The straight-line navigation control of an agricultural tractor subject to input saturation
|
|
- Θεόδωρος Ιωάννου
- 5 χρόνια πριν
- Προβολές:
Transcript
1 DOI: /CTA Control Theory & Applications Vol. 30 No. 10 Oct ,, 1, 1, 3 (1., 1013;., 10096; 3., ) :,,,,,,,, :,, : ; ; ; : TP73 : A The straight-line navigation control of an agricultural tractor subject to input saturation DING Shi-hong 1,, JIANG Yue-xia 1, ZHAO De-an 1, LIN Xiang-ze 3 (1. Key Laboratory of Facility Agriculture Measurement and Control Technology and Equipment of Machinery Industry, Jiangsu University, Zhenjiang Jiangsu 1013, China;. Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Southeast University, Nanjing Jiangsu 10096, China; 3. College of Engineering, Nanjing Agricultural University, Nanjing Jiangsu 10031, China) Abstract: For an agricultural tractor, a linear path-tracking navigation algorithm is developed by using the saturation method, providing an effective solution to the ubiquitous input saturation control problem in agricultural tractor navigation. First, based upon the kinematics of the straight-linear navigation system, a linear system model for control design is obtained by linearization. Secondly, a non-saturated controller is designed to stabilize the system globally. Finally, by integrating a saturation function with the non-saturated controller, we obtain a saturated controller under which the closed-loop system is globally asymptotically stable. This controller is simple in structure without the need of sequential decrement of restriction on the saturation levels from outside to inside, thus improving the convergence of the closed-loop system. Simulation results validate the effectiveness of the proposed method. Key words: agricultural tractor; path tracking; controller design; stability 1 (Introduction),,,.,,, [1].,,.,, []., [3 4]. : : ; : dsh@mail.ujs.edu.cn; Tel.: : ( , ); (PAPD, (011)6); ( ); (MCCSE01A01); (BK0183).
2 188 30,,.,, [5].,, [6],. [7] X 804, PID, (difference global positioning system, DGPS),. PID, [8], [9], [10],,., [11],.,,,,,,,,,,, [1].,,., ([13 15]), (3.1).,.,,,,,,,,,,,.,,. (System modelling and problem formulation),, 1 [8, 16]. 1 Fig. 1 The sketch map of agricultural tractor straight-line navigation 1: Ψ(rad), V x (m/s), L(m), δ(rad), x(m), y(m). 1, Ψ = V x tan δ, L ẋ = V x cos Ψ, (1) ẏ = V x sin Ψ, : Ψ, V x, L, δ, x, y1. (1),,,,,,, 1, y 0 Ψ 0, yψ., : ẏ 0 V x 0 Ψ = 0 0 V y 0 x L Ψ + 0 u, () δ δ 1 : u, δ. : u max > 0, u u u max, y 0Ψ 0. 1, PID
3 10 : 189., PID., (1),,, (1), ().,.,,,,.,,. 3 (Controller design) x 1 = y, x = V x Ψ, x 3 = (Vx /L)δ,, () 1 = x, = x 3, 3 = V (3) x L u = v, v. I) v(3). (3), : v = k 3 x 3 k 3 k x k 3 k k 1 x 1, (4) s 3 + k 3 s + k 3 k s + k 3 k k 1 = 0 Hurwitz, (3) (4). II) (4), u.,,,.,,. σ εi (x) = { (sgn x)ε i, x > ε i, x, x ε i, (4), : v = k 3 σ ε3 (x 3 + k σ ε (x + k 1 σ ε1 (x 1 ))), (5) k 3 ε 3 k [ε 3 + (k 1 + k )ε + k1ε 1 ] > 0, k ε > ε 3 + k 1 (ε + k 1 ε 1 ), k 1 ε 1 > ε. S 3 (t) = x 3 + k σ ε (x + k 1 σ ε1 (x 1 )), S (t) = x + k 1 σ ε1 (x 1 ), S 1 (t) = x 1. (6), (5), (3) T 1, t T 1, S 3 (t) = x 3 + k σ ε (S ) ε 3.,, T 1 S 3 (T 1 ) ε 3., t 0, S 3 (t) > ε 3 /, S 3 (t) > ε 3, t > 0, (7) S 3 (t) < ε 3, t > 0. (8) S 3 (t) > ε 3 /, t > 0, (3)(5) 3 = k 3 σ ε3 (S 3 ) < k 3ε 3. (9) (9)x 3 (t) x 3 (0) < k 3 ε 3 t/., t > 0, x 3 (t) < x 3 (0) k 3 ε 3 t/., S 3 S S 3 = x 3 + k σ ε (S ) x 3 (0) k 3ε 3 t + k ε., t, S 3, (7). (7). (8)., T 1 S 3 (T 1 ) ε 3 /. t T 1 S 3 (t) = x 3 + k σ ε (S ) ε 3. Ω 1 = {x : S 3 (t) = x 3 + k σ ε (S ) ε 3 }. Ω 1,,,, P 1 P P 3 P 4 Ω 1, Q 1 Q Q 3 Q 4 Ω 1.. S x 3 Fig. The phase plot of S x 3 x P 1 P, S ε. Ṡ 3 = ẋ 3 k ε = k 3 σ ε3 (S 3 ) = k 3 ε 3 < 0, x P 1 P. (10)
4 Ṡ 3 = ẋ 3 + k ε = k 3 σ ε3 (S 3 ) = k 3 ε 3 < 0, x P 3 P 4. (11) (10) (11), xp 1 P P 3 P 4 Ω 1., x Q 1 Q Q 3 Q 4 Ω 1. xp P 3 Q Q 3 Ω 1. x P P 3, S 3 = ε 3, S ε., Ṡ 3 = ẋ 3 + k Ṡ = k 3 S 3 + k Ṡ = k 3 ε 3 + k Ṡ, x P P 3. (1) x {x : S 3 ε 3, S ε }, Ṡ x 3 + k 1 σ ε1 (x 1 ) x 3 + k 1 σ ε1 (x 1 ). σ ε1 (x 1 ), σ ε1 (x 1 ) = 0, x 1 > ε 1, σ 1 (x 1 ) = x, x 1 ε 1., x {x : S 3 ε 3, S ε }, σ 1 (x 1 ) ε + k 1 ε 1. (13) x {x : S 3 ε 3, S ε }, Ṡ x 3 + k 1 σ ε1 (x 1 ) ε 3 + k ε + k 1 (ε + k 1 ε 1 ) = ε 3 + (k 1 + k )ε + k 1ε 1. (14) x P P 3 x {x : S 3 ε 3, S ε }. (14)(1) S 3 k 3 ε 3 +k [ε 3 +(k 1 +k )ε +k 1ε 1 ], x P P 3. (6)k 3 ε 3 k [ε 3 + (k 1 + k )ε + k 1ε 1 ] > 0., (6) S 3 < 0, x P P 3. (15) S 3 > 0, x Q Q 3. (16) (15) (16), xp P 3 Q Q 3., xω 1. : t T 1, S 3 (t) ε 3. T > T 1 t T, S 3 (t) ε 3, S (t) ε. T > T 1, t T S 3 (t) ε 3.,, T > T 1 t T, S (t) ε., T > T 1 S (T ) < ε., t > T 1, S (t) ε., S (t) ε, t > T 1 S (t) ε, t > T t > T 1, S 3 (t) ε 3. t > T 1, ẋ = x 3 = k σ ε (S ) + x 3 + k σ ε (S ) = k σ ε (S ) + S 3 k σ ε (S ) + ε 3. (17) S (t) ε 3, t > T 1, (17) ẋ k σ ε (S ) + ε 3 k ε + ε 3, x (t) x (0) (k ε ε 3 )t. (18) (6), k ε > ε 3., (18)S (t) S (t) = x (t)+k 1 σ ε1 (x 1 ) x (0) (k ε ε 3 )t + k 1 ε 1. t, S <, S ε, t > T 1., S (t) ε, t > T 1., T > T 1 S (T ) < ε. t > T, S (t) ε. Ω = {x : S (t) = x + k 1 σ ε1 (x 1 ) ε }. Ω,, 3,, H 1 H H 3 H 4 Ω, L 1 L L 3 L 4 Ω. 3 S 1 x Fig. 3 The phase plot of S 1 x x H 1 H, S 1 = x 1 < ε 1, S = x + k 1 σ ε1 (x 1 ) = x k 1 ε 1., x H 1 H, Ṡ = ẋ = x 3. x(t ) Ω. H 1 H Ω, t > T > T 1, x(t ) H 1 H., t = t, S 3 (t ) ε 3. x 3 (t ) = S 3 (t ) k σ ε (S (t )) ε 3 k ε. k ε ε 3 > 0., x H 1 H, Ṡ = ẋ = x 3 < ε 3 k ε < 0, xh 1 H Ω. xh 3 H 4, L 1 L, L 3 L 4 Ω. x H H 3, x 1 ε 1, Ṡ = ẋ + k 1 σ ε (x 1 ) = x 3 + k 1 x = k σ ε (S ) + S 3 + k 1 x.
5 10 : 191 x H H 3, S = ε., x H H 3, x ε + k 1 ε 1., x H H 3, Ṡ k ε + ε 3 + k 1 x (6) k ε + ε 3 + k 1 (ε + k 1 ε 1 ). k ε > ε 3 + k 1 (ε + k 1 ε 1 ), S < 0, x H H 3., H H 3 Ω. L L 3., xh 1 H H 3 H 4 L 1 L L 3 L 4 Ω, t T, 3 S 3 (t) ε 3, S (t) ε. T 3 > T t T 3, S 3 (t) ε 3, S (t) ε, x 1 (t) ε 1. 1, t T, S (t) ε, S 3 (t) ε 3, t T, 1 = x = k 1 σ ε1 (x 1 ) + x + k 1 σ ε1 (x 1 ) = k 1 σ ε1 (x 1 ) + S. (19) (19)(6) ẋ 1 < k 1 ε 1 + ε < 0, x 1 > ε 1, ẋ 1 > k 1 ε 1 ε > 0, x 1 < ε 1, T 3, t T 3, x 1 (t) ε 1, S (t) ε, S 3 (t) ε 3, t > T 3, (5) (4)., t > T 3 (3)(5) 1 = x, = x 3, 3 = k 3 σ ε3 (x 3 + k σ ε (x + k 1 σ ε1 (x 1 ))) = k 3 x 3 k 3 k x k 3 k k 1 x 1. I) s 3 + k 3 s + k 3 k s + k 3 k k 1 = 0 (0) Hurwitz.,, (5), (3). u = k 3L V x σ ε3 ( V x L δ + k σ ε (V x Ψ + k 1 σ ε1 (y))) (1), (), 1 (1), ().,, ()., Teel [13], : u = L Vx σ ε3 (y 3 + σ ε (y + σ ε1 (y 1 ))), () : ε 3 > ε, ε > ε 1, y 1 =y + V xψ + V xδ, y = V xψ + V xδ, y 3 = V xδ. ε i, i = 1,, 3ε 3 > ε > ε 1., y (0), y 3 (0), y 3 (0), (), Lε 1 /V x. ε 1,, 1,. 4 (Simulation), MATLAB,. (1), (1)(),..4 m, V x = 1 m/s., u rad/s. (6), (1). k 1 = 1 5, k = 1, k 3 = 5 3, () ε 1 = 3, ε = 1, ε 3 = ε 3 = 5 6, ε = 1 3, ε = 1 1. (x(0), y(0), Φ(0), δ(0)) = (4, 3, π 4, π 4 ), 5%()., 4 9, : (1), (). 4 6 X = (y, Φ, δ), X = y + Φ + δ 7. 8
6 ,, (), (1)., 4 85%,. 9,., 7 X Fig. 7 The response curves of X 4 Fig. 4 The response curves of lateral deviation 8 y-x Fig. 8 The tractor tracking phase plot of y-x 5 Fig. 5 The response curves of course angle 9 Fig. 9 The response curves of controller 6 Fig. 6 The response curves of steering angle 5 (Conclusions),,,,,.,
7 10 : 193 (References): [1] ZHAO D A, LÜ J D, JI W, et al. Design and control of an apple harvesting robot [J]. Biosystems Engineering, 011, 110(): [] TANG J L, JING X, HE D J, et al. Visual navigation control for agricultural robot using serial BP neural network [J]. Transactions of the Chinese Society of Agricultural Engineering, 011, 7(): [3] MEHTA S, BURKS T, DIXON W. Vision-based localization of a wheeled mobile robot for greenhouse applications: a daisy-chaining approach [J]. Computers and Electronics in Agriculture, 008, 63(1): [4],,,. [J]., 007, 38(5): (CHEN Jun, ZHU Zhongxiang, TORISU Ryo, et al. Automatic ontracking control of farm vehicle based on neural network [J]. Transactions of the Chinese Society for Agricultural Machinery, 007, 38(5): ) [5],,,. [J]., 013, 44(1): (LI Taochang, HU Jingtao, GAO Lei, et al. Agricultural machine path tracking method based on fuzzy adaptive pure pursuit model [J]. Transactions of the Chinese Society for Agricultural Machinery, 013, 44(1): ) [6],,. [J]., 006, 37(1): 0. (DOU Zhiqiang, MAO Zhihuai, WEI Qing. The field target tracking system based on laser passing [J]. Transactions of the Chinese Society for Agricultural Machinery, 006, 37(1): 0.) [7],,,. X-804DGPS [J]., 009, 5(11): (LUO Xiwen, ZHANG Zhigang, ZHAO Zuoxi, et al. Design of DGPS navigation control system for Dongfanghong X-804 tractor [J]. Transactions of the Chinese Society of Agricultural Engineering, 009, 5(11): ) [8],,,. [J]., 01, 8(9): (ZHANG Meina, LIN Xiangze, DING Yongqian, et al. Design of path following controllers based on performance index for agricultural vehicle [J]. Transactions of the Chinese Society of Agricultural Engineering, 01, 8(9): ) [9],,,. [J]., 009, 40(4): (ZHOU Jianjun, ZHANG Man, WANG Maohua, et al. Path tracking for agricultural vehicle based on fuzzy control [J]. Transactions of the Chinese Society for Agricultural Machinery, 009, 40(4): ) [10],,,. [J]., 010, 41(11): (LIU Zhaoxiang, LIU Gang, JI Ying, et al. Autonomous navigation system for agricultural tractor based on self-adapted fuzzy control [J]. Transactions of the Chinese Society for Agricultural Machinery, 010, 41(11): ) [11],,,. [J]., 006, (11): (CHEN Jun, ZHU Zhongxiang, TORISU Ryo, et al. On-tracking control of tractor running along curved paths [J]. Transactions of the Chinese Society of Agricultural Engineering, 006, (11): ) [1] DING S H, LI S H, LI Q. Stability analysis for a second-order continuous finite-time control system subject to a disturbance [J]. Journal of Control Theory and Applications, 009, 7(3): [13] TEEL A R. Global stabilization and restricted tracking for multiple integrators with bounded controls [J]. Systems & Control Letters, 199, 18(3): [14] DING S H, QIAN C, LI S H. Global stabilization of a class of feedforward systems with lower-order nonlinearities [J]. IEEE Transactions on Automatic Control, 010, 55(3): [15],,,. [J]., 01, 9(6): (CHEN Hua, WANG Chaoli, YANG Fang, et al. Finite-time saturated stabilization of nonholonomic mobile robots based on visual servoing [J]. Control Theory & Applications, 01, 9(6): ) [16] O CONNOR M. Carrier-phase differential GPS for automatic control of land vehicles [D]. CA: Stanford University, : (1983 ),,,,, dsh@mail.ujs.edu.cn; (1990 ),,,, jiangyuexiayezi@163.com; (1956 ),,,,, dazhao@mail.ujs.edu.cn; (1978 ),,,,, xzlin@njau.edu.cn.
Estimation of stability region for a class of switched linear systems with multiple equilibrium points
29 4 2012 4 1000 8152(2012)04 0409 06 Control Theory & Applications Vol 29 No 4 Apr 2012 12 1 (1 250061; 2 250353) ; ; ; TP273 A Estimation of stability region for a class of switched linear systems with
Διαβάστε περισσότεραNo. 7 Modular Machine Tool & Automatic Manufacturing Technique. Jul TH166 TG659 A
7 2016 7 No. 7 Modular Machine Tool & Automatic Manufacturing Technique Jul. 2016 1001-2265 2016 07-0122 - 05 DOI 10. 13462 /j. cnki. mmtamt. 2016. 07. 035 * 100124 TH166 TG659 A Precision Modeling and
Διαβάστε περισσότεραCAP A CAP
2012 4 30 2 Journal of Northwestern Polytechnical University Apr. Vol. 30 2012 No. 2 Neal-Smith 710072 CAP Neal-Smith PIO Neal-Smith V249 A 1000-2758 2012 02-0279-07 Neal-Smith CAP Neal-Smith Neal-Smith
Διαβάστε περισσότεραResearch on real-time inverse kinematics algorithms for 6R robots
25 6 2008 2 Control Theory & Applications Vol. 25 No. 6 Dec. 2008 : 000 852(2008)06 037 05 6R,,, (, 30027) : 6R. 6 6R6.., -, 6R., 2.03 ms, 6R. : 6R; ; ; : TP242.2 : A Research on real-time inverse kinematics
Διαβάστε περισσότεραER-Tree (Extended R*-Tree)
1-9825/22/13(4)768-6 22 Journal of Software Vol13, No4 1, 1, 2, 1 1, 1 (, 2327) 2 (, 3127) E-mail xhzhou@ustceducn,,,,,,, 1, TP311 A,,,, Elias s Rivest,Cleary Arya Mount [1] O(2 d ) Arya Mount [1] Friedman,Bentley
Διαβάστε περισσότεραA Method of Trajectory Tracking Control for Nonminimum Phase Continuous Time Systems
IIC-11-8 A Method of Trajectory Tracking Control for Nonminimum Phase Continuous Time Systems Takayuki Shiraishi, iroshi Fujimoto (The University of Tokyo) Abstract The purpose of this paper is achievement
Διαβάστε περισσότεραJournal of South China University of Technology Natural Science Edition. ADAMS-Matlab /Simulink . 1. f θ = v fsin γ + l rγ
44 12 2016 12 Journal of South China University of Technology Natural Science Edition Vol 44 No 12 December 2016 1000-565X201612-0074-07 * 100083 ADAMS ADAMS-Matlab /Simulink 10% 90% U461 1 doi10 3969
Διαβάστε περισσότεραHigh order interpolation function for surface contact problem
3 016 5 Journal of East China Normal University Natural Science No 3 May 016 : 1000-564101603-0009-1 1 1 1 00444; E- 00030 : Lagrange Lobatto Matlab : ; Lagrange; : O41 : A DOI: 103969/jissn1000-56410160300
Διαβάστε περισσότεραGain self-tuning of PI controller and parameter optimum for PMSM drives
14 1 1 1 ELECTRI C MACHINES AND CONTROL Vol. 14 No. 1 Dec. 1 1 1 1 1 1. 151. 154 PI PI E E 1% 4r /min TM 359 A 17-449X 1 1-9- 6 Gain self-tuning of PI controller and parameter optimum for PMSM drives YANG
Διαβάστε περισσότεραMotion analysis and simulation of a stratospheric airship
32 11 Vol 32 11 2011 11 Journal of Harbin Engineering University Nov 2011 doi 10 3969 /j issn 1006-7043 2011 11 019 410073 3 2 V274 A 1006-7043 2011 11-1501-08 Motion analysis and simulation of a stratospheric
Διαβάστε περισσότεραAdaptive grouping difference variation wolf pack algorithm
3 2017 5 ( ) Journal of East China Normal University (Natural Science) No. 3 May 2017 : 1000-5641(2017)03-0078-09, (, 163318) :,,.,,,,.,,. : ; ; ; : TP301.6 : A DOI: 10.3969/j.issn.1000-5641.2017.03.008
Διαβάστε περισσότεραControl Theory & Applications PID (, )
26 12 2009 12 : 1000 8152(2009)12 1317 08 Control Theory & Applications Vol. 26 No. 12 Dec. 2009 PID,, (, 200240) : PID (PIDNN), PID,, (BP).,, PIDNN PIDNN (MPIDNN), (CPSO) BP, MPIDNN CPSO MPIDNN CRPSO
Διαβάστε περισσότεραQuick algorithm f or computing core attribute
24 5 Vol. 24 No. 5 Cont rol an d Decision 2009 5 May 2009 : 100120920 (2009) 0520738205 1a, 2, 1b (1. a., b., 239012 ; 2., 230039) :,,.,.,. : ; ; ; : TP181 : A Quick algorithm f or computing core attribute
Διαβάστε περισσότεραFragility analysis for control systems
3 1 213 1 DOI: 1.7641/CTA.213.2294 Control Theory & Applications Vol. 3 No. 1 Jan. 213 1, 1, 2, 1, 1 (1., 151; 2., 158) :. ( 1, j), ( 1, j)., Bode...,,,, Bode. : ; Bode ; ; ; : TP273 : A Fragility analysis
Διαβάστε περισσότεραNov Journal of Zhengzhou University Engineering Science Vol. 36 No FCM. A doi /j. issn
2015 11 Nov 2015 36 6 Journal of Zhengzhou University Engineering Science Vol 36 No 6 1671-6833 2015 06-0056 - 05 C 1 1 2 2 1 450001 2 461000 C FCM FCM MIA MDC MDC MIA I FCM c FCM m FCM C TP18 A doi 10
Διαβάστε περισσότεραCorrection of chromatic aberration for human eyes with diffractive-refractive hybrid elements
5 5 2012 10 Chinese Optics Vol. 5 No. 5 Oct. 2012 1674-2915 2012 05-0525-06 - * 100190-14 - - 14. 51 μm 81. 4 μm - 1. 64 μm / O436. 1 TH703 A doi 10. 3788 /CO. 20120505. 0525 Correction of chromatic aberration
Διαβάστε περισσότεραA new practical method for closed-loop identification with PI control
7 9 1 9 : 1 815(1)9 14 5 Control Theory & Applications Vol. 7 No. 9 Sep. 1 PI,, (, 5164) : PI,,.,, (SOPDT).,, PI ;,, : ; PI ; ; : TP73 : A A new practical method for closed-loop identification with PI
Διαβάστε περισσότεραStudy on the Strengthen Method of Masonry Structure by Steel Truss for Collapse Prevention
33 2 2011 4 Vol. 33 No. 2 Apr. 2011 1002-8412 2011 02-0096-08 1 1 1 2 3 1. 361005 3. 361004 361005 2. 30 TU746. 3 A Study on the Strengthen Method of Masonry Structure by Steel Truss for Collapse Prevention
Διαβάστε περισσότερα2 ~ 8 Hz Hz. Blondet 1 Trombetti 2-4 Symans 5. = - M p. M p. s 2 x p. s 2 x t x t. + C p. sx p. + K p. x p. C p. s 2. x tp x t.
36 2010 8 8 Vol 36 No 8 JOURNAL OF BEIJING UNIVERSITY OF TECHNOLOGY Aug 2010 Ⅰ 100124 TB 534 + 2TP 273 A 0254-0037201008 - 1091-08 20 Hz 2 ~ 8 Hz 1988 Blondet 1 Trombetti 2-4 Symans 5 2 2 1 1 1b 6 M p
Διαβάστε περισσότεραJ. of Math. (PRC) Banach, , X = N(T ) R(T + ), Y = R(T ) N(T + ). Vol. 37 ( 2017 ) No. 5
Vol. 37 ( 2017 ) No. 5 J. of Math. (PRC) 1,2, 1, 1 (1., 225002) (2., 225009) :. I +AT +, T + = T + (I +AT + ) 1, T +. Banach Hilbert Moore-Penrose.. : ; ; Moore-Penrose ; ; MR(2010) : 47L05; 46A32 : O177.2
Διαβάστε περισσότεραResilient static output feedback robust H control for controlled positive systems
31 5 2014 5 DOI: 10.7641/CA.2014.30666 Control heory & Applications Vol. 31 No. 5 May 2014 H,, (, 250100), (LMI),, H,,,,, H,, ; H ; ; ; P273 A Resilient static output feedback robust H control for controlled
Διαβάστε περισσότεραCorV CVAC. CorV TU317. 1
30 8 JOURNAL OF VIBRATION AND SHOCK Vol. 30 No. 8 2011 1 2 1 2 2 1. 100044 2. 361005 TU317. 1 A Structural damage detection method based on correlation function analysis of vibration measurement data LEI
Διαβάστε περισσότεραTrajectory tracking of quadrotor based on disturbance rejection control
33 11 216 11 DOI: 1.7641/CTA.216.6117 Control Theory & Applications Vol. 33 No. 11 Nov. 216, (,, 224) :,,,.,,, ;,... : ; ; ; ; ; : TP273 : A Trajectory tracking of quadrotor based on disturbance rejection
Διαβάστε περισσότεραThe toxicity of three chitin synthesis inhibitors to Calliptamus italicus Othoptera Acridoidea
2011 48 4 909 914 * 1 2** 2 2 2 2 2*** 1. 110161 2. 100081 026000 3 Calliptamus italicus L. 3 LC 50 LC 90 1. 34 14. 17 mg / L LC 50 LC 90 2. 09 45. 22 mg / L 50 mg / L 14 d 87% 100% 50 mg / L 50% The toxicity
Διαβάστε περισσότεραPosition control of the planar switched reluctance motor based on model reference adaptive regulator
20 6 2016 6 Electri c Machines and Control Vol. 20 No. 6 Jun. 2016 1 2 1 3 2 1. 518060 2. 610031 3. 410083 dspace DOI 10. 15938 /j. emc. 2016. 06. 001 TM 352 A 1007-449X 2016 06-0001- 08 Position control
Διαβάστε περισσότεραROBOT. Smooth Obstacle-avoidance by 4-wheel Navigational Vehicle Using Non-360 Range Sensors
35 5 2013 9 ROBOT Vol.35, No.5 Sep., 2013 DOI 10.3724/SP.J.1218.2013.00527 360 510642 bug 360 Pioneer3-AT bug 360 TP249 A 1002-0446(2013)-05-0527-08 Smooth Obstacle-avoidance by 4-wheel Navigational Vehicle
Διαβάστε περισσότεραBuried Markov Model Pairwise
Buried Markov Model 1 2 2 HMM Buried Markov Model J. Bilmes Buried Markov Model Pairwise 0.6 0.6 1.3 Structuring Model for Speech Recognition using Buried Markov Model Takayuki Yamamoto, 1 Tetsuya Takiguchi
Διαβάστε περισσότεραA method of seeking eigen-rays in shallow water with an irregular seabed
32 2 Vol 32 2 20 2 Journal of Harbin Engineering University Dec 20 doi 0 3969 /j issn 006-7043 20 2 004 5000 2 TB566 A 006-7043 20 2-544-05 A method of seeking eigen-rays in shallow water with an irregular
Διαβάστε περισσότεραThe optimization of EV powertrain s efficiency control strategy under dynamic operation condition
16 3 2012 3 ELECTRI C MACHINES AND CONTROL Vol. 16 No. 3 Mar. 2012 1 1 1 2 2 3 1. 250061 2. 250014 3. 251010 3. 3% U 469. 72 A 1007-449X 2012 03-0053- 07 The optimization of EV powertrain s efficiency
Διαβάστε περισσότεραVol. 31,No JOURNAL OF CHINA UNIVERSITY OF SCIENCE AND TECHNOLOGY Feb
Ξ 31 Vol 31,No 1 2 0 0 1 2 JOURNAL OF CHINA UNIVERSITY OF SCIENCE AND TECHNOLOGY Feb 2 0 0 1 :025322778 (2001) 0120016205 (, 230026) : Q ( m 1, m 2,, m n ) k = m 1 + m 2 + + m n - n : Q ( m 1, m 2,, m
Διαβάστε περισσότεραPrey-Taxis Holling-Tanner
Vol. 28 ( 2018 ) No. 1 J. of Math. (PRC) Prey-Taxis Holling-Tanner, (, 730070) : prey-taxis Holling-Tanner.,,.. : Holling-Tanner ; prey-taxis; ; MR(2010) : 35B32; 35B36 : O175.26 : A : 0255-7797(2018)01-0140-07
Διαβάστε περισσότεραStress Relaxation Test and Constitutive Equation of Saturated Soft Soil
8 7 011 7 Journal of Highway and Transportation Research and Development Vol. 8 No. 7 Jul. 011 100-068 011 07-0014 - 05 1 1. 0009. 710064 k 0 Merchant 4 Merchant U416. 1 + 6 A Stress Relaxation Test and
Διαβάστε περισσότεραVol. 38 No Journal of Jiangxi Normal University Natural Science Nov. 2014
38 6 Vol 38 No 6 204 Journal o Jiangxi Normal UniversityNatural Science Nov 204 000-586220406-055-06 2 * 330022 Nevanlinna 2 2 2 O 74 52 0 B j z 0j = 0 φz 0 0 λ - φ= C j z 0j = 0 ab 0 arg a arg b a = cb0
Διαβάστε περισσότεραUAV. UAV Unmanned Aerial Vehicle LED Light Emitting Diodes LQR Linear Quadratic Regulator
2013 11 39 11 November 2013 Journal of Beijing University of Aeronautics and Astronautics Vol 39 No 11 UAV 100191 110035 100191 UAV Unmanned Aerial Vehicle LED Light Emitting Diodes LQR Linear Quadratic
Διαβάστε περισσότεραNew conditions for exponential stability of sampled-data systems under aperiodic sampling
33 10 2016 10 DOI: 10.7641/CTA.2016.50818 Control Theory & Applications Vol. 33 No. 10 Oct. 2016,, (, 273165) :. Lyapunov, Lyapunov.,,. Lyapunov,, Wirtinger,.. : ; ; Lyapunov; : TP273 : A New conditions
Διαβάστε περισσότεραResearch on model of early2warning of enterprise crisis based on entropy
24 1 Vol. 24 No. 1 ont rol an d Decision 2009 1 Jan. 2009 : 100120920 (2009) 0120113205 1, 1, 2 (1., 100083 ; 2., 100846) :. ;,,. 2.,,. : ; ; ; : F270. 5 : A Research on model of early2warning of enterprise
Διαβάστε περισσότεραROBOT. Design and Realization of a Control System for Laparoscopic Robot
30 4 2008 7 ROBOT Vol.30, No.4 July, 2008 1002-0446(2008)04-0340-06 150080 TP241.3 B Design and Realization of a Control System for Laparoscopic Robot FU Yi-li, PAN Bo, YANG Zong-peng, WANG Shu-guo (State
Διαβάστε περισσότεραOptimizing Microwave-assisted Extraction Process for Paprika Red Pigments Using Response Surface Methodology
2012 34 2 382-387 http / /xuebao. jxau. edu. cn Acta Agriculturae Universitatis Jiangxiensis E - mail ndxb7775@ sina. com 212018 105 W 42 2 min 0. 631 TS202. 3 A 1000-2286 2012 02-0382 - 06 Optimizing
Διαβάστε περισσότεραFeasible Regions Defined by Stability Constraints Based on the Argument Principle
Feasible Regions Defined by Stability Constraints Based on the Argument Principle Ken KOUNO Masahide ABE Masayuki KAWAMATA Department of Electronic Engineering, Graduate School of Engineering, Tohoku University
Διαβάστε περισσότεραSecond Order RLC Filters
ECEN 60 Circuits/Electronics Spring 007-0-07 P. Mathys Second Order RLC Filters RLC Lowpass Filter A passive RLC lowpass filter (LPF) circuit is shown in the following schematic. R L C v O (t) Using phasor
Διαβάστε περισσότεραA method of power system harmonic detection based on wavelet transform
4 5 Vol.4 No.5 22 8 Power Sytem Protection and Control Aug., 22 A method o power ytem harmonic detection baed on wavelet tranorm ZENG Rui-jiang, YANG Zhen-bin 2, LIU Hui-chao 2 (. Electric Power Reearch
Διαβάστε περισσότεραNumerical simulation of Earth s gravitational field recovery from SST based on the energy conservation principle
49 3 2006 5 CHINESE JOURNAL OF GEOPHYSICS Vol 49, No 3 May, 2006, -, 2006, 49 (3) 712 717 Zheng W, Shao C G, Luo J, et al Numerical simulation of Earth s gravitational field recovery from SST based on
Διαβάστε περισσότεραACTA MATHEMATICAE APPLICATAE SINICA Nov., ( µ ) ( (
35 Þ 6 Ð Å Vol. 35 No. 6 2012 11 ACTA MATHEMATICAE APPLICATAE SINICA Nov., 2012 È ÄÎ Ç ÓÑ ( µ 266590) (E-mail: jgzhu980@yahoo.com.cn) Ð ( Æ (Í ), µ 266555) (E-mail: bbhao981@yahoo.com.cn) Þ» ½ α- Ð Æ Ä
Διαβάστε περισσότεραModel updating experiment of space truss using global and local dynamic information HOU Ji-lin 1 OU Jin-ping 1 2 ukasz Jankowski 3
32 16 JOURNAL OF VIBRATION AND SHOCK Vol. 32 No. 16 2013 1 1 2 ukasz Jankowski 3 1. 116024 2. 150090 3. 02-106 TU 311. 3 A Model updating experiment of space truss using global and local dynamic information
Διαβάστε περισσότερα1 (forward modeling) 2 (data-driven modeling) e- Quest EnergyPlus DeST 1.1. {X t } ARMA. S.Sp. Pappas [4]
212 2 ( 4 252 ) No.2 in 212 (Total No.252 Vol.4) doi 1.3969/j.issn.1673-7237.212.2.16 STANDARD & TESTING 1 2 2 (1. 2184 2. 2184) CensusX12 ARMA ARMA TU111.19 A 1673-7237(212)2-55-5 Time Series Analysis
Διαβάστε περισσότεραQ L -BFGS. Method of Q through full waveform inversion based on L -BFGS algorithm. SUN Hui-qiu HAN Li-guo XU Yang-yang GAO Han ZHOU Yan ZHANG Pan
3 2015 12 GLOBAL GEOLOGY Vol. 3 No. Dec. 2015 100 5589 2015 0 1106 07 L BFGS Q 130026 Q 2D L BFGS Marmousi Q L BFGS P631. 3 A doi 10. 3969 /j. issn. 1005589. 2015. 0. 02 Method of Q through full waveform
Διαβάστε περισσότερα: Monte Carlo EM 313, Louis (1982) EM, EM Newton-Raphson, /. EM, 2 Monte Carlo EM Newton-Raphson, Monte Carlo EM, Monte Carlo EM, /. 3, Monte Carlo EM
2008 6 Chinese Journal of Applied Probability and Statistics Vol.24 No.3 Jun. 2008 Monte Carlo EM 1,2 ( 1,, 200241; 2,, 310018) EM, E,,. Monte Carlo EM, EM E Monte Carlo,. EM, Monte Carlo EM,,,,. Newton-Raphson.
Διαβάστε περισσότεραAnalysis of energy consumption of telecommunications network and application of energy-saving techniques
40 2 ( ) Vol.40 No.2 2009 4 Journal of Central South University (Science and Technology) Apr. 2009 1, 2 (1. 430074 2. 410015) TN915 A 1672 7207(2009)02 0464 07 Analysis of energy consumption of telecommunications
Διαβάστε περισσότερα(II) * PACS: a, Hj 300. ) [6 9] ) [10 23] ) [26 30]. . Deng [24,25] Acta Phys. Sin. Vol. 61, No. 15 (2012)
Acta Phys. Sin. Vol. 6, No. 5 () 553 (II) * (, 543 ) ( 3 ; 5 ),,,,,,,, :,,, PACS: 5.45. a, 45..Hj 3,, 5., /,,, 3 3 :,,, ;, (memory hereditary),,, ( ) 6 9 ( ) 3 ( ) 6 3.,, Deng 4,5,,,,, * ( : 758,936),
Διαβάστε περισσότεραTraversing Assist System for Tracked Vehicles on Rough Terrain Based on Continuous Three-Dimensional Terrain-Scanning
,, Traversing Assist System for Tracked Vehicles on Rough Terrain Based on Continuous Three-Dimensional Terrain-Scanning Yoshito OKADA, Keiji NAGATANI and Kazuya YOSHIDA Department of Aerospace Engineering,
Διαβάστε περισσότεραRelative dynamic modeling and formation control of multiple unmanned helicopters
28 1 2011 1 : 1000 8152(2011)01 0108 05 Control Theory & Applications Vol. 28 No. 1 Jan. 2011 1, 2, 2 (1., 110016; 2., 110016) :,. 6..,. : ; ; : TP273 : A Relative dynamic modeling and ormation control
Διαβάστε περισσότεραVSC STEADY2STATE MOD EL AND ITS NONL INEAR CONTROL OF VSC2HVDC SYSTEM VSC (1. , ; 2. , )
22 1 2002 1 Vol. 22 No. 1 Jan. 2002 Proceedings of the CSEE ν 2002 Chin. Soc. for Elec. Eng. :025828013 (2002) 0120017206 VSC 1, 1 2, (1., 310027 ; 2., 250061) STEADY2STATE MOD EL AND ITS NONL INEAR CONTROL
Διαβάστε περισσότεραApr Vol.26 No.2. Pure and Applied Mathematics O157.5 A (2010) (d(u)d(v)) α, 1, (1969-),,.
2010 4 26 2 Pure and Applied Matheatics Apr. 2010 Vol.26 No.2 Randić 1, 2 (1., 352100; 2., 361005) G Randić 0 R α (G) = v V (G) d(v)α, d(v) G v,α. R α,, R α. ; Randić ; O157.5 A 1008-5513(2010)02-0339-06
Διαβάστε περισσότεραECE 308 SIGNALS AND SYSTEMS FALL 2017 Answers to selected problems on prior years examinations
ECE 308 SIGNALS AND SYSTEMS FALL 07 Answers to selected problems on prior years examinations Answers to problems on Midterm Examination #, Spring 009. x(t) = r(t + ) r(t ) u(t ) r(t ) + r(t 3) + u(t +
Διαβάστε περισσότεραΑπόκριση σε Μοναδιαία Ωστική Δύναμη (Unit Impulse) Απόκριση σε Δυνάμεις Αυθαίρετα Μεταβαλλόμενες με το Χρόνο. Απόστολος Σ.
Απόκριση σε Δυνάμεις Αυθαίρετα Μεταβαλλόμενες με το Χρόνο The time integral of a force is referred to as impulse, is determined by and is obtained from: Newton s 2 nd Law of motion states that the action
Διαβάστε περισσότεραJournal of Central South University (Science and Technology) May Bragg TU443 A (2011)
42 5 ( ) Vol.42 No.5 2011 5 Journal of Central South University (Science and Technology) May 2011 Bragg 1 1 1 2 2 (1. 330099 2. 330038) ( ) D10 Bragg TU443 A 1672 7207(2011)05 1442 05 Fiber Bragg grating
Διαβάστε περισσότεραD-Glucosamine-derived copper catalyst for Ullmann-type C- N coupling reaction: theoretical and experimental study
Electronic Supplementary Material (ESI) for RSC Advances. This journal is The Royal Society of Chemistry 2016 D-Glucosamine-derived copper catalyst for Ullmann-type C- N coupling reaction: theoretical
Διαβάστε περισσότεραStudy on the Solubility of Kiwi Fruit Seed Oil in Supercritical Carbon Dioxide
2007,40(6):1242-1247 Scientia Agricultura Sinica 1 210037 2 712100 3 510641 4 750006 Study on the Solubility of Kiwi Fruit Seed Oil in Supercritical Carbon Dioxide WU Cai-e 1,2, XU Ke-yong 3, LI Yuan-rui
Διαβάστε περισσότεραAn Automatic Modulation Classifier using a Frequency Discriminator for Intelligent Software Defined Radio
C IEEJ Transactions on Electronics, Information and Systems Vol.133 No.5 pp.910 915 DOI: 10.1541/ieejeiss.133.910 a) An Automatic Modulation Classifier using a Frequency Discriminator for Intelligent Software
Διαβάστε περισσότερα2.153 Adaptive Control Lecture 7 Adaptive PID Control
2.153 Adaptive Control Lecture 7 Adaptive PID Control Anuradha Annaswamy aanna@mit.edu ( aanna@mit.edu 1 / 17 Pset #1 out: Thu 19-Feb, due: Fri 27-Feb Pset #2 out: Wed 25-Feb, due: Fri 6-Mar Pset #3 out:
Διαβάστε περισσότεραA System Dynamics Model on Multiple2Echelon Control
2007 9 9 :100026788 (2007) 0920107208 1, 1, 1, 2 (11, 100876 ;21, 100044) :..,,.,.,. : ;;; : TP39119 : A A System Dynamics Model on Multiple2Echelon Control YANG Tian2jian 1, LV Ting2jie 1, ZHANG Xiao2hang
Διαβάστε περισσότεραStudy of In-vehicle Sound Field Creation by Simultaneous Equation Method
Study of In-vehicle Sound Field Creation by Simultaneous Equation Method Kensaku FUJII Isao WAKABAYASI Tadashi UJINO Shigeki KATO Abstract FUJITSU TEN Limited has developed "TOYOTA remium Sound System"
Διαβάστε περισσότεραThe Exploitation and Utilization of Magnesium Resources in Salt Lakes
21 11 2009 11 PROGRESS IN CHEMISTRY Vol. 21 No. 11 Nov., 2009 3 1,2 1 1,2 1,2 1,2 1,2 1 3 3 (1. 810008 ; 2. 100049),,, : O61412 ; TQ13212 : A : 10052281X(2009) 1122358207 The Exploitation and Utilization
Διαβάστε περισσότεραApproximation Expressions for the Temperature Integral
20 7Π8 2008 8 PROGRSS IN CHMISRY Vol. 20 No. 7Π8 Aug., 2008 3 3 3 3 3 ( 230026),,,, : O64311 ; O64213 : A : 10052281X(2008) 07Π821015206 Approimation pressions for the emperature Integral Chen Haiiang
Διαβάστε περισσότεραEvaluation on precision of occurrence measurement based on theory of errors
35 2 2016 6 GLOBAL GEOLOGY Vol. 35 No. 2 Jun. 2016 1004 5589 2016 02 0567 08 130026 5 ± 4 ± 3 4 P21 TD17 A doi 10. 3969 /j. issn. 1004-5589. 2016. 02. 030 Evaluation on precision of occurrence measurement
Διαβάστε περισσότεραEvolution of Novel Studies on Thermofluid Dynamics with Combustion
MEMOIRS OF SHONAN INSTITUTE OF TECHNOLOGY Vol. 42, No. 1, 2008 * Evolution of Novel Studies on Thermofluid Dynamics with Combustion Hiroyuki SATO* This paper mentions the recent development of combustion
Διαβάστε περισσότεραΕΥΡΕΣΗ ΤΟΥ ΔΙΑΝΥΣΜΑΤΟΣ ΘΕΣΗΣ ΚΙΝΟΥΜΕΝΟΥ ΡΟΜΠΟΤ ΜΕ ΜΟΝΟΦΘΑΛΜΟ ΣΥΣΤΗΜΑ ΟΡΑΣΗΣ
ΕΥΡΕΣΗ ΤΟΥ ΔΙΑΝΥΣΜΑΤΟΣ ΘΕΣΗΣ ΚΙΝΟΥΜΕΝΟΥ ΡΟΜΠΟΤ ΜΕ ΜΟΝΟΦΘΑΛΜΟ ΣΥΣΤΗΜΑ ΟΡΑΣΗΣ Νικόλαος Κυριακούλης *, Ευάγγελος Καρακάσης, Αντώνιος Γαστεράτος, Δημήτριος Κουλουριώτης, Σπυρίδων Γ. Μουρούτσος Δημοκρίτειο
Διαβάστε περισσότερα[1-3] : [12-13] [4-5] x ( H K x x ) + x ( H K y y ) H +w=u s t ( 1) ; :H ;K x K y x y ;w ;u s ;t [6] (2) [7] KH+MH t=q (2) :K ;M ;Q ;H ;H
25 3 20125 ChinaJournalofHighwayandTransport Vol.25 No.3 May2012 :1001-7372(2012)03-0059-06 ( 410004) : : ; ; : ; ; ; ; :U416.14 :A DevelopingLawofTransientSaturatedAreasofHighwaySlope UnderRainfalConditions
Διαβάστε περισσότεραArbitrage Analysis of Futures Market with Frictions
2007 1 1 :100026788 (2007) 0120033206, (, 200052) : Vignola2Dale (1980) Kawaller2Koch(1984) (cost of carry),.,, ;,, : ;,;,. : ;;; : F83019 : A Arbitrage Analysis of Futures Market with Frictions LIU Hai2long,
Διαβάστε περισσότεραAN RFID INDOOR LOCATION ALGORITHM BASED ON FUZZY NEURAL NETWORK MODEL. J. Sys. Sci. & Math. Scis. 34(12) (2014, 12),
½ ³ J. Sys. Sci. & Math. Scis. 34(12) (2014, 12), 1438 1450 µ Ñ RFID Ô À (»Ì ÖÚ, Å À ºÓ Ê Â, Å 300071; Ä Õ Ì, Å 300300) Á (Ä Õ Ì, Å 300300) ÚÍ FNN RFID Ò ĐÓ IPS, ÒÇ Ú Í RFID Đ Ó Ù, Ù ½ ² Ë «, Á Å ÈÀ ß
Διαβάστε περισσότεραHomomorphism in Intuitionistic Fuzzy Automata
International Journal of Fuzzy Mathematics Systems. ISSN 2248-9940 Volume 3, Number 1 (2013), pp. 39-45 Research India Publications http://www.ripublication.com/ijfms.htm Homomorphism in Intuitionistic
Διαβάστε περισσότεραComparison of carbon-sulfur and carbon-amine bond in therapeutic drug: -S-aromatic heterocyclic podophyllum derivatives display antitumor activity
Comparison of carbon-sulfur and carbon-amine bond in therapeutic drug: -S-aromatic heterocyclic podophyllum derivatives display antitumor activity Jian-Long Li 1,a, Wei Zhao 1,a, Chen Zhou 1,a, Ya-Xuan
Διαβάστε περισσότερα. O 2 + 2H 2 O + 4e 4OH -
16 1 Vol 16 No 1 2010 2 ELECTROCHEMISTRY Feb 2010 1006-3471 2010 01-0060-05 * 361005 O646 A 1 2 ph > 12 5 2-3 5-7 ph Fe Fe 2 + + 2e Cl - 4 O 2 + 2H 2 O + 4e 4OH - Cl - CO 2 / 8 Cl - CO 2 H 2 O O 2 9-10
Διαβάστε περισσότεραCollege of Life Science, Dalian Nationalities University, Dalian , PR China.
Electronic Supplementary Material (ESI) for New Journal of Chemistry. This journal is The Royal Society of Chemistry and the Centre National de la Recherche Scientifique 2018 Postsynthetic modification
Διαβάστε περισσότεραΤΟ ΜΟΝΤΕΛΟ Οι Υποθέσεις Η Απλή Περίπτωση για λi = μi 25 = Η Γενική Περίπτωση για λi μi..35
ΑΡΙΣΤΟΤΕΛΕΙΟ ΠΑΝΕΠΙΣΤΗΜΙΟ ΘΕΣΣΑΛΟΝΙΚΗΣ ΣΧΟΛΗ ΘΕΤΙΚΩΝ ΕΠΙΣΤΗΜΩΝ ΤΜΗΜΑ ΜΑΘΗΜΑΤΙΚΩΝ ΠΡΟΓΡΑΜΜΑ ΜΕΤΑΠΤΥΧΙΑΚΩΝ ΣΠΟΥΔΩΝ ΤΟΜΕΑΣ ΣΤΑΤΙΣΤΙΚΗΣ ΚΑΙ ΕΠΙΧΕΙΡΗΣΙΑΚΗΣ ΕΡΕΥΝΑΣ ΑΝΑΛΥΣΗ ΤΩΝ ΣΥΣΧΕΤΙΣΕΩΝ ΧΡΕΟΚΟΠΙΑΣ ΚΑΙ ΤΩΝ
Διαβάστε περισσότεραSlide D-FLOW 8km. 13a. 400mm / d
22 2 2011 6 The Chinese Journal of Geological Hazard and Control Vol. 22 No. 2 Jun. 2011 1 1 1 2 1. 361005 2. 423037 1003-8035 2011 02-0108-07 TU457 A 0 10 ANSYS10. 0 1-9 2-3 Slide5. 0 9 1 2D-FLOW 8km
Διαβάστε περισσότεραMOTROL. COMMISSION OF MOTORIZATION AND ENERGETICS IN AGRICULTURE 2014, Vol. 16, No. 5,
MOTROL. COMMISSION OF MOTORIZATION AND ENERGETICS IN AGRICULTURE 2014, Vol. 16, No. 5, 3 14 -, :., 83, 66404 e-mail: chupinvr@istu.irk.ru...,,., -,.,. :,,,,,, -, - [1].,.., [2, 3].,.,,,.,,, [4, 5].,..1.
Διαβάστε περισσότεραES440/ES911: CFD. Chapter 5. Solution of Linear Equation Systems
ES440/ES911: CFD Chapter 5. Solution of Linear Equation Systems Dr Yongmann M. Chung http://www.eng.warwick.ac.uk/staff/ymc/es440.html Y.M.Chung@warwick.ac.uk School of Engineering & Centre for Scientific
Διαβάστε περισσότεραLUO, Hong2Qun LIU, Shao2Pu Ξ LI, Nian2Bing
2003 61 3, 435 439 ACTA CHIMICA SINICA Vol 61, 2003 No 3, 435 439 2 ΞΞ ( 400715), 2, 2, 2, 3/ 2 2,, 2,, Ne w Methods for the Determination of the Inclusion Constant between Procaine Hydrochloride and 2Cyclodextrin
Διαβάστε περισσότεραAreas and Lengths in Polar Coordinates
Kiryl Tsishchanka Areas and Lengths in Polar Coordinates In this section we develop the formula for the area of a region whose boundary is given by a polar equation. We need to use the formula for the
Διαβάστε περισσότεραAutonomous navigation control for mobile robots based on emotion and environment cognition
25 6 2008 12 : 1000 8152(2008)06 0995 06 Control Theory & Applications Vol. 25 No. 6 Dec. 2008 1,2, 2 (1., 200237; 2., 310018) :,., ART2,.,.,,. : ; ; ; ART2 ; ; : TP242 : A Autonomous navigation control
Διαβάστε περισσότερα2002 Journal of Software
Vol13, No2 2002 Journal of Software 1000-9825/2002/13(02)0250-08,,, (, 110004) E-mail: {wanggr,yuge}@mailneueducn http://wwwneueducn :,,, : ; ; ; : TP311 : A,,,,, :(1),(2),,, [1],, [2],, : ; ;,, [3] 4
Διαβάστε περισσότεραSchedulability Analysis Algorithm for Timing Constraint Workflow Models
CIMS Vol.8No.72002pp.527-532 ( 100084) Petri Petri F270.7 A Schedulability Analysis Algorithm for Timing Constraint Workflow Models Li Huifang and Fan Yushun (Department of Automation, Tsinghua University,
Διαβάστε περισσότεραReading Order Detection for Text Layout Excluded by Image
19 5 JOURNAL OF CHINESE INFORMATION PROCESSING Vol119 No15 :1003-0077 - (2005) 05-0067 - 09 1, 1, 2 (11, 100871 ; 21IBM, 100027) :,,, PMRegion,, : ; ; ; ; :TP391112 :A Reading Order Detection for Text
Διαβάστε περισσότεραControl Theory & Applications. Lyapunov. : (intelligent transportation system, ITS),
27 12 2010 12 : 1000 8152(2010)12 1669 05 Control Theory & Applications Vol. 27 No. 12 Dec. 2010 Lyapunov,, (, 400044) : (intelligent transportation system, ITS),.,, (full velocity difference, FVD), Lyapunov.
Διαβάστε περισσότεραΣτοιχεία εισηγητή Ημερομηνία: 10/10/2017
Θέμα μεταπτυχιακής διατριβής: Λογισμικά μελέτης και σχεδίασης ρομποτικών συστημάτων - συγκρτική μελέτη και εφαρμογές. 1) Μελέτη των δημοφιλών λογισμικών σχεδίασης ρομποτικών συστημάτων VREP και ROS. 2)
Διαβάστε περισσότεραQuantum dot sensitized solar cells with efficiency over 12% based on tetraethyl orthosilicate additive in polysulfide electrolyte
Electronic Supplementary Material (ESI) for Journal of Materials Chemistry A. This journal is The Royal Society of Chemistry 2017 Supplementary Information (SI) Quantum dot sensitized solar cells with
Διαβάστε περισσότεραNumerical Analysis FMN011
Numerical Analysis FMN011 Carmen Arévalo Lund University carmen@maths.lth.se Lecture 12 Periodic data A function g has period P if g(x + P ) = g(x) Model: Trigonometric polynomial of order M T M (x) =
Διαβάστε περισσότεραExpansion formulae of sampled zeros and a method to relocate the zeros
Vol., No., /7 29 Expansion formulae of sampled zeros and a method to relocate the zeros Takuya SOGO It is known that the transfer function of sampled-data system has so-called intrinsic and discretization
Διαβάστε περισσότεραHDD. Point to Point. Fig. 1: Difference of time response by location of zero.
Trajectory Tracking Control using Two-degree-of-freedom Control Based on Zero-Phase-Minimum-Phase Function Factorization for Nonminimum-Phase Continuous-Time System T. Shiraishi and H. Fujimoto (The University
Διαβάστε περισσότεραAdaptive compensation control for a piezoelectric actuator exhibiting rate-dependent hysteresis Y. Ueda, F. Fujii (Yamaguchi Univ.
ThD2-4 Adaptive compensation control for a piezoelectric actuator exhibiting rate-dependent hysteresis Y. Ueda, F. Fujii (Yamaguchi Univ. ) Abstract For realization of the precise positioning control of
Διαβάστε περισσότεραRapid determination of soluble reactive silicate in seawater by flow injection analysis with spectrophotometric detection and its application
31 5 2011 5 Acta Scientiae Circumstantiae Vol 31 No 5 May 2011 2011 - J 31 5 935-940 Huang Y M Yuan D X Peng Y Z et al 2011 Rapid determination of soluble reactive silicate in seawater by flow injection
Διαβάστε περισσότεραArea Location and Recognition of Video Text Based on Depth Learning Method
21 6 2016 12 Vol 21 No 6 JOURNAL OF HARBIN UNIVERSITY OF SCIENCE AND TECHNOLOGY Dec 2016 1 1 1 2 1 150080 2 130300 Gabor RBM OCR DOI 10 15938 /j jhust 2016 06 012 TP391 43 A 1007-2683 2016 06-0061- 06
Διαβάστε περισσότεραResearch on divergence correction method in 3D numerical modeling of 3D controlled source electromagnetic fields
33 4 04 GLOBAL GEOLOGY Vol. 33 No. 4 Dec. 04 004 5589 04 04 096 09. 3006. 30070 P63. 35 A doi 0. 3969 /j. issn. 0045589. 04. 04. 0 Research on divergence correction method in 3D numerical modeling of 3D
Διαβάστε περισσότεραMIDI [8] MIDI. [9] Hsu [1], [2] [10] Salamon [11] [5] Song [6] Sony, Minato, Tokyo , Japan a) b)
1,a) 1,b) 1,c) 1. MIDI [1], [2] U/D/S 3 [3], [4] 1 [5] Song [6] 1 Sony, Minato, Tokyo 108 0075, Japan a) Emiru.Tsunoo@jp.sony.com b) AkiraB.Inoue@jp.sony.com c) Masayuki.Nishiguchi@jp.sony.com MIDI [7]
Διαβάστε περισσότεραROBOT. Dynamic Model Based Motor Control for Wheeled Mobile Robots
3 4 8 7 ROBOT Vo.3, No.4 Juy, 8-446(8)4-36-7, 8 9 DMMC I DMMC TP49 A Dynamic Mode Based Motor Contro for Wheeed Mobie Robots CHEN Xiao-peng,, LI Cheng-rong, LI Gong-yan, LUO Yang-yu (. Beijing Institute
Διαβάστε περισσότεραResearch on explaining porosity in carbonate reservoir by capture cross section method
33 4 2014 12 GLOBAL GEOLOGY Vol. 33 No. 4 Dec. 2014 1004-5589 2014 04-0875 - 05 1 2 1 2 1. 130026 2. 830011 PND SIGMA CATO SIGMA CNL 0. 91 SIGMA CATO P631. 325 A doi 10. 3969 /j. issn. 1004-5589. 2014.
Διαβάστε περισσότεραSoil-water characteristics and pore-size distribution of lateritic clay
DOI10.11779/CJGE201502020 3 10 MPa 10 MPa TU43 A 10004548(2015)02035106 (1962 )E-mail: sundean@shu.edu.cn Soil-water characteristics and pore-size distribution of lateritic clay SUN De-an 1, 2, GAO You
Διαβάστε περισσότεραMulti-objective design of control chart for short-run production
30 3 2015 6 JOURAL OF SYSTEMS EGIEERIG Vol.30 o.3 Jun. 2015 1,2,3, 1,2,3, 1,2,3 (1., 710049; 2., 710049; 3., 710049) : X.,., ;,. : ; ; ; : F253.3 : A : 1000 5781(2015)03 0297 09 doi: 10.13383/j.cnki.jse.2015.03.002
Διαβάστε περισσότεραEulerian Simulation of Large Deformations
Eulerian Simulation of Large Deformations Shayan Hoshyari April, 2018 Some Applications 1 Biomechanical Engineering 2 / 11 Some Applications 1 Biomechanical Engineering 2 Muscle Animation 2 / 11 Some Applications
Διαβάστε περισσότερα