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81.
82.
机械臂在航空航天、服务等领域的应用越来越广泛,其研究也越来越深入.相比于刚性机械臂,柔性机械臂质量轻、能耗小,具有更好的性能.但是,由于柔性机械臂本身的结构与材料具有特殊性,其在运动过程中会产生弹性形变与振动,这就给机械臂的定位、轨迹跟踪带来了困难,因此对其振动抑制的研究具有重要意义.本文利用假设模态法对单连杆柔性机械臂系统进行建模,通过李雅普诺夫直接法实现了闭环系统的稳定性.由于一些实际问题对控制系统的状态量有特殊要求,因此采用正切函数形式的障碍李雅普诺夫策略来处理输出约束问题,之后利用神经网络控制方法来逼近系统的不确定性,通过李雅普诺夫法对闭环系统的稳定性进行了分析,并基于Matlab平台设计仿真、基于Quanser实验平台进行实验,对控制器的控制性能进行了验证. 相似文献
83.
Three methods to correct for the atmospheric propagation delay in very-long-baseline interferometry (VLBI) measurements were
investigated. In the analysis, the NASA R&D experiments from January 1993 to June 1995 were used. The methods were compared
in correcting for the excess propagation delay due to water vapour, the “wet” delay, at one of the sites, the Onsala Space
Observatory on the west coast of Sweden. The three methods were: (1) estimating the wet delay using the VLBI data themselves;
(2) inferring the wet delay from water vapour radiometer (WVR) data, and (3) using independent estimates based on data from
the global positioning system (GPS). Optimum elevation cutoff angles were 22∘ and 26∘ when using WVR and GPS data, respectively. The results were found to be similar in terms of reproducibility of the estimated
baseline lengths. The shortest baselines tend to benefit from external measurements, whereas the lack of improvement in the
longer baselines may be partly due to the large amount of data thrown away when removing observations at low elevation angles.
Over a 2 week period of intensive measurements, the two methods using external data showed an overall improvement, for all
baseline lengths, compared to the first method. This indicates that there are long-term systematic errors in the wet delay
data estimated using WVR and GPS data.
Received: 27 October 1998 / Accepted: 20 May 1999 相似文献
84.
玉米冠层反射率及净辐射的估算 总被引:1,自引:0,他引:1
在1994~1996年3年田间试验的基础上,根据玉米生长状况及其冠层特征,选取包括植株高度、平均叶面积密度、农田覆被率等植物特征量组成的植物参数——综合植被系数来描述玉米冠层状况,并以此为因子来估算玉米冠层的反射率和净辐射,取得了良好的结果。 相似文献
85.
该文利用1995年6月中旬至7月初GMS-5水汽图象,对青藏高原地区对流层上部水汽分布进行了初步分析.发现高原地区对流层上部水汽的汇集主要通过以下4种方式进行:①水汽从高原东南方的雅鲁藏布江河谷等地进入高原,是主要路径;②从西南方越过喜马拉雅山进入高原;③从帕米尔及其以北地区漂过塔里木盆地后进入高原;④对流活动可以引起水汽在高原上空积聚.从多时相平均水汽图象上反映出高原上西北干、东南湿的水汽分布特征,并初步讨论了水汽图象所揭示的在高原生成的系统对我国东部天气的影响. 相似文献
86.
Zihan Zhang Liangju Zhao Ninglian Wang Hang Liu Cong Xie Xiying Dong Xingru Li 《水文研究》2024,38(1):e15067
Stable isotopic compositions of precipitation (δ18Op, δ2Hp and d-excessp) and atmospheric vapour (δ18Ov, δ2Hv and d-excessv) with high spatial–temporal resolution are crucial in revealing hydrologic cycle. Based on the variation characteristics of δ18Op/δ18Ov, δ2Hp/δ2Hv and d-excessp/d-excessv in the headwaters of the Shule River (HSR) on hourly and daily scales from June to September 2018, this study analysed the relationships between δ18Op/δ2Hp and δ18Ov/δ2Hv combined with the equilibrium fractionation model, as well as δ18Op/δ18Ov and meteorological factors. The slopes of local meteoric water line (LMWL) and the δ2Hv-δ18Ov fitting equation were similar (7.96 and 7.94) with both intercepts exceeding 10, reflecting the great contribution of recycling moisture. The values of δ18Ov/δ2Hv were lower than δ18Op/δ2Hp but with consistent variation patterns throughout the period. The equilibrium simulation results suggested that precipitation and atmospheric vapour almost approached isotopic equilibrium state, especially during monsoon intrusion period. Affected by monsoon intrusion, the slopes and intercepts of the LMWLs and the δ2Hv-δ18Ov fitting equations were smaller than those during non-monsoon period and d-excess and δ18O were negatively correlated. Relative humidity had significant negative correlations with δ18Op and δ18Ov in the whole period, however, the positive correlations between δ18Op/δ18Ov and temperature were observed during non-monsoon and monsoon intrusion period, respectively. Our results demonstrated that precipitation and atmospheric vapour isotopic compositions exhibited consistency under the influence of diverse moisture sources, while more complex relationships were found between δ18Op/δ18Ov and meteorological factors. This research provided evidence for using the isotopic compositions of atmospheric vapour to indicate moisture sources, and can improve understanding of the water cycle and eco-hydrological process from the perspective of the interaction between water and gas phases of the inland river basin in northwest China. 相似文献
87.
以青藏高原长江源区典型高寒草地小流域为研究对象,基于2012年小流域气象监测数据和小流域径流水样分析,探讨了小流域水体碳氮输出特征,分析了气象因子和土壤水热对小流域水体碳氮输出的影响。结果表明,径流水体碳氮质量浓度均较低,其中可溶性有机碳(DOC)、可溶性有机氮(DON)、铵态氮(NH4+-N)和硝态氮(NO3--N)含量分别在2.95~6.96mg.L-1、0.45~1.15mg.L-1、0.02~0.88mg.L-1和0.16~0.36mg.L-1之间;DOC、DON、NO3--N在8~10月份之间随时间逐渐升高,9月中旬达到峰值后波动下降,NH4+-N无显著的季节变化特征,溶解氮中DONNO3--NNH4+-N;DOC和DON的输出量与降水、不同土层(20、40、60、90、120cm)地温和不同深度(10、20、40、60cm)土壤水分、水温呈极显著正相关(P0.001),与90、120cm土壤水分呈极显著负相关(P0.001);NH4+-N的输出量与降水、气温、水温呈显著正相关(P0.05);NO3--N与降水呈极显著正相关(P0.001)。 相似文献
88.
现有常规油气井产出剖面测试方法在煤层气井中适应性较差,测试范围和测量工艺等存在局限性,施工成功率低。因此,本文对煤层气井产出剖面测试技术进行了整体的系统化设计和研发。通过紧凑的结构设计、高度集成,研发了一套可同时进行温度、压力、磁性定位、热式流量、探针持气率、微波持气、涡轮流量和超声流量等多参数测量的煤层气井测井仪,并研制了一套一次下井可进行多种测试技术测量的煤层气井产出剖面测试技术。同时提高了测试仪器的精度和抗干扰能力,开发了多任务多窗口的便携地面系统操作,并研制新型偏心测试井口应用于煤层气井,实现修井作业时不间断连续测试。该技术在鄂尔多斯盆地石楼北区块3口煤层气井进行了现场试验,取得精确、连续的测试数据。测试结果显示,石楼北区块8#+9#煤层为主力产气、产水层。 相似文献
89.
The simultaneous transfer of pore fluid and vapour was studied in the unsaturated shallow subsurface of a Plio-Pleistocene marine mudstone badland slope in southwestern Taiwan during the dry season using field monitoring data and numerical simulations. Data from field monitoring show mass-basis water contents of ~0.05 to ~0.10 that decrease towards the unsaturated ground surface and were invariant during the middle part of the dry season, except for daily fluctuations. In addition, the observed daily fluctuations in water content correlate with fluctuations in bedrock temperature, especially at depths of 2.5–5.0 cm. Periodic increases in water content occurred most notably during the day, when the bedrock temperature showed the greatest increase. Water contents then decreased to the previous state as bedrock temperature decreased during the night. Calculated vapour fluxes within the mudstone during the day increased up to 6 × 10−6–1 × 10−5 kg m−2 s−1, deriving a 0.01–0.02 increase in mass-basis water content at 2.5 cm depth for a 12-h period. This agrees with field monitoring data, suggesting that increases in water content occurred due to vapour intrusions into the bedrock. Pore water electrical conductivity (EC) showed periodic variations due to vapour intrusion, and gradually increased between the ground surface and depths of 2.5–5.0 cm. In contrast, pore water EC gradually decreased between 15 and 40 cm depth. Calculated water fluxes at depths of 2.5–40.0 cm varied from −4 × 10−6 to −2 × 10−9 kg m−2 s−1. These fluxes generated an increase in solute concentrations at the ground surface, with negative values of water flux indicating an upwards movement of water towards the surface. We show that the increase in solute content due to solute transfer from depth is highly dependent on variations in water flux with depth. © 2020 John Wiley & Sons, Ltd. 相似文献
90.
地震应急资料具有较强的时效性、专业性和多学科融合的特点。中强地震发生后启动应急响应,工作人员需在短时间内产出多学科、跨领域、多手段的专业地震会商资料。以地震会商系统为平台,利用其灵活开发、自动计算和智能分析的优势,建立地震应急资料产出系统(包括会商资料处理模块、应急图件产出模块和震情报告生成模块),通过地震触发,根据预设流程和报告模板,自动产出专业报告,为震情形势研判和震后应急救援提供专业可靠的应急资料,最大限度地发挥应急救援和灾损评估的效能。 相似文献