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Ramakrishna Gottipati,Susmita Mishra 한국공업화학회 2016 Journal of Industrial and Engineering Chemistry Vol.36 No.-
Microporous activated carbon (MAC) was prepared from an economically feasible plant precursor i.e. Aegle Marmelos fruit shell by ZnCl2 activation. The MAC prepared at optimum conditions exhibited highmicropore surface area (1339 m2/g) and micropore volume (0.48 cm3/g). Prepared MAC was applied forthe removal of Cr(VI) from aqueous solution. The adsorption equilibrium was well explained by theFreundlich isotherm and the process followed the pseudo-second order kinetics. The results obtainedshowed that the film diffusion was rate controlling mechanism. The prepared MAC showed betteradsorption capacity towards Cr(VI). The process was modeled by using 24 full factorial designs (FFD).
Scaled Teleoperation Approach for Measuring Manipulation Capabilities of Persons with Disabilities
Norali Pernalete,Ramakrishna Gottipati,Sandra Edwards,Wentao Yu,Rajiv Dubey 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2003 International Journal of Assistive Robotics and Me Vol.4 No.1
This paper describes several assistance approaches to use complex and variable telerobotic mapping, such that limited and irregular inputs from an individual with disabilities are mapped into complex motions. The approach presented implies several forms of assistance functions in which the human input is enhanced rather than superseded by the computer.<BR> This slave manipulator"s telerobotic mapping provides assistance to the user that approximates the range of motion accomplished using shoulder movements similar to human shoulder flexion, and shoulder horizontal abduction, elbow flexion and extension and a gross pinch. <BR>Three different tasks were chosen to implement the assistance functions designed to augment the teleoperation performance of motion-impaired users. A comparison was made between the implementation of the constraints on the Master and the Slave sides of the system. The system consisted of the Phantom haptic device and the RRC (Robotics Research Corporation) seven-degree-of-freedom manipulator.<BR> The results demonstrated that the forms of assistance provided not only allowed users to perform complex tasks, but also, reduced the execution times and increased the operation accuracy of the chosen tasks.
Telerobotic Haptic System to Enhance the Performance of Vocational Tests by Motion-Impaired Users
Norali Pernalete,Ramakrishna Gottipati,Wentao Yu,Rajiv Dubey 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2003 International Journal of Assistive Robotics and Me Vol.4 No.1
This paper describes the development of intelligent mapping from a haptic user interface to a remote manipulator to assist individuals with disabilities performing vocational tasks. This mapping, referred to an assistance function, is determined on the basis of environmental model or sensory data to guide the motion of a telerobotic manipulator while performing a given task. Human input is enhanced rather than superseded by the computer.<BR> Three manual dexterity assessment tests, commonly used in the occupational therapy field, were chosen to implement the several forms of assistance functions designed to augment the human performance. The test bed used for these tasks consisted of a six-degree-of-freedom force-reflecting haptic interface device, PHANToM with the GHOST SDK Software.<BR> The results demonstrated that the forms of assistance provided reduced the execution times and increased the performance of the chosen tasks. In addition, these results suggest that the introduction of the haptic rendering capabilities, including the force feedback, offers special benefit to motion-impaired users by augmenting their performance on job-related tasks.