... t o sản phẩm tt an toàn ch t lượng ph t triển vững mạnh thương hiệu sản phẩm Hệ thống HACCP cơng nhận t n giới biện ph pt i ưu để kiểm so t an t n thực phẩm Nó khơng phải hệ thống hồn t n khơng ... CCP Nguyên t c Bước 8: Thi t l p GHTH cho điểm CCP Nguyên t c Bước 9: Thi t l p thủ t c giám s t cho CCP Nguyên t c Bước 10: Thi t l p hành động khắc phục Nguyên t c Bước 11: Thi t l p thủ t c ... biện ph p ti p cận hệ thống HACCP để tiến t i đ t thoả thuận: b t buộc p dụng HACCP tt nhà sản xu t, chế biến cung c p thực phẩm Hoa K SVTH: Phan Thị Ngọc An Trang 16 Xây dựng chương trình...
... like also to thank the past CSS President Mike Masten and the past RAS President T. -J.Tarn for actively supporting this Workshop in the spirit of cooperation among the societies It all started as ... Statement 2.5 The capability to reject motion disturbances is proportional to the contact compliance Statement 2.6 The force overshoot at impact is proportional to the contact stiffness A larger approach ... transition phase, or approach phase, between motion in free space and motion in contact) Statement 2.4 The capability to reject force disturbances is proportional to the contact compliance Statement...
... like also to thank the past CSS President Mike Masten and the past RAS President T. -J.Tarn for actively supporting this Workshop in the spirit of cooperation among the societies It all started as ... Statement 2.5 The capability to reject motion disturbances is proportional to the contact compliance Statement 2.6 The force overshoot at impact is proportional to the contact stiffness A larger approach ... transition phase, or approach phase, between motion in free space and motion in contact) Statement 2.4 The capability to reject force disturbances is proportional to the contact compliance Statement...
... like also to thank the past CSS President Mike Masten and the past RAS President T. -J.Tarn for actively supporting this Workshop in the spirit of cooperation among the societies It all started as ... aspects related to robotics and automation, the Editors have tried to opt for those "hot" topics which are expected to lead to significant achievements and breakthroughs in the years to come The ... Committee for their x Preface suggestions, as well as the Contributors to this book for their thorough and timely preparation of the book chapters The Editors would also like to thank Maja Matija~evid...
... to the contact compliance Statement 2.5 The capability to reject motion disturbances is proportional to the contact compliance Statement 2.6 The force overshoot at impact is proportional to the ... neglecting that: Statement 3.3 The geometry of operational space is not that of a vector space The fundamental reason is that rotations not commute, either with other rotations or with translations ... impact (this is iraportant for the transition phase, or approach phase, between motion in free space and motion in contact) Statement 2.4 The capability to reject force disturbances is proportional...
... definition of transparency is symmetric with respect to the MCS teleoperation block If the teleoperation system is transparent, then the transmitted impedance from the operator's hand to the environment ... [fT f• ]T to V = [VT V~] T and the scattering operator S = (I - Y ) ( I + y ) - i mapping the input wave into the output wave f - v S ( f + v) The admittance operator is proper so it fits in the ... it is not nilpotent [14] These results prevent the few powerful planning and control algorithms known in the literature to be applied to kinematic rolling systems (of which the plate-ball system...
... 3.4c, the response of the control input ue This fact illustrates that us is similar to an optimal strategy for a well trained human operator Remark i Simulation results showed that the proposed ... popular approach to the task of controller design This is so not only because its theories are conceptually so straightforward that it is easily acceptable to the vast control literature, but also ... of the cart The sequence is arranged such that the subcontroller (with output ue) for the angular position of the pole starts the learning process first till the response of the pole subsystem...
... u t d e c o u p l i n g w i t h r e s p e c tt o q As the last algorithmic step, we tackle the input-output decoupling and linearization problem for the original output q The mapping from f to ... In both approaches, the generated torque is noncausah a nonzero input is applied in time before the actual start of the output trajectory This preloading effect brings the flexible manipulator ... Denote the solution as (k+ l) (t) , defined fort¢[ A ,T+ A] If 1tS (k+ l) (t) -~ (k) (t) l I < ee for all t E [ - A , T + A], set ~e (t) = ~ (k+ l) (t) and stop Else, set k = k + and go to step 3.2.3 M e t h...
... ~ k OUk T ~ 7 "k (2.24) k= O Define the symmetric positive definite inertia matrix M(O) = ~ pT(o)DkPk(O), (2.25) k= O and the matrix C(O,u) = Z[pT(o)DkPk(O) pT(o)Pk(O)] (2.26) k= 0 where ~tOTkT~ ... parameter ranges that lead to single support gait patterns only Stability of the resulting gait patterns were verified using the approach that was presented in Sect 2.3 The open control problem ... reflect the particular type of motion We will adopt the second approach in this chapter For example, for no slip walking, without the double support phase, a mapping Phil, is obtained as a relation...
... interpolation is not enough to characterize the contour of the target path as is the case in [8], but that some type of contour prediction is necessary to obtain d and Note that at time instant t, ... systems to detect the target path characteristics The CiVis concept proposed by Renault, and the European P R O M O T E program are examples of systems based on this idea Examples of recent works ... unions point of view, that estimates that such systems may jeopardize their activity This last point 172 C Canudas de Wit may not be critical since the project aim is not to avoid the driver, but to...
... into a plant input as follows u (t) : ¢(vk) tk _< t < tk+l (2.7) where vk is the most recent controller event before time t Initially, we will require that u (t) be a constant plant input for each ... In: Proc IEEE Conf Comp ]/is Part Recog pp 829-832 [27] Papanikolopoulos N P, Khosla PK 1993 Adaptive robot visual tracking: theory and experiments IEEE Trans Automat Contr 38:429-445 [28] Papanikolopoulos ... where gk represents the different constraint equations for the different discrete states, and tk is the time that the k th discrete event occurs Additionally, system is observed through the measurement...
... t~ : the time to initially feed the bottleneck operation of lot f, t~ : the time for the bottleneck to process all the garments in the lot once the bottleneck is fed, and t~ : the time for the garments ... where the individual network outputs correspond to contact state transitions occurring during the assembly process When a contact state transition occurs, the MLP output with the largest value ... desired to determine the motion such that the workpiece encounters the next discrete state " ~k+ l Since the system is not in " 7k+ 1, the following must be true gj (x (t) ) = K tk _< t < tk+l (3.3)...
... l ( k ) here means the time when the part for the robot arrives the picking position, u2 (k) is the time when the part arrives the picking position for the robot The state transition relation ... conveyor rotates an angle such that the robot rl can pick up a part Px at location ~b on the disc; - The disc conveyor rotates an angle such that the robot r2 can pick up another part P2 at location ... communication and computation costs of central control, at the same time that it limits complexity The distributed control must, nevertheless, permit centralized authority over those aspects of the...
... strategic plan by interpolating the control points with a smooth output trajectory, denoted by yd in Fig 4.1 The tactical planner uses a simple kinematic model of the aircraft for all trajectory ... agent We assume that the system starts at state x at initial time t Both U and T~ are known sets, but whereas the control input u may be chosen by the designer, the disturbance d is unknown The ... V1 At any instant t, the set {x E ~ n \ T [ J;(x ,t) >_ 0} defines the set of safe states starting from time t We would like to calculate the "steady state" safe set, or the safe set of states...
... traffic control center and the aircraft as well as the state of current avionics (autopilot) on board the aircraft which operate in a set-point mode We consider two types of approximations: turning ... aircraft in the Asian airspace en-route from South East Asia to Europe This latter phenomenon has spurred the study of the benefits of explicitly convoying aircraft in groups to their destination Theoretical ... the previous section, we only mention that this approach can be used to compute the safe set of initial conditions in the iterations required to verify the safety of the maneuver Further details...
... Stuttgart In these three organizations I made profuse use of kp Particularly important in this context was the work on the full-zone k p, coauthored with Fred Pollak and performed shortly after ... of the theory, e.g., to optical and transport properties The text is sprinkled with graphs and data tables in order to illustrate the formal theory and is, in no way, intended to be complete It ... obtain those solutions: Lk x2 + M k 2y + k z2 − λ N kx k y N kx kz = Lk x2 + M k 2y + k z2 − λ N kx k y Lk 2y +M k z2 + N kx kz k x2 −λ N k y kz Lk z2 + M k x2 + k 2y − λ N k y kz Lk 2y + M(k...
... L p lỗ cửa cánh th p l p hay bê t ng c t th p với k nh có c tkpk nh c t th p, đinh t n hay kp Cũng thế, cánh hai l p 35 L p lỗ cửa cánh th p l p hay cánh bê t ng c t th p víi k nh cã ch tkp ... Cửa trạm y t , nhµ vƯ sinh cho ph p thi tk më vào phía phòng 7.25 Trong nhà t l0 t ng trở lên phải thi tk buồng thang với biện ph p bảo đảm không t khói có cháy T i t ng buồng thang phải ... ch tkpk nh b»ng ®inh th p 36 L p lỗ cửa cánh th p với l p hay cánh bê t ng c t th p với k nh ch t cố định, kpk nh c t th p chẻ hay đinh th pt n si t Cửa di, cửa n p, cổng 37 Với cánh th p rỗng...
... n thuy t TED talks Các b n không ch đ qu c gia khác th gi i mà đ c nghe accent ti ng Anh t c truy n c m h ng công vi c cu c s ng https://www.ted.com/talks https://www.youtube.com/user/TEDxTalks ... m v ng ki n th c, p d ng vào th c t đ i s ng, công vi c + Bi t m t ch t ng ph p m i có n n M t s b n ngh h c tr ng ph thơng t n ng ph p khơng " n thua" nh ng c n bi t m t ch t ng ph p m i có ... c, th c hành quy t c ph t âm âm cho đ n thành th o, b t m t cách t nhiên nh ng ib nx - Giáo trình: V i nh ng y u k n ng nói có th tham kh o b : + Let’s Talk 1, 3+ 240 Speaking Topics with Sample...
... thân th t III BIỂU GHI CH P: Biểu số Biểu số 8: Kiểm tra phương ph p l t phủ t ng T n sở gi t mổ: Người chịu trách nhiệm; Ngày tháng Số thân th t Số thân th t Số thân th t Số thân th t năm kiểm ... Chữ k : TT Nội dung kiểm tra Hố s t trùng cổng vào ch t s t trùng hố s t trùng T nh trạng khu vực ti p nhận gia súc Nước cho gia súc uống chuồng ni nh t tạm thời T nh trạng hệ thống xử lý ch t thải ... s t ch t lượng nước FAPQDCP – SOP Dự án Xây dựng kiểm so t ch t lượng nông sản thực phẩm (FAPQDCP) Vệ sinh khử trùng Kiểm s t trùng động v t gây hại 12 Vận chuyển th t sản phẩm th t 14 L t phủ...