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Lu-Ping Luo,Hanyang Universit,Rui-Jun Yan,Quan Yuan,Jing Wu,신규식,한창수 한국정밀공학회 2015 International Journal of Precision Engineering and Vol. No.
We propose to use Lagrange interpolation method to express each joint trajectory function to realize trajectory planning for energy minimization of industrial robotic manipulators. We give the position constraints to the industrial robotic manipulators and the stability of the industrial robotic manipulators should be satisfied. In order to avoid Runge’s phenomenon of Lagrange interpolation method, we use the Chebyshev interpolation points for our approach. Through derivation, the angular velocity functions and angular acceleration functions can be obtained. Lagrange interpolation method can satisfy position constraints, and ensure the smoothness of joint angular positions, velocities, accelerations, and joint torques. By taking these functions into the Performance Index (PI) of energy minimization, as well as the direct iteration method used for optimization of energy consumption, we can obtain the optimal trajectory for industrial robotic manipulators.
Multi-method mercury specification from lignite-fired power plants
Ping Lu,Jiang Wu,Wei-ping Pan 한국화학공학회 2009 Korean Journal of Chemical Engineering Vol.26 No.2
Mercury concentration and speciation partitioning, including total mercury, elemental mercury and oxidized mercury from a lignite-fired power plant under different operating conditions, was studied by Ontario hydro method (OHM), two kinds of continuous mercury monitors (semi-continuous emission monitor (SCEM) and continuous mercury monitor (CMM)), and the sorbent trap method. The effects of boiler load, fuel blending ratio, electrostatic precipitator, flue gas desulphurization, flue gas bypassing the FGD ratio, and mercury measuring methods on mercury emission were analyzed. The results indicated that mercury data from OHM, SCEM and CMM presented a good consistency throughout the entire testing period within ±20% acceptable range; however, the results from Appendix K provided bigger discrepancies than the results of OHM and SCEM due to the interferences of higher selenium content in the flue gas. The particulate-bound mercury removal efficiencies of ESP were determined to be 16-35%. The percentages of elemental mercury emitted from two lignite-fired power plants were in the higher ranges of 43.9-74.2%.
ON THE MINIMUM WEIGHT OF A 3-CONNECTED 1-PLANAR GRAPH
Lu, Zai Ping,Song, Ning Korean Mathematical Society 2017 대한수학회보 Vol.54 No.3
A graph is called 1-planar if it can be drawn in the Euclidean plane ${\mathbb{R}}^2$ such that each edge is crossed by at most one other edge. The weight of an edge is the sum of degrees of two ends. It is known that every planar graph of minimum degree ${\delta}{\geq}3$ has an edge with weight at most 13. In the present paper, we show the existence of edges with weight at most 25 in 3-connected 1-planar graphs.
Trajectory for Robotic Manipulators with Torque Minimization by Using Hermit Interpolation Method
Lu-Ping Luo,Chao Yuan,Kyoo-Sik Shin,Chang-Soo Han 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
In this paper, we present a new method to get the trajectory of robotic manipulators with torque minimized. For the robotic manipulators for our research, just the position and velocity of the start and the final point are given. With given conditions and arbitrary chosen mutative points, we get the Hermite interpolation method used. Beside the start point and the final point, we will search for middle arbitrary chosen mutative points. Then the Hermite interpolation method is used to make sure the positions and velocities of the links satisfy the given conditions. With the change of position and velocity on the arbitrary chosen mutative points, with which taken into performance Index, the trajectory for torque minimization can be got.
Lu, Li Ping,Finlayson, Chris E.,Kabra, Dinesh,Albert‐,Seifried, Sebastian,Song, Myoung Hoon,Havenith, Remco W. A.,Tu, Guoli,Huck, Wilhelm T. S.,Friend, Richard H. WILEY‐VCH Verlag 2013 Macromolecular chemistry and physics Vol.214 No.9
<P><B>Abstract</B></P><P>A study of the organic semiconductor F8TBT is presented, directly comparing a conventional form (F8TBT‐out) with a form with varied alkyl side‐chain position (F8TBT‐in), in terms of optical properties and device performance in light‐emitting‐diodes (LEDs). Computational simulations of the side‐chain position with respect to the TBT unit reveal geometrical differences between F8TBT‐out and F8TBT‐in. π–π conjugation on the backbone of F8TBT‐in is interrupted by a distortion of the benzothiadiazole ring, leading to a blue‐shift of the absorption spectrum and increased photoluminescence quantum efficiency. Both conventional and hybrid LEDs demonstrate that devices with F8TBT‐in show improved performance, as compared to F8TBT‐out, illustrating how tuning the optoelectronic properties of conjugated polymers by varying the placement of side chains has an important role in device optimization.</P>
Lu Lu,Jia Li,Dickon H.L. Ng,Ping Yang,Peng Song,Min Zuo 한국공업화학회 2017 Journal of Industrial and Engineering Chemistry Vol.46 No.-
Hierarchically porous Fe3O4@MgAl–LDH magnetic microspheres were reported as novel efficientadsorbent for the removal of anionic dye from water. The as-prepared microspheres had vertically/slantly/horizontally oriented platelets-coated morphology, and exhibited superb adsorption capacity of813.0 mg/g for Congo red (CR), which was the highest reported value of magnetic adsorbents. Theadsorption kinetics and isotherm of CR on microspheres followed the pseudo-second-order andLangmuir model, respectively, and the adsorption processes were spontaneous and endothermic innature. The adsorbed samples could be regenerated by methanol, and easily magnetically separated fromaqueous solution. The synthesized materials might act as excellent adsorbents for environmentalprocesses.
Robotics in Cervical Spine Surgery: Feasibility and Safety of Posterior Screw Placement
Lu-Ping Zhou,Zhi-Gang Zhang,Dui Li,Shu Fang,Rui Sheng,Ren-Jie Zhang,Cai-Liang Shen 대한척추신경외과학회 2023 Neurospine Vol.20 No.1
Objective: Robot-assisted (RA) techniques have been widely investigated in thoracolumbar spine surgery. However, the application of RA methods on cervical spine surgery is rare due to the complex morphology of cervical vertebrae and catastrophic complications. Thus, the feasibility and safety of RA cervical screw placement remain controversial. This study aims to evaluate the feasibility and safety of RA screw placement on cervical spine surgery. Methods: A comprehensive search on PubMed, Cochrane Library, Embase Database, Web of Science, Chinese National Knowledge Databases, and Wanfang Database was performed to select potential eligible studies. Randomized controlled trials (RCTs), comparative cohort studies, and case series reporting the accuracy of cervical screw placement were included. The Cochrane risk of bias criteria and Newcastle-Ottawa Scale criteria were utilized to rate the risk of bias of the included literatures. The primary outcome was the rate of cervical screw placement accuracy with robotic guidance; subgroup analyses based on the screw type and insertion segments were also performed. Results: One RCT, 3 comparative cohort studies, and 3 case series consisting of 160 patients and 719 cervical screws were included in this meta-analysis. The combined outcomes indicated that the rates of optimal and clinically acceptable cervical screw placement accuracy under robotic guidance were 88.0% (95% confidence interval [CI], 84.1%–91.4%; p = 0.073; I 2 = 47.941%) and 98.4% (95% CI, 96.8%–99.5%; p = 0.167; I2 = 35.954%). The subgroup analyses showed that the rate of optimal pedicle screw placement accuracy was 88.2% (95% CI, 83.1%–92.6%; p = 0.057; I2 = 53.305%); the rates of optimal screw placement accuracy on C1, C2, and subaxial segments were 96.2% (95% CI, 80.5%–100.0%; p = 0.167; I2 = 44.134X%), 89.7% (95% CI, 80.6%–96.6%; p = 0.370; I2 = 0.000X%), and 82.6% (95% CI, 70.9%–91.9%; p = 0.057; I2 = 65.127X%;), respectively. Conclusion: RA techniques were associated with high rates of optimal and clinically acceptable screw positions. RA cervical screw placement is accurate, safe, and feasible in cervical spine surgery with promising clinical potential.