根据观音阁水库不同仪器、不同时期监测获得的垂直位移资料建立Dam Data Analysis统计模型,然后基于大坝运行实际状况和相关监测资料模拟分析了其垂直位移变化过程。结果显示:温度分量是影响混凝土重力坝垂直位移的关键因子,另外还受时...根据观音阁水库不同仪器、不同时期监测获得的垂直位移资料建立Dam Data Analysis统计模型,然后基于大坝运行实际状况和相关监测资料模拟分析了其垂直位移变化过程。结果显示:温度分量是影响混凝土重力坝垂直位移的关键因子,另外还受时效分量与水压分量的影响作用,可为水库大坝运行管理和安全监测工作提供一定指导依据。展开更多
In this paper, a fast approach to generate time optimal and smooth trajectory has been developed and tested. Minimum time is critical for the productivity in industrial applications. Meanwhile, smooth trajectories bas...In this paper, a fast approach to generate time optimal and smooth trajectory has been developed and tested. Minimum time is critical for the productivity in industrial applications. Meanwhile, smooth trajectories based on cubic splines are desirable for their ability to limit vibrations and ensure the continuity of position, velocity and acceleration during the robot movement. The main feature of the approach is a satisfactory solution that can be obtained by a local modification process among each intermal between two consecutive via-points. An analytical formulation simplifies the approach to smooth trajectory and few,iterations are enough to determine the correct values. The approach can be applied in many robot manipulators which require high performance on time and smooth. The simulation and application of the approach on a palletizer robot are performed, and the experimental results provide evidence that the approach can realize the robot manipulators more efficiency and high smooth performance.展开更多
文摘根据观音阁水库不同仪器、不同时期监测获得的垂直位移资料建立Dam Data Analysis统计模型,然后基于大坝运行实际状况和相关监测资料模拟分析了其垂直位移变化过程。结果显示:温度分量是影响混凝土重力坝垂直位移的关键因子,另外还受时效分量与水压分量的影响作用,可为水库大坝运行管理和安全监测工作提供一定指导依据。
文摘In this paper, a fast approach to generate time optimal and smooth trajectory has been developed and tested. Minimum time is critical for the productivity in industrial applications. Meanwhile, smooth trajectories based on cubic splines are desirable for their ability to limit vibrations and ensure the continuity of position, velocity and acceleration during the robot movement. The main feature of the approach is a satisfactory solution that can be obtained by a local modification process among each intermal between two consecutive via-points. An analytical formulation simplifies the approach to smooth trajectory and few,iterations are enough to determine the correct values. The approach can be applied in many robot manipulators which require high performance on time and smooth. The simulation and application of the approach on a palletizer robot are performed, and the experimental results provide evidence that the approach can realize the robot manipulators more efficiency and high smooth performance.
