In this paper, we demonstrate how to learn the objective function of a decision-maker while only observing the problem input data and the decision-maker's corresponding decisions over multiple rounds. Our approach...
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Current industrial development is faced by the global challenge to meet the continuously growing demand for capital and consumer goods in emerging countries while simultaneously ensuring a sustainable industrial growt...
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In the bin picking problem, the task is to automatically unload objects from a container using a robotic manipulator. The task is often approached by organizing the objects into a predictable pattern, e.g., a workpiec...
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In the bin picking problem, the task is to automatically unload objects from a container using a robotic manipulator. The task is often approached by organizing the objects into a predictable pattern, e.g., a workpiece carrier, in order to simplify all integral subtasks like object recognition, motion planning and grasping. In such a case, motion planning can even be solved offline as it is ensured that the objects are always at the same positions at known times. However, there is a growing demand for non-structured bin picking, where the objects can be placed randomly in the bins. This arises from recent trends of transforming classical factories into smart production facilities allowing small lot sizes at the efficiency of mass production. The demand for fast and highly flexible handling and manipulation abilities of industrial robots requires to solve all the bin picking methods, including motion planning, online. In this paper, we propose a novel technique for fast sampling-based motion planning of robotic manipulators using motion primitives. Motion primitives are short trajectories that boost search of the configuration space and consequently speed up the planning phase. The proposed work has been verified in a simulation and on a prototype of a bin picking system.
The influence of a mild difluorine treatment on Cu/ZnO precatalysts for methanol synthesis was investigated. It led to the incorporation of 1.2…1.3±0.1 wt % fluoride into the material. Fluorination considerably ...
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The influence of a mild difluorine treatment on Cu/ZnO precatalysts for methanol synthesis was investigated. It led to the incorporation of 1.2…1.3±0.1 wt % fluoride into the material. Fluorination considerably increased the amount of ZnO x related defect sites on the catalysts and significantly increased the space‐time yields. Although the apparent activation energy E A,app for methanol formation from CO 2 and H 2 was almost unchanged, the E A,app for the reverse water‐gas shift (rWGS) reaction increased considerably. Overall, fluorination led to a significant gain in methanol selectivity and productivity. Apparently, also the quantity of active sites increased.
Since the last decades the availability and granularity of location-based data has been rapidly growing. Besides the proliferation of smartphones and location-based social networks, also crowdsourcing and voluntary ge...
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A variable gain amplifier (VGA) operating in the WR3 frequency range (220 to 325GHz) with low phase variation is presented. The VGA is carried out as balanced amplifier with a three-stage cascode amplifier in each pat...
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A variable gain amplifier (VGA) operating in the WR3 frequency range (220 to 325GHz) with low phase variation is presented. The VGA is carried out as balanced amplifier with a three-stage cascode amplifier in each path. The small-signal gain is 24.2dB with a 3 dB bandwidth of 43GHz ranging from 218.8 to 261.8 GHz. Within a gain control range of 17dB the phase variation is below -5° and +10°. The large signal behavior shows a maximum output power P sat of 7.4dBm at 240 GHz with a saturated gain of 12dB. The MMIC was fabricated in a 50 nm InGaAs technology and has a chip size of 1.25 × 0.75mm 2 .
This paper presents an active 1:2 power divider built in a 35 nm InGaAs monolithic microwave integrated circuit (MMIC) technology. The circuit is based on a common-source transistor with an interstage matching at the ...
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This paper presents an active 1:2 power divider built in a 35 nm InGaAs monolithic microwave integrated circuit (MMIC) technology. The circuit is based on a common-source transistor with an interstage matching at the drain connection to feed two parallel common-gate transistors. The measured gain is 3.6 dB with a 3dB bandwidth of 100 GHz ranging from 200 to 300 GHz. Input and output return loss are better than 8.5 dB and 4.1 dB, respectively. The core area of the active power divider is only 300 × 290 μm~2.
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