maintenance organization and control for multi plant corporations
Formation and reconfiguration control for multi robotic systems
... proposes an algorithm for tracking of the desired trajectory 1.4.1 Flocking, Swarming and Formation Control Achieving an specific formation and developing a control law that guarantees formation stability ... structural controllability for multi- agent systems is proposed, and the problem studied in this chapter is formulated In Section 2.3, a necessary and sufficient condition for the structural controllability ... law (2.9) 35 2.12 Horizontal line formation Heading control effort (solid line), X position control effort (dashed line), Y position control effort (dotted line) Initial position (circle),...
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Báo cáo khoa học: Purification, microsequencing and cloning of spinach ATP-dependent phosphofructokinase link sequence and function for the plant enzyme pdf
... pyrophosphate replaces ATP and serves as a source of energy Fed Proc 36, 2197–2205 Plaxton WC (1996) The organization and regulation of plant glycolysis Annu Rev Plant Physiol Plant Mol Biol 47, 185–214 ... sequences determined from the purified protein For SoPFK1, the peptide fragments EIYFEP and GNAVLG were selected For SoPFK2, TIDNDI and YIDPTY were used for primer generation Degenerate oligonucleotide ... 6-phosphate, and activity was determined by decrease in absorbance at 340 nm For discrimination between the chloroplast and cytosolic isoforms, 25 mm NaH2PO4 was added to the assay [31,32] For measurement...
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process modeling simulation and control for chemical engineers - 2nd ed
... temperature control loop PC = pressure control loop LC = level control loop Bottoms product FIGURE 15 Typical chemical plant and control system I I I - PROCESS MODELING SIMULATION, AND CONTROL FOR CHEMICAL ... Advanced Control Systems Cascade Control 11.1.1 Series Cascade 11.1.2 Parallel Cascade Feedforward Control 11.2.1 Fundamentals 11.2.2 Linear Feedforward Control 11.2.3 Nonlinear Feedforward Control ... area of multivariable control Therefore I feel it is time for a second edition In the area of process control, new methods of analysis and synthesis of control systems have been developed and need...
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seepage analysis and control for dams - u.s. army corps of engineers - part a
... permeability of concrete sand, sand-gravel mixture, and uniform fine sand (prepared by WES) 2-22 EM 1110-2-1901 30 Sep 86 b Masch and Denny Method For uniform or nonuniform dense clean sands, classified ... developed by Hazen for uniform loose clean sands The agreement between measured and computed permeability is within one order of magnitude for uniform sands and glass spheres Therefore, Hazen's equation ... for which laminar flow occurs for a fine sand (courtesy of 147 American Society for Testing and Materials ) Hazen's experiments were made on sands for which 0.1 mm < D10 < 0.3 mm and the uniformity...
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seepage analysis and control for dams - u.s. army corps of engineers- part b
... in the construction procedure to be made early in the project (Hallford 1983; Holland and Turner 1980; and Gerwick, Holland, and Komendant 1981) (7) Treatment at Top of Concrete Cutoff Wall As ... wall and the core of the dam (9) Instrumentation and Monitoring Whenever a concrete cutoff wall is used for control of underseepage, the initial filling of the reservoir must be controlled and ... Ratios for Dams Founded on Pervious Foundations (a) Table 9-10 Minimum Bligh's Creep Ratio Material Very fine sand or silt 18 Fine to medium sand 15 Coarse sand 12 Fine gravel or sand and gravel...
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Báo cáo toán học: " Combined perception and control for timing in robotic music performances" ppt
... task for robots as it involves online perception and precise synchronization In this paper, we present a consistent and theoretically sound framework for combining perception and control for accurate ... we formulate the robot performance as a linear quadratic control problem This approach requires only a handful of pa22 rameters and seems to be particularly effective for generating realistic and ... US and ATC conceived and designed the perception model OS and ATC ¸ carried out the control model US and BK implemented the Lego c robot ¸ US, OS, BK, and ATC wrote the paper All authors read and...
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Báo cáo hóa học: " Selective sensing and transmission for multi-channel cognitive radio networks" doc
... Tc For j i example, assume Tc > Tc and channel i and j will be sensed every 10 and slots, respectively Then, the total sensing time for channel i and j are 10τ = 200 and 2τ = 40 (ms) Therefore, ... model and problem formulation In this section, we will first introduce system model and time behaviors of PU and SU, and then we will focus on the problem formulation System model We consider a multi- channel ... framework is proposed for jointly optimizing sensing and transmission time for each channel And then a spectrum selection and sensing scheduling method is proposed to exploit multiple channels However,...
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báo cáo hóa học:" Combined perception and control for timing in robotic music performances" potx
... task for robots as it involves online perception and precise synchronization In this paper, we present a consistent and theoretically sound framework for combining perception and control for accurate ... we formulate the robot performance as a linear quadratic control problem This approach requires only a handful of pa22 rameters and seems to be particularly effective for generating realistic and ... US and ATC conceived and designed the perception model OS and ATC ¸ carried out the control model US and BK implemented the Lego c robot ¸ US, OS, BK, and ATC wrote the paper All authors read and...
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Báo cáo nghiên cứu khoa học: " DYNAMIC MODEL AND CONTROL FOR BIPED ROBOT" pps
... provides torque τ r to ensure the stability and accurate movements for the joints of the robot 2.2 Building RDC Control Choosing and defining Lyapunov function for the Biped Robot as follows: Review ... using (8) and (12) we have as a limited value Therefore we can apply Lyapunov and LaSalle [3] theory to solve the problem If we chose a suitable value k2 • V ≤ 0, ∀r and V → ∞ when x → And we also ... − C)(r − ke) + F + τ d = τ r (6) Here, F is effect of the friction and gravity force on the model To build the torque control for the model, the writer chooses Lyapunov function as follows: V...
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quantitative organizational modeling and design for multi-agent systems
... all of these characteristics, and therefore all have some form of organization, although it may be implicit and informal Just as with human organizations, agent organizations guide how the members ... targets is varied for a) Messaging disparity, and b) RMS error 83 3.1 The control and communication sequence involved in handling a query in the information retrieval organization Steps ... created for each sector in the environment, and serve as intermediaries for much of the local activity For example, they generate and distribute plans needed to scan for new targets, store and provide...
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UAV swarm coordination and control for establishing wireless connectivity
... Phuket, Oct 2008 A Sivakumar and C K Y Tan Formation Control for Lightweight UAVs Under Realistic Communications and Wind Conditions In Proc AIAA Guidance, Navigation and Control Conf., (AIAA GNC’09), ... accurate navigation and control of UAVs to execute movement decisions? The aim of this thesis then is to study and present policies and algorithms for the UAVs to autonomously control and coordinate ... deployed, we perform field tests to prove the performance of our autonomous control system as well as the viability of air-to-ground and air-toair communication, which forms the very basis for our proposed...
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Coordination and control of multi agent systems
... potential function and force derived for a behavior b; the magnitude of the force Fb ; the weighting parameter for a behavior b; the average distance of robots from their queues and deformed queues ... agents ajk and aj1 k1 The Dandelion Formation and connected graph for agents within and between six Roam-Spaces Agent Clusters and Uncovered ... method however offers no control over the geometry of the formation, and more dispersed formations, like the wedge and diamond formations, cannot be achieved Carpin and Parker [46] described...
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Temperature sensing and control in multi zone semiconductor thermal processing
... 81 4.3 A Review of Multiplexed MPC and Feedforward Control 83 4.3.1 4.3.2 4.4 Multiplexed MPC 83 Feedforward Control 84 Experimental ... Distributional parameters for these special cases are: σ = for t, σ = √ √ 2, p = 2, q → +∞ for normal, σ = 2, p, q → +∞ for uniform, and σ = √ √ 2, p = 2, q = 2.4 2, p = 1, q → +∞ for Laplace ... closed-loop control performance, MMPC’s key advantage of reduced computational load supports faster sampling and potentially brings about superior control performance For a 3-zone bake-plate with control...
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Standing posture modeling and control for a humanoid robot
... Acknowledgements First and foremost I am grateful to God, the Almighty, for blessing me with opportunities beyond my dreams and capabilities, for giving me the strength to achieve and succeed and for providing ... Examples of point feet and flat foot robots respectively ………………….11 Figure Stable postures for humanoid robots ………………………………………12 Figure Contact positions and forces for force control approach to ... Symbols F(N) Force m1(kg) Mass of link1 for Acrobot m2(kg) Mass of link2 for Acrobot l1(m) Length of link1 for Acrobot l2(m) Length of link2 for Acrobot lc1(m) CoM location for link1 for Acrobot...
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Channel estimation and detection for multi input multi output (MIMO) systems
... To meet the demand on very high data rates communication services, multiple transmitting and multiple receiving antennas have been proposed for modern wireless systems, where performance is limited ... =G−1 Σ(G−1 )H = G−1 GGH (G−1 )H = I (3.23) We then transform (3.22) to its real-equivalent form and perform the needed transformation and scaling operations on y , to reduce the problem to that ... colored and white noise environments 5.10 BER v.s SNR for the × flat fading system, N = 44 and M = 4, with LOS’s in the colored and white noise environments 5.11 Compare the SN RM F B,i for ×...
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Modular modeling and control for autonomous underwater vehicle (AUV)
... module For completeness, three control schemes are adopted and the specific controllers are designed to realize maneuverability of the AUV: forward speed control, steering control and depth control ... Soon for his guidance and care for both my research work and life The numerous discussions in the past two years have been most fulfilling and have given me a deeper insight in modeling and control ... these controllers is given to demonstrate the performance of the proposed control scheme The results of simulation show that the performance of controllers is acceptable and the three types of controllers...
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Acid Gas Scrubber for Multi-Pollutant Reduction - Emission Control and Measurement Workshop pot
... SEPARATORS MAKEUP WATER FC (This loop is for EDV® 5000, 6000 and 6600 models only) (for EDV® 5000 and 6000 models only) EDV® FILTERING MODULES (for EDV pHC 5000, 6000 and 6600 models only) DIRTY FLUE ... SEPARATORS MAKEUP WATER FC (This loop is for EDV® 5000, 6000 and 6600 models only) (for EDV® 5000 and 6000 models only) EDV® FILTERING MODULES (for EDV pHC 5000, 6000 and 6600 models only) EDV ABSORBER ... Addition for pH control Caustic Addition for pH control EFFLUENT DISCHARGE AIR BLOWER OXIDATION TOWERS 23 EDV® Wet Scrubbing Purge Treatment Unit SCRUBBER PURGE CLARIFIER Coagulant and/ or Flocculent...
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Tài liệu Matlab tutorial for systems and control theory pdf
... command 1; MATLAB command 2; MATLAB command 3; The name of the m-file for this function is functionname.m and it is called from the MATLAB command line or from another m-file by the following command ... = true) and zeros (0 = false) Be careful of the distinction between ‘=’ and ‘==’ 5.3 Flow control operations MATLAB contains the usual set of flow control structures, e.g., for, while, and if, ... commands, e.g., ‘ls’, ‘pwd’, and ‘cd’ These are handy for listing MATLAB’s working directory, checking the path to the working directory, and changing the working directory MATLAB checks for...
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