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... articles in TV newscasts and newspapers, we chose corresponding TV newscasts and newspapers For example, an evening TV newscast is aligned with the evening paper of the same day and with the ... for browsing and retrieving articles in T V newscasts and newspapers A user can consult articles in newspapers and T V newscasts by full text retrieval in this way: when the user gives a query ... articles of the evening TV newscasts in this experiment As mentioned previously, articles in the evening TV newscasts were aligned with articles in the evening paper of the same day and in the morning...

Ngày tải lên: 17/03/2014, 07:20

... invasion during World War II and Soviet rule, Ukrainian lands have been coveted by their more powerful and aggressive neighbors Ukraine’s geography and size made it both more attractive to invaders ... administrative units (L’viv, Ternopil, and Ivano-Frankivsk) and encompasses about 10 percent of Ukrainian territory It is the land of fields and farmlands, very rural and traditional Throughout ... (Crimea, or Avtonomna Respublika Krym) and two municipalities (Kyiv and Sevastopol) with oblast status However, these divisions are purely administrative and not necessarily reflect traditional and historical...

Ngày tải lên: 04/06/2014, 17:42

... PGN, and PN, have been involved in drafting and critically revising the manuscript LI conceived and coordinated the study and draft the manuscript All authors read and approved the final version ... controls It is of note that TRBV27 and TRBV28 chains (previously defined TCRBV14S1 and TCRBV13S1, respectively) were expressed at very low percentage when PBL of healthy individuals were analyzed by ... [5-7,14,17] Conversely, other authors reported that the recognition of melanoma Ags involved the use of T lymphocytes bearing specific TRBV chains, such TRBV5, TRBV9, TRBV19, TRBV27, and TRBV28 Page...

Ngày tải lên: 18/06/2014, 15:20

... http://www.translational-medicine.com/content/7/1/52 Table 2: Prevalence of diabetes or IGT in subjects with VTE and with or without FVL Patients with VTE and FVL (n 64) Patients with VTE and without FVL (n 51) p 52 (81.25) 46 (90.2) ... any district) as VTE and other patients with diabetes not develop vascular complication In previous years several research suspected a relationship between diabetes and FVL gene variants both for ... mg/dl Table 1: Glycaemic parameters in subjects with VTE and with or without FVL Parameters Patients with VTE and FVL Patients with VTE without FVL p Glycaemia at baseline (mg\dl) 93.55 ± 13.57 91.44...

Ngày tải lên: 18/06/2014, 15:20

... MATLAB® D.-W Gu, P.Hr Petkov and M.M Konstantinov Publication due July 2005 Active Noise and Vibration Control M.O Tokhi Publication due November 2005 R Kelly, V Santibáñez and A Loría Control of ... preliminaries and the chapter describing the Pelican prototype Parts II and III contain, respectively, set-point and tracking model-based controllers Part IV covers additional topics such as adaptive versions ... positive semidefinite A square matrix A ∈ IRn×n is negative definite if −A is positive definite and it is negative semidefinite if −A is positive semidefinite Lemma 2.1 Given a symmetric positive definite...

Ngày tải lên: 27/06/2014, 18:20

... stages Attack Phase: • Some viruses have trigger events to activate and corrupt systems • Some viruses have bugs that replicate and perform activities like file deletion and increasing the session ... completely as intended by their developers Why People Create Computer Viruses Virus writers can have various reasons for creating and g spreading malware Viruses have been written as: • • • • • • ... Categories: • Viruses and worms • Logic bombs • Trojans Virus Damage Virus damage can be grouped broadly under: Technical Attributes: • The technicalities involved in the modeling and use of virus causes...

Ngày tải lên: 31/07/2014, 04:20

... of techniques have been developed and used for position control such as Proportion-Derivative (PD) or Proprotional-IntegralDerivative (PID) control, model-based control, e.g., inverse dynamics ... phases involved a feasibility study, development of methodologies for TPOA and their verification through extensive simulations, and full-scale experimental implementations on REDIESTRO Several ... resolution schemes are available which resolve redundancy at the velocity or acceleration level In order to formulate a secondary task involving force control, it is necessary to resolve redundancy at...

Ngày tải lên: 10/08/2014, 01:22

... (2.3.9) · and Z are the time derivatives of the task vectors of the main, extended and additional tasks, X, Y and Z, respectively As a result of extending the kinematics at the velocity level, equation ... pseudo-inverse solution at the velocity level given by (2.3.1) results in a minimum-norm velocity solution Therefore, it does not have any null space component From a mathematical point of J e Howview, ... to satisfy different objectives, such as torque and acceleration minimization [66], singularity avoidance [47], obstacle avoidance ([14], and [6]) The other alternative is presented in the so-called...

Ngày tải lên: 10/08/2014, 01:22

... the active constraints and its derivative First, an intermediate term is defined as the Jacobian of the critical point, i.e., JX = ci Xc i q (2.4.12) Then the Jacobian and its derivative are calculated ... collision-avoidance scheme, three major areas: redundancy resolution, robot and environment modeling, and distance calculation need to be investigated Obviously, the accuracy with which a robot arm and ... algorithm to a 3-D workspace and simulation results are given in Chapter 2.4.2.1 Algorithm Description As in the JLA case, Static (and Moving) Obstacle Collision Avoidance is achieved using an inequality...

Ngày tải lên: 10/08/2014, 01:22

... given cylinder C i , the scalars b i and t i are known and fixed values 3.2.1.1 Review of Line Geometry and Dual Vectors A brief review of dual numbers, vectors, and their operations, relevant ... line The points B i and T i with position vectors b i and t i , respectively, are the centers of the bottom and top of the cylinder, and H i is 3.2 Primitive-Based Collision Avoidance 39 the foot ... parameters are given Section presents the experimental evaluation of the collision- avoidance scheme using REDIESTRO Figure 3.1 Perspective view of REDIESTRO 3.2 Primitive-Based Collision Avoidance Collision...

Ngày tải lên: 10/08/2014, 01:22

... module are as follows: Joint Limit Avoidance (JLA), Stationary and Moving Obstacle Collision Avoidance (SOCA, MOCA) and Self Collision Avoidance (SCA) 62 Collision Avoidance for a 7-DOF Redundant ... errors are given by d e p = P8 – P8 · · ·d e p = J P q – P8 e (3.3.4) · where q is the vector of joint velocities, and the superscript d denotes the desired values 54 Collision Avoidance for ... reference velocities are given by: 1· d d · P r = P8 + K p P8 – P8 P r d = e + Kp eO O (3.3.10) (3.3.11) where K p and K p are the position and orientation proportional gains P O respectively In...

Ngày tải lên: 10/08/2014, 01:22

... derivative of the joint set-point command (deg/s); c) derivative of joint trajectory in hardware experiment (deg/s) for joint 2, at 0.9 second, when the arm starts to take evasive action to prevent ... instability, or even physical failure and damage to the robot and the environment Whitney [94] gives a historical perspective on robot force control Force control strategies have been mainly designed ... (modeling) a robot’s environment such as space, material, equipment and financial limitations Creating a time-varying environment (as in the case of moving obstacles) can be even more difficult One...

Ngày tải lên: 10/08/2014, 01:22

... desired values; the subscripts x and z refer to the main and additional tasks respectively; the diagonal matrices M, B, and K are the desired mass, damping, and stiffness matrices; Fd and -Fe are vectors ... the n vector of deviations of the interaction forces and torques from their equilibrium values in a global Cartesian coordinate frame; X j is the n vector of deviations of the positions and orientations ... 4.2 Literature Review where M d , B d , and K d are diagonal m m matrices of the desired mass, e damping, and stiffness; F is the vector of the environmental reaction forces; and the superscript...

Ngày tải lên: 10/08/2014, 01:22

... transformation; Lu and Meng [41] have proposed an adaptive impedance control scheme, and Niemeyer and Slotine [52] have discussed an application of the adaptive algorithm of Slotine and Li [81] to ... However, in the proposed algorithm, explicit calculation of the desired joint values is avoided • The use of the controller proposed in this section has two major advantages over the inverse ... of the joint velocities and causes self-motion (Figure 4.15b) However, the proposed algorithm is successful in damping out these components and preventing self-motion 4.3.4 Adaptive Augmented...

Ngày tải lên: 10/08/2014, 01:22

... can state that V t is not guaranteed to be negative semi-definite with an arbitrary value of k D and a large for small values of s · However, positive V t implies increasing V and subsequently ... Redundant Manipulator ·t · Zi = – Kv qi – Kp qi – qm i i i (5.2.5) where K p and K v are positive-definite proportional and derivative gain matrices, and q m is the vector of maximum or minimum joint ... the desired values The vector P and its derivatives are the position, velocity, and accelerae tion of the origin of {T} expressed in frame {C}; F d and F are the desired and interaction forces...

Ngày tải lên: 10/08/2014, 01:22

... stiction, viscous, and Coulomb friction; 5.4 Simulation Study 131 Digitization effects of the A/D converters and encoders; Saturation of the actuators and current amplifiers It also provides some ... The solutions given for improved redundancy resolution at the acceleration level are computationally more expensive, because they require the explicit calculation of the derivative of the Jacobian ... matrix, Coriolis, and gravity vectors; Effect of external forces; Surface and force-sensor models Figure 5.7 Simulation model of REDIESTRO with the addition of a force sensor and surface models...

Ngày tải lên: 10/08/2014, 01:22

... chassis Processor + RAM+ VME-VME bus adaptor VME-VME bus adaptor Force sensor i/f card Parallel I/O VME BUS D/A (2) 68030 Processor Card 68030 Processor Card VME-GIO bus adaptor VME-GIO bus adaptor ... which will eventually reach an equilibrium point when the desired force is achieved However, when the eraser pad is commanded to move on the surface, even though the desired force is achieved along ... to evaluate the performance of the proposed AHIC scheme for compliant motion and force control of REDIESTRO Considering the complexity and the large amount of calculations involved in force and...

Ngày tải lên: 10/08/2014, 01:22

... position and the force-controlled directions are M p = 257 and M f = 5.7 respectively The values of the desired damping in the position and the force-controlled directions are B p = 1100 and B f ... around Hz due to unmodeled joint flexibility However, the mean value and standard deviation ( f mean = – 19.60N f std = 0.6 ) for the time interval between 15 to 80 seconds show the capability ... 125 Hz, b) 31.25 Hz, and c) 7.81 Hz constraint surfaces) will also improve the performance An alternative to kinematic calibration is to use a real-time vision system which gives the appropriate...

Ngày tải lên: 10/08/2014, 01:22