检索结果-内蒙古大学图书馆

International Conference on Ubiquitous robots and Ambient Intelligence (UrAI)

作者： Eui-Jung Jung Ju Hyun Kim Maolin Jin Manufacturing Robotics R&D Division Korea Institute of Robot and Convergence Pohang Korea

This paper introduces an armored robot system with dual hydraulic manipulators for disaster response. To handle heavy things for an armored robot, dual hydraulic manipulators are suggested. For kinematic analysis of this mechanism, we set up the d-H parameters. To obtain the positions and orientations of the end-effector, forward kinematics is performed, and to control the end-effector, inverse kinematics is performed. Through simulations, the feasibility of the mechanism is demonstrated.

关键词： robots Ambient intelligence

来源：评论

学校读者我要写书评

暂无评论

Inverse kinematics for autonomous underwater manipulations using weighted damped least squares

Inverse kinematics for autonomous underwater manipulations u...

引用

International Conference on Ubiquitous robots and Ambient Intelligence (UrAI)

作者： Gun rae Cho Mun-Jik Lee Min-Gyu Kim Ji-Hong Li Marine Robotics R&D Division Korea Institute of Robot and Convergence Pohang Korea

Automation using sensor based target recognition increases efficiency for underwater intervention, but may cause a problem to violate the kinematic limitations of the manipulators. In the paper, the kinematic solution based on the weighted damped least squares is investigated to overcome the limitations: workspace limit and singularity, unintended changes of the robot configurations, and joint limits on position and velocity. By designing appropriate cost functions for each limitation, the proposed method provides the kinematic solution optimized in the manner of weighted norm, even when the manipulators meet those limitations. Through the numerical experiments, the performance of the proposed method is verified.

关键词： Kinematics Manipulators robot sensing systems Cost function Jacobian matrices Null space

来源：评论

学校读者我要写书评

暂无评论

Prototype development of underwater vehicle overcoming strong current

Prototype development of underwater vehicle overcoming stron...

引用

International Conference on Ubiquitous robots and Ambient Intelligence (UrAI)

作者： Min-Gyu Kim Gun rae Cho Hyung-Ju Kang Sung Chul Jee Ji-Hong Li Marine Robotics R&D Division Korea Institute of Robot and Convergence Pohang Korea

This paper describes the development of the underwater robot platform for exploration work in the strong current. In order to minimize the drag force as 3.5knots, the platform is designed to have discus-shape outline and the projected area of the platform is minimized. Furthermore, the thruster are deployed symmetrically, which is advantageous for hovering and attitude control in irregular current change. By considering hydrodynamics and structural mechanics, moreover, it is shown that the platform gains sufficient thruster force and structural safety. Manufacture of the platform is accomplished and the performance test in water tank is under preparation.

关键词： Force drag Shape Unmanned underwater vehicles Storage tanks robots

来源：评论

学校读者我要写书评

暂无评论

real Time Path Planning of Underwater robots in Unknown Environment

Real Time Path Planning of Underwater Robots in Unknown Envi...

引用

International Conference on Control, Artificial Intelligence, robotics & Optimization (ICCAIrO)

作者： Ji-Hong Li Hyungjoo Kang Gyu-Hwa Park Jin-Ho Suh Marine Robotics R&D Division Korea Institute of Robot and Convergence Pohang Korea

ISBN: (纸本)9781509065370

This paper presents a real time path planning scheme for underwater vehicles operating in completely unknown environments. due to deficiency of necessary information, most of graph generation and corresponding graph searching methods proposed so far cannot be directly applicable. In this paper, a kind of visibility graph called rBVG (rubber band visibility graph) is introduced to generate roadmap. This graph is generated under the assumption that there isn't any obstacle outside of the vehicle's sonar coverage area (here the coverage area includes all of the past covered area). Since this graph might be different from the real one, we call it virtual rBVG. With this graph, we apply an A* algorithm to plan a kind of optimal path. Unlike to the mobile robot case where Cartesian distance is usually taken as heuristic cost function, in the water, various aspects of criteria (e.g. energy consumption and mission duration) should be carefully considered. Some simulation studies are also carried out to demonstrate the effectiveness of proposed path planning scheme.

关键词： Path planning robots Sonar rubber Two dimensional displays Underwater vehicles Cost function

来源：评论

学校读者我要写书评

暂无评论

Mechanical behaviors of cement systems in different conditions

引用

Natural Gas Industry B 2017年第3期4卷 212-216页

作者： Zheng, Youzhi Xu, Bingqing Pu, Junhong Mu, Naiqu Wang, Bin Li, Ming Engineering Technology Research Institute PetroChina Southwest Oil & Gas Field Company Guanghan 618300 Sichuan China Engineering Technology Research Institute National Energy High Sulfur Exploitation R&D Center Guanghan 618300 Sichuan China Engineering Division PetroChina Southwest Oil & Gas Field Company Chengdu 610051 Sichuan China Northeast Sichuan Division PetroChina Southwest Oil & Gas Field Company Chengdu 610051 Sichuan China Sichuan Changning Natural Gas Development Ltd. PetroChina Southwest Oil & Gas Field Company Chengdu 610051 Sichuan China School of Material Science and Engineering Southwest Petroleum University Chengdu 610500 Sichuan China

At present, the mechanical testing on the ductility of cement sheath is faced with multiple technical difficulties. In this paper, numerical simulation and laboratory evaluation were adopted to compare the mechanical performance of typical elastic, flexible, ductile and neat cement systems at home and abroad by different loading rates, value range of stress–strain curve, confining pressure and temperature. It is shown that when the loading rate is lower, the stress–strain curve of set cement is not smooth, but distorted, and the stress cannot be responded in time;that when the loading rate is higher, the stress–strain curve of set cement is smooth, and the yield stage is remarkable, indicating that higher loading rate can reflect the yield strain behavior of set cement more truly;that the recommended Young's modulus range of set cement should be changed based on the actual downhole conditions;that temperature has more effect on yield stress and ultimate strain, but less effect on elastic modulus;that confining pressure has more effect on ultimate stress and ultimate strain, but less effect on elastic modulus;and that when the confining pressure is lower and temperature is higher, the yield stage of set cement is more remarkable. It is concluded that these mechanical behaviors of cement system in different conditions provide a technical support for understanding the mechanical essence of downhole cement sheath and exploring the mechanical integrity of cement sheath and even that of the whole wellbore. © 2017 Sichuan Petroleum Administration

关键词： Confining pressure Loading rate Mechanical testing on ductility of cement sheath Set cement Stress–strain Temperature Well cementing

来源：评论

学校读者我要写书评

暂无评论

Experimental Study on Pressure resistance Performance of the Plastic Housing for the Underwater robot System

Experimental Study on Pressure Resistance Performance of the...

引用

International Conference on Ubiquitous robots and Ambient Intelligence

作者： Jung-Woo Lee Young-Ho Choi Jin-Ho Suh Kap-Ho Seo Field Robotics R&D Division Korea Institute of Robot and Convergence

ISBN: (纸本)9781509008223

The underwater housing is used to protect the electronic parts of the underwater robot system from water and pressure. The housing made of a metal material is widely used, but the weight is heavy and the price is expensive. So in recent years the housing of plastic material that is inexpensive and lightweight is being used in shallow water depth. In this paper, we have obtained the pressure resistance performance in several plastic housing specimens by the high pressure experiments. In the experiments result, we know the pressure resistance performance of the oil filled housing specimen better than other specimens.

关键词： Underwater Housing Plastic Housing Pressure resistance Oil Filled

来源：评论

学校读者我要写书评

暂无评论

The impact and recovery of asteroid 2018 LA

arXiv

引用

arXiv 2021年

作者： Jenniskens, Peter Gabadirwe, Mohutsiwa Yin, Qing-Zhu Proyer, Alexander Moses, Oliver Kohout, Tomas Franchi, Fulvio Gibson, roger L. Kowalski, richard Christensen, Eric J. Gibbs, Alex r. Heinze, Aren denneau, Larry Farnocchia, davide Chodas, Paul W. Gray, William Micheli, Marco Moskovitz, Nick Onken, Christopher A. Wolf, Christian devillepoix, Hadrien A.r. Ye, Quanzhi robertson, darrel K. Brown, Peter Lyytinen, Esko Moilanen, Jarmo Albers, Jim Cooper, Tim Assink, Jelle Evers, Läslo Lahtinen, Panu Seitshiro, Lesedi Laubenstein, Matthias Wantlo, Nggie Moleje, Phemo Maritinkole, Joseph Suhonen, Heikki Zolensky, Michael E. Ashwal, Lewis Hiroi, Takahiro Sears, derek W. Sehlke, Alexander Maturilli, Alessandro Sanborn, Matthew E. Huyskens, Magdalena H. dey, Supratim Ziegler, Karen Busemann, Henner riebe, My E.I. Meier, Matthias M.M. Welten, Kees C. Caffee, Marc W. Zhou, Qin Li, Qiu-Li Li, Xian-Hua Liu, Yu Tang, Guo-Qiang McLain, Hannah L. dworkin, Jason P. Glavin, daniel P. Schmitt-Kopplin, Philippe Sabbah, Hassan Joblin, Christine Granvik, Mikael Mosarwa, Babutsi Botepe, Koketso SETI Institute 189 Bernardo Avenue Mountain ViewCA94043 United States NASA Ames Research Center Moffett FieldCA94035 United States Botswana Geoscience Institute Plot 11566 Khama 1 Avenue Private Bag 0014 Lobatse Botswana Department of Earth and Planetary Sciences University of California Davis One Shields Avenue CA95616 United States Botswana International University of Science and Technology Private Bag 16 Palapye Botswana Department of Geosciences and Geography University of Helsinki P. O. Box 64 HelsinkiFI-00014 Finland Ursa Finnish Fireball Network Kopernikuksentie 1 HelsinkiFI-00130 Finland School of Geosciences University of the Witwatersrand P.O. WITS Johannesburg2050 South Africa Catalina Sky Survey Lunar & Planetary Laboratory University of Arizona 1629 E University Blvd. TucsonAZ85721 United States ATLAS Institute for Astronomy 2680 Woodlawn Drive HonoluluHI96822-1839 United States Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive PasadenaCA91109 United States Project Pluto 168 Ridge Road BowdoinhamME04008 United States ESA NEO Coordination Centre Largo Galileo Galilei 1 FrascatiI-00044 Italy Lowell Observatory 1400 W. Mars Hill Rd. FlagstaffAZ86001 United States Research School of Astronomy and Astrophysics Australian National University CanberraACT2611 Australia School of Earth and Planetary Sciences Curtin University PerthWA6845 Australia Department of Astronomy University of Maryland College ParkMD20742 United States Division of Physics Mathematics and Astronomy Caltech PasadenaCA91125 United States NASA Ames Research Center Asteroid Threat Assessment Project Mail Stop 239-1 Moffett FieldCA94035 United States Centre for Planetary Science and Exploration Western University LondonONN6A 5B7 Canada Astronomical Society of Southern Africa Suite 617 Private Bag X043 Benoni1500 South Africa Royal Dutch Meteorological Institute R&D Seismology and Acoustics P. O. Box 201

来源：评论

学校读者我要写书评

暂无评论

Using Long-Term Ecological datasets to Unravel the Impacts of Short-Term Meteorological disturbances on Phytoplankton Communities

引用

Freshwater Biology 2025年第5期70卷

作者： Tran-Khac, Viet doubek, Jonathan P. Patil, Vijay Stockwell, Jason d. Adrian, rita Chang, Chun-Wei dur, Gaël Lewandowska, Aleksandra rusak, James A. Salmaso, Nico Straile, dietmar Thackeray, Stephen J. Venail, Patrick Bhattacharya, ruchi Brentrup, Jennifer Bruel, rosalie Feuchtmayr, Heidrun Gessner, Mark O. Grossart, Hans-Peter Ibelings, Bastiaan W. Jacquet, Stéphan MacIntyre, Sally Matsuzaki, Shin-Ichiro S. Nodine, Emily Nõges, Peeter rudstam, Lars Soulignac, Frédéric Verburg, Piet Znachor, Petr Zohary, Tamar Anneville, Orlane University of Savoie Mont-Blanc INRAE CARRTEL Thonon-les-Bains France Rubenstein Ecosystem Science Laboratory University of Vermont Burlington VT United States School of Natural Resources Lake Superior State University Sault Sainte Marie MI United States Center for Freshwater Research and Education Lake Superior State University Sault Sainte Marie MI United States U.S. Geological Survey Alaska Science Center Anchorage AK United States Department of Community and Ecosystem Ecology Leibniz Institute of Freshwater Ecology and Inland Fisheries (IGB) Berlin Germany Academia Sinica Research Center for Environmental Changes Taipei Taiwan Creative Science Unit (Geosciences) Faculty of Science Shizuoka University Shizuoka Japan Tvärminne Zoological Station University of Helsinki Hanko Finland Dorset Environmental Science Centre Ontario Ministry of the Environment Conservation and Parks Dorset ON Canada Department of Biology Queen's University Kingston ON Canada Research and Innovation Centre Fondazione Edmund Mach San Michele all'Adige Italy Limnological Institute University of Konstanz Konstanz Germany Lake Ecosystems Group UK Centre for Ecology & Hydrology Lancaster United Kingdom Universidad de Ingeniería y Tecnología (UTEC) Centro de Investigación y Tecnología del Agua (CITA) Versoix Peru Department of Biological Geology and Environmental Sciences Cleveland State University Cleveland OH United States Minnesota Pollution Control Agency St. Paul MN United States Pôle R&D ECLA OFB Aix-en-Provence France Service EcoAqua Direction de la Recherche et de l’Appui Scientifique OFB Aix-en-Provence France Department of Plankton and Microbial Ecology Leibniz Institute of Freshwater Ecology and Inland Fisheries (IGB) Stechlin Germany Berlin Institute of Technology (TU Berlin) Department of Ecology Berlin Germany Institute for Biochemistry and Biology Potsdam University Potsdam Germany Department F.-A. Forel for Aquatic and Environmental Sciences and Ins

Extreme meteorological events such as storms are increasing in frequency and intensity, but our knowledge of their impacts on aquatic ecosystems and emergent system properties is limited. Understanding the ecological impacts of storms on the dynamics of primary producers remains a challenge that needs to be addressed to assess the vulnerability of freshwater ecosystems to extreme weather conditions and climate change. One promising approach to gain insights into storm impacts on phytoplankton community dynamics is to analyse long-term monitoring datasets. However, such an approach requires disentangling the impacts of short-term meteorological disturbances from the effects of the seasonal trajectories of meteorological conditions. To this end, we applied boosted regression tree models to phytoplankton time series from eight relatively large lakes on four continents, coupled with a procedure adapted to detect and quantify rare events. Overall, the patterns and potential drivers we identified provide important insights into the responses of lakes to short-term meteorological events and highlight differences in the response of phytoplankton communities according to lake morphological characteristics. Our results indicated that deepened thermoclines and lake-specific combinations of drivers describing altered thermal structures caused deviations from the typical trajectories of seasonal phytoplankton succession. For shallow polymictic lakes, shifts in phytoplankton succession also depended on changes in light availability. Overall, our study highlights the value of long-term monitoring to improve our understanding of phytoplankton sensitivity to short-term meteorological disturbances. © 2025 The Author(s). Freshwater Biology published by John Wiley & Sons Ltd.

关键词： extreme events long-term monitoring phenology seasonal succession storms

来源：评论

学校读者我要写书评

暂无评论

docking Technique for Manta-type UUV and its Experimental Studies in Water Tank Environment

Docking Technique for Manta-type UUV and its Experimental St...

引用

OCEANS MTS/IEEE Monterey (Conference)

作者： H. J. Kang S. C. Jee M. G. Kim S. M. Hong M. J. Lee J. T. Kim J. H. Li Marine Robotics R&D Division Korea Institute of Robot & Convergence (KIRO)

ISBN: (纸本)9781509015276

We present an underwater docking technique for a manta-type unmanned undersea vehicle (UUV) which is under development in Korea Institute of robot and Convergence (KIrO). The manta-type UUV is a test-bed vehicle for demonstrating an autonomous docking technique in the water tank [1]. There are two cameras mounted in front of the vehicle for vision-based underwater localization around docking station. There is a range sonar array mounted in front of the vehicle. This sonar is used for obstacle avoidance, and also can be used as a simultaneous localization and mapping (SLAM) solution in a partially known environment. In this paper, we show the results of a remote docking experimentation performed in the water tank for the manta-type UUV. From the results, we verify the docking performance of a manta-type UUV and applicability of the developed docking station.

关键词： Underwater docking technique Manta-type unmanned undersea vehicle Vision-based underwater localization Obstacle avoidance Simultaneous localization and mapping docking station

来源：评论

学校读者我要写书评

暂无评论

Effectiveness of robot exhibition through visitors experience: A case study of Nagoya Science Hiroba exhibition in Japan

Effectiveness of robot exhibition through visitors experienc...

引用

International Symposium on Micromechatronics and Human Science (MHS)

作者： Min-Gyu Kim Jaeryoung Lee Yuusuke Aichi Hiroki Morishita Munehiro Makino Manufacturing Robotics R&D Division Korea Institute of Robot and Convergence Pohang South Korea Dept. of Robotic Science and Technology Chubu University Kasugai Japan

ISBN: (纸本)9781509027866

This study presents an additional investigation of effectiveness of robot exhibition through visitors experience, with respect to the previous research which was performed in the robot museum in South Korea. The survey research was performed in the temporal robot exhibition in Nagoya Science Hiroba 2016, Japan, targeting the local citizen who are most of the visitors of the exhibition. Sociability, social attraction and negative attitude toward robots were measured to analyze change of the perception about robots through visiting experience. The results showed that sociability and social attraction were significantly changed after experiencing robot exhibitions. However, the negative attitude showed no significant change. It was confirmed that sociability was changed through the visiting experience similar to the robot museum case. However, the social attraction was a significantly increased, and the negative attitude had no significant change, different with the result in the robot museum. It is supposed that since the robot exhibition provided much communicative opportunities to the visitors than the robot museum, the social attraction showed a significant change rather than the robot museum. Also, it is assumed that the cultural aspect in Japan, where robot is widely exposed to the public at present, affected no significant perceptual change on the negative attitude towards general robots.

关键词： robots Human-robot interaction Cultural differences Global communication Education IEEE Press Manufacturing

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：