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  • Articles  (2)
  • Trace metals  (1)
  • optimal trajectory generation  (1)
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  • 1
    Electronic Resource
    Electronic Resource
    Springer
    Environmental geology 39 (2000), S. 1334-1340 
    ISSN: 1432-0495
    Keywords: Keywords China ; Geochemistry ; River ; Sediment ; Trace metals
    Source: Springer Online Journal Archives 1860-2000
    Topics: Geosciences
    Notes: Abstract  A total of 26 geographically and hydrologically diverse sediment samples were collected from 12 major rivers in eastern China. The 〈63-μm fraction of the sediments was analysed for both total concentrations of Cu, Zn, Pb and Cd, and their associations with various geochemical phases. The geographical variations of sediment-bound trace metals can be related to the bedrock types and weathering processes in the corresponding river basins. The rivers in southern China had notably higher concentrations of trace metals in sediments because of abundant non-ferrous mineral deposits and stronger weathering process in the region. A large proportion of trace metals in these sediments was associated with iron and manganese oxides and organic matter. Relative low levels of trace metals were found in river sediments in northern China, and a significant proportion of the metals was bound to organic matter, carbonates, and the residual fraction. The sediments in the Yellow River, originating from special loess, had the lowest concentrations of trace metals. Most of the trace metals were associated with the carbonates and residual phases.
    Type of Medium: Electronic Resource
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  • 2
    Electronic Resource
    Electronic Resource
    Springer
    Journal of optimization theory and applications 86 (1995), S. 347-368 
    ISSN: 1573-2878
    Keywords: Cell-to-cell mapping ; coordinated robotic manipulators ; hierarchical searching algorithm ; optimal trajectory generation
    Source: Springer Online Journal Archives 1860-2000
    Topics: Mathematics
    Notes: Abstract This paper presents the results obtained by applying the cell-to-cell mapping method to solve the problem of the time-optimal trajectory planning for coordinated multiple robotic arms handling a common object along a specified geometric path. Based on the structure of the time-optimal trajectory control law, the continuous dynamic model of multiple arms is first approximated by a discrete and finite cell-to-cell mapping on a two-dimensional cell space over a phase plane. The optimal trajectory and the corresponding control are then determined by using the cell-to-cell mapping and a simple search algorithm. To further improve the computational efficiency and to allow for parallel computation, a hierarchical search algorithm consisting of a multiple-variable optimization on the top level and a number of cell-to-cell searches on the bottom level is proposed and implemented in the paper. Besides its simplicity, another distinguishing feature of the cell-to-cell mapping methods is the generation of all optimal trajectories for a given final state and all possible initial states through a single searching process. For most of the existing trajectory planning methods, the planning process can be started only when both the initial and final states have been specified. The cell-to-cell method can be generalized to any optimal trajectory planning problem for a multiple robotic arms system.
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