Letteratura scientifica selezionata sul tema "Modèle HEXACO"
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Articoli di riviste sul tema "Modèle HEXACO"
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Weiqi, Wang, Wang Aogang, Dong Huaxiong e Zhu Yuxin. "SPIDER HEXAPOD ROBOT BASED ON STM32F429". EPH - International Journal of Science And Engineering 4, n. 4 (27 dicembre 2018): 58–61. http://dx.doi.org/10.53555/eijse.v4i4.167.
Testo completoAbstract (sommario):
A multi-legged intelligent walking robot was developed for the purpose of industrial inspection in this paper. The robot described in this article is STM32F429 as the main control chip, equipped with ultrasonic module for automatic obstacle avoidance, gyro module for direction designation, voice module for command control, temperature and humidity, camera sensor for data collection, through the serial port to the rudder with atmega328 chip The machine control board sends the serial port commands to form a closed-loop automatic control to realize the integrated control of 18 servos, and achieve the purpose of automatically inspecting and collecting environmental data in real time in the factory.
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Gapar, M. A., M. F. Razali, H. Mansor, Y. S. Hamid e N. E. A. Subki. "Industrial Building System (IBS): A Unique Intra-Module Connection on Modular Steel Building (MSB)". IOP Conference Series: Materials Science and Engineering 1200, n. 1 (1 novembre 2021): 012014. http://dx.doi.org/10.1088/1757-899x/1200/1/012014.
Testo completoAbstract (sommario):
Abstract Modular Steel Building (MSB) provide benefits towards green building technology such as minimum wastage, faster build time and cost-efficiency. The intra-module connection is the most important aspect of MSB construction since it has a significant impact on overall structural stability and robustness. A novel intra-module connection was proposed for the MSB. The proposal was designed to suit the illustrative five-storey hexagon shape modular steel building that possibly imagines by Architect. Two analyses phases are being presented, namely the Macro and Microanalysis model. The former is the stage for global analysis design of the proposed five-storey hexagon shape modular steel building via SAP2000. The latter is the local intra-module connection behaviour analysis using ABAQUS software. Linear and nonlinear static analyses were carried out on the proposed intra-module connection under the vertical applied load. In this work, the failure of the connection under the given load was governed by the hexagon diaphragm, while the fin plate demonstrates the least affected constitutive component. It anticipates that the suggested unique intra-module connection will encourage architects to employ modular steel construction designs with greater flexibility. Future research will concentrate on the parametric study to improve the performance of the diaphragm and the connection’s limitations.
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H. Shakir, Yazen. "Theoretical Design of a Leg Module for a Hexapod Underwater Robot". American Journal of Mechanics and Applications 5, n. 1 (2017): 1. http://dx.doi.org/10.11648/j.ajma.20170501.11.
Testo completo
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Qi, Jing, Xilun Ding, Weiwei Li, Zhonghua Han e Kun Xu. "Fusing Hand Postures and Speech Recognition for Tasks Performed by an Integrated Leg–Arm Hexapod Robot". Applied Sciences 10, n. 19 (7 ottobre 2020): 6995. http://dx.doi.org/10.3390/app10196995.
Testo completoAbstract (sommario):
Hand postures and speech are convenient means of communication for humans and can be used in human–robot interaction. Based on structural and functional characteristics of our integrated leg-arm hexapod robot, to perform reconnaissance and rescue tasks in public security application, a method of linkage of movement and manipulation of robots is proposed based on the visual and auditory channels, and a system based on hand postures and speech recognition is described. The developed system contains: a speech module, hand posture module, fusion module, mechanical structure module, control module, path planning module and a 3D SLAM (Simultaneous Localization and Mapping) module. In this system, three modes, i.e., the hand posture mode, speech mode, and a combination of the hand posture and speech modes, are used in different situations. The hand posture mode is used for reconnaissance tasks, and the speech mode is used to query the path and control the movement and manipulation of the robot. The combination of the two modes can be used to avoid ambiguity during interaction. A semantic understanding-based task slot structure is developed by using the visual and auditory channels. In addition, a method of task planning based on answer-set programming is developed, and a system of network-based data interaction is designed to control movements of the robot using Chinese instructions remotely based on a wide area network. Experiments were carried out to verify the performance of the proposed system.
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Ouyang, Dongxu, Jiahao Liu, Mingyi Chen, Jingwen Weng e Jian Wang. "Thermal Failure Propagation in Lithium-Ion Battery Modules with Various Shapes". Applied Sciences 8, n. 8 (31 luglio 2018): 1263. http://dx.doi.org/10.3390/app8081263.
Testo completoAbstract (sommario):
Thermal failure propagation is one of the most severe challenges for battery modules and it usually aggravates the thermal hazards, further resulting in serious accidents. This work conducted two groups of experiments to investigate the influence of discharging treatment and module shape on the thermal failure propagation of battery modules, where the triangle module, rectangle module, parallelogram module, line module, hexagon module, and square module were researched. Based on the results, it can be found that an evident domino effect existed on the thermal failure propagation of battery modules. Namely, the failure propagation process consisted of several phases and the number of phases depended on the shape of the module. Besides, it is indicated that discharging treatment on a battery module when it was in a high-temperature environment would aggravate its thermal failure propagation by bringing an earlier thermal failure, a quicker failure propagation, and a larger mass loss. Combining the results of safety and space utilization, it is revealed that the triangular module may be the best choice of battery module due to its smaller failure propagation speed and higher space utilization.
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Raja Ahsan Shah, Raja Mazuir, Mansour Al Qubeissi, Hazem Youssef e Hakan Serhad Soyhan. "Battery Thermal Management: An Application to Petrol Hybrid Electric Vehicles". Sustainability 15, n. 7 (28 marzo 2023): 5868. http://dx.doi.org/10.3390/su15075868.
Testo completoAbstract (sommario):
Battery thermal management systems (BTMS) in hybrid electric vehicles can be complex and heavy. They tend to increase energy consumption, leading to higher carbon dioxide emissions. In this study, a new approach was investigated for the potential use of four fuel components as coolants for direct liquid-cooled (LC)-BTMS, N-Pentane, N-Hexane, N-Butane, and Cyclo-Pentane. The performance of the fuel components was numerically analysed and CFD modelled using ANSYS Fluent software. Several meshing iterations of the lithium-ion battery (LIB) module were performed to conduct mesh independence check for higher accuracy and less computational time. The LIB module was simulated, in comparison to a free air convection (FAC)-BTMS as a benchmark, at three discharge rates (1C, 1.5C, 2C) for each of the inlet velocity values (0.1, 0.5, 1 m/s). Results show that FAC-BTMS exceeded the LIB module optimal operating temperature range (293–313 K) at 2C. On average, at the worst condition (lowest inlet velocity and highest discharge rate), all fuel components of the LC-BTMS were able to maintain the LIB module temperature below 288 K. That is at least 4.7% cooler compared to FAC-BTMS, which renders the new approach viable alternative to the conventional BTMS.
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Liu, Wei-Qin, Luo-Nan Xiong, Guo-Wei Zhang, Meng Yang, Wei-Guo Wu e Xue-Min Song. "Research on Hydroelastic Response of an FMRC Hexagon Enclosed Platform". Symmetry 13, n. 7 (22 giugno 2021): 1110. http://dx.doi.org/10.3390/sym13071110.
Testo completoAbstract (sommario):
The numerical hydroelastic method is used to study the structural response of a hexagon enclosed platform (HEP) of flexible module rigid connector (FMRC) structure that can provide life accommodation, ship berthing and marine supply for ships sailing in the deep ocean. Six trapezoidal floating structures constitute the HEP structure so that it is a symmetrical very large floating structure (VLFS). The HEP has the characteristics of large area and small depth, so its hydroelastic response is significant. Therefore, this paper studies the structural responses of a hexagon enclosed platform of FMRC structure in waves by means of a 3D potential-flow hydroelastic method based on modal superposition. Numerical models, including the hydrodynamic model, wet surface model and finite element method (FEM) model, are established, a rigid connection is simulated by many-point-contraction (MPC) and the number of wave cases is determined. The load and structural response of HEP are obtained and analyzed in all wave cases, and frequency-domain hydroelastic calculation and time-domain hydroelastic calculation are carried out. After obtaining a number of response amplitude operators (RAOs) for stress and time-domain stress histories, the mechanism of the HEP structure is compared and analyzed. This study is used to guide engineering design for enclosed-type ocean platforms.
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Janicki, Marcin, Przemysław Ptak, Tomasz Torzewicz e Krzysztof Górecki. "Compact Thermal Modeling of Modules Containing Multiple Power LEDs". Energies 13, n. 12 (17 giugno 2020): 3130. http://dx.doi.org/10.3390/en13123130.
Testo completoAbstract (sommario):
Temperature is an essential factor affecting the operation of light-emitting diodes (LEDs), which are often used in circuits containing multiple devices influencing each other. Therefore, the thermal models of such circuits should take into account not only the self-heating effects, but also the mutual thermal influences among devices. This problem is illustrated here based on the example of a module containing six LEDs forming on the substrate a hexagon. This module is supposed to operate without any heat sink in the natural convection cooling conditions, hence it has been proposed to increase the thermal pad area in order to lower the device-operating temperature. In the experimental part of the paper, the recorded diode-heating curves are processed using the network identification by deconvolution method. This allows for the computation of the thermal time constant spectra and the generation of device-compact thermal models. Moreover, the influence of the thermal pad surface area on the device temperature and the thermal coupling between LEDs is investigated.
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Irawan, Addie, e Kenzo Nonami. "Compliant Walking Control for Hydraulic Driven Hexapod Robot on Rough Terrain". Journal of Robotics and Mechatronics 23, n. 1 (20 febbraio 2011): 149–62. http://dx.doi.org/10.20965/jrm.2011.p0149.
Testo completoAbstract (sommario):
This article describes the proposed force-based walking method for hydraulically driven hexapod robot named COMET-IV, to walk on the large scale rough terrain. The trajectory is designed where foot step motion for each leg is decided by vertical force on the foot that is calculated from cylinder torque of thigh and shank. This proposed walking trajectory is established with compliant control strategy, which consists of force control based on position range from the trajectory motion signal. This force controller is dynamically control ON/OFF by proposed decision algorithms that derived from the changes of kinematic motion of the trajectory itself. In addition logical attitude (body) control is designed as a part of the decision control module that makes a pre-calculation of decision making based on leg sequence changes. For more stability dynamic swings raising control is derived from trajectory equations to perform a different degree of swing rising for each leg when the robot stepping on the different level of terrain. All proposed controllers are verified in the COMET-IV actual system with walking on the designed rough terrain platform consists of random levels of hard bricks and rubber pads.
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Anokhina, Tatiana S., Tatyana O. Ershova, Anton A. Anisimov, Maxim N. Temnikov, Evgenia A. Grushevenko, Ilya L. Borisov, Alexey V. Volkov e Aziz M. Muzafarov. "Pervaporation and Gas Separation Properties of High-Molecular Ladder-like Polyphenylsilsesquioxanes". Polymers 15, n. 15 (2 agosto 2023): 3277. http://dx.doi.org/10.3390/polym15153277.
Testo completoAbstract (sommario):
This paper presents the results of studies on the pervaporation properties (for benzene/hexane mixtures) and gas permeability (for He, H2, N2, O2, CO2, CH4, C2H6, and C4H10) of ladder-like polyphenylsesquioxanes (L-PPSQ) with improved physical and chemical properties. These polymers were obtained by condensation of cis-tetraphenylcyclotetrasiloxanetetraol in ammonia medium. The structure of L-PPSQ was fully confirmed by a combination of physicochemical analysis methods: 1H, 29Si NMR, IR spectroscopy, HPLC, powder XRD, and viscometry in solution. For the first time, a high molecular weight of the polymer (Mn = 238 kDa, Mw = 540 kDa) was achieved, which determines its improved mechanical properties and high potential for use in membrane separation. Using TGA and mechanical analysis methods, it was found that this polymer has high thermal (Td5% = 537 °C) and thermal-oxidative stability (Td5% = 587 °C) and good mechanical properties (Young’s module (E) = 1700 MPa, ultimate tensile stress (σ) = 44 MPa, elongation at break (ε) = 6%), which is important for making membranes workable under various conditions. The polymer showed a high separation factor for a mixture of 10% wt. benzene in n-hexane (126) at a benzene flow of 33 g/(m2h).
Tesi sul tema "Modèle HEXACO"
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Mauduit, Marion. "Profils de personnalité et facteurs motivationnels mobilisés lors d'une réorientation vers les études de médecine après un parcours académique ou professionnel différent". Electronic Thesis or Diss., Rennes 2, 2024. http://www.theses.fr/2024REN20009.
Testo completoAbstract (sommario):
Les étudiants « passerelle », qui se réorientent en médecine après un parcours académique etprofessionnel différent ont pour la première fois fait l’objet d’un travail qui vise à décrire leur profil sociodémographique, leurs caractéristiques psychologiques, et les facteurs motivationnels qui sous-tendent leur choix de réorientation vers les études de médecine. Au travers d’une étude qualitative basée sur 42 entretiens semi-dirigés, et d’une étudequantitative réalisée auprès de 718 étudiants en médecine des facultés de Rennes, Nantes, Angers, Tours, et Brest, ce travail de thèse nous montre tout d’abord que les étudiants « passerelle » ont un profil socio-démographique comparable à celui des étudiants en médecine français. Ils sont principalement motivés par un intérêt intrinsèque pour la médecine, etont des attentes plus élevées que les autres étudiants par rapport à la dimension humaine et altruiste du métier de médecin. Les attentes telles que le prestige et la reconnaissance sociale sont au second plan.Ils ont pour principaux traits de personnalité (modèle HEXACO) l’honnêteté-humilité et la conscienciosité, ce qui est aussi le cas des autres étudiants en médecine. Nos résultats montrent qu’ils sont plus extravertis, et qu’ils ont un score d’honnêteté-humilité plus élevé que les autres étudiants. Les valeurs les plus importantes pour eux sont axées vers la transcendance de soi, et l’ouverture au changement. Il semble que les valeurs d’affirmationde soi soient moins importantes pour eux que pour les autres étudiants. Nous avons mis en évidence deux profils de personnalité parmi les étudiants en médecine, dont un profil « altruisme et engagement élevé » qui se distingue par un niveau plus élevé d’honnêteté-humilité, de conscienciosité, d’agréabilité et d’extraversion, au sein duquel les étudiants « passerelle » qui n’avaient pas tenté le concours de la première année de médecine en post baccalauréat semblent être plus nombreuxGateway-entry medical students bypass the traditional first-year selection process for medical school, gaining admission after completing a master’s degree, a PhD, or specific undergraduate degrees. Very little is known about these gateway medical students. This study aims at describing their socio-demographic profile, their personal psychological characteristics, and the motivational factors driving their shift towards medical studies, while also examining the personality traits that may differentiate them from their peers. Through a qualitative study based on 42 semi-structured interviews, and a quantitative study carried out on 718medical students from the faculties of Rennes, Nantes, Angers, Tours and Brest, this study reveals several key findings. Firstly, gateway students exhibit a sociodemographic profile similar to that of their French medical counterparts. They are primarily motivated byan inherent interest in medicine and hold greater expectations regarding the humanistic and altruistic facets of the medical profession compared to other students. While factorssuch as the prestige and social recognition associated with being a doctor also influence theirchoice, these are secondary considerations. Their main personality traits (HEXACO model) arehonesty-humility and conscientiousness. However, they tend to exhibit higher levels of extroversion and honesty-humility compared to their counterparts. Their core personal values emphasize selftranscendence and openness to change. Furthermore, our analysis identifies two distinct personality profiles among medical students, with a notable "high altruism and commitment" profile characterized by elevated levels of honesty-humility, conscientiousness, agreeableness, and extroversion. Interestingly, a higher proportion of gateway students (those who had not attempted the first-year medical entrance examination after completing high school) fall within this profile
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Zhang, Li. "Accuracy enhancement of a hexapod machine tool /". Essen : Vulkan-Verl, 2006. http://deposit.d-nb.de/cgi-bin/dokserv?id=2864795&prov=M&dok_var=1&dok_ext=htm.
Testo completo
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Custodio, Aline Ferrão. "Modelagem e simulação do processo de separação de oleo de soja-hexano por evaporação". [s.n.], 2003. http://repositorio.unicamp.br/jspui/handle/REPOSIP/266512.
Testo completoAbstract (sommario):
Orientadores: Rubens Maciel Filho, Dailton de Freitas RezendeDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Quimica
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Resumo: Até as duas primeiras décadas do século XX, a extração industrial de oleaginosas se fazia, exclusivamente pelo uso de prensas. As prensas, embora extraíssem um óleo de muito boa qualidade, deixavam resíduos no material sólido (torta) superiores, por exemplo a 5% para grãos como o de soja. Tais resíduos além de implicarem em perda de óleo, afetavam a qualidade da torta, que é também um dos produtos efluentes do extrator. A extração por solvente, por outro lado, é capaz de retirar o óleo, deixando resíduos inferiores a 1%. Após a extração, os sólidos são encaminhados ao dessolventizador e a micela (mistura óleo-solvente) ao sistema de destilação, composto por dois evaporadores em série e uma coluna de dessorção (stripping). A unidade de evaporação é uma das que mais demandam energia em uma planta de processamento. Assim, a modelagem matemática dinâmica deste processo com vistas à otimização do consumo energético e à avaliação do desempenho de políticas de controle torna-se um requisito decisivo para operação economicamente viável. O objetivo geral deste trabalho é desenvolver um modelo dinâmico efetuando análises de sensibilidade paramétrica para um evaporador típico da indústria de extração de óleos vegetais, visando a otimização deste processo, ou seja, a recuperação máxima de solvente e o consumo mínimo de energia. A fim de analisar as condições de operação do sistema, propôs-se um modelo matemático do sistema de evaporação com base no de TONELLI et al. (1990), consistindo em balanços mássicos global e de óleo e de balanço energético em torno do sistema de evaporação. O programa simulador foi construído em linguagem FORTRAN. Este programa, a partir de informações tais como temperatura, pressão e concentração de alimentação, assim como de quais são os componentes envolvidos, calcula propriedades termodinâmicas tais como temperaturas de ebulição, capacidades térmicas e entalpias de misturas. Desse modo, um mínimo de informações são requeridas, permitindo simulações rápidas do processo de evaporação. O programa computacional elaborado permitiu simulações rápidas e com baixos erros numéricos para o processo de evaporação do solvente em uma unidade de dessolventização do óleo após extração convencional. Este programa permitiu ainda avaliações de efeitos para os fatores influentes na evaporação. Considerando-se a intensidade das perturbações realizadas e o nível central dos fatores, o fator fração mássica de óleo na entrada foi o que apresentou o maior efeito. Já a velocidade de escoamento do vapor de água de aquecimento foi o fator com o menor efeito no teor de óleo da micela efluente
Abstract: Until the two first decades of century XX, the industrial extraction of oleaginosas were carried out exclusively by mechanical process. This process allow to extracted oil of very good quality, but it leads the left residues in the solid material (pie) to be very high, for example 5% for grains as of soy. Such residues besides implying in loss of oil, affected the quality of the pie, that is also one of the effluent products of the extractor. The extraction for solvent, on the other hand, is capable to remove the oil, leaving residues to be smaller (1%). After the extraction, the solids are directed to the dessolventizador and miscella (oil-solvent mixture) to the distillation system. Witch is composed by two evaporators in series and a stripping column. The unit of evaporation is one that demands for high energy consumption in a processing plant. Thus, the dynamic mathematical modeling of this process with sights to the reduction of the energy consumption and to the evaluation of the performance of control politics becomes a decisive requirement for economically viable operation. The general objective of this work is to develop a dynamic model of the process witch allow for parametric sensitivity analyze for a typical evaporator for the vegetal oil industry extraction. The aim is to have a tool for either process optimization or maximum recovery of solvent. The deterministic mathematical model is developed through mass and energy balance equation together with heat and mass transfer parameter correlations. The simulator was build up in FORTRAN. The software uses operational information as feed temperature, concentration and pressure witch allows for the calculation of the thermodynamic properties such as thermal temperatures of boiling, capacities and enthalpies of mixtures. In this way, a minimum of information is required, allowing fast simulations of the evaporation process. Through experimental design procedure applied to the deterministic model was possible to identify the main operational variables effects as well as the impact of the extraction array variables has on the process behaviors. The mass oil fraction in the feed was found to have the largest effect. The speed of the water vapor draining for the heating zone was the factor with the loweit effect in the oil miscella effluent
Mestrado
Desenvolvimento de Processos Químicos
Mestre em Engenharia Química
4
Morrone, Simone Ribeiro. "Determinação experimental do volume excesso de soluções de ciclohexano /2-Propanol, ciclohexano /2-Butanol, N-Hexano/2-Propanol, N-Hexano/2-Butanol a 298,15k e A 288,15K e aplicação do modelo eras". [s.n.], 1994. http://repositorio.unicamp.br/jspui/handle/REPOSIP/267378.
Testo completoAbstract (sommario):
Orientador: Artur Zaghini FrancesconiDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Quimica
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Resumo: Os objetivos deste trabalho consistiram no levantamento de dados inéditos do volume excesso, por densitometria, de soluções alcano/alcanol e no teste do modelo de soluções ERAS. Os sistemas estudados foram ciclohexano/2-propanol, ciclohexano/2-butanol, n-hexano/2-propanol, n-hexano/2-butanol à pressão ambiente e às temperaturas de 288,15 K e 298,15 K. Todos os valores do volume excesso foram positivos, sendo o maior valor aproximadamente 0,6 cm3/mol encontrado para ciclohexano/2-butanol, a 298,15 K. As curvas volume excesso em função das frações molares dos alcanos possuem formas parabólicas para o ciclohexano e sigmóides para o n-hexano. Constatou-se que o volume excesso aumenta com: a temperatura, o comprimento da cadeia do alcanol e a esfericidade do alcano. o modelo ERAS, que, ao contrário de outras teorias de solução, responde bem não somente à energia livre de Gibbs em excesso, mas também a outras grandezas excesso, foi desenvolvido por Heintz para sistemas do tipo aicano/alcanol.A principal característica deste modelo é o cálculo simultâneo das grandezas excesso. Os resultados apresentados foram bons, chegando, algumas vezes, a valores bem próximos dos experimentais
Abstract: The aim of this work were to collect new data of the excess volume of alkane alkanol solutions, using a vibrating-tube densimeter, and to test the solution model ERAS. The systems studied were cyclohexane/2-propanol, cyclohexane/2-butanol, n-hexane/2-propanol, n-hexane/2-butanol at 288.15 K and 298.15 K and room pressure. Ali values of the excess volume were positive and the maximum was about 0.6 cm3/mol for the cyclohexane/2-butanol at 298.15 K. The curves excess volume versus mole fractions have parabolic form for systems containing cyclohexane and sigmoid form for the n-hexane systems. It was observed that the excess volume increased with: the temperature, the lenght of the alkanol chain and the sphere shape of the alkane. The ERAS model, regardless of other solution theories, does not present good results only for the excess Gibbs free energy, but also for any excess . property, was developed by Heintz for alkane/alkanol systems. The main feature of this model is the simultaneous calculation of excess properties. The results were good and, in some cases, the values were very close to the experimental ones
Mestrado
Sistemas de Processos Quimicos e Informatica
Mestre em Engenharia Química
5
Aggadi, Najia. "Etude de la réactivité de suies modèles de n-Hexane sous décharge couronne pulsée à pression atmosphérique". Paris 13, 2006. http://www.theses.fr/2006PA132004.
Testo completoAbstract (sommario):
L'étude menée dans le cadre de cette thèse a concerné le développement d'un dispositif de décharge couronne pulsée à presion atmosphérique (DCPPA) fonctionnant en régime nanoseconde pour le traitement d'effluents gazeux. Elle a également concerné l'étude de la réactivité de particules de suies carbonées modèles synthétisées par combustion du n-hexane liquide sous l'effet des micro-décharges de plasma non thermiques. Les deux premiers chapîtres du document de thèse présentent les études bibliographiques montrant d'une part l'intérêt dedévelopper de nouveaux procédés d'oxydation de particules de suies, et d'autre part les potentialités des décharges couronnes pulsées comme outils permettant la réalisation de cette oxydation. Le troisième chapître présente une étude qui s'appuie essentiellement sur des modèles cinétiques et de propagation de streamer et a permis de montrer clairement les avantages et limites de l'utilisation d'un régime pulsé. Ce chapître discute également le dimensionnement de la source de tension permettant de générer les décharges pulsées. Le chapître 4 présente les dispositifs expérimentaux utilisés pour générer et diagnostiquer la décharge couronne pulsée mise au point. Il discute également les travaux liés à la synthèse et la caractérisation physico-chimique de suies modèles de n-hexane par différentes techniques d'analyse (GC, GCMS, FTIR, etc. . . ). Le dernier chapître présente l'ensemble des résultats obtenus dans ce travail. Ces derniers concernent aussi bien la caractérisation de la décharge électrique et les effluents qu'elle génère que la réactivité des suies et leur cinétique d'oxydation dans différentes conditions de décharge (température, gaz plasmagène, fréquence, etc. . . ). Cette réactivité a été analysée au travers des concentrations de CO et deCO2 produits par l'oxydation Le caractère oxydant de la décharge à basse température a été mis en évidence au cours de ce travail. Un modèle cinétique a été utilisé pour interpréter les résultats expérimentaux obtenus et expliquer les limitations cinétiques observées à basse température en terme de processus de désorption de complexes de surface. .
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Tran, Manh Trung. "Caractérisation à l'aide de réactions modèles des catalyseurs très acides du type H-mordénite et zircone sulfatée". Poitiers, 1997. http://www.theses.fr/1997POIT2324.
Testo completoAbstract (sommario):
L'objectif est la mise au point de reactions modeles permettant de caracteriser a basse temperature des catalyseurs tres acides tels que les mordenites et les zircones sulfatees. Le mecanisme des reactions choisies (transformation du n-heptane, du n-hexane du n-butane et du propane) a d'abord ete etabli. La distribution des produits et les ordres de reactions montrent que les transformations du propane et du n-butane sont essentiellement bimoleculaires, celles du n-hexane et du n-heptane etant monomoleculaires. Toutefois dans ce dernier cas, les premieres etapes monomoleculaires sont suivies de la transformation bimoleculaire tres rapide des produits primaires de craquage. Ces reactions ont ete utilisees pour caracteriser des series de mordenites desaluminees (rapports si/al allant de 6,6 a 80) et de zircones sulfatees (teneurs en soufre allant de 1 a 2,5 % en poids selon la temperature de calcination). Dans le cas des mordenites, l'effet de l'hydrogene permet de montrer que si la transformation du n-butane est pour l'essentiel bimoleculaire, l'isomerisation monomoleculaire tres difficile de cet alcane se produit egalement mais tres lentement. Ces zeolithes possederaient donc quelques sites tres forts. Avec les zircones sulfatees, l'evolution des activites avec la temperature de calcination n'est pas celle attendue de la force et de la concentration des sites protoniques determinees par ir. Cette evolution anormale semble etre liee a une desactivation initiale tres brutale des catalyseurs calcines a basse temperature. Celle-ci serait due plutot a la consommation tres rapide de sites protoniques pour la production d'h#2s qu'a leur empoisonnement par depot de coke. Bien que les sites acides des zircones sulfatees ne semblent pas plus forts que ceux des mordenites et qu'ils sont beaucoup moins nombreux, ces solides sont curieusement plus actifs a basse temperature que les mordenites. Cette plus grande activite s'explique certainement par la possibilite d'initiation a basse temperature de la transformation des alcanes sur les sites oxydants des zircones sulfatees.
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Fouche, Valérie. "Hydroïsomérisation du N-Hexane : activité et stabilité des catalyseurs platine mordénite". Poitiers, 1989. http://www.theses.fr/1989POIT2293.
Testo completoAbstract (sommario):
Sous pression elevee d'hydrogene (>10 bar) les catalyseurs platine mordenite sont tres selectifs pour l'isomerisation de l'hexane et presentent une tres grande stabilite. Un maximum d'activite est observe pour une valeur du rapport si/al de la charpente zeolithique voisine de 10. Un modele cinetique a ete propose pour rendre compte de l'effet des parametres operatoires sur la vitesse d'isomerisation
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McKay, Derek A. "A facet and domain-level analysis of two trait models of personality: Relationship with subjective well-being". University of Akron / OhioLINK, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=akron1498591744789927.
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Mudjariana, Eny. "Détermination expérimentale des équilibres liquide-vapeur des binaires acide acrylique-éthyl-2-héxanol et acide acrylique-1 butanol : Modélisation par les modèles NTRL et UNIFAC modifié". Compiègne, 1992. http://www.theses.fr/1992COMPD492.
Testo completoAbstract (sommario):
Le but de la présente étude est la détermination expérimentale et la modélisation des équilibres entre phase (liquide-vapeur) en vue d'obtenir des informations sur différentes opérations unitaires : distillation et procédés de synthèse. La première partie de cette étude présente les appareillages de mesure et les méthodes opératoires permettant d'obtenir de façon rapide des résultats précis sur les équilibres étudiés dans les conditions industrielles, c'est-à-dire à pression constante. La deuxième partie de notre travail concerne l'analyser des résultats expérimentaux portant sur les binaires acide acrylique-éthyl-2 hexanol et butanol-1-acide acrylique. Cette analyse est réalisée à partir de différents modèles allant du plus simple (loi de Raoult) au plus compliqué que nous avons considéré (modèle d'Hayden O'Connell pour la phase vapeur et UNIFAC modifié pour la phase liquide). Afin de voir entre autre les limites de ces modèles, nous avons reporté les points essentiels des développements proposés par différents auteurs. Le test de cohérence basé sur l'équation de Gibbs Duhem thermodynamique a été appliqué aux résultats obtenus, test qui permet d'apporter une garantie supplémentaire aux déterminations effectuées.
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Zietlow, Kim J. "Socio-demographic and psychological determinants of water conservation behavior". Doctoral thesis, Humboldt-Universität zu Berlin, Lebenswissenschaftliche Fakultät, 2016. http://dx.doi.org/10.18452/17425.
Testo completoAbstract (sommario):
Wasser ist eine der wichtigsten Ressourcen. Jedoch schätzt man, dass sich das globale Wasserdefizit schon im Jahr 2030 auf ca. 40 Prozent belaufen wird. Klimawandel, veränderte Lebensweisen, und Bevölkerungswachstum verstärken das Nachfrage-Angebot-Defizit. Als Konsequenz leiden immer mehr Regionen unter Wasserknappheit. Eine reduzierte Wassernachfrage bedingt durch verstärktes Wassersparen kann das Problem verringern. Das Ziel dieser Dissertation ist es daher, zu einem besseren Verständnis der sozio-demographischen und psychologischen Determinanten von Wassersparverhalten beizutragen. Basierend auf drei Datensätzen aus Deutschland und Jordanien wurden die verschiedenen Facetten von Wassersparverhalten und deren Determinanten beleuchtet. Das Verhältnis zwischen Wassersparen und Umwelteinstellung, einem latenten Konstrukt, das kooperative, prosoziale und sogar moralische Tendenzen widerspiegelt, wurde konzeptionell untersucht. Zusätzlich wurde Wassersparen in Deutschland als ein Repräsentant für moralisches Verhalten verwendet. In diesem Zusammenhang wurden Umwelteinstellung und der Persönlichkeitsfaktor Ehrlichkeit-Bescheidenheit auf ihr Vermögen hin verglichen, moralisches Verhalten vorherzusehen. Eine ausführliche Analyse zur Bewertung einer Kampagne zur Förderung des Wassersparbewusstseins hat detaillierte Informationen zu ihren tatsächlichen Effekten gezeigt. Eine weitere Analyse hat sich auf die Determinanten von Wassersparverhalten in Jordanien konzentriert. Die Ergebnisse zeigen, dass Wassersparverhalten nicht durch Alter, Bildungsgrad und Einkommen beeinflusst wird, sondern eher durch die Ausprägung der Umwelteinstellung. Diese Dissertation liefert wertvolle Informationen für Forscher und Politiker. Die detaillierte Untersuchung von verschiedenen Wasserspardeterminanten birgt großes Potenzial für ein verbessertes Wassermanagement.Water is one of the most important resources. However, the global water deficit was estimated to reach about 40% by 2030. Climate change, changing lifestyles, and population growth increase the supply and demand gap further. As a consequence, more and more regions experience water scarcity. In that context, reduced household water demand due to enhanced water conservation could alleviate the problem or, at least, reduce the pressure on water resources. Thus, this thesis aims to contribute to a better understanding of the socio-demographic and psychological determinants of water conservation behavior. Based on three distinct datasets from Germany and Jordan, the manifold facets of water conservation and its determinants were examined. From a conceptual perspective, the relationship between water conservation and environmental attitude, a latent construct representing cooperative, prosocial, and even moral tendencies, were investigated. Furthermore, water conservation in Germany was used as a proxy for moral behavior. In that respect, environmental attitude and the personality factor Honesty-Humility were compared in order to determine, which factor constitutes the better predictor of moral behavior. Using original data from Jordan, a comprehensive impact evaluation of a water conservation awareness campaign revealed detailed information on its actual effects. Another analysis focused on a wide variety of water conservation determinants in Jordan. The results indicate that water conservation does not differ with respect to age, education, and income, but rather with different levels of environmental attitude. This thesis provides valuable information for researchers and policy makers alike. The detailed examination of various water conservation determinants offer a great potential for an improved management of household water demand.
Libri sul tema "Modèle HEXACO"
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P, Conti Joseph, e National Institute of Standards and Technology (U.S.), a cura di. Workspace variation of a hexapod machine tool. Gaithersburg, MD: U.S. Dept. of Commerce, Technology Administration, National Institute of Standards and Technology, 1998.
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Quinn, Roger D., e Roy E. Ritzmann. Principles and mechanisms learned from insects and applied to robotics. Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780199674923.003.0042.
Testo completoAbstract (sommario):
This chapter explores how insects have provided inspiration for robotic designs over recent decades as biologists have continued to learn more about these complex invertebrate systems. Initial legged robots typically mimicked insects only in terms of their basic six-legged (hexapod) designs and walking gaits. Since then robots have been developed that take advantage of insect leg and wing designs, compliant structures, movement behaviors, reflexes, and even local neural control systems identified in their central nervous systems. Future robots may be controlled with models of entire insect nervous systems including their brains.
Capitoli di libri sul tema "Modèle HEXACO"
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Visser, Beth A. "Narcissism and the Big Five/HEXACO Models of Personality". In Handbook of Trait Narcissism, 205–12. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-92171-6_22.
Testo completo
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Föll, Fabian, Valerie Gerber, Claus-Dieter Munz, Berhand Weigand e Grazia Lamanna. "On the Consideration of Diffusive Fluxes Within High-Pressure Injections". In Notes on Numerical Fluid Mechanics and Multidisciplinary Design, 195–208. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-53847-7_12.
Testo completoAbstract (sommario):
Abstract Mixing characteristics of supercritical injection studies were analyzed with regard to the necessity to include diffusive fluxes. Therefore, speed of sound data from mixing jets were investigated using an adiabatic mixing model and compared to an analytic solution. In this work, we show that the generalized application of the adiabatic mixing model may become inappropriate for subsonic submerged jets at high-pressure conditions. Two cases are discussed where thermal and concentration driven fluxes are seen to have significant influence. To which extent the adiabatic mixing model is valid depends on the relative importance of local diffusive fluxes, namely Fourier, Fick and Dufour diffusion. This is inter alia influenced by different time and length scales. The experimental data from a high-pressure n-hexane/nitrogen jet injection were investigated numerically. Finally, based on recent numerical findings, the plausibility of different thermodynamic mixing models for binary mixtures under high pressure conditions is analyzed.
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Ihlenfeldt, Steffen, Xaver Thiem e Jens Müller. "Strukturmodellbasierte Korrektur thermisch bedingter Fehler". In Echtzeitsimulation in der Produktionsautomatisierung, 373–87. Berlin, Heidelberg: Springer Berlin Heidelberg, 2024. http://dx.doi.org/10.1007/978-3-662-66217-5_21.
Testo completoAbstract (sommario):
ZusammenfassungIn jeder Phase des Produktlebenszyklus müssen unterschiedliche thermische Fragestellungen beantwortet werden. Zu diesem Zweck bildet der Digitale Zwilling die Maschine selbst und die auf ihr laufenden Prozesse aufgabenbezogen ab. Damit ist die virtuelle Maschine nicht ein einzelnes Modell, sondern muss als Digitaler Werkzeugkasten kontextbezogener Modellvarianten gesehen werden. Strukturmodelle für die Korrektur thermisch bedingter Fehler an Werkzeugmaschinen stellen eine dieser Modellvarianten dar. Diese Modelle bilden den thermo-elastischen Zustand der Maschine im Betrieb ab. Die strukturmodellbasierte Korrektur steht im Fokus dieses Kapitels. Es werden die Teilfunktionen des Korrekturansatzes und die damit verbundenen Echtzeitanforderungen erläutert. Im Anschluss wird die konkrete Implementierung für die Demonstratormaschine Hexapod Felix IV vorgestellt. Die Korrektur wird validiert mit Hilfe eines Versuches, der ein großes Belastungsspektrum aufweist. Für diesen Versuch konnte eine Reduktion der thermisch bedingten Fehler von mehr als 80 % erzielt werden.
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Conrad, James M., e Jonathan W. Mills. "The History and Future of Stiquito: A Hexapod Insectoid Robot". In Artificial Life Models in Hardware, 1–20. London: Springer London, 2009. http://dx.doi.org/10.1007/978-1-84882-530-7_1.
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Jonker, Jan, e Linda O’Riordan. "New Business Models: Examining the Role of Principles Relating to Transactions and Interactions". In Hexagon Series on Human and Environmental Security and Peace, 543–57. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-43884-9_25.
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Tähti, Hanna, Maria Engelke e Leila Vaalavirta. "Mechanisms and Models of Neurotoxicity of n-Hexane and Related Solvents". In Archives of Toxicology, 337–45. Berlin, Heidelberg: Springer Berlin Heidelberg, 1997. http://dx.doi.org/10.1007/978-3-642-60682-3_32.
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Saranli, Uluc̣, Alfred A. Rizzi e Daniel E. Koditschek. "Multi-Point Contact Models for Dynamic Self-Righting of a Hexapod". In Springer Tracts in Advanced Robotics, 409–24. Berlin, Heidelberg: Springer Berlin Heidelberg, 2005. http://dx.doi.org/10.1007/10991541_28.
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Scheffran, Jürgen, P. Michael Link e Janpeter Schilling. "Theories and Models of Climate-Security Interaction: Framework and Application to a Climate Hot Spot in North Africa". In Hexagon Series on Human and Environmental Security and Peace, 91–131. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-28626-1_5.
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Mucic, N., A. Javadi, J. Krägel, M. Karbaschi, E. V. Aksenenko, V. B. Fainerman e R. Miller. "Thermodynamic Models for the Adsorption of Alkyl Trimethyl Ammonium Bromides at the Water/Hexane Interface". In Colloid Process Engineering, 309–21. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-15129-8_13.
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Silva, Elisabete A. "Cellular Automata and Agent Base Models for Urban Studies: From Pixels to Cells to Hexa-dpi's". In Urban Remote Sensing, 323–34. Chichester, UK: John Wiley & Sons, Ltd, 2011. http://dx.doi.org/10.1002/9780470979563.ch22.
Testo completoAtti di convegni sul tema "Modèle HEXACO"
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Chai, Xiaoming, Xiaolan Tu e Wei Lu. "The Powerful MOC Module in Advanced Neutronics Lattice Code GALAXY". In 2016 24th International Conference on Nuclear Engineering. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/icone24-60661.
Testo completoAbstract (sommario):
Due to powerful geometry treatment capability, Method Of Characteristics (MOC) becomes the most popular method to solve neutron transport equation. However, boundary conditions always restrict the MOC method’s widely application. Most of the current neutronics lattice codes based on MOC can only be used to solve one or two specific geometrical shapes. In this paper, we developed a powerful MOC module, which can treat different geometrical shapes with two methods. For special geometrical shapes, such as rectangle, 1/8 of square, hexagon, 1/3 of hexagon, 1/6 of hexagon, the MOC module adopts special trajectory layout and angle quadrature set, which can reduce the computation time. For other general geometrical shapes, the MOC module use ray prolongation method, which can treat arbitrary geometry shapes and boundary conditions but need much computation time. This MOC module was incorporated into advanced neutronics lattice code GALAXY, which developed by Nuclear Power Institute of China. The numerical results show that the GALAXY code can be used to calculate 2D neutronics problems with rectangle, hexagon, and other complicated geometry shapes accurately. In future, the GALAXY code will gradually become the main neutroncis lattice code in NPIC.
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Jahn, Bernie R. "Simulation, Design, and Testing of a High Performance Multi-Axis Hexapod for Vibration Isolation". In ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2007. http://dx.doi.org/10.1115/detc2007-34502.
Testo completoAbstract (sommario):
This paper describes the simulation, design, and testing of a high-performance six degree-of-freedom hexapod for the purpose of isolating sensitive payloads from low-frequency vibrations. Design criteria required the hexapod to support a generic payload up to 500 lb with an isolation plunge frequency of approximately 1 Hz. Simulations were performed using Matlab in order to determine the optimum geometry of the base and platform structures in order to provide the best combination of translation-rotation uncoupling, frequency spread, plunge frequency, and jitter. Based on these simulation results, hexapod base and platform structures were designed and fabricated based on a 50 inch-diameter platform size. All of the accumulators and pneumatic hardware were embedded into the base structure to allow for a totally contained system. Modal testing of the hexapod was performed in order to verify the modes predicted by the model.
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Zhang, Guijuan, Guixin Yu e You Bo. "Hexagonal hexapod robot foot-modeled dynamics simulation analysis". In 2013 2nd International Conference on Measurement, Information and Control (ICMIC). IEEE, 2013. http://dx.doi.org/10.1109/mic.2013.6758153.
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Lewinger, William A., H. Martin Reekie e Barbara Webb. "A hexapod robot modeled on the stick insect, Carausius morosus". In 2011 15th International Conference on Advanced Robotics (ICAR 2011). IEEE, 2011. http://dx.doi.org/10.1109/icar.2011.6088569.
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Aridon, G., A. Al Majid, L. Blanchard, D. Re´mond e R. Dufour. "A Self-Deployment Hexapod Model for a Space Application". In ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2007. http://dx.doi.org/10.1115/detc2007-35299.
Testo completoAbstract (sommario):
This paper presents an efficient simulation tool for predicting a self deployment of an on-board deployable hexapod based on the release of stored strain energies provided by six tape-spring actuators. Six restoring force models describe their hysteretic behavior. A formulation of a direct dynamic model developed with a Lagrangian approach is achieved. Furthermore, tensor representation is used to condense and simplify the calculation of Lagrangian partial derivatives. Results are compared with a numerical model that performs the recursive Newton-Euler technique. Finally, the impact of the excitation of the base on the deployment performances is evaluated taking advantage of the proposed restoring force models.
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Cirillo, Pasquale, Giuseppe De Maria e Ciro Natale. "Customization of low-cost hexapod robots based on optimal design through inverse dynamics computation". In 2015 20th International Conference on Methods and Models in Automation and Robotics (MMAR ). IEEE, 2015. http://dx.doi.org/10.1109/mmar.2015.7284034.
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Kick, Thomas, Trupti Kathrotia, Marina Braun-Unkhoff e Uwe Riedel. "An Experimental and Modeling Study of Laminar Flame Speeds of Alternative Aviation Fuels". In ASME 2011 Turbo Expo: Turbine Technical Conference and Exposition. ASMEDC, 2011. http://dx.doi.org/10.1115/gt2011-45606.
Testo completoAbstract (sommario):
The present work reports on measurements of burning velocities of synthetic fuel air mixtures exploiting the cone-angle method, as part of the EU project ALFA-BIRD. The GtL (Gas-to-Liquid)-air mixtures — (i) 100% GtL and (ii) GtL+20% hexanol, respectively — were studied at atmospheric pressure, with values of the equivalence ratio φ ranging between φ ∼ 1.0 and φ ∼ 1.3, at preheat temperatures To = 423 K (GtL+20% hexanol) as well as To = 473 K (for 100% GtL and GtL+20% hexanol). A comparison between experimentally obtained burning velocities and predicted values of laminar flame speed is presented, too. In general, good agreement was found between predicted and measured data for the range of conditions considered in the present study. The predictive capability of the detailed reaction model consisting of 3479 reactions involving 490 species will be discussed focusing on the laminar flame speed and the combustion of the components (n-decane, iso-octane, and 1-hexanol) of the surrogate used.
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Wu, Xin, Yaoyu Li e Thomas R. Consi. "Posture Synthesis and Control of a Symmetric Hexapod Robot on Corrugated Surfaces for Underwater Observation". In ASME 2007 International Mechanical Engineering Congress and Exposition. ASMEDC, 2007. http://dx.doi.org/10.1115/imece2007-41632.
Testo completoAbstract (sommario):
This paper presents the first stage of a project to develop a six-legged walker (hexapod) as a highly stable mobile sensor platform for in situ benthic observation. The hexapod is radially symmetric with a downward looking, CCD camera-coupled, microscope mounted co-linear with the central axis of the body. A Lynxmotion (Peoria, IL) Model EH-3R radially symmetric 18 degrees-of-freedom hexapod robot has been used for initial land-based experiments and simplified to a 12 degree-of-freedom structure by locking the panning joint of each leg. Forward and inverse kinematics are then used to derive the relationship between the body posture and the proximal and distal joint angles on legs, which is the basis of the microscope’s coarse focusing for the observation. The kinematics analysis has been verified with both Matlab-based simulations and experiments on the hexapod prototype. Finally, passivity-based posture control is developed and simulated based on the inverse dynamics of the robotic leg.
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Viana, Eliza Vitória M., Emili F. Campachi, Jefferson Marcelo A. da Silva, Antônio Euzébio G. Santana e Mônica Josene B. Pereira. "EFICIÊNCIA DE FORMULAÇÕES FEROMONAIS PARA O MANEJO DE Spodoptera frugiperda (LEPIDOPTERA: NOCTUIDAE) EM ALGODÃO NO MATO GROSSO". In I Congresso Brasileiro de Biotecnologia On-line. Revista Multidisciplinar de Educação e Meio Ambiente, 2021. http://dx.doi.org/10.51189/rema/808.
Testo completoAbstract (sommario):
Introdução: Spodoptera frugiperda é uma praga que ocasiona perdas significativas na produção do algodão, pois atacam as estruturas reprodutivas como botões florais e maçãs, elevando os custos de produção com o uso excessivo de inseticidas, geralmente não seletivos aos inimigos naturais, que favorecem a seleção de populações resistentes. Para minimizar o impacto destas pulverizações, faz-se necessário a busca de tecnologias sustentáveis, com ênfase para os feromônios sexuais, conceituados como substâncias voláteis que promovem a comunicação entre os insetos, que podem ser utilizados no monitoramento e controle de pragas. Objetivo: Avaliar a eficiência de formulações do feromônio sexual de S. frugiperda no algodão. Material e métodos: O delineamento utilizado foi inteiramente casualizado, com 5 tratamentos e 5 repetições, sendo testadas três formulações do feromônio de S. frugiperda – F1, F2 e F3, como controle foram utilizados o solvente hexano e fêmeas virgens. Foram utilizadas armadilhas tipo Delta de cor branca, com septo de borracha impregnado com diferentes composições. Os tapetes adesivos das armadilhas foram trocados semanalmente. As armadilhas foram instaladas no período reprodutivo do algodão (safra 2019/2020) em Tangará da Serra - MT. Os dados foram submetidos à Análises de Desvio e ao Modelo Linear Generalizado (GLM). Resultados: Foram coletados 3.666 indivíduos, sendo 96,93% machos e 3,06% fêmeas. As formulações não diferiram entre si, mas diferiram das fêmeas e do hexano pelo GLM (p<0,05). Houve variação na abundância de indivíduos entre os tratamentos, as fêmeas coletaram 1.420 (38,79%), seguida pelas Formulações 3, 2 e 1 que acumularam 755 (20,62%), 690 (18,52%) e 647 (17,67%) respectivamente. O hexano coletou apenas 0,98%. Conclusão: As formulações avaliadas são promissoras para monitoramento e controle de S. frugiperda, no entanto, novos ajustes devem ser efetuados para otimizar a eficiência de coleta das referidas formulações.
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Yang, Fan, Xilun Ding e Gregory S. Chirikjian. "Kinematic Analysis of Hexapod Manipulation". In ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/detc2016-59619.
Testo completoAbstract (sommario):
This paper provides a method for modeling the center of mass (COM) of hexapod manipulation systems, which is based on the Statically Equivalent Serial Chain (SESC) model. First, the product of exponentials (POE) formula is used to construct the SESC model for the simple tree-like chain. Then, in order to apply this method to real scenarios, the situation when the robot stands on uneven terrain is studied. In addition, the static grasp constraints for the manipulation and the Jacobian matrix for the COM of the system are analyzed. Moreover, we present a modified tumble stability margin, which considers all of the possible ways that the robot can tumble. Finally, based on these kinematic analyses, a motion control scheme for statically stable manipulation is proposed. The results are validated with simulations.
Rapporti di organizzazioni sul tema "Modèle HEXACO"
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STUDY ON MECHANICAL PROPERTIES OF HONEYCOMB REGULAR HEXAGON DAMPER. The Hong Kong Institute of Steel Construction, marzo 2024. http://dx.doi.org/10.18057/ijasc.2024.20.1.7.
Testo completoAbstract (sommario):
Traditional metal dampers have the advantages of easy processing, convenient production, and good mechanical properties. However, most of the traditional metal dampers are single design, and their application is limited by the size of the dampers. Based on the honeycomb metal damper, a honeycomb regular hexagon metal damper with a free connection is proposed in this paper. Firstly, the failure mechanism, hysteretic curve, skeleton curve, stiffness degradation curve, and energy dissipation curve of the single energy-dissipating supporting member and the triple two-row supporting member were obtained through the low-cycle reciprocating loading test. Then the R-O mechanical model was fitted to the skeleton curve obtained from the test. Then, three kinds of honeycomb regular hexagon dampers were modeled by ABAQUS finite element simulation software, and the finite element simulation results were compared with the test results. The results show that the energy dissipation support in this paper has a good bearing capacity and energy dissipation capacity, and the development trend of simulation results align with the experimental results. The energy dissipation capacity of the energy dissipation support can be improved, and the multi-section yield can be achieved by connecting multiple energy dissipation units.