簡(jiǎn)介：英文原文英文原文PRACTICALNEURALNETWORKAPPLICATIONSINTHEMININGINDUSTRYLMILLERTAIT,RPAKALNISDEPARTMENTOFMININGANDMINERALPROCESSENGINEERING,UNIVERSITYOFBRITISHCOLUMBIA,VANCOUVER,BC,CANADAABSTRACTTHEMININGINDUSTRYRELIESHEAVILYUPONEMPIRICALANALYSISFORDESIGNANDPREDICTIONNEURALNETWORKSARECOMPUTERPROGRAMSTHATUSEPARALLELPROCESSING,SIMILARTOTHEHUMANBRAIN,TOANALYZEDATAFORTRENDSANDCORRELATIONTWOPRACTICALNEURALNETWORKAPPLICATIONSINTHEMININGINDUSTRYWOULDBEROCKBURSTPREDICTIONANDSTOPEDILUTIONESTIMATESTHISPAPERSUMMARIZESNEURALNETWORKDATAANALYSISRESULTSFORA1995GOLDCORP/CANMETSTUDYONROCKBURSTINGANDA1986UBC/CANMETSTUDYONOPENSTOPEDILUTIONATTHERUTTANMINE1INTRODUCTIONMANYASPECTSOFMINEDESIGNAREBASEDUPONEMPIRICALDATANEURALNETWORKSANALYZEDATAANDPREDICTIONSBASEDONPREVIOUSRESULTSNEURALNETWORKSHAVEADVANTAGESOVERCONVENTIONALEMPIRICALDESIGNAPPROACHESTHESEADVANTAGESINCLUDE?NEURALNETWORKSCANEASILYUSEMULTIPLEINPUTSTOANALYZEDATA?BYUSINGMULTIPLEHIDDENLAYERSANDNODESNEURALNETWORKSINVESTIGATETHECOMBINEDINFLUENCEOFINPUTS?NEURALNETWORKSCANBEEASILYRETRAINEDASNEWDATABECOMESAVAILABLEMAKINGTHEMAMOREDYNAMICANDFLEXIBLEEMPIRICALESTIMATIONAPPROACH?NEURALNETWORKSOFTWAREISINEXPENSIVEANDEASYTOUSE?NEURALNETWORKSHAVEDEMONSTRATEDAMOREACCURATEEMPIRICALESTIMATEOVERCONVENTIONALMETHODSTHEADVANTAGESOFUSINGNEURALNETWORKSAREILLUSTRATEDINAROCKBURSTPREDICTIONEXAMPLEANDANOPENSTOPEDILUTIONEXAMPLE2ROCKBURSTPREDICTIONTHEFIRSTEXAMPLEOFAPOTENTIALSITUATIONWHERENEURALNETWORKSCOULDBEUSEFULINTHEMININGINDUSTRYISTHEPREDICTIONOFROCKBURSTSTHROUGHPHYSICALINPUTSTOQUOTEDIRECTLYFROMTHEONTARIOMINISTRYOFLABOR“WEDONOTHAVETHEABILITYTOPREDICTWHENANDWHEREROCKBURSTSWILLOCCUR,ANDTHEEXPERTSINTHEFIELDAGREETHATWEARENOTCLOSETOMAKESUCHPREDICTIONS”1BETWEEN1984AND1993EIGHTUNDERGROUNDMINERSWEREKILLEDINONTARIODUETOROCKBURSTSTHISACCOUNTEDFOR?JWJOINTWATERREDUCTIONFACTOR?SRFSTRESSREDUCTIONFACTORTHEACTUALQFORMULAISQRQD/JNJR/JAJW/SRFTHEJW/SRFFACTORWASASSUMEDTOBE10FORTHISSTUDYBECAUSEDRYCONDITIONSAREASSUMEDSTRESSISFACTOREDTHROUGHMODELLINGANDSTRAINMEASUREMENTSTHEQFACTORRANGESONALOGARITHMICSCALERANGINGFROM0001TO1,000WHERE0001ISEXTREMELYPOORROCKAND1,000ISVIRTUALLYPERFECTROCKSPAN5THEMEANINGOFSPANREFERSTOTHEWIDTHOFANUNDERGROUNDOPENINGINPLANVIEWSPANCANBEDETERMINEDTHROUGHTHELARGESTDIAMETEROFACIRCLEWITHINANUNDERGROUNDEXCAVATIONSRF’2REFERSTOTHEADJUSTINGOFRMRVALUESRELATIVETOSTRESSRATIOSANDPREVIOUSHISTORYOFGROUNDCONDITIONSITDOESNOTREFERDIRECTLYTOSRFUSEDINTHECALCULATIONOFQSTRESSCRITERIAISBASEDUPONTHERATIOOFINDUCEDSTRESSOVERUNCONFINEDCOMPRESSIVESTRENGTHUCSOFTHEROCK22OUTPUTFACTORSBURSTREFERSTOASTOPEINWHICHAROCKBURSTHASOCCURREDAROCKBURSTISANINSTANTANEOUSROCKFAILUREINORABOUTANEXCAVATEDAREACHARACTERIZED/ACCOMPANIEDBYASHOCKORTREMORINTHESURROUNDINGROCKPUNRFREFERSTOPOTENTIALLYUNSTABLEGROUNDWITHRESPECTTOAROOFFALLASTOPEISCONSIDEREDPOTENTIALLYUNSTABLEIFANYOFTHEFOLLOWINGCONDITIONSOCCUR2?THEOPENINGMAYEXHIBITSTRONGDISCONTINUITIESHAVINGORIENTATIONSTHATFORMPOTENTIALWEDGESINTHEBACK?EXTRAGROUNDSUPPORTMAYHAVEBEENINSTALLEDTOPREVENTAPOTENTIALFALLOFGROUND?INSTRUMENTATIONINSTALLEDINTHESTOPEHASRECORDEDCONTINUINGMOVEMENTOFTHESTOPEBACK?THEREMAYBEANINCREASEDFREQUENCYOFGROUNDWORKINGORSCALINGPUNGWREFERSTOASTOPECONSIDEREDPOTENTIALLYUNSTABLEDUETOTHELIKELIHOODOFAGROUNDWEDGEFAILURETHISISASUBSETOFPUNRFCOLLECTEDSEPARATELYTOIDENTIFYAREASWHEREJOINTINGMAYRESULTINWEDGEFAILURESCAVEREFERSTOWHENUNCONTROLLEDGROUNDFAILURESRESULTINCAVING3NEURALNETWORKANALYSISTHEABOVEINPUTSANDOUTPUTSWERERUNONANEURALNETWORKTOSEEIFANEURALNETWORKCOULDPREDICTRESULTSFROMTHEINPUTDATAANDALSOTOSEEWHICHINPUTSHADTHEGREATESTEFFECTONOUTPUTPREDICTIONATWOLAYERNETWORKCONSISTINGOF13NODESWASRUNFOR10105CYCLESREACHINGA169PERCENTERRORSEVENTYTHREEOBSERVATIONSWEREUSEDTOTRAINTHENETWORKTHEREMAINING15OBSERVATIONSWEREUSEDTOTESTTHE

簡(jiǎn)介：I本科畢業(yè)設(shè)計(jì)（論計(jì)（論文）文）學(xué)院生物與環(huán)境工程學(xué)院專業(yè)環(huán)境工程學(xué)生姓名班級(jí)學(xué)號(hào)指導(dǎo)教師IIIABSTRACTWITHTHEACCELERATIONOFINDUSTRIALIZATION,THEOUTPUTOFWASTEWATERISINCREASINGOBVIOUSLYTOGETBASICCONTROLOFTHEAGGRAVATINGENVIRONMENTALPOLLUTIONANDECOLOGICALDESTRUCTION,WENEEDTOTAKECOMPREHENSIVEMEASURESTOPREVENTANDTREATTHEINDUSTRIALWASTEWATERPOLLUTIONINORDERTOFACILITATETHECOMPREHENSIVEMANAGEMENTOFINDUSTRIALWASTEWATER,MANUFACTUREISGRADUALLYTRANSFORMINGFROMDECENTRALIZATIONTOCENTRALIZATIONNOW,THEVERYPOPULARPRACTICEISDEVELOPINGINDUSTRIALPARKS,THENMIGRATETHEINDUSTRIALENTERPRISESTOITWEBUILTPUBLICSEWAGETREATMENTPLANTSINTHEPARK,ANDDISPOSEINDUSTRIALWASTEWATERFROMDIFFERENTENTERPRISESCENTRALLYAFTERPRETREATMENTTOSOLVETHEINTRACTABLETREATMENTOFINDUSTRIALWASTEWATERANDINCREASINGLYSERIOUSWATERPOLLUTIONANDWATERSHORTAGEPROBLEMTHEREAREDIFFERENTKINDSOFINDUSTRIESINTHEPARK,ANDTHEWASTEWATERFROMDIFFERENTINDUSTRIESCONTAINSVARIOUSPOLLUTANTSANDTHEPOLLUTIONLEVELSAREDIFFERENTSO,BEFORETHEDESIGNOFSEWAGETREATMENTININDUSTRIALPARK,THEDESIGNERTAKESTHEFIRMSIZE,THECOMPANYPROPERTY,THEAREAOFTHEPARK,THEPLANNINGREQUIREMENTS,SEWAGECHARACTERISTICSANDWATERTREATMENTTECHNOLOGYINTOCONSIDERATION,DECIDEDTOADOPTSEQUENCINGBATCHREACTORACTIVATEDSLUDGEPROCESSTHEPROCESSCHANGETHETRADITIONALAERATIONTANK,SETTLINGTANKFROMTHESPATIALDISTRIBUTIONTOTHEDISTRIBUTIONOFTHETIME,ITFORMSINTENSIVEINTEGRATIONSTRUCTURES,ANDHELPTOACHIEVEACOMPACTLAYOUTMODULE,THEBIGGESTADVANTAGEISSAVINGAREAINADDITION,ITREDUCESTHESLUDGERECYCLEFLOWRATEANDITISENERGYSAVINGATYPICALSBRPROCESSSTOPSWATERWHENSEDIMENT,STATICPRECIPITATIONCANGETHIGHEREFFICIENCYANDBETTERWATERQUALITYTHEREFORE,THISDESIGNCHOOSESTHESBRPROCESSASTHEINDUSTRIALPARKWASTEWATERTREATMENTPLANTTECHNOLOGYPROGRAMKEYWORDSINDUSTRIALPARKWASTEWATERTREATMENTSBRPROCESSACTIVATEDSLUDGE

簡(jiǎn)介：中文中文3452字出處出處CATALYSISTODAY,1999,53139CATALYTICSTRATEGIESFORINDUSTRIALWATERREUSEFEHANCOCKSYNETIX,BILLINGHAM,CLEVELAND,TS231LB,UKABSTRACTTHEUSEOFCATALYTICPROCESSESINPOLLUTIONABATEMENTANDRESOURCERECOVERYISWIDESPREADANDOFSIGNIFICANTECONOMICIMPORTANCERJFARRAUTO,CHBARTHOLOMEW,FUNDAMENTALSOFINDUSTRIALCATALYTICPROCESSES,BLACKIEACADEMICANDPROFESSIONAL,1997FORWATERRECOVERYANDREUSECHEMOCATALYSISISONLYJUSTSTARTINGTOMAKEANIMPACTALTHOUGHBIOCATALYSISISWELLESTABLISHEDJNHORAN,BIOLOGICALWASTEWATERTREATMENTSYSTEMSTHEORYANDOPERATION,CHICHESTER,WILEY,1990THISPAPERWILLDISCUSSSOMEOFTHEPRINCIPLESBEHINDDEVELOPINGCHEMOCATALYTICPROCESSESFORWATERREUSEWITHINTHISCONTEXTOXIDATIVECATALYTICCHEMISTRYHASMANYOPPORTUNITIESTOUNDERPINTHEDEVELOPMENTOFSUCCESSFULPROCESSESANDMANYEMERGINGTECHNOLOGIESBASEDONTHISCHEMISTRYCANBECONSIDEREDKEYWORDSCODREMOVALCATALYTICOXIDATIONINDUSTRIALWATERTREATMENT1INTRODUCTIONINDUSTRIALWATERREUSEINEUROPEHASNOTYETSTARTEDONTHELARGESCALEHOWEVER,WITHPOTENTIALLONGTERMCHANGESINEUROPEANWEATHERANDTHENEEDFORMOREWATERABSTRACTIONFROMBOREHOLESANDRIVERS,THEAVAILABILITYOFWATERATLOWPRICESWILLBECOMEINCREASINGLYRAREASWATERPRICESRISETHEREWILLCOMEAPOINTWHENTECHNOLOGIESTHATEXISTNOWORAREBEINGDEVELOPEDWILLMAKEWATERRECYCLEANDREUSEAVIABLECOMMERCIALOPERATIONASTHATFUTUREAPPROACHES,ITISWORTHSTATINGTHEMOSTIMPORTANTFACTABOUTWASTEWATERIMPROVEMENT–AVOIDITCOMPLETELYIFATALLPOSSIBLEITISBESTTOCONSIDERWATERNOTASANATURALLYAVAILABLECHEAPSOLVENTBUTRATHER,DIFFICULTTOPURIFY,EASILYCONTAMINATEDMATERIALTHATIFALLOWEDINTOTHEENVIRONMENTWILLPERMEATEALLPARTSOFTHEBIOSPHEREAPOLLUTANTISJUSTAMATERIALINTHEWRONGPLACEANDTHEREFOREDESIGNYOURPROCESSTOKEEPTHEMATERIALWHEREITSHOULDBE–CONTAINEDANDSAFEAVOIDANCEANDTHENMINIMISATIONARETHETWOFIRSTSTEPSINLOOKINGATANYPOLLUTANTREMOVALPROBLEMOFCOURSEAVOIDANCEMAYNOTBEANOPTIONONANEXISTINGPLANTWHEREANYCHANGESMAYHAVELARGECONSEQUENCESFORPLANTITEMSIFMAJORFLOWSHEETREVISIONWEREREQUIREDALSOAVOIDANCEMAYMEANSIMPLYTRANSFERRINGTHEISSUEFROMTHEAQUEOUSPHASETOTHEGASPHASETHEREAREADVANTAGESANDDISADVANTAGESTOBOTHWATERANDGASPOLLUTANTABATEMENTHOWEVER,ITMUSTBEREMEMBEREDTHATGASPHASEORGANICPOLLUTANTREMOVALVOCCOMBUSTIONETC,ISMUCHMOREADVANCEDTHANTHEEQUIVALENTWATERCODREMOVALANDTHEREFOREWORTHCONSIDERATION1BECAUSETHESEASPECTSCANNOTBEOVEREMPHASISED，ATHIRDSTEPSCRUBBINGISTHEUSUALMETHODANDTHISPRODUCESASIGNIFICANTWATEREFFLUENTDISPOSALPROBLEM24PHARMACEUTICALSANDAGROCHEMICALSTHESEINDUSTRIESCANHAVEWATERWASHSTEPSINSYNTHESISBUTINADDITIONTHEYAREOFTENFORMULATEDWITHWATERBASEDSURFACTANTSORWETTINGAGENTS25FOODSANDBEVERAGESCLEARLYUSEWATERINPROCESSINGANDCODANDBODISSUESWILLBETHEENDRESULT26PULPANDPAPERTHISINDUSTRYUSESVERYLARGEQUANTITIESOFWATERFORPROCESSING–AQUEOUSPEROXIDEANDENZYMESFORBLEACHINGINADDITIONTOTHESTANDARDKRAFTTYPEPROCESSINGOFTHEPULPITISIMPORTANTTOREALISEHOWMUCHHUMANSOCIETYCONTRIBUTESTOCONTAMINATEDWATERANDANINVESTIGATIONOFTHEFLOWRATESTHROUGHMUNICIPALTREATMENTPLANTSSOONSHOWSTHESIGNIFICANCEOFNONPROCESSINDUSTRYDERIVEDWASTEWATER3THETECHNOLOGIESTHETECHNOLOGIESFORRECALCITRANTCODANDTOXICPOLLUTANTSINAQUEOUSEFFLUENTARESHOWNINFIG2THESEEXAMPLESOFTECHNOLOGIES2,6,8AVAILABLEORINDEVELOPMENTCANBECATEGORISEDACCORDINGTOTHEGENERALPRINCIPLEUNDERLYINGTHEMECHANISMOFACTIONIFINADDITIONTHEADSORPTIONABSORPTIONPROCESSESAREIGNOREDFORTHISCATALYSISDISCUSSIONTHENTHECATEGORIESARE1BIOCATALYSIS2AIR/OXYGENBASEDCATALYTICORNONCATALYTIC3CHEMICALOXIDATION1WITHOUTCATALYSISUSINGCHEMICALOXIDANTS2WITHCATALYSISUSINGEITHERTHEGENERATIONOF_OHORACTIVEOXYGENTRANSFERBIOCATALYSISISANEXCELLENTTECHNOLOGYFORMUNICIPALWASTEWATERTREATMENTPROVIDINGAVERYCOSTEFFECTIVEROUTEFORTHEREMOVALOFORGANICSFROMWATERITISCAPABLEOFMUCHDEVELOPMENTVIATHEUSEOFDIFFERENTTYPESOFBACTERIATOINCREASETHEOVERALLFLEXIBILITYOFTHETECHNOLOGYONEISSUEREMAINS–WHATTODOWITHALLTHEACTIVATEDSLUDGEEVENAFTERMASSREDUCTIONBYDEWATERINGTHEQUANTITIESINVOLVEDMEANTHATTHISISNOTANEASYPROBLEMTOSOLVEANDREUSEASAFERTILIZERCANONLYUSESOMUCHTHESLUDGECANBETOXICVIAABSORPTIONOFHEAVYMETALS,RECALCITRANTTOXICCODINTHISCASEINCINERATIONANDSAFEDISPOSALOFTHEASHTOACCEPTABLELANDFILLMAYBEREQUIREDAIRBASEDOXIDATION6,7ISVERYATTRACTIVEBECAUSEPROVIDINGPURERGRADESOFOXYGENARENOTREQUIREDIFTHEOXIDANTISFREEUNFORTUNATELY,ITISONLYSLIGHTLYSOLUBLEINWATER,RATHERUNREACTIVEATLOWTEMPERATURESAND,THEREFORE,NEEDSHEATANDPRESSURETODELIVERREASONABLERATESOFREACTIONTHESEPLANTSBECOMECAPITALINTENSIVEASPRESSURESFROM_10TO100BARAREUSEDTHEREFORE,ALTHOUGHTHERUNNINGCOSTSMAYBELOWTHEINITIALCAPITALOUTLAYONTHEPLANTHASAVERYSIGNIFICANTEFFECTONTHE

簡(jiǎn)介：畢業(yè)設(shè)計(jì)外文資料翻譯畢業(yè)設(shè)計(jì)外文資料翻譯題目人工和工業(yè)機(jī)器人重復(fù)操作定位學(xué)院機(jī)械工程學(xué)院專業(yè)機(jī)械工程及自動(dòng)化班級(jí)學(xué)生學(xué)號(hào)指導(dǎo)教師指導(dǎo)教師二〇一四年三月三十日1INTOROBOTICSAPARTFROMSOMEESTIMATIONS,THEREWASNOEXPLICITCOMPARISONMADEBETWEENHUMANOPERATORANDADEQUATEROBOTPERFORMANCESTHEAIMOFTHISINVESTIGATIONWASTOMAKECONCISETECHNICALCOMPARISONOFROBOTANDHUMANOPERATORPERFORMANCEWITHANDWITHOUTBRACING2METHODPOSITIONREPEATABILITYTESTSWEREPERFORMEDINACCORDANCEWITHISO9283STANDARDFORMANIPULATINGINDUSTRIALROBOTS6THECUBEWITHMAXIMUMVOLUMEWASLOCATEDINTHEWORKSPACEOFTHEMOSTFREQUENTANTICIPATEDUSEFIVEPOINTSP1P5WERELOCATEDONTHEDIAGONALSOFTHESELECTEDPLANEASSHOWNINFIG1CONTACTLESSOPTOTRAK?/3010MOTIONANALYSISSYSTEMWASUSEDFORMEASURINGOFTHEACTUALPOSITIONSSEEFIG2MEASUREMENTSWERETAKENATTHEPOSESP1,P2,P3,P4ANDP5THEPOSITIONREPEATABILITYEXPRESSESTHECLOSENESSOFTHEATTAINEDPOSITIONSAFTER30REPEATEDVISITSTOTHESAMECOMMANDEDPOSITION,ASREQUIREDBYTHEISO9283STANDARDTHEREPEATABILITYISCALCULATEDBYTHEFOLLOWINGEQUATIONS1,3DSDR??2,11???NJJDND3,222ZZYYXXDJJJJ??????FIG1DEFINITIONOFTHEMEASURINGPOINTSP1P5INSIDETHEROBOTWORKSPACE

簡(jiǎn)介：1中文中文7800字,4500單詞，單詞，25000英文字符英文字符出處出處SORENSENK,FISCHH,DICKERSONS,ETALAMULTIOPERATIONALMODEANTISWAYANDPOSITIONINGCONTROLFORANINDUSTRIALBRIDGECRANEJIFACPROCEEDINGSVOLUMES,2008,412881888畢業(yè)設(shè)計(jì)畢業(yè)設(shè)計(jì)論文論文外文資料翻譯外文資料翻譯學(xué)院專業(yè)班級(jí)機(jī)械設(shè)計(jì)制造及其自動(dòng)化學(xué)生姓名學(xué)號(hào)指導(dǎo)教師外文出處IFACPROCEEDINGSVOLUMES附件1外文資料翻譯譯文；2外文原文3PROCEEDINGSOFTHE17THWORLDCONGRESSTHEINTERNATIONALFEDERATIONOFAUTOMATICCONTROLSEOUL,KOREA,JULY611,2008一種工業(yè)橋式起重機(jī)的多工作模式防搖與定位控制一種工業(yè)橋式起重機(jī)的多工作模式防搖與定位控制KHALIDSORENSEN?HANNASFISCH??STEVEDICKERSON???WILLIAMSINGHOSE?URSGLAUSER??摘要摘要用鋁板制造的30噸工業(yè)橋式起重機(jī)配備了一套起重機(jī)操縱系統(tǒng)，能夠?qū)崿F(xiàn)自由擺動(dòng)運(yùn)動(dòng)、抗干擾和精確定位。在抗搖擺、定位和起重機(jī)控制的這些領(lǐng)域里，先前的研究中取得了非常重要的貢獻(xiàn)。這些進(jìn)步被結(jié)合到這里描述的統(tǒng)一起重機(jī)操縱系統(tǒng)中。提供了該系統(tǒng)的概述，以及實(shí)驗(yàn)結(jié)果以及人工操作者如何使用起重機(jī)的描述。關(guān)鍵詞關(guān)鍵詞輸入整形，指令整形，起重機(jī)控制，防搖擺，反饋控制，機(jī)器視覺(jué)1介紹介紹起重機(jī)使用于世界各地的成千上萬(wàn)的造船廠,建筑工地、鋼廠、倉(cāng)庫(kù)、核能和廢物貯存設(shè)施,以及其他工業(yè)園區(qū)。這些結(jié)構(gòu)的安全、高效運(yùn)動(dòng)是工業(yè)生產(chǎn)力的一個(gè)重要貢獻(xiàn)。起重機(jī)可能對(duì)安全和高效運(yùn)動(dòng)產(chǎn)生不利影響的重要性能是起重機(jī)有效載荷傾向于擺動(dòng)。外部干擾，例如風(fēng)、命令運(yùn)動(dòng)，可能導(dǎo)致顯著的有效載荷擺動(dòng)。有效載荷擺動(dòng)使得精確定位對(duì)于操作者來(lái)說(shuō)是耗時(shí)的；此外，當(dāng)有效載荷或周圍障礙物具有危險(xiǎn)或脆弱性質(zhì)時(shí)，有效載荷擺動(dòng)可能存在安全隱患。起重機(jī)的廣泛使用，加上需要減少不希望的振蕩，已經(jīng)推動(dòng)了大量的研究。在1）運(yùn)動(dòng)誘導(dǎo)振蕩降低，2）擾動(dòng)抑制，3）定位能力，4）有效載荷擺動(dòng)檢測(cè)以及5）操作員界面設(shè)計(jì)方面已經(jīng)取得了顯著進(jìn)步。每個(gè)這些領(lǐng)域的進(jìn)步已被合并成一個(gè)統(tǒng)一的起重機(jī)操縱系統(tǒng)（CMS）。CMS的實(shí)用性在于它為操作者提供了產(chǎn)生安全和有效的無(wú)擺動(dòng)運(yùn)動(dòng)以及精確定位能力的方法。本文介紹了CMS的組件，以及在30噸工業(yè)橋式起重機(jī)上實(shí)施該系統(tǒng)。這臺(tái)起重機(jī)位于洛根鋁業(yè)，一家領(lǐng)先的鋁板產(chǎn)品制造商。在第2節(jié)，介紹了LOGAN起重機(jī)及其動(dòng)態(tài)行為。第3節(jié)提供了CMS的概述以及該系統(tǒng)如何集成到LOGAN起重機(jī)中。在配備有CMS的LOGAN起重機(jī)上進(jìn)行的性能實(shí)驗(yàn)的結(jié)果在4節(jié)中給出。2系統(tǒng)介紹系統(tǒng)介紹圖1顯示了30噸洛根起重機(jī)的照片。手推車沿著橋跨過(guò)大約30米的距離。同樣，橋可以沿著固定軌道移動(dòng)大約50米的距離。吊鉤懸掛在手推車下方。在操作過(guò)程中，吊纜長(zhǎng)度在3至10米之間變化。

簡(jiǎn)介：COFINANCéPARL′UNIONEUROPéENNEFEDERLACOMMISSIONEUROPéENNEINVESTITDANSVOTREAVENIRWORDMOGELIJKGEMAAKTDOORFINANCI?LESTEUNVANDEREUROPESEUNIEEFRODEEUROPESECOMMISSIEINVESTEERTINUWTOEKOMSTFUTUREOFAUTOMOTIVEDESIGNTHEOTHERSBEINGVEHICLEEFFICIENCY,ELECTRICMOBILITY,‘SMARTMOBILITY’ANDMANUFACTURING其余為“車輛的使用效率”，“電動(dòng)交通”，“智能移動(dòng)”和“制造業(yè)與物流”。THESEFIELDSOFACTIONREPRESENTTHESTRENGTHSOFTHEDUTCHAUTOMOTIVESECTORANDTHEAREASTHATAREVITALFORFUTUREAUTOMOTIVEDEVELOPMENTTOSHINEALIGHTONTHEFUTURETHEATCHASTAKENTHEINITIATIVETOPRODUCETRENDSTUDIESONEACHOFTHESEFIVEFIGURE1BMWVISIONEFFICIENTDYNAMICS寶馬高效動(dòng)力SUBJECTSTHISREPORTCONCLUDESTHERANGETHEOTHERREPORTSAREAVAILABLEATTHEATC這些行動(dòng)領(lǐng)域所代表的荷蘭汽車領(lǐng)域的優(yōu)勢(shì)，而且對(duì)未來(lái)汽車發(fā)展至關(guān)重要。為了照亮未來(lái)，汽車技術(shù)中心已主動(dòng)作出了五個(gè)領(lǐng)域趨勢(shì)研究。該報(bào)告總結(jié)范圍廣泛。其他報(bào)告可在ATC獲得。DESIGNHASBECOMEASTRONGHOLDOFTHEDUTCHECONOMYTHECREATIVEINDUSTRYINTHENETHERLANDSHASACQUIREDANINTERNATIONALPROFILEINDIFFERENTMARKETSASFURNITURE,FASHION,TVPROGRAMSANDGAMINGDUTCHDESIGNHASAMEANINGOFANEWWAYOFLOOKINGATTHINGS,DOWNTOEARTH,OUTOFTHEBOXANDOFTENWITHATOUCHOFHUMORTHENETHERLANDSHAVEMANYDESIGNEDUCATIONINSTITUTESANDDUTCHDESIGNGRADUATESHAVEFOUNDTHEIRWAYTOMAKEACAREERATINTERNATIONALAUTOMOTIVEDESIGNSTUDIOSOTHERSPUTTHEIRDESIGNCREATIVITYTOWORKINPRODUCTPLANNING,ENGINEERINGORPRODUCTMANAGEMENTNEWISTHEDESIGNOFTHEVIRTUALWORLDTHENETHERLANDSISSTRONGINGAMEDESIGNANDDESIGNOFHUMANMACHINEINTERFACEHMIDISPLAYSDESIGNISMORETHANSHAPEDESIGNISPRODUCTCREATION設(shè)計(jì)已成為荷蘭經(jīng)濟(jì)的一個(gè)重要據(jù)點(diǎn)。創(chuàng)意產(chǎn)業(yè)在荷蘭已經(jīng)獲得了國(guó)際形象，在不同的市場(chǎng)如家具，時(shí)尚，電視節(jié)目和游戲?！昂商m設(shè)計(jì)”有有意味的看事情，腳踏實(shí)地，開(kāi)箱即用，并往往帶有幽默感。荷蘭有許多的設(shè)計(jì)教育機(jī)構(gòu)與荷蘭設(shè)計(jì)的畢業(yè)生已經(jīng)找到自己的方式在國(guó)際汽車設(shè)計(jì)工作室做出一番事業(yè)。其他人把他們的設(shè)計(jì)創(chuàng)意運(yùn)用在產(chǎn)

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簡(jiǎn)介：中文5957字出處出處INTERNATIONALJOURNALOFPRECISIONENGINEERINGANDMANUFACTURINGVOL11,NO5,PP697704對(duì)移動(dòng)機(jī)械臂在其環(huán)境中使用有效質(zhì)量和阻尼控制所產(chǎn)生的脈沖接觸力進(jìn)行控制近年來(lái)，移動(dòng)機(jī)械臂被廣泛應(yīng)用在人類生活環(huán)境中所存在的各種服務(wù)機(jī)器人。在這種人口眾多的環(huán)境中，安全是最重要的因素。確實(shí)，安全人機(jī)交互是機(jī)器人研究中的一大挑戰(zhàn)。本文提出了一種通過(guò)利用優(yōu)化的機(jī)械慣性和以阻尼為基礎(chǔ)的運(yùn)動(dòng)控制來(lái)減少移動(dòng)機(jī)械臂及其工作平臺(tái)下所產(chǎn)生的脈沖接觸力的新方法。為了從無(wú)效的空間運(yùn)動(dòng)中找到最佳的配置，在慮及最低有效質(zhì)量和關(guān)節(jié)限制約束的情況下提出了合并后的潛在功能方法。這項(xiàng)研究的結(jié)果表明，慣性的優(yōu)化與阻尼控制器明顯降低了碰撞時(shí)的脈動(dòng)力和碰撞后的接觸力。1介紹移動(dòng)機(jī)械臂由一個(gè)移動(dòng)基座和一個(gè)自動(dòng)的機(jī)械手組成。相對(duì)于固定式機(jī)械手，移動(dòng)式機(jī)械手最大的優(yōu)勢(shì)是它有靈活的工作區(qū)。安置在移動(dòng)基座上的機(jī)械手的機(jī)械配置也生成了一個(gè)使操作更敏捷的額外有利系統(tǒng)。盡管這些特征使很多的應(yīng)用程序能在其上運(yùn)行，但基于其本身的構(gòu)造，移動(dòng)機(jī)械臂在控制方面仍然面臨著挑戰(zhàn)。首先，移動(dòng)機(jī)械臂的額外自由度使其操縱控制更加復(fù)雜化。其次，移動(dòng)機(jī)械臂的所有運(yùn)動(dòng)情況遠(yuǎn)比固定式的復(fù)雜得多。第三，許多應(yīng)用涉及機(jī)器人與環(huán)境的動(dòng)態(tài)交互。至此，在人類居住的環(huán)境中移動(dòng)機(jī)械臂給科學(xué)家們帶來(lái)了最前沿的安全問(wèn)題。一直以來(lái)，科學(xué)家們對(duì)于移動(dòng)控制有著大量的研究。例如，山本提出用運(yùn)動(dòng)學(xué)活動(dòng)力學(xué)的可操作性來(lái)解決移動(dòng)機(jī)械臂在運(yùn)動(dòng)規(guī)劃和分析過(guò)程中產(chǎn)生的冗余部分。哈提卜介紹了在控制機(jī)械手多余位置并提供關(guān)節(jié)限制約束的潛在領(lǐng)域。他也推薦利用移動(dòng)機(jī)械臂在操作空間上的固有動(dòng)力學(xué)特點(diǎn)的文章。另外，他分析了在其宏觀結(jié)構(gòu)中減少了的冗余機(jī)械中的慣性影響。在其他的關(guān)于移動(dòng)機(jī)械臂的研究中，零點(diǎn)彎矩作為一個(gè)移動(dòng)機(jī)械臂系統(tǒng)執(zhí)行高負(fù)載轉(zhuǎn)移任務(wù)的量度被提了出來(lái)。還有一些關(guān)于移動(dòng)機(jī)械臂在來(lái)自工作環(huán)境中未知的外部力量作用下的穩(wěn)定運(yùn)動(dòng)控制的上面所提到的許多研究研究都采納了移動(dòng)機(jī)械臂中的傳統(tǒng)固定機(jī)制的理念。有幾個(gè)在移動(dòng)機(jī)械臂控制方面的問(wèn)題需要考慮首先，移動(dòng)機(jī)械臂的移動(dòng)基座部分要比上部的機(jī)械手更重，這將導(dǎo)致移動(dòng)基座部分活動(dòng)時(shí)的反應(yīng)要比機(jī)在這項(xiàng)研究中，我們用了日本科技先進(jìn)協(xié)會(huì)的M3移動(dòng)遙控裝置。在M3移動(dòng)遙控裝置中，7個(gè)自由度的三菱PA10機(jī)械手被安置在里面。在配置了3個(gè)全方位車輪的移動(dòng)基站（如圖1）中，移動(dòng)基站的每一個(gè)車輪都分別配置有兩個(gè)發(fā)動(dòng)機(jī)來(lái)操縱和指導(dǎo)。所有的控制裝置包括CPU、分界板、伺服傳動(dòng)器和電池都被植入移動(dòng)基站。表2表明了M3移動(dòng)遙控裝置的運(yùn)動(dòng)型模型。正如表中所示，M3移動(dòng)遙控裝置的總自由度是10，操縱器有7個(gè)向外卷的接縫，移動(dòng)基站有2個(gè)棱鏡接縫和1個(gè)向外卷的接縫，DENARITHARTENBERY的參數(shù)和M3移動(dòng)機(jī)械臂的慣量特性一列在表格1中。21移動(dòng)操縱器的有效質(zhì)量對(duì)于一個(gè)移動(dòng)操縱器來(lái)說(shuō)，接縫處的慣量特性用動(dòng)能矩陣A（Q）描述，一個(gè)關(guān)于接縫變量Q的矩陣函數(shù)，當(dāng)動(dòng)態(tài)響應(yīng)或在終止受動(dòng)器的沖擊壓力引起注意時(shí)，慣量特性能夠在終止受動(dòng)器被估算，在笛卡爾空間的動(dòng)能矩陣A（Q）被描述的特性。動(dòng)能矩陣A（Q）是從運(yùn)用雅克比行列式矩陣J（Q）的動(dòng)能矩陣中計(jì)算得出的AQJQA?1QJTQ?1終止受動(dòng)器在任意U方向上的感知慣量被如下有效質(zhì)量MU（Q）所描述MUQ1UTA?1QU有效質(zhì)量描繪了在終止受動(dòng)器處的操縱器的方向慣量特性，和M3移動(dòng)遙控裝置一樣，有效質(zhì)量能夠用一個(gè)多余的操縱器通過(guò)改變操縱器的最優(yōu)化來(lái)操縱有效質(zhì)量，甚至終止受動(dòng)器的位置和方向被固定在笛卡爾空間，這個(gè)特征允許我們控制終止受動(dòng)器和終止受動(dòng)器給定的位置和方向的環(huán)境之間的沖擊壓力，如果有效質(zhì)量減少，沖撞下的沖擊壓力也能減少，因?yàn)檫@個(gè)壓力主要依靠慣量和速度的不同。22有效質(zhì)量通過(guò)無(wú)效空間運(yùn)動(dòng)的改變對(duì)于給定的終止受動(dòng)器的狀態(tài)，一個(gè)多余的操縱器的最優(yōu)化能夠通過(guò)產(chǎn)生無(wú)效空間運(yùn)動(dòng)來(lái)被改變。以下等式描述了一個(gè)多余操縱器的反轉(zhuǎn)運(yùn)動(dòng)學(xué)QJ?QVI?J?QJQΦ這個(gè)等式中，JQ是雅克比行列式矩陣J（Q）的偽逆算子，是任意接Φ縫處的運(yùn)動(dòng)矩陣定義了與J（Q）關(guān)聯(lián)的無(wú)效空間，向量I?J?QJQ反應(yīng)了終止受動(dòng)器的狀態(tài)的零變化，通過(guò)把終止受動(dòng)器的速度置I?J?QJQΦ零，終止受動(dòng)器的狀態(tài)被固定在笛卡爾空間。123

簡(jiǎn)介：畢業(yè)論文題目飲水器產(chǎn)品設(shè)計(jì)研究姓名崔開(kāi)新所在學(xué)院機(jī)械學(xué)院所學(xué)專業(yè)工業(yè)設(shè)計(jì)ABSTRACTWATERAPPLIANCESASANEWPRODUCTOFHOUSEHOLDELECTRICALAPPLIANCES,MOREANDMOREATTENTIONOFCONSUMERSANDARAISEABABELOFCRITICISMOFTOXICBILESTORMWILLBESAFE,HEALTHYWATERHOMEAPPLIANCETOANEWHEIGHTATPRESENT,OURCOUNTRYCITYWATERPURIFIERSHOUSEHOLDPENETRATIONRATEOFLESSTHAN1,WHILETHEWATERPURIFIERMARKETACCOUNTEDFORONLY35OFTHEWATERDISPENSERMARKETTHEPERSONAGEINSIDECOURSEOFSTUDYTHINKS,ALTHOUGHTHEWHOLEINDUSTRYISSTILLINTHEEMBRYONICSTAGE,BUTWITHPEOPLESHEALTHAWARENESSANDIMPROVEPURCHASINGPOWER,WATERPURIFIERMARKETSPACEWILLBEVERYLARGE,CONTAINSBILLIONSOFDOLLARSINPROFITEVERYYEARATLEASTWATERPURIFYINGMACHINEINTHEINDUSTRIALAPPLICATIONOFVERYEARLYVERYWIDELY,SUCHASFOODANDBEVERAGE,CHEMICAL,ELECTRONIC,PHARMACEUTICALANDOTHERINDUSTRIES,SOMEASPECTSOFWATERINTHEPRODUCTIONPROCESSCANNOTMEETTHEUSEREQUIREMENTS,SOMUSTPASSWATERPURIFICATIONEQUIPMENTTHEDRINKINGWATERMACHINEDESIGN,CONSUMERSSEEISITSSHAPE,THENTHEFUNCTION,FINALLYTOSEEIFITCANPLAYTHEROLEOFCLEANWATERSHAPEDESIGN,SHAPEFEATURES,CONCISECONCISEGENEROUS,TOGIVECONSUMERSACOMFORTABLE,STABLEANDGENEROUSALSOCAREFULLYSELECTEDMATERIALS,NOTONLYCANBEUSEDFORALONGTIME,BUTALSODOESNOTHAVEANYPOLLUTIONTOWATER,TOENSURETHESAFETYOFMATERIALISDURABLETHEFUNCTION,SPECIALLYINCREASESTHEGRINDINGCOFFEE,COFFEEFUNCTION,ANDTHEPRODUCTIONOFSOYBEANMILKFUNCTION,TRULYREALIZEONEMACHINEWITHMULTIPLEFUNCTIONS,MULTIPLEFUNCTIONS,CONVENIENTFORCONSUMERSTHEUSEOFADVANCEDSTRAIGHTDRINKINGMACHINE,USINGLADDERTYPEWATER,HEATINGWATER,THEREBYREDUCINGTHEPOWERCONSUMPTIONOFDRINKINGWATER,DRINKINGWATERCANMAKETHEKEYWORDSDRINKINGWATERMACHINE,WATERAPPLIANCESSAFETY,TWOPOLLUTION,CANBEREALIZED,FUNCTIONAL,RATIONALITY

簡(jiǎn)介：Ⅲ1外文翻譯外文翻譯ONTHEINDUSTRIALECOLOGYPOTENTIALINASIANDEVELOPINGCOUNTRIESAUTHORSFCHIUNATIONALITYPHILIPPINESSOURCE“ONTHEINDUSTRIALECOLOGYPOTENTIALINASIANDEVELOPINGCOUNTRIES“JOURNALOFCLEANERPRODUCTIONVOLUME12,ISSUES810,PAGES10371045OCTOBERDECEMBER20041INTRODUCTIONTHEECONOMYOFTHEASIANDEVELOPINGCOUNTRIESADCSISTHELARGESTINTHEDEVELOPINGWORLDTHEASIANECONOMYHASEXPERIENCEDTHEMOSTRAPIDINCREASEOFITSHISTORYDURINGTHELASTTWODECADESHOWEVER,ASWITHECONOMICGROWTHOFTHEENTIREINDUSTRIALWORLD,THISINCREASEHASGENERATEDSEVEREENVIRONMENTALCHALLENGESTHEADCSMOVEDQUICKLYTOENCOURAGELOCALINDUSTRIALIZATIONANDATTRACTFOREIGNINVESTMENTINTHEABSENCEOFACOMPREHENSIVESUSTAINABLEDEVELOPMENTSCHEMETHEREISSOMEENCOURAGINGEVIDENCETHATINDUSTRIALECOLOGYISBEGINNINGTOYIELDPOSITIVEBENEFITSINADCSSOMEACTIVITIESARESPONTANEOUSTHEYWEREECONOMYANDTECHNOLOGYDRIVENOTHERSWEREINTRODUCEDANDPARTNEREDWITHINTERNATIONALORGANIZATIONS,SUCHASTHEUNITEDNATIONSDEVELOPMENTPROGRAMMEDUNDPPRIMEPROJECTINTHEPHILIPPINES,UNITEDNATIONSENVIRONMENTALPROGRAMMEUNEPPROJECTINCHINA,DEUTSCHEGESELLSCHAFTFüRTECHNISCHEZUSAMMENARBEITGTZINVOLVEMENTINTHAILANDANDCHINA,ANDADBPROJECTINSRILANKAALLTHESEPROJECTSHAVECOMPREHENSIVEBENEFITS,BUTTHEREARESTILLMANYBARRIERSANDDIFFICULTIESSINCEADCSHAVEDIFFERENTPOLITICAL,ECONOMIC,ENVIRONMENTALANDRESOURCECONSTRAINTSTHANTHEECONOMIESINDEVELOPEDCOUNTRIES,ADCSNEEDTOREVIEWANDCRAFTSUITABLESTRATEGIESTOPUTINDUSTRIALECOLOGYINTOPLACE,INSTEADOFUSINGTHEMODELSDEVELOPEDFORDEVELOPEDCOUNTRIESCHINA’SCENTRALGOVERNMENTPAYSATTENTIONTOENVIRONMENTALPROTECTIONANDⅢ3INCLUDEBIGMULTINATIONALCOMPANIESWHILEOTHERSAREOCCUPIEDBYNUMEROUSSMESTHESESITUATIONALFACTORSOFADCSLEDTOTHEFOLLOWINGCONCLUSIONSONTHEIMPORTANTASIANEIDISSUESFIRST,THEREISTHEQUESTIONOFTHETERMINOLOGYUSAGETHETERMSANDCONCEPTSAPPLIEDHAVEINCLUDEDECOINDUSTRIALDEVELOPMENTEID,EIP,EINORINDUSTRIALSYMBIOSISSECOND,THEREISANEEDFORANORGANIZEDPLANTOIMPROVETHECOMMUNICATIONOFINDUSTRIALECOLOGYCONCEPTSTOVARIOUSSTAKEHOLDERSLIKEBUSINESS,GOVERNMENTANDTHEGENERALPUBLICTHISPARTISCRITICALFORTHESUCCESSFULIMPLEMENTATIONOFTHEINDUSTRIALECOLOGYCONCEPTSTHIRD,ADCSMUSTCREATEPOLICIESBOTHATTHELOCALANDNATIONALLEVELTHATWILLASSISTINTHERECOGNITIONOFTHEIMPORTANCEOFTHEECOINDUSTRIALDEVELOPMENTAPPROACHFOURTH,THELACKOFFINANCIALSUPPORTFORTHEINDUSTRIALECOLOGYPROJECTSMUSTBEADDRESSEDFIFTH,CONTINUOUSRESEARCHANDDEVELOPMENTMUSTBECONDUCTEDINORDERTOIMPROVETHEABILITYTOADAPTTOTHECHANGINGECONOMICANDSOCIALCONDITIONSINADCSSTUDIESMUSTBEMADETOFURTHERDEVELOPTHEKNOWLEDGEONHOWTOBETTERDEFINEINDICATORS。DOCUMENTATIONOFTHERESEARCHWORKANDCASESTUDIESMUSTBEENHANCED2、ANALYSESSTRENGTHSDEVELOPINGECONOMICSTRUCTURESAFTERTHE1997FINANCIALCRISIS,THEASIAPACIFICCOUNTRYECONOMIESRECOVEREDQUICKLYFOREIGNINVESTMENTANDDOMESTICINDUSTRIALIZATION,FOREXAMPLEINCHINA,HASINCREASEDSUBSTANTIALLYTHISSITUATIONWILLPROVIDETHEREGIONWITHARICHDIVERSITYOFINDUSTRIALANDOTHERSOCIETALACTORSSUCHDIVERSITYWILLOPENUPNEWPATHSTOINNOVATION,LEARNINGANDCOOPERATIONHUMANRESOURCESTHEREISOBVIOUSLYANABUNDANCEOFHUMANRESOURCESINASIAANDTHEPACIFICREGIONRESEARCHTHEACADEMIAANDRESEARCHINSTITUTIONSHAVEALREADYGATHEREDSOMEIMPORTANTECOINDUSTRIALDEVELOPMENTEXPERIENCE,ASTHEYHAVELONGBEENINVOLVEDINSEVERALREGIONALANDINTERNATIONALINDUSTRIALECOLOGYINITIATIVESTHEROLEOFTHEGOVERNMENTSOMEKEYDRIVERSOFINDUSTRIALECOLOGYPROJECTS

簡(jiǎn)介：北京化工大學(xué)北方學(xué)院畢業(yè)設(shè)計(jì)（論文）外文文獻(xiàn)原稿和譯文1外文文獻(xiàn)原稿和譯文外文文獻(xiàn)原稿和譯文原稿INDUSTRIALANDCOLLABORATIVECONTROLSYSTEMSACOMPLEMENTARYSYMBIOSISLOOKINGATTODAY’SCONTROLSYSTEMONECANFINDAWIDEVARIETYOFIMPLEMENTATIONSFROMPUREINDUSTRIALTOCOLLABORATIVECONTROLSYSTEMCCSTOOLKITSTOHOMEGROWNSYSTEMSANDANYVARIATIONINBETWEENDECISIONSONTHETYPEOFIMPLEMENTATIONSHOULDBEDRIVENBYTECHNICALARGUMENTSREALITYSHOWSTHATFINANCIALANDSOCIOLOGICALREASONSFORMTHECOMPLETEPICTUREANYDECISIONHASIT’SADVANTAGESANDIT’SDRAWBACKSRELIABILITY,GOODDOCUMENTATIONANDSUPPORTAREARGUMENTSFORINDUSTRIALCONTROLSFINANCIALARGUMENTSDRIVEDECISIONSTOWARDSCOLLABORATIVETOOLSKEEPINGTHEHANDSONTHESOURCECODEANDBEINGABLETOSOLVEPROBLEMSONYOUROWNANDFASTERTHANINDUSTRYARETHEARGUMENTFORHOMEGROWNSOLUTIONSOROPENSOURCESOLUTIONSTHEEXPERIENCEOFMANYYEARSOFOPERATIONSSHOWSTHATWHICHSOLUTIONISTHEPRIMARYONEDOESNOTMATTER,THEREAREALWAYSAREASWHEREATLEASTPARTOFTHEOTHERIMPLEMENTATIONSEXISTASARESULTHETEROGENEOUSSYSTEMSHAVETOBEMAINTAINEDTHESUPPORTFORDIFFERENTPROTOCOLSISESSENTIALTHISPAPERDESCRIBESOUREXPERIENCEWITHINDUSTRIALCONTROLSYSTEMS,PLCCONTROLLEDTURNKEYSYSTEMS,THECCSTOOLKITEPICSANDTHEOPERABILITYBETWEENALLOFTHEMINRODUCTIONPROCESSCONTROLSINGENERALSTARTEDATDESYINTHEEARLY80THWITHTHEINSTALLATIONOFTHECRYOGENICCONTROLSYSTEMFORTHEACCELERATORHERAHADRONELEKTRONRINGANLAGEANEWTECHNOLOGYWASNECESSARYBECAUSETHEEXISTINGHARDWAREWASNOTCAPABLETOHANDLESTANDARDPROCESSCONTROLSSIGNALSLIKE4TO20MAINPUTANDOUTPUTSIGNALSANDTHESOFTWAREWASNOTDESIGNEDTORUNPIDCONTROLLOOPSATASTABLEREPETITIONRATEOF01SECONDSINADDITIONSEQUENCEPROGRAMSWERENECESSARYTOIMPLEMENTSTARTUPANDSHUTDOWNPROCEDURESFORTHECOMPLEXCRYOGENICPROCESSESLIKECOLDBOXESANDCOMPETECOMPRESSORSTREETSSOONITWASNECESSARYTOADDINTERFACESTOFIELDBUSESANDTOADDCOMPUTINGPOWERTO北京化工大學(xué)北方學(xué)院畢業(yè)設(shè)計(jì)（論文）外文文獻(xiàn)原稿和譯文36THGRADEPOLYNOMIALTEMPERATURECONVERSIONRUNNINGAT1HZTHESECONDONEWASTHEADDITIONALCPULOADCAUSEDBYTHECOMPLEXFUNCTIONALITYOFTHEEXISTINGD/3SYSTEMHEREITWASUNDERESTIMATEDTHATEACHDIGITALANDANALOGINPUTANDOUTPUTCHANNELHADIT’SOWNALARMLIMITSINTHED/3SYSTEMINASCADALIKESYSTEMASCUBETHEBASEFUNCTIONALITYOFACHANNELISTOREADTHEVALUEANDMAKEITAVAILABLETOTHESYSTEMANYADDITIONALFUNCTIONALITYMUSTBEADDEDLASTNOTLEASTTHELOADONTHENETWORKFORPOLLINGALLTHEALARMLIMITS–TYPICALLYFORASCADASYSTEM–WASALSODRIVINGTHENETWORKTOIT’SLIMITSFINALLYTHECONTRACTWITHORSIWASCANCELLEDANDANUPGRADEOFTHED/3SYSTEMWASTHEONLYPOSSIBLESOLUTIONITWASFINALLYCARRIEDOUTINMARCH2003INANYCASEITSHOULDBEMENTIONEDTHATTHECUBEAPPROACHHADTHEADVANTAGEOFAHOMOGENEOUSCONFIGURATIONENVIRONMENTFORTHECUBEFRONTENDCONTROLLERS–COMPAREDWITHHETEROGENEOUSENVIRONMENTSFOR‘PURE’SCADASYSTEMSSCADAPVSSIITHEH1EXPERIMENTATTHEHERAACCELERATORDECIDEDTOUSEPVSSIIFORANUPGRADEOFTHEIRSLOWCONTROLSYSTEMS3THEEXISTINGSYSTEMSWEREDEVELOPEDBYSEVERALMEMBERSOFTHEH1COLLABORATIONANDWEREDIFFICULTTOMAINTAINTHEDECISIONTOUSEPVSSASAREPLACEMENTWASDRIVENBYTHERESULTSOFANEXTENSIVESURVEYCARRIEDOUTATCERNBYTHEJOINTCONTROLSPROJECT4PVSSISA‘PURE’SUPERVISORYANDDATAACQUISITIONSYSTEMSCADAITPROVIDESASETOFDRIVERSFORSEVERALFIELDBUSESANDGENERICSOCKETLIBRARIESTOIMPLEMENTCOMMUNICATIONOVERTCP/IPTHECOREELEMENTISTHESOCALLEDEVENTMANAGERITCOLLECTSTHEDATAMOSTLYBYPOLLINGFROMTHEI/ODEVICESANDPROVIDESANEVENTSERVICETOTHEATTACHEDMANAGEMENTSERVICESLIKECONTROLMANAGER,DATABASEMANAGER,USERINTERFACE,APIMANAGERANDTHEBUILTINHTTPSERVERTHEPVSSSCRIPTINGLIBRARYALLOWSTOIMPLEMENTCOMPLEXSEQUENCESASWELLASCOMPLEXGRAPHICSCOMPAREDWITHOTHERSCADASYSTEMSPVSSCOMESWITHONEBASICFEATUREITPROVIDESATRUEOBJECTORIENTEDAPITOTHEDEVICE’SDATAONEMAJORDISADVANTAGEOFSCADASYSTEMSISTHEFACTTHATTWODATABASES,THEONEFORTHEPLCANDTHEONEFORTHESCADASYSTEMMUSTBEMAINTAINEDINTEGRATEDENVIRONMENTSTRYTOOVERCOMETHISRESTRICTIONEPICS

簡(jiǎn)介：1畢業(yè)設(shè)計(jì)論文外文資料翻譯學(xué)院學(xué)院系專業(yè)業(yè)姓名名學(xué)號(hào)號(hào)外文出處外文出處DAVELEGGETTJUSTAUTO2012附件件1外文資料翻譯譯文；2外文原文。指導(dǎo)教師評(píng)語(yǔ)簽名201年月日注注請(qǐng)將該封面與附件裝訂成冊(cè)。用外文寫3生產(chǎn)集中度大幅提高反映出我國(guó)汽車業(yè)的進(jìn)步。誠(chéng)然，我們還有100多家具有整車資質(zhì)的企業(yè)存在，但后幾十家其實(shí)已不再生產(chǎn)。當(dāng)然，對(duì)比美國(guó)、日本、德國(guó)都只有三大汽車生產(chǎn)企業(yè)，中國(guó)汽車業(yè)生產(chǎn)集中度還是分散了許多。但應(yīng)當(dāng)看到，美國(guó)、日本、德國(guó)的三大車企，都是在關(guān)稅較高保護(hù)、區(qū)域內(nèi)自主自產(chǎn)自銷為主的條件下開(kāi)始形成的，而中國(guó)汽車產(chǎn)業(yè)是在經(jīng)濟(jì)全球化進(jìn)程之中，在全面改革開(kāi)放的政策指導(dǎo)下發(fā)展的，不可同日而語(yǔ)。這表明，隨著近年來(lái)中國(guó)汽車市場(chǎng)的快速增長(zhǎng)，汽車行業(yè)生產(chǎn)集中度也大幅提高。事實(shí)已經(jīng)證明，汽車行業(yè)是規(guī)模經(jīng)濟(jì)行業(yè)，只有規(guī)模足夠大才能發(fā)揮規(guī)模效應(yīng)，才能使中國(guó)汽車企業(yè)真正具有國(guó)際競(jìng)爭(zhēng)力。所以，我們不僅要與國(guó)外企業(yè)兼并合作，善于利用國(guó)外企業(yè)各種技術(shù)，生產(chǎn)，管理的優(yōu)勢(shì)發(fā)展自己，更應(yīng)該注重鼓勵(lì)中國(guó)自己的汽車企業(yè)實(shí)行“強(qiáng)強(qiáng)聯(lián)合”，資產(chǎn)重組，擴(kuò)大企業(yè)規(guī)模，通過(guò)大企業(yè)間的聯(lián)合和重組，使格局更理想，以期更進(jìn)一步提高我國(guó)汽車行業(yè)集中度。為提高中國(guó)汽車行業(yè)市場(chǎng)集中度，完善中國(guó)汽車市場(chǎng)結(jié)構(gòu)，增強(qiáng)汽車產(chǎn)業(yè)的國(guó)際競(jìng)爭(zhēng)力，提出了幾條相應(yīng)的對(duì)策和建議。（1）重視汽車產(chǎn)業(yè)政策從歷史實(shí)踐上來(lái)說(shuō)，在中國(guó)汽車行業(yè)的發(fā)展史上，國(guó)家政策對(duì)汽車產(chǎn)業(yè)一直有著非常大的影響，尤其在經(jīng)濟(jì)全球化一體化的大背景下，中國(guó)汽車行業(yè)面臨更大的挑戰(zhàn)，而由于中國(guó)汽車產(chǎn)業(yè)起步晚，不成熟，所以更需要國(guó)家的關(guān)注，需要相關(guān)政策發(fā)揮積極作用，以提高市場(chǎng)集中度，促進(jìn)中國(guó)汽車產(chǎn)業(yè)結(jié)構(gòu)調(diào)整，促進(jìn)汽車產(chǎn)業(yè)發(fā)展，增強(qiáng)中國(guó)汽車產(chǎn)業(yè)的國(guó)際競(jìng)爭(zhēng)力。理論上來(lái)說(shuō)，政府的政策法規(guī)是形成進(jìn)入的制度壁壘的主要因素，由于政府的管制，如各種審批、數(shù)量進(jìn)入管制等都使新企業(yè)難以進(jìn)入，使市場(chǎng)趨于集中。所以可以說(shuō)產(chǎn)業(yè)政策對(duì)產(chǎn)業(yè)集中度的影響是正向的且是比較大的，其中最為重要的是汽車產(chǎn)業(yè)發(fā)展政策，它是國(guó)家為加強(qiáng)和改善宏觀調(diào)控，進(jìn)行資源長(zhǎng)期合理配置的重要工具，在整個(gè)汽車產(chǎn)業(yè)的政策體系中起著主導(dǎo)作用，是制定其他相關(guān)政策的基礎(chǔ)。所以汽車市場(chǎng)應(yīng)該實(shí)施以汽車企業(yè)為主導(dǎo)，政府加以引導(dǎo)的策略，積極發(fā)揮政府的引導(dǎo)作用，積極扶持汽車大集團(tuán)，促進(jìn)規(guī)模經(jīng)濟(jì)的實(shí)現(xiàn)和同國(guó)外大企業(yè)的競(jìng)爭(zhēng)；另外市場(chǎng)環(huán)境也很重要，為了使汽車產(chǎn)業(yè)能在一個(gè)健康的市場(chǎng)環(huán)境中得以成長(zhǎng)發(fā)展，還應(yīng)該加大力度健全市場(chǎng)體制，規(guī)范市場(chǎng)行為，加大監(jiān)督力度，防止

簡(jiǎn)介：1膜生物反應(yīng)器對(duì)工業(yè)混合污水的的再生研究JIANJUNQINA,?,MAUNGNYUNTWAIA,GUIHETAOA,KIRANAKEKREA,HARRYSEAHBACENTREFORADVANCEDWATERTECHNOLOGY,SINGAPOREUTILITIESINTERNATIONALPTELTD,INNOVATIONCENTRE,BLK2,241,18NANYANGDRIVE,SINGAPORE637723,SINGAPOREBPUBLICUTILITIESBOARDOFSINGAPORE,40SCOTTSROAD1800,ENVIRONMENTBUILDING,SINGAPORE228231,SINGAPORE摘要膜生物反應(yīng)器（MBR）能夠?qū)Τ鞘袕U水產(chǎn)生持續(xù)的高質(zhì)量的處理效果，而且在新加坡，一個(gè)成功的中試研究驗(yàn)證了MBR工藝用于生活污水再生的優(yōu)勢(shì)。然而，用MBR處理一種工業(yè)廢水為主的混合污水（60工業(yè)廢水和40生活污水）無(wú)疑是一種新的挑戰(zhàn)。這個(gè)研究的目的在于論證用浸入式MBR處理一類混合污水的可行性。一個(gè)缺氧好氧埋有聚偏氟乙烯（PVDF）空心纖維模塊也用于研究過(guò)程中。這一MBR估計(jì)已運(yùn)行超過(guò)3個(gè)月。試驗(yàn)結(jié)果表明的MBR中處理混合的污水可能需要15H的水力停留時(shí)間（HRT），而且膜通量為17L/M2H（LMH）能夠使膜生物反應(yīng)器工藝可持續(xù)的運(yùn)行。膜生物反應(yīng)器，相對(duì)于傳統(tǒng)的活性污泥法超濾法（ASPUF），能夠提高包括NH4和COD在內(nèi)的處理效果。研究的結(jié)論是MBR工藝是能夠處理混合污水的工業(yè)用水。關(guān)鍵詞膜生物反應(yīng)器；空心纖維；廢液回收；工業(yè)廢水；活性污泥法。1引言如今快速的人口增長(zhǎng)和工業(yè)發(fā)展，水資源短缺已經(jīng)成為了全球的問(wèn)題。相比于傳統(tǒng)的活性污泥法和超濾膜的分離方法，MBR由于它占用空間小、產(chǎn)生污泥少和比活性污泥法處理生活污水更具有連續(xù)性和高效性等優(yōu)點(diǎn)而日漸成為處理城市廢水更具吸引力的處理工藝110。史蒂芬等1介紹了許多種用MBR處理城市廢水的工藝。不同容量的工業(yè)化MBR已經(jīng)證明，此類設(shè)備不僅可靠而且操作簡(jiǎn)單。勞倫斯等2對(duì)在加利福尼亞州埃斯孔迪多AQUA2000研究中心進(jìn)行的膜生物反應(yīng)器研究也做出了報(bào)告。這個(gè)實(shí)驗(yàn)報(bào)告表明MBR處理后的水具有很好的水質(zhì)，不僅沒(méi)有可檢測(cè)的BOD而且還能一直保持低于01的濁度。甘德等3回顧了一些用于處理生活污水的工業(yè)化好氧MBR工藝的費(fèi)用并進(jìn)行了研究。他們?cè)趫?bào)告中指出從能源消耗和清洗設(shè)備兩方面看，浸入構(gòu)型的運(yùn)行會(huì)比側(cè)流構(gòu)型的更經(jīng)濟(jì)。陶先生等4開(kāi)發(fā)了三個(gè)浸入構(gòu)型MBR的實(shí)驗(yàn)，實(shí)驗(yàn)結(jié)果驗(yàn)證了在新加坡的熱帶條件下，膜生物反應(yīng)器技術(shù)在再生生活污水時(shí)體現(xiàn)的優(yōu)勢(shì)。新加坡的JURONG污水回收廠（JWRP）正用活性污泥法處理一種混合污水（60工業(yè)廢水和40生活污水）。如果可以回收混合的污水水來(lái)源，它可能引入額外的污水以滿足工業(yè)的需要。然而，這種混合后的影響對(duì)MBR設(shè)備來(lái)說(shuō)是一個(gè)挑戰(zhàn)，而且實(shí)驗(yàn)性的評(píng)估也很難預(yù)料。這項(xiàng)研究的目的在于確定浸入式膜生物反應(yīng)器處理工業(yè)用的混合污水的可行性。2實(shí)驗(yàn)材料和方法3圖21MBR中試系統(tǒng)流程圖2222實(shí)驗(yàn)過(guò)程實(shí)驗(yàn)過(guò)程實(shí)驗(yàn)過(guò)程為期超過(guò)了3個(gè)月，從2004年7月2日到2004年10月8日。研究過(guò)程的中試系統(tǒng)一直持續(xù)24H地運(yùn)行。研究中使用的MBR中試系統(tǒng)的運(yùn)行條件在表22中列出。在JWRP中，來(lái)自污泥回流管道混合液懸浮固體（MLSS）濃度為5000MG/L的活性污泥作為原料用于實(shí)驗(yàn)系統(tǒng)的初期運(yùn)行階段。并在一周內(nèi)MBR中的MLSS濃度能夠達(dá)到設(shè)計(jì)的水平，10000～12000MG/L，然后排出剩余污泥的混合液揮發(fā)性懸浮固體（MLVSS）濃度能保持在8500～10000MG/L這一水平范圍內(nèi)。在7月時(shí)，向生物反應(yīng)池投入消泡劑（KIMCOOL9000TM）以減少泡沫的問(wèn)題，并整個(gè)研究過(guò)程中持續(xù)地以50MG/L投入。對(duì)不同的膜通量和HRT進(jìn)行實(shí)驗(yàn)。MBR試驗(yàn)裝置及兩個(gè)MOS以總平均過(guò)液量為14M3/H開(kāi)始在7月投入運(yùn)行。然后在8月和9月用一個(gè)MOS運(yùn)行時(shí)其平均過(guò)液量為12M3/H。在10月的時(shí)候，把HRT提高到15H后，平均過(guò)液量能降低到072M3/H。在這項(xiàng)研究中，只進(jìn)行了化學(xué)清洗的維護(hù)。在維護(hù)清洗時(shí)，在滲透箱中用125MG/L的NAOCL溶液反滲透，然后膜在溶液中浸泡30分鐘，然后用濾液沖洗10分鐘之后才收集產(chǎn)品。表22MBR中試系統(tǒng)運(yùn)行條件參數(shù)7月8月9月10月濾液流速（M3/H）141212072凈通量（L/M2H）172294294176HRT（H）78909015滲透壓（KPA）50701122142613平均滲透率（L/M2HBAR）295198163134需氧當(dāng)量濃度（NM3/M3濾液）1711010167

簡(jiǎn)介：INTERNATIONALJOURNALOFPRECISIONENGINEERINGANDMANUFACTURINGVOL11,NO5,PP697704OCTOBER2010/697DOI101007/S12541010008241INTRODUCTIONAMOBILEMANIPULATORTHATCONSISTSOFAMOBILEBASEANDAROBOTICMANIPULATORPROVIDESNUMEROUSADVANTAGESOVERAFIXEDBASEMANIPULATORTHEMOSTIMPORTANTADVANTAGEOFTHEMOBILEMANIPULATORISITSFLEXIBLEWORKSPACEALSO,THEMECHANICALCONFIGURATIONOFTHEROBOTICMANIPULATORMOUNTEDONTHEMOBILEBASERESULTSINAREDUNDANTSYSTEMTHATISADVANTAGEOUSFORDEXTEROUSMANIPULATION26WHILETHESEFEATURESENABLEVARIOUSAPPLICATIONS,CONTROLOFTHEMOBILEMANIPULATORISCHALLENGINGDUETOITSINTRINSICSTRUCTUREFIRST,THEREDUNDANTDOFSOFTHEMOBILEMANIPULATORCOMPLICATEMANIPULATIONCONTROLSECOND,THEOVERALLDYNAMICSOFTHEMOBILEMANIPULATORISFARMORECOMPLEXCOMPAREDTOFIXEDBASEMANIPULATORSTHIRD,MANYAPPLICATIONSINVOLVEDYNAMICINTERACTIONOFTHEMANIPULATORWITHITSENVIRONMENTMOBILEMANIPULATIONINHUMANPOPULATEDENVIRONMENTSBRINGSTHEISSUEOFSAFETYTOTHEFOREFRONTTHEREHAVEBEENANUMBEROFSTUDIESONMOBILEMANIPULATIONYAMAMOTOPROPOSEDKINEMATIC/DYNAMICMANIPULABILITYTORESOLVETHEREDUNDANCYINMOTIONPLANNINGANDANALYSISFORMOBILEMANIPULATOR1KHATIB2,3INTRODUCEDPOTENTIALFIELDINCONTROLLINGPOSITIONOFREDUNDANTMANIPULATORSANDPROVIDINGJOINTLIMITCONSTRAINTSALSO,HEPROPOSEDANOVELAPPROACHTOUTILIZETHEINTRINSICDYNAMICSCHARACTERISTICSOFMOBILEMANIPULATORINOPERATIONALSPACE2,3ADDITIONALLY,HEANALYZEDTHEREDUCEDINERTIAEFFECTOFREDUNDANTROBOTICARMWITHMACROMICROSTRUCTUREINOTHERSTUDIESONMOBILEMANIPULATION,ZMPZEROMOMENTPOINTWASPROPOSEDASAMEASUREFORMOBILEMANIPULATORSYSTEMSPERFORMINGHEAVYLOADTRANSFERRINGTASKS4,5THEREHAVEBEENSTUDIESONTHESTABLEMOTIONCONTROLOFAMOBILEMANIPULATORUNDERUNKNOWNEXTERNALFORCEAPPLICATIONFROMTHEENVIRONMENT6,7MANYOFTHESTUDIESMENTIONEDABOVEADAPTEDTHEIDEAOFCONVENTIONALFIXEDBASEDMECHANISMSTOMOBILEMANIPULATORSTHEREARESEVERALISSUESTOCONSIDERINMOBILEMANIPULATORCONTROLFIRST,THEMOBILEBASEPARTOFTHEMOBILEMANIPULATORISHEAVIERTHANTHEUPPERROBOTICMANIPULATORPART,WHICHLEADSSLOWERDYNAMICRESPONSEOFTHEMOBILEBASECOMPAREDWITHTHATOFTHEMANIPULATORPARTTHEOVERALLDYNAMICSOFTHEMOBILEMANIPULATORISSOMEWHATANALOGOUSTOTHATOFMACROMICROMANIPULATORSTHEMACROPARTISMUCHHEAVIERTHANTHEMICROPART2,3SECOND,THECONTROLOFIMPULSIVECONTACTFORCEBETWEENMOBILEMANIPULATORANDENVIRONMENTUSINGEFFECTIVEMASSANDDAMPINGCONTROLSSUNGCHULKANG1,KIYOSHIKOMORIYA2,KAZUHITOYOKOI2,TETSUOKOUTOKU2,BYUNGCHANKIM1ANDSHINSUKPARK3,1CENTERFORCOGNITIVEROBOTICSRESEARCH,KIST,HAWOLGOKDONG,SEONGBUKGU,SEOUL,SOUTHKOREA,1367912INTELLIGENCESYSTEMSRESEARCHINSTITUTE,AIST,TSUKUBA,IBARAKI,JAPAN,30585683SCHOOLOFMECHANICALENGINEERING,KOREAUNIVERSITY,ANAMDONG5GA,SEONGBUKGU,SEOUL,SOUTHKOREA,136713CORRESPONDINGAUTHOR/EMAILDRSSPARKKOREAACKR,TEL82232903868,FAX8229269290KEYWORDSMOBILEMANIPULATION,EFFECTIVEINERTIA,KINEMATICREDUNDANCY,NULLSPACEMOTIONRECENTLY,MOBILEMANIPULATORSAREBEINGWIDELYEMPLOYEDFORVARIOUSSERVICEROBOTSINHUMANENVIRONMENTSSAFETYISTHEMOSTIMPORTANTREQUIREMENTFORTHEOPERATIONOFMOBILEROBOTINAHUMANPOPULATEDENVIRONMENTINDEED,SAFEHUMANMACHINEINTERACTIONISONEOFGRANDCHALLENGESINROBOTICSRESEARCHTHISPAPERPROPOSESANOVELCONTROLMETHODTOREDUCEIMPULSIVECOMPACTFORCEBETWEENAMOBILEMANIPULATORANDITSENVIRONMENTBYUSINGOPTIMIZEDMANIPULATORINERTIAANDDAMPINGBASEDMOTIONCONTROLTOFINDTHEOPTIMIZEDCONFIGURATIONTHROUGHNULLSPACEMOTION,THECOMBINEDPOTENTIALFUNCTIONMETHODISPROPOSEDCONSIDERINGBOTHTHEMINIMUMEFFECTIVEMASSANDJOINTLIMITCONSTRAINTSTHERESULTSOFTHISSTUDYSHOWTHATTHEINERTIAOPTIMIZATIONALONGWITHADAMPINGCONTROLLERSIGNIFICANTLYREDUCESTHEIMPULSIVEFORCEUPONCOLLISIONANDTHECONTACTFORCEAFTERCOLLISIONMANUSCRIPTRECEIVEDJANUARY6,2009/ACCEPTEDJULY26,2010?KSPEANDSPRINGER2010INTERNATIONALJOURNALOFPRECISIONENGINEERINGANDMANUFACTURINGVOL11,NO5OCTOBER2010/699TABLE1DHPARAMETERSANDLINKMASSOFM3MOBILEMANIPULATORJOINT1IΑRAD1IAM1IΘRAD1IDMJOINTTYPEMASSKG1/2Π?000P90012/2Π?0/2Π0P300Π7R4/2Π?000R7815/2Π000R3416/2Π?00045R1187/2Π000R7458/2Π?0005R2649/2Π000R14610000008R024PPRISMATIC,RREVOLUTE21EFFECTIVEMASSOFMOBILEMANIPULATORFORAMOBILEMANIPULATOR,THEINERTIALPROPERTIESINJOINTSPACEAREDESCRIBEDBYKINETICENERGYMATRIXAQ,WHICHISAMATRIXFUNCTIONOFJOINTVARIABLESQWHENTHEDYNAMICRESPONSEORIMPACTFORCEATTHEENDEFFECTORISOFINTEREST,THEINERTIALPROPERTIESCANBEEVALUATEDATTHEENDEFFECTOR,WHICHISREPRESENTEDBYKINETICENERGYMATRIXAQINCARTESIANSPACEKINETICENERGYMATRIXAQISCALCULATEDFROMKINETICENERGYMATRIXAQUSINGJACOBIANMATRIXJQ1811T??ΛQJQAQJQ1THEINERTIAPERCEIVEDATTHEENDEFFECTORINANARBITRARYDIRECTIONUISREPRESENTEDBYEFFECTIVEMASSMUQASFOLLOWS11TM?UQUΛQU2EFFECTIVEMASSMUQREPRESENTSDIRECTIONALINERTIAPROPERTYOFTHEMANIPULATORATTHEENDEFFECTORWITHAREDUNDANTMANIPULATORSUCHASM3MOBILEROBOT,EFFECTIVEMASSMUQCANBEMANIPULATEDBYCHANGINGTHECONFIGURATIONOFTHEMANIPULATOR,EVENWHENTHEPOSITIONANDORIENTATIONOFTHEENDEFFECTORISFIXEDINCARTESIANSPACETHISFEATUREALLOWSUSTOCONTROLTHEIMPULSIVEFORCEBETWEENTHEENDEFFECTORANDTHEENVIRONMENTFORAGIVENPOSEPOSITIONANDORIENTATIONOFTHEENDEFFECTORIFEFFECTIVEMASSMUQISREDUCED,THEIMPULSIVEFORCEUPONCOLLISIONCANALSOBEREDUCEDSINCETHEFORCEISMAINLYDEPENDENTONTHEINERTIAANDVELOCITYDIFFERENCE19,2022CHANGEOFEFFECTIVEMASSBYNULLSPACEMOTIONFORAGIVENPOSEPOSITIONANDORIEN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簡(jiǎn)介：AMULTIOPERATIONALMODEANTISWAYANDPOSITIONINGCONTROLFORANINDUSTRIALBRIDGECRANE?,??KHALIDSORENSEN?HANNASFISCH??STEVEDICKERSON???WILLIAMSINGHOSE?URSGLAUSER???WOODRUFFSCHOOLOFMECHANICALENGINEERING,GEORGIAINSTITUTEOFTECHNOLOGY,ATLANTA,GA,30332USATEL4043850668EMAILSINGHOSEGATECHEDU??ZURICHUNIVERSITYOFAPPLIEDSCIENCES,WINTERTHUR,SWITZERLAND???CAMOTIONINC,ATLANTA,GA,30318USATEL4048740090EMAILSTEVEDICKERSONCAMOTIONCOMABSTRACTA30TONINDUSTRIALBRIDGECRANELOCATEDATANALUMINUMSHEETMANUFACTURERHASBEENEQUIPPEDWITHACRANEMANIPULATIONSYSTEMENABLINGSWINGFREEMOTION,DISTURBANCEREJECTION,ANDPRECISEPOSITIONINGPREVIOUSINVESTIGATIONSOFANTISWAY,POSITIONING,ANDCRANECONTROLHAVEYIELDEDIMPORTANTCONTRIBUTIONSINTHESEAREASTHESEADVANCEMENTSARECOMBINEDINTOTHEUNIFIEDCRANEMANIPULATIONSYSTEMDESCRIBEDHEREANOVERVIEWOFTHISSYSTEMISPRESENTED,ALONGWITHEXPERIMENTALRESULTS,ANDADESCRIPTIONOFHOWHUMANOPERATORSUSETHECRANEKEYWORDSINPUTSHAPINGCOMMANDSHAPINGCRANECONTROLANTISWAYFEEDBACKCONTROLMACHINEVISION1INTRODUCTIONCRANESAREUSEDTHROUGHOUTTHEWORLDINTHOUSANDSOFSHIPPINGYARDS,CONSTRUCTIONSITES,STEELMILLS,WAREHOUSES,NUCLEARPOWERANDWASTESTORAGEFACILITIES,ANDOTHERINDUSTRIALCOMPLEXESSAFEANDEFFICIENTMOTIONOFTHESESTRUCTURESISANIMPORTANTCONTRIBUTORTOINDUSTRIALPRODUCTIVITYANIMPORTANTPROPERTYOFCRANESTHATCANADVERSELYAFFECTSAFEANDEFFICIENTMOTIONISTHETENDENCYFORACRANEPAYLOADTOSWINGEXTERNALDISTURBANCES,SUCHASWIND,ORCOMMANDEDMOTIONCANCAUSESIGNIFICANTPAYLOADSWINGPAYLOADSWINGMAKESPRECISEPOSITIONINGTIMECONSUMINGFORAHUMANOPERATORFURTHERMORE,WHENTHEPAYLOADORSURROUNDINGOBSTACLESAREOFAHAZARDOUSORFRAGILENATURE,PAYLOADSWINGMAYPRESENTASAFETYHAZARDTHEBROADUSAGEOFCRANES,COUPLEDWITHTHENEEDTOREDUCEUNDESIREDOSCILLATION,HASMOTIVATEDALARGEAMOUNTOFRESEARCHSIGNIFICANTADVANCEMENTSHAVEBEENMADEINTHEAREASOF1MOTIONINDUCEDOSCILLATIONREDUCTION,2DISTURBANCEREJECTION,3POSITIONINGCAPABILITY,4PAYLOADSWINGDETECTION,AND5OPERATORINTERFACEDESIGNADVANCEMENTSFROMEACHOFTHESEAREASHAVEBEENCOMBINEDINTOAUNIFIEDCRANEMANIPULATIONSYSTEMCMSTHEUTILITYOFTHECMSISTHATITPROVIDESOPERATORSWITHAMEANSFORGENERATING?THISWORKWASSUPPORTEDBYCAMOTIONINCLOGANALUMINUM,ANDSIEMENSENERGYAUTOMATION??PATENTNOTICETHECONTROLMETHODSDESCRIBEDINTHISPAPERAREPROTECTEDBYTHEWORLDINTELLECTUALPROPERTYORGANIZATIONWO2006/115912A2COMMERCIALUSEOFTHESEMETHODSREQUIRESWRITTENPERMISSIONFROMCAMOTIONINCANDTHEGEORGIAINSTITUTEOFTECHNOLOGYSAFEANDEFFICIENTSWINGFREEMOTION,ANDTHECAPABILITYFORPRECISEPOSITIONINGTHISPAPERDESCRIBESTHECOMPONENTSOFTHECMS,ANDTHEIMPLEMENTATIONOFTHISSYSTEMONA30TONINDUSTRIALBRIDGECRANETHISCRANEISLOCATEDATLOGANALUMINUM,ALEADINGMANUFACTUREROFALUMINUMSHEETPRODUCTSINSECTION2,ADESCRIPTIONOFTHELOGANCRANEANDITSDYNAMICBEHAVIORISPRESENTEDSECTION3PROVIDESANOVERVIEWOFTHECMSANDHOWTHISSYSTEMISINTEGRATEDINTOTHELOGANCRANERESULTSOFPERFORMANCEEXPERIMENTSCONDUCTEDONTHECMSEQUIPPEDLOGANCRANEAREPRESENTEDINSECTION42SYSTEMDESCRIPTIONFIGURE1SHOWSAPHOTOGRAPHOFTHE30TONLOGANCRANETHETROLLEYTRAVERSESALONGTHEBRIDGE,WHICHSPANSADISTANCEOFAPPROXIMATELY30METERSLIKEWISE,THEBRIDGECANTRAVERSEALONGSTATIONARYRAILSFORADISTANCEOFAPPROXIMATELY50METERSTHEHOOKISSUSPENDEDBENEATHTHETROLLEYDURINGOPERATION,THESUSPENSIONCABLELENGTHVARIESBETWEEN3AND10METERSTHEBRIDGEISEQUIPPEDWITHTWO75KILOWATT10HORSEPOWER480VOLTACINDUCTIONMOTORSSIMILARLY,THETROLLEYISEQUIPPEDWITHTWO375KILOWATT5HORSEPOWER480VOLTACINDUCTIONMOTORSTHEMOTORSARECONTROLLEDBYMAGNETEKIMPULSEP3VECTORDRIVESTHISEQUIPMENTPERMITSCONTINUOUSLYVARIABLEVELOCITYCONTROLADDITIONALLY,THEDRIVESAREPARAMETERIZABLETHEMAXIMUMPERMISSIBLEVELOCITYANDACCELERATIONLIMITSHAVEBEENPROGRAMMEDTOBE075M/SAND075M/S2,RESPECTIVELYPROCEEDINGSOFTHE17THWORLDCONGRESSTHEINTERNATIONALFEDERATIONOFAUTOMATICCONTROLSEOUL,KOREA,JULY611,20089783902661005/08/2000?2008IFAC881103182/200807065KR100138343INTEGRATIONOFTHECMSTHECRANEDESCRIBEDINSECTION2HASBEENAUGMENTEDWITHTHECMSATOPOLOGICALILLUSTRATIONOFTHECMSEQUIPPEDCRANEISSHOWNINFIG5THISFIGUREDEPICTSTHEELEMENTSTHATCOMPRISETHECMSACONTROLARCHITECTUREFORENABLINGSWINGFREEMOTIONANDPRECISEPAYLOADPOSITIONINGAVISUALHUMANMACHINEINTERFACEFORAIDINGPRECISEPOSITIONINGOFTHECRANETHISINTERFACEISIMPLEMENTEDONATOUCHSCREENMONITORAJOYSTICKINTERFACEFORSIMPLIFYINGGROSSMOTIONTASKSASTANDARDLEVERINTERFACEAMACHINEVISIONSYSTEMFORSENSINGHOOKSWINGLASERRANGESENSORSFORMEASURINGCRANEPOSITIONTHEPRINCIPALELEMENTOFTHECMSISTHEANTISWAYANDPOSITIONINGCONTROLTHISCOMPONENTACCEPTSINFORMATIONFROMTHEOTHERCMSELEMENTSMOTIONCOMMANDSFROMTHETHREEINTERFACEDEVICES,CRANEPOSITIONINFORMATIONFROMTHELASERRANGESENSORS,ANDHOOKDISPLACEMENTINFORMATIONFROMTHEMACHINEVISIONSYSTEMTHEINFORMATIONFROMTHESEELEMENTSISUSEDBYTHECONTROLTOPRODUCELOWSWAYVELOCITYCOMMANDS,WHICHAREISSUEDTOTHECRANEDRIVESTHEFOLLOWINGSUBSECTIONSPROVIDEGREATERDETAILABOUTEACHELEMENTOFTHECMS31HUMANMACHINEINTERFACEPRIORTOINSTALLATIONOFTHECMSONTOTHELOGANCRANE,OPERATORSCOMMANDEDCRANEMOTIONBYUSINGATHREELEVERINTERFACETHISDEVICEPERMITSTHEBRIDGE,TROLLEY,ANDHOOKTOBECOMMANDEDINDEPENDENTLYFROMEACHOTHERBYTHEIRRESPECTIVEACTUATIONLEVERSTWOADDITIONALINTERFACEDEVICESWEREINSTALLEDWITHTHECMSAJOYSTICKINTERFACE,ANDAVISUALTOUCHSCREENINTERFACETHEMOTIVATIONFORIMPLEMENTINGTHESEDEVICESWASROOTEDINIMPROVINGTHEWAYOPERATORSCONTROLTHECRANETHEVISUALINTERFACEPERMITSSIMPLIFIEDPOSITIONINGCONTROL,WHILETHEJOYSTICKPERMITSSIMPLIFIEDVELOCITYCONTROLSIMPLIFIEDPOSITIONINGINMANYAPPLICATIONS,PRECISEANDREPETITIVEPAYLOADPOSITIONINGISREQUIREDTHEVISUALINTERFACEISAREALTIMEGRAPHICALREPRESENTATIONOFTHECRANEANDCRANEWORKSPACETHATPERMITSOPERATORSTOSTOREDESIREDPAYLOADDESTINATIONS,ANDALSOCOMMANDTHECRANETOTRAVELTOTHESELOCATIONSSUTERETAL,2007,SORENSENGDM?LEVERINTERFACETOUCHSCREENJOYSTICKANTISWAYPOSITIONINGCONTROLLERRANGESENSORSMACHINEVISIONVRVTORIGINALCRANESYSTEMFIG5COMPONENTSOFTHECMSINTEGRATEDINTOACRANESYSTEMETAL,2007BTOSTOREAPAYLOADDESTINATIONFORFUTUREUSE,ANOPERATORMUSTFIRSTMANUALLYPOSITIONTHECRANEINTHISLOCATIONTHEN,THECOORDINATESCORRESPONDINGTHECRANE’SPOSITIONCANBEAUTOMATICALLYSTOREDINTOTHEVISUALINTERFACEATARGETIMAGEREPRESENTSTHELOCATIONONTHETOUCHSCREENOPERATORSSPECIFYADESIREDHOOKDESTINATIONBYTOUCHINGASTOREDTARGETTHATISDISPLAYEDINTHEGRAPHICALWORKSPACEIMAGEONCETHEOPERATORSPECIFIESTHEDESIREDDESTINATION,THEFEEDBACKCONTROLSYSTEMAUTOMATICALLYDRIVESTHECRANETOTHESPECIFIEDLOCATIONWITHOUTPAYLOADSWAYFIGURE6ISASCREENSHOTOFTHEVISUALINTERFACEINREGIONA,THEOPERATORCANSTOREANDSPECIFYHOOKDESTINATIONSREGIONBDISPLAYSVARIOUSSYSTEMINDICATORS,SUCHASANTISWAYACTIVITY,SYSTEMERRORS,ANDOPERATIONMODEREGIONCDISPLAYSACTUALANDDESIREDCRANEPOSITIONINFORMATIONFORPRECISEPOSITIONINGAPPLICATIONS,THEVISUALINTERFACEYIELDSSIGNIFICANTEFFICIENCYADVANTAGESOVERTRADITIONALMANUALCONTROLSORENSENETAL,2007BTHISISBECAUSEOPERATORSUSINGTHEINTERFACECANAUTOMATICALLYPOSITIONTHECRANEATADESIREDLOCATIONINANEARLYTIMEOPTIMALANDSWINGFREEMANNERMANUALPOSITIONINGISMOREDIFFICULTOPERATORSMUSTHAVEEXTENSIVETRAININGOFTEN,THESTRUCTURESAREMOVEDVERYSLOWLYTOENSUREACCURATEANDSAFEPOSITIONINGAVISUALINTERFACE,SIMILARTOTHEONEDESCRIBEDHERE,WASINSTALLEDONA10TONINDUSTRIALBRIDGECRANELOCATEDATTHEGEORGIAINSTITUTEOFTECHNOLOGYOPERATORSTUDIESCONDUCTEDONTHISCRANEREVEALEDTHATOPERATORSUSINGTHEVISUALINTERFACECOMPLETEDPOSITIONINGTASKS5TO45MOREQUICKLYTHANWITHMANUALCONTROLSORENSENETAL,2007BINADDITIONTOPOSITIONINGSIMPLICITY,THEREAREOTHERBENEFITSTOUSINGTHEVISUALINTERFACETHESEBENEFITSARERELATEDTOTHECOGNITIVEPROCESSESOFTHEHUMANOPERATORTHETYPEOFGESTUREBASEDCONTROLPROVIDEDBYTHEVISUALINTERFACEUTILIZESINTUITIONBASEDBEHAVIORFRIGOLAETAL,2003,AMATETAL,2004,WHICHISLESSCOMPLEXANDREQUIRESLESSCOGNITIVERESOURCEUSETHANMANUALPOSITIONINGASDISCUSSEDINSTAHRE,1995,ATREMENDOUSBENEFITOF“SHIFTING”O(jiān)PERATORACTIONSTOWARDINTUITIONBASEDBEHAVIORISTHATMOREREGIONBTARGETREGIONCREGIONAFIG6SCREENSHOTOFTHELOGANCRANEVISUALINTERFACE17THIFACWORLDCONGRESSIFAC08SEOUL,KOREA,JULY611,2008883