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簡介：C?BYUNIVERSITYOFTECHNOLOGY,SYDNEYSPEEDADAPTEDTRAJECTORIESINTHECASEOFINSUFFICIENTHYDRAULICPRESSUREFORTHEFOURLEGGEDLARGESCALEWALKINGVEHICLEALDURODANIELGERMANN,J¨ORGM¨ULLERANDMANFREDHILLERGERHARDMERCATORUNIVERSIT¨AT–GHDUISBURGFACHGEBIETMECHATRONIK,LOTHARSTRA?E1,47057DUISBURG,GERMANYEMAIL{GERMANN,MUELLER,HILLER}MECHATRONIKUNIDUISBURGDEABSTRACTWHENOPERATINGWALKINGMACHINES,ONLYACOORDINATEDMOVEMENTOFALLCYLINDERSAND/ORMOTORSCANLEADTOSAFE,STABLEWALKINGTHELARGEHYDRAULICALLYDRIVENWALKINGMACHINEALDURO,WHICHISINVESTIGATEDINTHISPAPER,HASNOEXTERNALPOWERSUPPLY,ANDTHEREFORETHESIZEOFTHEONBOARDHYDRAULICPOWERPACKANDITSDIESELENGINEISLIMITEDBYITSWEIGHTWHENMOVINGSEVERALCYLINDERSWITHHIGHSPEED,THEHYDRAULICSUPPLYCANBECOMEINSUFFICIENTANDTHERESULTINGTRAJECTORIESOFFEETANDPLATFORMCANBECOMEUNPREDICTABLEWHENTHEALDUROISNEARITSSTABILITYLIMITSUCHBEHAVIOURCANLEADTOINSTABILITYANDTOPPLINGOFTHESYSTEMTHEPROPOSEDSOLUTIONUNDERDISCUSSIONHEREISTOOBSERVETHEPOSITIONERRORSANDTIMEDERIVATIVESFORTHECYLINDERSANDBASEDONTHISREDUCETHESPEEDWHENNECESSARY1INTRODUCTIONTHESYSTEMINVESTIGATEDINTHISPAPERISTHEANTHROPOMORPHICALLYLEGGEDANDWHEELEDDUISBURGROBOTALDUROITCONSISTSOFAPLATFORMOF20MBY22MWITHACABINFORTHEOPERATORANDFOURLEGS,EACH18MLONGTHEESTIMATEDWEIGHTIS1200KGITCANBEUSEDASAQUADRUPEDWALKINGMACHINEFIG2,ANDBYREPLACINGTHETWOHINDFEETWITHWHEELS,ITCANALSOBEUSEDASACOMBINEDLEGGEDANDWHEELEDVEHICLEFIG1THELATTERCOMBINESTHEADVANTAGESOFAWALKINGMACHINE–HIGHMOBILITY–WITHTHESTABILITYANDSPEEDOFWHEELEDVEHICLES2WHENOPERATINGINSTEEPANDDANGEROUSTERRAIN,SAFETYPLAYSANIMPORTANTROLEITMUSTBEGUARANTEEDTHATFIG1COMBINEDLEGGEDANDWHEELEDVEHICLEFIG2WALKINGMACHINETHECYLINDERSFOLLOWTHECALCULATEDTRAJECTORIESEXACTLYSINCEAWRONGMOVEMENTMIGHTCAUSETHEROBOTTOBECOMEINSTABLEALDURO’SLEGSAREHYDRAULICALLYDRIVEN,WITHANOPENHYDRAULICSYSTEMNORMALLY,WHENPLANNINGHYDRAULICSYSTEMS,LOWWEIGHTHASNOHIGHPRIORITY1FORTHEWALKINGMACHINEALDUROTHERATIOPOWERPERWEIGHTWASOPTIMIZEDWHILEACTUATINGSEVERALCYLINDERSSIMULTANEOUSLYORMOVINGVERYFAST,THEVOLUMEFLOWOFTHEHYDRAULICSUPPLYBECOMESINSUFFICIENTANDTHERESULTINGMOVEMENTSUNCONTROLLABLETHEPROPOSEDSOLUTIONUNDERDISCUSSIONHEREISADECREASEINSPEEDOFALLCALCULATEDTRAJECTORIESTHISISADMISSIBLEASLONGASTHEROBOTISSTATICALLYSTABLEATANYMOMENTBYOBSERVINGTHEPOSITIONERRORSOFTHECYLINDERSANDTHEIRTIMEDERIVATIVES,ADECISIONISTAKENONWHETHERTODECREASEORINCREASETHESPEEDALONGTHETRAJECTORIESTOENSURETHATALLMOVEMENTSAREINFLUENCEDSIMULTANEOUSLY,THEMODELTIME,UPONWHICHALLCALCULATIONSDEPEND,ISSLOWEDDOWNTHUSWECANGUARANTEETHATLEGSANDPLATFORMCANANDDOFOLLOWTHEPRESCRIBEDTRAJECTORIESTHISSTRATEGYIS1LOWSLOADINGTESTSONTHELEGWHILEPERFORMINGWALKINGMOTIONSMECHANICALSTOPSBELOWTHEHIPPLATEALLOWTHEFOOTTOBELIFTEDINTHESWINGPHASEOFTHEWALKINGMOTIONTHEFIRSTUNLOADEDTESTSHAVESHOWNTHEMOBILITYOFTHEANTHROPOMORPHICLEGMECHANISMTOBEVERYGOOD,ANDTHEOPTICALFIELDBUSSYSTEMHASALSOPROVENTOBERELIABLECYLINDERNO1CYLINDERNO2CYLINDERNO3CYLINDERNO4FIG4LEGWITHACTUATORS3SPEEDADAPTATION31INSUFFICIENTHYDRAULICFLOWASALREADYMENTIONED,THEWEIGHTANDSIZEOFTHEONBOARDPOWERPACKISLIMITEDANDHASTOBEKEPTLOWWHENMOVINGSEVERALCYLINDERSSIMULTANEOUSLYORWITHAHIGHSPEEDTHEHYDRAULICSUPPLYCANBECOMEINSUFFICIENTANDTHEPRESSUREWILLCOLLAPSEINTHISCASETHERESULTINGMOVEMENTDEPENDSMAINLYONTHESIZESOFTHEPROPORTIONALVALVESANDEXTERNALLOADSONTHECYLINDERSTHETRAJECTORIESOFTHEFEETANDPLATFORMBECOMEERRATICWHENALDUROISNEARLIMITOFITSSTABILITYSUCHBEHAVIOURCANLEADTOINSTABILITYANDTOPPLINGOFTHESYSTEMASTHESAFETYISSUEISAVERYIMPORTANTONEPEOPLECOULDBEHARMEDTHISPRESSURECOLLAPSEHASTOBEPREVENTEDTOINVESTIGATETHISBEHAVIOUR,ACIRCULARMOVEMENTRADIUS02M,VELOCITY05M/SOFTHEFOOTINTHEHORIZONTALPLANE1MBELOWTHEHIPWASCHOSENASAREFERENCETHISTRAJECTORYHASTHEADVANTAGETHATITACTUATESALLTHREEUNLOCKEDCYLINDERSWITHATYPICALVERTICALSTEPPINGMOVEMENTOFTHEFOOTTHESIDEWAYSCYLIN0505506065070750808509?02?015?01?00500050101502XMYMTARGETTRAJECTORYMEASUREDTRAJECTORYFIG5HIGHVELOCITYTRAJECTORIESWITHOUTSPEEDADAPTATION11522533544555500200400600801012TIMESCYLINDERPOSITIONMCYLINDER1TARGETCYLINDER1MEASUREDCYLINDER2TARGETCYLINDER2MEASUREDCYLINDER4TARGETCYLINDER4MEASUREDFIG6CYLINDERPOSITIONSFORFASTREFERENCEMOVEMENTWITHOUTSPEEDADAPTATIONDERNO2INFIG4ISNEARLYSTATIONARYTHEINVERSEKINEMATICSFORTHEMAPPINGOFTHEFOOTCOORDINATEINTOTHECOORDINATESPACEFORTHETHREECYLINDERSHASBEENDEVELOPEDINTHECPROGRAMMINGENVIRONMENTMAAAABILE3WHENIMPLEMENTEDONTHETESTSTANDTHERESULTINGTRAJECTORYOFTHEFOOTDEGENERATEDTOAROUNDEDRECTANGLEFIG5TOINCREASETHEHYDRAULICCONSUMPTION,BOTHSETSOFHYDRAULICCYLINDERSHAVEBEENUSEDIELEGCYLINDERSANDSETOFFOURCYLINDERSONTHEGROUNDASWECANSEEINFIG6,CYLINDERNO2LAGSFARBEHINDITSSINUSOIDALSETPOINTCURVETHELINEARMOVEMENTOFTHECYLINDERINDICATESAFULLYOPENPROPORTIONALVALVETHEAVAILABLEHYDRAULICVOLUMEFLOWISCLEARLYINSUFFICIENT3

簡介：CORRESPONDINGAUTHORTEL3452131408FAX3452131413EMAILADDRESSJLMARTINEZCTIMAUMAESJLMARTMHNEZCONTROLENGINEERINGPRACTICE82000253}258ANEWMETHODOFGENERATINGDIERENTIALGPSCORRECTIONSJLMARTMHNEZ,MAMARTMHNEZ,AGARCMHACEREZODEPARTMENTOFSYSTEMENGINEERINGANDAUTOMATION,UNIVERSITYOFMAACCEPTED27JULY1999ABSTRACTINTHISPAPER,ASIMPLEMETHODISPROPOSEDFORCALCULATINGPOSITIONSONTHEGROUNDWITHADIERENTIALGLOBALPOSITIONINGSYSTEMTHATDOESNOTUSECONVENTIONALCORRECTIONDATATHEMETHODEMPLOYSTWOLOWCOSTGPSRECEIVERS,ONEOFTHEMBEINGATA“XEDLOCATIONINORDERTOCOORDINATETHEIROPERATION,BOTHRECEIVERSONLYUSETHREEOFTHEHIGHESTSATELLITESINSIGHTTHEPRECISIONOBTAINEDWITHTHISTECHNIQUEISSIMILARTOTHATCALCULATEDBYMORESOPHISTICATEDMETHODS?2000ELSEVIERSCIENCELTDALLRIGHTSRESERVEDKEYWORDSGLOBALPOSITIONINGSYSTEMSATELLITESELECTIONPOSITIONERRORSDILUTIONOFPRECISIONERRORCORRECTION1INTRODUCTIONCIVILAPPLICATIONSOFTHEGPSARENOTSUCIENTLYPRECISE,BECAUSEOFCERTAINSOURCESOFERRORTHATAECTTHESYSTEMTHESEERRORSCANBEDIVIDEDINTOTWOGROUPSTHOSEINDEPENDENTOF,ANDTHOSEDEPENDENTONSATELLITEGEOMETRYSELECTIVEAVAILABILITYSA,EPHEMERISERRORSANDRECEIVERRESOLUTIONAREINDEPENDENTOFTHESATELLITEGEOMETRYONTHEOTHERHAND,TRIANGULATIONERRORS,ATMOSPHERICDELAYSANDMULTIPATHREECTIONSDEPENDSTRONGLYONTHESATELLITEELEVATIONANGLETHEGPSRECEIVERRELIESONKNOWINGEXACTLYWHERETHESATELLITESAREINSPACEWITHRESPECTTOTHECENTEROFTHEEARTHEPHEMERIS,BUTERRORSCANAPPEARINTHEORBITPREDICTIONTHERECEIVERSRESOLUTIONDEPENDSONTHEPRECISIONOFTHEONBOARDCLOCKANDONTHEDELAYSINTHEINTERNALTRANSMISSIONPATHSSAISTHEINTENTIONALCHANGINGOFTHESATELLITESONBOARDCLOCKANDBROADCASTEPHEMERISINTRODUCEDBYTHEDEFENSEDEPARTMENTOFTHEUSAINORDERTOLIMITCIVILIANUSETHUS,SAISTHEMAINSOURCEOFERRORANDAPPEARSASACONTINUOUSVARIATIONINTHEUSERSPOSITIONSONNENBERG,1988AGOODGEOMETRYFORTRIANGULATIONISACHIEVEDWHENTHESATELLITESAREFURTHERAPARTFROMEACHOTHERONTHEHORIZONSEEFIG1GENERALLY,PDOPPOSITIONDILUTIONOFPRECISIONIN3DISUSEDBYGPSRECEIVERSASTHEAUTOMATICCRITERIONFORSELECTINGSATELLITES,SINCEITREPRESENTSTHEGEOMETRICALCONTRIBUTIONOFOBSERVATIONERRORSONGPSPOSITIONINGACCURACYLANGLEY,1999ATMOSPHERICLAYERSALTERTHEGPSSIGNALSANDCANINTRODUCESIGNI“CANTERRORSTHATARISEASTHERADIOWAVESPASSTHROUGHTHECHARGEDIONOSPHEREANDWATERLADENTROPOSPHEREHERRING,1996THEDELAYEECTSAREAFUNCTIONOFTHESATELLITEELEVATIONANGLEWHICHDETERMINESTHELENGTHOFTHESIGNALPATHSEEFIG2IFTHESIGNALFROMTHESATELLITESUERSMULTIPATHREECTIONS,THETIMEOFIGHTOFTHISSIGNALISINCREASEDITISVERYDICULTTOMODELMULTIPATHREECTIONSPROPERLYBECAUSETHEYDEPENDHEAVILYONTHEENVIRONMENTOFTHEANTENNABUTITISKNOWNTHATSIGNALSFROMASATELLITEWITHALOWELEVATIONANGLEAREMUCHMOREAECTEDBYMULTIPATHREECTIONSGPSPROVIDESLONGITUDE,LATITUDE,HEIGHT,TIME,COURSE,ANDVELOCITYTHEHORIZONTALACCURACYOFTHEGPSISNEARLY100M,156MFORHEIGHTSAND340NSFORTIME,ANYWHEREINTHEWORLDANDINALLWEATHERCONDITIONSTHEDIERENTIALGPSISATECHNIQUETHATEMPLOYSTWORECEIVERSANDISBASEDONTHEASSUMPTIONTHATTHEYAREAECTEDBYAPPROXIMATELYTHESAMEERRORSIFONERECEIVERIS“XEDATAPRECISELYKNOWNLOCATION,ITSCALCULATEDPOSITIONCANBECOMPAREDTOTHEKNOWNPOSITIONTOGENERATEACOMPOSITEERRORVECTORTHISDIERENTIALCORRECTIONISPASSEDTOTHEOTHERRECEIVERSEVERALTIMESAMINUTEEMPLOYINGAPREESTABLISHEDCODETHISMETHODOLOGYSIGNI“CANTLYREDUCESPOSITIONINGERRORSSINCETHEHEIGHTOFASATELLITEATMORETHAN20,200KMISMUCHGREATERTHANTHEDISTANCEBETWEENTHERECEIVERS100KMMAXIMUM09670661/00/SEEFRONTMATTER?2000ELSEVIERSCIENCELTDALLRIGHTSRESERVEDPIIS0967066199001586FIG3GPSGN74RECEIVERFIG4INFORMATIONOWBECAUSETHESEPARATIONBETWEENBOTHRECEIVERSISINSIGNI“CANTCOMPAREDTOTHEDISTANCEOFTHESATELLITESINSPACE,BOTHGPSSWILLUSEPRACTICALLYTHESAMESETOFSATELLITESINTHEIRCALCULATIONS,DIERINGPERHAPSINTHELOWERANGLESATELLITES,NOTINTHEHIGHERANGLEONESMOREOVER,SATELLITESWITHHIGHERELEVATIONANGLESPRODUCESMALLERRANGINGERRORSHOWEVER,THEYTENDTOGIVEHIGHERTRIANGULATIONERRORSPARK,KIM,LEEJEE,1996GPSRECEIVERSALLOWTHESELECTIONOFA2DOR3DPOSITIONIFREQUIREDWHILEAMINIMUMOFFOURSATELLITESARENEEDEDTOPOSITIONIN3DMODE,ONLYTHREEAREREQUIREDTOWORKIN2DMODESINCEINMANYAPPLICATIONSTHERECEIVERMOVESONTHEGROUND,A2DCON“GURATIONHASBEENADOPTEDIFTHEGPSRECEIVERISWORKINGINSINGLEMODE,MORETHANTHEMINIMUMNUMBEROFSATELLITESREQUIREDFORPOSITIONINGWILLBEEMPLOYEDTOINCREASETHEACCURACYOFTHEMEASUREMENTSHOWEVER,WHENTHERECEIVERWORKSINCOORDINATIONWITHANOTHER,ITISBETTERTOMAKETHECALCULATIONSWITHTHEMINIMUMNUMBEROFSATELLITESINORDERTOAVOIDAMBIGUITIESINTHEERROROBTAINEDMOREOVER,ITWOULDHELPTHECALCULATIONSIFTHEUNITSELECTEDTHREEOFTHESATELLITESWITHHIGHERELEVATIONANGLESTHATHAVESMALLERHORIZONTALDILUTIONOFPRECISIONIN2DHDOPVALUESINSUMMARY,THEMETHODOLOGYPROPOSEDINTHISPAPERCONSISTSOFSUBTRACTINGTHETWOSIMULTANEOUSMEASUREMENTSPROVIDEDBYTHEBASESTATIONANDTHEMOBILERECEIVERFROMEACHOTHER,WHICHWEREOBTAINEDUSINGTHESAMESETOFTHREESATELLITESTHISTECHNIQUECAUSESMOREINDIVIDUALERRORSBUTTHESEAREAPPROXIMATELYIDENTICALINBOTHRECEIVERS3IMPLEMENTATIONTWOGN74UNITSHAVEBEENEMPLOYEDASLOWCOSTGPSRECEIVERSFURUNOELECTRIC,1995THESECONSISTOFASMALLBOARDWITHASERIALPORTEMPLOYINGTHERS232PROTOCOLSEEFIG3ITHASEIGHTCHANNELSFORTRACKINGUPTOEIGHTSATELLITESTHISRECEIVERUSESTHENMEA0183COMMUNICATIONPROTOCOLNATIONALMARINEELECTRONICSASSOCIATION,1992S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簡介：THEROBUSTOPTIMIZATIONBASEDMODELPREDICTIVECONTROLUSINGBOXUNCERTAINTYSETENDRAJOELIANTO,DWITARISMAYASARIANDDIAHCHAERANIBANDUNGINSTITUTEOFTECHNOLOGYJALANGANESHA10,BANDUNG40132,INDONESIAEMAILEJOELTFITBACIDPADJAJARANUNIVERSITY,INDONESIAEMAILD_CHAERANIYAHOOCOMABSTRACTTHEPAPERCONSIDERSTHEAPPLICATIONOFROBUSTOPTIMIZATIONROTOMODELPREDICTIVECONTROLMPCTHISOPTIMIZATIONMETHODOLOGYINCORPORATESTHEUNCERTAINDATA,WHICHMEANSTHEDATAOFANOPTIMIZATIONPROBLEMISNOTKNOWNEXACTLYATTHETIMEWHENITSSOLUTIONHASTOBEDETERMINEDTHEROBUSTOPTIMIZATIONHASBEENEXPANDEDANDAPPLIEDTOVARIOUSKINDSOFAPPLICATION,INTHISPAPER,ITISSHOWNTHEAPPLICATIONINMPCTHEROBASEDMPCISSIMULATEDTOAWASTEHEATBOILERCONTROLKEYWORDROBUSTCOUNTERPART,ROBUSTOPTIMIZATION,MODELPREDICTIVECONTROL,INTERIORPOINTMETHOD,QUADRATICCOSTIINTRODUCTIONMODELPREDICTIVECONTROLMPCISAKINDOFCONTROLALGORITHMSWHICHEXPLICITLYUSESAMODELOFTHEPROCESSTOOBTAINTHECONTROLSIGNALBYMINIMIZINGANOBJECTIVEFUNCTIONTHEMODELISUSEDTOPREDICTTHEPROCESSOUTPUTATFUTURETIMEINSTANTHORIZONITHASBEENCOMMONLYKNOWNTHATMPCHANDLESCONSTRAINEDMULTIVARIABLECONTROLPROBLEMINPROCESSINDUSTRYKNOWINGTHEPROCESSOUTPUT,ACONTROLSEQUENCECANBECALCULATEDTOMINIMIZETHEDESIGNEDOBJECTIVEFUNCTIONHOWEVER,ONLYTHEFIRSTELEMENTOFTHECONTROLSIGNALISAPPLIEDATEACHSTEPTOTHEPLANT,THISISKNOWNASRECEDINGHORIZONSTRATEGYTHECALCULATIONISTHENREPEATEDATTHENEXTSAMPLINGTIMEUSINGTHELASTMEASUREMENTSINTHEOPTIMIZATIONPROCESS,MPCUSESALINEARDYNAMICMODELOFTHEPROCESS,LINEARCONSTRAINTSOFINPUT,OUTPUT,ANDINPUTINCREMENT,RESULTINGINALINEARPROGRAMLPORQUADRATICPROGRAMQPWHEREANOPTIMALSOLUTIONCANBEOBTAINED1INTHECASEWHERETHEPLANTDYNAMICSAREUNCERTAIN,ROBUSTMPCHASBEENDEVELOPEDTOTACKLETHISPROBLEM23WHICHAPPLIESGENERALAPPROACHBYDESCRIBINGUNCERTAINTIESINTHEMATHEMATICALMODELOFTHEPLANTUSINGVARIOUSAVAILABLEFRAMEWORKSTHATAVAILABLEINTHELITERATURESNEXT,APERFORMANCEINDEXWITHRESPECTTOROBUSTNESSTYPEOFTHECLOSEDLOOPSYSTEMISCHOSENTHEROBUSTMPCISTHENOBTAINEDBYSOLVINGTHEROBUSTOPTIMALCONTROLSEQUENCEATEACHSAMPLINGINTERVALTHERECEDINGHORIZONSTRATEGYISAPPLIEDATEACHSAMPLINGINTERVALTOCOMPLETETHEMPCALGORITHMTHISAPPROACHLIMITSTHECAPABILITYANDTHEPOWEROFTHEINTENSIVECOMPUTATIONALUSEDINTHEOPTIMIZATIONPROGRAMTHATCANHANDLEUNCERTAINTYPROBLEMSRECENTLY,AMETHODOLOGYCALLEDROBUSTOPTIMISATIONROHASBEENEXTENSIVELYSTUDIESINTHEAREAOFMATHEMATICALPROGRAMMINGANDOPERATIONSRESEARCHTHEROMETHODOLOGYISDESIGNEDTOSOLVEOPTIMIZATIONPROBLEMSWHEREDATAAREUNCERTAINANDAREONLYKNOWNTOBELONGTOSOMEUNCERTAINTYSETSTHISMETHODISPIONEEREDBYBENTALANDNEMIROVSKI46IN7,THEROHASBEENUSEDTODEVELOPANEWCLASSOFROBUSTMPCUSINGELLIPSOIDALUNCERTAINTYTYPEINTHEOPTIMIZATIONITHASBEENSHOWNTHATTHEPROPOSEDROBUSTMPCHASBEENEFFECTIVEINHANDLINGDISTURBANCESCAUSEDBYUNCERTAINTIESINTHEPLANTUSINGRO,THEUNCERTAINTIESNEEDNOTTOBEDEFINEDCOMPLETELYINTHELINEARPLANTMODELINSTEAD,ITCANBERELAXEDANDINCORPORATEDLATERINTHEOPTIMIZATIONPROBLEMFORMULATIONWHENDEVELOPINGTHEOPTIMIZATIONMODELTHISPAPERCONSIDERSAROBUSTMPCFORMULATEDASAROBYUSINGBOXUNCERTAINTYTYPEINTHEROBUSTOPTIMIZATIONTHISNEWCLASSOFROBUSTMPCGIVESADIFFERENTPOINTOFVIEWINTHEDESIGNINGOFAROBUSTMPCWHERETHEREPRESENTUNCERTAINTIESINTHEPLANTIIPROBLEMFORMULATIONCONSTRAINEDMPCCANBEFORMULATEDINALINEAR,DISCRETETIME,STATESPACEMODELOFTHEPLANT8,INTHEFORM1KUBKXAKXDD1AKXCKYD1BKXCKZZ1CWHEREYK,ZK,UK,ANDXKREPRESENTITSSYSTEMOUTPUTS,CONTROLLEDOUTPUTS,INPUTS,ANDSTATESRESPECTIVELYINTHISPAPER,ITISASSUMEDTHATTHESYSTEMOUTPUTSAREEQUALTOCONTROLLEDOUTPUTSTHEPREDICTEDOUTPUTSISOBTAINEDBYITERATINGTHEMODEL∑??IJDJDDIDDDKJIKUBACKXACKIKXCKIKY11|?|?|?2BYCOLLECTINGTHEPREDICTEDOUTPUTINTOAVECTOR,THENTHEPREDICTEDOUTPUTSAREOBTAINEDINAVECTORFORMTHECOSTFUNCTIONSUBJECTSTOLINEARINEQUALITYINTHEINPUTS,INPUTINCREMENTS,ANDOUTPUTS1,,1,0,MAXMIN?≤≤UIKHIUUU1,,1,0,MAXMIN?Δ≤Δ≤ΔUIKHIUUU11PIKHIYYY,,2,1,MAXMIN≤≤TOMAKEITMOREEXPLICIT,ALLINEQUALITIESCANBECOMBINEDTOGETHERINTOASINGLESETKKKKDLMXFUU??1≤ΩΔ?Β12THEINEQUALITYMATRIXNEEDSTOBECOMPOSEDONCEANDUSEITFOREVERYOPTIMIZATIONSINCECONSTRAINTSARECONSTANTIIIMPCWITHROBUSTCOUNTERPARTTHISSECTIONDISCUSSESTHEROBUSTCOUNTERPARTMETHODOLOGYASPROPOSEDBYBENTALANNEMIROVSKI46ANDEXTENDEDBYCHAERANI9THEROBUSTCOUNTERPARTISONEOFTHEEXISTINGMETHODOLOGIESFORHANDLINGUNCERTAINTYINTHEDATAOFANOPTIMIZATIONPROBLEMTHEMOSTIMPORTANTTHINGINTHISMETHODOLOGYISHOWANDWHENTHEROBUSTCOUNTERPARTOFTHEUNCERTAINPROBLEMCANBEREFORMULATEDASACOMPUTATIONALLYTRACTABLEOPTIMIZATIONPROBLEMCONSEQUENTLY,THEROBUSTCOUNTERPARTHIGHLYDEPENDSONTHESELECTIONOFTHEUNCERTAINTYSETONEOFTHEMODELSOFUNCERTAINTYSETPROPOSEDBYBENTALANDNEMIROVSKI46ISTHEBOXUNCERTAINTYSETTHEADVANTAGEOFTHISMETHODOLOGYISTHATTHERESULTINGOFTHISOPTIMIZATIONPROBLEMBELONGSTOTHECLASSOFCONICOPTIMIZATIONCOTHATISLINEAROPTIMIZATIONLO,CONICQUADRATICOPTIMIZATIONCQO,ORSEMIDEFINITEOPTIMIZATIONSDOWHICHCANBESOLVEDBYTHEINTERIORPOINTMETHODSINTHEFOLLOWING,ITWILLBEEXPLAINEDHOWTOOBTAINTHERCBYASSUMINGTHATTHEREISANUNCERTAINTYONTHEOBJECTIVEFUNCTIONANDTHEUNCERTAINTYISMODELEDASABOXUNCERTAINTYSETRECALLTHEOBJECTIVEFUNCTIONOFMPCIN10AND11CANBEWRITTENASΩ≤ΩΔΔ?ΔΔΔΔUUGUHUJTTUU?ST???MINMIN??13ANDASSUMETHATTHEUNCERTAINTYISINGFROMSENSORERRORS,MEASUREMENTNOISEANDDISTURBANCETHEUNCERTAINMPCPROBLEMISTHENGIV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簡介：3400英文單詞，英文單詞，19500英文單詞，中文英文單詞，中文6000字文獻出處文獻出處PAPADOPOULOSA,SARGEANTJM,MAJOWICZSE,ETALENHANCINGPUBLICTRUSTINTHEFOODSAFETYREGULATORYSYSTEMJHEALTHPOLICY,2012,107198103ENHANCINGPUBLICTRUSTINTHEFOODSAFETYREGULATORYSYSTEMANDREWPAPADOPOULOS,JANMSARGEANT,SHANNONEMAJOWICZ,BYRONSHELDRICK,CAROLYNMCKEEN,JEFFWILSON,CATHERINEEDEWEYOBJECTIVEITISWORTHEXAMININGHOWPUBLICHEALTHAGENCIESCANENHANCETHEPUBLIC’STRUSTINTHEFOODSAFETYREGULATORYSYSTEMTHISPAPERWILLFOCUSONTHEFOODSAFETYSYSTEM,WHICHCANBEDEFINEDASTHOSEINVOLVEDINTHESAFEMANUFACTURE,STORAGE,HANDLING,DISPLAY,DISTRIBUTION,SALEOROFFERFORSALE,PREPARATION,PROCESSINGORSERVICEOFFOODSPECIFICALLY,THEPAPERWILLSUMMARIZEANDDISCUSSLITERATURERELATINGTOPUBLICEXPECTATIONOFPUBLICHEALTHAGENCYACTIONREGARDINGPROTECTINGTHEFOODSUPPLYANDRECENTPOLICYREFORMSMETHODSAMETAINTERPRETATIONWASCONDUCTEDTOIDENTIFYCOMMONTHEMESINPEERREVIEWEDPUBLICATIONSANDMEDIASOURCESLITERATURESEARCHESRETRIEVED39RELEVANTARTICLESPUBLISHED,RESULTINGIN19PEERREVIEWEDARTICLES,8MEDIA,8GOVERNMENTREPORTS,AND4LEGISLATIONDOCUMENTSRESULTSTHEPUBLICEXPECTSASAFEFOODSYSTEMANDTHEYLACKCONFIDENCEINTHECURRENTSYSTEMTHEYDESIREINCREASEDSCIENTIFICALLYTRANSPARENTCOMMUNICATIONFROMATRUSTEDSOURCE,ASTRONGERPUBLICHEALTHPRESENCE,ACOORDINATEDFOODSAFETYREGULATORYSYSTEM,ANDINCREASEDACCESSTOINSPECTIONRESULTSCONCLUSIONSPUBLICHEALTHAGENCIESMUSTCOMMUNICATEEASILYUNDERSTOODTRANSPARENT,SCIENTIFICINFORMATIONTOTHEPUBLICINSPECTIONDISCLOSURESYSTEMSHAVEBEENEFFECTIVEININCREASINGTRANSPARENCYPUBLICHEALTHAGENCIESMUSTHAVEASTRONGPRESENCEINACOORDINATEDFOODSAFETYREGULATORYFRAMEWORKKEYWORDSFOODSAFETY；TRUST；TRANSPARENCY；GOVERNMENTREGULATION；PUBLICHEALTHPRACTICE1INTRODUCTIONAWARENESSOFFOODSAFETYISSUESAMONGTHEPUBLICHASINCREASEDDUETOANUMBEROFSIGNIFICANTANDWELLPUBLICIZEDTHREATSTOPUBLICHEALTH1–3OVERTHEPASTFEWDECADES,NUMEROUSPUBLICHEALTHCRISESHAVEERODEDCONSUMERTRUSTINTHEPUBLICHEALTHFOODSAFETYREGULATORYSYSTEM1–6THEPOPULATION’SHEALTHDEPENDSONTHEAVAILABILITYOFSAFEFOODTHEREFORE,ITISIMPERATIVETHATTHEPUBLICHASTRUSTINTHEIRFOODSUPPLYANDINTHEFOODSAFETYSYSTEMANDTHEAGENCIESRESPONSIBLEFOROVERSEEINGITINDEVELOPEDNATIONS,THEREISAPREVAILINGEXPECTATIONTHATTHEPRODUCTSWEPURCHASE,PREPARE,ANDCONSUMEARESAFEANDWILLNOTCAUSEILLNESS4PUBLICHEALTHAGENCIESAREINVOLVEDINFOODSAFETYPOLICYTOSAFEGUARDCOMMUNITYHEALTHFORTHEPUBLICGOOD7THEPUBLICALSOHASALEGALRIGHTTOEXPECTTHEFOODTHEYPURCHASEISSAFEBASEDONEULEGISLATIONCONTAMINATEDFOODISNOTEASILYIDENTIFIABLEBYCONSUMERS,PLACINGMUCHOFTHEONUSFORFOODSAFETYONREGULATORYBODIES,THEFOODINDUSTRY,PROFESSIONALASSOCIATIONS,ANDOTHERINTERESTEDPARTIESTHEECONOMIC,HEALTH,ANDSOCIALIMPACTOFUNSAFE,CONTAMINATED,ORADULTERATEDFOODPRODUCTSCANNOTBEESTIMATEDACCURATELY,BUTTHEEFFECTSOFFOODRELATEDDISEASEOUTBREAKSAREEXTENSIVEANDDIFFICULTTOREVERSE1,3,8–10ITMAYBEDIFFICULTFORCONSUMERSTOCONCEPTUALIZETHEREGULATORYROLEPLAYEDBYTHEVARIOUSSTUDIESTHERESULTSOFTHESESTUDIESBECAMETHEPRIMARYDATAFORTHISSTUDYINITIALLITERATURESEARCHESOFARTICLESPUBLISHEDBETWEEN1998AND2010REVEALEDTHAT,TODATE,LITTLERESEARCHHASBEENCONDUCTEDINTHEAREAOFENHANCEMENTOFPUBLICTRUSTINREGULATORYFOODSAFETYSYSTEMSANITERATIVESAMPLINGMETHODTHATALLOWEDINCLUSIONCRITERIATOBEREFINEDASTHESTUDYANDANALYSESPROGRESSEDWASANIMPORTANTCOMPONENTOFTHEMETHODOLOGYUSEDTHEINITIALSCOPINGPROCESSBEGANWITHANONLINESEARCHOFRESEARCHDATABASESMEDLINE/PUBMED,CINAHL,OVIDHEALTHANDPSYCHOSOCIALINSTRUMENTS,CBCAANDCABDIRECTUSINGTHEFOLLOWINGLISTOFGENERALSEARCHTERMSPOLICYSCIENCESPUBLICHEALTHPUBLICOPINIONRISKPERCEPTIONENVIRONMENTALHEALTHHEALTHRISKASSESSMENTFOODPRODUCTIONFOODHEALTHRISKCOMMUNICATIONINFORMATIONRESOURCESCONSUMERBEHAVIORCONSUMERSFOODSAFETYMEASURESRISKMANAGEMENTCONSUMEREDUCATIONFOODHANDLINGANDFOODSERVICEADDITIONALPHRASESANDBOOLEANLOGICOPERATORSWEREEMPLOYEDUSINGSCHOLARSPORTALINMARCH2007ANDSCOPUSINJULY2009TOENSUREOPTIMALCAPTURESEARCHTERMSWEREADDEDASRESULTSFROMPRELIMINARYSEARCHESPRODUCEDNEWKEYPHRASESREFERTOTABLE1FORALISTOFSPECIFICSEARCHPHRASESUSEDTABLE1LITERATURESEARCHTERMSSPECIFICSEARCHPHRASESUSEDFOLLOWEDGENERALSUBJECTAREASEARCHESSEARCHTERMSCONSUMER/PUBLICPERCEPTIONANDVULNERABILITYANDFOODSUPPLYPUBLICANDEXPECTATIONANDPUBLICHEALTHANDFOODSUPPLYPOLICYEVOLUTIONANDPUBLICHEALTHFACTORSANDDECISIONMAKINGANDPUBLICHEALTHPOLICYEFFECTIVENESSANDEDUCATIONANDCAMPAIGNANDPUBLICHEALTHCONSUMER/PUBLICBEHAVIRANDFOODSAFETYEFFECTIVEPUBLICANDHEALTHPOLICYANDFORMATION/CREATIONCONSUMER/PUBLICPERCEPTIONANDFOODSUPPLYPROTECTION/SAFETYGOVERNMENTANDSAFEGUARDINGANDFOODSUPPLYGOVERNMENTANDSAFEGUARDINGANDFOODGOVERNMENTANDPUBLICPERCEPTIONANDFOODPUBLICPERCEPTIONANDFOODPROTECTIONPUBLICPERCEPTIONANDFOODSAFETYPOLICYANDFOODANDPUBLICPERCEPTIONPOLICYANDFOODSAFETYPUBLICEXPECTATIONANDFOODSUPPLYPUBLICPERCEPTIONANDVULNERABILITYANDFOODSUPPLYRISKANDPUBLICPERCEPTIONANDFOODPUBLICOPINIONANDGOVERNMENTANDFOODSAFETYPUBLICOPINIONANDGOVERNMENTANDFOODONLYSTUDIESTHATANALYZEDRETAILFOODSAFETYOUTBREAKSINCANADA,THEUNITEDSTATES,GREATBRITAIN,AUSTRALIA,ANDNEWZEALANDWEREINCLUDED,INORDERTOLIMITTHEINFORMATIONTOGEOGRAPHICAREASTHATHADSIMILARPOLICYFRAMEWORKSANDLEGISLATIVESTRUCTURESTOTHOSEINCANADAONLYSTUDIESFROM1998TO2010WEREINCLUDEDTOENSURETHATTHEMOSTRECENTEVENTSANDCURRENTPUBLICPERCEPTIONSWERECAPTUREDTHEPEERREVIEWEDARTICLESEARCHPROCESSBEGANWITHONEOFTHREERESEARCHERSCONDUCTINGA

簡介：ASPORTACTIVITIESMONITORINGSYSTEMBASEDONACCELERATIONANDROTATIONMICROELECTROMECHANICALSENSORSYULLHEILORDTHENAOROAANDFABIANOFRUETTDEPARTMENTOFSEMICONDUCTORS,INSTRUMENTSANDPHOTONICS,STATEUNIVERSITYOFCAMPINASAVALBERTEINSTEIN,400,CEP13083970,CAMPINAS,SP,BRAZILPHONE551935213880,HEILORDTDSIFFEEUNICAMPBRANDFABIANODSIFFEEUNICAMPBRABSTRACTALTHOUGHTHEREARESEVERALTECHNOLOGICALTOOLSTOAIDSPORTSTRAINING,MOSTOFTHEMAREHIGHCOSTSOLUTIONSANDGENERALLYVERYSPECIFICTOAPARTICULARSPORT,WHICHHINDERSTHEDIFFUSIONOFSUCHTECHNOLOGIESTHISPAPERPRESENTSALOWCOSTNONINVASIVEMICROCONTROLLERSPORTACTIVITIESMONITORINGSYSTEMSAMSPROTOTYPE,WHICHISBASEDONACCELERATIONANDROTATIONMICROELECTROMECHANICALSENSORSMEMSFOROBTAININGBIOMECHANICALDATADURINGTHEATHLETE’STRAINING,WITHOUTLEAVINGTHENATURALENVIRONMENTOFHISACTIVITIESTHESENSORSSIGNALSAREWIRELESSLYTRANSMITTEDFROMTHESAMSTOTHECOMPUTERINORDERTOPROCESSTHEDATA,THROUGHANEASYANDINTUITIVEVIRTUALINSTRUMENTVIINTERFACEDEVELOPEDINLABVIEW?THISVISAVESANDDISPLAYSREALTIMEDATAINAGRAPHICFORMTHEEXPERIMENTALRESULTSWEREOBTAINEDINTWODIFFERENTENVIRONMENTSFIRSTWEUSEDASTATIONARYBIKEANDTHENWETESTEDTHESAMSINAPROFESSIONALCYCLETRACKTHESYSTEMALLOWSTHEACCELERATIONACQUISITIONINTHERANGEFORM±1,5GUNTIL±10GANDROTATIONINTHESPANOF±50?/STHEMAXIMUMTRANSMISSIONRANGEISABOUT70MTHESAMSHASASMALLSIZE37X49X20MMANDLIGHTWEIGHT40G,MAKINGITAVERSATILEMONITORINGSYSTEMTOAIDATHLETESANDCOACHESDURINGTHETRAINING,ALLOWINGREFINEMENTSONTHETECHNIQUETHESAMSISALSOASUITABLETOOLFORTHEPHYSICALEDUCATIONRESEARCHAREAKEYWORDSACCELEROMETER,GYROSCOPE,SPORTMONITORING,VIRTUALINSTRUMENTATION,WIRELESSCOMMUNICATION,REALTIMEFEEDBACKIINTRODUCTIONCURRENTLYADVANCESONMICROELECTRONICSANDMEMSSENSORS,AREEACHTIMESMALLER,WITHLOWPOWERCONSUMPTIONANDAFFORDABLEPRICESMAKINGITMOREFEASIBLEANDPERMITTINGITSAPPLICATIONONSPORTSACCELEROMETERS,GYROSCOPES,MICROPHONESANDCAMERASAMONGOTHERS,LENDTHEMSELVESSUITABLETOAWIDERANGEOFSPORTSAPPLICATIONS1,MAKINGPOSSIBLETOOBTAINBIOMECHANICAL,PHYSICALORCOGNITIVEINFORMATIONFROMMONITORINGTHEATHLETESPERFORMANCEDURINGTHEIRTRAININGSORSPORTPRACTICESNEWWIRELESSCOMMUNICATIONSTANDARDSLIKEBLUETOOTH?ANDZIGBEETM,PROVIDEAPLATFORMFORNETWORKINGSENSORS,THATCANBEWIDELYAPPLIEDINTHEHEALTHCAREANDINSPORTS2SINCEITALLOWSDATATRANSMISSIONWITHOUTMOBILITYINTERFERINGTHEATHLETE’SPERFORMANCEDEPENDSONTHEENVIRONMENTWHEREHEORSHEISBEINGMONITORED2,FOREXAMPLELABORATORY,INSIDE/OUTSIDETRAINING,COMPETITIONORPLAYINGFIELDCONDITIONSINADDITIONTOTHAT,ITISKNOWNTHATWHENFEEDBACKISPROVIDEDINANAPPROPRIATEMANNER,MOTORSKILLACQUISITIONIMPROVESSIGNIFICANTLYCONSEQUENTLY,FEEDBACKISAMAJORFACTORINTHEIMPROVEMENTSOFSPORTSKILLPERFORMANCE3FURTHERMORE,SYSTEMSWITHIMMEDIATEFEEDBACKINCREASETHEATHLETE’SMOTIVATIONIIHARDWARESYSTEMPROTOTYPEFIGURE1SHOWSTHEBLOCKDIAGRAMOFTHESPORTACTIVITIESMONITORINGSYSTEMSAMSPROTOTYPE,WHICHISDIVIDEDINTWOBOARDSTHEFIRSTONE,HASTHEACCELERATIONANDROTATIONSENSORS,AMICROCONTROLLER,ARADIOFREQUENCYMODULEANDABATTERYTHISISTHEMOBILEPARTOFTHEPROTOTYPEANDCANBEATTACHEDTOTHEATHLETE’SBODYTHESECONDBOARD,ALSOCALLEDBASESTATIONBOARD,WASADAPTEDFROMAUSBROGERCOM?BOARD4,ANDINCORPORATESARADIOFREQUENCYMODULETHISSTATIONBOARDISDIRECTLYCONNECTEDTOTHECOMPUTER’SUSBPORT,INORDERTOACQUIRETHESENSORS’DATAFIG1BLOCKDIAGRAMOFTHESYSTEMPROTOTYPETHEPROTOTYPESENSORSWERECHOSENBYTAKINGINTOACCOUNTTHEIROPERATIONRANGE,SIZE,ENERGYCONSUMPTION,NUMBEROFAXES,TYPEOFOUTPUT,ENCAPSULATIONANDPRICE,KEEPINGTHISINMIND,THEACCELEROMETERSMMA7260ANDMMA7261FROMFREESCALETMANDTHEGYROSCOPESIDG300ANDIDG1004FROMINVENSENSETMWERECHOSENWITHREGARDSTOTHEMICROCONTROLLER,WESELECTEDALOWPOWER,EIGHTBITMC9S08QE128FROMFREESCALETMTHERADIOFREQUENCYMODULEXBEE/XBEEPROFROMDIGITM,ANDARECHARGEABLE3,7VLITHIUMPRISMATICBATTERYWEREALSOSELECTEDACCELEROMETERSTHEMMA7260INTRODUCEDIN2005BYFREESCALETM5ANDTHEMMA72616AREMEM’STRIAXISACCELERATIONSENSORSWITHSELECTABLESENSITIVITY1,5/2/4/6G,LOWCURRENTCONSUMPTION500ΜA,SLEEPMODE3ΜA,LOWVOLTAGEOPERATION2,2TO3,6VANDLOWCOST3,35USDTHEOUTPUTVOLTAGEISRATIOMETRICANDPROPORTIONALTOTHEACCELERATION,THISSIMPLYMEANSTHATTHEOUTPUTOFFSETVOLTAGEANDSENSITIVITYWILLSCALELINEARLYWITHAPPLIEDSUPPLYVOLTAGETHISFIRMWARECONTROLSALLTHEPROCESSINTHEMOBILEBOARD,INCLUDINGDATAACQUISITION,OPTIONALPROCESSING,POWERCONSUMPTION,ANDDATATRANSMISSIONTHESECONDPARTOFTHESOFTWARE,ISAVIRTUALINSTRUMENTVIINTERFACEDEVELOPEDONLABVIEW?,WHICHISAGRAPHICALPROGRAMMINGLANGUAGETHATHASBEENWIDELYADOPTEDTHROUGHOUTINDUSTRY,ACADEMIA,ANDRESEARCHLABSASTHESTANDARDFORDATAACQUISITIONANDINSTRUMENTCONTROLSOFTWARE10THISVIALLOWSTHESELECTIONOFTHESENSORSWHICHAREGOINGTOBEUSE,SELECTTHEACCELERATIONRANGE,ENABLEPREPROCESSING,ALONGCALIBRATION,DATAPROCESSING,SAVINGANDDISPLAYINGREALTIMEDATAINAGRAPHICFORMOVERANINTUITIVEUSERINTERFACETHESAMS’FRONTALPANELISPRESENTEDINFIGURE6FIG6SAMSVIRTUALINSTRUMENTFRONTALPANELSAMSCALIBRATIONINORDERTOELIMINATETHEOFFSETFROMTHESENSORS,ACALIBRATIONPROCESSWASDEVELOPEDTHISPROCESSMEASUREDTHEGRAVITYACCELERATIONBYEACHONEOFTHEACCELEROMETERAXESINTHREEDIFFERENTPOSITIONSBYALIGNINGTHENORMALVECTOROFTHESENSOR,WITHTHEGRAVITYVECTORINEVERYPOSITIONANDKEEPINGTHEOTHERAXISWITHOUTACCELERATIONFORTHECALIBRATIONTASK,THEPROGRAMGUIDESTHEUSERTOALIGNTHESENSOR’SBOXINEACHONEOFTHEPOSITIONSASSHOWNINFIGURE7FINALLY,AFTERTHECALCULATIONS,THEOFFSETVALUEFOREVERYAXISISSAVEDINAFILEANDREADBYTHESAMS’VIDURINGTHESTARTUPAPOSITION1BPOSITION2CPOSITION3FIG7SAMSMOBILEBOARDCALIBRATIONPOSITIONSSAMSFIXATIONANDORIENTATIONSTHESAMSWASENCAPSULATEDANDADAPTEDWITHAFIXATIONSYSTEMTOLETITBEEASYFASTENTOTHEATHLETETHEAXISANDROTATIONCOORDINATESAREPRESENTEDINFIGURE8IVEXPERIMENTALRESULTSTHEEXPERIMENTALRESULTSWEREOBTAINEDINTWODIFFERENTENVIRONMENTSFIRSTWEUSEASTATIONARYBIKEANDTHENWETESTEDTHESAMSONAPROFESSIONALCYCLETRACKINTHESEBIKETEST,THESENSORWASFIXEDINTHERIGHTANKLEOFTHEATHLETEASSHOWNINFIGURE9ABFIG8SAMSMOBILEBOARDAXISANDROTATIONCOORDINATESABFIG9FIXATIONINTHERIGHTANKLEDURINGTHETESTESSTATIONARYBIKETESTONEOFTHETESTSWITHTHESTATIONARYBIKE,WASTHEWINGATETEST11THISISATESTUSEDTOEVALUATETHEMAXIMUMPOWERANDANAEROBICCAPACITYTHEWINGATEISA30SECONDSTEST,DURINGIT,THEATHLETETRIESTOPEDALASMANYTIMESAGAINSTAFIXEDRESISTANCE,AIMINGTOGENERATEASMUCHPOWERASPOSSIBLEINTHATPERIODOFTIMETHEPOWERGENERATEDDURINGTHE30SECONDSISCALLEDTHEAVERAGEPOWERANDAPOWERPEAKUSUALLYOCCURSWITHINTHEFIRST5SECONDSOFTHETESTFIGURE10,11,12AND13,SHOWSTHEACCELERATIONANDANGULARVELOCITYFOREACHAXISANDTHETEMPERATURE,RESPECTIVELY0000000500100015002000250030604020020406080100120ACELM/S?TEMPOMMSSAXAAX00000005001000150020002500300,40,30,20,10,00,10,20,30,4ROLL?/STEMPOMMSSROLLBROLLVXFIG10ACCELERATIONAXANDANGULARVELOCITYROLLVX0000000500100015002000250030604020020406080100120ACELM/S?TEMPOMMSSAYAAY00000005001000150020002500300,40,30,20,10,00,10,20,30,4PITCH?/STEMPOMMSSPITCHBPITCHVYFIG11ACCELERATIONAYANDANGULARVELOCITYPITCHVY

簡介：DESIGNANDPRACTICEOFANELEVATORCONTROLSYSTEMBASEDONPLCXIAOLINGYANG1,2,QUNXIONGZHU1,HONGXU11COLLEGEOFINFORMATIONSCIENCEANDGREATLYAFFECTSTHEELEVATOR’SRUNNINGQUALITYTHEREFORE,ENTRUSTEDBYANENTERPRISE,WEHAVEIMPROVEDELECTRICALCONTROLSYSTEMOFARELAYCONTROLLEDELEVATORINARESIDENTIALBUILDINGBYUSINGPLCTHERESULTSHOWEDTHATTHEREFORMEDSYSTEMISRELIABLEINOPERATIONANDEASYFORMAINTENANCETHISPAPERINTRODUCESTHEBASICSTRUCTURE,CONTROLPRINCIPLEANDREALIZATIONMETHODOFTHEELEVATORPLCCONTROLSYSTEMINDETAIL2SYSTEMSTRUCTURETHEPURPOSEOFTHEELEVATORCONTROLSYSTEMISTOMANAGEMOVEMENTOFANELEVATORINRESPONSETOUSER’SREQUESTSITISMAINLYCOMPOSEDOF2PARTS21ELECTRICPOWERDRIVINGSYSTEMTHEELECTRICPOWERDRIVINGSYSTEMINCLUDESTHEELEVATORCAR,THETRACTIONMOTOR,DOORMOTOR,BRAKEMECHANISMANDRELEVANTSWITCHCIRCUITSHEREWEADOPTEDANEWTYPEOFLCSERIESACCONTACTORSTOREPLACETHEOLDONES,ANDUSEDPLC’SCONTACTSTOSUBSTITUTETHEPLENTYOFINTERMEDIATERELAYSTHECIRCUITSOFTRACTIONMOTORARERESERVEDTHUSTHEORIGINALCONTROLCABINET’SDISADVANTAGES,SUCHASBIGVOLUMEANDHIGHNOISEAREOVERCOMEEFFICIENTLY22SIGNALCONTROLSYSTEMTHEELEVATOR’SCONTROLSIGNALSAREMOSTLYREALIZEDBYPLCTHEINPUTSIGNALSAREOPERATIONMODES,OPERATIONCONTROLSIGNALS,CARCALLS,HALLCALLS,SAFETY/PROTECTSIGNALS,DOOROPEN/CLOSESIGNALANDLEVELINGSIGNAL,ETCALLCONTROLFUNCTIONSOFTHEELEVATORSYSTEMAREREALIZEDBYPLCPROGRAM,SUCHASREGISTRATION,DISPLAYANDELIMINATIONOFHALLCALLSORCARCALLS,POSITIONJUDGMENTOFELEVATORCAR,CHOOSELAYERANDDIRECTIONSELECTIONOFTHEELEVATOR,ETCTHEPLCSIGNALCONTROLSYSTEMDIAGRAMOFELEVATORISSHOWEDINFIGURE1FIGURE1PLCSIGNALCONTROLSYSTEMDIAGRAM23REQUIREMENTSTHEGOALOFTHEDEVELOPMENTOFTHECONTROLSYSTEMISTOCONTROL2ELEVATORSINA9STOREYRESIDENTIALBUILDINGFOREACHELEVATOR,THEREISASENSORLOCATEDATEVERYFLOORWECANUSETHESESENSORSTOLOCATETHECURRENT2008WORKSHOPONPOWERELECTRONICSANDINTELLIGENTTRANSPORTATIONSYSTEM9780769533421/082500?2008IEEEDOI101109/PEITS20084494THEWHOLEPROGRAMISMAINLYCOMPOSEDOF10MODULESHALLCALLREGISTRATIONANDDISPLAYMODULE,CARCALLREGISTRATIONANDDISPLAYMODULE,THESIGNALCOMBINATIONMODULE,THEHALLCALLCANCELMODULE,THEELEVATORLOCATIONDISPLAYMODULE,THEFLOORSELECTIONMODULE,THEMOVINGDIRECTIONCONTROLMODULE,THEDOOROPEN/CLOSEMODULE,THEMAINTENANCEOPERATIONMODULEANDTHEDISPATCHINGMODULEUNDERPARALLELRUNNINGMODETHEDESIGNOFTHETYPICALMODULESISDESCRIBEDASFOLLOWS31HALLCALLREGISTRATIONANDDISPLAYTHEREARETWOKINDSOFCALLSINANELEVATORHALLCALLANDCARCALLWHENSOMEONEPRESSESABUTTONONTHEFLOORCONTROLPANEL,THESIGNALWILLBEREGISTEREDANDTHECORRESPONDINGLAMPWILLILLUMINATETHISISCALLEDHALLCALLREGISTRATIONWHENAPASSENGERPRESSESABUTTONINTHEELEVATORCAR,THESIGNALWILLBEREGISTEREDANDWITHTHECORRESPONDINGLAMPILLUMINATEDTHISISCALLEDCARCALLREGISTRATIONFIGURE2SHOWSTHELADDERDIAGRAMOFUPHALLCALLSREGISTRATIONANDDISPLAYTHESELFLOCKPRINCIPLEISUSEDTOGUARANTEETHECALLS’CONTINUOUSDISPLAYFIGURE2UPHALLCALLREGISTRATIONANDDISPLAY32THECOLLECTIVESELECTIONOFTHECALLSHERETHECOLLECTIVESELECTIONCONTROLRULESAREUSEDASSHOWEDINFIGURE3,M51M57,M60ANDM61AREAUXILIARYRELAYSINPLCTHEYDENOTETHESTOPPINGREQUESTSIGNALOF1STTO9THFLOORRESPECTIVELYTHEAUXILIARYRELAYM62DENOTESTHEELEVATORDRIVER’SOPERATIONSIGNALWHENTHEREISACALLINACERTAINFLOOR,THESTOPPINGSIGNALOFCORRESPONDINGFLOORWILLOUTPUTWHENTHEELEVATORISOPERATEDBYTHEDRIVER,THEHALLCALLSWILLNOTBESERVEDANDTHEELEVATORCANNOTPASSAFLOORATWHICHAPASSENGERWISHESTOALIGHT33THECANCELLATIONOFTHECALLSTHEPROGRAMOFTHISMODULECANMAKETHEELEVATORRESPONSETHEHALLCALLSWHICHHAVETHESAMEDIRECTIONASTHECAR’SCURRENTDIRECTION,ANDWHENAHALLCALLISSERVED,ITSREGISTRATIONWILLBECANCELEDTHELADDERDIAGRAMOFUPHALLCALLS’CANCELLATIONISSHOWEDINFIGURE4FIGURE3THECOMBINATIONOFTHECALLSFIGURE4THECANCELLATIONOFUPCALLSINFIGURE4,THEAUXILIARYRELAYM40ISTHEUPMOVINGFLAGOFTHEELEVATORWHENTHECURRENTDIRECTIONOFTHEELEVATORISUP,M40’SCONTACTSARECLOSEDONTHECONTRARY,WHENTHECURRENTDIRECTIONOFTHEELEVATORISDOWN,M40’SCONTACTSAREOPENEDM01TOM07DENOTESTHECARCALLS’STOPPINGREQUESTSIGNALOFFLOOR2TOFLOOR8RESPECTIVELYTHISPROGRAMHASTWOFUNCTIONS1MAKETHEELEVATORRESPONSETHENORMALDOWNHALLCALLSWHENITISMOVINGDOWN,ANDWHENADOWNHALLCALLISSERVED,ITSREGISTRATIONISCANCELED2WHENTHEELEVATORISMOVINGUP,THECORRESPONDINGFLOOR’SDOWNHALLCALLITPASSINGBYISNOTSERVEDANDTHEREGISTRATIONISREMAINED96

簡介：246CLOTHINGANDTEXTILESRESEARCHJOURNALCLOTHINGEVALUATIVECRITERIAACROSSNATIONALCOMPARISONOFTAIWANESEANDUNITEDSTATESCONSUMERSTHEINTERNATIONALMARKETINGOFAMERICANGOODSANDSERVICESISOFINCREASINGIMPORTANCETOTHEUNITEDSTATESECONOMYHUSTED,VARBLE,THEMODEL“ISBASEDONLEARNINGPROCESSES,WITHEMPHASISUPONTHEINFORMATIONSEARCHPROCESS”ZALTMANWALLENDORF,1979,P541PRIORTOTHEINFORMATIONINPUTSTAGE,THEINDIVIDUALRECOGNIZESANEEDTHATMAYBEMETTHROUGHTHEPURCHASEPROCESSONCETHENEEDISRECOGNIZED,THEINDIVIDUALSELECTSINFORMATIONABOUTTHEPRODUCTTHROUGHEITHERANINTERNALSEARCHPROCESSINCLUDINGINDIVIDUALMEMORYAND/ORTHROUGHANEXTERNALSEARCHPROCESSIFADDITIONALINFORMATIONISREQUIRED“INFORMATIONPROCESSINGREFERSTOTHEPROCESSBYWHICHASTIMULUSISRECEIVED,INTERPRETED,STOREDINMEMORY,ANDLATERRETRIEVED”ENGEL,ETAL,1995,P472THEINFORMATIONPROCESSINGSTAGEFOLLOWSFIVESTEPSTHECONSUMER’SEXPOSURETO,ATTENTIONTO,COMPREHENSIONOF,ACCEPTANCEOF,AND,FINALLY,RETENTIONOFINFORMATIONTHEDECISIONPROCESSSTAGEFOLLOWSSIXSTEPSNEEDRECOGNITION,SEARCHFORINFORMATION,PREPURCHASEALTERNATIVEEVALUATION,PURCHASE,CONSUMPTION,ANDPOSTPURCHASEALTERNATIVEEVALUATIONTHEVARIABLESINFLUENCINGTHEDECISIONPROCESSCONSISTOFTHREECATEGORIESENVIRONMENTALINFLUENCES,INDIVIDUALDIFFERENCES,ANDPSYCHOLOGICALPROCESSESENVIRONMENTALINFLUENCESINCLUDECULTURE,SOCIALCLASS,PERSONALINFLUENCES,FAMILY,ANDSITUATIONINDIVIDUALDIFFERENCESCONSISTOFCONSUMERRESOURCES,MOTIVATIONANDINVOLVEMENT,KNOWLEDGE,ATTITUDES,PERSONALITY,VALUES,ANDLIFESTYLEPSYCHOLOGICALPROCESSESINCLUDEINFORMATIONPROCESSING,LEARNING,ANDATTITUDEANDBEHAVIORCHANGETHEPRESENTSTUDYEXAMINEDTHERELATIONHSIUJUHSULESLIEDAVISBURNSABSTRACTTAIWANESEANDUNITEDSTATESCOLLEGEWOMENWERECOMPAREDREGARDINGTHEIMPORTANCETHEYPLACEDONTHEEVALUATIVECRITERIATHEYUSEDWHENPURCHASINGASPECIFICCLOTHINGITEMFORTHEMSELVESONEHUNDREDNINETEENTAIWANESEAND84UNITEDSTATESCOLLEGEWOMENCOMPLETEDSELFADMINISTEREDQUESTIONNAIRESSEVENPOINTSCALESWEREUSEDTOMEASURETHEIMPORTANCEOF12CLOTHINGEVALUATIVECRITERIAFABRIC,COMFORT,SIZE/FIT,QUALITY,LOCATIONOFMANUFACTURER,COLOR,HOWPLEASINGITWASTOOTHERS,BRANDNAME,APPROPRIATENESSFORCAMPUSWEAR,PRICE,STYLE,ANDCOORDINATIONWITHOTHERCLOTHINGTHEFINDINGSINDICATEDTHATTHEIMPORTANCEPLACEDONCLOTHINGEVALUATIVECRITERIAWASVERYSIMILARBETWEENTHETWOGROUPSINADDITION,THESIZE/FITCRITERIONWASFOUNDTOBETHEMOSTIMPORTANTCRITERIONFORBOTHGROUPSCROSSNATIONALCOMPARISONSTUDIES,SUCHASTHISONE,THATFOCUSONTHECONSUMERDECISIONMAKINGPROCESSMAYPROVIDEIMPORTANTINFORMATIONTOMARKETERSINTHEIRDEVELOPMENTOFINTERNATIONALMARKETINGSTRATEGIESAUTHORS’ADDRESSESHSU,HSIUJU,DEPARTMENTOFAPPAREL,NATIONALPINGTUNGUNIVERSITYOFSCIENCEANDTECHNOLOGY,1,HSEUHFUROAD,NEIPU,PINGTUNG,91207,TAIWAN,ROC,HSUMAILNPUSTEDUTWANDLESLIEDAVISBURNS,AIHM,MILAM224,OREGONSTATEUNIVERSITY,CORVALLIS,OR973315101,LESLIEBURNSORSTEDUHSU,HJ,BURNS,LD2002CLOTHINGEVALUATIVECRITERIAACROSSNATIONALCOMPARISONOFTAIWANESEANDUNITEDSTATESCONSUMERSCLOTHINGANDTEXTILESRESEARCHJOURNAL,204,246252KEYWORDSCONSUMERBEHAVIOR,CONSUMERDECISIONMAKING,EVALUATIVECRITERIA,CROSSNATIONAL248CLOTHINGANDTEXTILESRESEARCHJOURNALBASEDONMEANIMPORTANCESCORES2THEREWILLBENODIFFERENCEINTHECLOTHINGEVALUATIVECRITERIONIDENTIFIEDASMOSTIMPORTANTBETWEENTAIWANESEANDTHEUNITEDSTATESCOLLEGEWOMENBASEDONMEANIMPORTANCESCORESANDSIXTAIWANESEUNDERGRADUATESTUDENTSSTUDYINGATOREGONSTATEUNIVERSITYTHEPURPOSEOFTHEPRETESTWASTOIDENTIFYANYPOTENTIALPROBLEMSWITHTHEQUESTIONNAIREVERBALFEEDBACKONTHEQUESTIONNAIREWASCOLLECTEDINORDERTOMAKENEEDEDMODIFICATIONSBEFOREDATACOLLECTIONAFTERTHEPRETEST,SEVERALMODIFICATIONSWEREMADEFORINSTANCE,“WHERETHEGARMENTWASMANUFACTURED”WASUSEDINSTEADOF“COUNTRYOFORIGIN,”“SUITABILITY”WASCHANGEDTO“APPROPRIATENESSFORCAMPUSWEAR,”AND“COORDINATION”WASALTEREDTO“COORDINATIONWITHOTHERCLOTHING”INORDERTOMAKETHEQUESTIONNAIREMORECLEARFORTHERESPONDENTSADDITIONALLY,BECAUSEFEMALECOLLEGESTUDENTSWERECHOSENASSUBJECTSFORTHISSTUDY,THE“FRESHMEN”CATEGORYOFACADEMICSTANDINGWASCHANGEDTO“FIRSTYEARINCOLLEGE”INORDERTOAVOIDANYPERCEPTIONSOFSEXISMSAMPLEACONVENIENCENONPROBABILITYSAMPLEWASUSEDFORTHISSTUDYTHEUNITEDSTATESSAMPLECONSISTEDOF102FEMALEUNDERGRADUATESTUDENTSENROLLEDINFAMILYANDCONSUMERSCIENCESCOURSESATOREGONSTATEUNIVERSITYTAIWANESESUBJECTSWERE131FEMALEUNDERGRADUATESTUDENTSMAJORINGINAPPLIEDLIFESCIENCEATFUJENCATHOLICUNIVERSITYINTAIWANBECAUSETHESAMPLEWASANONPROBABILITYSAMPLE,THERESULTSOFTHESTUDYCANNOTBEINTERPRETEDASBEINGREFLECTIVEOFANYLARGERPOPULATIONBUTFORTHEMARKETSEGMENTOFFEMALECOLLEGESTUDENTS,THISSAMPLEOFFEMALESTUDENTSPROVIDESINFORMATIONRELATEDTOTHEPOPULATIONOFCOLLEGEWOMENIN1999,824MILLIONWOMENATTENDEDCOLLEGEINTHEUNITEDSTATESUNITEDSTATESCENSUSBUREAU,2001ANDIN1991MOSTRECENTDATAAVAILABLE350,000WOMENATTENDEDCOLLEGEINTAIWAN“EDUCATION,SCIENCEANDTECHNOLOGY,”1993ALSO,IN1999,WOMENRESIDINGINTHEUNITEDSTATESWHOWERELESSTHAN30YEARSOFAGESPENTONTHEAVERAGE480DOLLARSPERYEARONWOMEN’SAPPAREL,302PERYEARONFOOTWEAR,AND255FOROTHERAPPARELPRODUCTSSUCHASACCESSORIESBUREAUOFLABORSTATISTICS,2000COMPARABLEEXPENDITUREDATAFORTAIWANESESTUDENTSWERENOTAVAILABLEPRIORTOADMINISTRATIONOFTHESURVEY,HUMANSUBJECTSAPPROVALWASSECUREDATBOTHINSTITUTIONSDATACOLLECTIONTHETHREEPAGESELFADMINISTEREDQUESTIONNAIRESWERECOMPLETEDBYTHESAMPLEOFUNITEDSTATESANDTAIWANESECOLLEGEWOMENINUNIVERSITYCLASSROOMSTHECHINESEVERSIONOFTHEQUESTIONNAIREWASADMINISTEREDTOTAIWANESESUBJECTSINTAIWANINORDERTOENSURETHATTHESAMEPROCESSOFDATACOLLECTIONWASUSEDINBOTHCOUNTRIES,INSTRUCTIONSWEREPROVIDEDTOTHOSECOLLECTINGDATAINTHEUNITEDSTATESANDTAIWANALLQUESTIONNAIRESCOMPLETEDINTAIWANWEREMAILEDTOTHEUNITEDSTATESFORANALYSISDATAWERECOLLECTEDINFEBRUARY1995DATAANALYSISDEPENDENTVARIABLESFORTHEPRESENTSTUDYWERETHEIMPORTANCERATINGSFORTHE12CLOTHINGCRITERIANATIONALITY,WITHTWOLEVELSTAIWANANDTHEUNITEDSATES,WASTHEINDEPENDENTVARIABLENULLHYPOTHESIS1,WHICHINDICATEDTHATTHEREWOULDBENODIFFERENCESBETWEENTHETWOGROUPSINTHEIMPORTANCEPLACEDONTHEEVALUATIVECRITERIA,WASTESTEDUSINGTWOSAMPLEANALYSISTTESTSTOINVESTIGATEDIFFERENCESINTHEMETHODSQUESTIONNAIREDEVELOPMENTASELFADMINISTEREDQUESTIONNAIREWASUSEDTOCOLLECTTHEDATAACOVERLETTERTHATBRIEFLYEXPLAINEDTHEPURPOSEOFTHESURVEYACCOMPANIEDEACHQUESTIONNAIRETHEQUESTIONNAIRECONSISTEDOFTWOSECTIONSQUESTIONSMEASURINGTHEIMPORTANCEOFCLOTHINGEVALUATIVECRITERIAANDQUESTIONSASKINGABOUTDEMOGRAPHICCHARACTERISTICSOFTHERESPONDENTSTHECLOTHINGEVALUATIVECRITERIAWERESELECTEDFROMTHOSEIDENTIFIEDASMOSTIMPORTANTBYPREVIOUSRESEARCHERSTHESEWEREPRICE,STYLE,QUALITY,SIZE/FIT,COLOR,FABRIC,BRANDNAME,LOCATIONOFMANUFACTURER,SUITABILITY,HOWPLEASINGITWASTOOTHERS,COORDINATION,ANDCOMFORTINTHEFIRSTSECTIONOFTHEQUESTIONNAIREEACHRESPONDENTWASASKEDTORATETHEIMPORTANCEOFTHE12CLOTHINGCRITERIABECAUSETYPEOFAPPARELMAYAFFECTWHICHCRITERIAAREIMPORTANTINACONSUMERPURCHASEDECISION,THEFIRSTSECTIONOFTHEQUESTIONNAIREASKEDTHERESPONDENTTORECALLTHELASTCLOTHINGITEMSHEPURCHASEDFORHERSELFTHATSHEWOULDWEARONCAMPUSFURTHERQUESTIONSWEREBASEDONTHISIDENTIFIEDCLOTHINGITEMEACHOFTHE12CRITERIAWASRATEDONASEVENPOINTSCALEWITHENDPOINTS“NOTATALLIMPORTANT”AND“VERYIMPORTANT”THE12CRITERIAWERELISTEDINRANDOMORDERANDTHELISTWASTHESAMEFORALLRESPONDENTSEACHRESPONDENTCOULDALSOCHOOSEA“NOTUSED”NUCATEGORYIFSHEDIDNOTUSETHECRITERIONINHERPURCHASEDECISIONTOCAPTUREARESPONDENT’SRATINGOFTHEMOSTIMPORTANTCRITERIONUSEDINHERDECISIONMAKINGPROCESS,THERESPONDENTWASASKEDTOWRITEDOWNTHEMOSTIMPORTANTCRITERIONFROMTHE12CLOTHINGCRITERIALISTEDINADDITIONTOUSINGTHESCALERATINGTODETERMINETHEMOSTIMPORTANTCRITERIONUSEDINTHEPURCHASEDECISION,RESPONDENTSWEREASKEDTOTHINKSPECIFICALLYABOUTTHECRITERIAFROMTHEPERSPECTIVEOFIDENTIFYINGWHICHONEOFTHE12WASMOSTIMPORTANTTOHERPLUS,THERELIABILITYOFTHESCALEITEMSWASCHECKEDBYCOMPARINGTHECRITERIONWITHTHEHIGHESTMEANRATINGWITHTHECRITERIONIDENTIFIEDASMOSTIMPORTANTTHEQUESTIONNAIREALSOINCLUDEDANOPENENDEDQUESTIONASKINGRESPONDENTSTOINDICATEANYOTHERCRITERIATHEYHADUSEDBUTTHATWERENOTLISTEDINFORMATIONONTHERESPONDENT’SBACKGROUNDIE,AGE,GENDER,ACADEMICSTANDING,MAJOR,MARITALSTATUS,ANDNATIONALITYWASCOLLECTEDINTHESECONDSECTIONOFTHEQUESTIONNAIRETHEQUESTIONNAIREWASFIRSTDEVELOPEDINENGLISHANDTHENTRANSLATEDINTOCHINESETHECHINESEVERSIONTHENWASBACKTRANSLATEDINTOENGLISHTHEPROCESSOFTRANSLATIONANDBACKTRANSLATIONOFTHEQUESTIONNAIREWASCONDUCTEDBYTWOTAIWANESEDOCTORALSTUDENTSATOREGONSTATEUNIVERSITYWHOWERENOTFAMILIARWITHTHESTUDYTHEBACKTRANSLATIONWASCONDUCTEDTOCHECKFORACCURACYANDCLARITYINTHETWOVERSIONSTHEQUESTIONNAIREWASPRETESTEDBYEIGHTUNITEDSTATES

簡介：ABSTRACTTHEWORLDWIDEWEBHASCHANGEDTHEPERSPECTIVEONTHEROLETHATMAPSCANPLAYTHEIRTRADITIONALFUNCTIONREMAINS,EGTOREPRESENTANABSTRACTIONOFASELECTEDPARTOFREALITYTOOFFERINSIGHTINTOGEOSPATIALPATTERNSANDRELATIONSADDITIONALLYTHEMAPCANBEANIMPORTANTPARTOFASEARCHENGINE,ESPECIALLYINTHECONTEXTOFGEOSPATIALDATAINFRASTRUCTUREMAPSCANALSOFUNCTIONASANINTERFACETOOTHERGEOGRAPHICANDNONGEOGRAPHICINFORMATIONONTHEWEBTHEQUESTION‘WHATARETHEIMPLICATIONSOFTHISEXPANDINGROLEOFMAPSFORAWEBGISENVIRONMENT’ISADDRESSEDINTHISPAPER1INTRODUCTIONMAPSARERECOGNISEDINTHEIRCAPACITYTOOFFERANOVERVIEWOFANDINSIGHTINTOSPATIALPATTERNSANDRELATIONSMAPSCANGUIDEUSFROMATOB,SHOWTHESTRUCTUREOFTHELANDSCAPE,DISPLAYTHECHANGESINPOPULATIONDISTRIBUTIONS,ORSHOWFUTUREURBANPLANSMAPSDOTHISBECAUSETHEYREPRESENTABSTRACTIONSANDSELECTIONSOFREALITYIFWELLDESIGNED,THEMEANINGOFTHEIRSYMBOLOGYWILLGIVETHEUSERALINKTOAPARTOFREALITYGEOGRAPHICALINFORMATIONSYSTEMSGISARECHARACTERISEDBYTHEABILITYTOINTEGRATEGEOSPATIALDATAFROMAWIDEVARIETYOFSOURCESTHEFUNCTIONALITYOFSUCHSYSTEMSALLOWSDIFFERENTKINDSOFSPATIALANALYSISOPERATIONSTHENATUREOFTHESEOPERATIONSISOFTENBASEDONAPPLICATIONSMODELS,THECURRENTDISCIPLINARYAPPROACHTOTHEPROBLEMATHANDOBVIOUSLY,MAPSPLAYANIMPORTANTROLEINGISNOTONLYDOTHEYPRESENTTHEFINALRESULTSOFTHESPATIALANALYSISBUTTHEYAREALSOCRITICALDURINGTHEWHOLEITERATIVEPROCESSOFGEOSPATIALDATAHANDLINGTHEPOPULARITYOFGISHASHADAGREATIMPACTONMAPSMANYMAPSHAVEBEENCREATEDANDUSED,BUTDURINGTHEBEGINNINGOFTHEGISERAMAPQUALITYWASNOTALWAYSACCEPTABLETHISWASPARTLYDUETOTHEFACTTHATNOTALLPEOPLEINVOLVEDINGISMAPMAKINGWERESKILLEDINTHISPROCESS,ANDPARTLYDUETOTHELIMITEDRESOLUTIONOFSCREENSANDPLOTTERSTHERISEOFTHEINTERNET,ANDINPARTICULARTHEWORLDWIDEWEB,WASANOTHERSTIMULANTTOMAPMAKINGANDMAPUSEHOWEVER,THEWEBHASALSOJGEOGRAPHSYST2004683–93DOI101007/S1010900401272THEROLEOFTHEMAPINAWEBGISENVIRONMENTMENNOJANKRAAKINTERNATIONALINSTITUTEOFGEOINFORMATIONSCIENCEANDEARTHOBSERVATION,DEPARTMENTOFGEOINFORMATIONPROCESSING,POBOX6,7500AAENSCHEDE,THENETHERLANDSEMAILKRAAKITCNLHAVINGHADINFLUENCEONTHEMAPAREIMAGEANALYSIS,EXPLORATORYDATAANALYSISEDA,ANDOFCOURSEMETHODOLOGICALDEVELOPMENTSINGISANDCARTOGRAPHYNOTTOBEFORGOTTENTHEABOVEDEVELOPMENTSINSCIENTIFICVISUALISATIONSTIMULATEDDIBIASE1990TODEFINEAMODELFORMAPBASEDSCIENTIFICVISUALISATIONITCOVERSBOTHTHECOMMUNICATIONANDTHINKINGFUNCTIONSOFTHEMAPCOMMUNICATIONISDESCRIBEDAS‘‘PUBLICVISUALCOMMUNICATION’’SINCEITCONCERNSMAPSAIMEDATAWIDEAUDIENCETHINKINGISDEFINEDAS‘‘PRIVATEVISUALTHINKING’’BECAUSEITISOFTENANINDIVIDUALPLAYINGWITHTHEGEOSPATIALDATATODETERMINEITSSIGNIFICANCEONAMOREDETAILEDLEVEL,DIFFERENTVISUALISATIONSTAGESCANBERECOGNISED,EACHREQUIRINGADIFFERENTSTRATEGYFROMTHEPERSPECTIVEOFMAPUSETHISRANGESFROMPRESENTATIONTOEXPLORATIONTHEFIRSTFITSINTOTHETRADITIONALREALMOFCARTOGRAPHY,WHERETHECARTOGRAPHERWORKSONKNOWNGEOSPATIALDATAANDCREATESCOMMUNICATIVEMAPSTHESEMAPSAREOFTENCREATEDFORMULTIPLEUSESEXPLORATIONOFTENINVOLVESADISCIPLINEEXPERTCREATINGMAPSWHILEDEALINGWITHUNKNOWNDATATHESEMAPSAREGENERALLYFORASINGLEPURPOSE,EXPEDIENTINTHEEXPERT’SATTEMPTTOSOLVEAPROBLEMWHILEDEALINGWITHTHEDATA,THEEXPERTSHOULDBEABLETORELYONCARTOGRAPHICEXPERTISE,PROVIDEDBYTHESOFTWAREORSOMEOTHERMEANSFROMTHEMAPPERSPECTIVE,ASYNTHESISOFALLTHEABOVETRENDSRESULTSINGEOVISUALIZATIONGEOVISUALIZATIONINTEGRATESAPPROACHESFROMSCIENTIFICVISUALIZATION,TOPROVIDETHEORY,METHODS,ANDTOOLSFORVISUALEXPLORATION,ANALYSIS,SYNTHESIS,ANDPRESENTATIONOFGEOSPATIALDATATHISTRENDHASBEENDESCRIBEDBYMACEACHRENANDKRAAK2001FORTHECOMMISSIONONVISUALISATIONANDVIRTUALENVIRONMENTSOFTHEINTERNATIONALCARTOGRAPHICASSOCIATIONMOREINFORMATIONCANBEFOUNDONTHECOMMISSION’SWEBSITEURL1ORINTHESPECIALISSUEOFCARTOGRAPHICANDGEOGRAPHICINFORMATIONSCIENCES2001VOL28,NO1INTHISCONTEXT,ITISOBVIOUSTHATCARTOGRAPHICDESIGNANDRESEARCHPAYATTENTIONTOHUMANCOMPUTERINTERACTION–THEINTERFACES,ANDREVIVETHEATTENTIONFORTHEUSABILITYOFTHEIRPRODUCTSADDITIONALLY,ONEHASTOWORKONREPRESENTATIONISSUESANDTHEINTEGRATIONOFGEOCOMPUTINGINTHEVISUALIZATIONPROCESSASSUCHMAPSANDGRAPHICSAREUSEDTOEXPLOREGEOSPATIALDATA,THEEXPLORATIONPROCESSCANGENERATEHYPOTHESES,DEVELOPPROBLEMSOLUTIONS,ANDULTIMATELYCONSTRUCTKNOWLEDGEINAGEOVISUALIZATIONENVIRONMENTMAPSAREUSEDTOSTIMULATEVISUALTHINKINGABOUTGEOSPATIALPATTERNS,RELATIONSHIPS,ANDTRENDSONEIMPORTANTAPPROACHHEREISTOVIEWGEOSPATIALDATASETSINANUMBEROFALTERNATIVEWAYS,EG,USINGMULTIPLEREPRESENTATIONSWITHOUTCONSTRAINTSSETBYTRADITIONALTECHNIQUESORRULESTHISSHOULDAVOIDTHETRAPDESCRIBEDBYFINKEETAL1992WHOCLAIMTHAT‘‘MOSTRESEARCHERSTENDTORELYONWELLWORNPROCEDURESANDPARADIGMS’’WHILETHEYSHOULDREALIZETHAT‘‘CREATIVEDISCOVERIES,INBOTHARTANDSCIENCE,OFTENOCCURINUNUSUALSITUATIONS,WHEREONEISFORCEDTOTHINKUNCONVENTIONALLY’’NEW,FRESH,CREATIVEGRAPHICSMIGHTALSOOFFERDIFFERENTINSIGHTSANDWOULDPROBABLYHAVEMOREIMPACTTHANTRADITIONALMAPPINGMETHODSTHESEARGUMENTSAREVALIDINAWEBGISENVIRONMENTASWELL,BUTDOREQUIRESPECIFICINTERACTIVEFUNCTIONALITYTHATISNOTALWAYSOFFEREDTHEROLEOFTHEMAPINAWEBGISENVIRONMENT85

簡介：EFFICIENTPLANNINGOFSUBSTATIONAUTOMATIONSYSTEMCABLESTHANIKESAVANSIVANTHIANDJANPOLANDABBSWITZERLANDLTD,CORPORATERESEARCH,SEGELHOFSTRASSE1K,5405,BADEND¨ATTWIL,AARGAU,SWITZERLANDABSTRACTTHEMANUALSELECTIONANDASSIGNMENTOFAPPROPRIATECABLESTOTHEINTERCONNECTIONSBETWEENTHEDEVICESOFASUBSTATIONAUTOMATIONSYSTEMISAMAJORCOSTFACTORINSUBSTATIONAUTOMATIONSYSTEMDESIGNTHISPAPERDISCUSSESABOUTTHEMODELINGOFTHESUBSTATIONAUTOMATIONSYSTEMCABLEPLANNINGASANINTEGERLINEAROPTIMIZATIONPROBLEMTOGENERATEANEFFICIENTCABLEPLANFORSUBSTATIONAUTOMATIONSYSTEMS1INTRODUCTIONCABLINGBETWEENDIFFERENTDEVICESOFASUBSTATIONAUTOMATIONSYSTEMSAS1ISAMAJORCOSTFACTORINTHESASDESIGNPROCESSUSUALLYCOMPUTERAIDEDDESIGNSOFTWAREISUSEDTOCREATETHEDESIGNTEMPLATESOFSASDEVICESANDTHEIRINTERCONNECTIONSTHEDESIGNTEMPLATESARETHENINSTANTIATEDINASASPROJECTANDTHECABLESAREMANUALLYASSIGNEDTOTHECONNECTIONSTHESELECTIONANDASSIGNMENTOFCABLESTOCONNECTIONSMUSTFOLLOWCERTAINENGINEERINGRULESTHISENGINEERINGPROCESSISUSUALLYTIMECONSUMINGANDCANCAUSEENGINEERINGERRORS,THEREBYINCREASINGTHEENGINEERINGCOSTAPPARENTLY,THESASCABLEPLANNINGISRELATEDTOTHEWELLKNOWNBINPACKINGPROBLEMTHESASCABLEPLANNINGCANBEFORMULATEDASANINTEGERLINEAROPTIMIZATIONPROBLEMWITHTHECABLEENGINEERINGRULESEXPRESSEDASASETOFLINEARCONSTRAINTSANDACOSTOBJECTIVEFORMINIMIZINGTHETOTALCABLECOSTTHISPAPERDESCRIBESTHEFORMULATIONOFSASCABLEPLANNINGPROBLEMASANINTEGERLINEAROPTIMIZATIONPROBLEMANDPRESENTSTHERESULTSFORSOMEREPRESENTATIVETESTCASESTOTHEBESTOFTHEAUTHORS’KNOWLEDGETHEWORKISTHEFIRSTOFTHEKINDTOSTUDYSASCABLEPLANNINGTHEPAPERISORGANIZEDASFOLLOWSSECTION2PRESENTSANOVERVIEWOFTHESASCABLEPLANNINGPROCESSSECTION3EXPRESSESTHESASCABLEPLANNINGPROBLEMASANINTEGERLINEAROPTIMIZATIONPROBLEMTHERESULTSOBTAINEDBYSOLVINGTHEOPTIMIZATIONPROBLEMUSINGSOMESOLVERSISPRESENTEDINSECTION4SECTION5DRAWSSOMECONCLUSIONSOFTHISWORK2SASCABLEPLANNINGTHESASCABLEPLANNINGBEGINSAFTERTHESYSTEMDESIGNPHASEOFASASPROJECTTHESASCABLEPLANNINGISATPRESENTDONEMANUALLYBYCOMPUTERAIDEDDESIGNTACHTERBERGANDJCBECKEDSCPAIOR2011,LNCS6697,PP210–214,2011C?SPRINGERVERLAGBERLINHEIDELBERG2011212TSIVANTHIANDJPOLANDREPRESENTTHESETOFALLCABLETYPES,WHEREMISTHETOTALNUMBEROFCABLETYPESINASUBPROBLEMINACABLEINSTANCE,THERECANBEONEORMORECONNECTIONSANDWEREFERTOTHECONNECTIONWITHLOWESTINDEXAMONGALLCONNECTIONSINTHECABLEINSTANCEASTHELEADERANDTHEOTHERCONNECTIONSASTHEFOLLOWERSTHISIMPLIESTHATALLCONNECTIONSEXCEPTTHEFIRSTCONNECTIONINCCANEITHERBEALEADERORFOLLOWERMOREOVER,BASEDONTHESIGNALRULESASETOFCONNECTIONPAIRSXCANBEDERIVEDWHEREEACHI,?I∈XREPRESENTSTHECONNECTIONSIAND?ITHATMUSTNOTBEASSIGNEDTOTHESAMECABLELETˉCBETHESETOFCONNECTIONPAIRSI,?IWHEREI,?I∈C,I?I,I,?I/∈XWEINTRODUCETHEFOLLOWINGBINARYVARIABLEXI,?I,WHEREI,?I∈ˉC,WHICHWHENTRUEIMPLIESTHATCONNECTIONIISAFOLLOWEROFALEADER?IXI,?I0OR1,WHEREI,?I∈ˉC1SIMILARLY,BASEDONTHECABLERULESASETOFCONNECTIONCABLEPAIRSYCANBEDERIVEDWHEREEACHI,J∈YIMPLIESTHATCABLETYPEJISNOTALLOWEDFORCONNECTIONILETˉKBETHESETOFCONNECTIONCABLEPAIRSI,J,WHEREI∈C,J∈K,I,J/∈YWEINTRODUCETHEFOLLOWINGBINARYVARIABLEYI,J,WHEREI,J∈ˉK,WHICHWHENTRUEIMPLIESTHATTHELEADERIISASSIGNEDTOANINSTANCEOFCABLETYPEJYI,J0OR1,WHEREI,J∈ˉK2TABLE1ILLUSTRATESALLBINARYVARIABLESCORRESPONDINGTOTHEEXAMPLESHOWNINFIGURE1FORTHECASEWITHTWOCABLETYPESK1ANDK2ITISASSUMEDTHATCONNECTIONSC1ANDC3CANNOTBEASSIGNEDTOTHESAMECABLEANDK1ISNOTANALLOWEDCABLETYPEFORCONNECTIONC3ASMENTIONEDBEFOREALLCONNECTIONSEXCEPTTHEFIRSTCONNECTION,WHICHMUSTBEALEADER,CANEITHERBEALEADERORFOLLOWERTHISISENSUREDBYTHEFOLLOWINGCONSTRAINT?I,?I∈ˉCXI,?I?J∈KI,J∈ˉKYI,J1,?I∈C3ACONNECTIONWHICHISALEADERINACABLECANNOTBEAFOLLOWEROFALEADERINANOTHERCABLETHISISEXPRESSEDBYTHEFOLLOWINGCONSTRAINTXI,?I??I,I?∈ˉCX?I,I?≤1,?I,?I∈ˉC4ANIMPLICITCONSTRAINTOFTHECABLEPLANNINGPROBLEMISTHECAPACITYCONSTRAINTWHICHIMPLIESTHATTHENUMBEROFCONNECTIONSASSIGNEDTOACABLEMUSTBELESSTABLE1BINARYVARIABLESCORRESPONDINGTOFIGURE1EXAMPLEC1C2C3C4C5K1K2C1Y1,1Y1,2C2X2,1Y2,1Y2,2C3X3,2Y3,2C4X4,1X4,2X4,3Y4,1Y4,2C5X5,1X5,2X5,3X5,4Y5,1Y5,2

簡介：MEASUREMENTSCIENCEREVIEW,VOLUME1,NUMBER1,2001119MEASUREMENTSOFSELECTEDPARAMETERSOFAHYDRAULICPUMPBYMEANSOFACOMPUTERBASEDMEASURINGSYSTEMTADEUSZZLOTO1,ZYGMUNTBIERNACKI2,MAREKKURKOWSKI2,1INSTITUTEOFMACHINETECHNOLOGYANDPRODUCTIONAUTOMATION,CZESTOCHOWATECHNICALUNIVERSITY,ALARMIIKRAJOWEJ21,42200CZESTOCHOWA,POLAND,EMAILZLOTOITMPCZCZESTPL2INSTITUTEOFELECTRONICSANDCONTROLSYSTEMS,CZESTOCHOWATECHNICALUNIVERSITY,ALARMIIKRAJOWEJ17,42200CZESTOCHOWA,POLAND,EMAILBIERNACELPCZCZESTPL,MAREKEKBPOCZTAONETPLABSTRACTTHEBASICCHARACTERISTICPARAMETERSOFTHEPUMPOPERATIONAREPRESENTEDTHEPARAMETERSAREMONITOREDBYACOMPUTERBASEDMEASURINGSYSTEMATAHYDRAULICSTANDTHESTRUCTUREOFTHEMEASURINGSYSTEMANDTHECONSTRUCTIONOFTHEMEASURINGCONVERTERSAPPLIEDINTHESYSTEMAREDESCRIBED1INTRODUCTIONDUETOTHEIRIMPORTANTADVANTAGES,HYRAULICDRIVESANDCONTROLSARECOMMONLYAPPLIEDINANUMBEROFFIELDSOFMECHANICALENGINEERINGTHESTILLINCREASINGDEMANDFORHYDRAULICDRIVESENCOURAGESRESEARCHONNEWCONSTRUCTIONALSOLUTIONSINTENDEDTOIMPROVEOPERATINGPARAMETERS,EFFICIENCYANDTOLOWERPRODUCTIONCOSTEACHHYDROSTATICSYSTEMHASADISPLACEMENTPUMPASABASICPARTTHEPUMPCHANGESMECHANICALENERGYINTOTHEENERGYOFPRESSUREOFALIQUIDOPERATINGAGENTTHEN,THELATTERKINDOFENERGYISTRANSMITTEDTOAHYDRAULICENGINEWHEREITISCHANGEDBACKINTOMECHANICALENERGYATPRESENT,ITISAXIALMULTIPISTONPUMPSWHICHARETHEMOSTOFTENAPPLIEDINHIGHPRESSURESYSTEMSTHECOMPACTCONSTRUCTIONOFMULTIPISTONPUMPSMAKESITPOSSIBLETOOBTAINHIGHEREFFICIENCYPERUNITOFVOLUMEBECAUSEOFTHATTHEWEIGHTOFMACHINESINWHICHMULTIPISTONPUMPSAREUSEDMAYBELIGHTERINMANYRESPECTS,SUCHASRELIABILITY,EFFICIENCY,ENERGYSAVINGANDAUTOMATIONOFINDUSTRIALPROCESSES,THEREQUIREMENTSONPUMPSAREINCREASINGINTENSIVERESEARCHONTHECONSTRUCTIONOFPUMPSWILLCERTAINLYBRINGABOUTNEWDEVELOPMENTS2CHARACTERISTICQUANTITIESOFTHEPUMPOPERATIONINAPERFECTPUMP,WHERENOLOSSESOCCUR,THEPOWERGIVENOUTBYTHEDRIVINGENGINEISEQUALTOTHEPOWERSUPPLIEDTOTHESYSTEMBYTHEOPERATINGAGENT,ACCORDINGTOTHEFORMULANTMTΩQT?P1WHERENTISTHETHEORETICALPOWERMTISTHETHEORETICALTORQUEATTHEPUMPSHAFTΩISTHEANGULARVELOCITYOFTHESHAFT?PP2–P1ISTHEDIFFERENCEBETWEENFORCINGPRESSUREP2ANDSUCTIONPRESSUREP1ITISKNOWN4THATVOLUMETRICLOSSES,WHICHDETERIORATETHETHEORETICALEFFICIENCYOFPUMPS,RESULTMOSTLYFROMLEAKAGESOFTHEOPERATINGAGENTFROMDISPLACEMENTCHAMBERSTHROUGHGAPSBETWEENDISPLACEMENTELEMENTSANDTHEWALLSOFCHAMBERSORBODYOFTHEPUMPKNOWINGVOLUMETRICLOSSESONEMAYDETERMINEVOLUMETRICEFFICIENCYOFTHEPUMPASARATIOOFREALFLOWINTENSITYTOTHEORETICALFLOWINTENSITYNQQ1QQQQQTSTSTTRZV???Η2THEHYDRAULICMECHANICALLOSSES,ONTHEOTHERHAND,CAUSETHEREALTORQUEAPPLIEDTOTHEPUMPSHAFTTOBEGREATERTHANTHETHEORETICALTORQUETHISKINDOFLOSSISASSOCIATEDWITHTHEFLOWRESISTANCEOFTHEOPERATINGAGENTINTHEINTERNALCHANNELSOFTHEPUMPASWEELASWITHFRICTIONLOSSESOCCURRINGONTHESURFACEOFALLTHEMOVINGPARTSSINCEITISDIFFICULTTODIFFERENTIATEBETWEENTHELOSSESRESULTINGFROMTHETWOSOURCESMENTIONEDABOVE,THEYARECONSIDEREDJOINTLYASHYDRAULICMECHANICALEFFICIENCY,WHICHMAYBEEXPRESSEDASTHELOSSTORQUETHEREALTORQUECANBEREPRESENTEDASASUMOFTHETHEORETICALTORQUEANDTHELOSSTORQUEMRZMTMS3THEHYDRAULICMECHANICALEFFICIENCYOFTHEPUMPISDEFINEDASTSSTTRZTHMMM11MMMMMΗ4ULTIMATELY,THETOTALEFFICIENCYΗCOFTHEPUMPISEQUALTOTHERATIOOFTHEEFFECTIVEPOWERTOTHEPOWERSUPPLIEDTOTHEPUMPSHAFTMEASUREMENTSCIENCEREVIEW,VOLUME1,NUMBER1,2001121FIG3SCHEMATICDIAGRAMOFTHEINDUCTIVETORQUEMETER1–INDUCTIVECONVERTERWITHAWHEATSTONEBRIDGE,2AND3–ROTATIONALTRANSFORMERS?FLOWINTENSITYQISMEASUREDBYMEANSOFAMEASURINGSETCONSISTINGOFATURBINECONVERTERANDACOUNTINGANALOGFLOWMETERFIG4THEANGULARVELOCITYOFTHETURBINEROTORISTHEORETICALLYASSUMEDASALINEARFUNCTIONOFINTENSITYQTOFTHEFLOWINGOIL2FIG4SCHEMATICDIAGRAMOFTHEMEASURINGSYSTEMOFTHETUBINEFLOWMETER1–INDUCTIVECONVERTER,2–ROTOR?THEROTATIONALVELOCITYOFTHEPUMPSHAFTANDTHEENGINEISMEASUREDBYCOUNTINGTHEIMPULSESSENTBYAMAGNETICDISCCONVERTERSITUATEDATTHEENGINESHAFT?THEPRESSURESPWEREMEASUREDBYMEANSOFELECTRONICMEMBRANEPRESSURESENSORSADIAGRAMOFAPNEUMATICELECTRICCONVERTER,WHICHFUNCTIONSASAMANOMETERWITHANOUTPUTELECTRICSIGNALISPRESENTEDINFIG5THEPRESSUREISCONVERTEDINTOANELECTRICSIGNALBYMEANSOFTHEPIEZOELECTRICSENSORRESISTORSCONNECTEDINABRIDGEAREDIFFUSEDINAQUARTZPLATETHEPRESSUREDEFORMSTHEPLATE,THEDIFFUSEDRESISTORSCHANGETHEIRRESISTANCE,ANDTHEBRIDGELOSESTHEEQUILIBRIUMSUBSEQUENTLY,THEOUTPUTSIGNALOFTHEBRIDGEISTRANSFORMEDINTHEELECTRONICSYSTEMINTOACURRENTSIGNALWHOSEVALUEISPROPORTIONALTOTHEMEASUREDPRESSUREFIG5DIAGRAMOFTHECONVERTEROFPRESSUREINTOCURRENTWITHAPIEZORESISTIVESENSOR1–FEEDBACKRESISTOR,2–REGULATOROFCURRENTPOWERINGTHECONVERTER,3–AMPLIFIER,4–CURRENTREGULATORTHERESULTSOFTHEMEASUREMENTSOFTHEPUMPOPERATIONPARAMETERSAREDISPLAYEDATTHESCREENOFTHEPRESENTEDMEASURINGSYSTEMFIG6

簡介：PROCEDIACIRP1201266–71AVAILABLEONLINEATWWWSCIENCEDIRECTCOM22128271?2012THEAUTHORSPUBLISHEDBYELSEVIERBVSELECTIONAND/ORPEERREVIEWUNDERRESPONSIBILITYOFPROFESSORKONRADWEGENERHTTP//DXDOIORG/101016/JPROCIR2012040105THCIRPCONFERENCEONHIGHPERFORMANCECUTTING2012INFLUENCEOFGEARDESIGNONTOOLLOADINBEVELGEARCUTTINGFRITZKLOCKEA,MARKUSBRUMMA,STEFANHERZHOFFAALABORATORYFORMACHINETOOLSANDPRODUCTIONENGINEERINGWZL,RWTHAACHENUNIVERSITY,GERMANYCORRESPONDINGAUTHORTEL492418028472FAX4924180628472EMAILADDRESSSHERZHOFFWZLRWTHAACHENDEABSTRACTDURINGGEARDESIGN,THETOOTHGEOMETRYISOPTIMIZEDTOWARDSTHEREQUIREDRUNNINGBEHAVIORPRESSUREANGLEANDTOOTHROOTRADIUSOFTHEGEARSETAREAMONGTHEINFLUENCINGFACTORSASTHETOOLSINBEVELGEARCUTTINGARESPECIALLYDESIGNEDFOREACHGEARSET,THETOOLPROFILEGEOMETRYISDEFINEDBYTHEGEARGEOMETRYTHEOBJECTIVEOFTHISWORKISTOANALYZETHEINFLUENCEOFTHETOOLPROFILEGEOMETRYONTHERMALANDMECHANICALTOOLLOADDURINGBEVELGEARMACHININGBYMEANSOFAFINITEELEMENTBASEDMACHININGSIMULATIONTHECHIPFORMATIONINBEVELGEARCUTTINGOFRINGGEARSISCALCULATEDTHESIMULATIONRESULTSSHOWASIGNIFICANTTHERMALANDMECHANICALLOADMAXIMUMATTHETOOLCORNER,WHERETHEMAXIMALWEAROCCURSTHEVARIATIONOFTHETOOLPROFILEGEOMETRYSHOWSAHIGHINFLUENCEOFTHETOOLPRESSUREANGLEANDTHETOOLCORNERRADIUSONTHETOOLLOADATTHETOOLCORNER?2012PUBLISHEDBYELSEVIERBVSELECTIONAND/ORPEERREVIEWUNDERRESPONSIBILITYOFPROFKONRADWEGENERKEYWORDSGEARCUTTING,CHIPFORMATION,MACHININGSIMULATION,TOOLTEMPERATURE,TOOLSTRESS,WEAR1INTRODUCTIONANDCHALLENGEBEVELGEARCUTTINGISAVERYPRODUCTIVEMACHININGPROCESS,ESPECIALLYINAUTOMOTIVEAPPLICATIONSAMACHINEKINEMATICINSIXAXESISNECESSARYTOMANUFACTURETHEGEARGEOMETRYINTYPICALAPPLICATIONS,THEUNDEFORMEDCHIPCROSSSECTIONISLSHAPED,SPREADINGOVERTWOADJACENTCUTTINGEDGESINCLUDINGTHETOOLCORNERASSHOWNINFIG1INTHISMULTIFLANKCHIPFORMATIONTOOLSOFTENREACHTHETOOLLIFEDUETOEXCESSIVEWEARATTHETOOLCORNERRADIUS1,2,3,4THISLOCALWEARLIMITSTHEUSABLETOOLLIFEINSERIESPRODUCTIONFURTHERMORE,TOOLWEARRELATEDPROBLEMSCANNOTBECONSIDEREDDURINGTHEDESIGNPHASEOFBEVELGEARSTHISWOULDREQUIREAMODELFORTOOLLIFEPREDICTIONWHICHCONSIDERSTHETOOLPROFILEGEOMETRY,WHICHISNOTAVAILABLEAMODELFORTHEPREDICTIONOFTOOLCORNERWEARINBEVELGEARCUTTINGINHERITSHIGHPOTENTIALFORPROCESSOPTIMIZATIONTOOLWEARDEPENDSONTHESTRENGTHOFTHECUTTINGEDGEASWELLASONTHETHERMALANDMECHANICALLOADONTHECUTTINGEDGEDURINGCHIPFORMATIONASTHETOOLLOADCANNOTBEMEASUREDLOCALLY,AFINITEELEMENTBASEDMACHININGSIMULATIONISUSEDTOMODELTHEPROCESSOFCHIPFORMATIONINBEVELGEARCUTTINGTHEMACHININGSIMULATIONISABLETOCALCULATETHETEMPERATUREANDSTRESSDISTRIBUTIONALONGTHECUTTINGEDGETHISAPPROACHOFTOOLWEARPREDICTIONBASEDONTOOLLOADISNEWFORBEVELGEARMANUFACTURINGVCVFTOOLRINGGEARPINIONZFBEVELGEARSET900ΜMTOOLWEARMULTIFLANKCHIPS?WZLFIG1MULTIFLANKCHIPFORMATIONINBEVELGEARCUTTING?2012THEAUTHORSPUBLISHEDBYELSEVIERBVSELECTIONAND/ORPEERREVIEWUNDERRESPONSIBILITYOFPROFESSORKONRADWEGENEROPENACCESSUNDERCCBYNCNDLICENSEOPENACCESSUNDERCCBYNCNDLICENSEFRITZKLOCKEETAL/PROCEDIACIRP1201266–71684SIMULATIONRESULTSTHESIMULATIONMODELHASBEENUSEDTOCALCULATECHARACTERISTICKEYVALUESFORTHETHERMALANDMECHANICALTOOLLOADINBEVELGEARCUTTINGFURTHERMOREAVARIATIONOFTOOLPROFILEGEOMETRYHASBEENDONE,WHICHRESULTSAREDESCRIBEDINTHISSECTIONINTOOLLOADANALYSIS,TWOREASONSFORUNEVENLOADDISTRIBUTIONHAVETOBEDISTINGUISHEDATFIRST,ANUNEVENCHIPSHAPEWILLRESULTINUNEVENLOADACTINGONTHECUTTINGEDGE,ASDISCUSSEDIN7SECONDLY,THESHAPEOFTHECUTTINGEDGEWILLINFLUENCETHELOADOCCURRINGINTHEINSIDEOFTHETOOLASWELLFOREXAMPLE,AFORCEATTHETIPOFTHETOOLWILLRESULTINATHREEDIMENSIONALSTRESSDISTRIBUTIONTHROUGHOUTTHETOOLHENCE,THEANALYSISOFTHEEXTERNALLOADATTHETOOLISNOTSUFFICIENTTOQUALIFYTHETOOLLOADTHEREFOREINTERNALLOADTYPES,FOREXAMPLECUTTINGEDGETEMPERATUREORSTRESSSTATEALONGTHECUTTINGEDGE,AREANALYZEDINTHISPAPERFORTHEPRESENTATIONOFTHERESULTS,THERMALANDMECHANICALLOADVALUESARECONSIDEREDSEPARATELYATFIRST,THEINTERNALLOADSTATEISANALYZEDFORONESIMULATION,BASEDONTEMPERATUREDISTRIBUTIONALONGTHECUTTINGEDGETHERMALLYAFFECTEDVOLUMEOFTHECUTTINGEDGEEQUIVALENTVONMISESSTRESSALONGTHECUTTINGEDGEMECHANICALLYAFFECTEDVOLUMEOFTHECUTTINGEDGEAFTERWARDS,KEYVALUESFORTHEVOLUMETRICINTERNALLOADDISTRIBUTIONAREDERIVEDBYCALCULATIONOFTHEPRODUCTOFTHEAFFECTEDVOLUMEANDTHETEMPERATUREORVONMISESSTRESSBASEDONTHEVOLUMETRICKEYVALUESTHEINFLUENCEOFTHETOOLPROFILEGEOMETRYONTHETOOLLOADISSHOWN41THERMALTOOLLOADINFIG3THETEMPERATUREDISTRIBUTIONANDTHETHERMALLYAFFECTEDVOLUMEOFTHECUTTINGEDGEARESHOWNINORDERTODETERMINETHETEMPERATUREDATA,THECUTTINGEDGEISSEPARATEDINTODIFFERENTSECTORSFOREACHSECTOR,THEMAXIMUMNODALTEMPERATUREISCHOSEN,ASSHOWNINTHEUPPERPARTOFFIG3THEVOLUMEVSΘHASBEENDEFINEDASTHESUMOFTHEVOLUMESOFALLELEMENTSOFTHEFENET,WHOSETEMPERATURESHAVEEXCEEDEDΘ323KTHETEMPERATUREOFΘ323KHASBEENCHOSENTODEFINEATHERMALEFFECT,ASTHESIMULATIONSTARTSATROOMTEMPERATUREOFΘ293KINTHEUPPERDIAGRAMOFFIG3THETHERMALLOADOVERTHEUNROLLEDCUTTINGEDGEISSHOWNTHEXAXISREPRESENTSTHEUNROLLEDCUTTINGEDGE,STARTINGATTHEFLANKCUTTINGEDGEANDENDINGATTHEENDOFTHETIPCUTTINGEDGEONTHEONEHAND,THEDIAGRAMSHOWSTHETEMPERATUREDISTRIBUTIONAFTERACUTTINGTIMEOFTC3MSINTHECUTTINGEDGEANDATTHEBOTTOMOFTHECHIPONTHEOTHERHAND,THEVOLUMEVSΘOFTHECUTTINGE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簡介：7OFFSTREETPARKINGRECOMMENDATIONS147BEIJINGPARKING,ITDPCHINA1MARCH2015SHENZHENPLANNINGLANDRESOURCECOMMISSION,ALLOWDEVELOPERSTOPROVIDEAMAXIMUMOF80OFTHENORMALSUPPLYFORRESIDENTIALDEVELOPMENTSWITHIN500METERSFROMMETROSTATIONSFORCOMMERCIALLANDUSES,THEPARKINGSUPPLYISBASEDONLANDUSE,DEVELOPMENTINTENSITY,TRANSITACCESSIBILITYANDROADCAPACITYANDCATEGORIZEDINTOTHREEZONESINAREASWITHGOODTRANSITSERVICE,LIMITEDROADCAPACITYANDHIGHDEVELOPMENTDENSITY,COMMERCIALPARKINGSTANDARDSAREALLOWEDTOBEREDUCEDFURTHER,IFASTUDYPROVESLESSPARKINGSUPPLYISNEEDEDINSHANGHAIDEVELOPMENTSWITHIN300METERSFROMRAILTRANSITSTATIONAREALLOWEDTODECREASERESIDENTIALPARKINGSTANDARDSBYAMAXIMUMOF20,FOLLOWINGTHESHANGHAIREGULATORYPLANTECHNICALGUIDELINES2011BYTHESHANGHAIPLANNINGANDLANDRESOURCEBUREAU73IMPLEMENTAPARKINGCAPAPARKINGCAPISASTRATEGICLANDUSEANDTRANSPORTATIONDEMANDMANAGEMENTREGULATIONTHATBEIJINGCANUSETOINFLUENCEBOTHONSTREETANDOFFSTREETPARKINGSUPPLYWITHINACITYORDESIGNATEDZONEALSOKNOWNASALIDORFREEZE,APARKINGCAPSTRATEGYSEALSTHETOTALAVAILABLEANDFUTUREPROJECTEDPARKINGSPACEATASELECTEDLEVELITCANALSOBEINCREMENTALLYADJUSTEDTOREACHLONGTERMMODALSHIFTGOALSBYCAPPINGTHETOTALNUMBEROFPARKINGSPACES,THECITYANDDISTRICTGOVERNMENTSHAVEMORECONTROLOVERTHEGROWTHOFCARUSEANDCANDECREASECONGESTION,DECREASEPOLLUTIONANDSTIMULATETHEUSEOFNMTANDPUBLICTRANSPORTSOMECITIESWENTSOFARASTOFREEZETHEPARKINGSUPPLYATEXISTINGLEVELSINDOWNTOWNDISTRICTS,RECOGNIZINGTHENEEDFORALIMITEDNUMBEROFPARKINGSPACESTOSATISFYESSENTIALCARTRIPSBEYONDACERTAINTHRESHOLD,THESUPPLYOFPARKINGNOLONGERFOSTERSAHEALTHYANDDESIRABLEAREATHISPOLICYAPPROACHWASSUCCESSFULINREACHINGDESIRED,LONGTERMCITYENVIRONMENTALANDMOBILITYGOALSINSELECTEDCITIESSUCHASPORTLAND,NEWYORK,BOSTONANDZURICHNEWYORKCITYSETAPARKINGCAPIN1982FORTHEMANHATTANCORE,ENCOMPASSINGTHECENTRALBUSINESSDISTRICTCBDBELOW96THSTREET,ASAWAYTOCONTROLTHESUPPLYOFPUBLICOFFSTREETPARKINGMEANWHILE,ACCESSORYPARKINGTHATISINADDITIONTOTHEFLOORAREAALREADYPERMITTEDFORDEVELOPMENTWASDEEMEDOPTIONALANDANAMOUNTONLYUPTOAMAXIMUMVALUEWOULDBEALLOWEDMANYPARCELSOFLANDPREVIOUSLYOCCUPIEDBYPARKINGFACILITIESHAVEBEENREPLACEDBYMOREPREMIUMUSESASARESULT,THETOTALOFFSTREETPARKINGSUPPLYINTHEMANHATTANCBDDECREASEDFROMAPPROXIMATELY127,000PUBLICPARKINGSPACESIN1978TO102,000SPACESIN2010BOSTONINSTITUTEDAFREEZEIN1976TOREDUCECARCONGESTIONANDENCOURAGEPUBLICTRANSITUSETHEFREEZEISADMINISTEREDBYTHEAIRPOLLUTIONCONTROLCOMMISSIONAPCC,WHICHISSUESPERMITSTOBUILDPARKINGBASEDONEXISTINGSUPPLYANDARESERVESETASIDEINAPARKINGFREEZEBANKTHEBANKEXISTSINTHEEVENTTHATAPARKINGFACILITYISCONVERTEDTOANOTHERUSEFUTUREDEVELOPERSCANSTILLTAPINTOTHEBANKANDBUILDPARKINGASOFRIGHTIFTHECEILINGFORTHEDISTRICTHASNOTBEENREACHEDTHEFREEZEEXTENDEDTOEASTBOSTONIN1989ANDSOUTHBOSTONIN1993PARKINGISCONTROLLEDBYBOTHLANDUSEREGULATIONANDTHESTATEIMPLEMENTATIONPLAN,WHICHAREMEANTTOMONITORHOWTHESTATECOMPLIESWITHFEDERALAIRQUALITYSTANDARDSONSTREETPARKINGSPACESAREEXEMPTFROMTHEFREEZEWHILETHEOFFSTREETPARKINGCAPSUCCEEDEDINREDUCINGCONGESTIONINTOTHECITY,THECHEAPCURBSIDEPARKINGSPACESENCOURAGEDCRUISINGWITHINTHEDOWNTOWNESPECIALLYDUETOTHEHIGHERPRICEOFPARKINGINOFFSTREETFACILITIESOVERTIME,THEFINITENUMBEROFOFFSTREETSPACESEITHERINCREASESINVALUEORREMAINSUNDERUTILIZEDIFTHEONSTREETSITUATIONISNOTMANAGEDWELLITENCOURAGESSHARINGOFPARKINGSPACESFORDIFFERENTDEMANDGROUPS,SUCHASCOMMUTERSVERSUSSHOPPERSANDRESIDENTS,SINCENONEWSUPPLYCANBEEXPECTEDANDTHUSLEADSTOGREATEREFFICIENCYOFUSEZURICHSWITZERLAND,HAMBURGGERMANYANDCOPENHAGENDENMARKFROZETHEEXISTINGPARKINGSUPPLYINTHECITYCENTERWHENANEWSPACEISBUILTOFFSTREET,ANONSTREETSPACEHASTOBEREMOVED,SOITCANBEREPURPOSEDFOROTHERNEEDSLIKEWIDENEDSIDEWALKS,BIKEWAYSORPUBLICTRANSPORTONLYCORRIDORSTHISTYPEOFCAPANDTRADEWASIMPLEMENTEDINHAMBURGIN1976ANDINZURICHASPARTOFITS“HISTORICPARKINGCOMPROMISE”IN1996ZURICHWENTEVENFURTHEROUTSIDEOFTHEZONEWHERETHEPARKINGCAPAPPLIES,THECITYOFZURICHONLYALLOWSDEVELOPERSTOBUILDNEWPARKINGSPACESIFTHESURROUNDINGROADSCANABSORBADDITIONALTRAFFICWITHOUTCONGESTION,ANDTHEAIRCANHANDLE

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ERACTVERYLOWFREQUENCYDISTURBANCESOPENLOOPCONTROLRESPONSEMAGNITUDEUTOY40302010ZO210P203040504010“1010210IOFREQUENCYHZFIG3OPENLOOPCONTROLRESPONSEFOURTH,SENSORNOISEIMPOSEDONTHEPLANTBYTHECONTROLLOOPSHOULDNOTBEAMPLIFIEDEXCESSIVELYFIFTH,LOOPGAINSHOULDBELESSTHANYIATALLHIGHFREQUENCYPLANTRESONANCESTHISLEAVESAFACTOROFTWOMARGINFORERRORFINALLY,CLOSEDLOOPSTABILITYSHOULDBEROBUSTTOREASONABLECHANGESORMODELINGERRORSINTHEPLANTSPHYSICALPARAMETERSANDTOTHEATTACHMENTOFTHEPLANTTOALOADMASSBSTRUCTUREOFTHECONTROLLERCANDFMATRICES,RESPECTIVELYTHECONVERGENCEOFTHISDUMMYSTATEFORCESTHEACTUALANDESTIMATEDOUTPUTSTOBEDRIVENTOZEROBYTHISMECHANISM,THEPLANTOUTPUTCANBEREGULATEDINTHEFINALCONTROLLERDESIGN,THEOBSERVERANDCONTROLGAINSWERECOMPUTEDUSINGTHELINEARQUADRATICGAUSSIANTECHNIQUEWITHLOOPTRANSFERRECOVERYLQGLTRINORDERTOIMPROVEDISTURBANCEREJECTION,THEOPENLOOPSYSTEMMODELWASAUGMENTEDBYPLACINGANADDITIONALDYNAMICSYSTEMINSERIESWITHTHECONTROLINPUTTHEAUGMENTATIONISDESCRIBEDINMOREDETAILINTHENEXTSECTIONTHEKALMANFILTERANDLINEARREGULATORGAINSWERECALCULATEDFORTHISAUGMENTEDSYSTEMMODELTHEWEIGHTINGMATRICESWERETUNEDMANUALLYTOOBTAINGOODPERFORMANCEOFTHECLOSEDLOOPSYSTEM,RELATIVETOTHEPERFORMANCECRITERIAMENTIONEDABOVECDESIGNOFTHECONTROLLERWITHTHEPOLEPLACEMENTDESIGN,THEOBSERVERPOLESINITIALLYWEREPLACEDMUCHFASTERTHANTHEPLANTPOLESTHISAPPROACHDIDNOTGIVEADEQUATEATTENUATIONATTHEHIGHFREQUENCYRESONANCESATTEMPTSATIMPROVINGPERFORMANCEBYMOVINGTHEPOLESLOCATIONSWEREMARGINALATBESTTHEINCREASEINEFFECTIVEMASSOCCURREDONLYOVERAVERYSMALLFREQUENCYRANGE,ANDTHECONTROLENERGYWASCONSIDEREDTOOHIGHFORTHEAMOUNTOFDISTURBANCEREJECTIONACHIEVEDINANATTEMPTTOIMPROVEPERFORMANCEWITHANEFFICIENTDESIGNPROCEDURE,THELINEARQUADRATICGAUSSIANTECHNIQUEWASUSEDWITHLOOPTRANSFERRECOVERY4,5THEKALMANFILTERDESIGNPARAMETERSR,W,ANDVTHEDISTURBANCEINPUTMATRIXANDTHEDISTURBANCEANDNOISEPROCESSCOVARIANCEMATRICESWEREINITIALIZEDTOG,1,AND1,RESPECTIVELY,WHEREGISTHEDISTURBANCEINPUTMATRIXSINCEBOTHWANDVARESCALARS,ITISTHEIRRATIOTHATMATTERSANDNOTTHEIRINDIVIDUALVALUESTHEREFORE,ONLYWISADJUSTEDFORLQRSTATEFEEDBACKDESIGN,THEFOLLOWINGPERFORMANCEINDEX,WHICHWEIGHTSTHECOSTSOFOUTPUTANDCONTROLENERGY,WASUSEDJLOMYRUDTLOMCXDUIRUDTLOMXQXUTRU2XNUDT6QCTC,RRD2,NCTDTHESYSTEMSCLOSEDLOOPBEHAVIORWASMANIPULATEDBYADJUSTINGTHESCALARPARAMETERSWANDRSINCETHEKEYPERFORMANCECRITERIAWEREALLRESPONSESTOTHEDISTURBANCEINPUT,CLOSEDLOOPPERFORMANCECANNOTBESEENDIRECTLYINTHEKALMANFILTERRESPONSEANDTHERESPONSERECOVEREDBYTHELQRNONETHELESS,THEINFLUENCESOFWANDRWERECONSISTENTWITHLQGLTRPRINCIPLESFOREXAMPLE,INCREASINGWINCREASEDTHEKALMANFILTERBANDWIDTH,ASEVIDENCEDBYINCREASEDHIGHFREQUENCYNOISERESPONSEDECREASINGRTHECONTROLENERGYCOSTALSOINCREASEDNOISEBANDWIDTHBYRECOVERINGOFTHEKALMANFILTER,SRESPONSEEXPERIMENTATIONPROCEEDEDSINCETHEREWEREONLYTWOTHEINITIALSTRUCTUREFORTHECONTROLLERCONSISTED6FANOBSERVERANDFEEDBACKGAINMATRIX,BOTHDESIGNEDWITHPOLEPLACEMENTSINCETHEREISADIRECTFEEDTHROUGHPARAMETERSTOADJUSTTHERESULTSACHIEVED,HOWEVER,WERETERMFROMTHEPROCESSDISTURBANCETOTHEOUTPUTYTHEOBSERVERSESTIMATEDSTATEDOESNOTCONVERGETOTHETRUESTATEOFTHETRUESTATEANDTHEPROCESSDISTURBANCE,MULTIPLIEDBYTHEVIRTUALLYIDENTICALTOTHOSEOBTAINEDUSINGPOLEPLACEMENTITWASAPPARENTTHATTHEDESIREDRESULTSCOULDNOTBEOBTAINEDRATHER,ITONVERGESTOADUMMYSTATETHATISAOMBINATIONSOLELYBYFEEDINGBACKANESTIMATEDPLANTSTATEDUMMYSTATE0780345037/98/10001998IEEE1435

簡介：USEOFVOICERECOGNITIONFORCONTROLOFAROBOTICWELDINGWORKCELLJKEVINWATSON,DOUGLASMTODD,ANDCLYDESJONES,111ABSTRACTTHISPAPERDESCRIBESWORKUNDERWAYTOEVALUATETHEEFFECTIVENESSOFVOICERECOGNITIONSYSTEMSASANELEMENTINTHECONTROLOFAROBOTICWELDINGWORKCELLFACTORSBEINGCONSIDEREDFORCONTROLINCLUDEPROGRAMEDITORACCESSSECURITYPREOPERATIONCHECKLISTREQUIREMENTS,WELDINGPROCESSVARIABLECONTROLANDROBOTMANIPULATORMOTIONOVERRIDESINTHELATTERTWOCATEGORIES,MANUALVOCALCONTROLISBEINGCOMPAREDAGAINSTMANUALTACTILECONTROLANDFULLYAUTOMATICCONTROLINTERMSOFSPEEDOFRESPONSE,ACCURACY,STABILITY,RELIABILITYANDSAFETYINTRODUCTIONVOICERECOGNITIONTECHNOLOGYISNOWRECOGNIZEDASAPOTENTIALMEANSFOREASINGTHEWORKLOADOFOPERATORSOFCOMPLEXSYSTEMS11NUMEROUSAPPLICATIONSHAVEALREADYBEENIMPLEMENTED,AREINVARIOUSSTAGESOFDEVELOPMENT,ORAREUNDERCONSIDERATION25THESEINCLUDEDATAENTRYCONTROLOFAIRCRAFTSYSTEMS,ANDVOICEIDENTIFICATIONANDVERIFICATIONFORSECURITYPURPOSESVOICECONTROLHASALSOBEENPROPOSEDFORUSEABOARDTHESPACESTATION68ONEPRIMEAREAFORAPPLICATIONWOULDBECONTROLOFSOMEFUNCTIONSOFROBOTSUSEDFORINTRAANDEXTRAVEHICULARINSPECTIONASSEMBLY,REPAIR,SATELLITERETRIEVAL,ANDSATELLITEMAINTENANCEWHENACREWMEMBERISSERVINGINASUPERVISORYCAPACITYORTHESYSTEMISOPERATINGINATELEOPERATIONMODEVOICECONTROLOFSENSORSANDPROCESSVARIABLESWOULDFREETHECREWMEMBER’SHANDSFOROTHERTASKS,SUCHASDIRECTCONTROLOROVEMDEOFTHEMANIPULATORMOTIONSIMILARLYTHEWORKLOADASSOCIATEDWITHCONTROLOFMANYONBOARDEXPERIMENTSCOULDBEEASEDTHROUGHTHEUSEOFTHISTECHNOLOGYTHISPAPERDESCRIBESTHEAPPLICATIONOFVOICERECOGNITIONFORCONTROLOFAROBOTICPRESENTEDATTHE1986IEEEINTERNATIONALCONFERENCEONSYSTEMSMAN,ANDCYBERNETICS,HELDINATLANTA,GEORGIAOCTOBER14171986JKEVINWATSONANDDOUGLASMTODDAREWITHTHEROCKETDYNEDIVISIONOFROCKWELLINTERNATIONALSUITE302227DRAKEAVENUE,SWHUNTSVILLEAL35805CLYDESJONES,UI,ISWITHNASAMARSHALLSPACEFLIGHTCENTER,AL3581216WELDINGWORKCELLTHISISACOMPLEXSYSTEMINVOLVINGINPUTSFROMMULTIPLESENSORSANDCONTROLOFAWIDEVARIETYOFROBOTMANIPULATORMOTIONSANDPROCESSVARIABLESWHILEMANYFUNCTIONSAREAUTOMATEDAHUMANOPERATORSERVESINASUPERVISORYCAPACITYREADYTOOVEMDEFUNCTIONSWJHENNECESSARYINTHEPRESENTINVESTIGATIONACOMMERCIALLYAVAILABLEVOICERECOGNITIONSYSTEMISBEINGINTEGRATEDWITHAROBOTICWELDINGWORKCELLATNASAMARSHALLSPACEFLIGHTCENTER,WHICHISUSEDASATESTBEDFOREVALUATIONANDDEVELOPMENTOFADVANCEDTECHNOLOGIESFORUSEINFABRICATIONOFTHESPACESHUTTLEMAINENGINEINTHESYSTEMUNDERDEVELOPMENT,SOMEFUNCTIONSDONOTYETHAVEAUTOMATICCLOSEDLOOPCONTROLTHUSREQUIRINGCONTINUOUSMONITORINGANDREALTIMEADJUSTMENTBYTHEHUMANOPERATORPRESENTLY,THESEOVEMDESAREINPUTTOTHESYSTEMTHROUGHTACTILECOMMANDSEPUSHINGBUTTONSTURNINGKNOBSFORPOTENTIOMETERS,ORADJUSTINGMECHANICALDEVICESSINCETHEOPERATORMONITORSTHEPROCESSPRIMARILYVISUALLY,HEMUSTEITHERLOOKAWAYFROMTHEPROCESSTOFINDTHEPROPERBUTTONORKNOBORRELYON“MUSCULARMEMORY”MUCHASATOUCHTYPISTDOESINTHEFIRSTCASE,THETIMEOFRESPONSETOADEVIANTCONDITIONMAYBEEXCESSIVEINTHESECONDCASETHEREISANINCREASEDPROBABILITYOFASECONDARYEMRBEINGINTRODUCEDBYTHEOPERATORAVOICERECOGNITIONSYSTEMCOULDREDUCETHERESPONSETIMEREQUIREDFROMTHEOPERATORTHEPROBABILITYOFPUSHINGTHEWRONGBUTTONSHOULDSIMILARLYBEREDUCEDALSO,OPERATORFATIGUESHOULDBEMINIMIZEDSINCETHEOPERATORCANCONTINUOUSLYMONITORTHEPROCESSDURINGOVEMDEINPUT,THEEFFECTOFTHECHANGECANBEOBSERVEDMOREQUICKLYTHUSIFTHEDESIREDVALUEISEXCEEDEDANDREVERSECORRECTIONISREQUIRED,ITSHOULDBEACCOMPLISHEDMOREQUICKLY,ALLOWINGLESSOVERSHOOTTHISREDUCTIONINOSCILLATIONABOUTTHEDESIREDVALUEMAKESTHESYSTEMMORESTABLEANOTHERFACTORTHATCANBEIMPROVEDISOPERATORSAFETYINASAFETYCRITICALSITUATION,THEROBOT’SOPERATIONCANBEHALTEDIMMEDIATELYBYUSEOFTHE“EMERGENCYSTOP,’’ORESTOPMODE,WHICHISINITIATED,CONVENTIONALLYBYDEPRESSINGALARGEBUTTONIFANOPERATORINADVERTENTLYFINDSHIMSELFINAHAZC2721708870600001601001987IEEEARDOUSSITUATION,ITMAYBENECESSARYFORHIMTOINITIATETHEESTOPSEQUENCESHOULDTHEOPERATORNOTBEWITHINREACHOFTHEBUTTON,HOWEVER,HEMAYBEUNABLETOTAKETHENECESSARYACTION,AND,ASARESULTCOULDSUFFERSERIOUSINJURYHAVINGTHECAPABILITYOFSTOPPINGTHEROBOTBYISSUINGAVOICECOMMANDCOULDSIGNIFICANTLYIMPROVETHEOPERATOR’SSAFETYBYENABLINGHIMTOSTOPTHEROBOTEVENWHENNOTWITHINREACHOFTHEESTOPBUTTONMANUALCORRECTIONSAREOCCASIONALLYREQUIREDTOADJUSTTHELOCATIONATWHICHTHEWELDFILLERWIREENTERSTHEWELDPOOLPROPERENTRYLOCATIONISABSOLUTELYCRITICALTOSOUNDWELDQUALITYADJUSTMENTSAREMADEEITHERBYMANUALLYADJUSTINGMECHANISMSTHATHOLDTHEWIREFEEDGUIDETUBEORBYISSUINGTACTILECOMMANDSTOASERVOMECHANISMUSEOFAVOICERECOGNITIONSYSTEMCOULDELIMINATETHENEEDFORTHEOPERATORTOPLACEHISHANDWITHINTHEWORKINGENVELOPEOFTHEROBOTENDEFFECTORORIFSERVOMECHANISMSAREEMPLOYED,COULDIMPROVESPEEDOFRESPONSEANDSTABILITYANOTHERASPECTOFROBOTOPERATIONINANINDUSTRIALENVIRONMENTTHATISVERYIMPORTANTISTHESECURITYOFAPROGRAMEDITINGCAPABILITYOFTHESYSTEMUNDERNOCIRCUMSTANCESSHOULDANYUNAUTHORIZEDPERSONBEABLETOENTERTHISPROGRAMMINGMODEANDALTERTHEROBOT’SPROGRAMAVOICERECOGNITIONSYSTEMCANPROVIDETHENECESSARYSECURITYBYALLOWINGACCESSONLYFORINDIVIDUALSWHOAREAUTHORIZEDANDWHOSEVOICESCANBEIDENTIFIEDBYTHESYSTEMBACKGROUNDROBOTICWELDINGISUNDERDEVELOPMENTBYNASAANDROCKETDYNEFORTHEAUTOMATIONOFWELDSONTHESPACESHUTTLEMAINENGINETHATAREPRESENTLYMADEMANUALLYTHEPROGRAMMABILITYOFAROBOTCANREDUCETHEPERCENTAGEOFWELDINGDEFECTSTHROUGHACOMBINATIONOFCONSISTENCYANDREPEATABILITYUNATTAINABLEBYITSHUMANCOUNTERPARTSTODOTHIS,THEROBOTISPROGRAMMEDTOANOMINALWELDPATHANDLEVELOFWELDPROCESSPARAMETERSIE,CURRENT,TRAVELSPEEDVOLTAGE,WIREADDITIONRATESOMEADJUSTMENTOFTHESEVALUESISOFTENNECESSARYDUETOCONDITIONSCHANGINGDURINGTHEWELDAHUMANMAKINGAMANUALWELDACCOMPLISHESTHISADJUSTMENTI€€€CONTROLSYSIERNSMOGOZMEASAFETYFEATURETOACCOMPLISHTHIS,THEVRCCHASBEENINTERFACEDINTOTHEWORKCELLEMERGENCYSTOPCIRCUITTHEEMERGENCYSTOPCIRCUITINTHEROBOTICWORKCELLWILLSHUTDOWNTHEWELDINGPROCESSANDTHEMECHANICALMOTIONOFTHEMANIPULATORSTHROUGHTHEUSEOFADIGITALSIGNALFROMTHEVRCC,ARELAYISENERGIZEDTHATINTERRUPTSTHENECESSARYCIRCUITSINTHEWELDPOWERSUPPLYANDROBOTCONTROLLERWITHTHEUSEOFTHEVOICERECOGNITIONSYSTEMASASAFETYCONTROLFORTHISWORKCELL,WEHAVEADDEDATHIRDLEVELOFREDUNDANCYINTOTHEEMERGENCYSTOPPINGABILITYOFTHEOPERATORINADDITIONTOTHEPRESENTEMERGENCYSTOPBUTTONSMANIPULATORMOTIONSARECONTROLLEDTHROUGHANAXISSELECTBUTTONINCONJUNCTIONWITHAPOSITIVEORNEGATIVEJOGBUTTONTHATISDEPRESSEDBYTHEOPERATORONCETHEOPERATORHASSELECTEDANAXIS,HEDEPRESSESONEOFTHEJOGBUTTONSFORTHEDESIREDTRAVELDISTANCETHISFUNCTIONWASSELECTEDTOBECONTROLLEDBYTHEVRCCBECAUSEOFITSUTILIZATIONDURINGAUTOMATICOPERATIONOFTHEMANIPULATORTOCORRECTTRAJECTORYERRORSTHECIRCUITRYNECESSARYTOCONTROLTHISOPERATIONDRAWSTHESIGNALTOGROUNDTHROUGHTHEACTIVATIONOFRELAYSFORTHEPOSITIVEORNEGATIVEJOGMOTIONBECAUSEMOTIONISACHIEVEDONLYASLONGASTHESESIGNALSAREACTIVELOWTHEYCANBECONTROLLEDBYDISCRETEDIGITALSIGNALSFROMTHEVRCCANALOGCONTROLSIGNALSTHEREAREMANYVARIABLESTHATAFFECTTHEQUALITYOFWELDDURINGTHEWELDINGPROCESSBUTTHEWELDINGCURRENTHASTHEGREATESTEFFECTOVERASMALLRANGEOFVALUESITWASFORTHISREASON,THATTHEWELDINGCURRENTWASCHOSENTOBECONTROLLEDBYTHEVOICERECOGNITIONSYSTEMTHEWELDINGPOWERSUPPLYCONTROLSTHECURRENTLEVELTHROUGHAVOLTAGECIRCUITTHATUSESARANGEOF010VDCTHESEVOLTAGEVALUESARECONVERTEDTOCURRENTLEVELSFROM0TO300AFORWELDINGADIGITALTOANALOGCONVERTERISUSEDINCONJUNCTIONWITHAMULTIPLYINGCIRCUITTHECONVERTERALLOWSTHEVRCCTOCONTROLAVOLTAGELEVELTHATISUSEDBYTHEWELDPOWERSUPPLYTOACHIEVETHEPROPERWELDINGCURRENTTHEMULTIPLIERCIRCUITISNECESSARYTOALLOWTHEWELDPOWERSUPPLYTOBECONTROLLEDBYTHEOTHERSUBCONTROLLERUSEDINTHEWORKCELLEXPERIMENTALINVESTIGATIONTHEACCURACYANDSPEEDOFRESPONSEOFCORRECTIONSTOROBOTMANIPULATORMOTIONANDWELDINGPROCESSVARIABLESMADEWITHTHEVRCCAREBEINGCOMPAREDWITHTHOSEMADEWITHTHEORIGINALCONTROLSYSTEMSTEPINPUTEMRSTOROBOTMOTIONANDWELDINGCURRENTAREINTRODUCEDRANDOMLYINTOTHEROBOTPROGRAMBYGRAPHICALLYRECORDINGRELEVANTSYSTEMOUTPUTSIGNALSTHETIMEREQUIREDFORTHEOPERATORTODETECTTHECHANGEANDINITIATECORRECTIVEACTIONMAYBEMEASUREDRESPONSEACCURACYANDSTABILITYMAYALSOBEGAGEDTHROUGHSIMILARANALYSISOFTHERELEVANTRECORDEDSYSTEMOUTPUTSIGNALSCONCLUSIONSFUTUREWORKWILLINVESTIGATEVOICECONTROLOFWELDINGFILLERWIREFEEDSPEEDANDLOCATIONOFWIREENTRYINTOTHEWELDPOOLALSOTOBEINVESTIGATEDISVOICECONTROLOFWELDINGARCVOLTAGEOVERRIDELATER,RESTRICTIONOFACCESSTOTHEROBOTPROGRAMEDITORBYVOICERECOGNITIONMAYBEIMPLEMENTEDTHEUSEOFVOICERECOGNITIONTECHNOLOGYFORMANUALSUPERVISORYCONTROLOFINDUSTRIALROBOTSYSTEMSISVERYPROMISINGTHISTECHNOLOGYHASAPPLICATIONFORAEROSPACEWELDINGDUETOTHENEEDTOHAVECONSTANTHUMANSUPERVISIONOVERAMULTITUDEOFPROCESSPARAMETERSINREALTIMEFUTUREDEVELOPMENTOFTHISTECHNOLOGYWILLPERMITRAPIDEXPANSIONOFITSAPPLICATIONTOBOTHROBOTICANDNONROBOTICPROCESSESACKNOWLEDGMENTSPECIALTHANKSTOMRJEFFHUDSONOFMARTINMARIETTACORPORATIONFORASSISTANCEINTHEPREPARATIONOFTHEILLUSTRATIONPRESENTEDINTHISARTICLEREFERENCESICASIMPSONHLEMCCAULEYEFROLLANDJCRUTHANDBHWILLIGES“SYSTEMDESIGNFORSPEECHRECOGNITIONANDGENERATION“HUTNNNFACTORSVOL27NO2PP11511119852NATIONALRESEARCHCOUNCILCOMMITTEEONCOMPUTERIZEDSPEECHRECOGNITIONTECHNOLOGIESAUTOMATICSPEECHREROP1IRIOR1INSE\EREETRIRONNTENRSNATIONALRESEARCHCOUNCIL1984ANDCOMPUTER,“QUALI8PP1617OCT39854EJLERNER“TALKINGTOYOURAIRCRAFT“AEROSPACEAMERICAVOL24NO2PP85881986SIJTMEMLIELD“BOSINGEXPLORESVOICERECOGNITIONFORFUTURETRANSPONFLIGHTDECK“ARIARINNWEEKANDSPACETECHNO/OGVOL124NO16PP859119866ACOHENANDJDERICKSON,FUTUREUSESOFMACHINEINTELLIGENCEANDROBOTICSFORTHESPACESTATIONANDIMPLICATIONSFORTHEUSECONOMYIEEEJROBOTICSANDAUTOMARIONVOLSMC16PP11112IJANIFEB1986131TWOO“VOICETHELINKBETWEENMAN7“AUTOMATIONANDROBOTICSFORTHENATIONALSPACEPROGRAM,“CALIFORNIASPACEINSTITUTEAUTOMATIONANDROBOTICSPANELCALSPACEREPONCS118501,FEB25,1985181“ADVANCINGAUTOMATIONANDROBOTICSTECHNOLOGYFORTHESPACESTATIONANDFORTHEUSECONOMY“ADVANCEDTECHNOLOGYADVISORYCOMMITTEENASATM87566MAR1985JKEVINWATSONRECEIVEDABSDEGREEINWELDINGENGINEERINGFROMTHEOHIOSTATEUNIVERSITYIN1979ANDANMSDEGREEINMATERIALSENGINEERINGFROMRENSSELAERPOLYTECHNICINSTITUTEIN1982IN1979HEJOINEDTHETECHNICALSTAFFOFTHEROCKETDYNEDIVISIONOFROCKWELLINTERNATIONAL,WORKINGINTHEDEVELOPMENTOFWELDINGBRAZING,ANDDIFFUSIONBONDINGPROCESSESFORTHESPACESHUTTLEMAINENGINESSMEADVANCEDBOOSTERS,ANDHIGHENERGYLASERSHEHASBEENTHEMANAGEROFROCKETDYNESMARSHALLSPACEFLIGHTCENTERROBOTICSSUPPORTUNITINHUNTSVILLEALABAMASINCE1984THISGROUPISWORKINGJOINTLYWITHSASATODEVELOPADAPTIVEROBOTICTECHNOLOGIESFORWELDINGFABRICATIONOFTHE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