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641.
摘要:基于视觉传感器、角度传感器和力/力矩传感器组成的多传感器信息系统,对仿人机器人理想的步态规划算法进行了改进.以双目视觉立体标定原理处理视觉传感信息,从而判断目标距离及目标路径的可达性;通过角度传感器获取实时旋转角度,经参数调整减小执行误差;根据力/;5矩传感信息对支撑脚踝关节的侧摆角度进行增量式补偿.经实验验证,改进后的算法对机器人的步态稳定性控制具有良好的效果. 相似文献
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Jorge Battaglino 《Defense & Security Analysis》2013,29(1):3-15
In marked contrast with previous decades, defense issues in Argentina have started to receive increasing political attention over the last few years. The main goal of this article is to account for this new found interest in defense policy. The article contends that this revival could be accounted for by both the implementation of a neo-developmentalist strategy and a type of control that emphasizes civilian oversight over the armed forces. Both factors have promoted the implementation of policies that favored an increase in the military budget, the reconstruction of the defense industry and the establishment of a new military doctrine. This article evaluates the impact of factors that have not been previously considered by the literature on defense attention in South America. 相似文献
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针对履带车辆下长坡制动过程中不同制动力的分配关系,在液力减速器和整车下坡动力学分析的基础上,研究了基于液力辅助制动的履带车辆下长坡制动控制策略,建立了基于SIMULINK的履带车辆整车动态仿真模型,对液力减速器的持续制动性能和控制策略的有效性进行了仿真.结果表明,车辆下坡持续制动时,适时应用液力减速器,能够有效分流整车制动功率,明显降低机械制动器的工作负荷,满足整车安全恒速下坡的要求. 相似文献
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We consider a periodic review model over a finite horizon for a perishable product with fixed lifetime equal to two review periods. The excess demand in a period is backlogged. The optimal replenishment and demand management (using price) decisions for such a product depend on the relative order of consumption of fresh and old units. We obtain insights on the structure of these decisions when the order of consumption is first‐in, first‐out and last‐in, first‐out. For the FIFO system, we also obtain bounds on both the optimal replenishment quantity as well as expected demand. We compare the FIFO system to two widely analyzed inventory systems that correspond to nonperishable and one‐period lifetime products to understand if demand management would modify our understanding of the relationship among the three systems. In a counterintuitive result, we find that it is more likely that bigger orders are placed in the FIFO system than for a nonperishable product when demand is managed. © 2013 Wiley Periodicals, Inc. Naval Research Logistics, 2013 相似文献
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Sebastian Kaempf 《Small Wars & Insurgencies》2013,24(3):388-413
This article examines the ways in which the two normative concerns of casualty-aversion and civilian protection influenced US military strategy in the particular context of the asymmetric conflict in Somalia in the early 1990s. The article critically evaluates US military operations through the prism of international humanitarian law and examines whether American forces started prioritizing casualty-aversion over the safeguarding of Somali civilians. Finally, by drawing on emerging moral guidelines (such as Michael Walzer's idea of ‘due care’), the article examines whether lower numbers of Somali civilian deaths could have been achieved if marginal increases to the risks faced by US soldiers had been accepted. 相似文献
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研究了利用小推力器进行航天器姿态控制问题。从理论上推导了在给定姿态控制精度、小推力器参数以及倾斜开关曲线参数的前提下,能够形成理想极限环控制效果的充分必要条件。对相关文献中倾斜开关曲线设计方法不能形成理想极限环的情况进行了理论分析,提出了一种新的基于倾斜开关曲线的准极限环控制方法,并推导了其控制精度。研究对于航天器应用小推力器实现高精度姿态控制具有较大的工程应用价值。 相似文献