEFITSANDLIMITATIONSWEILLUSTRATETHEROLEOFTHEASSESSMENTFRAMEWORKASAHUBPROMOTINGINTEGRATIONOFDIVERSEKNOWLEDGE,ASADESIGNGUIDELINEENCOURAGINGBETTERDESIGNANDACTION,ASSIGNALINGENVIRONMENTALLYFRIENDLYDESIGNANDACTION,ANDASACOMMUNICATIONTOOLONTHEOTHERHAND,THEREARELIMITATIONS,SUCHASTHEUSEOFAMIXTUREOFQUANTITATIVEANDQUALITATIVEMEASURES,AMBIGUITYOFWEIGHING,LACKOFFINANCIALEVALUATION,ANDLACKOFINVOLVEMENTOFDIVERSEDISCIPLINESANDSTAKEHOLDERSTODEVELOPANEFFECTIVEASSESSMENTFRAMEWORK,THEFOLLOWINGTHREEFACTORSMUSTBECONSIDEREDKNOWLEDGE,POWER,ANDIMPLEMENTATIONWEPROPOSETHATKNOWLEDGEINNOVATION,ACREDIBLEAPPROACHFORASALIENTSOLUTION,ANDCOLLECTIVEACTIONREPRESENTTHEFUTURECHALLENGESOFTHEASSESSMENTFRAMEWORKKEYWORDSSUSTAINABILITYSCIENCE?INDICATORS?KNOWLEDGEINNOVATION?GREENBUILDING?SUSTAINABLECONSTRUCTIONINTRODUCTIONSUSTAINABILITYINDICATORSHAVEBEENPROPOSEDANDPUBLISHEDAROUNDTHEWORLD,ANDTHEREARE894ENTRIESREGISTEREDINTHEDATABASEOFTHECOMPENDIUMOFSUSTAINABLEDEVELOPMENTINDICATORINITIATIVESIISD2010THISWIDEPOPULARITYREFLECTSTHEINCREASINGCONCERNABOUTINDICATORSALTHOUGHCONCERNISALSOCENTEREDONTHEAMBIGUITYOFTHETERMSUSEDINSUSTAINABILITYASSESSMENT,ANDTHEPLURALITYOFPURPOSEINCHARACTERIZINGANDMEASURINGSUSTAINABLEDEVELOPMENTASWELLASTHECONFUSIONOFDATA,ANDMETHODSOFMEASUREMENTPARRISANDKATES2003SUSTAINABILITYINDICATORSAREDEVELOPEDTOREPRESENTWHATISTOBESUSTAINED,WHATISTOBEDEVELOPED,ANDFORHOWLONGPARRISANDKATES2003THESEINDICATORSHAVEEDITEDBYKEISUKEHANAKI,UNIVERSITYOFTOKYO,JAPANYKAJIKAWAWHILEITISESPECIALLYDIFFICULTFORSUCHANAPPROACHTOCOMPAREALTERNATIVEOPTIONSWITHANQUANTITATIVESCALETHEREISATRADEOFFAMONGOPTIONSEXPERTASSESSINGSYSTEMSAREALSOAVAILABLE,BUTTRAINEDASSESSORSARENOTSATISFIEDWITHTHESESYSTEMSPREASSESSMENTTOOLSAREUSEFULINCLARIFYINGTHEOBJECTIVESOFBUILDINGOWNERSATTHEEARLYDESIGNSTAGEANDINSETTINGDESIREDRATINGSASSESSEDINDEXESAREAWARDEDINEACHAREA,EG,ENERGYSAVINGORSECURITY,ACCORDINGTOTHEIRPERFORMANCEMOSTBEAMETHODSPROVIDEQUANTITATIVEDATAPERFORMANCEINDICATORSTOSUPPORTDECISIONMAKINGANDDETERMINETHEPERFORMANCELEVELOFBUILDINGS’RATINGSLABELINGTYPICALLYTAKESTHEFORMOFASINGULAR,EASILYRECOGNIZABLEDESIGNATION,EG,‘GOLD’OR‘EXCELLENT’DIFFERENTTYPESOFBUILDINGSNEEDTOBEASSESSED,FOREXAMPLE,OFFICEBUILDINGS,RESIDENTIALBUILDINGSSINGLEFAMILYORMULTIUNIT,FACTORIES,SCHOOLS,HOSPITALBUILDINGS,COMMERCIALBUILDINGSANDOTHERTYPESOFBUILDINGSDIFFERENTTYPESOFBUILDINGSHAVEDIFFERENTTENDENCIESINENERGYUSEANDARETHEREFOREASSESSEDWITHDIFFERENTBENCHMARKSBEAMETHODSCANEVALUATETHESEDIFFERENTTYPESOFBUILDINGSNEWBUILDINGSANDEXISTINGBUILDINGSAREASSESSEDDIFFERENTLYHOWEVER,THEUSEFULNESSOFTHEENVIRONMENTALBUILDINGASSESSMENTMETHODINTHISRESPECTISDOUBTFULBECAUSETHEREMEDIALWORKNEEDEDTOMAKEACOMPLETEDBUILDINGCOMPLYMAYBETOOEXTENSIVE,COSTLYANDTIMECONSUMINGCRAWLEYANDAHO1999FOREXAMPLE,REPLACINGANEXISTINGVENTILATIONSYSTEMBYINSTALLINGMOREWINDOWSTOALLOWFORNATURALVENTILATIONANDDAYLIGHTMAYBEIMPRACTICABLE,DIFFICULT,OREXPENSIVETOFACILITATEENVIRONMENTALASSESSMENTMETHODSHAVEBEENAPPLIEDPREDOMINANTLYTONEWCONSTRUCTION,BUTWHILEREFURBISHMENTANDMAINTENANCEOFEXISTINGBUILDINGSAREALSOANIMPORTANTPARTOFASUSTAINABLEFUTUREDING2008,EFFORTINTHISAREAISNOTYETSUFFICIENTINTHISPAPER,THEFOLLOWINGFOURMAJORBEATOOLSAREEXPLAINEDINDETAILSUSTAINSCI20116233–246235123

簡介：華中農(nóng)業(yè)大學本科畢業(yè)論文（或設(shè)計）外文翻譯1人臉識別的魯棒回歸問題□□原文來源IMRANNASEEMA,ROBERTOTOGNERI,MOHAMMEDBENNAMOUN．ROBUSTREGRESSIONFORFACERECOGNITION．1前言隨著安全威脅逐漸增加，更加突顯出在一些敏感設(shè)施中安裝高效可靠的鑒別系統(tǒng)的重要性。在這方面，生物識別技術(shù)已經(jīng)表現(xiàn)出了良好的性能。相比于其他可利用的生物特征，如語音、虹膜、指紋、掌型和步態(tài)，臉部似乎是最自然的選擇。首先，它是非侵入性的，需要用戶的合作，而且廉宜實現(xiàn)。臉部識別廣泛使用于在視頻監(jiān)控中用來鎖定犯罪嫌疑人，也突顯出了它的重要性。隨著多媒體型號傳輸和加工在近幾年來的發(fā)展，我們見證了人臉識別的許多新興應用，例如，通過互聯(lián)網(wǎng)進行人臉識別，正成為一個最新的應用。然而,這些相對較新的應用往往同樣意味著魯棒性問題。盡管人臉識別測試是在一個離線控制的實驗室環(huán)境，但是由于環(huán)境亮度、傳感器故障、信道噪聲、在網(wǎng)絡媒體壓縮噪聲等原因，探測器圖像總是容易變形。一般而言，人臉識別系統(tǒng)批判地依靠流形學習方法。一個灰度人臉圖像的矩陣可表示為原始圖像空間中的一個AXB維的向量。通常，在模式識別問題中，普遍認為高維數(shù)據(jù)向量是冗余測量值的潛在來源。流形學習的目的是通過一種從高維數(shù)據(jù)向低維數(shù)據(jù)適當?shù)霓D(zhuǎn)變方法，揭示這種所謂的“潛在來源”。因此,在特征提取階段，面部空間的圖像要轉(zhuǎn)化成低維數(shù)據(jù)向量，主要的目標就是找到一個進行轉(zhuǎn)化的基函數(shù)，能夠區(qū)分面部空間的代表性面部。然而，由于噪聲的存在，這是一個極富挑戰(zhàn)性的任務。有編碼理論指出，迭代測量可以安全地修復存在噪聲的信息。因此，在低維特征空間中維護外貌的魯棒性實際上是目標識別中一個急切的問題，文獻中稱這些方法為降維。聯(lián)系到關(guān)于魯棒性的語境，這些方法被廣泛地分為兩大類，即重構(gòu)和可識別性方法。重構(gòu)方法（如PCA、ICA和NMF）據(jù)稱與丟失和污染的像素有關(guān)，這些方法本質(zhì)上是利用視覺冗余數(shù)據(jù)生產(chǎn)足夠的重構(gòu)性能表現(xiàn)。形式上，給一個輸出X和一個標簽Y，生成分類器會學習聯(lián)合概率P（X,Y）和條件概率P（X|Y）的模型，這種定義使用了貝葉斯定理。另一方面，我們已知可識別性方法（如LDA）由于決策界限的靈活性，在“干凈”的條件下具有更好的效果，而確定最優(yōu)決策的界限取決于使用直接來源于數(shù)據(jù)的P（X|Y），因此其對異常值更加敏感。同傳統(tǒng)的方法相比，它最近還被證實有許多獨特的特點，如圖像下采樣和隨機投影一樣可以處理得很好。事實上,選擇的特征空間可能不再是那么重要，真正重要的是特征空間的華中農(nóng)業(yè)大學本科畢業(yè)論文（或設(shè)計）外文翻譯3致高故障點。大多數(shù)的魯棒學習方法是基于通過替換傳統(tǒng)位置適應判別模式和魯棒副本適應散射矩陣估計，如MVE微小量估計及投影尋蹤方法等。已經(jīng)提出的某些魯棒的變體生成方法是使用魯棒度量，而不是標準的最小二乘法計算。人臉識別的魯棒性問題中的一個重要措施是通過引入一個假設(shè)和測試范式改進傳統(tǒng)的特征空間方法的學習過程。從根本上說，工作在像素點子集和的二次抽樣一旦被引入，就會由魯棒解的一組線性方程產(chǎn)生一種假說?；谧钚∶枋鲩L度（MDL）的原則，我們進一步選擇不相容的假說來確定的特征空間系數(shù)。最近所提出的一個更加復雜的方法在本質(zhì)上是結(jié)合可識別性方法和重構(gòu)方法來構(gòu)造一個子空間，其同時具有兩種方法的可識別能力和重構(gòu)性質(zhì)。這就提出了一個重要的相關(guān)工作，即在生成概率成像模型時，建立OUTLIER和INLIER過程。這項任務對于人臉識別被表示為最大后驗（MAP）估計問題，該方法應用于連續(xù)閉塞問題。據(jù)我們所知，這是第一次將隨機丟失或破壞的像素問題轉(zhuǎn)化為一個線性魯棒回歸的任務。全文的結(jié)構(gòu)安排是這樣的第二部分討論了最基本的魯棒估計問題，第三部分描述了面部識別問題，第四部分論證了本文提出的方法在劇烈光照變化條件下的有效性，第五部分演示了隨機污染像素的實驗，最后一部分則對全文做了總結(jié)。2魯棒估計問題考慮一個線性問題EY???X（1）其中，應變量Y∈RQ1,回歸變量X∈RQP，未知參數(shù)Β∈RP1，誤差項E∈RQ1。魯棒估計問題就是估計未知參數(shù)??用來最小化剩余量??Y?Y?YRX??；（2）Y?就是預測的應變量。在經(jīng)典統(tǒng)計學中誤差項E通常被作為零均值的高斯噪聲。傳統(tǒng)優(yōu)化回歸的方法是最小二乘法）（??RMINARGQ1J2J??（3）其中，）（??RJ是殘余向量R的第J個成分。然而，由于異常值的存在，最小二乘

簡介：中文中文3800字出處出處JIANGY,RENRTHERATEOFRETURNONCAPITALFORPENSIONSYSTEMINCHINAJJOURNALOFSYSTEMSSCIENCESYSTEMSENGINEERING,2006,154465473中國養(yǎng)老保險制度的資本收益率中國養(yǎng)老保險制度的資本收益率YUNYUNJIANGRUOENREN摘要摘要資本收益率是養(yǎng)老金改革政策制定中的一個重要參數(shù)。在評價養(yǎng)老保險改革，費爾德斯坦提出的方法是衡量資本回報率的廣泛性采用。在這里我們用這種方法計算了中國的資本回報率。計算表明，所有工業(yè)企業(yè)的回報率是65左右，從19962000，在同一時期國有工業(yè)企業(yè)的平均回報率低于上述數(shù)字的15。最后，我們得出一個結(jié)論，回報率范圍從57是適合中國養(yǎng)老保險改革的。關(guān)鍵詞關(guān)鍵詞資本收益率，養(yǎng)老金改革，個人賬戶11簡介簡介就養(yǎng)老基金而言，中國還遠未成熟。事實上，在過去幾年中，收入和支出之間的不平衡，在過去幾年里一直在加重。統(tǒng)計數(shù)據(jù)顯示，有5個城市從1997年開始遭受從收入和支出之間的不平衡之苦，持續(xù)數(shù)量飆升至1998年已經(jīng)有21個城市開始出現(xiàn)收支不均，到了1999年這一數(shù)字變成25（勞動和社會保障部，中華人民共和國2001年）。中國養(yǎng)老保險的支出率迅速上升，從1978年的28上漲到今天的28（世界銀行1997）。和許多其他國家一樣，中國必須重塑自己的養(yǎng)老金體系。二十世紀末1997年國務院26號文件稱建立社會統(tǒng)籌和個人賬戶相結(jié)合的養(yǎng)老保險制度。但在這里提到的資金沒有可以來自個人賬戶的，換句話說，這是一個名義賬戶的現(xiàn)收現(xiàn)付制。因此，我們?nèi)匀幻媾R著資金沒有著落的系統(tǒng)和資助體系之間進行選擇的問題?；貓舐剩且环N對養(yǎng)老金制度的選擇具有重要作用的模式。如果現(xiàn)收現(xiàn)付制提供資助的系統(tǒng)有高回報率，這意味著在現(xiàn)收現(xiàn)付制度下資本的增加快于投資系統(tǒng)，反之亦然。費爾德斯坦（1996）提出，在美國，將聯(lián)合國的養(yǎng)老金制度轉(zhuǎn)移到美國的養(yǎng)老保險制度中，對兩者的收益率進行了定量比較。但這在中國的養(yǎng)老保險制度是否可行呢而且，資本收益率不僅是養(yǎng)老保險制度選擇的重要參數(shù)，也是分析養(yǎng)老保險基金項目存在問題的一個重要參數(shù)。例如，如果我是這樣的。我國基金流量表采用的分類方法。更多的是，國有企業(yè)在美國的政府部門被納入政府部門。然而，在中國，國有企業(yè)是非金融部門和金融部門的，許多宏觀經(jīng)濟數(shù)據(jù)進行分類的行業(yè)，由于工業(yè)在我國經(jīng)濟中占有重要地位，工業(yè)部門數(shù)據(jù)充分，我國工業(yè)企業(yè)資本收益率占絕大部分，因此，它是困難的，在非金融企業(yè)資本在中國的回報率估計之間分配是毫無意義的。中國是國有工業(yè)企業(yè)和非國有企業(yè)之間的分配。為了比較國有工業(yè)企業(yè)資本與非國有工業(yè)企業(yè)資本回報率，我們可以計算在國有工業(yè)資本和工業(yè)資本的總回報率。此外，使用費爾德斯坦提出的方法，我們作出以下調(diào)整首先，財產(chǎn)稅沒有納入資本收入。美國的房產(chǎn)稅是建立在所有權(quán)的基礎(chǔ)上的，和應付無論使用該屬性是否為它所產(chǎn)生的業(yè)主收入（雖然這些因素可能會影響評估價值）（HARVEY1986）。我們都知道，在中國沒有物業(yè)稅的，幾類稅屬于財產(chǎn)稅類，如車船使用稅，房地產(chǎn)稅，利用城市土地，土地增值稅。但它們并不等同于美國的財產(chǎn)稅，所以我們不把它們納入資本收入（劉2000）。其次，數(shù)據(jù)的凈利息支付從1982年到1984年，自1991年至1992年，從1996年到2002年可以被發(fā)現(xiàn)在工業(yè)統(tǒng)計報告，在1995年中國人民共和國第三次全國工業(yè)普查的數(shù)據(jù)可以被發(fā)現(xiàn)。所以我們只需要估計從1985到1990和1993到1994凈利息支付。在中國統(tǒng)計年鑒可以直接發(fā)現(xiàn)工業(yè)凈產(chǎn)值和工資數(shù)據(jù)，所以我們只需要估計數(shù)據(jù)累計產(chǎn)品銷售利潤，產(chǎn)品銷售稅金及相關(guān)支付額外的費用。但是產(chǎn)品銷售利潤與產(chǎn)品銷售利潤和總利潤不相似。利潤總額不僅包括產(chǎn)品銷售利潤，而且包括非主營業(yè)務利潤的其他利潤。產(chǎn)品銷售利潤包括利潤來源于產(chǎn)品銷售放在當期最后一期，但不包括放在下一期銷售期產(chǎn)品的利潤。產(chǎn)品銷售稅及有關(guān)付款方式不等同于產(chǎn)品銷售稅及相關(guān)付款。所以很難計算出應計產(chǎn)品銷售利潤及產(chǎn)品銷售稅及相關(guān)支付的數(shù)據(jù)。因此，我們必須更換應計產(chǎn)品銷售利潤和產(chǎn)品銷售稅及與產(chǎn)品銷售利潤和產(chǎn)品銷售稅及相關(guān)的支付率。從1985到1990中國實施中央經(jīng)濟，生產(chǎn)和銷售之間的差異不大，所以錯誤是可以接受的。根據(jù)財政部制定的標準，計算出職工福利基金的數(shù)據(jù)。它占11的總工資其是扣除食品價格的子公司和各種獎金之后。我們可以從1982到1984獲得額外費用的數(shù)據(jù)，從1991到1992。我們可以

簡介：MOVINGFROMCLASSICASPTOASPNETABSTRACTASPNETISMICROSOFTNEWOFFERINGFORWEBAPPLICATIONDEVELOPMENT,INNOVATIONWITHINASPNETHAVERESULTEDINSIGNIFICANTINDUSTRYPOPULARITYFORTHISPRODUCTCONSEQUENTLYTHEREISANINCREASEDNEEDFORASPNETEDUCATIONTHEWEBAPPLICATIONDEVELOPMENTISATHIRDYEARUNDERGRADUATECOURSETOMEETTHEDEMANDSOFBOTHINDUSTRYANDSTUDENTS,WEHAVECHANGEDTHEFOCUSOFTHISCOURSEFROMCLASSICASPTOASPNETTHISPAPERREPORTSTHISMOVETHESIGNIFICANTFEATURESOFASPNETANDTHEMOTIVATIONSFORTHISMOVEAREDISCUSSEDTHEPROCESS,THEPROBLEMSENCOUNTERED,ANDSOMEHELPFULONLINELEARNINGRESOURCESAREDESCRIBEDKEYWORDSWEBAPPLICATIONDEVELOPMENT,CLASSICASP,ASPNET,MOVE,VBNET1INTRODUCTIONASPNETISNOTJUSTANEWVERSIONOFASPITPROVIDESINNOVATIONFORMOVINGWINDOWSAPPLICATIONSTOWEBAPPLICATIONSWEBSERVICESANDTHENETFRAMEWORKHAVEMADETHEVISIONOFTHEWEBASTHENEXTGENERATIONCOMPUTINGPLATFORMAREALITYWITHSERVERCONTROLS,WEBFORMSAND“CODEBEHIND”,WECANDEVELOPAWEBAPPLICATIONBYUSINGACOMPLETEOBJECTORIENTEDPROGRAMMINGOOPMODELTHISINCREASESTHEPOPULARITYOFASPNETININDUSTRYTHEINDUSTRYPROJECTISTHEFINALCOURSEOFTHEBACHELOROFCOMPUTINGSYSTEMSBCSDEGREEATUNITEC,INWHICHSTUDENTSUNDERTAKEAREALWORLDPROJECTWEHAVEOBSERVEDARAPIDGROWTHOFASPNETRELATEDINDUSTRYPROJECTSINOURSCHOOLTHEWEBAPPLICATIONDEVELOPMENTWADPAPERISATHIRDYEARUNDERGRADUATECOURSEITWASORIGINALLYOFFEREDUSINGASP20ANDCOLDFUSIONTOMEETTHEDEMANDSFROMBOTHINDUSTRYANDSTUDENTS,WEHAVECHANGEDTHECOURSECONTENTTOCOVERASPNET,VISUALSTUDIONETVSNETANDCOLDFUSIONTHISCHANGECOMMENCEDWITHTHEFIRSTSEMESTEROF2003THISPAPERWILLEXAMINETHEFEATURESOFASPNETANDEXPLAINWHYTHESEAREUNIQUETHEMOTIVATIONSFORMOVINGTOASPNETAREDISCUSSEDBYANALYZINGTHECURRENTSITUATIONOFASPNETRELATEDTOINDUSTRYPROJECTSINOURSCHOOL,ANALYZINGTHERESULTSOFSHORTSURVEYSONSTUDENTS,ANDANALYZINGWHETHERASPNETISABETTERTOOLFORTEACHINGPROBLEMSENCOUNTEREDDURINGTHEMOVEAREALSODISCUSSEDANDSOMEOF2THEPROBLEMOFCOMMUNICATINGACROSSTHEINTERNETANDACROSSCORPORATEFIREWALLSWITHOUTRESORTINGTOPROPRIETARYSOLUTIONSTHATREQUIREADDITIONALCOMMUNICATIONSPORTSTOBEOPENEDTOEXTERNALACCESSINADDITION,URIUNIFORMRESOURCEIDENTIFIERANDUDDIUNIVERSALDESCRIPTIONDISCOVERYANDINTEGRATIONAREUSEDFORREMOTECOMPONENTSREFERENCESINSTEADOFREGISTRYENTRIES22DEVELOPMENTASPNETINTEGRATESSEAMLESSLYWITHVSNETIDEVSNETINCLUDESBUILTINSUPPORTFORCREATINGANDMODIFYINGCONTENTTHISUNIFIESTHEASP/VBPROGRAMMINGMODELSFORTHEDEVELOPERSINSTEADOFOPENINGMULTIPLEIDESASWITHCLASSICASPPLATFORM,DEVELOPERSCANOPENASINGLEIDEANDDOALLTHEIRWORKFROMACLEAN,CONSISTENTINTERFACEVSNETISEQUIPPEDWITHPOWERFULDEBUGGINGENVIRONMENTTHISMEANSTHATTHEPOWERFULDEBUGGERFORWINDOWSAPPLICATIONSISNOWAVAILABLETODEBUGWEBAPPLICATIONSASWELLASPNETENABLESPROGRAMMERSTOTAKEADVANTAGEOFTHEOOPMODEL,FOREXAMPLE,CODESHARINGUNDEROOPMODEL,ONEOFTHEMOSTCOMMONWAYSTOACHIEVECODESHARINGISINHERITANCE,WHICHISNOTAVAILABLEINCLASSICASPSINCECOMPLETEOOFEATURESARESUPPORTEDINASPNET,DEVELOPERSCANTRANSFERTHEIROODESIGNSMOOTHLYINTOASPNETCODE,ENABLINGASOFTWARECOMPANYTOKEEPTHEIRWINDOWSAPPLICATIONDEVELOPMENTSTYLES,WITHWHICHTHEYAREFAMILIAR,INWEBAPPLICATIONDEVELOPMENTANDALSOTHEYCANCONVERTTHEIRWINDOWSAPPLICATIONSINTOWEBAPPLICATIONSWITHOUTMAJORMODIFICATIONSASPNET’SIMPROVEDSTATEMAINTENANCEFEATURESENABLEUSTOPROVIDEUSERSWITHWEBAPPLICATIONSTHATARERICHERANDFASTERTHANCLASSISASPOLGES,2002ASPNETSUPPORTSADVANCEDSESSIONSTATEMANAGEMENTTHEREARETWOMAJORPROBLEMSWITHSESSIONMANAGEMENTINCLASSICASPSESSIONOBJECTSARESTOREDINTHEWEBSERVERMEMORYANDSESSIONIDSARESTOREDONTHECLIENTCOMPUTERSASCOOKIESTHESEPREVENTSESSIONMANAGEMENTFROMBEINGEFFICIENTLYIMPLEMENTEDASPNETSOLVESTHESEPROBLEMSINTWOWAYSITPROVIDESA“COOKIELESS”O(jiān)PTIONFORSESSIONOBJECTSSOTHATASESSIONIDCANBEPASSEDVIAURLITPROVIDESTHREEDIFFERENTSESSIONMODESINPROCESS,STATESERVER,ANDSQLSERVER,SOTHATASESSIONOBJECTCANEITHERBESTOREDONTHEWEBSERVER,AREMOTESERVERORADATABASE3THEMOTIVATIONSFORMOVING31THEINDUSTRYMOTIVATIONI’VECHECKEDALMOSTALLTHEINDUSTRY

簡介：翻譯原文

簡介：INTERNATIONALJOURNALOFPRECISIONENGINEERINGANDMANUFACTURINGVOL11,NO5,PP697704OCTOBER2010/697DOI101007/S12541010008241INTRODUCTIONAMOBILEMANIPULATORTHATCONSISTSOFAMOBILEBASEANDAROBOTICMANIPULATORPROVIDESNUMEROUSADVANTAGESOVERAFIXEDBASEMANIPULATORTHEMOSTIMPORTANTADVANTAGEOFTHEMOBILEMANIPULATORISITSFLEXIBLEWORKSPACEALSO,THEMECHANICALCONFIGURATIONOFTHEROBOTICMANIPULATORMOUNTEDONTHEMOBILEBASERESULTSINAREDUNDANTSYSTEMTHATISADVANTAGEOUSFORDEXTEROUSMANIPULATION26WHILETHESEFEATURESENABLEVARIOUSAPPLICATIONS,CONTROLOFTHEMOBILEMANIPULATORISCHALLENGINGDUETOITSINTRINSICSTRUCTUREFIRST,THEREDUNDANTDOFSOFTHEMOBILEMANIPULATORCOMPLICATEMANIPULATIONCONTROLSECOND,THEOVERALLDYNAMICSOFTHEMOBILEMANIPULATORISFARMORECOMPLEXCOMPAREDTOFIXEDBASEMANIPULATORSTHIRD,MANYAPPLICATIONSINVOLVEDYNAMICINTERACTIONOFTHEMANIPULATORWITHITSENVIRONMENTMOBILEMANIPULATIONINHUMANPOPULATEDENVIRONMENTSBRINGSTHEISSUEOFSAFETYTOTHEFOREFRONTTHEREHAVEBEENANUMBEROFSTUDIESONMOBILEMANIPULATIONYAMAMOTOPROPOSEDKINEMATIC/DYNAMICMANIPULABILITYTORESOLVETHEREDUNDANCYINMOTIONPLANNINGANDANALYSISFORMOBILEMANIPULATOR1KHATIB2,3INTRODUCEDPOTENTIALFIELDINCONTROLLINGPOSITIONOFREDUNDANTMANIPULATORSANDPROVIDINGJOINTLIMITCONSTRAINTSALSO,HEPROPOSEDANOVELAPPROACHTOUTILIZETHEINTRINSICDYNAMICSCHARACTERISTICSOFMOBILEMANIPULATORINOPERATIONALSPACE2,3ADDITIONALLY,HEANALYZEDTHEREDUCEDINERTIAEFFECTOFREDUNDANTROBOTICARMWITHMACROMICROSTRUCTUREINOTHERSTUDIESONMOBILEMANIPULATION,ZMPZEROMOMENTPOINTWASPROPOSEDASAMEASUREFORMOBILEMANIPULATORSYSTEMSPERFORMINGHEAVYLOADTRANSFERRINGTASKS4,5THEREHAVEBEENSTUDIESONTHESTABLEMOTIONCONTROLOFAMOBILEMANIPULATORUNDERUNKNOWNEXTERNALFORCEAPPLICATIONFROMTHEENVIRONMENT6,7MANYOFTHESTUDIESMENTIONEDABOVEADAPTEDTHEIDEAOFCONVENTIONALFIXEDBASEDMECHANISMSTOMOBILEMANIPULATORSTHEREARESEVERALISSUESTOCONSIDERINMOBILEMANIPULATORCONTROLFIRST,THEMOBILEBASEPARTOFTHEMOBILEMANIPULATORISHEAVIERTHANTHEUPPERROBOTICMANIPULATORPART,WHICHLEADSSLOWERDYNAMICRESPONSEOFTHEMOBILEBASECOMPAREDWITHTHATOFTHEMANIPULATORPARTTHEOVERALLDYNAMICSOFTHEMOBILEMANIPULATORISSOMEWHATANALOGOUSTOTHATOFMACROMICROMANIPULATORSTHEMACROPARTISMUCHHEAVIERTHANTHEMICROPART2,3SECOND,THECONTROLOFIMPULSIVECONTACTFORCEBETWEENMOBILEMANIPULATORANDENVIRONMENTUSINGEFFECTIVEMASSANDDAMPINGCONTROLSSUNGCHULKANG1,KIYOSHIKOMORIYA2,KAZUHITOYOKOI2,TETSUOKOUTOKU2,BYUNGCHANKIM1ANDSHINSUKPARK3,1CENTERFORCOGNITIVEROBOTICSRESEARCH,KIST,HAWOLGOKDONG,SEONGBUKGU,SEOUL,SOUTHKOREA,1367912INTELLIGENCESYSTEMSRESEARCHINSTITUTE,AIST,TSUKUBA,IBARAKI,JAPAN,30585683SCHOOLOFMECHANICALENGINEERING,KOREAUNIVERSITY,ANAMDONG5GA,SEONGBUKGU,SEOUL,SOUTHKOREA,136713CORRESPONDINGAUTHOR/EMAILDRSSPARKKOREAACKR,TEL82232903868,FAX8229269290KEYWORDSMOBILEMANIPULATION,EFFECTIVEINERTIA,KINEMATICREDUNDANCY,NULLSPACEMOTIONRECENTLY,MOBILEMANIPULATORSAREBEINGWIDELYEMPLOYEDFORVARIOUSSERVICEROBOTSINHUMANENVIRONMENTSSAFETYISTHEMOSTIMPORTANTREQUIREMENTFORTHEOPERATIONOFMOBILEROBOTINAHUMANPOPULATEDENVIRONMENTINDEED,SAFEHUMANMACHINEINTERACTIONISONEOFGRANDCHALLENGESINROBOTICSRESEARCHTHISPAPERPROPOSESANOVELCONTROLMETHODTOREDUCEIMPULSIVECOMPACTFORCEBETWEENAMOBILEMANIPULATORANDITSENVIRONMENTBYUSINGOPTIMIZEDMANIPULATORINERTIAANDDAMPINGBASEDMOTIONCONTROLTOFINDTHEOPTIMIZEDCONFIGURATIONTHROUGHNULLSPACEMOTION,THECOMBINEDPOTENTIALFUNCTIONMETHODISPROPOSEDCONSIDERINGBOTHTHEMINIMUMEFFECTIVEMASSANDJOINTLIMITCONSTRAINTSTHERESULTSOFTHISSTUDYSHOWTHATTHEINERTIAOPTIMIZATIONALONGWITHADAMPINGCONTROLLERSIGNIFICANTLYREDUCESTHEIMPULSIVEFORCEUPONCOLLISIONANDTHECONTACTFORCEAFTERCOLLISIONMANUSCRIPTRECEIVEDJANUARY6,2009/ACCEPTEDJULY26,2010?KSPEANDSPRINGER2010INTERNATIONALJOURNALOFPRECISIONENGINEERINGANDMANUFACTURINGVOL11,NO5OCTOBER2010/699TABLE1DHPARAMETERSANDLINKMASSOFM3MOBILEMANIPULATORJOINT1IΑRAD1IAM1IΘRAD1IDMJOINTTYPEMASSKG1/2Π?000P90012/2Π?0/2Π0P300Π7R4/2Π?000R7815/2Π000R3416/2Π?00045R1187/2Π000R7458/2Π?0005R2649/2Π000R14610000008R024PPRISMATIC,RREVOLUTE21EFFECTIVEMASSOFMOBILEMANIPULATORFORAMOBILEMANIPULATOR,THEINERTIALPROPERTIESINJOINTSPACEAREDESCRIBEDBYKINETICENERGYMATRIXAQ,WHICHISAMATRIXFUNCTIONOFJOINTVARIABLESQWHENTHEDYNAMICRESPONSEORIMPACTFORCEATTHEENDEFFECTORISOFINTEREST,THEINERTIALPROPERTIESCANBEEVALUATEDATTHEENDEFFECTOR,WHICHISREPRESENTEDBYKINETICENERGYMATRIXAQINCARTESIANSPACEKINETICENERGYMATRIXAQISCALCULATEDFROMKINETICENERGYMATRIXAQUSINGJACOBIANMATRIXJQ1811T??ΛQJQAQJQ1THEINERTIAPERCEIVEDATTHEENDEFFECTORINANARBITRARYDIRECTIONUISREPRESENTEDBYEFFECTIVEMASSMUQASFOLLOWS11TM?UQUΛQU2EFFECTIVEMASSMUQREPRESENTSDIRECTIONALINERTIAPROPERTYOFTHEMANIPULATORATTHEENDEFFECTORWITHAREDUNDANTMANIPULATORSUCHASM3MOBILEROBOT,EFFECTIVEMASSMUQCANBEMANIPULATEDBYCHANGINGTHECONFIGURATIONOFTHEMANIPULATOR,EVENWHENTHEPOSITIONANDORIENTATIONOFTHEENDEFFECTORISFIXEDINCARTESIANSPACETHISFEATUREALLOWSUSTOCONTROLTHEIMPULSIVEFORCEBETWEENTHEENDEFFECTORANDTHEENVIRONMENTFORAGIVENPOSEPOSITIONANDORIENTATIONOFTHEENDEFFECTORIFEFFECTIVEMASSMUQISREDUCED,THEIMPULSIVEFORCEUPONCOLLISIONCANALSOBEREDUCEDSINCETHEFORCEISMAINLYDEPENDENTONTHEINERTIAANDVELOCITYDIFFERENCE19,2022CHANGEOFEFFECTIVEMASSBYNULLSPACEMOTIONFORAGIVENPOSEPOSITIONANDORIENTATIONOFTHEENDEFFECTOR,THECONFIGURATIONOFAREDUNDANTMANIPULATORCANBECHANGEDBYGENERATINGNULLSPACEMOTIONTHEFOLLOWINGEQUATIONDEPICTSINVERSEKINEMATICSOFAREDUNDANTMANIPULATOR21?QJQVIJQJQΦ?3HERE,JQISPSEUDOINVERSEOFJACOBIANMATRIXJQ,ANDΦREPRESENTSANARBITRARYJOINTMOTIONTHEMATRIXIJQJQDEFINESTHENULLSPACEASSOCIATEDWITHJQ,ANDTHEVECTORIJQJQΦCORRESPONDSTOTHEZEROVARIATIONOFTHEPOSEOFTHEENDEFFECTORBYSETTINGTHEVELOCITYOFTHEENDEFFECTORZEROV0,THEPOSEOFTHEENDEFFECTORISFIXEDINCARTESIANSPACEFORAREDUNDANTMOBILEMANIPULATOR,EFFECTIVEMASSMUQATAGIVENPOSEOFTHEENDEFFECTORCANBECHANGEDBYPRODUCINGTHENULLSPACEMOTIONOFTHEMOBILEBASEINCASEOFM3MOBILEROBOT,THENULLSPACEMOTIONCANBEPRODUCEDBYMOVINGTHEMOBILEBASEINXDIRECTIONΦK,0,0,,0TORYDIRECTIONΦ0,K,0,,0TOFTHECOORDINATESYSTEMSHOWNINFIGS1AND2FIGURE3ILLUSTRATESTHECHANGESOFEFFECTIVEMASSINXDIRECTIONMXQ,YDIRECTIONMYQANDZDIRECTIONMZQASTHEPOSITIONOFTHEMOBILEBASECHANGESINXYPLANEASCANBESEENINTHEFIGURE,EFFECTIVEMASSMUQISASIMPLEFUNCTIONOFXANDYFORTHEGIVENRANGEOFNULLSPACEMOTION,WHILEKINETICENERGYMATRIXINCARTESIANSPACEΛQISAHIGHLYCOUPLEDFUNCTIONOFJOINTVARIABLESQ23MINIMIZATIONOFEFFECTIVEINERTIAFROMTHEPLOTSOFTHEINERTIAPROPERTYOFM3MOBILEROBOTFORTHEGIVENRANGEOFNULLSPACEMOTIONFIG3,WECANEASILYFINDTHECONFIGURATIONTHATMINIMIZESTHEEFFECTIVEMASSINASPECIFICDIRECTIONBYUSINGOPTIMIZATIONTECHNIQUESTHISCANBEFORMULATEDASANOPTIMIZATIONPROBLEMWITHEQUALITYCONSTRAINTSINTHEOPTIMIZATIONPROBLEM,THEOBJECTIVEFUNCTIONTOBEMINIMIZEDISASCALARFUNCTIONMUQTHATISEFFECTIVEMASSINUDIRECTION,ANDTHECONSTRAINTFUNCTIONISTHEFORWARDKINEMATICSEQUATIONOFTHEMOBILEMANIPULATORGQΧ0,WHEREΧISAGIVENPOSEOFTHEENDEFFECTORTHUSTHISPROBLEMBECOMESMINIMIZEMUQSUBJECTTOGQΧ04SIMILARLY,THEMAXIMIZATIONPROBLEMYIELDSTOMAXIMIZEMUQSUBJECTTOGQΧ05FORAGIVENENDEFFECTORPOSE,JOINTANGLEVECTORQMOFTHECONFIGURATIONTHATMINIMIZESORMAXIMIZESEFFECTIVEMASSMUQCANBEOBTAINEDBYUSINGCONSTRAINEDOPTIMIZATIONFUNCTIONS22PROVIDEDINMATLABWHENTHEENDEFFECTOROFM3MOBILEMANIPULATORISKEPTHORIZONTALTOTHEGROUNDWITHTHEHEIGHTOF132M,THEMINIMUMANDMAXIMUMEFFECTIVEMASSESARECALCULATEDTOBE1175KGAND1528KG,RESPECTIVELYTHEMOBILEMANIPULATORCANMOVEFROMTHECURRENTCONFIGURATIONTOTHEMINIMUMINERTIACONFIGURATIONWITHJOINTTRAJECTORIESCALCULATEDFROMTHEINVERSEKINEMATICSEQUATIONOFEQ3ANDRESOLVEDMOTIONRATECONTROLNULLSPACEVECTORΦOFEQ3ISOFTENWRITTENASTHEGRADIENTOFANOBJECTIVEFUNCTIONTOBEMINIMIZEDINTHISSTUDYTHEOBJECTIVEFUNCTIONISCHOSENASTOMOVETHEMOBILEMANIPULATORTOTHEMINIMUMINERTIACONFIGURATIONSTHEOBJECTIVEFUNCTIONHASTHEFORMOFPOTENTIALFUNCTIONASFOLLOWS2NMIMIIVQQ?∑6HERE,NISTHENUMBEROFJOINTS,QIISTHECURRENTJOINTANGLEOFITHJOINT,ANDQMIISTHEJOINTANGLEOFITHJOINTATTHEMINIMUMINERTIACONFIGURATIONNULLSPACEVECTORΦISTHUSWRITTENASFOLLOWSMKV??Φ7WHEREKISAPOSITIVENUMBER