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1.
Eduardo Freire Teodiano Bastos-Filho Mário Sarcinelli-Filho Ricardo Carelli 《IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics》2004,34(1):419-429
This paper proposes an alternative approach to address the problem of coordinating behaviors in mobile robot navigation: fusion of control signals. Such approach is based on a set of two decentralized information filters, which accomplish the data fusion involved. Besides these two fusion engines, control architectures designed according to this approach also embed a set of different controllers that generate reference signals for the robot linear and angular speeds. Such signals are delivered to the two decentralized information filters, which estimate suitable overall reference signals for the robot linear and angular speeds, respectively. Thus, the background for designing such control architectures is provided by the nonlinear systems theory, which makes this approach different from any other yet proposed. This background also allows checking control architectures designed according to the proposed approach for stability. Such analysis is carried out in the paper, and shows that the robot always reaches its final destination, in spite of either obstacles along its path or the environment layout. As an example, a control architecture is designed to guide a mobile robot in an experiment, whose results allows checking the good performance of the control architecture and validating the design approach proposed as well. 相似文献
2.
The failure of the conductor of the 460 kV overhead transmission line located along the crossing of the Paraná River was investigated. As a result of this failure, a blackout took place in the southern states of Brazil in January of 2002, reaching approximately 67 million inhabitants. Investigation of the external aluminium layer of the ACSR conductor near the fracture showed typical static deformation marks and dynamic fretting wear tangential marks, both associated with the presence of Al2O3 debris. Additionally, encrusted silicon particles were observed on the external surface of the strands. The internal Al layer showed elliptical deformation marks also associated with Al2O3 debris. Both Al2O3 and Si particles are efficient abrasive material, which associated with slight relative motion of metallic surfaces (clamp/strand and strand/strand) can promote fretting wear. Two types of fracture surface of the Al strands were identified: 45° and quasi-normal surfaces, the former being the predominant type. Delamination and particle detachment were the mechanisms of superficial degradation observed on the Al strands, indicating that the rupture of the strands occurred under a gross slip fretting regime induced by sub-conductor oscillation. Inspection of the internal surface of as-cast Al–10%Si spacer clamps revealed different stages of intense circumferential wear caused by the preferential cracking and particle detachment of the eutectic constituent of the as-cast microstructure. This intense wear reduces the clamping contact pressure, which allows higher displacement amplitude and leads to the critical fretting regime. Finally, a few suggestions are discussed to minimise the occurrence of future failures. 相似文献
3.
4.
M A M Maqueda Sergio A Martinez D Narváez Miriam G Rodriguez Ricardo Aguilar Victor M Herrero 《Water science and technology》2006,53(11):135-142
The Mexican petrochemical industry, Morelos S.A. de C.V., is one of the biggest and more important petroleum industries in Mexico and Latin America. It has an activated sludge system to treat its wastewater flow, which is approximately 7,000 m3/d. The wastewater contains volatile organic carbon substances classified as toxics. The old surface aeration system was changed for fine bubble diffusers; however, one major drawback of the new aeration system is that the temperature in the bioreactor has increased due to the compression of the air, which at the compressor exit reaches 85 degrees C. This effect results in the temperature in the bioreactor attaining 32 degrees C during the fall, whereas in the spring and summer, the bioreactor temperature reaches higher values than 40 degrees C. The high temperatures reduce the microorganism activity and cause a higher volatilisation rate of volatile compounds, among other effects, which affect the performance of the biological treatment. This work was performed to obtain a better modelling of the wastewater treatment from the petrochemical industry. The model describes the effect of the temperature on the performance of the biological treatment. The model was obtained from tests that were carried out in laboratory reactors with 14 L capacity, which were operated at different temperatures (from 30 to 45 degrees C), with the same wastewater and conditions as the actual system. 相似文献
5.
Sosnowchik B.D. Azevedo R.G. Cao A. Lin L. Pisano A.P. 《Advanced Packaging, IEEE Transactions on》2005,28(4):626-634
This paper presents the rapid, low-temperature bonding between silicon and steel using the rapid thermal annealing process. Three different thin-film adhesion layer systems including silver, gold, and nickel were utilized as the intermediate bonding material to assist the eutectic Pb/Sn bonding between silicon and steel. The bonding temperature was set at 220/spl deg/C for 20 s, with a 20-s ramp-up time. Five experiments were conducted to determine the strength of the bond, including static tensile and compressive four-point bend tests, axial extension tests, tensile bending fatigue tests, and corrosion resistance tests. The test results have shown that the gold adhesion layer is the most robust, demonstrating minimal creep during fatigue tests, no delamination during the tensile or compressive four-point bend tests, and acceptable strength during the axial extension tests. Additionally, all adhesion layers have withstood four months of submersion in various high-temperature solutions and lubricants without failure. Simulations of the axial stresses and strains that developed during the four-point bend and axial extension tests were performed and showed that the presence of the silicon die provides a local reinforcement of the bond as observed in the experimental tests. 相似文献
6.
Ricardo Beristain‐Cardoso Anne‐Claire Texier Reyes Sierra‐Álvarez Jim A Field Elías Razo‐Flores Jorge Gómez 《Journal of chemical technology and biotechnology (Oxford, Oxfordshire : 1986)》2008,83(9):1197-1203
BACKGROUND: Simultaneous removal of sulfur, nitrogen and carbon compounds from wastewaters is a commercially important biological process. The objective was to evaluate the influence of the CH3COO?/NO3? molar ratio on the sulfide oxidation process using an inverse fluidized bed reactor (IFBR). RESULTS: Three molar ratios of CH3COO?/NO3? (0.85, 0.72 and 0.62) with a constant S2?/NO3? molar ratio of 0.13 were evaluated. At a CH3COO?/NO3? molar ratio of 0.85, the nitrate, acetate and sulfide removal efficiencies were approximately 100%. The N2 yield (g N2 g?1 NO3?‐N consumed) was 0.81. Acetate was mineralized, resulting in a yield of 0.65 g inorganic‐C g?1 CH3COO?‐C consumed. Sulfide was partially oxidized to S0, and 71% of the S2? consumed was recovered as elemental sulfur by a settler installed in the IFBR. At a CH3COO?/NO3? molar ratio of 0.72, the efficiencies of nitrate, acetate and sulfide consumption were of 100%, with N2 and inorganic‐C yields of 0.84 and 0.69, respectively. The sulfide was recovered as sulfate instead of S0, with a yield of 0.92 g SO42?‐S g?1 S2? consumed. CONCLUSIONS: The CH3COO?/NO3? molar ratio was shown to be an important parameter that can be used to control the fate of sulfide oxidation to either S0 or sulfate. In this study, the potential of denitrification for the simultaneous removal of organic matter, sulfide and nitrate from wastewaters was demonstrated, obtaining CO2, S0 and N2 as the major end products. Copyright © 2008 Society of Chemical Industry 相似文献
7.
Cristiane Vieira Helm Alicia de Francisco Salete Aparecida Gaziola Ricardo Francisco Fornazier Georgia Bertoni Pompeu Ricardo Antunes Azevedo 《Food Biotechnology》2005,18(3):327-341
Barley (Hordeum vulgare L.) has had an important impact on human nutrition. Hull-less barley is a genetically improved type that has been widely used in recent years. Six Brazilian hull-less barley varieties (IAC-IBON 214-82; IAC 8612-421; IAC 8501-31; IAC 8501-12; IAPAR 39-ACUMAI; IAC 8501-22) were analyzed for storage protein constituents, amino acid contents, and similarity among the hull-less barley varieties. Albumins, globulins, prolamins I and II, and glutelins were extracted and separated by SDS-PAGE. The total protein amino acid contents of the flour were also determined for each variety by TLC and HPLC. Variations in intensity and appearance and disappearance of protein bands were observed among the varieties suggesting genetic variability. However, the amino acid profile did not indicate any major variations in the amino acid concentrations. The high lysine and threonine total concentrations detected in the seeds of the hull-less barley varieties encouraged an investigation into the regulation of amino acid metabolism and storage protein synthesis. 相似文献
8.
Ricardo Lima Author Vitae Author Vitae Claudio Reineri Author Vitae Author Vitae 《Computers & Electrical Engineering》2008,34(6):520-530
This paper presents a novel concept for power quality hardware and software architecture. Software tools related to detection, classification and characterization of power quality events can be integrated into a Distribution Control Center in which the interconnection between different subsystems is being carried out through the Internet allowing flexibility to the system. This system is implemented using wavelet analysis applied in all proposed algorithms. Different power quality events are taken as examples to illustrate the capabilities of the proposed method. The obtained results reveal that the proposed architecture is feasible to be implemented as an integral part of a control center system.The proposed system has the property of fast and accurate detection and classification of any power quality disturbance event and introduces a new PQ index determination that allows characterizing any type of disturbance including the non-periodic signals. 相似文献
9.
The dynamical behaviour of nonlinear electrical circuits is usually modelled in the time domain by differential-algebraic equations (DAEs). The differential-algebraic formalism drives qualitative analyses based on linearization to a matrix pencil setting. In this context, the present paper performs a spectral analysis of matrix pencils and DAEs arising in nonlinear circuit theory. Specifically, the non-singularity, hyperbolicity and asymptotic stability of equilibria are addressed in terms of circuit topology. The differential-algebraic framework puts the results beyond those already known for state-space models, unfeasible in many actual problems. The topological conditions arising in this qualitative study are proved independent of those supporting the index, and therefore they apply to both index-1 and index-2 configurations. The approach illustrates how graph theory, matrix analysis and DAE theory interact in the dynamical study of nonlinear circuits. 相似文献
10.
Jefferson Fabrício Cardoso Lins Hugo Ricardo Z. Sandim Hans-Jürgen Kestenbach 《Journal of Materials Science》2007,42(16):6572-6577
The present paper reports the experimental results on the microstructural and textural characterization of a hot-rolled IF
steel. The IF steel was hot-rolled in multiple passes in the austenitic field (1,070 °C) followed by air-cooling. SEM, TEM,
and LOM were used to image the microstructure of the material. The global texture was determined by X-ray diffraction (XRD)
technique. The mesotexture of selected regions was investigated by electron backscatter diffraction (EBSD). Results show the
presence of a diffuse (nearly random) and weak texture in the hot-band that consists of recrystallized polygonal grains and
subgrains. The fraction of boundaries with misorientations comprised in the interval 2° ≤ ψ < 15° was found to be lower than
5%. It can be concluded that these low angle boundaries and the presence of subgrains can be associated to the existence of
a few areas softened by recovery during or after hot rolling in austenitic field. 相似文献