簡介：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

簡介：I本科畢業(yè)設計（論計（論文）文）學院生物與環(huán)境工程學院專業(yè)環(huán)境工程學生姓名班級學號指導教師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

簡介：畢業(yè)設計外文資料翻譯畢業(yè)設計外文資料翻譯題目人工和工業(yè)機器人重復操作定位學院機械工程學院專業(yè)機械工程及自動化班級學生學號指導教師指導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)設計畢業(yè)設計論文論文外文資料翻譯外文資料翻譯學院專業(yè)班級機械設計制造及其自動化學生姓名學號指導教師外文出處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)橋式起重機的多工作模式防搖與定位控制一種工業(yè)橋式起重機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)橋式起重機配備了一套起重機操縱系統(tǒng)，能夠實現(xiàn)自由擺動運動、抗干擾和精確定位。在抗搖擺、定位和起重機控制的這些領域里，先前的研究中取得了非常重要的貢獻。這些進步被結合到這里描述的統(tǒng)一起重機操縱系統(tǒng)中。提供了該系統(tǒng)的概述，以及實驗結果以及人工操作者如何使用起重機的描述。關鍵詞關鍵詞輸入整形，指令整形，起重機控制，防搖擺，反饋控制，機器視覺1介紹介紹起重機使用于世界各地的成千上萬的造船廠,建筑工地、鋼廠、倉庫、核能和廢物貯存設施,以及其他工業(yè)園區(qū)。這些結構的安全、高效運動是工業(yè)生產(chǎn)力的一個重要貢獻。起重機可能對安全和高效運動產(chǎn)生不利影響的重要性能是起重機有效載荷傾向于擺動。外部干擾，例如風、命令運動，可能導致顯著的有效載荷擺動。有效載荷擺動使得精確定位對于操作者來說是耗時的；此外，當有效載荷或周圍障礙物具有危險或脆弱性質時，有效載荷擺動可能存在安全隱患。起重機的廣泛使用，加上需要減少不希望的振蕩，已經(jīng)推動了大量的研究。在1）運動誘導振蕩降低，2）擾動抑制，3）定位能力，4）有效載荷擺動檢測以及5）操作員界面設計方面已經(jīng)取得了顯著進步。每個這些領域的進步已被合并成一個統(tǒng)一的起重機操縱系統(tǒng)（CMS）。CMS的實用性在于它為操作者提供了產(chǎn)生安全和有效的無擺動運動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)橋式起重機上實施該系統(tǒng)。這臺起重機位于洛根鋁業(yè)，一家領先的鋁板產(chǎn)品制造商。在第2節(jié)，介紹了LOGAN起重機及其動態(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起重機中。在配備有CMS的LOGAN起重機上進行的性能實驗的結果在4節(jié)中給出。2系統(tǒng)介紹系統(tǒng)介紹圖1顯示了30噸洛根起重機的照片。手推車沿著橋跨過大約30米的距離。同樣，橋可以沿著固定軌道移動大約50米的距離。吊鉤懸掛在手推車下方。在操作過程中，吊纜長度在3至10米之間變化。

簡介：COFINANCéPARL′UNIONEUROPéENNEFEDERLACOMMISSIONEUROPéENNEINVESTITDANSVOTREAVENIRWORDMOGELIJKGEMAAKTDOORFINANCI?LESTEUNVANDEREUROPESEUNIEEFRODEEUROPESECOMMISSIEINVESTEERTINUWTOEKOMSTFUTUREOFAUTOMOTIVEDESIGNTHEOTHERSBEINGVEHICLEEFFICIENCY,ELECTRICMOBILITY,‘SMARTMOBILITY’ANDMANUFACTURING其余為“車輛的使用效率”，“電動交通”，“智能移動”和“制造業(yè)與物流”。THESEFIELDSOFACTIONREPRESENTTHESTRENGTHSOFTHEDUTCHAUTOMOTIVESECTORANDTHEAREASTHATAREVITALFORFUTUREAUTOMOTIVEDEVELOPMENTTOSHINEALIGHTONTHEFUTURETHEATCHASTAKENTHEINITIATIVETOPRODUCETRENDSTUDIESONEACHOFTHESEFIVEFIGURE1BMWVISIONEFFICIENTDYNAMICS寶馬高效動力SUBJECTSTHISREPORTCONCLUDESTHERANGETHEOTHERREPORTSAREAVAILABLEATTHEATC這些行動領域所代表的荷蘭汽車領域的優(yōu)勢，而且對未來汽車發(fā)展至關重要。為了照亮未來，汽車技術中心已主動作出了五個領域趨勢研究。該報告總結范圍廣泛。其他報告可在ATC獲得。DESIGNHASBECOMEASTRONGHOLDOFTHEDUTCHECONOMYTHECREATIVEINDUSTRYINTHENETHERLANDSHASACQUIREDANINTERNATIONALPROFILEINDIFFERENTMARKETSASFURNITURE,FASHION,TVPROGRAMSANDGAMINGDUTCHDESIGNHASAMEANINGOFANEWWAYOFLOOKINGATTHINGS,DOWNTOEARTH,OUTOFTHEBOXANDOFTENWITHATOUCHOFHUMORTHENETHERLANDSHAVEMANYDESIGNEDUCATIONINSTITUTESANDDUTCHDESIGNGRADUATESHAVEFOUNDTHEIRWAYTOMAKEACAREERATINTERNATIONALAUTOMOTIVEDESIGNSTUDIOSOTHERSPUTTHEIRDESIGNCREATIVITYTOWORKINPRODUCTPLANNING,ENGINEERINGORPRODUCTMANAGEMENTNEWISTHEDESIGNOFTHEVIRTUALWORLDTHENETHERLANDSISSTRONGINGAMEDESIGNANDDESIGNOFHUMANMACHINEINTERFACEHMIDISPLAYSDESIGNISMORETHANSHAPEDESIGNISPRODUCTCREATION設計已成為荷蘭經(jīng)濟的一個重要據(jù)點。創(chuàng)意產(chǎn)業(yè)在荷蘭已經(jīng)獲得了國際形象，在不同的市場如家具，時尚，電視節(jié)目和游戲?！昂商m設計”有有意味的看事情，腳踏實地，開箱即用，并往往帶有幽默感。荷蘭有許多的設計教育機構與荷蘭設計的畢業(yè)生已經(jīng)找到自己的方式在國際汽車設計工作室做出一番事業(yè)。其他人把他們的設計創(chuàng)意運用在產(chǎn)

簡介：吉林化工學院信控學院生產(chǎn)實習報告學生學號1310551308學生姓名田曉芙專業(yè)班級自動1303吉林化工學院信息與控制工程學院生產(chǎn)實習報告I目錄第1章緒論111生產(chǎn)實習的目的及意義1111生產(chǎn)實習的目的1112生產(chǎn)實習的意義112實習安排及內(nèi)容1第2章工廠實習321實習工廠介紹322實習前教育4221安全教育4222參觀現(xiàn)場523分配至DCS組實習5231DCS簡介5232PLC系統(tǒng)簡介6233ESD系統(tǒng)簡介7第3章仿真實習1031仿真實習目的及要求1032仿真軟件介紹1033工業(yè)鍋爐系統(tǒng)10331工業(yè)鍋爐的結構及工藝流程簡介10332工業(yè)鍋爐控制系統(tǒng)簡介1134開車步驟與結果12341工業(yè)鍋爐的冷態(tài)開車12

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

簡介：畢業(yè)論文題目飲水器產(chǎn)品設計研究姓名崔開新所在學院機械學院所學專業(yè)工業(yè)設計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

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

簡介：1畢業(yè)設計論文外文資料翻譯學院學院系專業(yè)業(yè)姓名名學號號外文出處外文出處DAVELEGGETTJUSTAUTO2012附件件1外文資料翻譯譯文；2外文原文。指導教師評語簽名201年月日注注請將該封面與附件裝訂成冊。用外文寫3生產(chǎn)集中度大幅提高反映出我國汽車業(yè)的進步。誠然，我們還有100多家具有整車資質的企業(yè)存在，但后幾十家其實已不再生產(chǎn)。當然，對比美國、日本、德國都只有三大汽車生產(chǎn)企業(yè)，中國汽車業(yè)生產(chǎn)集中度還是分散了許多。但應當看到，美國、日本、德國的三大車企，都是在關稅較高保護、區(qū)域內(nèi)自主自產(chǎn)自銷為主的條件下開始形成的，而中國汽車產(chǎn)業(yè)是在經(jīng)濟全球化進程之中，在全面改革開放的政策指導下發(fā)展的，不可同日而語。這表明，隨著近年來中國汽車市場的快速增長，汽車行業(yè)生產(chǎn)集中度也大幅提高。事實已經(jīng)證明，汽車行業(yè)是規(guī)模經(jīng)濟行業(yè)，只有規(guī)模足夠大才能發(fā)揮規(guī)模效應，才能使中國汽車企業(yè)真正具有國際競爭力。所以，我們不僅要與國外企業(yè)兼并合作，善于利用國外企業(yè)各種技術，生產(chǎn)，管理的優(yōu)勢發(fā)展自己，更應該注重鼓勵中國自己的汽車企業(yè)實行“強強聯(lián)合”，資產(chǎn)重組，擴大企業(yè)規(guī)模，通過大企業(yè)間的聯(lián)合和重組，使格局更理想，以期更進一步提高我國汽車行業(yè)集中度。為提高中國汽車行業(yè)市場集中度，完善中國汽車市場結構，增強汽車產(chǎn)業(yè)的國際競爭力，提出了幾條相應的對策和建議。（1）重視汽車產(chǎn)業(yè)政策從歷史實踐上來說，在中國汽車行業(yè)的發(fā)展史上，國家政策對汽車產(chǎn)業(yè)一直有著非常大的影響，尤其在經(jīng)濟全球化一體化的大背景下，中國汽車行業(yè)面臨更大的挑戰(zhàn)，而由于中國汽車產(chǎn)業(yè)起步晚，不成熟，所以更需要國家的關注，需要相關政策發(fā)揮積極作用，以提高市場集中度，促進中國汽車產(chǎn)業(yè)結構調(diào)整，促進汽車產(chǎn)業(yè)發(fā)展，增強中國汽車產(chǎn)業(yè)的國際競爭力。理論上來說，政府的政策法規(guī)是形成進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)量進入管制等都使新企業(yè)難以進入，使市場趨于集中。所以可以說產(chǎn)業(yè)政策對產(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，它是國家為加強和改善宏觀調(diào)控，進行資源長期合理配置的重要工具，在整個汽車產(chǎn)業(yè)的政策體系中起著主導作用，是制定其他相關政策的基礎。所以汽車市場應該實施以汽車企業(yè)為主導，政府加以引導的策略，積極發(fā)揮政府的引導作用，積極扶持汽車大集團，促進規(guī)模經(jīng)濟的實現(xiàn)和同國外大企業(yè)的競爭；另外市場環(huán)境也很重要，為了使汽車產(chǎn)業(yè)能在一個健康的市場環(huán)境中得以成長發(fā)展，還應該加大力度健全市場體制，規(guī)范市場行為，加大監(jiān)督力度，防止

簡介：1膜生物反應器對工業(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摘要膜生物反應器（MBR）能夠對城市廢水產(chǎn)生持續(xù)的高質量的處理效果，而且在新加坡，一個成功的中試研究驗證了MBR工藝用于生活污水再生的優(yōu)勢。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）無疑是一種新的挑戰(zhàn)。這個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。一個缺氧好氧埋有聚偏氟乙烯（PVDF）空心纖維模塊也用于研究過程中。這一MBR估計已運行超過3個月。試驗結果表明的MBR中處理混合的污水可能需要15H的水力停留時間（HRT），而且膜通量為17L/M2H（LMH）能夠使膜生物反應器工藝可持續(xù)的運行。膜生物反應器，相對于傳統(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。研究的結論是MBR工藝是能夠處理混合污水的工業(yè)用水。關鍵詞膜生物反應器；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和工業(yè)發(fā)展，水資源短缺已經(jīng)成為了全球的問題。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，此類設備不僅可靠而且操作簡單。勞倫斯等2對在加利福尼亞州埃斯孔迪多AQUA2000研究中心進行的膜生物反應器研究也做出了報告。這個實驗報告表明MBR處理后的水具有很好的水質，不僅沒有可檢測的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工藝的費用并進行了研究。他們在報告中指出從能源消耗和清洗設備兩方面看，浸入構型的運行會比側流構型的更經(jīng)濟。陶先生等4開發(fā)了三個浸入構型MBR的實驗，實驗結果驗證了在新加坡的熱帶條件下，膜生物反應器技術在再生生活污水時體現(xiàn)的優(yōu)勢。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MBR設備來說是一個挑戰(zhàn)，而且實驗性的評估也很難預料。這項研究的目的在于確定浸入式膜生物反應器處理工業(yè)用的混合污水的可行性。2實驗材料和方法3圖21MBR中試系統(tǒng)流程圖2222實驗過程實驗過程實驗過程為期超過了3個月，從2004年7月2日到2004年10月8日。研究過程的中試系統(tǒng)一直持續(xù)24H地運行。研究中使用的MBR中試系統(tǒng)的運行條件在表22中列出。在JWRP中，來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驗系統(tǒng)的初期運行階段。并在一周內(nèi)MBR中的MLSS濃度能夠達到設計的水平，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，向生物反應池投入消泡劑（KIMCOOL9000TM）以減少泡沫的問題，并整個研究過程中持續(xù)地以50MG/L投入。對不同的膜通量和HRT進行實驗。MBR試驗裝置及兩個MOS以總平均過液量為14M3/H開始在7月投入運行。然后在8月和9月用一個MOS運行時其平均過液量為12M3/H。在10月的時候，把HRT提高到15H后，平均過液量能降低到072M3/H。在這項研究中，只進行了化學清洗的維護。在維護清洗時，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需氧當量濃度（NM3/M3濾液）1711010167

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

簡介：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