一种新型液压锻造机械手的智能控制</T.一世T.le> <link href="https://static-01.hindawi.com/next_assets/Lvhw1J_a6cWVqaLmZO6Im/static/lib/basictable.css" rel="stylesheet" media="none" class="next-head"> <link rel="stylesheet" href="https://static-01.hindawi.com/next_assets/Lvhw1J_a6cWVqaLmZO6Im/static/lib/owl.carousel.min.css" media="none" class="next-head"> <link rel="stylesheet" href="https://static-01.hindawi.com/next_assets/Lvhw1J_a6cWVqaLmZO6Im/static/lib/owl.theme.default.min.css" media="none" class="next-head"> <link rel="stylesheet" type="text/css" href="https://cdn.bibblio.org/rcm/4.9/bib-related-content.min.css" media="none" class="next-head"> <link rel="stylesheet" type="text/css" href="https://cdn.bibblio.org/rcm/4.9/bib-related-content.min.css" media="none" class="next-head"> <link rel="stylesheet" href="https://static-01.hindawi.com/next_assets/Lvhw1J_a6cWVqaLmZO6Im/_next/static/css/common.ba477f16.chunk.css"> <link rel="stylesheet" href="https://static-01.hindawi.com/next_assets/Lvhw1J_a6cWVqaLmZO6Im/_next/static/css/static/Lvhw1J_a6cWVqaLmZO6Im/pages/journal_article.js.3690e20a.chunk.css"> <style data-styled="grtaJI gnduKR ewRJNT bNmdOy iePnMt bUhGXt bPvxKk fEOMwM cPuqxU jEoUSB ggEPYc dyvnNv jRIjVn gqNMKO kVSTZj ivbKJD fopjOz dKTpXq kQnvJl cbInhs bomGMi cYkyoQ gogxKe hwTmaF eywbjC hdSPnx fGHSnJ dvluaJ EwsTm bvMPcE ecRsKc jYfclp WmYxG gaRePw gtcNnc eeIixx iKFnpS dDIAoe gRIXYh cUsyiK dEQFGg hCNoKM dNPgJJ byuWaL isUmzT eBEQa gqVbba jGWESP gKBnvW gHJrTQ bLOcAi iuVChU iGNTxM izYUwv eztxCB fDPtHo inRqQX cxVvOc uVYyF fkVFlF knnahC hKBkaE eDANAO fTFtno cLQMJq bbzREB jknsZc eSvjPB jntdRu hAzjHP dDomlX hDKZCZ eZlme gusDuS iUDBGe lmNMHJ cxkaTM bpzNtR PHYWq jIaDFG eecoTM cFrLKZ evMkvU fYrLtk fjviok hgKieC cIribm khHUcu iukjRu bqUtxN eyHfWh cBTaXT kgAKHb dhicaS sZeeW xuPEv iKpUSJ deaPpH iLecBy jghqNV huyqUq dPWBKK gvAMNw bmCmNg bdNavy czMNsj gCiAsp hYjHxB bivFoZ qcTAH eqSlZb jwQjXi kZBKov buUPyq iSMweP fqZLRe ilZKno cWHNip fnXcho jouXcH gizesk kZcFWM kkOZmp gwWYzB gJlPsM kfkJUY cvvVPH" data-styled-version="4.4.1"> /* sc-component-id: sc-bdVaJa */ .EwsTm{height:200vh;width:100%;position:fixed;z-index:1;background:rgba(255,255,255,0.8);} .EwsTm.isHide{display:none;} @media (min-width:768px) and (max-width:991px){} @media (min-width:992px){.EwsTm{display:none;}} /* sc-component-id: sc-htpNat */ .bUhGXt{color:black;-webkit-text-decoration:none;text-decoration:none;border-radius:5px;font-size:16px;} .bUhGXt:focus-visible{outline-width:3px;outline-color:#8fc9ff;outline-style:solid;} /* sc-component-id: sc-bxivhb */ .ivbKJD{display:inline-block;} /* sc-component-id: sc-ifAKCX */ .fopjOz{display:-webkit-inline-box;display:-webkit-inline-flex;display:-ms-inline-flexbox;display:inline-flex;-webkit-flex:wrap;-ms-flex:wrap;flex:wrap;-webkit-align-items:center;-webkit-box-align:center;-ms-flex-align:center;align-items:center;list-style-type:none;margin:0;padding:0;} .fopjOz li{padding:0 10px;} .fopjOz li a{padding:0;} .fopjOz a{-webkit-transition:border .25s ease-in-out 0s;transition:border .25s ease-in-out 0s;border-bottom:2px solid #fff;border-radius:0;} .fopjOz a:hover{border-bottom:2px solid #9b9b9b;padding-bottom:4px;} .fopjOz .active{border-bottom:2px solid #57a61e;} /* sc-component-id: sc-EHOje */ .bPvxKk{vertical-align:middle;height:39px;}.fEOMwM{vertical-align:middle;height:24px;}.cPuqxU{vertical-align:middle;height:16px;}.jEoUSB{vertical-align:middle;height:6px;}.ggEPYc{vertical-align:middle;height:20px;}.dyvnNv{vertical-align:middle;height:40px;}.jRIjVn{vertical-align:middle;height:14px;} /* sc-component-id: sc-bZQynM */ .bNmdOy{max-width:1440px;margin:0 auto;width:100%;} /* sc-component-id: sc-VigVT */ .ewRJNT{position:fixed;top:0;left:0;right:0;z-index:1000;background:#fff;height:70px;font-family:'IBM Plex Sans',sans-serif;font-size:16px;font-weight:500;border-bottom:1px solid #E3E3E3;-webkit-transition:all .5s;transition:all .5s;} @media (max-width:991px){.ewRJNT{border-bottom:1px solid #E3E3E3;}} @media (max-width:767px){.ewRJNT{margin-bottom:70px;height:60px;}} .ewRJNT .header__padding{padding:0 20px;box-sizing:border-box;} @media (max-width:991px){.ewRJNT .header__padding{padding:0 0 0 20px;}} .ewRJNT .menu{position:fixed;top:60px;right:0;width:100%;background:white;} @media (max-width:991px){.ewRJNT .menu{z-index:2;}} @media (min-width:768px){.ewRJNT .menu{width:500px;top:70px;}} @media (min-width:991.5px){.ewRJNT .menu{display:none;}} .ewRJNT .menu ul{list-style-type:none;text-align:center;padding:0;margin:0;} @media (min-width:768px){.ewRJNT .menu ul{padding:0;border-left:1px solid #E3E3E3;}} .ewRJNT .menu ul li a{color:#4A4A4A;padding:10px;-webkit-text-decoration:none;text-decoration:none;display:block;border-bottom:1px solid #E3E3E3;} .ewRJNT .menu .button_wrap{width:90%;margin:10px auto;border-radius:5px;border-style:solid;border-width:1px;} @media (min-width:768px){.ewRJNT .menu .button_wrap{display:none;}} .ewRJNT .menu .button__publishing{background-color:#6BA439;color:#fff;border-color:#6BA439;} .ewRJNT .menu .button__login{display:none;background-color:#fff;color:#4D8A17;border-color:#E3E3E3;} .ewRJNT.headerUp{-webkit-transform:translateY(-100%);-ms-transform:translateY(-100%);transform:translateY(-100%);} /* sc-component-id: sc-jTzLTM */ .gqNMKO{-webkit-box-pack:end;-webkit-justify-content:flex-end;-ms-flex-pack:end;justify-content:flex-end;} .gqNMKO a{padding:10px;} .gqNMKO nav{-webkit-align-self:center;-ms-flex-item-align:center;align-self:center;} @media (max-width:991px){.gqNMKO nav{display:none;}} .gqNMKO nav ul{margin-right:16px;} .gqNMKO nav ul li a{color:#4A4A4A;padding:10px 0px 4px;margin:0 6px;} @media (max-width:991px){.gqNMKO img{border-left:1px solid #E3E3E3;padding:23px 20px;}} @media (max-width:767px){.gqNMKO img{padding:18px 20px;}} @media (max-width:767.5px){.gqNMKO.mobileButtonFlex{-ms-flex:0 0 51%;-webkit-flex:0 0 51%;-ms-flex:0 0 51%;flex:0 0 51%;max-width:51%;}} /* sc-component-id: sc-fjdhpX */ .kQnvJl{display:none;padding:0;background-color:#fff;border:none;height:59px;} @media (min-width:768px){.kQnvJl{height:69px;}} .kQnvJl img{box-sizing:content-box;width:28px;padding:17px 20px;} @media (min-width:768px){.kQnvJl img{padding:22px 20px;}} @media (max-width:991px){.kQnvJl{display:inline-block;}} /* sc-component-id: sc-jzJRlG */ .iePnMt a{display:inline-block;padding:15px 0;} @media (max-width:767px){.iePnMt a{padding:10px 0;}} @media (max-width:767.5px){.iePnMt.mobileLogoFlex{-ms-flex:0 0 49%;-webkit-flex:0 0 49%;-ms-flex:0 0 49%;flex:0 0 49%;max-width:49%;}} /* sc-component-id: sc-cSHVUG */ .dKTpXq{border:none;height:50px;background-color:#fff;margin:10px 0 0 17px;position:relative;} @media (max-width:991.5px){.dKTpXq{margin:0 3px 0 16px;padding:0;height:69px;}} @media (max-width:767.5px){.dKTpXq{height:59px;}} .dKTpXq img{box-sizing:content-box;} .dKTpXq .icon__cross{width:24px;height:24px;} @media( min-width:768px){.dKTpXq .icon__cross{padding:23px 20px;}} @media( min-width:992px){.dKTpXq .icon__cross{padding:0px;}} /* sc-component-id: sc-kpOJdX */ .fnXcho{border-top:4px solid rgba(107,164,57,.25);background-color:#F9FBF6;font-family:'IBM Plex Sans',sans-serif;font-size:16px;position:relative;z-index:3;} @media (max-width:991px){.fnXcho{z-index:0;}} /* sc-component-id: sc-dxgOiQ */ .jouXcH{border-bottom :1px solid;border-color:#E3E3E3;padding:29px 40px 30px 40px;} @media (min-width:992px){.jouXcH{padding:40px 40px 40px 35px;}} .jouXcH .primary__footer .mobile{display:block;} .jouXcH .primary__footer .desktop{display:none;} @media (min-width:992px){.jouXcH .primary__footer{-webkit-box-pack:justify;-webkit-justify-content:space-between;-ms-flex-pack:justify;justify-content:space-between;}.jouXcH .primary__footer .mobile{display:none;}.jouXcH .primary__footer .desktop{display:block;}} @media (min-width:992px){.jouXcH .col5{-webkit-flex:0 0 18%;-ms-flex:0 0 18%;flex:0 0 18%;max-width:18%;}} .jouXcH address{font-style:inherit;line-height:1.5;font-size:16px;display:none;border-right:1px solid #EBEBEB;} @media (max-width:767px){.jouXcH address{border-bottom:1px solid #E3E3E3;padding-bottom:20px;}} @media (min-width:992px){.jouXcH address{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-flex-direction:column;-ms-flex-direction:column;flex-direction:column;-webkit-box-pack:center;-webkit-justify-content:center;-ms-flex-pack:center;justify-content:center;margin-right:50px;}} @media (min-width:1200px){.jouXcH address{margin-right:70px;}} .jouXcH address p{margin:0;font-size:14px;} @media (max-width:767px){.jouXcH address p{text-align:center;}} @media (min-width:1200px){.jouXcH address p{font-size:16px;}} .jouXcH nav ul{list-style:none;padding:0;line-height:2;font-size:16px;margin:18px 0 0 0;} .jouXcH nav ul:first-child{margin:0;} @media (min-width:992px){.jouXcH nav ul{margin:0;}} .jouXcH nav ul li{line-height:22px;padding:5px;} .jouXcH nav ul li a{color:#4A4A4A;font-weight:500;display:block;font-size:16px;} .jouXcH nav ul li img{padding:2.5px 0 0 10px;box-sizing:content-box;-webkit-transform:rotate(180deg);-ms-transform:rotate(180deg);transform:rotate(180deg);} /* sc-component-id: sc-ckVGcZ */ .gizesk{padding-top:6px;color:#4A4A4A;font-weight:500;margin-bottom:29px;} @media (min-width:992px){.gizesk{-webkit-flex:0 0 25%;-ms-flex:0 0 25%;flex:0 0 25%;max-width:-webkit-fit-content;max-width:-moz-fit-content;max-width:fit-content;}} /* sc-component-id: sc-jKJlTe */ .kkOZmp{margin-right:20px;} .kkOZmp:last-child{margin-right:0;} /* sc-component-id: sc-eNQAEJ */ .kZcFWM{margin-top:15px;} /* sc-component-id: sc-hMqMXs */ .gwWYzB{line-height:30px;font-size:11px;padding:10px 20px;font-family:'IBM Plex Sans',sans-serif;} .gwWYzB .textright{text-align:right;font-weight:500;} @media (max-width:767px){.gwWYzB .textright{text-align:center;}} @media (min-width:992px){.gwWYzB .textright{font-weight:100;}} .gwWYzB span a{font-size:13px;} @media (max-width:767px){.gwWYzB span{text-align:center;}} /* sc-component-id: sc-kEYyzF */ .gRIXYh{display:inline-block;background-color:#fff;color:#4D8A17;border-color:#E3E3E3;width:auto;border-radius:5px;font-size:16px;border-width:1px;border-style:solid;font-family:'IBM Plex Sans',sans-serif;} .gRIXYh:focus-visible{outline-width:3px;outline-color:#8fc9ff;outline-style:solid;} /* sc-component-id: sc-kkGfuU */ .fGHSnJ{font-size:22px;color:#000;} @media (min-width:767.5px){.fGHSnJ{font-size:24px;}} @media (min-width:991.5px){.fGHSnJ{font-size:25px;}} .fGHSnJ:after{content:'';display:inline-block;margin-top:0.2em;margin-left:0.5em;} /* sc-component-id: sc-jAaTju */ .cxkaTM{font-size:30px;font-weight:500;-webkit-letter-spacing:1px;-moz-letter-spacing:1px;-ms-letter-spacing:1px;letter-spacing:1px;line-height:1;margin-top:0;} @media (min-width:767.5px){.cxkaTM{font-size:40px;}} @media (min-width:991.5px){.cxkaTM{font-size:40px;}} .cxkaTM sup,.cxkaTM sub{vertical-align:baseline;position:relative;top:-10px;} .cxkaTM sub{top:10px;} /* sc-component-id: sc-jlyJG */ .fqZLRe{font-size:20px;font-family:'IBM Plex Sans',sans-serif;font-weight:500;margin-top:0;margin-bottom:15px;} /* sc-component-id: sc-gipzik */ .iSMweP{display:inline-block;} @media (max-width:991.5px){.iSMweP{width:100%;}} @media (min-width:991.5px){.iSMweP.hide{display:none !important;}} /* sc-component-id: sc-csuQGl */ .ilZKno{display:-webkit-inline-box;display:-webkit-inline-flex;display:-ms-inline-flexbox;display:inline-flex;-webkit-flex:wrap;-ms-flex:wrap;flex:wrap;-webkit-align-items:center;-webkit-box-align:center;-ms-flex-align:center;align-items:center;list-style-type:none;margin:0;width:100%;padding:0 !important;border-top:1px solid #FFF;} .ilZKno li{-ms-flex:0 0 25%;-webkit-flex:0 0 25%;-ms-flex:0 0 25%;flex:0 0 25%;max-width:25%;text-align:center;box-sizing:border-box;padding:17px;min-height:48px;} .ilZKno .iconBorder{border-right:1px solid #FFF;} .ilZKno img{width:23px;} .ilZKno img.socialLinkedin{width:28px;} /* sc-component-id: sc-hZSUBg */ .cYkyoQ{-webkit-transition:-webkit-transform 0.5s;-webkit-transition:transform 0.5s;transition:transform 0.5s;position:fixed;top:60px;} @media (min-width:767.5px){.cYkyoQ{position:fixed;top:70px;}} @media (min-width:991.5px){.cYkyoQ{position:fixed;top:70px;}}.gogxKe{-webkit-transition:-webkit-transform 0.5s;-webkit-transition:transform 0.5s;transition:transform 0.5s;top:0px;} @media (min-width:767.5px){.gogxKe{top:0px;}} @media (min-width:991.5px){.gogxKe{position:fixed;top:241px;}}.hwTmaF{-webkit-transition:-webkit-transform 0.5s;-webkit-transition:transform 0.5s;transition:transform 0.5s;top:0px;} @media (min-width:767.5px){.hwTmaF{top:0px;}} @media (min-width:991.5px){.hwTmaF{position:fixed;top:180px;}} /* sc-component-id: sc-cbkKFq */ .hCNoKM{background-color:#6BA439;color:#fff;padding:20px;line-height:22px !important;border-radius:0;border-top:1px solid #fff;display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-box-pack:justify;-webkit-justify-content:space-between;-ms-flex-pack:justify;justify-content:space-between;min-height:60px;} .hCNoKM img{display:-webkit-inline-box;display:-webkit-inline-flex;display:-ms-inline-flexbox;display:inline-flex;-webkit-align-self:center;-ms-flex-item-align:center;align-self:center;} .hCNoKM span{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-align-self:center;-ms-flex-item-align:center;align-self:center;} .hCNoKM span.text{padding-left:20px;font-weight:500;} @media (max-width:360px){.hCNoKM span.text{padding-left:5px;font-size:14px;}} @media (min-width:320px) and (max-width:767.5px){.hCNoKM span.text{padding-left:20px !important;}}.dNPgJJ{background-color:#F2F2F2;color:#4A4A4A;padding:20px;line-height:22px !important;border-radius:0;border-top:1px solid #E3E3E3;display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-box-pack:justify;-webkit-justify-content:space-between;-ms-flex-pack:justify;justify-content:space-between;min-height:60px;} .dNPgJJ img{display:-webkit-inline-box;display:-webkit-inline-flex;display:-ms-inline-flexbox;display:inline-flex;-webkit-align-self:center;-ms-flex-item-align:center;align-self:center;} .dNPgJJ span{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-align-self:center;-ms-flex-item-align:center;align-self:center;} .dNPgJJ span.text{padding-left:20px;font-weight:500;} @media (max-width:360px){.dNPgJJ span.text{padding-left:5px;font-size:14px;}} @media (min-width:320px) and (max-width:767.5px){.dNPgJJ span.text{padding-left:20px !important;}} /* sc-component-id: sc-krvtoX */ .isUmzT{width:20px;} /* sc-component-id: sc-fYiAbW */ .eBEQa{width:20px;height:16px;} /* sc-component-id: sc-fOKMvo */ .gtcNnc{position:relative;background:#007d8d;} @media (max-width:991px){.gtcNnc{z-index:2;}} @media (min-width:767.5px) and (max-width:991.5px){.gtcNnc{width:50%;}} @media (min-width:991.5px){.gtcNnc{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-box-pack:end;-webkit-justify-content:flex-end;-ms-flex-pack:end;justify-content:flex-end;border-top:1px solid white;}} .gtcNnc.isHide{display:none;} @media (min-width:991.5px){.gtcNnc.isHide{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;}} .gtcNnc .submit__button{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;box-shadow:0 2px 4px rgba(0,0,0,.5);padding:0 20px;min-height:45px;} .gtcNnc .submit__button span.text{font-size:16px;} .gtcNnc .submit__button img{width:20px;} @media (min-width:767.5px){.gtcNnc .submit__button{min-height:58px;}.gtcNnc .submit__button img{width:22px;}} @media (min-width:991.5px){.gtcNnc .submit__button{display:none;}} /* sc-component-id: sc-dUjcNx */ .iKFnpS{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;width:100%;font-size:16px;font-weight:500;color:#fff;background-color:#007d8d;line-height:20px;padding:10px 20px;border:0;border-radius:0;border-top:1px solid #fff;-webkit-box-pack:justify;-webkit-justify-content:space-between;-ms-flex-pack:justify;justify-content:space-between;margin:0;} @media (min-width:767.5px){.iKFnpS{padding:16px 20px;}} @media (min-width:991.5px){.iKFnpS{border-top:none;border-right:1px solid #fff;padding:14.5px 15px;font-size:14px;}} @media (min-width:1200px){.iKFnpS{padding:14.5px 20px;font-size:16px;}} @media (min-width:991.5px){.iKFnpS img{-webkit-transform:rotateZ(90deg);-ms-transform:rotateZ(90deg);transform:rotateZ(90deg);margin-top:3px;}} .iKFnpS.button__active{background:#fff;color:#4A4A4A;} @media (min-width:767.5px) and (max-width:991.5px){.iKFnpS.button__active{border-right:1px solid #007f8f;}} .iKFnpS .icon__active{-webkit-transform:rotate(180deg);-ms-transform:rotate(180deg);transform:rotate(180deg);} @media (min-width:991.5px){.iKFnpS .icon__active{-webkit-transform:rotate(270deg);-ms-transform:rotate(270deg);transform:rotate(270deg);}} .iKFnpS .icon__hidden{display:none;}.dDIAoe{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;width:100%;font-size:16px;font-weight:500;color:#fff;background-color:#007d8d;line-height:20px;padding:10px 20px;border:0;border-radius:0;border-top:1px solid #fff;-webkit-box-pack:justify;-webkit-justify-content:space-between;-ms-flex-pack:justify;justify-content:space-between;margin:0;} @media (min-width:767.5px){.dDIAoe{padding:16px 20px;}} @media (min-width:991.5px){.dDIAoe{border-top:none;border-right:0;padding:14.5px 15px;font-size:14px;}} @media (min-width:1200px){.dDIAoe{padding:14.5px 20px;font-size:16px;}} @media (min-width:991.5px){.dDIAoe img{-webkit-transform:rotateZ(90deg);-ms-transform:rotateZ(90deg);transform:rotateZ(90deg);margin-top:3px;}} .dDIAoe.button__active{background:#fff;color:#4A4A4A;} @media (min-width:767.5px) and (max-width:991.5px){.dDIAoe.button__active{border-right:1px solid #007f8f;}} .dDIAoe .icon__active{-webkit-transform:rotate(180deg);-ms-transform:rotate(180deg);transform:rotate(180deg);} @media (min-width:991.5px){.dDIAoe .icon__active{-webkit-transform:rotate(270deg);-ms-transform:rotate(270deg);transform:rotate(270deg);}} .dDIAoe .icon__hidden{display:none;} /* sc-component-id: sc-gHboQg */ .dEQFGg{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;width:100%;font-size:16px;font-weight:500;color:#fff;background-color:#007d8d;line-height:20px;padding:10px 20px;border:0;border-radius:0;border-top:1px solid #fff;-webkit-box-pack:justify;-webkit-justify-content:space-between;-ms-flex-pack:justify;justify-content:space-between;} @media (min-width:767.5px){.dEQFGg{padding:16px 20px;}} @media (min-width:991.5px){.dEQFGg{-webkit-transition:all 0.25s;transition:all 0.25s;border-top:none;border-right:1px solid #fff;border-left:0;padding:14.5px 30px 14.5px 20px;width:calc(100% / 6);font-size:14px;}.dEQFGg:hover{background:#fff;color:#4A4A4A;}} @media (min-width:1200px){.dEQFGg{font-size:16px;}} /* sc-component-id: sc-eilVRo */ .cUsyiK{width:18px;margin-right:-4px;margin-top:2px;} @media (min-width:991.5px){.cUsyiK{width:7px;}} @media (min-width:1200px){.cUsyiK{width:18px;}} /* sc-component-id: sc-eerKOB */ .gqVbba{position:absolute;top:0;width:calc(100% - 20px);right:0;bottom:0;background:#fff;-webkit-transition:-webkit-transform 0.5s;-webkit-transition:transform 0.5s;transition:transform 0.5s;min-height:290px;box-shadow:0 2px 4px rgba(0,0,0,0.5);} .gqVbba.hide__submenu{-webkit-transform:translateX(100%);-ms-transform:translateX(100%);transform:translateX(100%);} @media (min-width:767.5px){.gqVbba.hide__submenu{-webkit-transform:translateX(-200%);-ms-transform:translateX(-200%);transform:translateX(-200%);}} @media (min-width:767.5px){.gqVbba{left:100%;width:100%;padding-top:20px;z-index:-1;min-height:375px;}} @media (min-width:991.5px){.gqVbba{display:none;}} /* sc-component-id: sc-emmjRN */ .gHJrTQ{-webkit-transition:-webkit-transform 0.5s;-webkit-transition:transform 0.5s;transition:transform 0.5s;display:none;} @media (min-width:991.5px){.gHJrTQ.hide__submenu{-webkit-transform:translateY(-300%);-ms-transform:translateY(-300%);transform:translateY(-300%);}} @media (min-width:991.5px){.gHJrTQ{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;height:186px;top:49px;left:0;position:absolute;right:0;background:#fff;z-index:-1;box-shadow:0 4px 6px rgba(0,0,0,0.21);}} /* sc-component-id: sc-cpmLhU */ .jGWESP{font-weight:700;border:0;color:#4A4A4A;padding:10px 0;background-color:#fff;font-size:16px;line-height:20px;font-family:'IBM Plex Sans',sans-serif;} .jGWESP:focus-visible{outline-width:3px;outline-color:#8fc9ff;outline-style:solid;} @media (min-width:767.5px){.jGWESP{display:none;}} /* sc-component-id: sc-bnXvFD */ .gKBnvW{margin:0px 10px 2px 20px;width:11px;height:15px;} /* sc-component-id: sc-gFaPwZ */ .iuVChU{width:50%;} /* sc-component-id: sc-fhYwyz */ .iGNTxM{color:#007B8B;width:50%;font-size:16px;line-height:26px;margin:auto;padding:0 6%;} /* sc-component-id: sc-jzgbtB */ .bLOcAi{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;width:50%;padding:24.5px 2% 0;-webkit-order:0;-ms-flex-order:0;order:0;} @media (min-width:1024px){.bLOcAi{padding:24.5px 3% 0;}} /* sc-component-id: sc-gJWqzi */ .eeIixx{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;width:100%;} @media (min-width:991.5px){.eeIixx{width:calc(100% / 6);}.eeIixx:first-child{border-left:none;}} /* sc-component-id: sc-rBLzX */ .izYUwv{background-color:#D8D8D8;position:absolute;left:50%;display:inline-block;height:121px;width:2px;top:33px;} /* sc-component-id: sc-cqCuEk */ .dDomlX{padding:0;} /* sc-component-id: sc-ipZHIp */ .hDKZCZ{font-size:14px;font-weight:700;line-height:16px;-webkit-letter-spacing:0.58px;-moz-letter-spacing:0.58px;-ms-letter-spacing:0.58px;letter-spacing:0.58px;margin:23px 0 0px !important;} @media (min-width:767.5px){.hDKZCZ{margin:34px 0 0px !important;}} @media (min-width:991.5px){.hDKZCZ{margin:-4px 0 0 !important;}} /* sc-component-id: sc-iGrrsa */ .eZlme{font-size:14px;line-height:22px;} .eZlme a{color:#4D8A17;-webkit-text-decoration:none;text-decoration:none;cursor:pointer;} .eZlme a:hover{-webkit-text-decoration:underline;text-decoration:underline;} /* sc-component-id: sc-bmyXtO */ @font-face{font-family:'STIXGeneral-Bold';src:url('https://static-01.hindawi.com/next_assets/Lvhw1J_a6cWVqaLmZO6Im/_next/static/node_modules/hindawi-ui/fonts/STIXGeneral-Bold.otf');font-weight:normal;font-style:normal;} .lmNMHJ{font-weight:700;font-family:STIXGeneral-Bold;margin:19px 0 22px;font-size:25px;line-height:28px;-webkit-letter-spacing:normal;-moz-letter-spacing:normal;-ms-letter-spacing:normal;letter-spacing:normal;} @media (min-width:767.5px){.lmNMHJ{font-size:25px;margin:20px 0 23px;}} @media (min-width:991.5px){.lmNMHJ{font-size:30px;line-height:34px;margin:19px 0 22px;}} .lmNMHJ p{margin:0;} /* sc-component-id: sc-dEoRIm */ .gusDuS{padding:0 3px;} /* sc-component-id: sc-jtggT */ .iUDBGe{font-size:14px;} .iUDBGe:hover{-webkit-text-decoration:underline;text-decoration:underline;} /* sc-component-id: sc-kZmsYB */ @font-face{font-family:'STIXGeneral-Regular';src:url('https://static-01.hindawi.com/next_assets/Lvhw1J_a6cWVqaLmZO6Im/_next/static/node_modules/hindawi-ui/fonts/STIXGeneral-Regular.otf');font-weight:normal;font-style:normal;} @font-face{font-family:'STIXGeneral-Regular';src:url('https://static-01.hindawi.com/next_assets/Lvhw1J_a6cWVqaLmZO6Im/_next/static/node_modules/hindawi-ui/fonts/STIXGeneral-Regular.otf');font-weight:normal;font-style:normal;} @font-face{font-family:'STIXGeneral-Regular';src:url('https://static-01.hindawi.com/next_assets/Lvhw1J_a6cWVqaLmZO6Im/_next/static/node_modules/hindawi-ui/fonts/STIXGeneral-Regular.otf');font-weight:normal;font-style:normal;} .iukjRu{font-family:STIXGeneral-Regular;text-align:justify;} .iukjRu h4:first-of-type{border-top:0px solid #E3E3E3;padding-top:0;} .iukjRu h4{font-size:20px;font-family:'IBM Plex Sans',sans-serif;border-top:1px solid #E3E3E3;padding-top:23px;margin-top:15px;margin-bottom:-3px;} .iukjRu h4#abstract{margin-top:-7px;margin-bottom:-3px;} @media (min-width:767.5){.iukjRu h4#abstract{margin-top:-6px;}} @media (min-width:991.5px){.iukjRu h4#abstract{margin-top:34px;}} .iukjRu h4.references,.iukjRu h4.copyright{border-top:1px solid #E3E3E3;padding-top:23px;} .iukjRu h4.references{margin-bottom:-8px;} .iukjRu h5,.iukjRu h6{margin:22px 0;font-size:16px;font-family:'IBM Plex Sans',sans-serif;word-break:break-word;} .iukjRu h6{margin:25px 0;} .iukjRu p{font-size:16px;word-break:break-word;} .iukjRu .floats-partial-section{border:1px solid #E3E3E3;margin:25px auto;} @media (min-width:320px) and (max-width:359px){.iukjRu .floats-partial-section{max-width:306px;overflow-x:hidden;}} @media (min-width:360px) and (max-width:419px){.iukjRu .floats-partial-section{max-width:320px;overflow-x:hidden;}} @media (min-width:420px) and (max-width:567px){.iukjRu .floats-partial-section{max-width:380px;overflow-x:hidden;}} @media (min-width:568px) and (max-width:667px){.iukjRu .floats-partial-section{max-width:528px;overflow-x:hidden;}} @media (min-width:668px) and (max-width:767px){.iukjRu .floats-partial-section{max-width:628px;overflow-x:hidden;}} .iukjRu .floats-partial-section .floats-partial-content{padding:19px 0px 19px 0px;height:254px;width:96%;overflow:hidden;margin:0 auto;position:relative;cursor:pointer;} .iukjRu .floats-partial-section .floats-partial-content table{margin:0 auto;} .iukjRu .floats-partial-section .floats-partial-content .table-group{width:-webkit-fit-content;width:-moz-fit-content;width:fit-content;} .iukjRu .floats-partial-section .floats-partial-content .table-group table{width:-webkit-fit-content;width:-moz-fit-content;width:fit-content;} .iukjRu .floats-partial-section .floats-partial-content .table-group table object{z-index:-1;position:relative;} .iukjRu .floats-partial-section .floats-partial-content .table-group table td{padding:4px 7px;} .iukjRu .floats-partial-section .floats-partial-content .table-group table td.align_left{text-align:left;} .iukjRu .floats-partial-section .floats-partial-content .table-group table td.align_center{text-align:center;} @media (min-width:768px){.iukjRu .floats-partial-section .floats-partial-content{padding:22px 0px 0 0px;height:197px;}} @media (min-width:992px){.iukjRu .floats-partial-section .floats-partial-content{padding:23px 0px 13px 0px;height:215px;}} .iukjRu .floats-partial-section .floats-partial-content:after{content:"";height:20%;position:absolute;bottom:0;right:0;left:0;background:-moz-linear-gradient(left,rgba(255,255,255,.7) 0%,rgba(255,255,255,.7) 56%,rgba(255,255,255,.7) 100%);background:-webkit-gradient(linear,left top,right top,color-stop(0%,rgba(255,255,255,.7)),color-stop(56%,rgba(255,255,255,.7)),color-stop(100%,rgba(255,255,255,.7)));background:-webkit-linear-gradient(rgba(255,255,255,0) 0%,rgba(255,255,255,0.5) 30%,rgba(255,255,255,0.7) 56%,rgba(255,255,255,0.9) 75%,rgba(255,255,255,1) 100%);background:-o-linear-gradient(left,rgba(255,255,255,.7) 0%,rgba(255,255,255,.7) 56%,rgba(255,255,255,.7) 100%);background:-ms-linear-gradient(left,rgba(255,255,255,.7) 0%,rgba(255,255,255,.7) 56%,rgba(255,255,255,.7) 100%);background:linear-gradient(left,rgba(255,255,255,.7) 0%,rgba(255,255,255,.7) 56%,rgba(255,255,255,.7) 100%);-webkit-filter:progid:DXImageTransform.Microsoft.gradient( startColorstr='#00ffffff',endColorstr='#ffffff',GradientType=1 );filter:progid:DXImageTransform.Microsoft.gradient( startColorstr='#00ffffff',endColorstr='#ffffff',GradientType=1 );} .iukjRu .floats-partial-section .floats-partial-footer{background-color:#E3E3E3;border-top:1px solid #E3E3E3;} .iukjRu .floats-partial-section .floats-partial-footer .floats-partial-caption{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;border-bottom:1px solid #FFFFFF;-webkit-box-pack:end;-webkit-justify-content:flex-end;-ms-flex-pack:end;justify-content:flex-end;} .iukjRu .floats-partial-section .floats-partial-footer .floats-partial-caption .minimize_btn{-webkit-flex:1;-ms-flex:1;flex:1;background:url('data:image/svg+xml;base64,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') no-repeat 6px;background-position:center;min-width:55px;} @media (min-width:768px){.iukjRu .floats-partial-section .floats-partial-footer .floats-partial-caption .minimize_btn{display:none;}} .iukjRu .floats-partial-section .floats-partial-footer .floats-partial-caption .expand_btn{-webkit-flex:1;-ms-flex:1;flex:1;background:url('data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0iMS4wIiBlbmNvZGluZz0iVVRGLTgiPz4KPHN2ZyB3aWR0aD0iMTZweCIgaGVpZ2h0PSIxNnB4IiB2aWV3Qm94PSIwIDAgMTYgMTYiIHZlcnNpb249IjEuMSIgeG1sbnM9Imh0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnIiB4bWxuczp4bGluaz0iaHR0cDovL3d3dy53My5vcmcvMTk5OS94bGluayI+CiAgICA8IS0tIEdlbmVyYXRvcjogU2tldGNoIDUzLjIgKDcyNjQzKSAtIGh0dHBzOi8vc2tldGNoYXBwLmNvbSAtLT4KICAgIDx0aXRsZT5JY29ucy9DbG9zZSBNZW51IC08L3RpdGxlPgogICAgPGRlc2M+Q3JlYXRlZCB3aXRoIFNrZXRjaC48L2Rlc2M+CiAgICA8ZGVmcz4KICAgICAgICA8cGF0aCBkPSJNMTMsMTEgTDE5LDExIEMxOS41NTIyODQ3LDExIDIwLDExLjQ0NzcxNTMgMjAsMTIgQzIwLDEyLjU1MjI4NDcgMTkuNTUyMjg0NywxMyAxOSwxMyBMMTMsMTMgTDEzLDE5IEMxMywxOS41NTIyODQ3IDEyLjU1MjI4NDcsMjAgMTIsMjAgQzExLjQ0NzcxNTMsMjAgMTEsMTkuNTUyMjg0NyAxMSwxOSBMMTEsMTMgTDUsMTMgQzQuNDQ3NzE1MjUsMTMgNCwxMi41NTIyODQ3IDQsMTIgQzQsMTEuNDQ3NzE1MyA0LjQ0NzcxNTI1LDExIDUsMTEgTDExLDExIEwxMSw1IEMxMSw0LjQ0NzcxNTI1IDExLjQ0NzcxNTMsNCAxMiw0IEMxMi41NTIyODQ3LDQgMTMsNC40NDc3MTUyNSAxMyw1IEwxMywxMSBaIiBpZD0icGF0aC0xIj48L3BhdGg+CiAgICA8L2RlZnM+CiAgICA8ZyBpZD0iUGFnZS0xIiBzdHJva2U9Im5vbmUiIHN0cm9rZS13aWR0aD0iMSIgZmlsbD0ibm9uZSIgZmlsbC1ydWxlPSJldmVub2RkIj4KICAgICAgICA8ZyBpZD0iQXJ0aWNsZS0tLU1vYmlsZS0tLWZpZ3VyZSIgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTIwLjAwMDAwMCwgLTg2MS4wMDAwMDApIj4KICAgICAgICAgICAgPGcgaWQ9Ikdyb3VwLTkiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDAuMDAwMDAwLCAzMzAuMDAwMDAwKSI+CiAgICAgICAgICAgICAgICA8ZyBpZD0iR3JvdXAtOCIgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoMC4wMDAwMDAsIDUwNi4wMDAwMDApIj4KICAgICAgICAgICAgICAgICAgICA8ZyBpZD0iR3JvdXAtNyIgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoMC4wMDAwMDAsIDE2LjAwMDAwMCkiPgogICAgICAgICAgICAgICAgICAgICAgICA8ZyBpZD0iSWNvbnMvT3Blbi1NZW51LSsiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDEzLjAwMDAwMCwgMi4wMDAwMDApIj4KICAgICAgICAgICAgICAgICAgICAgICAgICAgIDxnIGlkPSJwbHVzIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSgzLjAwMDAwMCwgMy4wMDAwMDApIj4KICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICA8bWFzayBpZD0ibWFzay0yIiBmaWxsPSJ3aGl0ZSI+CiAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgIDx1c2UgeGxpbms6aHJlZj0iI3BhdGgtMSI+PC91c2U+CiAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgPC9tYXNrPgogICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgIDx1c2UgaWQ9IkNvbWJpbmVkLVNoYXBlIiBmaWxsPSIjMDAwMDAwIiBmaWxsLXJ1bGU9Im5vbnplcm8iIHhsaW5rOmhyZWY9IiNwYXRoLTEiPjwvdXNlPgogICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgIDxnIGlkPSJDT0xPUi8tUHJpbWFyeS1HcmVlbiIgbWFzaz0idXJsKCNtYXNrLTIpIiBmaWxsPSIjNkJBNDM5IiBmaWxsLXJ1bGU9ImV2ZW5vZGQiPgogICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICA8cmVjdCBpZD0iUmVjdGFuZ2xlIiB4PSIwIiB5PSIwIiB3aWR0aD0iMjQiIGhlaWdodD0iMjQiPjwvcmVjdD4KICAgICAgICAgICAgICAgICAgICAgICAgICAgICAgICA8L2c+CiAgICAgICAgICAgICAgICAgICAgICAgICAgICA8L2c+CiAgICAgICAgICAgICAgICAgICAgICAgIDwvZz4KICAgICAgICAgICAgICAgICAgICA8L2c+CiAgICAgICAgICAgICAgICA8L2c+CiAgICAgICAgICAgIDwvZz4KICAgICAgICA8L2c+CiAgICA8L2c+Cjwvc3ZnPg==') no-repeat 6px;background-position:center;min-width:55px;display:none;} @media (min-width:768px){.iukjRu .floats-partial-section .floats-partial-footer .floats-partial-caption .expand_btn{display:none;}} .iukjRu .floats-partial-section .floats-partial-footer .floats-partial-caption .caption-text{-webkit-flex:9;-ms-flex:9;flex:9;text-align:left;padding:21px 37px 21px 0;font-size:16px;font-weight:700;} @media (min-width:768px){.iukjRu .floats-partial-section .floats-partial-footer .floats-partial-caption .caption-text{padding:19px 18px 20px 18px;}} @media (min-width:992px){.iukjRu .floats-partial-section .floats-partial-footer .floats-partial-caption .caption-text{padding:19px 21px 21px 21px;}} .iukjRu .floats-partial-section .floats-partial-footer .floats-partial-caption .caption-partial-url{-webkit-flex:1;-ms-flex:1;flex:1;background:url('data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iMjAiIGhlaWdodD0iMjAiIHZpZXdCb3g9IjAgMCAyMCAyMCI+PGRlZnM+PGNsaXBQYXRoIGlkPSJhIj48cGF0aCBkPSJNMywyMGEzLDMsMCwwLDEtMy0zVjZBMywzLDAsMCwxLDMsM0g5QTEsMSwwLDAsMSw5LDVIM0ExLDEsMCwwLDAsMiw2VjE3YTEsMSwwLDAsMCwxLDFIMTRhMSwxLDAsMCwwLDEtMVYxMWExLDEsMCwxLDEsMiwwdjZhMywzLDAsMCwxLTMsM1ptNC4yOTMtNy4yOTNhMSwxLDAsMCwxLDAtMS40MTRMMTYuNTg1LDJIMTNhMSwxLDAsMCwxLDAtMmg2YTEsMSwwLDAsMSwuNC4wODJoMGwuMDE4LjAwOC4wMDgsMEwxOS40MzguMWwuMDE0LjAwNy4wMDYsMCwuMDE5LjAxaDBBMSwxLDAsMCwxLDIwLDEuMDI4VjdhMSwxLDAsMSwxLTIsMFYzLjQxNUw4LjcwOCwxMi43MDdhMSwxLDAsMCwxLTEuNDE1LDBaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSgyIDIpIi8+PC9jbGlwUGF0aD48L2RlZnM+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTIgLTIpIj48cGF0aCBkPSJNMywyMGEzLDMsMCwwLDEtMy0zVjZBMywzLDAsMCwxLDMsM0g5QTEsMSwwLDAsMSw5LDVIM0ExLDEsMCwwLDAsMiw2VjE3YTEsMSwwLDAsMCwxLDFIMTRhMSwxLDAsMCwwLDEtMVYxMWExLDEsMCwxLDEsMiwwdjZhMywzLDAsMCwxLTMsM1ptNC4yOTMtNy4yOTNhMSwxLDAsMCwxLDAtMS40MTRMMTYuNTg1LDJIMTNhMSwxLDAsMCwxLDAtMmg2YTEsMSwwLDAsMSwuNC4wODJoMGwuMDE4LjAwOC4wMDgsMEwxOS40MzguMWwuMDE0LjAwNy4wMDYsMCwuMDE5LjAxaDBBMSwxLDAsMCwxLDIwLDEuMDI4VjdhMSwxLDAsMSwxLTIsMFYzLjQxNUw4LjcwOCwxMi43MDdhMSwxLDAsMCwxLTEuNDE1LDBaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSgyIDIpIi8+PGcgY2xpcC1wYXRoPSJ1cmwoI2EpIj48cmVjdCB3aWR0aD0iMjQiIGhlaWdodD0iMjQiIGZpbGw9InJnYmEoMCwwLDAsMCkiLz48cmVjdCB3aWR0aD0iMjQiIGhlaWdodD0iMjQiIGZpbGw9IiM2YmE0MzkiLz48L2c+PC9nPjwvc3ZnPg==') no-repeat 6px;background-position:center;padding:16px 0 16px 0;min-width:62px;max-width:62px;} @media (min-width:768px){.iukjRu .floats-partial-section .floats-partial-footer .floats-partial-caption .caption-partial-url{padding:16px 0 17px 0;min-width:52px;max-width:52px;}} @media (min-width:992px){.iukjRu .floats-partial-section .floats-partial-footer .floats-partial-caption .caption-partial-url{padding:15px 0 17px 0;min-width:60px;max-width:60px;}} .iukjRu .floats-partial-section .floats-partial-footer .floats-partial-caption .caption-partial-url:hover{-webkit-text-decoration:none;text-decoration:none;} .iukjRu .floats-partial-section .floats-partial-footer .floats-partial-caption-text{font-size:14px;padding:21px 18px 17px 22px;font-family:STIXGeneral-Regular;} @media (min-width:768px){.iukjRu .floats-partial-section .floats-partial-footer .floats-partial-caption-text{padding:22px 15px 15px 18px;}} @media (min-width:992px){.iukjRu .floats-partial-section .floats-partial-footer .floats-partial-caption-text{padding:16px 18px 19px 21px;}} .iukjRu .floats-partial-section .floats-partial-footer .floats-partial-caption-text figcaption{margin:0;padding:0;} .iukjRu .floats-partial-section .floats-partial-footer .floats-partial-caption-text svg{max-width:100%;} .iukjRu ol{font-size:16px;padding-left:32px;font-family:STIXGeneral-Regular;line-height:24px;margin:15px 0;} .iukjRu ol li{margin:10px 0;padding-left:10px;word-break:normal;} .iukjRu ol li a{word-break:normal;} .iukjRu ol li .reflinks{display:block;} .iukjRu ol li .reflinks a{color:#4D8A17;-webkit-text-decoration:none;text-decoration:none;cursor:pointer;} .iukjRu ol li .reflinks a:hover{-webkit-text-decoration:underline;text-decoration:underline;} .iukjRu ol li .reflinks .sep{color:#000000;} .iukjRu .table-wrapper{width:auto;overflow-x:auto;} .iukjRu .table-wrapper::-webkit-scrollbar{-webkit-appearance:none;width:5px;height:5px;} .iukjRu .table-wrapper::-webkit-scrollbar-thumb{border-radius:5px;background-color:rgba(0,0,0,.5);-webkit-box-shadow:0 0 1px rgba(255,255,255,.5);} @media (min-width:768px){.iukjRu .table-wrapper{overflow-x:auto;width:auto;-webkit-break-word:word-break;break-word:word-break;margin:0 auto;}} @media (min-width:992px){.iukjRu .table-wrapper{width:auto;}} @media (min-width:1324px){.iukjRu .table-wrapper{width:auto;}} @media (min-width:320px){.iukjRu{margin-bottom:33px;padding:0;}} @media (min-width:992px){.iukjRu{padding:0;margin-bottom:100px;}} @media (min-width:1325px){.iukjRu{margin-bottom:100px;}} .iukjRu .owl-stage{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;} .iukjRu .floats-partial-middle--thumbs{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;} .iukjRu .floats-partial-middle--thumbs .partial-carousel-dot strong{color:#4D8A17;font-weight:500;} .iukjRu .floats-partial-middle--thumbs .partial-carousel-dot.active strong{color:#007B8B;} .iukjRu .partial-carousel-dot{text-align:center;cursor:pointer;border:0;width:100px;padding-bottom:20px;background-color:#fff;display:table-cell;} .iukjRu .partial-carousel-dot:focus-visible{outline-offset:-3px;} .iukjRu .partial-carousel-dot strong{font-size:11px;padding-top:12px;} @media (min-width:767.5px){.iukjRu .partial-carousel-dot strong{font-size:16px;}} .iukjRu .partial-carousel-dot img{width:90px;height:90px;border:1px solid #979797;margin:10px 0;} .iukjRu .partial-carousel-wrapper .floats-partial-middle{border-top:1px solid #e3e3e3;display:block;margin-bottom:50px;padding-top:1px;} @media (min-width:767.5px){.iukjRu .partial-carousel-wrapper .floats-partial-middle{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;margin-bottom:0;}} .iukjRu .partial-carousel--single-image{overflow:hidden;text-align:center;} .iukjRu .partial-carousel--single-image img{width:100%;max-height:239px;height:auto;} @media (min-width:767.5px){.iukjRu .partial-carousel--single-image img{max-height:357px;}} @media (min-width:991.5px){.iukjRu .partial-carousel--single-image img{max-height:417px;}} .iukjRu .partial-carousel--single-image strong{font-size:11px;padding-top:12px;} @media (min-width:767.5px){.iukjRu .partial-carousel--single-image strong{font-size:16px;}} .iukjRu .owl-nav,.iukjRu .owl-dots{display:none;} .iukjRu .partial-carousel-wrapper .owl-loaded{position:relative;height:auto;max-height:287px;} @media (min-width:767.6px){.iukjRu .partial-carousel-wrapper .owl-loaded{max-height:414px;}} @media (min-width:767.5px){.iukjRu .partial-carousel-wrapper .owl-loaded{max-height:477px;}} .iukjRu .partial-carousel-wrapper .floats-partial-content,.iukjRu .owl-stage-outer,.iukjRu .owl-stage{max-height:287px;height:auto;} @media (min-width:767.6px){.iukjRu .partial-carousel-wrapper .floats-partial-content,.iukjRu .owl-stage-outer,.iukjRu .owl-stage{max-height:414px;}} @media (min-width:767.5px){.iukjRu .partial-carousel-wrapper .floats-partial-content,.iukjRu .owl-stage-outer,.iukjRu .owl-stage{max-height:477px;}} .iukjRu .partial-carousel-wrapper .floats-partial-content::after,.iukjRu .owl-stage-outer::after,.iukjRu .owl-stage::after{background:transparent;} .iukjRu .partial-carousel-wrapper .floats-partial-middle--thumbs{width:100%;overflow-x:auto;-webkit-align-items:self-start;-webkit-box-align:self-start;-ms-flex-align:self-start;align-items:self-start;} @media (min-width:767.5px){.iukjRu .partial-carousel-wrapper .floats-partial-middle--thumbs{width:calc(100% - 110px);}} .iukjRu .partial-carousel-wrapper .floats-partial-middle--nav{width:100%;position:relative;} @media (min-width:767.5px){.iukjRu .partial-carousel-wrapper .floats-partial-middle--nav{width:20%;}} .iukjRu .floats-partial-middle{position:relative;} .iukjRu .partial-carousel-wrapper .carousel-prev{background:url('data:image/svg+xml;base64,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') no-repeat 17.5px;height:50px;width:61px;display:inline-block;border:0;border-right:1px solid #E3E3E3;padding:0;cursor:pointer;background-position-y:54.35%;} @media (min-width:767.5px){.iukjRu .partial-carousel-wrapper .carousel-prev{width:51px;background-position-x:8px;}} @media (min-width:991.5px){.iukjRu .partial-carousel-wrapper .carousel-prev{width:59px;background-position-x:16px;}} .iukjRu .partial-carousel-wrapper .carousel-next{background:url('data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iMTgiIGhlaWdodD0iMTQiIHZpZXdCb3g9IjAgMCAxOCAxNCI+PGRlZnM+PGNsaXBQYXRoIGlkPSJhIj48cGF0aCBkPSJNMTAuMjkzLDEzLjcwN2ExLDEsMCwwLDEsMC0xLjQxNEwxNC41ODYsOEgxQTEsMSwwLDAsMSwxLDZIMTQuNTg2TDEwLjI5MywxLjcwN0ExLDEsMCwwLDEsMTEuNzA3LjI5M2w2LDZhMSwxLDAsMCwxLC4xNzIuMjMxaDBsLjAxLjAxOSwwLC4wMDUuMDA3LjAxNC4wMDYuMDEyLDAsLjAwOC4wMDguMDE4djBhMSwxLDAsMCwxLS4wMDkuODE3bDAsMEwxNy45LDcuNDRsMCwuMDA5LS4wMDUuMDExLS4wMDcuMDEzLDAsLjAwOC0uMDA4LjAxNSwwLC4wMDUtLjAxLjAxNiwwLDAtLjAxMS4wMTcsMCwwLS4wMTIuMDE4LDAsMC0uMDEyLjAxNywwLDBMMTcuOCw3LjZsMCwwLS4wMTEuMDE0LDAsLjAwNi0uMDEuMDEyLS4wMDkuMDExLS4wMDYuMDA3LS4wMTUuMDE3aDBsLS4wNC4wNDItNiw2YTEsMSwwLDAsMS0xLjQxNCwwWiIgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoMyA1KSIvPjwvY2xpcFBhdGg+PC9kZWZzPjxnIHRyYW5zZm9ybT0idHJhbnNsYXRlKC0zIC01KSI+PHBhdGggZD0iTTEwLjI5MywxMy43MDdhMSwxLDAsMCwxLDAtMS40MTRMMTQuNTg2LDhIMUExLDEsMCwwLDEsMSw2SDE0LjU4NkwxMC4yOTMsMS43MDdBMSwxLDAsMCwxLDExLjcwNy4yOTNsNiw2YTEsMSwwLDAsMSwuMTcyLjIzMWgwbC4wMS4wMTksMCwuMDA1LjAwNy4wMTQuMDA2LjAxMiwwLC4wMDguMDA4LjAxOHYwYTEsMSwwLDAsMS0uMDA5LjgxN2wwLDBMMTcuOSw3LjQ0bDAsLjAwOS0uMDA1LjAxMS0uMDA3LjAxMywwLC4wMDgtLjAwOC4wMTUsMCwuMDA1LS4wMS4wMTYsMCwwLS4wMTEuMDE3LDAsMC0uMDEyLjAxOCwwLDAtLjAxMi4wMTcsMCwwTDE3LjgsNy42bDAsMC0uMDExLjAxNCwwLC4wMDYtLjAxLjAxMi0uMDA5LjAxMS0uMDA2LjAwNy0uMDE1LjAxN2gwbC0uMDQuMDQyLTYsNmExLDEsMCwwLDEtMS40MTQsMFoiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDMgNSkiLz48ZyBjbGlwLXBhdGg9InVybCgjYSkiPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0icmdiYSgwLDAsMCwwKSIvPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0iIzZiYTQzOSIvPjwvZz48L2c+PC9zdmc+') no-repeat 18.5px;height:52px;width:61px;display:inline-block;padding:0px;cursor:pointer;border:0;} @media (min-width:767.5px){.iukjRu .partial-carousel-wrapper .carousel-next{width:51px;}} @media (min-width:991.5px){.iukjRu .partial-carousel-wrapper .carousel-next{width:59px;}} .iukjRu .partial-carousel-wrapper .partial-carousel-next-prev{position:absolute;right:0;bottom:-50px;height:50px;} @media (min-width:767.5px){.iukjRu .partial-carousel-wrapper .partial-carousel-next-prev{bottom:0;}} .iukjRu .partial-carousel-wrapper .floats-partial-content{padding:12px;} .iukjRu .partial-carousel-wrapper .floats-partial-section .floats-partial-footer .floats-partial-caption .caption-partial-url{border-left:none;} .iukjRu .owl-item{overflow-y:hidden;margin-bottom:0;display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-align-items:center;-webkit-box-align:center;-ms-flex-align:center;align-items:center;-webkit-box-pack:center;-webkit-justify-content:center;-ms-flex-pack:center;justify-content:center;} .iukjRu .supplementary--docs{display:-ms-flexbox;display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-ms-flex-wrap:wrap;-webkit-flex-wrap:wrap;-ms-flex-wrap:wrap;flex-wrap:wrap;padding-left:2em;} @media (min-width:767.5px){.iukjRu .supplementary--docs{padding-left:1em;}} .iukjRu .supplementary--docs li{-ms-flex:0 0 100%;-webkit-flex:0 0 100%;-ms-flex:0 0 100%;flex:0 0 100%;max-width:100%;} @media (min-width:991.5px){.iukjRu .supplementary--docs li{-ms-flex:0 0 50%;-webkit-flex:0 0 50%;-ms-flex:0 0 50%;flex:0 0 50%;max-width:50%;}} .iukjRu .supplementary--docs li a::after{content:'';background :url(data:image/svg+xml;base64,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) no-repeat 5px;padding-right:35px;background-size:14px;} .iukjRu .dataset-section .supplementary--dpis-desc{padding-left:19px;} .iukjRu .dataset-section .supplementary--dpis-desc p{margin:10px 0;} .iukjRu .table-group.fixed-width,.iukjRu .table-group.sidewaystable{min-width:auto;} .iukjRu .noliststyle{padding-left:1em;} .iukjRu .noliststyle li{padding-left:0;} .iukjRu .xml-content > hr{display:none;} .iukjRu sup,.iukjRu sub{vertical-align:baseline;position:relative;top:5px;} .iukjRu sup{top:-5px;} @media (min-width:767.5px){.iukjRu a{position:relative;}} .iukjRu a div.tooltip{cursor:auto;position:absolute;width:280px;background:#fff;border:1px solid #adadad;padding:20px;margin:0;display:none;z-index:2;color:#000;} @media (min-width:767.5px){.iukjRu a div.tooltip{width:400px;}} @media (min-width:991.5px){.iukjRu a div.tooltip{width:572px;}} .iukjRu a div.tooltip .cross{position:absolute;right:10px;top:10px;display:block;height:14px;width:14px;cursor:pointer;} .iukjRu a div.tooltip ol{margin:0;padding:0 0 10px 20px;} .iukjRu a div.tooltip ol li{text-align:left;margin:0;} .iukjRu a div.tooltip.left{left:20px;} @media (min-width:767.5px){.iukjRu a div.tooltip.left{left:-20px;}} @media (min-width:991.5px){.iukjRu a div.tooltip.left{left:-100px;}} .iukjRu a div.tooltip.right{right:20px;} @media (min-width:767.5px){.iukjRu a div.tooltip.right{right:-20px;}} @media (min-width:991.5px){.iukjRu a div.tooltip.right{right:-100px;}} .iukjRu a div.tooltip a.seeRef{padding-left:30px;} .iukjRu .gloss-abbr tr td:first-child{white-space:nowrap;} .iukjRu table.algorithm td{word-break:keep-all;} /* sc-component-id: sc-RcBXQ */ .eDANAO{width:100%;} @media (min-width:991.5px){.eDANAO{width:19%;}} @media (min-width:1280px){.eDANAO{width:24%;max-width:350px;}} .eDANAO p{border:1px solid #E3E3E3;} /* sc-component-id: sc-iSDuPN */ .hKBkaE{-webkit-flex:1 0 30%;-ms-flex:1 0 30%;flex:1 0 30%;list-style:none;padding:0;-webkit-transition:-webkit-transform 0.5s;-webkit-transition:transform 0.5s;transition:transform 0.5s;} @media (min-width:320px) and (max-width:991.5px){.hKBkaE{position:fixed;width:100%;z-index:2;margin:0;margin-top:50px;top:169px;max-height:calc(100vh - 165px);overflow-y:auto;}} @media (min-width:767.5px) and (max-width:991.5px){.hKBkaE{top:179px;}} @media (min-width:991.5px) and (max-width:1200px){.hKBkaE{max-width:354px;-webkit-flex:1 0 20%;-ms-flex:1 0 20%;flex:1 0 20%;}} @media (min-width:1200px){.hKBkaE{-webkit-flex:1 0 25%;-ms-flex:1 0 25%;flex:1 0 25%;max-width:354px;}} .hKBkaE p{margin:0;padding:10px 0;font-size:16px;font-weight:700;line-height:24px;display:none;} @media (min-width:991.5px){.hKBkaE p{display:block;padding:10px 20px;border:1px solid #E3E3E3;border-bottom:0;}} .hKBkaE.links__hidden{display:none;} @media (min-width:991.5px){.hKBkaE.links__hidden{display:block;}} .hKBkaE.translate{-webkit-transform :translateY(-120px);-ms-transform :translateY(-120px);transform :translateY(-120px);} @media (min-width:768px){.hKBkaE.translate{-webkit-transform:translateY(-130px);-ms-transform:translateY(-130px);transform:translateY(-130px);}} @media (min-width:991.5px){.hKBkaE.translate{-webkit-transform:none;-ms-transform:none;transform:none;}.hKBkaE.translate #leftSectionMenu{-webkit-transform:translateY(-130px);-ms-transform:translateY(-130px);transform:translateY(-130px);}} /* sc-component-id: sc-fZwumE */ .cLQMJq{color:#4A4A4A;} /* sc-component-id: sc-fQejPQ */ .fTFtno{font-size:16px;font-weight:500;line-height:20px;color:#4A4A4A;border:1px solid #E3E3E3;border-bottom:0;background-color:#f2f2f2;display:list-item;} @media (min-width:991px){.fTFtno{-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}.fTFtno:hover{background-color :#D8D8D8;-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}} .fTFtno:last-child{border-bottom:1px solid #E3E3E3;} .fTFtno a{display:block;padding:10px 20px;} /* sc-component-id: sc-clNaTc */ .knnahC{position:fixed;width:100%;height:50px;color:#4D8A17;background-color:#F2F2F2;border:none;font-size:16px;line-height:18px;font-weight:500;font-family:'IBM Plex Sans',sans-serif;z-index:2;top:170px;-webkit-transition:-webkit-transform 0.5s;-webkit-transition:transform 0.5s;transition:transform 0.5s;text-align:left;border-top:1px solid #FFFFFF;} @media (min-width:320px) and (max-width:991.5px){.knnahC{padding-left:15px;}} @media (min-width:767.5px){.knnahC{top:179px;}} @media (min-width:991.5px){.knnahC{display:none;}} .knnahC .icon__dots{cursor:pointer;-webkit-transform:rotate(90deg) translateY(8px);-ms-transform:rotate(90deg) translateY(8px);transform:rotate(90deg) translateY(8px);} @media (min-width:991.5px){.knnahC .icon__dots{padding-right:20px;margin-bottom:2px;-webkit-transform:none;-ms-transform:none;transform:none;}} .knnahC.translate{-webkit-transform :translateY(-120px);-ms-transform :translateY(-120px);transform :translateY(-120px);top:170px;} @media(min-width:991.5px){.knnahC.translate{-webkit-transform :translateY(-130px) rotate(90deg);-ms-transform :translateY(-130px) rotate(90deg);transform :translateY(-130px) rotate(90deg);}} /* sc-component-id: sc-jeCdPy */ .bpzNtR{padding:0;margin:20px 0;} .bpzNtR span{font-size:14px;} .bpzNtR span.isHide{display:none;} .bpzNtR span i{font-style:italic;} .bpzNtR span i.isHide{display:none;} /* sc-component-id: sc-jtRlXQ */ .jIaDFG{width:16px;margin:0 2px 2px;} /* sc-component-id: sc-bEjcJn */ .cFrLKZ{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;border:none;font-size:12px;font-weight:500;margin-top:7px;padding:0;color:#4D8A17;-webkit-text-decoration:none;text-decoration:none;cursor:pointer;} .cFrLKZ:hover{-webkit-text-decoration:underline;text-decoration:underline;} @media (min-width:767.5px){.cFrLKZ{margin-top:5px;}} /* sc-component-id: sc-ePZHVD */ .eecoTM{overflow-y:hidden;height:auto;max-height:100%;-webkit-transition:all .5s;transition:all .5s;} .eecoTM.isHide{max-height:0;-webkit-transition:all .5s;transition:all .5s;} .eecoTM p:first-child{margin-top:15px;} .eecoTM p{font-size:14px;line-height:23px;display:block;} .eecoTM sup{margin-top:-5px;} /* sc-component-id: sc-likbZx */ .PHYWq{border:none;border-top:1px solid #E3E3E3;height:2px;margin:15px 0;} .PHYWq.hr__author{margin-bottom:12px;} /* sc-component-id: sc-jrIrqw */ @media (min-width:320px) and (max-width:991.5px){.deaPpH{display:none;}} @media (min-width:991.5px){.deaPpH{z-index:1;}} /* sc-component-id: sc-hjRWVT */ .iLecBy{font-size:14px;font-family:'IBM Plex Sans',sans-serif;padding:17px 0px 16px 16px;display:none;background:#fff;} @media (min-width:991.5px){.iLecBy{padding:17px 0 24px 0px;height:60px;line-height:15px;}} /* sc-component-id: sc-iybRtq */ .jghqNV{background-color:#6BA339;color:#FFFFFF;display:none;} .jghqNV span.text{padding-left:20px;} @media (min-width:991px){.jghqNV{-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}.jghqNV:hover{background-color :#5D9230;-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}} /* sc-component-id: sc-iQtOjA */ .huyqUq{background-color:#F2F2F2;color:#4A4A4A;display:none;} .huyqUq span.text{padding-left:20px;} @media (min-width:991.5px) and (max-width:1279.5px){.huyqUq{display:none !important;}} @media (min-width:991px){.huyqUq{-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}.huyqUq:hover{background-color :#D8D8D8;-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}} @media (min-width:991.5px){.huyqUq.hide{display:none !important;}} /* sc-component-id: sc-fHxwqH */ .dPWBKK{background-color:#F2F2F2;color:#4A4A4A;display:none;} .dPWBKK span.text{padding-left:20px;} @media (min-width:1279.5px){.dPWBKK{display:none !important;}} @media (min-width:991px){.dPWBKK{-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}.dPWBKK:hover{background-color :#D8D8D8;-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}} @media (min-width:991.5px){.dPWBKK.hide{display:none !important;}} /* sc-component-id: sc-fyjhYU */ @media (min-width:991.5px){.bmCmNg{width:100%;z-index:1;}} /* sc-component-id: sc-ugnQR */ .bdNavy{background-color:#F2F2F2;color:#4A4A4A;border-top:1px solid #FFFFFF;font-size:16px;font-weight:500;padding:20px;display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-align-items:center;-webkit-box-align:center;-ms-flex-align:center;align-items:center;cursor:pointer;-webkit-box-pack:justify;-webkit-justify-content:space-between;-ms-flex-pack:justify;justify-content:space-between;} @media (min-width:991px){.bdNavy{-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}.bdNavy:hover{background-color :#D8D8D8;-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}} @media (min-width:991.5px){.bdNavy.hide{display:none !important;}} /* sc-component-id: sc-eIHaNI */ .qcTAH{display:none;} /* sc-component-id: sc-eTpRJs */ .eqSlZb{background-color:#F2F2F2;border-radius:0;border-top:1px solid #E3E3E3;font-size:16px;color:#4A4A4A;font-weight:500;padding:11px 20px;display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-align-items:center;-webkit-box-align:center;-ms-flex-align:center;align-items:center;} @media (min-width:991px){.eqSlZb{-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}.eqSlZb:hover{background-color :#D8D8D8;-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}} /* sc-component-id: sc-dxZgTM */ .jwQjXi{-webkit-flex:1 0 90%;-ms-flex:1 0 90%;flex:1 0 90%;padding-left:50px;} @media (min-width:767.5px){.jwQjXi{padding-left:93px;}} @media (min-width:991.5px){.jwQjXi{padding-left:50px;}} /* sc-component-id: sc-iomxrj */ .czMNsj{width:20px;height:24px;} /* sc-component-id: sc-dvCyap */ .bivFoZ{width:22px;height:21px;padding:2px;} /* sc-component-id: sc-iFMziU */ .gCiAsp{-webkit-flex:1 0 80%;-ms-flex:1 0 80%;flex:1 0 80%;padding-left:26px;} @media (min-width:767.5px){.gCiAsp{padding-left:69px;}} @media (min-width:991.5px){.gCiAsp{padding-left:20px;}} @media (min-width:991.5px) and (max-width:1279.5px){.gCiAsp{display:none;}} /* sc-component-id: sc-keVrkP */ .hYjHxB{display:none;} @media (min-width:991.5px){.hYjHxB{padding-left:20px;max-width:100px;display:inline;}} @media (min-width:1279.5px){.hYjHxB{display:none;}} /* sc-component-id: sc-gVLVqr */ .buUPyq{width:100%;border-left:1px solid #F2F2F2;border-right:1px solid #F2F2F2;border-bottom:none;cursor:pointer;} .buUPyq li{padding:17px 0;background-color:#F2F2F2;} @media (min-width:991px){.buUPyq li{-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}.buUPyq li:hover{background-color :#ffffff;-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}} .buUPyq h3{display:none;} /* sc-component-id: sc-cBdUnI */ .kZBKov{background-color:#F2F2F2;color:#4A4A4A;display:block;border-top:1px solid #FFFFFF;border-radius:0;font-size:16px;font-weight:500;padding:20px;display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-align-items:center;-webkit-box-align:center;-ms-flex-align:center;align-items:center;cursor:pointer;-webkit-box-pack:justify;-webkit-justify-content:space-between;-ms-flex-pack:justify;justify-content:space-between;} .kZBKov .right__icon{padding:0;height:16px;width:20px;} @media (min-width:991px){.kZBKov{-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}.kZBKov:hover{background-color :#D8D8D8;-webkit-transition:background-color 0.25s ease-in-out 0s;transition:background-color 0.25s ease-in-out 0s;}} @media (min-width:991.5px){.kZBKov.hide{display:none !important;}} /* sc-component-id: sc-exkUMo */ .bvMPcE{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;width:25%;float:right;margin-top:-49px;} @media (max-width:374px){.bvMPcE{width:26.5%;}} @media (min-width:992px){.bvMPcE{display:none;}} /* sc-component-id: sc-kcDeIU */ .ecRsKc{background-color:#6BA339;color:white;-webkit-flex:1 0 25%;-ms-flex:1 0 25%;flex:1 0 25%;z-index:100;padding:14px 16px 10px 19px;border-radius:0px;border-bottom:1px solid #FFFFFF;} @media (min-width:320px) and (max-width:767px){.ecRsKc{border-bottom:none;padding:16px 16px 14px 16px;font-size:14px;}.ecRsKc .article_toolbar_icon{display:none;}} /* sc-component-id: sc-BngTV */ .jYfclp{margin-right:16px;width:24px;height:24px;} /* sc-component-id: sc-bFADNz */ .WmYxG{width:16px;height:auto;float:right;} @media (min-width:767.5px){.WmYxG{width:24px;height:24px;}} /* sc-component-id: sc-jxGEyO */ .fDPtHo{font-size:14px;font-family:'IBM Plex Sans',sans-serif;padding:16px 20px 24px;} @media (max-width:991px){.fDPtHo{display:none;}} /* sc-component-id: sc-gacfCG */ .inRqQX{font-size:14px;} .inRqQX:hover{-webkit-text-decoration:underline;text-decoration:underline;} /* sc-component-id: sc-dEfkYy */ .cxVvOc{font-size:14px;font-weight:bold;} /* sc-component-id: sc-epGmkI */ .gJlPsM{width:100%;height:auto;background-color:#4A4A4A;font-family:'IBM Plex Sans',sans-serif;font-size:14px;font-weight:500;color:#fff;padding:15px 20px;line-height:20px;position:fixed;bottom:0px;z-index:3;display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-box-pack:justify;-webkit-justify-content:space-between;-ms-flex-pack:justify;justify-content:space-between;-webkit-transition:-webkit-transform .25s;-webkit-transition:transform .25s;transition:transform .25s;} .gJlPsM a{color:#7ED321;} .gJlPsM p{display:inline;margin:0;} .gJlPsM.hideBanner{-webkit-transform:translateY(100%);-ms-transform:translateY(100%);transform:translateY(100%);} /* sc-component-id: sc-fCPvlr */ .kfkJUY{background:transparent;border:none;height:20px;width:20px;margin-left:20px;padding:0;cursor:pointer;} /* sc-component-id: sc-gAmQfK */ .cvvVPH{min-width:20px;height:20px;} /* sc-component-id: sc-global-2075438767 */ body{-webkit-font-smoothing:antialiased;-moz-osx-font-smoothing:grayscale;font-family:'IBM Plex Sans',sans-serif;line-height:1.4;font-size:16px;word-break:break-word;} button{cursor:pointer;} *{box-sizing:border-box;} figure{margin-inline-start:0;margin-inline-end:0;} .no__focus__outline button:focus,.no__focus__outline a:focus{outline:none;} /* sc-component-id: baseContent__Main-sc-134g3di-2 */ .cbInhs{margin-top:140px;} @media (min-width:767.5px){.cbInhs{margin-top:85px;}} @media (min-width:991.5px){.cbInhs{margin-top:70px;min-height:calc(100vh - 373px);}} /* sc-component-id: threeColumn__ThreeColumnWrapper-sc-1bf4078-0 */ .uVYyF{width:100%;} @media only screen and (min-width:992px){.uVYyF{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-flex-flow:row wrap;-ms-flex-flow:row wrap;flex-flow:row wrap;padding:0 20px;max-width:1440px;margin:0 auto;}} @media (min-width:991.5px) and (max-width:1100.5px){.uVYyF .partenership__collabText{font-size:12px;}} @media (min-width:1100.5px) and (max-width:1200.5px){.uVYyF .partenership__collabText{font-size:14px;}} @media (min-width:991.5px) and (max-width:1071.5px){.uVYyF .partenership__logoWrapper img{margin-left:20px;margin-bottom:10px;}.uVYyF .partenership__logoWrapper img:last-child{margin-left:0;margin-bottom:0;}} /* sc-component-id: threeColumn__LeftWrapper-sc-1bf4078-1 */ @media only screen and (min-width:992px){.fkVFlF{width:20%;}} @media only screen and (min-width:1280px){.fkVFlF{width:25%;}} /* sc-component-id: threeColumn__RightWrapper-sc-1bf4078-2 */ @media only screen and (min-width:992px){.sZeeW{width:20%;}} @media only screen and (min-width:1280px){.sZeeW{width:25%;}} /* sc-component-id: threeColumn__ContentWrapper-sc-1bf4078-3 */ .bbzREB{margin:0 20px;overflow:hidden;} @media only screen and (min-width:992px){.bbzREB{width:calc(60% - 40px);}} @media only screen and (min-width:1280px){.bbzREB{width:calc(50% - 40px);}} /* sc-component-id: threeColumn__Content-sc-1bf4078-4 */ .jknsZc{margin:0 auto;overflow:hidden;} @media only screen and (min-width:768px){.jknsZc{max-width:688px;}} @media only screen and (min-width:992px){.jknsZc{max-width:100%;}} @media only screen and (min-width:1075px){.jknsZc{max-width:572px;}} /* sc-component-id: article__BaseStyle-sc-10qhnp8-0 */ .gnduKR{width:100%;margin-top:170px;} @media (min-width:767.5px){.gnduKR{margin-top:179px;}} @media (min-width:991.5px){.gnduKR{margin-top:180px;min-height:840px;}} /* sc-component-id: article__StickyStyle-sc-10qhnp8-1 */ .bomGMi{width:100%;max-width:1440px;z-index:3;-webkit-transition:all .5s;transition:all .5s;} .bomGMi.translate{-webkit-transform:translateY(-120px);-ms-transform:translateY(-120px);transform:translateY(-120px);} @media (min-width:767.5px){.bomGMi.translate{-webkit-transform:translateY(-130px);-ms-transform:translateY(-130px);transform:translateY(-130px);}} @media (min-width:991.5px){.bomGMi.translate{-webkit-transform:translateY(-130px);-ms-transform:translateY(-130px);transform:translateY(-130px);}} /* sc-component-id: article__SubtitleStyled-sc-10qhnp8-2 */ .hdSPnx{background-color:#007B8B;opacity:0.8;color:#fff;margin-bottom:0;margin-top:0;padding:17px 0 17px 20px;line-height:23px;height:60px;-webkit-align-items:center;-webkit-box-align:center;-ms-flex-align:center;align-items:center;display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;font-size:20px;font-weight:500;} @media (min-width:767.5px){.hdSPnx{line-height:26px;}} @media (min-width:991.5px){.hdSPnx{line-height:50px;padding:5px 0 5px 20px;height:60px;}} /* sc-component-id: article__JournalMenuTitle-sc-10qhnp8-3 */ .dvluaJ{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-align-items:center;-webkit-box-align:center;-ms-flex-align:center;align-items:center;font-size:16px;font-weight:500;line-height:20px;height:50px;width:100%;background-color:#007B8B;color:#fff;text-align:left;font-family:'IBM Plex Sans',sans-serif;padding-left:14px;padding-right:0;border:0;border-top:1px solid #fff;} .dvluaJ span{font-size:24px;padding-right:14px;} @media (min-width:991.5px){.dvluaJ{display:none;}} /* sc-component-id: article__WhiteWrapper-sc-10qhnp8-5 */ .eywbjC{background-color:#fff;display:block;} .eywbjC h1,.eywbjC h2{color:#fff;} .eywbjC h2{font-size:20px;} @media (min-width:767.5px){.eywbjC h2{font-size:25px;}} .eywbjC h1{font-size:20px;} @media (min-width:767.5px){.eywbjC h1{font-size:24px;}} @media (min-width:991.5px){.eywbjC h1{font-size:40px;}} /* sc-component-id: articleContent__ArticleContentsWrapper-sc-2yl9jy-0 */ .eSvjPB{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;width:100%;} .eSvjPB .author__editor--hr{display:block;} /* sc-component-id: articleContent__ArticleContentsSectionsWrapper-sc-2yl9jy-1 */ .jntdRu{width:100%;} @media (max-width:991.5px){.jntdRu{margin-top:52px;}} .jntdRu p{margin:12px 0;line-height:20px;} .jntdRu .articlecontent__alignment{width:100%;min-width:306px;padding-left:7px;padding-right:7px;} @media (min-width:346px){.jntdRu .articlecontent__alignment{padding-left:20px;padding-right:20px;}} @media (min-width:767.5px){.jntdRu .articlecontent__alignment{width:543px;margin:auto;padding-left:0px;padding-right:0px;}} @media (min-width:991.5px){.jntdRu .articlecontent__alignment{max-width:612px;width:75%;margin:inherit;margin-left:50px;padding-left:20px;padding-right:20px;}} @media (min-width:1100px){.jntdRu .articlecontent__alignment{margin-left:118px;}} .jntdRu .article__title{padding-bottom:12px;} @media (min-width:767.5px){.jntdRu .article__title{padding-bottom:15px;}} .jntdRu .article__summary{padding-bottom:65px;} @media (min-width:991.5px){.jntdRu .article__summary{padding-bottom:75px;}} @media (min-width:767.5px){.jntdRu #vjs_video_3 button{-webkit-transform:none;-ms-transform:none;transform:none;left:40%;margin-top:0;}} .jntdRu .video-js .vjs-big-play-button{top:calc(50% - 22.5px);left:calc(50% - 50px);} .jntdRu .video-js{margin:20px 0;} .jntdRu a{color:#4D8A17;-webkit-text-decoration:none;text-decoration:none;cursor:pointer;} .jntdRu a:hover{-webkit-text-decoration:underline;text-decoration:underline;} /* sc-component-id: articleContent__ArticleWrapper-sc-2yl9jy-2 */ .hAzjHP{background-position:0px 0px;background-origin:content-box;background-size:99%;} /* sc-component-id: articleContent__EditorWrapper-sc-2yl9jy-3 */ .evMkvU{padding:0;} /* sc-component-id: articleContent__PublicationTimeLineWrapper-sc-2yl9jy-4 */ .fjviok{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;-webkit-flex-wrap:wrap;-ms-flex-wrap:wrap;flex-wrap:wrap;margin:15px 0 30px;border-bottom:1px solid #E3E3E3;} @media (min-width:767.5px){.fjviok{border-top:1px solid #E3E3E3;margin:20px 0 30px;}} /* sc-component-id: articleContent__PublcationCol-sc-2yl9jy-5 */ .hgKieC{-webkit-flex-basis:0;-ms-flex-preferred-size:0;flex-basis:0;-webkit-box-flex:1;-webkit-flex-grow:1;-ms-flex-positive:1;flex-grow:1;max-width:100%;border-right:1px solid #E3E3E3;padding:5px 0 15px;} @media (min-width:767.5px){.hgKieC{padding:5px 0;}} .hgKieC.notPublished{display:none;} @media (min-width:767.5px){.hgKieC.notPublished{display:block;}} @media (max-width:767.5px){.hgKieC.isPublished{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;}.hgKieC.isPublished span:first-child::after{content:':';padding-right:3px;}} .hgKieC:last-child{border-right:none;} /* sc-component-id: articleContent__PublicationField-sc-2yl9jy-6 */ .cIribm{display:block;text-align:center;font-size:14px;font-weight:700;} /* sc-component-id: articleContent__PublicationValue-sc-2yl9jy-7 */ .khHUcu{display:block;text-align:center;font-size:14px;} /* sc-component-id: articleContent__TextWrapper-sc-2yl9jy-8 */ .fYrLtk{margin:-7px 0 -5px;font-size:14px;} /* sc-component-id: biblio__Wrapper-sc-1nou1lz-0 */ .eyHfWh{position:relative;} .eyHfWh.hide{display:none;} .eyHfWh hr{position:absolute;left:0;right:0;top:-30px;border-top:1px solid #E3E3E3;border-bottom:0;}.cBTaXT.hide{display:none;} .cBTaXT hr{display:none;} /* sc-component-id: biblio__BiblioWrapper-sc-1nou1lz-1 */ @font-face{font-family:'STIXGeneral-Bold';src:url('https://static-01.hindawi.com/next_assets/Lvhw1J_a6cWVqaLmZO6Im/_next/static/_/hindawi-ui/fonts/STIXGeneral-Regular.otf');} .dhicaS{padding:0 20px 20px;} .dhicaS .bib__image{display:none;} .dhicaS .bib__title{font-size:20px;} .dhicaS .bib__name{font-size:18px;font-family:"STIXGeneral-Bold",serif !important;color:rgb(74,74,74);font-weight:700;} .dhicaS .bib--split .bib__link .bib__info,.dhicaS .bib--split .bib__link.bib__link--image .bib__info,.dhicaS [class*=bib--txt] .bib__link .bib__info,.dhicaS [class*=bib--txt] .bib__link.bib__link--image .bib__info{padding:10px 0 !important;} .dhicaS .bib__author{font-size:14px;line-height:22px;color:rgb(132,132,132);margin-top:3px;margin-bottom:0px;margin-right:20px;opacity:1;font-family:"IBM Plex Sans",sans-serif;font-weight:500;} .dhicaS #biblio_sidebar .bib__link{border-top:1px solid rgb(227,227,227) !important;padding-top:5px !important;padding-bottom:5px !important;} .dhicaS #biblio_sidebar .bib__link:first-child{border-top:0 !important;padding-top:0 !important;} .dhicaS #biblio_sidebar .bib__link:first-child .bib__info{padding-top:0 !important;} .dhicaS #biblio_widget .bib--split .bib__link .bib__info,.dhicaS #biblio_widget .bib--split .bib__link.bib__link--image .bib__info{padding:10px 15px 10px 0 !important;} @media (min-width:767.5px){.dhicaS{padding:0 40px 20px;}} @media (min-width:991.5px){.dhicaS{padding:0 20px;}} /* sc-component-id: biblio__H4-sc-1nou1lz-2 */ .kgAKHb{font-size:20px;font-family:"IBM Plex Sans";color:#000;font-weight:600;margin-top:34px;margin-bottom:18px;padding:0 20px;} /* sc-component-id: journal_article__StickyRight-sc-12fk6zy-0 */ .xuPEv{-webkit-transition:-webkit-transform .5s;-webkit-transition:transform .5s;transition:transform .5s;z-index:1;} @media (min-width:991.5px){.xuPEv{width:19%;padding-bottom:40px;background:#fff;max-height:100%;}} @media (min-width:1280px){.xuPEv{width:24%;max-width:350px;}} @media (min-width:991.5px){.xuPEv.translate{-webkit-transform:translateY(-130px);-ms-transform:translateY(-130px);transform:translateY(-130px);}} /* sc-component-id: journal_article__ArticleStickyTopToolbar-sc-12fk6zy-1 */ .iKpUSJ{display:none;} @media (min-width:991.5px){.iKpUSJ{display:block;}.iKpUSJ .article_top_toolbar{top:110px;z-index:-100;}.iKpUSJ .article_top_toolbar .pdf_desktop{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;}.iKpUSJ .article_top_toolbar .ref_desktop{display:-webkit-box;display:-webkit-flex;display:-ms-flexbox;display:flex;}} .iKpUSJ .article_toolbar_views{display:block;text-align:right;} /* sc-component-id: journal_article__ArticleStickyBottomToolbar-sc-12fk6zy-2 */ @media (min-width:991.5px){.gvAMNw .article_bottom_toolbar{top:292px;z-index:-10;}} /* sc-component-id: journal_article__BreadCrumbStyle-sc-12fk6zy-3 */ @media (min-width:991.5px){.eztxCB{padding:16px 20px 24px;height:60px;}} /* sc-component-id: journal_article__ArticleBaseStyle-sc-12fk6zy-4 */ .grtaJI .content,.grtaJI .contentWrapper{overflow:visible;} /* sc-component-id: journal_article__BiblioIntegratorSidebar-sc-12fk6zy-5 */ .cWHNip{max-width:350px;} @media (max-width:991.5px){.cWHNip{display:none !important;}} @media (min-width:991.5px){.cWHNip{position:fixed;top:561.562px;width:19%;-webkit-transition:-webkit-transform .45s;-webkit-transition:transform .45s;transition:transform .45s;-webkit-transform:translateY(0);-ms-transform:translateY(0);transform:translateY(0);}@media (min-width:1280px){.cWHNip{width:24%;}}.cWHNip.hidden{position:absolute;-webkit-transform:translateY(-227px);-ms-transform:translateY(-227px);transform:translateY(-227px);}} /* sc-component-id: journal_article__BiblioIntegratorWidget-sc-12fk6zy-6 */ .bqUtxN{background-color:#F5F5F5;padding:15px 20px 24px 20px;margin-top:2px;margin-bottom:20px;} @media (min-width:991.5px){.bqUtxN{margin-top:-64px;margin-bottom:40px;}} .bqUtxN .hrTitleRef{padding:0;margin-top:0;font-family:'IBM Plex Sans',sans-serif;} .bqUtxN #biblio_widget{padding:0;}</style> </head> <body style="margin:0;box-sizing:border-box"> <div id="__next"> <div class="static_page"> <div class="page no__focus__outline"> <header class="sc-VigVT ewRJNT"> <div class="sc-bZQynM bNmdOy E_HUmlU2Hj3PpkDmWzKPd header__padding"> <div class="sc-jzJRlG iePnMt mobileLogoFlex zcLX0olDTtYQdNV7ZvAP _1QGj87dn1MEuB6Fi6FoW9I"> <a class="sc-htpNat bUhGXt link" href="//www.newsama.com/" aria-label="Home"><img alt="" class="sc-EHOje bPvxKk" title="" role="presentation" src="https://static-01.hindawi.com/next_assets/Lvhw1J_a6cWVqaLmZO6Im/_next/static/node_modules/hindawi-ui/src/icon/svg/logo.svg" height="39"></a> </div> <div class="sc-jTzLTM gqNMKO mobileButtonFlex _1pGcpJ5HafXatoLq8DevpB _1IgBDS1hz5rtMn03pU8bYI E_HUmlU2Hj3PpkDmWzKPd"> <nav class="sc-bxivhb ivbKJD"> <ul class="sc-ifAKCX fopjOz sc-kgoBCf kVSTZj"> <li class="navigation__link"><a class="sc-htpNat bUhGXt link link" href="//www.newsama.com/journals/" aria-label="Journals">期刊</一个></li> <li class="navigation__link"><a class="sc-htpNat bUhGXt link link" href="//www.newsama.com/publish-research/" aria-label="Publish with us">雷电竞下载苹果</a></li> <li class="navigation__link"><a class="sc-htpNat bUhGXt link link" href="//www.newsama.com/publishing-partnerships/" aria-label="Publishing partnerships">raybet推荐吗</a></li> <li class="navigation__link"><a class="sc-htpNat bUhGXt link link" href="//www.newsama.com/about/" aria-label="About us">关于我们</一个></li> <li class="navigation__link"><a class="sc-htpNat bUhGXt link link" href="//www.newsama.com/blog/" aria-label="Blog">博客</一个></li> </ul> </nav> <button class="sc-cSHVUG dKTpXq icon__search" aria-label="Search"><img alt="" class="sc-EHOje fEOMwM icon__search" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iMjQuMTY3IiBoZWlnaHQ9IjI0LjE2NyIgdmlld0JveD0iMCAwIDI0LjE2NyAyNC4xNjciPjxkZWZzPjxjbGlwUGF0aCBpZD0iYSI+PHBhdGggZD0iTTIyLjEsMjMuODEzbC01LjQ3OC01LjQ3OWExMC4yODIsMTAuMjgyLDAsMSwxLDEuNzA5LTEuNzA5TDIzLjgxMywyMi4xYTEuMjA5LDEuMjA5LDAsMCwxLTEuNzEsMS43MVpNMi40MTYsMTAuMjdBNy44NTEsNy44NTEsMCwwLDAsMTUuNzgsMTUuODY0bC4wNDEtLjA0My4wNDMtLjA0MUE3Ljg1Myw3Ljg1MywwLDEsMCwyLjQxNiwxMC4yN1oiLz48L2NsaXBQYXRoPjwvZGVmcz48ZyB0cmFuc2Zvcm09InRyYW5zbGF0ZSgwIDApIiBjbGlwLXBhdGg9InVybCgjYSkiPjxnIHRyYW5zZm9ybT0idHJhbnNsYXRlKC0yLjQxNyAtMi40MTcpIj48cmVjdCB3aWR0aD0iMjkiIGhlaWdodD0iMjkiIGZpbGw9InJnYmEoMCwwLDAsMCkiLz48cmVjdCB3aWR0aD0iMjkiIGhlaWdodD0iMjkiIGZpbGw9IiM2YmE0MzkiLz48L2c+PC9nPjwvc3ZnPg==" height="24"></button> <button aria-label="Hamburger Menu" class="sc-fjdhpX kQnvJl"><img alt="" class="sc-EHOje fEOMwM hamburger" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iMjcuNSIgaGVpZ2h0PSIyNS42NjciIHZpZXdCb3g9IjAgMCAyNy41IDI1LjY2NyI+PGRlZnM+PGNsaXBQYXRoIGlkPSJhIj48cGF0aCBkPSJNMS44MzMsMjUuNjY3YTEuODM0LDEuODM0LDAsMCwxLDAtMy42NjhIMjUuNjY3YTEuODM0LDEuODM0LDAsMCwxLDAsMy42NjhabTAtMTFhMS44MzMsMS44MzMsMCwwLDEsMC0zLjY2NkgyNS42NjdhMS44MzMsMS44MzMsMCwwLDEsMCwzLjY2NlptMC0xMUExLjgzMywxLjgzMywwLDEsMSwxLjgzMywwSDI1LjY2N2ExLjgzMywxLjgzMywwLDAsMSwwLDMuNjY2WiIvPjwvY2xpcFBhdGg+PC9kZWZzPjxnIHRyYW5zZm9ybT0idHJhbnNsYXRlKDAgMCkiIGNsaXAtcGF0aD0idXJsKCNhKSI+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTkuMTY3IC05LjE2NykiPjxyZWN0IHdpZHRoPSI0NCIgaGVpZ2h0PSI0NCIgZmlsbD0icmdiYSgwLDAsMCwwKSIvPjxyZWN0IHdpZHRoPSI0NCIgaGVpZ2h0PSI0NCIgZmlsbD0iIzZiYTQzOSIvPjwvZz48L2c+PC9zdmc+" height="24"></button> </div> </div> </header> <div class="sc-bZQynM bNmdOy"></div> <main class="baseContent__Main-sc-134g3di-2 cbInhs article__BaseStyle-sc-10qhnp8-0 gnduKR DADtd11SJ4KyWZ2l6zAnr base_style journal_article__ArticleBaseStyle-sc-12fk6zy-4 grtaJI"> <div class="sc-bZQynM bNmdOy width_wrapper"> <div id="journal__navigation" class="sc-hZSUBg cYkyoQ article__StickyStyle-sc-10qhnp8-1 bomGMi"> <a class="sc-htpNat bUhGXt link article__WhiteWrapper-sc-10qhnp8-5 eywbjC" href="//www.newsama.com/journals/jr/" aria-label=""><h2 class="sc-kkGfuU fGHSnJ article__SubtitleStyled-sc-10qhnp8-2 hdSPnx _1ZrXcsbATVL_kHOpFAan9k">机器人学杂志</h2></a> <button class="article__JournalMenuTitle-sc-10qhnp8-3 dvluaJ journalNavCheck" id="journalMenuTitle"><span>+</S.pan>杂志菜单</button> <div class="sc-bdVaJa EwsTm isHide" id="fadeOut"></div> <div class="sc-exkUMo bvMPcE"> <a class="sc-htpNat bUhGXt link sc-kcDeIU ecRsKc" href="//www.newsama.com/downloads/journals/jr/2011/530247.pdf" aria-label="" target="_blank"><img alt="" class="sc-EHOje fEOMwM sc-BngTV jYfclp article_toolbar_icon" title="" role="presentation" src="https://static-01.hindawi.com/next_assets/Lvhw1J_a6cWVqaLmZO6Im/_next/static/node_modules/hindawi-ui/src/icon/svg/pdf.svg" height="24">PDF.<一世mg alt="" class="sc-EHOje fEOMwM sc-bFADNz WmYxG" title="" role="presentation" src="data:image/svg+xml;base64,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" height="24"></a> </div> <nav id="journal__nav" class="sc-fOKMvo gtcNnc article__JournalNavigationStyle-sc-10qhnp8-4 gaRePw isHide journalNavCheck"> <div class="sc-gJWqzi eeIixx journalNavCheck"> <button class="sc-kEYyzF gRIXYh sc-dUjcNx iKFnpS journalNavCheck" color="">日报》概述<一世mg alt="" class="sc-EHOje cPuqxU sc-eilVRo cUsyiK journalNavCheck icon__inactive" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iOCIgaGVpZ2h0PSIxNCIgdmlld0JveD0iMCAwIDggMTQiPjxkZWZzPjxjbGlwUGF0aCBpZD0iYSI+PHBhdGggZD0iTTcsNS41ODYsMS43MDcuMjkzQTEsMSwwLDAsMCwuMjkzLDEuNzA3bDYsNmExLDEsMCwwLDAsMS40MTQsMGw2LTZBMSwxLDAsMCwwLDEyLjI5My4yOTNaIi8+PC9jbGlwUGF0aD48L2RlZnM+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoMCAxNCkgcm90YXRlKC05MCkiIGNsaXAtcGF0aD0idXJsKCNhKSI+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTUgLTgpIj48cmVjdCB3aWR0aD0iMjQiIGhlaWdodD0iMjQiIGZpbGw9InJnYmEoMCwwLDAsMCkiLz48cmVjdCB3aWR0aD0iMjQiIGhlaWdodD0iMjQiIGZpbGw9IiNmZmYiLz48L2c+PC9nPjwvc3ZnPg==" height="16"><img alt="" class="sc-EHOje cPuqxU sc-eilVRo cUsyiK journalNavCheck icon__active icon__hidden" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iOCIgaGVpZ2h0PSIxNCIgdmlld0JveD0iMCAwIDggMTQiPjxkZWZzPjxjbGlwUGF0aCBpZD0iYSI+PHBhdGggZD0iTTcsMi40MTRsNS4yOTMsNS4yOTNhMSwxLDAsMSwwLDEuNDE0LTEuNDE0bC02LTZhMSwxLDAsMCwwLTEuNDE0LDBsLTYsNkExLDEsMCwwLDAsMS43MDcsNy43MDdaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSg1IDgpIi8+PC9jbGlwUGF0aD48L2RlZnM+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTggMTkpIHJvdGF0ZSgtOTApIj48cGF0aCBkPSJNNywyLjQxNGw1LjI5Myw1LjI5M2ExLDEsMCwxLDAsMS40MTQtMS40MTRsLTYtNmExLDEsMCwwLDAtMS40MTQsMGwtNiw2QTEsMSwwLDAsMCwxLjcwNyw3LjcwN1oiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDUgOCkiLz48ZyBjbGlwLXBhdGg9InVybCgjYSkiPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0icmdiYSgwLDAsMCwwKSIvPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0iIzZiYTQzOSIvPjwvZz48L2c+PC9zdmc+" height="16"></button> </div> <a class="sc-htpNat bUhGXt link sc-gHboQg dEQFGg" href="//www.newsama.com/journals/jr/guidelines/" aria-label="For authors">对于作者</一个> <a class="sc-htpNat bUhGXt link sc-gHboQg dEQFGg" href="//www.newsama.com/publish-research/reviewers/" aria-label="For reviewers">对于审查员</一个> <a class="sc-htpNat bUhGXt link sc-gHboQg dEQFGg" href="//www.newsama.com/publish-research/editors/" aria-label="For editors">的编辑器</一个> <a class="sc-htpNat bUhGXt link sc-gHboQg dEQFGg" href="//www.newsama.com/journals/jr/contents/year/2020/" aria-label="Table of Contents">表的内容</一个> <div class="sc-gJWqzi eeIixx journalNavCheck"> <button class="sc-kEYyzF gRIXYh sc-dUjcNx dDIAoe journalNavCheck" color="">特殊问题<一世mg alt="" class="sc-EHOje cPuqxU sc-eilVRo cUsyiK journalNavCheck icon__inactive" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iOCIgaGVpZ2h0PSIxNCIgdmlld0JveD0iMCAwIDggMTQiPjxkZWZzPjxjbGlwUGF0aCBpZD0iYSI+PHBhdGggZD0iTTcsNS41ODYsMS43MDcuMjkzQTEsMSwwLDAsMCwuMjkzLDEuNzA3bDYsNmExLDEsMCwwLDAsMS40MTQsMGw2LTZBMSwxLDAsMCwwLDEyLjI5My4yOTNaIi8+PC9jbGlwUGF0aD48L2RlZnM+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoMCAxNCkgcm90YXRlKC05MCkiIGNsaXAtcGF0aD0idXJsKCNhKSI+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTUgLTgpIj48cmVjdCB3aWR0aD0iMjQiIGhlaWdodD0iMjQiIGZpbGw9InJnYmEoMCwwLDAsMCkiLz48cmVjdCB3aWR0aD0iMjQiIGhlaWdodD0iMjQiIGZpbGw9IiNmZmYiLz48L2c+PC9nPjwvc3ZnPg==" height="16"><img alt="" class="sc-EHOje cPuqxU sc-eilVRo cUsyiK journalNavCheck icon__active icon__hidden" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iOCIgaGVpZ2h0PSIxNCIgdmlld0JveD0iMCAwIDggMTQiPjxkZWZzPjxjbGlwUGF0aCBpZD0iYSI+PHBhdGggZD0iTTcsMi40MTRsNS4yOTMsNS4yOTNhMSwxLDAsMSwwLDEuNDE0LTEuNDE0bC02LTZhMSwxLDAsMCwwLTEuNDE0LDBsLTYsNkExLDEsMCwwLDAsMS43MDcsNy43MDdaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSg1IDgpIi8+PC9jbGlwUGF0aD48L2RlZnM+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTggMTkpIHJvdGF0ZSgtOTApIj48cGF0aCBkPSJNNywyLjQxNGw1LjI5Myw1LjI5M2ExLDEsMCwxLDAsMS40MTQtMS40MTRsLTYtNmExLDEsMCwwLDAtMS40MTQsMGwtNiw2QTEsMSwwLDAsMCwxLjcwNyw3LjcwN1oiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDUgOCkiLz48ZyBjbGlwLXBhdGg9InVybCgjYSkiPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0icmdiYSgwLDAsMCwwKSIvPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0iIzZiYTQzOSIvPjwvZz48L2c+PC9zdmc+" height="16"></button> </div> <a class="sc-htpNat bUhGXt link sc-cbkKFq hCNoKM submit__button journalNavCheck" href="https://mts.hindawi.com/submit/journals/jr" aria-label="" target="" id=""><span><img alt="" class="sc-EHOje fEOMwM sc-krvtoX byuWaL" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iMTgiIGhlaWdodD0iMjIiIHZpZXdCb3g9IjAgMCAxOCAyMiI+PGRlZnM+PGNsaXBQYXRoIGlkPSJhIj48cGF0aCBkPSJNMywyMmEzLDMsMCwwLDEtMy0zVjNBMywzLDAsMCwxLDMsMGg4YS45OTEuOTkxLDAsMCwxLC41NzMuMTgxbDAsMCwuMDA4LjAwNmEuOTU1Ljk1NSwwLDAsMSwuMTIyLjFsNiw2YTEuMDI1LDEuMDI1LDAsMCwxLC4xLjEyMmwuMDA2LjAxLDAsMEExLDEsMCwwLDEsMTgsNi45NzVWMTlhMywzLDAsMCwxLTMsM1pNMiwzVjE5YTEsMSwwLDAsMCwxLDFIMTVhMSwxLDAsMCwwLDEtMVY4SDExYTEsMSwwLDAsMS0xLTFWMkgzQTEsMSwwLDAsMCwyLDNaTTEyLDZoMi41ODdMMTIsMy40MTRaTTgsMTdWMTVINmExLDEsMCwwLDEsMC0ySDhWMTFhMSwxLDAsMSwxLDIsMHYyaDJhMSwxLDAsMCwxLDAsMkgxMHYyYTEsMSwwLDAsMS0yLDBaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSgzIDEpIi8+PC9jbGlwUGF0aD48L2RlZnM+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTMgLTEpIj48cGF0aCBkPSJNMywyMmEzLDMsMCwwLDEtMy0zVjNBMywzLDAsMCwxLDMsMGg4YS45OTEuOTkxLDAsMCwxLC41NzMuMTgxbDAsMCwuMDA4LjAwNmEuOTU1Ljk1NSwwLDAsMSwuMTIyLjFsNiw2YTEuMDI1LDEuMDI1LDAsMCwxLC4xLjEyMmwuMDA2LjAxLDAsMEExLDEsMCwwLDEsMTgsNi45NzVWMTlhMywzLDAsMCwxLTMsM1pNMiwzVjE5YTEsMSwwLDAsMCwxLDFIMTVhMSwxLDAsMCwwLDEtMVY4SDExYTEsMSwwLDAsMS0xLTFWMkgzQTEsMSwwLDAsMCwyLDNaTTEyLDZoMi41ODdMMTIsMy40MTRaTTgsMTdWMTVINmExLDEsMCwwLDEsMC0ySDhWMTFhMSwxLDAsMSwxLDIsMHYyaDJhMSwxLDAsMCwxLDAsMkgxMHYyYTEsMSwwLDAsMS0yLDBaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSgzIDEpIi8+PGcgY2xpcC1wYXRoPSJ1cmwoI2EpIj48cmVjdCB3aWR0aD0iMjQiIGhlaWdodD0iMjQiIGZpbGw9InJnYmEoMCwwLDAsMCkiLz48cmVjdCB3aWR0aD0iMjQiIGhlaWdodD0iMjQiIGZpbGw9IiNmZmYiLz48L2c+PC9nPjwvc3ZnPg==" height="24"><span class="text">提交</S.pan></span><img alt="" class="sc-EHOje cPuqxU sc-fYiAbW eBEQa fileArrow" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iMTgiIGhlaWdodD0iMTQiIHZpZXdCb3g9IjAgMCAxOCAxNCI+PGRlZnM+PGNsaXBQYXRoIGlkPSJhIj48cGF0aCBkPSJNMTAuMjkzLDEzLjcwN2ExLDEsMCwwLDEsMC0xLjQxNEwxNC41ODYsOEgxQTEsMSwwLDAsMSwxLDZIMTQuNTg2TDEwLjI5MywxLjcwN0ExLDEsMCwwLDEsMTEuNzA3LjI5M2w2LDZhMSwxLDAsMCwxLC4xNzIuMjMxaDBsLjAxLjAxOSwwLC4wMDUuMDA3LjAxNC4wMDYuMDEyLDAsLjAwOC4wMDguMDE4djBhMSwxLDAsMCwxLS4wMDkuODE3bDAsMEwxNy45LDcuNDRsMCwuMDA5LS4wMDUuMDExLS4wMDcuMDEzLDAsLjAwOC0uMDA4LjAxNSwwLC4wMDUtLjAxLjAxNiwwLDAtLjAxMS4wMTcsMCwwLS4wMTIuMDE4LDAsMC0uMDEyLjAxNywwLDBMMTcuOCw3LjZsMCwwLS4wMTEuMDE0LDAsLjAwNi0uMDEuMDEyLS4wMDkuMDExLS4wMDYuMDA3LS4wMTUuMDE3aDBsLS4wNC4wNDItNiw2YTEsMSwwLDAsMS0xLjQxNCwwWiIgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoMyA1KSIvPjwvY2xpcFBhdGg+PC9kZWZzPjxnIHRyYW5zZm9ybT0idHJhbnNsYXRlKC0zIC01KSI+PHBhdGggZD0iTTEwLjI5MywxMy43MDdhMSwxLDAsMCwxLDAtMS40MTRMMTQuNTg2LDhIMUExLDEsMCwwLDEsMSw2SDE0LjU4NkwxMC4yOTMsMS43MDdBMSwxLDAsMCwxLDExLjcwNy4yOTNsNiw2YTEsMSwwLDAsMSwuMTcyLjIzMWgwbC4wMS4wMTksMCwuMDA1LjAwNy4wMTQuMDA2LjAxMiwwLC4wMDguMDA4LjAxOHYwYTEsMSwwLDAsMS0uMDA5LjgxN2wwLDBMMTcuOSw3LjQ0bDAsLjAwOS0uMDA1LjAxMS0uMDA3LjAxMywwLC4wMDgtLjAwOC4wMTUsMCwuMDA1LS4wMS4wMTYsMCwwLS4wMTEuMDE3LDAsMC0uMDEyLjAxOCwwLDAtLjAxMi4wMTcsMCwwTDE3LjgsNy42bDAsMC0uMDExLjAxNCwwLC4wMDYtLjAxLjAxMi0uMDA5LjAxMS0uMDA2LjAwNy0uMDE1LjAxN2gwbC0uMDQuMDQyLTYsNmExLDEsMCwwLDEtMS40MTQsMFoiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDMgNSkiLz48ZyBjbGlwLXBhdGg9InVybCgjYSkiPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0icmdiYSgwLDAsMCwwKSIvPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0iI2ZmZiIvPjwvZz48L2c+PC9zdmc+" height="16"></a> <div class="sc-eerKOB gqVbba hide__submenu journalSubmenuCheck" id="journalnav__submenu"> <button class="sc-cpmLhU jGWESP journalSubmenuCheck"><img alt="" class="sc-EHOje fEOMwM sc-bnXvFD gKBnvW journalSubmenuCheck" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iOCIgaGVpZ2h0PSIxNCIgdmlld0JveD0iMCAwIDggMTQiPjxkZWZzPjxjbGlwUGF0aCBpZD0iYSI+PHBhdGggZD0iTTcsMi40MTRsNS4yOTMsNS4yOTNhMSwxLDAsMSwwLDEuNDE0LTEuNDE0bC02LTZhMSwxLDAsMCwwLTEuNDE0LDBsLTYsNkExLDEsMCwwLDAsMS43MDcsNy43MDdaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSg1IDgpIi8+PC9jbGlwUGF0aD48L2RlZnM+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTggMTkpIHJvdGF0ZSgtOTApIj48cGF0aCBkPSJNNywyLjQxNGw1LjI5Myw1LjI5M2ExLDEsMCwxLDAsMS40MTQtMS40MTRsLTYtNmExLDEsMCwwLDAtMS40MTQsMGwtNiw2QTEsMSwwLDAsMCwxLjcwNyw3LjcwN1oiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDUgOCkiLz48ZyBjbGlwLXBhdGg9InVybCgjYSkiPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0icmdiYSgwLDAsMCwwKSIvPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0iIzZiYTQzOSIvPjwvZz48L2c+PC9zdmc+" height="24"></button> </div> <div class="sc-emmjRN gHJrTQ hide__submenu journal__nav__desktop" id="journalnav__submenudesktop"> <div order="0" class="sc-jzgbtB bLOcAi"> <div class="sc-gFaPwZ iuVChU"></div> <div class="sc-gFaPwZ iuVChU"></div> </div> <div class="sc-fhYwyz iGNTxM"></div> <span class="sc-rBLzX izYUwv"></span> </div> </nav> </div> <div class="sc-jxGEyO fDPtHo breadcrumb__wrapper journal_article__BreadCrumbStyle-sc-12fk6zy-3 eztxCB article"> <a class="sc-htpNat bUhGXt link sc-gacfCG inRqQX breadCrumb" href="//www.newsama.com/journals/jr/" aria-label="Journal of Robotics">机器人学杂志</一个>/<一个class="sc-htpNat bUhGXt link sc-gacfCG inRqQX breadCrumb" href="//www.newsama.com/journals/jr/contents/year/2011/" aria-label="2011">2011年</一个>/<S.pan class="sc-dEfkYy cxVvOc">文章</S.pan> </div> <div class="threeColumn__ThreeColumnWrapper-sc-1bf4078-0 uVYyF threeColumnWrapper"> <div class="threeColumn__LeftWrapper-sc-1bf4078-1 fkVFlF leftWrapper"> <button type="button" class="sc-clNaTc knnahC section__button " id="sectionButton"><img alt="" class="sc-EHOje jEoUSB icon__dots dots__detector" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iMjIiIGhlaWdodD0iNiIgdmlld0JveD0iMCAwIDIyIDYiPjxkZWZzPjxjbGlwUGF0aCBpZD0iYSI+PHBhdGggZD0iTTMsMjJhMywzLDAsMSwxLDMtM0EzLDMsMCwwLDEsMywyMlptMC00YTEsMSwwLDEsMCwxLDFBMSwxLDAsMCwwLDMsMThabTAtNGEzLDMsMCwxLDEsMy0zQTMsMywwLDAsMSwzLDE0Wm0wLTRhMSwxLDAsMSwwLDEsMUExLDEsMCwwLDAsMywxMFpNMyw2QTMsMywwLDEsMSw2LDMsMywzLDAsMCwxLDMsNlpNMywyQTEsMSwwLDEsMCw0LDMsMSwxLDAsMCwwLDMsMloiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDkgMSkiLz48L2NsaXBQYXRoPjwvZGVmcz48ZyB0cmFuc2Zvcm09InRyYW5zbGF0ZSgtMSAxNSkgcm90YXRlKC05MCkiIGNsaXAtcGF0aD0idXJsKCNhKSI+PHJlY3Qgd2lkdGg9IjI0IiBoZWlnaHQ9IjI0IiBmaWxsPSJyZ2JhKDAsMCwwLDApIi8+PHJlY3Qgd2lkdGg9IjI0IiBoZWlnaHQ9IjI0IiBmaWxsPSIjNmJhNDM5Ii8+PC9nPjwvc3ZnPg==" height="6">文章部分</button> <div class="sc-iSDuPN hKBkaE static_contents__section_links links__hidden "> <div id="leftSectionMenu" class="sc-hZSUBg gogxKe sc-RcBXQ eDANAO left_section_menu"> <p>在这一页上</p> <span class="sc-fQejPQ fTFtno grey" property="background-color" color="#D8D8D8"><a class="sc-htpNat bUhGXt link sc-fZwumE cLQMJq" href="#abstract" aria-label="">摘要</一个></span> <span class="sc-fQejPQ fTFtno grey" property="background-color" color="#D8D8D8"><a class="sc-htpNat bUhGXt link sc-fZwumE cLQMJq" href="#introduction" aria-label="">介绍</一个></span> <span class="sc-fQejPQ fTFtno grey" property="background-color" color="#D8D8D8"><a class="sc-htpNat bUhGXt link sc-fZwumE cLQMJq" href="#conclusions" aria-label="">结论</一个></span> <span class="sc-fQejPQ fTFtno grey" property="background-color" color="#D8D8D8"><a class="sc-htpNat bUhGXt link sc-fZwumE cLQMJq" href="#acknowledgments" aria-label="">致谢</一个></span> <span class="sc-fQejPQ fTFtno grey" property="background-color" color="#D8D8D8"><a class="sc-htpNat bUhGXt link sc-fZwumE cLQMJq" href="#references" aria-label="">参考</一个></span> <span class="sc-fQejPQ fTFtno grey" property="background-color" color="#D8D8D8"><a class="sc-htpNat bUhGXt link sc-fZwumE cLQMJq" href="#copyright" aria-label="">版权</一个></span> </div> </div> </div> <div class="threeColumn__ContentWrapper-sc-1bf4078-3 bbzREB contentWrapper"> <div class="threeColumn__Content-sc-1bf4078-4 jknsZc content"> <div class="articleContent__ArticleContentsWrapper-sc-2yl9jy-0 eSvjPB article_contents"> <div class="articleContent__ArticleContentsSectionsWrapper-sc-2yl9jy-1 jntdRu article_contents__sections_wrapper"> <div class="articleContent__ArticleWrapper-sc-2yl9jy-2 hAzjHP"> <div class="sc-cqCuEk dDomlX article_header_class"> <p class="sc-ipZHIp hDKZCZ article_type">研究文章|开放获取</p> <div class="sc-iGrrsa eZlme article_citation"> 体积 2011年 <span class="sc-dEoRIm gusDuS">|</S.pan>文章的ID 530247 <span class="sc-dEoRIm gusDuS">|</S.pan> 7 页面 <span class="sc-dEoRIm gusDuS">|</S.pan> <a class="sc-htpNat bUhGXt link sc-jtggT iUDBGe" href="https://doi.org/10.1155/2011/530247" aria-label="Doi-link">https://doi.org/10.1155/2011/530247</一个> </div> <h1 class="sc-jAaTju cxkaTM sc-bmyXtO lmNMHJ article_title">一种新型液压锻造机械手的智能控制</h1> </div> <div class="sc-jeCdPy bpzNtR article_authors"> <hr class="sc-likbZx PHYWq hr__author"> <span class=""><b>j .王</b><a class="sc-htpNat bUhGXt link" href="mailto:" aria-label="Mail to Author Option"><img alt="" class="sc-EHOje cPuqxU sc-jtRlXQ jIaDFG" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iMjIuOTE3IiBoZWlnaHQ9IjE4IiB2aWV3Qm94PSIwIDAgMjIuOTE3IDE4Ij48ZGVmcz48Y2xpcFBhdGggaWQ9ImEiPjxwYXRoIGQ9Ik0zLjEyNSwxOEEzLjA2NywzLjA2NywwLDAsMSwwLDE1VjMuMDFDMCwzLDAsMi45OSwwLDIuOThBMy4wNjgsMy4wNjgsMCwwLDEsMy4xMjUsMEgxOS43OTJhMy4wNjgsMy4wNjgsMCwwLDEsMy4xMjYsM1YxNWEzLjA2OCwzLjA2OCwwLDAsMS0zLjEyNiwzWk0yLjA4MywxNWExLjAyMiwxLjAyMiwwLDAsMCwxLjA0MiwxSDE5Ljc5MmExLjAyMiwxLjAyMiwwLDAsMCwxLjA0Mi0xVjQuOTIxbC04Ljc3OCw1LjlhMS4wNzYsMS4wNzYsMCwwLDEtMS4xOTQsMGwtOC43NzgtNS45Wk0xMS40NTgsOC43OGw5LjI2NS02LjIyNkExLjA0NywxLjA0NywwLDAsMCwxOS43OTIsMkgzLjEyNWExLjA0NywxLjA0NywwLDAsMC0uOTMyLjU1M1oiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDApIi8+PC9jbGlwUGF0aD48L2RlZnM+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoMCkiIGNsaXAtcGF0aD0idXJsKCNhKSI+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTEuMDQyIC0zKSI+PHJlY3Qgd2lkdGg9IjI1IiBoZWlnaHQ9IjI0IiBmaWxsPSJyZ2JhKDAsMCwwLDApIi8+PHJlY3Qgd2lkdGg9IjI0IiBoZWlnaHQ9IjI0IiBmaWxsPSIjNmJhNDM5Ii8+PC9nPjwvZz48L3N2Zz4=" height="16"></a>，<S.up>1</S.up></span> <span class="">f .高，<S.up>1</S.up> 和</S.pan> <span class="">Y.张<S.up>1</S.up></span> <div class="sc-ePZHVD eecoTM isHide"> <p><sup>1</S.up><span>上海交通大学机械系统与振动机械工程与国家重点实验室，上海200240</S.pan></p> </div> <button class="sc-kEYyzF gRIXYh sc-bEjcJn cFrLKZ" color="">展示更多</button> </div> <div class="articleContent__EditorWrapper-sc-2yl9jy-3 evMkvU"> <div class="articleContent__TextWrapper-sc-2yl9jy-8 fYrLtk"> <b>学术编辑器:</b>戈登·r·Pennock</div> <div class="articleContent__PublicationTimeLineWrapper-sc-2yl9jy-4 fjviok"> <div class="articleContent__PublcationCol-sc-2yl9jy-5 hgKieC notPublished"> <span class="articleContent__PublicationField-sc-2yl9jy-6 cIribm">收到了</S.pan> <span class="articleContent__PublicationValue-sc-2yl9jy-7 khHUcu">2011年5月24日</S.pan> </div> <div class="articleContent__PublcationCol-sc-2yl9jy-5 hgKieC notPublished"> <span class="articleContent__PublicationField-sc-2yl9jy-6 cIribm">接受</S.pan> <span class="articleContent__PublicationValue-sc-2yl9jy-7 khHUcu">2011年10月11日</S.pan> </div> <div class="articleContent__PublcationCol-sc-2yl9jy-5 hgKieC isPublished"> <span class="articleContent__PublicationField-sc-2yl9jy-6 cIribm">发表</S.pan> <span class="articleContent__PublicationValue-sc-2yl9jy-7 khHUcu">2011年12月28日</S.pan> </div> </div> </div> <article class="sc-kZmsYB iukjRu article_body "> <div> <div class="xml-content"> <h4 class="header" id="abstract">摘要</h4> <p>对大型锻件的需求增加导致重型锻造机械手的开发和创新。除了巨大的承载能力外，一些机器人特征，如力的感知，美味和灵活性，锻造机械手也应该拥有。该工作的目的是通过机械，液压和控制场的方法组合，开发一种具有机器人特征的重型锻造机械手。本文通过对新型锻造机械手的运动学分析，考虑锻造机械手的功能和运动，提出了操纵器的控制策略。实现了锻造机械手液压致动器的混合压力/位置控制。通过在我所研究所的新型液压锻造机械手的真正原型的实验验证了控制方法的可行性。使用可编程逻辑控制器执行锻造机械手的智能控制，该控制器适用于工业应用。</p> <span class="end-abs"></span> <h4 id="introduction">1.介绍</h4> <p>在开放模具或自由锻造中使用机械手可以追溯到大约60年前，当时欧洲和美国都开始发展。从那时起，用于重工件的机械手，即重量在200吨以上的机械手，得到了稳步的发展，目前已有一些计算机控制的全自动锻压机械手正在使用[<一个href="#B1">1</一个>］．由于控制系统的实际使用，运营商从精神压力释放，运营商的培训期减少，锻造质量的均匀性得到改善，达到了更高的生产率[<一个href="#B2">2</一个>］．</p> <p>操纵器的控制涉及连续旋转和增量角旋转模式的旋转控制。操纵器位置需要用压机进行集成控制，以达到每个压力行程的英寸，同时补偿工件长度由于工件的横截面区域减小而增加[<一个href="#B3">3.</一个>］．Vitscheff [<一个href="#B4">4</一个>证明了在锻造过程中使用机器人操纵工件时需要依从性控制。具体来说，在锻造过程中，通过操纵工件施加在机械手上的外力必须最小化，以避免对机器人机构造成损坏。</p> <p>采用ASEA机器人作为开式模锻机械手。ASEA机器人有一个内置的英特尔微处理器，控制其手臂和夹持器在五个轴上的运动。该机器人与现场液压机配合使用[<一个href="#B1">1</一个>，<一个href="#B5">5</一个>，<一个href="#B6">6</一个>］．研究了神经网络在锻造机器人柔顺控制中的应用。通过全动态系统仿真评估基于神经网络的合规控制模块的有效性[<一个href="#B7">7</一个>，<一个href="#B8">8</一个>］．1999年建于200 kN和400 knm机械手的一体化锻造工厂，25 MN开放式压力机，由200 kN和400 knm操纵器建造。工件通过两个轨道的机械手，通过闭合液压电路驱动的旋转和行驶运动，以降低能量消耗和冲击和改善定位[<一个href="#B9">9</一个>］．具有载带容量为1600 kN和4000 knm负载力矩的轨道锻造机械手在JSW时开始运行。操纵器支撑直线剥离运动以及由于特殊杠杆装置而有可能的准确且稳定的定位[<一个href="#B10">10</一个>］．</p> <p>对大型锻件的需求增加导致了各种各样的发展和创新，提高了质量和生产力。已经进行了许多努力来研究和开发重型锻造机械手。近年来的研究重点关注锻造机械手的机制，如运动学建模和分析[<一个href="#B11">11</一个>，<一个href="#B12">12</一个>];动态载荷分析、动态稳定性和行为[<一个href="#B13">13</一个>- - - - - -<一个href="#B15">15</一个>];性能分析和优化[<一个href="#B16">16</一个>，<一个href="#B17">17</一个>］．</p> <p>锻造机械手不仅是一种具有巨大承载能力的设备，而且还有一种具有美味和灵活性的机器人，能够用力感知轻轻地拾取和放下工件。遵守是重型锻造机械手的另一种必要的能力。重要的是促进质量，操纵器保护，减少重载的影响，节能。这项工作的整体目标是通过机械，液压和控制场中的方法组合，开发具有机器人特征的重型锻造机器人。进行了新型锻造机械手的运动学分析。在此基础上，建议考虑锻造机械手的功能和动作，提出了操纵器的控制策略。实现了锻造机械手液压致动器的混合压力/位置控制。我们研究所新型液压锻造机械手的实际原型的控制达到了智能控制的目标。</p> <h4 id="model-of-control-object">2.控制对象模型</h4> <p>这项工作侧重于新型轨道安装的锻造机械手，用于集成开放式锻造设备中的重型操纵。该串行平行锻造机械手在我们的研究所是新设计的。它的CAD模型如图所示<一个href="//www.newsama.com/journals/jr/2011/530247/fig1/" target="_blank">1</一个>．</p> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig1"> <div class="floats-partial-content fig-content-fig1"> <div class="partial-carousel--single-image"> <img alt="" name="530247.fig.001" src="https://static-01.hindawi.com/articles/jr/volume-2011/530247/figures/530247.fig.001.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图1</S.pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2011/530247/fig1/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 串并联锻造机械手的CAD模型。</T.一个ble> </div> </div> </div> <p>串行平行锻造机械手的几何配置如图所示<一个href="//www.newsama.com/journals/jr/2011/530247/fig2/" target="_blank">2</一个>．在固定基座(FB)和夹持器支架(GS)之间有三个运动分支:升降机构闭环、倾斜机构闭环和缓冲机构闭环。抓手支撑(GS)有5个自由度(3T2R)。而夹持器通过连接夹持器与支架的串联旋转关节获得另一个自由度，则整个系统共有6个自由度。主动关节为五个棱镜关节和一个旋转关节，其他关节均为被动关节。五棱柱接头由前/后提升气缸(<S.vg height="14.4625" id="M1" style="vertical-align:-3.13504pt;width:17.424999px;" version="1.1" viewbox="0 0 17.424999 14.4625" width="17.424999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.4625)"> <g transform="translate(72,-60.43)"> <text transform="matrix(1,0,0,-1,-71.95,63.61)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-62.99,60.48)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</T.S.pan> </text> </g> </g> </svg>），前侧移缸（<S.vg height="14.4625" id="M2" style="vertical-align:-3.13504pt;width:17.424999px;" version="1.1" viewbox="0 0 17.424999 14.4625" width="17.424999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.4625)"> <g transform="translate(72,-60.43)"> <text transform="matrix(1,0,0,-1,-71.95,63.61)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-62.99,60.48)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</T.S.pan> </text> </g> </g> </svg>)、后侧移气缸(<S.vg height="14.6125" id="M3" style="vertical-align:-3.25793pt;width:17.424999px;" version="1.1" viewbox="0 0 17.424999 14.6125" width="17.424999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.6125)"> <g transform="translate(72,-60.31)"> <text transform="matrix(1,0,0,-1,-71.95,63.61)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-62.99,60.48)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3.</T.S.pan> </text> </g> </g> </svg>)、倾斜缸(<S.vg height="14.4625" id="M4" style="vertical-align:-3.13504pt;width:17.424999px;" version="1.1" viewbox="0 0 17.424999 14.4625" width="17.424999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.4625)"> <g transform="translate(72,-60.43)"> <text transform="matrix(1,0,0,-1,-71.95,63.61)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-62.99,60.48)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</T.S.pan> </text> </g> </g> </svg>）和阻尼缸（<S.vg height="14.6125" id="M5" style="vertical-align:-3.25793pt;width:17.424999px;" version="1.1" viewbox="0 0 17.424999 14.6125" width="17.424999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.6125)"> <g transform="translate(72,-60.31)"> <text transform="matrix(1,0,0,-1,-71.95,63.61)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-62.99,60.48)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 5</T.S.pan> </text> </g> </g> </svg>)．后升油缸用于提高机械性能，并始终与前升油缸保持同步。</p> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig2"> <div class="floats-partial-content fig-content-fig2"> <div class="partial-carousel--single-image"> <img alt="" name="530247.fig.002" src="https://static-01.hindawi.com/articles/jr/volume-2011/530247/figures/530247.fig.002.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图2</S.pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2011/530247/fig2/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 串并联锻造机械手的几何构型。</T.一个ble> </div> </div> </div> <p>锻压机械手的主要动作如图所示<一个href="//www.newsama.com/journals/jr/2011/530247/fig3/" target="_blank">3.</一个>包括起重<S.vg height="14.35" id="M6" style="vertical-align:-3.22282pt;width:14.8375px;" version="1.1" viewbox="0 0 14.8375 14.35" width="14.8375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.35)"> <g transform="translate(72,-60.52)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-65.07,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>,倾斜<S.vg height="14.5875" id="M7" style="vertical-align:-3.22282pt;width:14.425px;" version="1.1" viewbox="0 0 14.425 14.5875" width="14.425" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-65.4,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>，水平阻尼<S.vg height="14.3625" id="M8" style="vertical-align:-3.2316pt;width:14.4875px;" version="1.1" viewbox="0 0 14.4875 14.3625" width="14.4875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3625)"> <g transform="translate(72,-60.51)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-65.07,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>．</p> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig3"> <div class="floats-partial-content fig-content-fig3"> <div class="partial-carousel--single-image"> <img alt="" name="530247.fig.003" src="https://static-01.hindawi.com/articles/jr/volume-2011/530247/figures/530247.fig.003.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图3.</S.pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2011/530247/fig3/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 主要运动机制的几何配置。</T.一个ble> </div> </div> </div> <p>夹持器提升运动由升降缸驱动<S.pan class="equation" id="EEq1"> <svg height="15.75" id="M9" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 15.75" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.75)"> <g transform="translate(72,-59.4)"> <text transform="matrix(1,0,0,-1,184.58,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,191.46,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,199.83,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ＝</T.S.pan> <tspan style="font-size: 12.50px; " x="12.027886" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,215.84,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</T.S.pan> </text> <text transform="matrix(1,0,0,-1,220.71,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="8.3269978" y="0"> ，</T.S.pan> <tspan style="font-size: 12.50px; " x="253.41" y="0"> （</T.S.pan> <tspan style="font-size: 12.50px; " x="257.57349" y="0"> 1</T.S.pan> <tspan style="font-size: 12.50px; " x="263.82501" y="0"> ）</T.S.pan> </text> </g> </g> </svg></span>在哪里<S.vg height="14.475" id="M10" style="vertical-align:-3.13504pt;width:11.1875px;" version="1.1" viewbox="0 0 11.1875 14.475" width="11.1875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.475)"> <g transform="translate(72,-60.42)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-67.97,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</T.S.pan> </text> </g> </g> </svg>为提升臂的长度(<S.vg height="14.4875" id="M11" style="vertical-align:-3.13504pt;width:29.75px;" version="1.1" viewbox="0 0 29.75 14.4875" width="29.75" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.4875)"> <g transform="translate(72,-60.41)"> <text transform="matrix(1,0,0,-1,-71.95,63.59)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-62.8,60.46)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</T.S.pan> </text> <text transform="matrix(1,0,0,-1,-57.92,63.59)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>），和<S.vg height="9.875" id="M12" style="vertical-align:-2.29482pt;width:10.5375px;" version="1.1" viewbox="0 0 10.5375 9.875" width="10.5375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.875)"> <g transform="translate(72,-64.1)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>是升降臂的旋转角度。之间的关系<S.vg height="9.875" id="M13" style="vertical-align:-2.29482pt;width:10.5375px;" version="1.1" viewbox="0 0 10.5375 9.875" width="10.5375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.875)"> <g transform="translate(72,-64.1)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>和升降缸的位移<S.vg height="14.5875" id="M14" style="vertical-align:-3.22282pt;width:12.7625px;" version="1.1" viewbox="0 0 12.7625 14.5875" width="12.7625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-65.3,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>如下：<S.pan class="equation" id="EEq2"> <svg height="30.025" id="M15" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 30.025" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,30.025)"> <g transform="translate(72,-47.98)"> <text transform="matrix(1,0,0,-1,99.28,53.56)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,105.93,50.43)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,112.86,53.56)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ＝</T.S.pan> <tspan style="font-size: 12.50px; " x="12.04" y="1.84"> </T.S.pan> </text> <g> <path d="m 138.12,70.71 176.22,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,138.12,51.05)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="4.7800002" y="-2.51"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,146.88,50.43)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</T.S.pan> </text> <text transform="matrix(1,0,0,-1,153.84,53.57)"> <tspan style="font-size: 12.50px; " x="0" y="0"> （</T.S.pan> <tspan style="font-size: 12.50px; " x="55.779999" y="2.52"> </T.S.pan> <tspan style="font-size: 12.50px; " x="4.1599998" y="0.0099999998"> 1</T.S.pan> <tspan style="font-size: 12.50px; " x="13.187166" y="0.0099999998"> −</T.S.pan> <tspan style="font-size: 12.50px; " x="24.527388" y="0.0099999998"> c</T.S.pan> <tspan style="font-size: 12.50px; " x="30.078718" y="0.0099999998"> O.</T.S.pan> <tspan style="font-size: 12.50px; " x="36.330219" y="0.0099999998"> S.</T.S.pan> <tspan style="font-size: 12.50px; " x="43.281887" y="0.0099999998"> </T.S.pan> <tspan style="font-size: 12.50px; " x="51.608887" y="0.0099999998"> ）</T.S.pan> </text> <text transform="matrix(1,0,0,-1,214.4,61.09)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</T.S.pan> </text> <text transform="matrix(1,0,0,-1,222.06,53.56)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</T.S.pan> <tspan style="font-size: 12.50px; " x="11.34" y="2.51"> </T.S.pan> <tspan style="font-size: 12.50px; " x="17.190001" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,243.23,50.43)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</T.S.pan> </text> <text transform="matrix(1,0,0,-1,250.19,53.56)"> <tspan style="font-size: 12.50px; " x="0" y="0"> S.</T.S.pan> <tspan style="font-size: 12.50px; " x="4.863667" y="0"> 一世</T.S.pan> <tspan style="font-size: 12.50px; " x="8.3395014" y="0"> N</T.S.pan> <tspan style="font-size: 12.50px; " x="16.666498" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="27.769163" y="0"> +</T.S.pan> <tspan style="font-size: 12.50px; " x="39.109383" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,295.96,50.43)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 8.75px; " x="2.7831359" y="0"> 0</T.S.pan> </text> <text transform="matrix(1,0,0,-1,303.62,51.05)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,309.47,61.09)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</T.S.pan> </text> <text transform="matrix(1,0,0,-1,314.34,53.56)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ，</T.S.pan> <tspan style="font-size: 12.50px; " x="159.78" y="0"> （</T.S.pan> <tspan style="font-size: 12.50px; " x="163.9435" y="0"> 2</T.S.pan> <tspan style="font-size: 12.50px; " x="170.19499" y="0"> ）</T.S.pan> </text> </g> </g> </svg></span>在哪里<S.vg height="14.625" id="M16" style="vertical-align:-3.25793pt;width:18.012501px;" version="1.1" viewbox="0 0 18.012501 14.625" width="18.012501" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.625)"> <g transform="translate(72,-60.3)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-65.3,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 8.75px; " x="2.7831359" y="0"> 0</T.S.pan> </text> </g> </g> </svg>为提升油缸的原始长度。</p> <p>夹具倾斜运动由倾斜圆柱体驱动<S.pan class="equation" id="EEq3"> <svg height="15.75" id="M17" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 15.75" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.75)"> <g transform="translate(72,-59.4)"> <text transform="matrix(1,0,0,-1,189.81,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,196.36,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,204.73,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ＝</T.S.pan> <tspan style="font-size: 12.50px; " x="12.027886" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="19.079578" y="0"> ，</T.S.pan> <tspan style="font-size: 12.50px; " x="269.39001" y="0"> （</T.S.pan> <tspan style="font-size: 12.50px; " x="273.5535" y="0"> 3.</T.S.pan> <tspan style="font-size: 12.50px; " x="279.80499" y="0"> ）</T.S.pan> </text> </g> </g> </svg></span>在哪里<S.vg height="7.1750002" id="M18" style="vertical-align:-0.1254pt;width:8.9375px;" version="1.1" viewbox="0 0 8.9375 7.1750002" width="8.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.175)"> <g transform="translate(72,-66.26)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>为夹持器支撑的旋转角度。之间的关系<S.vg height="7.1750002" id="M19" style="vertical-align:-0.1254pt;width:8.9375px;" version="1.1" viewbox="0 0 8.9375 7.1750002" width="8.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.175)"> <g transform="translate(72,-66.26)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>以及倾斜气缸的位移<S.vg height="14.575" id="M20" style="vertical-align:-3.21404pt;width:12.4875px;" version="1.1" viewbox="0 0 12.4875 14.575" width="12.4875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.575)"> <g transform="translate(72,-60.34)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-65.3,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>如下：<S.pan class="equation" id="EEq4"> <svg height="15.75" id="M21" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 15.75" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.75)"> <g transform="translate(72,-59.4)"> <text transform="matrix(1,0,0,-1,162.25,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,168.9,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,175.61,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ＝</T.S.pan> <tspan style="font-size: 12.50px; " x="12.027886" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,191.62,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</T.S.pan> </text> <text transform="matrix(1,0,0,-1,198.58,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> T.</T.S.pan> <tspan style="font-size: 12.50px; " x="3.4758339" y="0"> 一个</T.S.pan> <tspan style="font-size: 12.50px; " x="9.0271664" y="0"> N</T.S.pan> <tspan style="font-size: 12.50px; " x="17.354164" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="27.181522" y="0"> +</T.S.pan> <tspan style="font-size: 12.50px; " x="38.534245" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,243.77,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 8.75px; " x="2.7393761" y="0"> 0</T.S.pan> </text> <text transform="matrix(1,0,0,-1,251.38,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ，</T.S.pan> <tspan style="font-size: 12.50px; " x="222.74001" y="0"> （</T.S.pan> <tspan style="font-size: 12.50px; " x="226.9035" y="0"> 4</T.S.pan> <tspan style="font-size: 12.50px; " x="233.155" y="0"> ）</T.S.pan> </text> </g> </g> </svg></span>在哪里<S.vg height="14.475" id="M22" style="vertical-align:-3.13504pt;width:11.1875px;" version="1.1" viewbox="0 0 11.1875 14.475" width="11.1875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.475)"> <g transform="translate(72,-60.42)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-67.97,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</T.S.pan> </text> </g> </g> </svg>夹具支撑的长度是（<一世>JK</一世>），和<S.vg height="14.625" id="M23" style="vertical-align:-3.25793pt;width:17.950001px;" version="1.1" viewbox="0 0 17.950001 14.625" width="17.950001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.625)"> <g transform="translate(72,-60.3)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-65.3,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 8.75px; " x="2.7393761" y="0"> 0</T.S.pan> </text> </g> </g> </svg>为倾转筒的原始长度。</p> <p>夹具水平阻尼运动由阻尼缸驱动<S.pan class="equation" id="EEq5"> <svg height="15.75" id="M24" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 15.75" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.75)"> <g transform="translate(72,-59.4)"> <text transform="matrix(1,0,0,-1,185.4,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,192.28,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,200.36,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ＝</T.S.pan> <tspan style="font-size: 12.50px; " x="12.027886" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,216.37,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3.</T.S.pan> </text> <text transform="matrix(1,0,0,-1,221.25,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="6.9641709" y="0"> ，</T.S.pan> <tspan style="font-size: 12.50px; " x="252.87" y="0"> （</T.S.pan> <tspan style="font-size: 12.50px; " x="257.03351" y="0"> 5</T.S.pan> <tspan style="font-size: 12.50px; " x="263.285" y="0"> ）</T.S.pan> </text> </g> </g> </svg></span>在哪里<S.vg height="14.625" id="M25" style="vertical-align:-3.25793pt;width:11.1875px;" version="1.1" viewbox="0 0 11.1875 14.625" width="11.1875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.625)"> <g transform="translate(72,-60.3)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-67.97,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3.</T.S.pan> </text> </g> </g> </svg>为吊杆长度(<一世>ej.</一世>），和<S.vg height="13.425" id="M26" style="vertical-align:-2.29482pt;width:8.8500004px;" version="1.1" viewbox="0 0 8.8500004 13.425" width="8.8500004" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.425)"> <g transform="translate(72,-61.26)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>为吊杆的旋转角度。之间的关系<S.vg height="13.425" id="M27" style="vertical-align:-2.29482pt;width:8.8500004px;" version="1.1" viewbox="0 0 8.8500004 13.425" width="8.8500004" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.425)"> <g transform="translate(72,-61.26)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>以及阻尼缸的位移<S.vg height="14.6" id="M28" style="vertical-align:-3.24037pt;width:15.5375px;" version="1.1" viewbox="0 0 15.5375 14.6" width="15.5375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.6)"> <g transform="translate(72,-60.32)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-65.3,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>如下：<S.pan class="equation" id="EEq6"> <svg height="30.025" id="M29" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 30.025" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,30.025)"> <g transform="translate(72,-47.98)"> <text transform="matrix(1,0,0,-1,100.38,53.56)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,107.04,50.43)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,116.19,53.56)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ＝</T.S.pan> <tspan style="font-size: 12.50px; " x="12.04" y="1.84"> </T.S.pan> </text> <g> <path d="m 141.44,70.71 171.8,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,141.44,51.05)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,153.95,50.43)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 8.75px; " x="4.656064" y="0"> 0</T.S.pan> </text> <text transform="matrix(1,0,0,-1,166.25,53.56)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</T.S.pan> <tspan style="font-size: 12.50px; " x="11.340221" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,181.57,50.43)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</T.S.pan> </text> <text transform="matrix(1,0,0,-1,188.53,53.56)"> <tspan style="font-size: 12.50px; " x="23.65" y="2.51"> </T.S.pan> <tspan style="font-size: 12.50px; " x="0" y="0"> S.</T.S.pan> <tspan style="font-size: 12.50px; " x="4.863667" y="0"> 一世</T.S.pan> <tspan style="font-size: 12.50px; " x="8.3395014" y="0"> N</T.S.pan> <tspan style="font-size: 12.50px; " x="16.666498" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,218.03,61.09)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</T.S.pan> </text> <text transform="matrix(1,0,0,-1,225.69,53.56)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</T.S.pan> <tspan style="font-size: 12.50px; " x="11.34" y="2.51"> </T.S.pan> <tspan style="font-size: 12.50px; " x="17.190001" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,246.86,50.43)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</T.S.pan> </text> <text transform="matrix(1,0,0,-1,254.51,53.56)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</T.S.pan> <tspan style="font-size: 12.50px; " x="11.340221" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,269.83,50.43)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</T.S.pan> </text> <text transform="matrix(1,0,0,-1,276.79,53.56)"> <tspan style="font-size: 12.50px; " x="25.73" y="2.51"> </T.S.pan> <tspan style="font-size: 12.50px; " x="0" y="0"> c</T.S.pan> <tspan style="font-size: 12.50px; " x="5.551332" y="0"> O.</T.S.pan> <tspan style="font-size: 12.50px; " x="11.802832" y="0"> S.</T.S.pan> <tspan style="font-size: 12.50px; " x="18.741997" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,308.37,61.09)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</T.S.pan> </text> <text transform="matrix(1,0,0,-1,313.24,53.56)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ，</T.S.pan> <tspan style="font-size: 12.50px; " x="160.88" y="0"> （</T.S.pan> <tspan style="font-size: 12.50px; " x="165.0435" y="0"> 6</T.S.pan> <tspan style="font-size: 12.50px; " x="171.295" y="0"> ）</T.S.pan> </text> </g> </g> </svg></span>在哪里<S.vg height="14.475" id="M30" style="vertical-align:-3.13504pt;width:11.1875px;" version="1.1" viewbox="0 0 11.1875 14.475" width="11.1875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.475)"> <g transform="translate(72,-60.42)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-67.97,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 4</T.S.pan> </text> </g> </g> </svg>为吊杆长度(<一世>ei.</一世>），和<S.vg height="14.625" id="M31" style="vertical-align:-3.25793pt;width:20.35px;" version="1.1" viewbox="0 0 20.35 14.625" width="20.35" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.625)"> <g transform="translate(72,-60.3)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-65.3,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 8.75px; " x="4.656064" y="0"> 0</T.S.pan> </text> </g> </g> </svg>是阻尼圆筒的原始长度。</p> <p>定义机制的输出<S.vg height="14.35" id="M32" style="vertical-align:-3.22282pt;width:14.8375px;" version="1.1" viewbox="0 0 14.8375 14.35" width="14.8375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.35)"> <g transform="translate(72,-60.52)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-65.07,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>，<S.vg height="14.5875" id="M33" style="vertical-align:-3.22282pt;width:14.425px;" version="1.1" viewbox="0 0 14.425 14.5875" width="14.425" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-65.4,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>,<S.vg height="14.3625" id="M34" style="vertical-align:-3.2316pt;width:14.4875px;" version="1.1" viewbox="0 0 14.4875 14.3625" width="14.4875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3625)"> <g transform="translate(72,-60.51)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-65.07,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>基于现实的工作条件，然后输入输入<S.vg height="14.5875" id="M35" style="vertical-align:-3.22282pt;width:12.7625px;" version="1.1" viewbox="0 0 12.7625 14.5875" width="12.7625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-65.3,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>，<S.vg height="14.575" id="M36" style="vertical-align:-3.21404pt;width:12.4875px;" version="1.1" viewbox="0 0 12.4875 14.575" width="12.4875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.575)"> <g transform="translate(72,-60.34)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-65.3,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>,<S.vg height="14.6" id="M37" style="vertical-align:-3.24037pt;width:15.5375px;" version="1.1" viewbox="0 0 15.5375 14.6" width="15.5375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.6)"> <g transform="translate(72,-60.32)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-65.3,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>，每个输出变量仅与其中一个输入元素相关。输入输出关系是针对每个主运动独立考虑的。锻造机械手的主要运动机构分离。简化了锻造机械手的控制。</p> <h4 id="control-strategy">3.控制策略</h4> <p>整个锻造过程可分为3个阶段的印前，印度和后级。在印前和洗涤期间，锻造机械手的操作是相同的：夹具抓住工件，然后将其放在下模上。在受别期间，锻造机械手符合工件的变形。在这三种条件下锻造机械手的控制策略如下讨论。</p> <p><span class="statement" id="head1"><span class="statement-title"><i class="statement-title">（a）抓住工件</一世></span><br>首先，调节夹持器的水平和垂直位置，并且由夹具夹紧工作台上的工件。然后通过用恒定提升力提升圆柱体的圆柱体提升工件，该气缸大于工件，夹持器及其支撑的总重量。当超过预期高度时，位置误差将返回到升降缸的恒力伺服系统。这种位置的负反馈使实际的提升力小于设定值。在平衡中，实际提升力等于工件，夹持器及其支撑的总重量，并且力误差等于位置误差乘以系数。</S.pan></p> <p><span class="statement" id="head2"><span class="statement-title"><i class="statement-title">(b)放置工件</一世></span><br>工件被送至锻压机，正上方的下模具锻造机械手。然后降低高度设定值，就破坏了提升油缸的力和位置平衡。实际的提升力小于工件、夹持器及其支撑的总重量。因此工件随着夹持器向下移动。工件的体面速度是由高度设定值的变化率决定的。当工件接触下模时，由于工件开始受到下模的支撑，提升气缸内的压力会发生很大的变化。此时，保持高度设定值不变，提升油缸的力和位置达到新的平衡。</S.pan></p> <p><span class="statement" id="head3"><span class="statement-title"><i class="statement-title">（c）遵守工件</一世></span><br>在锻造过程中，当工件被上模压下时，变形的工件对夹持器施加额外的力。这种力使提升油缸的负载增加。同时，伺服系统试图保持升力恒定。因此，夹持器随工件向下移动，对变形工件施加最小的反作用力。当压力结束时，上模上升，施加在夹钳上的外力消失。工件通过恒定的提升力被提升到原来的位置。然后机械手将工件送入进给。下一台印刷机准备好了。</S.pan></p> <p>如上所述，力/位置混合控制是锻造机械手控制的核心原理。数字<一个href="//www.newsama.com/journals/jr/2011/530247/fig4/" target="_blank">4</一个>说明了混合控制系统的这些思想。力控制是控制回路的基础。在平衡状态下，期望实际的提升力等于工件、夹持器及其支撑的重量，小于力整定值。力的误差应由另一个控制变量来补偿。在控制回路中加入了位置误差的负反馈。当实际提升位置低于高度设定值时，位置误差反馈为零，夹具在恒定的提升力下向上移动。当实际提升位置高于高度设定值时，位置误差负反馈工作，实际提升力减小，直至力与位置趋于平衡。</p> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig4"> <div class="floats-partial-content fig-content-fig4"> <div class="partial-carousel--single-image"> <img alt="" name="530247.fig.004" src="https://static-01.hindawi.com/articles/jr/volume-2011/530247/figures/530247.fig.004.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图4.</S.pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2011/530247/fig4/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 混合控制系统的构建。</T.一个ble> </div> </div> </div> <p>由于新设计的锻造机械手的机构是解耦的，如本节讨论<一个href="#sec2">2</一个>，侧面转移，倾斜，阻尼和提升的运动是独立的，并且任何一个动作对其他运动没有影响。简化了锻造机械手的控制，并且仅与升降缸有关。在整个锻造过程中，前侧换档圆柱，后侧移缸和倾斜圆柱体一直保持其位置。在压制过程中，在水平方向上的工件变形是通过阻尼圆柱体吸收的。当变形电阻大于阻尼液压回路中的减压阀的设定值时，会遵守顺应性。水平方向上的反作用力几乎保持恒定，这取决于释放阀的性质。</p> <h4 id="pressure/position-control-method-of-hydraulic-servosystem">4.液压伺服系统的压力/位置控制方法</h4> <p>总体控制方案框图如图所示<一个href="//www.newsama.com/journals/jr/2011/530247/fig5/" target="_blank">5</一个>．该系统由控制器，功率放大器，伺服阀，圆柱，压力传感器和位置传感器组成。PID控制器方程是<S.pan class="equation" id="EEq7"> <svg height="35.587502" id="M38" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 35.587502" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,35.5875)"> <g transform="translate(72,-43.53)"> <text transform="matrix(1,0,0,-1,136.07,54.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="9.3897533" y="0"> ＝</T.S.pan> <tspan style="font-size: 12.50px; " x="21.430141" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,167.03,51.51)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,171.81,54.64)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="8.3395014" y="0"> +</T.S.pan> <tspan style="font-size: 12.50px; " x="19.679722" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,201.02,51.51)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,206.33,46.94)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="9.0799999" y="-7.6999998"> </T.S.pan> <tspan style="font-size: 12.50px; " x="16.719334" y="-7.6999998"> </T.S.pan> <tspan style="font-size: 12.50px; " x="23.37093" y="-7.6999998"> </T.S.pan> <tspan style="font-size: 12.50px; " x="30.060034" y="-7.6999998"> +</T.S.pan> <tspan style="font-size: 12.50px; " x="41.412758" y="-7.6999998"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,257.27,51.51)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,264.15,61.89)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="6.6515961" y="0"> </T.S.pan> </text> <g> <path d="m 264.15,57.77 12.21,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,264.97,45.89)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="6.6515961" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="12.59" y="-8.75"> ，</T.S.pan> <tspan style="font-size: 12.50px; " x="209.14999" y="-8.75"> （</T.S.pan> <tspan style="font-size: 12.50px; " x="213.31349" y="-8.75"> 7</T.S.pan> <tspan style="font-size: 12.50px; " x="219.565" y="-8.75"> ）</T.S.pan> </text> </g> </g> </svg></span>在哪里<S.vg height="7.1624999" id="M39" style="vertical-align:-0.11285pt;width:7.5374999px;" version="1.1" viewbox="0 0 7.5374999 7.1624999" width="7.5374999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1625)"> <g transform="translate(72,-66.27)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>为控制器的输出，<S.vg height="16.237499" id="M40" style="vertical-align:-4.74141pt;width:18px;" version="1.1" viewbox="0 0 18 16.237499" width="18" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.2375)"> <g transform="translate(72,-59.01)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-62.42,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>比例增益，<S.vg height="14.3625" id="M41" style="vertical-align:-3.2316pt;width:16.0625px;" version="1.1" viewbox="0 0 16.0625 14.3625" width="16.0625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3625)"> <g transform="translate(72,-60.51)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-62.42,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>是积分的增益，<S.vg height="14.375" id="M42" style="vertical-align:-3.24037pt;width:19.137501px;" version="1.1" viewbox="0 0 19.137501 14.375" width="19.137501" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.375)"> <g transform="translate(72,-60.5)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-62.42,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>为导数增益，<S.vg height="16.6" id="M43" style="vertical-align:-4.74141pt;width:167.53751px;" version="1.1" viewbox="0 0 167.53751 16.6" width="167.53751" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.6)"> <g transform="translate(72,-58.72)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="9.0271664" y="0"> ＝</T.S.pan> <tspan style="font-size: 12.50px; " x="21.067554" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-44.95,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 8.75px; " x="4.2797279" y="0"> 0</T.S.pan> </text> <text transform="matrix(1,0,0,-1,-33.02,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</T.S.pan> <tspan style="font-size: 12.50px; " x="11.340221" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-15.75,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-8.19,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</T.S.pan> <tspan style="font-size: 12.50px; " x="11.340221" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="20.867508" y="0"> （</T.S.pan> <tspan style="font-size: 12.50px; " x="25.031006" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,22.77,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 8.75px; " x="4.8136001" y="0"> 0</T.S.pan> </text> <text transform="matrix(1,0,0,-1,35.24,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</T.S.pan> <tspan style="font-size: 12.50px; " x="11.327718" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,52.51,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,57.82,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ）</T.S.pan> </text> </g> </g> </svg>为误差信号，<S.vg height="12.925" id="M44" style="vertical-align:-4.74141pt;width:18.975px;" version="1.1" viewbox="0 0 18.975 12.925" width="18.975" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.925)"> <g transform="translate(72,-61.66)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-66.02,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 8.75px; " x="4.2797279" y="0"> 0</T.S.pan> </text> </g> </g> </svg>为压力指令信号，<S.vg height="12.925" id="M45" style="vertical-align:-4.74141pt;width:13.5px;" version="1.1" viewbox="0 0 13.5 12.925" width="13.5" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.925)"> <g transform="translate(72,-61.66)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-66.02,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>是传感器检测到的压力，<S.vg height="11.075" id="M46" style="vertical-align:-3.25793pt;width:19.637501px;" version="1.1" viewbox="0 0 19.637501 11.075" width="19.637501" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.075)"> <g transform="translate(72,-63.14)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-66.02,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 8.75px; " x="4.8136001" y="0"> 0</T.S.pan> </text> </g> </g> </svg>为位置命令信号，<S.vg height="11.025" id="M47" style="vertical-align:-3.21404pt;width:14.175px;" version="1.1" viewbox="0 0 14.175 11.025" width="14.175" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.025)"> <g transform="translate(72,-63.18)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-66.02,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>是传感器检测的位置，以及<S.vg height="10.325" id="M48" style="vertical-align:-0.0pt;width:13.2875px;" version="1.1" viewbox="0 0 13.2875 10.325" width="13.2875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.325)"> <g transform="translate(72,-63.74)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>位置错误增益。</p> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig5"> <div class="floats-partial-content fig-content-fig5"> <div class="partial-carousel--single-image"> <img alt="" name="530247.fig.005" src="https://static-01.hindawi.com/articles/jr/volume-2011/530247/figures/530247.fig.005.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图5.</S.pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2011/530247/fig5/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 混合压力/位置控制系统框图。</T.一个ble> </div> </div> </div> <p>由于放大器和传感器与流体机械组件相比具有可忽略的动态，因此可以通过其稳态增益常数来描述它们。功率放大器方程是<S.pan class="equation" id="EEq8"> <svg height="15.75" id="M49" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 15.75" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.75)"> <g transform="translate(72,-59.4)"> <text transform="matrix(1,0,0,-1,186.94,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="7.3517642" y="0"> ＝</T.S.pan> <tspan style="font-size: 12.50px; " x="19.392153" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,215.87,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,220.76,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="5.9264221" y="0"> ，</T.S.pan> <tspan style="font-size: 12.50px; " x="253.36" y="0"> （</T.S.pan> <tspan style="font-size: 12.50px; " x="257.5235" y="0"> 8</T.S.pan> <tspan style="font-size: 12.50px; " x="263.77499" y="0"> ）</T.S.pan> </text> </g> </g> </svg></span>在哪里<S.vg height="9.9250002" id="M50" style="vertical-align:-0.13794pt;width:4.9875002px;" version="1.1" viewbox="0 0 4.9875002 9.9250002" width="4.9875002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.925)"> <g transform="translate(72,-64.06)"> <text transform="matrix(1,0,0,-1,-71.95,64.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>功率放大器输出电流，<S.vg height="14.35" id="M51" style="vertical-align:-3.22282pt;width:18.15px;" version="1.1" viewbox="0 0 18.15 14.35" width="18.15" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.35)"> <g transform="translate(72,-60.52)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-62.42,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>功率放大器增益，和<S.vg height="7.1624999" id="M52" style="vertical-align:-0.11285pt;width:7.5374999px;" version="1.1" viewbox="0 0 7.5374999 7.1624999" width="7.5374999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1625)"> <g transform="translate(72,-66.27)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>为功率放大器的输入电压。压力传感器方程为<S.pan class="equation" id="EEq9"> <svg height="16.975" id="M53" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 16.975" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.975)"> <g transform="translate(72,-58.42)"> <text transform="matrix(1,0,0,-1,180.79,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,186.72,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,194.97,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ＝</T.S.pan> <tspan style="font-size: 12.50px; " x="12.027886" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,216.53,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 8.75px; " x="5.4087362" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,226.72,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="6.1139669" y="0"> ，</T.S.pan> <tspan style="font-size: 12.50px; " x="247.39999" y="0"> （</T.S.pan> <tspan style="font-size: 12.50px; " x="251.56349" y="0"> 9</T.S.pan> <tspan style="font-size: 12.50px; " x="257.815" y="0"> ）</T.S.pan> </text> </g> </g> </svg></span>在哪里<S.vg height="16.237499" id="M54" style="vertical-align:-4.74141pt;width:24.762501px;" version="1.1" viewbox="0 0 24.762501 16.237499" width="24.762501" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.2375)"> <g transform="translate(72,-59.01)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-62.42,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 8.75px; " x="5.4087362" y="0"> </T.S.pan> </text> </g> </g> </svg>压力传感器系数是和吗<S.vg height="9.875" id="M55" style="vertical-align:-2.29482pt;width:7.7624998px;" version="1.1" viewbox="0 0 7.7624998 9.875" width="7.7624998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.875)"> <g transform="translate(72,-64.1)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>为气缸内的压力。位置传感器方程为<S.pan class="equation" id="EEq10"> <svg height="15.75" id="M56" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 15.75" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.75)"> <g transform="translate(72,-59.4)"> <text transform="matrix(1,0,0,-1,179.88,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,185.8,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,194.59,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ＝</T.S.pan> <tspan style="font-size: 12.50px; " x="12.027886" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,216.15,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 8.75px; " x="5.4087362" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,226.87,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="6.8766499" y="0"> ，</T.S.pan> <tspan style="font-size: 12.50px; " x="241" y="0"> （</T.S.pan> <tspan style="font-size: 12.50px; " x="245.1635" y="0"> 1</T.S.pan> <tspan style="font-size: 12.50px; " x="251.41499" y="0"> 0</T.S.pan> <tspan style="font-size: 12.50px; " x="257.6665" y="0"> ）</T.S.pan> </text> </g> </g> </svg></span>在哪里<S.vg height="14.3375" id="M57" style="vertical-align:-3.21404pt;width:25.4375px;" version="1.1" viewbox="0 0 25.4375 14.3375" width="25.4375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3375)"> <g transform="translate(72,-60.53)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-62.42,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 8.75px; " x="5.4087362" y="0"> </T.S.pan> </text> </g> </g> </svg>位置传感器系数和<S.vg height="7.1624999" id="M58" style="vertical-align:-0.11285pt;width:8.7250004px;" version="1.1" viewbox="0 0 8.7250004 7.1624999" width="8.7250004" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1625)"> <g transform="translate(72,-66.27)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>是圆筒活塞的位置。</p> <p>从输入电流到伺服阀阀轴位置的传递函数可以近似<S.pan class="equation" id="EEq11"> <svg height="36.799999" id="M59" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 36.799999" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,36.8)"> <g transform="translate(72,-42.56)"> <text transform="matrix(1,0,0,-1,171.62,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,181.5,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <g> <path d="m 171.62,57.69 14.81,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,175.46,45.81)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="15.63" y="-8.7600002"> ＝</T.S.pan> <tspan style="font-size: 12.50px; " x="40.48" y="-17.98"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,225.47,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <g> <path d="m 204.33,57.69 37.67,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,204.33,45.81)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,211.2,42.69)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,216.13,45.81)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="8.2769861" y="0"> +</T.S.pan> <tspan style="font-size: 12.50px; " x="19.617207" y="0"> 1</T.S.pan> <tspan style="font-size: 12.50px; " x="27.07" y="-8.7600002"> ，</T.S.pan> <tspan style="font-size: 12.50px; " x="251.74001" y="-8.7600002"> （</T.S.pan> <tspan style="font-size: 12.50px; " x="255.9035" y="-8.7600002"> 1</T.S.pan> <tspan style="font-size: 12.50px; " x="262.155" y="-8.7600002"> 1</T.S.pan> <tspan style="font-size: 12.50px; " x="268.40649" y="-8.7600002"> ）</T.S.pan> </text> </g> </g> </svg></span>在哪里<S.vg height="14.3375" id="M60" style="vertical-align:-3.21404pt;width:18.1875px;" version="1.1" viewbox="0 0 18.1875 14.3375" width="18.1875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3375)"> <g transform="translate(72,-60.53)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-62.42,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>是伺服媒体的增益和<S.vg height="14.3375" id="M61" style="vertical-align:-3.21404pt;width:14.875px;" version="1.1" viewbox="0 0 14.875 14.3375" width="14.875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3375)"> <g transform="translate(72,-60.53)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-65.07,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>为伺服阀时间常数。</p> <p>线性化的伺服阀流量方程为<S.pan class="equation" id="EEq12"> <svg height="16.975" id="M62" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 16.975" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.975)"> <g transform="translate(72,-58.42)"> <text transform="matrix(1,0,0,-1,156.56,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,166.33,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,176.5,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ＝</T.S.pan> <tspan style="font-size: 12.50px; " x="12.027886" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,198.06,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,202.92,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,209.8,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,217.5,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</T.S.pan> <tspan style="font-size: 12.50px; " x="11.340221" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,238.37,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,242.94,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,250.37,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,257.06,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ，</T.S.pan> <tspan style="font-size: 12.50px; " x="210.81" y="0"> （</T.S.pan> <tspan style="font-size: 12.50px; " x="214.9735" y="0"> 1</T.S.pan> <tspan style="font-size: 12.50px; " x="221.22501" y="0"> 2</T.S.pan> <tspan style="font-size: 12.50px; " x="227.4765" y="0"> ）</T.S.pan> </text> </g> </g> </svg></span>在哪里<S.vg height="14.4625" id="M63" style="vertical-align:-3.13504pt;width:20.700001px;" version="1.1" viewbox="0 0 20.700001 14.4625" width="20.700001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.4625)"> <g transform="translate(72,-60.43)"> <text transform="matrix(1,0,0,-1,-71.95,63.61)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-62.19,60.48)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>为负荷流量，表示各线路流量的平均值，<S.vg height="14.2375" id="M64" style="vertical-align:-3.13504pt;width:17.775px;" version="1.1" viewbox="0 0 17.775 14.2375" width="17.775" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.2375)"> <g transform="translate(72,-60.61)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-64.52,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>为负载压差，<S.vg height="11.025" id="M65" style="vertical-align:-3.21404pt;width:14.875px;" version="1.1" viewbox="0 0 14.875 11.025" width="14.875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.025)"> <g transform="translate(72,-63.18)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-65.07,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>是来自中性的阀门位移，<S.vg height="16.237499" id="M66" style="vertical-align:-4.74141pt;width:18.1px;" version="1.1" viewbox="0 0 18.1 16.237499" width="18.1" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.2375)"> <g transform="translate(72,-59.01)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-62.42,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>阀门流量增益和<S.vg height="14.3625" id="M67" style="vertical-align:-3.2316pt;width:17.737499px;" version="1.1" viewbox="0 0 17.737499 14.3625" width="17.737499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3625)"> <g transform="translate(72,-60.51)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-62.42,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>阀门流量压力系数。</p> <p>假设每个腔室中的压力到处都是相同的并且不饱和或空间，腔室中的流体速度很小，使得小损失可以忽略不计，不存在线路现象，并且温度和密度是恒定的。负载流量被泄漏消耗，流动以取代致动器，并且由于压缩性而存储的流量。执行器的连续性方程是<S.pan class="equation" id="EEq13"> <svg height="36.825001" id="M68" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 36.825001" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,36.825)"> <g transform="translate(72,-42.54)"> <text transform="matrix(1,0,0,-1,137.15,54.57)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,146.91,51.44)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,157.08,54.57)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ＝</T.S.pan> <tspan style="font-size: 12.50px; " x="12.027886" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="27.856684" y="0"> ̇</T.S.pan> <tspan style="font-size: 12.50px; " x="21.005039" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="29.96969" y="0"> +</T.S.pan> <tspan style="font-size: 12.50px; " x="41.322414" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,206.79,51.44)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 8.75px; " x="2.7393761" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,214.1,54.57)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,221.53,51.44)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,231,54.57)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</T.S.pan> <tspan style="font-size: 12.50px; " x="16.139999" y="-9.2200003"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,254.33,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <g> <path d="m 243.54,57.69 17.62,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,243.54,45.81)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 4</T.S.pan> <tspan style="font-size: 12.50px; " x="6.2515001" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,256.77,42.69)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,269.88,57.11)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̇</T.S.pan> <tspan style="font-size: 12.50px; " x="-7.52" y="2.54"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,269.78,51.44)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,276.48,54.57)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ，</T.S.pan> <tspan style="font-size: 12.50px; " x="191.39" y="0"> （</T.S.pan> <tspan style="font-size: 12.50px; " x="195.5535" y="0"> 1</T.S.pan> <tspan style="font-size: 12.50px; " x="201.80499" y="0"> 3.</T.S.pan> <tspan style="font-size: 12.50px; " x="208.0565" y="0"> ）</T.S.pan> </text> </g> </g> </svg></span>在哪里<S.vg height="10.55" id="M69" style="vertical-align:-0.0pt;width:11.325px;" version="1.1" viewbox="0 0 11.325 10.55" width="11.325" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.55)"> <g transform="translate(72,-63.56)"> <text transform="matrix(1,0,0,-1,-71.95,63.61)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>为活塞的有效面积，<S.vg height="9.8625002" id="M70" style="vertical-align:-2.29482pt;width:7.875px;" version="1.1" viewbox="0 0 7.875 9.8625002" width="7.875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.8625)"> <g transform="translate(72,-64.11)"> <text transform="matrix(1,0,0,-1,-71.95,66.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>为活塞受载荷产生的位移，<S.vg height="14.45" id="M71" style="vertical-align:-3.2316pt;width:97.449997px;" version="1.1" viewbox="0 0 97.449997 14.45" width="97.449997" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.45)"> <g transform="translate(72,-60.44)"> <text transform="matrix(1,0,0,-1,-71.95,63.71)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-63.56,60.58)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 8.75px; " x="2.7393761" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-52.78,63.71)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ＝</T.S.pan> <tspan style="font-size: 12.50px; " x="12.027886" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-32.35,60.58)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 8.75px; " x="2.7218721" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-22.28,63.71)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</T.S.pan> <tspan style="font-size: 12.50px; " x="11.327718" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-2.55,60.58)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 8.75px; " x="3.89464" y="0"> </T.S.pan> </text> </g> </g> </svg>为气缸总泄漏系数，<S.vg height="14.45" id="M72" style="vertical-align:-3.2316pt;width:19.725px;" version="1.1" viewbox="0 0 19.725 14.45" width="19.725" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.45)"> <g transform="translate(72,-60.44)"> <text transform="matrix(1,0,0,-1,-71.95,63.71)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-63.56,60.58)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 8.75px; " x="2.7218721" y="0"> </T.S.pan> </text> </g> </g> </svg>是内部泄漏系数，<S.vg height="14.45" id="M73" style="vertical-align:-3.2316pt;width:21.1875px;" version="1.1" viewbox="0 0 21.1875 14.45" width="21.1875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.45)"> <g transform="translate(72,-60.44)"> <text transform="matrix(1,0,0,-1,-71.95,63.71)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-63.56,60.58)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 8.75px; " x="3.89464" y="0"> </T.S.pan> </text> </g> </g> </svg>是外部泄漏系数，<S.vg height="14.5875" id="M74" style="vertical-align:-3.2316pt;width:14.3375px;" version="1.1" viewbox="0 0 14.3375 14.5875" width="14.3375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-64.97,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>是系统的有效体积模量，还有<S.vg height="14.3375" id="M75" style="vertical-align:-3.21404pt;width:13.1625px;" version="1.1" viewbox="0 0 13.1625 14.3375" width="13.1625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3375)"> <g transform="translate(72,-60.53)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-64.76,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>是圆柱体的总体积</p> <p>随着静电和库仑摩擦载荷在线化分析中被忽略，致动器的力平衡方程可以如下呈现：<S.pan class="equation" id="EEq14"> <svg height="32.700001" id="M76" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 32.700001" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,32.7)"> <g transform="translate(72,-45.84)"> <text transform="matrix(1,0,0,-1,119.73,54.65)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,127.16,51.52)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,137.33,54.65)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ＝</T.S.pan> <tspan style="font-size: 12.50px; " x="14.59" y="-7.25"> 1</T.S.pan> </text> <g> <path d="m 150.56,57.77 8.96,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,150.56,45.89)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="12.24" y="-6.2399998"> </T.S.pan> <tspan style="font-size: 12.50px; " x="18.09" y="-8.7600002"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,177.53,51.52)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,187.63,54.65)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̈</T.S.pan> <tspan style="font-size: 12.50px; " x="-6.851644" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="2.1130071" y="0"> +</T.S.pan> <tspan style="font-size: 12.50px; " x="13.453228" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,209.79,51.52)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,221.23,54.65)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ̇</T.S.pan> <tspan style="font-size: 12.50px; " x="-6.8641472" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="2.1005039" y="0"> +</T.S.pan> <tspan style="font-size: 12.50px; " x="13.453228" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,244.21,51.52)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,250.91,54.65)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="6.1999998" y="2.52"> </T.S.pan> <tspan style="font-size: 12.50px; " x="14.83" y="0"> +</T.S.pan> <tspan style="font-size: 12.50px; " x="27.370001" y="-9.1400003"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,286,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <g> <path d="m 278.28,57.77 14.42,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,281.01,45.89)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="12.88" y="-8.7600002"> ，</T.S.pan> <tspan style="font-size: 12.50px; " x="186.86" y="-8.7600002"> （</T.S.pan> <tspan style="font-size: 12.50px; " x="191.0235" y="-8.7600002"> 1</T.S.pan> <tspan style="font-size: 12.50px; " x="197.27499" y="-8.7600002"> 4</T.S.pan> <tspan style="font-size: 12.50px; " x="203.5265" y="-8.7600002"> ）</T.S.pan> </text> </g> </g> </svg></span>在哪里<S.vg height="11.025" id="M77" style="vertical-align:-3.21404pt;width:15.2625px;" version="1.1" viewbox="0 0 15.2625 11.025" width="15.2625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.025)"> <g transform="translate(72,-63.18)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-63.07,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>是气缸的总质量和负载，<S.vg height="14.3625" id="M78" style="vertical-align:-3.2316pt;width:16.7125px;" version="1.1" viewbox="0 0 16.7125 14.3625" width="16.7125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3625)"> <g transform="translate(72,-60.51)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-63.25,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>是粘性阻尼系数负载系数，<S.vg height="14.2375" id="M79" style="vertical-align:-3.13504pt;width:20.4px;" version="1.1" viewbox="0 0 20.4 14.2375" width="20.4" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.2375)"> <g transform="translate(72,-60.61)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-62.42,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>是载荷的弹簧梯度，和<S.vg height="14.2375" id="M80" style="vertical-align:-3.13504pt;width:18.15px;" version="1.1" viewbox="0 0 18.15 14.2375" width="18.15" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.2375)"> <g transform="translate(72,-60.61)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-64.22,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> </g> </g> </svg>是圆筒上的任意负荷。</p> <p>有两种命令信号<S.vg height="12.925" id="M81" style="vertical-align:-4.74141pt;width:18.975px;" version="1.1" viewbox="0 0 18.975 12.925" width="18.975" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.925)"> <g transform="translate(72,-61.66)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-66.02,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 8.75px; " x="4.2797279" y="0"> 0</T.S.pan> </text> </g> </g> </svg>和<S.vg height="11.075" id="M82" style="vertical-align:-3.25793pt;width:19.637501px;" version="1.1" viewbox="0 0 19.637501 11.075" width="19.637501" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.075)"> <g transform="translate(72,-63.14)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-66.02,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 8.75px; " x="4.8136001" y="0"> 0</T.S.pan> </text> </g> </g> </svg>在控制回路中。如果位置传感器检测到的实际位置小于<S.vg height="11.075" id="M83" style="vertical-align:-3.25793pt;width:19.637501px;" version="1.1" viewbox="0 0 19.637501 11.075" width="19.637501" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.075)"> <g transform="translate(72,-63.14)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-66.02,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 8.75px; " x="4.8136001" y="0"> 0</T.S.pan> </text> </g> </g> </svg>，则位置误差负反馈不工作。这是一个纯压力控制回路。如果实际位置大于<S.vg height="11.075" id="M84" style="vertical-align:-3.25793pt;width:19.637501px;" version="1.1" viewbox="0 0 19.637501 11.075" width="19.637501" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.075)"> <g transform="translate(72,-63.14)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-66.02,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 8.75px; " x="4.8136001" y="0"> 0</T.S.pan> </text> </g> </g> </svg>，然后通过位置误差反馈来补偿差值<S.vg height="12.925" id="M85" style="vertical-align:-4.74141pt;width:18.975px;" version="1.1" viewbox="0 0 18.975 12.925" width="18.975" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.925)"> <g transform="translate(72,-61.66)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-66.02,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 8.75px; " x="4.2797279" y="0"> 0</T.S.pan> </text> </g> </g> </svg>平衡工件重量的压力。因此，工件可以保持力的力平衡<S.pan class="equation" id="EEq15"> <svg height="19.549999" id="M86" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 19.549999" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,19.55)"> <g transform="translate(72,-56.36)"> <text transform="matrix(1,0,0,-1,107.84,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,113.76,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 8.75px; " x="4.2797279" y="0"> 0</T.S.pan> </text> <text transform="matrix(1,0,0,-1,125.7,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</T.S.pan> <tspan style="font-size: 12.50px; " x="11.327718" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,142.97,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,150.52,61.13)"> <tspan style="font-size: 12.50px; " x="23.959999" y="2.51"> </T.S.pan> <tspan style="font-size: 12.50px; " x="29.809999" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="0" y="0"> −</T.S.pan> <tspan style="font-size: 12.50px; " x="11.340221" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,186.25,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 8.75px; " x="4.8136001" y="0"> 0</T.S.pan> </text> <text transform="matrix(1,0,0,-1,198.72,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</T.S.pan> <tspan style="font-size: 12.50px; " x="11.340221" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,215.99,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,221.3,58.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="9.3299999" y="-2.51"> ＝</T.S.pan> <tspan style="font-size: 12.50px; " x="21.357885" y="-2.51"> 0</T.S.pan> <tspan style="font-size: 12.50px; " x="27.609386" y="-2.51"> ，</T.S.pan> <tspan style="font-size: 12.50px; " x="42.790001" y="-2.52"> （</T.S.pan> <tspan style="font-size: 12.50px; " x="46.953499" y="-2.52"> </T.S.pan> <tspan style="font-size: 12.50px; " x="59.944115" y="-2.52"> <</T.S.pan> <tspan style="font-size: 12.50px; " x="71.984505" y="-2.52"> 0</T.S.pan> <tspan style="font-size: 12.50px; " x="78.236008" y="-2.52"> ）</T.S.pan> <tspan style="font-size: 12.50px; " x="84.487503" y="-2.52"> ．</T.S.pan> <tspan style="font-size: 12.50px; " x="246.57001" y="-2.51"> （</T.S.pan> <tspan style="font-size: 12.50px; " x="250.73351" y="-2.51"> 1</T.S.pan> <tspan style="font-size: 12.50px; " x="256.98499" y="-2.51"> 5</T.S.pan> <tspan style="font-size: 12.50px; " x="263.23651" y="-2.51"> ）</T.S.pan> </text> </g> </g> </svg></span></p> <p>混合压力/位置控制在使用柱塞油缸的机械手升降控制中非常有用。基于该方法，实现了锻造机械手的智能控制。</p> <h4 id="analysis-of-intelligent-control">5.智能控制分析</h4> <h5 id="sec5.1">5.1。自动识别压力值设置</h5> <p>如图所示<一个href="//www.newsama.com/journals/jr/2011/530247/fig6/" target="_blank">6</一个>，当机械手抓取工件时，采用压力/位置混合控制方法，压力和位置命令值设置为原来的<S.vg height="11.075" id="M87" style="vertical-align:-3.25793pt;width:13.8625px;" version="1.1" viewbox="0 0 13.8625 11.075" width="13.8625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.075)"> <g transform="translate(72,-63.14)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-65.84,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</T.S.pan> </text> </g> </g> </svg>和<S.vg height="11.075" id="M88" style="vertical-align:-3.25793pt;width:14.8125px;" version="1.1" viewbox="0 0 14.8125 11.075" width="14.8125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.075)"> <g transform="translate(72,-63.14)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-65.07,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</T.S.pan> </text> </g> </g> </svg>．工件用恒定的力抬起，由混合控制环带有具有命令压力<S.vg height="11.075" id="M89" style="vertical-align:-3.25793pt;width:13.8625px;" version="1.1" viewbox="0 0 13.8625 11.075" width="13.8625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.075)"> <g transform="translate(72,-63.14)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-65.84,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</T.S.pan> </text> </g> </g> </svg>．当位置命令值<S.vg height="11.075" id="M90" style="vertical-align:-3.25793pt;width:14.8125px;" version="1.1" viewbox="0 0 14.8125 11.075" width="14.8125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.075)"> <g transform="translate(72,-63.14)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-65.07,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</T.S.pan> </text> </g> </g> </svg>超过时，负位置误差反馈到压力控制回路，系统中的实际压力开始下降，并在重量平衡压力处停止下降。在平衡状态下，工件停止移动，实际的提升力等于工件、夹持器及其支撑的总重量。记录实际平衡压力，并将其作为锻压工艺符合性控制的压力值设置。</p> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig6"> <div class="floats-partial-content fig-content-fig6"> <div class="partial-carousel--single-image"> <img alt="" name="530247.fig.006" src="https://static-01.hindawi.com/articles/jr/volume-2011/530247/figures/530247.fig.006.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图6.</S.pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2011/530247/fig6/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 工件测量说明。</T.一个ble> </div> </div> </div> <h5 id="sec5.2">5.2。工件放置高度的自动识别</h5> <p>如图所示<一个href="//www.newsama.com/journals/jr/2011/530247/fig7/" target="_blank">7</一个>，假设工件处于受力平衡的位置，减小命令位置<S.vg height="11.075" id="M91" style="vertical-align:-3.25793pt;width:14.8125px;" version="1.1" viewbox="0 0 14.8125 11.075" width="14.8125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.075)"> <g transform="translate(72,-63.14)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-65.07,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</T.S.pan> </text> </g> </g> </svg>以恒定的速率，那么平衡就被打破了。由于位置误差的反馈增大，实际压力会变小，并趋向另一平衡态。实际的提升力小于工件、夹持器及其支架的重量。因此工件向下移动，直到接触到下模具。此时，实际压力迅速下降。根据压力的变化率，可自动识别工件的放置状态。保持指挥位置<S.vg height="11.075" id="M92" style="vertical-align:-3.25793pt;width:14.8125px;" version="1.1" viewbox="0 0 14.8125 11.075" width="14.8125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.075)"> <g transform="translate(72,-63.14)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-65.07,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</T.S.pan> </text> </g> </g> </svg>与工件位置的高度值放在下模上。提升油缸的压力和位置达到新的平衡。</p> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig7"> <div class="floats-partial-content fig-content-fig7"> <div class="partial-carousel--single-image"> <img alt="" name="530247.fig.007" src="https://static-01.hindawi.com/articles/jr/volume-2011/530247/figures/530247.fig.007.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图7.</S.pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2011/530247/fig7/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 工件放置说明。</T.一个ble> </div> </div> </div> <h5 id="sec5.3">5.3。符合垂直方向和自动向上移动</h5> <p>如图所示<一个href="//www.newsama.com/journals/jr/2011/530247/fig8/" target="_blank">8</一个>，当工件被上模压下时，气缸上的载荷会因工件变形而增大;这个过程被称为“inpress”。在压力/位置控制模式下，增加的负载使工件向下移动，当<S.vg height="12.525" id="M93" style="vertical-align:-3.25793pt;width:42.799999px;" version="1.1" viewbox="0 0 42.799999 12.525" width="42.799999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.525)"> <g transform="translate(72,-61.98)"> <text transform="matrix(1,0,0,-1,-71.95,65.27)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> <tspan style="font-size: 12.50px; " x="10.339981" y="0"> <</T.S.pan> <tspan style="font-size: 12.50px; " x="22.380369" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-42.69,62.15)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</T.S.pan> </text> </g> </g> </svg>，位置误差反馈不工作。在此期间，机械手作用在工件上的力从重量平衡压力增加到指令压力<S.vg height="11.075" id="M94" style="vertical-align:-3.25793pt;width:13.8625px;" version="1.1" viewbox="0 0 13.8625 11.075" width="13.8625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.075)"> <g transform="translate(72,-63.14)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </T.S.pan> </text> <text transform="matrix(1,0,0,-1,-65.84,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 0</T.S.pan> </text> </g> </g> </svg>，但它仍然比压力小得多。从而实现了垂直方向的顺应性。当压机完成后，上模向上移动，这个过程称为“后压”，气缸上的负荷减少。提升力使工件向上移动，直至提升气缸的压力和位置达到新的平衡。</p> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig8"> <div class="floats-partial-content fig-content-fig8"> <div class="partial-carousel--single-image"> <img alt="(一)" name="530247.fig.008a" src="https://static-01.hindawi.com/articles/jr/volume-2011/530247/figures/530247.fig.008a.jpg"> <br> <strong>(一)</S.T.rong> </div> <div class="partial-carousel--single-image"> <img alt="(b)" name="530247.fig.008b" src="https://static-01.hindawi.com/articles/jr/volume-2011/530247/figures/530247.fig.008b.jpg"> <br> <strong>(b)</S.T.rong> </div> </div> <div class="floats-partial-middle"> <div class="floats-partial-middle--thumbs fig-thumbs-fig8"> <button class="partial-carousel-dot" aria-label="(a)"><img alt="(一)" name="530247.fig.008a" src="https://static-01.hindawi.com/articles/jr/volume-2011/530247/figures/530247.fig.008a.jpg"><br><strong>(一)</S.T.rong></button> <button class="partial-carousel-dot" aria-label="(b)"><img alt="(b)" name="530247.fig.008b" src="https://static-01.hindawi.com/articles/jr/volume-2011/530247/figures/530247.fig.008b.jpg"><br><strong>(b)</S.T.rong></button> </div> <div class="partial-carousel-next-prev fig-nav-fig8"> <button class="carousel-prev" aria-label="Previous"></button> <button class="carousel-next" aria-label="Next"></button> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图8.</S.pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2011/530247/fig8/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 说明锻造过程中的符合性。</T.一个ble> </div> </div> </div> <h4 id="experiment-results">6.实验结果</h4> <p>实验是在我们研究所的新型液压锻造机械手的真正原型上执行的，如图所示<一个href="//www.newsama.com/journals/jr/2011/530247/fig9/" target="_blank">9</一个>．操纵器的机构和液压系统与具有2000 kN和4000 knm负载矩的承载能力的轨道结合的锻造机械系统相同。该原型的主要特性是承载容量60kN，负载力矩150knm和安装功率130kW。液压致动器由恒压泵浦源供电，并由带有位置换能器的伺服划线阀控制。可编程逻辑控制器执行所有控制操作。</p> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig9"> <div class="floats-partial-content fig-content-fig9"> <div class="partial-carousel--single-image"> <img alt="" name="530247.fig.009" src="https://static-01.hindawi.com/articles/jr/volume-2011/530247/figures/530247.fig.009.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图9.</S.pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2011/530247/fig9/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 新型液压锻造机械手的原型。</T.一个ble> </div> </div> </div> <p>数字<一个href="//www.newsama.com/journals/jr/2011/530247/fig10/" target="_blank">10</一个>演示了工件重量和重力力矩的测量。控制器试图保持恒定压力4.2 MPa，当工件位置高度超过预设命令位置400mm时，位置负反馈工作。当提升油缸停止移动时，控制回到稳定的稳定状态。通过该曲线可以确定重量平衡压力为3.55 MPa。</p> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig10"> <div class="floats-partial-content fig-content-fig10"> <div class="partial-carousel--single-image"> <img alt="" name="530247.fig.0010" src="https://static-01.hindawi.com/articles/jr/volume-2011/530247/figures/530247.fig.0010.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图10.</S.pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2011/530247/fig10/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 升降缸中的压力曲线。</T.一个ble> </div> </div> </div> <p>数字<一个href="//www.newsama.com/journals/jr/2011/530247/fig11/" target="_blank">11</一个>描述了将工件放在下模具上的过程。当指令位置信号以恒定速率衰减时，工件向下移动试图捕捉速率。工件与下模的接触可以通过提升气缸的压力变化来检测。提升气缸保持在这个位置。工件放置的高度可以从曲线上找到。</p> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig11"> <div class="floats-partial-content fig-content-fig11"> <div class="partial-carousel--single-image"> <img alt="" name="530247.fig.0011" src="https://static-01.hindawi.com/articles/jr/volume-2011/530247/figures/530247.fig.0011.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图11.</S.pan> <a aria-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2011/530247/fig11/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 升降缸中的位置曲线。</T.一个ble> </div> </div> </div> <p>实验结果表明，该方法简单可行。所提出的控制方法均在锻压机械臂原型机上实现。这些实验数据为进一步研究重型锻压机械手的智能控制奠定了基础。</p> <h4 id="conclusions">7.结论</h4> <p>提出了一种新颖的液压锻造机械手，具有新设计的机理，智能控制策略和改进的液压控制方法。主要运动机构是解耦的，因此大大简化了锻造机械手的控制。工件可以通过用力感知锻造机械手轻轻地放下。此外，锻造机械手可以符合工件在锻造步骤期间施加在其上的外力。这些基于本文提出的新的压力控制方法和液压伺服系统的混合压力/位置控制方法。所有液压控制方法和智能控制策略都是通过在原型锻造机械手上的实验验证的。这项工作为进一步发展的智能重型锻造机械手提供了理论和实践基础。</p> <h4 id="acknowledgments">致谢</h4> <p>本研究得到了重要的国家科技特定项目（授予2009ZX04013-021）和中国的国家高科技研发计划（863计划，授予No.2009AA044102）。</p> </div> <div class="xml-content"> <h4 class="references" id="references">参考</h4> <ol> <li id="B1">E. Appleton，W.B.Heginbotham和D.法律，“与工业机器人开放的锻造。”<一世>工业机器人</一世>，第6卷，第2期第4页，191-194页，1979。<S.pan class="reflinks">视图:<一个href="https://scholar.google.com/scholar_lookup?title=Open%20die%20forging%20with%20industrial%20robots.&author=E. Appleton&author=W. B. Heginbotham&author=&author=D. Law&publication_year=1979" target="_blank">谷歌学术</一个></span></li> <li id="B2">“达到通过计算机自由编程的自由编程控制，计算机”<一世>Ishikawajima-harima工程审查</一世>，第十七卷，第二期6，第599-606页，1997。<S.pan class="reflinks">视图:<一个href="https://scholar.google.com/scholar_lookup?title=Attaining%20practicality%20of%20freely%20programmable%20control%20of%20an%20open%20die%20forging%20press%20and%20forging%20manipulator%20by%20a%20computer&publication_year=1997" target="_blank">谷歌学术</一个></span></li> <li id="B3">R. A. Ridgeway，“液压开孔锻造压力机的微处理器利用”，<一世>工业电子和控制仪器上的IEEE交易</一世>，卷。22，没有。3，pp。307-309,1975。<S.pan class="reflinks">视图:<一个href="https://scholar.google.com/scholar_lookup?title=Microprocessor%20utilization%20in%20hydraulic%20open-die%20forge%20press%20control&author=R. A. Ridgeway&publication_year=1975" target="_blank">谷歌学术</一个></span></li> <li id="B4">V.Vitscheff，“用于封闭式锻造的可编程机械手，”<一世>第九届国际空投锻造公约论文集</一世>1977年，日本京都。<S.pan class="reflinks">视图:<一个href="https://scholar.google.com/scholar_lookup?title=A%20programmable%20manipulator%20for%20closed%20die%20forging&author=V. Vitscheff" target="_blank">谷歌学术</一个></span></li> <li id="B5">Heginbotham, A. K. Sengupta, and E. Appleton， " An ASEA robot as An opendie forging manipulator， " in<一世>第二届国际会计师公会/国际会计师公会研讨会论文集</一世>，pp.183-193，斯图加特，德国，1979年。<S.pan class="reflinks">视图:<一个href="https://scholar.google.com/scholar_lookup?title=An%20ASEA%20robot%20as%20an%20open-die%20forging%20manipulator&author=W. B. Heginbotham&author=A. K. Sengupta&author=&author=E. Appleton" target="_blank">谷歌学术</一个></span></li> <li id="B6">A. K.森古普塔，E.阿普尔顿，W. B.海金波坦，《用工业机器人锻造环》<一世>第十届工业机器人国际研讨会论文集</一世>，页29-42，米兰，意大利，1980。<S.pan class="reflinks">视图:<一个href="https://scholar.google.com/scholar_lookup?title=Ring%20forging%20with%20an%20industrial%20robot&author=A. K. Sengupta&author=E. Appleton&author=&author=W. B. Heginbotham" target="_blank">谷歌学术</一个></span></li> <li id="B7">K. W. Lilly和A. S. Melligeri，“智能锻造中心的动态模拟和神经网络合规控制”，<一世>智能与机器人系统学报</一世>，第十七卷，第二期1，页81-99,1996。<S.pan class="reflinks">视图:<一个href="https://scholar.google.com/scholar_lookup?title=Dynamic%20simulation%20and%20neural%20network%20compliance%20control%20of%20an%20intelligent%20forging%20center&author=K. W. Lilly &author=A. S. Melligeri&publication_year=1996" target="_blank">谷歌学术</一个></span></li> <li id="B8">“神经网络在集成机器人/锻造加工中心的遵从性控制中的应用”，国立中山大学机械工程研究所硕士论文<一世>制造系统的进展:设计，建模和分析</一世>，页445-450,Elsevier，纽约，纽约，美国，1993。<S.pan class="reflinks">视图:<一个href="https://scholar.google.com/scholar_lookup?title=Application%20of%20neural%20networks%20in%20compliance%20control%20of%20an%20integrated%20robot/forge%20processing%20center&author=A. S. Melligeri &author=K. W. Lilly&publication_year=1993" target="_blank">谷歌学术</一个></span></li> <li id="B9">M. Baldassi，《带操纵装置的开放式模锻压力机》，<一世>锻造</一世>第14卷第2期5，页16-18,2003。<S.pan class="reflinks">视图:<一个href="https://scholar.google.com/scholar_lookup?title=Open%20die%20forging%20presses%20with%20manipulators&author=M. Baldassi&publication_year=2003" target="_blank">谷歌学术</一个></span></li> <li id="B10">S. Sheikhi，“德国开放式锻造领域的最新发展”<一世>Stahl und eisen.</一世>，卷。129，没有。4，pp。33-39,2009。<S.pan class="reflinks">视图:<一个href="https://scholar.google.com/scholar_lookup?title=Latest%20developments%20in%20the%20field%20of%20open-die%20forging%20in%20Germany&author=S. Sheikhi&publication_year=2009" target="_blank">谷歌学术</一个></span></li> <li id="B11">王文仁，“基于有限元仿真和运动学分析的大锻压过程与辅助机械臂的相互作用评价”，《机械工程学报》，<一世>国际先进制造技术杂志</一世>，第48卷，第48期5-8，页481-491,2010。<S.pan class="reflinks">视图:<一个href="https://doi.org/10.1007/s00170-009-2285-3">出版商的网站</一个><span class="sep">|</S.pan><a href="https://scholar.google.com/scholar_lookup?title=Evaluating%20interactions%20between%20the%20heavy%20forging%20process%20and%20the%20assisting%20manipulator%20combining%20FEM%20simulation%20and%20kinematics%20analysis&author=W. R. Wang&author=K. Zhao&author=Z. Q. Lin&author=&author=H. Wang&publication_year=2010" target="_blank">谷歌学术</一个></span></li> <li id="B12">C. Y. Yan，F. Gao和Y. Zhang，“串行锻造机械手的运动学建模，其适用于重型操纵”，“<一世>基于机械结构的结构和机械设计</一世>第38卷第2期1, pp. 105-129, 2010。<S.pan class="reflinks">视图:<一个href="https://doi.org/10.1080/15397730903455344">出版商的网站</一个><span class="sep">|</S.pan><a href="https://scholar.google.com/scholar_lookup?title=Kinematic%20modeling%20of%20a%20serial-parallel%20forging%20manipulator%20with%20application%20to%20heavy-duty%20manipulations&author=C. Y. Yan&author=F. Gao&author=&author=Y. Zhang&publication_year=2010" target="_blank">谷歌学术</一个></span></li> <li id="B13">李光，孙文军，刘德胜，“锻造机械臂在锻造过程中的动态载荷分析”，《机械工程学报》，2014年第4期<一世>第三届机械工程与力学国际会议论文集</一世>，pp。1616-1621,2009。<S.pan class="reflinks">视图:<一个href="https://scholar.google.com/scholar_lookup?title=Dynamic%20load%20analysis%20of%20forging%20manipulator%20during%20the%20whole%20forging%20stroke&author=G. Li&author=W. J. Sun&author=&author=D. S. Liu" target="_blank">谷歌学术</一个></span></li> <li id="B14">闫长勇，“一种新型锻造机械臂的动态稳定性分析”，载<一世>第1届国际智能机器人与应用会议论文集(ICIRA’08)</一世>， pp. 449-458，中国武汉，2008年10月。<S.pan class="reflinks">视图:<一个href="https://scholar.google.com/scholar_lookup?title=Dynamic%20stability%20analysis%20of%20a%20novel%20forging%20manipulator&author=C. Y. Yan &author=F. Gao" target="_blank">谷歌学术</一个></span></li> <li id="B15">D. S. Liu和G. Li，“新闻动作下锻造机械手的动态行为”<一世>主要工程材料</一世>，卷。419-420，pp.417-420，2010。<S.pan class="reflinks">视图:<一个href="https://doi.org/10.4028/www.scientific.net/KEM.419-420.417">出版商的网站</一个><span class="sep">|</S.pan><a href="https://scholar.google.com/scholar_lookup?title=Dynamic%20behavior%20of%20the%20forging%20manipulator%20under%20the%20press%20motions&author=D. S. Liu &author=G. Li&publication_year=2010" target="_blank">谷歌学术</一个></span></li> <li id="B16">G. L. Chen，H. Wang，K. Zhao和Z. Q. Lin，“Jacobian矩阵的模块化计算及其在锻造机器人的性能分析中的应用”，<一世>先进的机器人</一世>，卷。23，不。10，pp。1261-1279，2009。<S.pan class="reflinks">视图:<一个href="https://scholar.google.com/scholar_lookup?title=Modular%20calculation%20of%20the%20Jacobian%20matrix%20and%20its%20application%20to%20the%20performance%20analyses%20of%20a%20forging%20robot&author=G. L. Chen&author=H. Wang&author=K. Zhao&author=&author=Z. Q. Lin&publication_year=2009" target="_blank">谷歌学术</一个></span></li> <li id="B17">g . d . s . Liu, x l .郭y . g .商和d·h·刘,“性能优化锻造机械手在整个锻造中风,”<一世>智能机器人与应用国际会议论文集(ICIRA’10)</一世>，页305 - 316,2010。<S.pan class="reflinks">视图:<一个href="https://scholar.google.com/scholar_lookup?title=Performance%20Optimization%20of%20forging%20manipulator%20during%20the%20whole%20forging%20stroke&author=D. S. Liu&author=G. Li&author=X. L. Guo&author=Y. G. Shang&author=&author=D. H. Liu" target="_blank">谷歌学术</一个></span></li> </ol> </div> <div class="xml-content"> <h4 class="copyright" id="copyright">版权</h4> <p>版权所有©2011王军等。这是一篇发布在<一个rel="license" href="http://creativecommons.org/licenses/by/3.0/">知识共享署名许可协议</一个>，允许在任何媒介上不受限制地使用、传播和复制，但必须正确引用原作。</p> </div> </div> </article> </div> </div> </div> <div class="biblio__Wrapper-sc-1nou1lz-0 eyHfWh journal_article__BiblioIntegratorWidget-sc-12fk6zy-6 bqUtxN article_widget biblioWrapper hide"> <hr> <h4 class="biblio__H4-sc-1nou1lz-2 kgAKHb hrTitleRef">更多相关文章</h4> <div id="biblio_widget" class="biblio__BiblioWrapper-sc-1nou1lz-1 dhicaS"></div> </div> </div> </div> <div class="threeColumn__RightWrapper-sc-1bf4078-2 sZeeW rightWrapper"> <div id="rightSectionMenu" class="sc-hZSUBg hwTmaF journal_article__StickyRight-sc-12fk6zy-0 xuPEv"> <div class="journal_article__ArticleStickyTopToolbar-sc-12fk6zy-1 iKpUSJ article_sticky_top_toolbar"> <div class="sc-jrIrqw deaPpH article_top_toolbar"> <div class="sc-hjRWVT iLecBy article_toolbar_views"> 2165. 意见 | 1296. 下载 | 4 引用</div> <a class="sc-htpNat bUhGXt link sc-cbkKFq dNPgJJ sc-iybRtq jghqNV pdf_desktop" href="//www.newsama.com/downloads/journals/jr/2011/530247.pdf" aria-label="" target="_blank" id=""><span><img alt="" class="sc-EHOje fEOMwM sc-krvtoX isUmzT" title="" role="presentation" src="https://static-01.hindawi.com/next_assets/Lvhw1J_a6cWVqaLmZO6Im/_next/static/node_modules/hindawi-ui/src/icon/svg/pdf.svg" height="24"><span class="text">PDF.</S.pan></span><img alt="" class="sc-EHOje ggEPYc sc-fYiAbW eBEQa fileArrow" title="" role="presentation" src="data:image/svg+xml;base64,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" height="20"></a> <a class="sc-htpNat bUhGXt link sc-cbkKFq dNPgJJ sc-iQtOjA huyqUq ref_desktop" href="//www.newsama.com/journals/jr/2011/530247.ris" aria-label="" target="" id="toolbar__dcNavLarge"><span><img alt="" class="sc-EHOje fEOMwM sc-krvtoX isUmzT" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iMTgiIGhlaWdodD0iMjIiIHZpZXdCb3g9IjAgMCAxOCAyMiI+PGRlZnM+PGNsaXBQYXRoIGlkPSJhIj48cGF0aCBkPSJNMywyMmEzLDMsMCwwLDEtMy0zVjNBMywzLDAsMCwxLDMsMGg4YS45OTEuOTkxLDAsMCwxLC41NzMuMTgxbDAsMCwuMDA4LjAwNmEuOTU1Ljk1NSwwLDAsMSwuMTIyLjFsNiw2YTEuMDI1LDEuMDI1LDAsMCwxLC4xLjEyMmwuMDA2LjAxLDAsMEExLDEsMCwwLDEsMTgsNi45NzVWMTlhMywzLDAsMCwxLTMsM1pNMiwzVjE5YTEsMSwwLDAsMCwxLDFIMTVhMSwxLDAsMCwwLDEtMVY4SDExYTEsMSwwLDAsMS0xLTFWMkgzQTEsMSwwLDAsMCwyLDNaTTEyLDZoMi41ODdMMTIsMy40MTRaTTUsMTdhMSwxLDAsMSwxLDAtMmg4YTEsMSwwLDEsMSwwLDJabTAtNGExLDEsMCwxLDEsMC0yaDhhMSwxLDAsMSwxLDAsMlpNNSw5QTEsMSwwLDEsMSw1LDdIN0ExLDEsMCwwLDEsNyw5WiIgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoMyAxKSIvPjwvY2xpcFBhdGg+PC9kZWZzPjxnIHRyYW5zZm9ybT0idHJhbnNsYXRlKC0zIC0xKSI+PHBhdGggZD0iTTMsMjJhMywzLDAsMCwxLTMtM1YzQTMsMywwLDAsMSwzLDBoOGEuOTkxLjk5MSwwLDAsMSwuNTczLjE4MWwwLDAsLjAwOC4wMDZhLjk1NS45NTUsMCwwLDEsLjEyMi4xbDYsNmExLjAyNSwxLjAyNSwwLDAsMSwuMS4xMjJsLjAwNi4wMSwwLDBBMSwxLDAsMCwxLDE4LDYuOTc1VjE5YTMsMywwLDAsMS0zLDNaTTIsM1YxOWExLDEsMCwwLDAsMSwxSDE1YTEsMSwwLDAsMCwxLTFWOEgxMWExLDEsMCwwLDEtMS0xVjJIM0ExLDEsMCwwLDAsMiwzWk0xMiw2aDIuNTg3TDEyLDMuNDE0Wk01LDE3YTEsMSwwLDEsMSwwLTJoOGExLDEsMCwxLDEsMCwyWm0wLTRhMSwxLDAsMSwxLDAtMmg4YTEsMSwwLDEsMSwwLDJaTTUsOUExLDEsMCwxLDEsNSw3SDdBMSwxLDAsMCwxLDcsOVoiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDMgMSkiLz48ZyBjbGlwLXBhdGg9InVybCgjYSkiPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0icmdiYSgwLDAsMCwwKSIvPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIvPjwvZz48L2c+PC9zdmc+" height="24"><span class="text">下载引用</S.pan></span><img alt="" class="sc-EHOje ggEPYc sc-fYiAbW eBEQa fileArrow" title="" role="presentation" src="data:image/svg+xml;base64,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" height="20"></a> <a class="sc-htpNat bUhGXt link sc-cbkKFq dNPgJJ sc-fHxwqH dPWBKK ref_desktop" href="//www.newsama.com/journals/jr/2011/530247.ris" aria-label="" target="" id="toolbar__dcNavSmall"><span><img alt="" class="sc-EHOje fEOMwM sc-krvtoX isUmzT" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iMTgiIGhlaWdodD0iMjIiIHZpZXdCb3g9IjAgMCAxOCAyMiI+PGRlZnM+PGNsaXBQYXRoIGlkPSJhIj48cGF0aCBkPSJNMywyMmEzLDMsMCwwLDEtMy0zVjNBMywzLDAsMCwxLDMsMGg4YS45OTEuOTkxLDAsMCwxLC41NzMuMTgxbDAsMCwuMDA4LjAwNmEuOTU1Ljk1NSwwLDAsMSwuMTIyLjFsNiw2YTEuMDI1LDEuMDI1LDAsMCwxLC4xLjEyMmwuMDA2LjAxLDAsMEExLDEsMCwwLDEsMTgsNi45NzVWMTlhMywzLDAsMCwxLTMsM1pNMiwzVjE5YTEsMSwwLDAsMCwxLDFIMTVhMSwxLDAsMCwwLDEtMVY4SDExYTEsMSwwLDAsMS0xLTFWMkgzQTEsMSwwLDAsMCwyLDNaTTEyLDZoMi41ODdMMTIsMy40MTRaTTUsMTdhMSwxLDAsMSwxLDAtMmg4YTEsMSwwLDEsMSwwLDJabTAtNGExLDEsMCwxLDEsMC0yaDhhMSwxLDAsMSwxLDAsMlpNNSw5QTEsMSwwLDEsMSw1LDdIN0ExLDEsMCwwLDEsNyw5WiIgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoMyAxKSIvPjwvY2xpcFBhdGg+PC9kZWZzPjxnIHRyYW5zZm9ybT0idHJhbnNsYXRlKC0zIC0xKSI+PHBhdGggZD0iTTMsMjJhMywzLDAsMCwxLTMtM1YzQTMsMywwLDAsMSwzLDBoOGEuOTkxLjk5MSwwLDAsMSwuNTczLjE4MWwwLDAsLjAwOC4wMDZhLjk1NS45NTUsMCwwLDEsLjEyMi4xbDYsNmExLjAyNSwxLjAyNSwwLDAsMSwuMS4xMjJsLjAwNi4wMSwwLDBBMSwxLDAsMCwxLDE4LDYuOTc1VjE5YTMsMywwLDAsMS0zLDNaTTIsM1YxOWExLDEsMCwwLDAsMSwxSDE1YTEsMSwwLDAsMCwxLTFWOEgxMWExLDEsMCwwLDEtMS0xVjJIM0ExLDEsMCwwLDAsMiwzWk0xMiw2aDIuNTg3TDEyLDMuNDE0Wk01LDE3YTEsMSwwLDEsMSwwLTJoOGExLDEsMCwxLDEsMCwyWm0wLTRhMSwxLDAsMSwxLDAtMmg4YTEsMSwwLDEsMSwwLDJaTTUsOUExLDEsMCwxLDEsNSw3SDdBMSwxLDAsMCwxLDcsOVoiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDMgMSkiLz48ZyBjbGlwLXBhdGg9InVybCgjYSkiPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0icmdiYSgwLDAsMCwwKSIvPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIvPjwvZz48L2c+PC9zdmc+" height="24"><span class="text">引文</S.pan></span><img alt="" class="sc-EHOje ggEPYc sc-fYiAbW eBEQa fileArrow" title="" role="presentation" src="data:image/svg+xml;base64,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" height="20"></a> </div> </div> <div class="journal_article__ArticleStickyBottomToolbar-sc-12fk6zy-2 gvAMNw article_sticky_bottom_toolbar"> <div class="sc-fyjhYU bmCmNg article_bottom_toolbar"> <div class="sc-ugnQR bdNavy accordion" property="background-color" color="#D8D8D8" id="toolbar__dofNav"> <span><img alt="" class="sc-EHOje fEOMwM sc-iomxrj czMNsj" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iMjAiIGhlaWdodD0iMjIiIHZpZXdCb3g9IjAgMCAyMCAyMiI+PGRlZnM+PGNsaXBQYXRoIGlkPSJhIj48cGF0aCBkPSJNMywyMmEzLDMsMCwwLDEtMy0zVjE2YTEsMSwwLDAsMSwyLDB2M2ExLDEsMCwwLDAsMSwxSDE3YTEsMSwwLDAsMCwxLTFWMTZhMSwxLDAsMSwxLDIsMHYzYTMsMywwLDAsMS0zLDNabTYuMjg4LTYuMy00LTRhMSwxLDAsMCwxLDEuNDE0LTEuNDE0TDksMTIuNTg2VjFhMSwxLDAsMCwxLDIsMFYxMi41ODZsMi4yOTMtMi4yOTNhMSwxLDAsMCwxLDEuNDE0LDEuNDE0bC00LDRhMSwxLDAsMCwxLTEuNDIzLDBaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSgyIDEpIi8+PC9jbGlwUGF0aD48L2RlZnM+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTIgLTEpIj48cGF0aCBkPSJNMywyMmEzLDMsMCwwLDEtMy0zVjE2YTEsMSwwLDAsMSwyLDB2M2ExLDEsMCwwLDAsMSwxSDE3YTEsMSwwLDAsMCwxLTFWMTZhMSwxLDAsMSwxLDIsMHYzYTMsMywwLDAsMS0zLDNabTYuMjg4LTYuMy00LTRhMSwxLDAsMCwxLDEuNDE0LTEuNDE0TDksMTIuNTg2VjFhMSwxLDAsMCwxLDIsMFYxMi41ODZsMi4yOTMtMi4yOTNhMSwxLDAsMCwxLDEuNDE0LDEuNDE0bC00LDRhMSwxLDAsMCwxLTEuNDIzLDBaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSgyIDEpIi8+PGcgY2xpcC1wYXRoPSJ1cmwoI2EpIj48cmVjdCB3aWR0aD0iMjQiIGhlaWdodD0iMjQiIGZpbGw9InJnYmEoMCwwLDAsMCkiLz48cmVjdCB3aWR0aD0iMjQiIGhlaWdodD0iMjQiLz48L2c+PC9nPjwvc3ZnPg==" height="24"><span class="sc-iFMziU gCiAsp">下载其他格式</S.pan><span class="sc-keVrkP hYjHxB">更多的</S.pan></span> <img alt="" class="sc-EHOje fEOMwM sc-dvCyap bivFoZ" title="" role="presentation" src="data:image/svg+xml;base64,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" height="24"> </div> <div class="sc-eIHaNI qcTAH"> <a class="sc-htpNat bUhGXt link sc-eTpRJs eqSlZb open_panel" href="//www.newsama.com/downloads/journals/jr/2011/530247.epub" aria-label="ePub" property="background-color" color="#D8D8D8"> <div class="sc-dxZgTM jwQjXi"> epub.</div><img alt="" class="sc-EHOje fEOMwM sc-iomxrj czMNsj" title="" role="presentation" src="data:image/svg+xml;base64,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" height="24"></a> <a class="sc-htpNat bUhGXt link sc-eTpRJs eqSlZb open_panel" href="//www.newsama.com/downloads/journals/jr/2011/530247.xml" aria-label="XML" property="background-color" color="#D8D8D8"> <div class="sc-dxZgTM jwQjXi"> XML.</div><img alt="" class="sc-EHOje fEOMwM sc-iomxrj czMNsj" title="" role="presentation" src="data:image/svg+xml;base64,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" height="24"></a> </div> <a class="sc-htpNat bUhGXt link sc-cBdUnI kZBKov" href="//www.newsama.com/reprints/530247/confirm" aria-label="Order Printed Copies" target="_blank" property="background-color" color="#D8D8D8" id="toolbar__opcNav"><span><img alt="" class="sc-EHOje fEOMwM sc-iomxrj czMNsj" title="" role="presentation" src="data:image/svg+xml;base64,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" height="24"><span class="sc-iFMziU gCiAsp">订单打印副本</S.pan><span class="sc-keVrkP hYjHxB">订单</S.pan></span><img alt="" class="sc-EHOje cPuqxU sc-dvCyap bivFoZ right__icon" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iMTgiIGhlaWdodD0iMTQiIHZpZXdCb3g9IjAgMCAxOCAxNCI+PGRlZnM+PGNsaXBQYXRoIGlkPSJhIj48cGF0aCBkPSJNMTAuMjkzLDEzLjcwN2ExLDEsMCwwLDEsMC0xLjQxNEwxNC41ODYsOEgxQTEsMSwwLDAsMSwxLDZIMTQuNTg2TDEwLjI5MywxLjcwN0ExLDEsMCwwLDEsMTEuNzA3LjI5M2w2LDZhMSwxLDAsMCwxLC4xNzIuMjMxaDBsLjAxLjAxOSwwLC4wMDUuMDA3LjAxNC4wMDYuMDEyLDAsLjAwOC4wMDguMDE4djBhMSwxLDAsMCwxLS4wMDkuODE3bDAsMEwxNy45LDcuNDRsMCwuMDA5LS4wMDUuMDExLS4wMDcuMDEzLDAsLjAwOC0uMDA4LjAxNSwwLC4wMDUtLjAxLjAxNiwwLDAtLjAxMS4wMTcsMCwwLS4wMTIuMDE4LDAsMC0uMDEyLjAxNywwLDBMMTcuOCw3LjZsMCwwLS4wMTEuMDE0LDAsLjAwNi0uMDEuMDEyLS4wMDkuMDExLS4wMDYuMDA3LS4wMTUuMDE3aDBsLS4wNC4wNDItNiw2YTEsMSwwLDAsMS0xLjQxNCwwWiIgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoMyA1KSIvPjwvY2xpcFBhdGg+PC9kZWZzPjxnIHRyYW5zZm9ybT0idHJhbnNsYXRlKC0zIC01KSI+PHBhdGggZD0iTTEwLjI5MywxMy43MDdhMSwxLDAsMCwxLDAtMS40MTRMMTQuNTg2LDhIMUExLDEsMCwwLDEsMSw2SDE0LjU4NkwxMC4yOTMsMS43MDdBMSwxLDAsMCwxLDExLjcwNy4yOTNsNiw2YTEsMSwwLDAsMSwuMTcyLjIzMWgwbC4wMS4wMTksMCwuMDA1LjAwNy4wMTQuMDA2LjAxMiwwLC4wMDguMDA4LjAxOHYwYTEsMSwwLDAsMS0uMDA5LjgxN2wwLDBMMTcuOSw3LjQ0bDAsLjAwOS0uMDA1LjAxMS0uMDA3LjAxMywwLC4wMDgtLjAwOC4wMTUsMCwuMDA1LS4wMS4wMTYsMCwwLS4wMTEuMDE3LDAsMC0uMDEyLjAxOCwwLDAtLjAxMi4wMTcsMCwwTDE3LjgsNy42bDAsMC0uMDExLjAxNCwwLC4wMDYtLjAxLjAxMi0uMDA5LjAxMS0uMDA2LjAwNy0uMDE1LjAxN2gwbC0uMDQuMDQyLTYsNmExLDEsMCwwLDEtMS40MTQsMFoiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDMgNSkiLz48ZyBjbGlwLXBhdGg9InVybCgjYSkiPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0icmdiYSgwLDAsMCwwKSIvPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0iIzZiYTQzOSIvPjwvZz48L2c+PC9zdmc+" height="16"></a> <nav class="sc-gipzik iSMweP sc-gVLVqr buUPyq" id="toolbar__iconNav"> <h3 class="sc-jlyJG fqZLRe">分享文章</h3> <ul class="sc-csuQGl ilZKno"> <li class="iconBorder"><a class="sc-htpNat bUhGXt link" href="https://twitter.com/share?url=https://doi.org/10.1155/2011/530247&via=Hindawi" aria-label="Sharing on Twitter" rel="noopener noreferrer" target="_blank"><img alt="" class="sc-EHOje fEOMwM socialTwitter" title="" role="presentation" src="data:image/svg+xml;base64,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" height="24"></a></li> <li class="iconBorder"><a class="sc-htpNat bUhGXt link" href="https://www.linkedin.com/shareArticle/?url=https://doi.org/10.1155/2011/530247" aria-label="Sharing on Linkedin" rel="noopener noreferrer" target="_blank"><img alt="" class="sc-EHOje fEOMwM socialLinkedin" title="" role="presentation" src="https://static-01.hindawi.com/next_assets/Lvhw1J_a6cWVqaLmZO6Im/_next/static/node_modules/hindawi-ui/src/icon/svg/socialLinkedin.svg" height="24"></a></li> <li class="iconBorder"><a class="sc-htpNat bUhGXt link" href="https://www.facebook.com/sharer/sharer.php?u=https://doi.org/10.1155/2011/530247" aria-label="Sharing on Facebook" rel="noopener noreferrer" target="_blank"><img alt="" class="sc-EHOje fEOMwM socialFacebook" title="" role="presentation" src="https://static-01.hindawi.com/next_assets/Lvhw1J_a6cWVqaLmZO6Im/_next/static/node_modules/hindawi-ui/src/icon/svg/socialFacebook.svg" height="24"></a></li> <li><a class="sc-htpNat bUhGXt link" href="mailto:?subject=Intelligent Control of a Novel Hydraulic Forging Manipulator&body=https://doi.org/10.1155/2011/530247" aria-label="Sharing on Mail"><img alt="" class="sc-EHOje fEOMwM socialMail" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iMjIuOTE3IiBoZWlnaHQ9IjE4IiB2aWV3Qm94PSIwIDAgMjIuOTE3IDE4Ij48ZGVmcz48Y2xpcFBhdGggaWQ9ImEiPjxwYXRoIGQ9Ik0zLjEyNSwxOEEzLjA2NywzLjA2NywwLDAsMSwwLDE1VjMuMDFDMCwzLDAsMi45OSwwLDIuOThBMy4wNjgsMy4wNjgsMCwwLDEsMy4xMjUsMEgxOS43OTJhMy4wNjgsMy4wNjgsMCwwLDEsMy4xMjYsM1YxNWEzLjA2OCwzLjA2OCwwLDAsMS0zLjEyNiwzWk0yLjA4MywxNWExLjAyMiwxLjAyMiwwLDAsMCwxLjA0MiwxSDE5Ljc5MmExLjAyMiwxLjAyMiwwLDAsMCwxLjA0Mi0xVjQuOTIxbC04Ljc3OCw1LjlhMS4wNzYsMS4wNzYsMCwwLDEtMS4xOTQsMGwtOC43NzgtNS45Wk0xMS40NTgsOC43OGw5LjI2NS02LjIyNkExLjA0NywxLjA0NywwLDAsMCwxOS43OTIsMkgzLjEyNWExLjA0NywxLjA0NywwLDAsMC0uOTMyLjU1M1oiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDApIi8+PC9jbGlwUGF0aD48L2RlZnM+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoMCkiIGNsaXAtcGF0aD0idXJsKCNhKSI+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTEuMDQyIC0zKSI+PHJlY3Qgd2lkdGg9IjI1IiBoZWlnaHQ9IjI0IiBmaWxsPSJyZ2JhKDAsMCwwLDApIi8+PHJlY3Qgd2lkdGg9IjI0IiBoZWlnaHQ9IjI0IiBmaWxsPSIjNmJhNDM5Ii8+PC9nPjwvZz48L3N2Zz4=" height="24"></a></li> </ul> </nav> </div> </div> </div> <div class="biblio__Wrapper-sc-1nou1lz-0 cBTaXT journal_article__BiblioIntegratorSidebar-sc-12fk6zy-5 cWHNip biblioWrapperRight biblioWrapper hide"> <hr> <h4 class="biblio__H4-sc-1nou1lz-2 kgAKHb hrTitleRef">相关文章</h4> <div id="biblio_sidebar" class="biblio__BiblioWrapper-sc-1nou1lz-1 dhicaS"></div> </div> </div> </div> </div> </main> <footer class="sc-kpOJdX fnXcho"> <section class="sc-dxgOiQ jouXcH"> <div class="sc-bZQynM bNmdOy E_HUmlU2Hj3PpkDmWzKPd primary__footer footer__bodypadding"> <div class="sc-ckVGcZ gizesk mobile"> 遵循我们:<N一个v role="navigation" class="sc-eNQAEJ kZcFWM"> <a class="sc-htpNat bUhGXt link sc-jKJlTe kkOZmp" href="https://twitter.com/hindawi" aria-label="Twitter" rel="noopener noreferrer" target="_blank"><img alt="" class="sc-EHOje dyvnNv" title="" role="presentation" src="data:image/svg+xml;base64,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" height="40"></a> <a class="sc-htpNat bUhGXt link sc-jKJlTe kkOZmp" href="https://www.linkedin.com/company/hindawilimited/" aria-label="LinkedIn" rel="noopener noreferrer" target="_blank"><img alt="" class="sc-EHOje dyvnNv" title="" role="presentation" src="data:image/svg+xml;base64,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" height="40"></a> <a class="sc-htpNat bUhGXt link sc-jKJlTe kkOZmp" href="https://www.youtube.com/channel/UCDIK_O7FATPEkhad_sQVaSg" aria-label="Youtube" rel="noopener noreferrer" target="_blank"><img alt="" class="sc-EHOje dyvnNv" title="" role="presentation" src="data:image/svg+xml;base64,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" height="40"></a> <a class="sc-htpNat bUhGXt link sc-jKJlTe kkOZmp" href="https://www.facebook.com/HindawiLimited/" aria-label="Facebook" rel="noopener noreferrer" target="_blank"><img alt="" class="sc-EHOje dyvnNv" title="" role="presentation" src="https://static-01.hindawi.com/next_assets/Lvhw1J_a6cWVqaLmZO6Im/_next/static/node_modules/hindawi-ui/src/icon/svg/facebookDark.svg" height="40"></a> </nav> </div> <nav class="E_HUmlU2Hj3PpkDmWzKPd _3wm8FgzqRuRWouJG31YgKx" role="navigation"> <ul class="_2k5c8zEhMT-84kRD4oDgAz _1SoDWGr_FVsil9klRfjnhb"> <li><a class="sc-htpNat bUhGXt link about_us" href="//www.newsama.com/about/" aria-label="About us"><img alt="" class="sc-EHOje jRIjVn" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iOCIgaGVpZ2h0PSIxNCIgdmlld0JveD0iMCAwIDggMTQiPjxkZWZzPjxjbGlwUGF0aCBpZD0iYSI+PHBhdGggZD0iTTcsMi40MTRsNS4yOTMsNS4yOTNhMSwxLDAsMSwwLDEuNDE0LTEuNDE0bC02LTZhMSwxLDAsMCwwLTEuNDE0LDBsLTYsNkExLDEsMCwwLDAsMS43MDcsNy43MDdaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSg1IDgpIi8+PC9jbGlwUGF0aD48L2RlZnM+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTggMTkpIHJvdGF0ZSgtOTApIj48cGF0aCBkPSJNNywyLjQxNGw1LjI5Myw1LjI5M2ExLDEsMCwxLDAsMS40MTQtMS40MTRsLTYtNmExLDEsMCwwLDAtMS40MTQsMGwtNiw2QTEsMSwwLDAsMCwxLjcwNyw3LjcwN1oiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDUgOCkiLz48ZyBjbGlwLXBhdGg9InVybCgjYSkiPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0icmdiYSgwLDAsMCwwKSIvPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0iIzZiYTQzOSIvPjwvZz48L2c+PC9zdmc+" height="14">关于我们</一个></li> <li><a class="sc-htpNat bUhGXt link contact_us" href="//www.newsama.com/about/contact/" aria-label="Contact us"><img alt="" class="sc-EHOje jRIjVn" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iOCIgaGVpZ2h0PSIxNCIgdmlld0JveD0iMCAwIDggMTQiPjxkZWZzPjxjbGlwUGF0aCBpZD0iYSI+PHBhdGggZD0iTTcsMi40MTRsNS4yOTMsNS4yOTNhMSwxLDAsMSwwLDEuNDE0LTEuNDE0bC02LTZhMSwxLDAsMCwwLTEuNDE0LDBsLTYsNkExLDEsMCwwLDAsMS43MDcsNy43MDdaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSg1IDgpIi8+PC9jbGlwUGF0aD48L2RlZnM+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTggMTkpIHJvdGF0ZSgtOTApIj48cGF0aCBkPSJNNywyLjQxNGw1LjI5Myw1LjI5M2ExLDEsMCwxLDAsMS40MTQtMS40MTRsLTYtNmExLDEsMCwwLDAtMS40MTQsMGwtNiw2QTEsMSwwLDAsMCwxLjcwNyw3LjcwN1oiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDUgOCkiLz48ZyBjbGlwLXBhdGg9InVybCgjYSkiPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0icmdiYSgwLDAsMCwwKSIvPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0iIzZiYTQzOSIvPjwvZz48L2c+PC9zdmc+" height="14">联系我们</一个></li> <li><a class="sc-htpNat bUhGXt link partnerships" href="//www.newsama.com/publishing-partnerships/" aria-label="Partnerships"><img alt="" class="sc-EHOje jRIjVn" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iOCIgaGVpZ2h0PSIxNCIgdmlld0JveD0iMCAwIDggMTQiPjxkZWZzPjxjbGlwUGF0aCBpZD0iYSI+PHBhdGggZD0iTTcsMi40MTRsNS4yOTMsNS4yOTNhMSwxLDAsMSwwLDEuNDE0LTEuNDE0bC02LTZhMSwxLDAsMCwwLTEuNDE0LDBsLTYsNkExLDEsMCwwLDAsMS43MDcsNy43MDdaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSg1IDgpIi8+PC9jbGlwUGF0aD48L2RlZnM+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTggMTkpIHJvdGF0ZSgtOTApIj48cGF0aCBkPSJNNywyLjQxNGw1LjI5Myw1LjI5M2ExLDEsMCwxLDAsMS40MTQtMS40MTRsLTYtNmExLDEsMCwwLDAtMS40MTQsMGwtNiw2QTEsMSwwLDAsMCwxLjcwNyw3LjcwN1oiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDUgOCkiLz48ZyBjbGlwLXBhdGg9InVybCgjYSkiPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0icmdiYSgwLDAsMCwwKSIvPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0iIzZiYTQzOSIvPjwvZz48L2c+PC9zdmc+" height="14">合作伙伴关系</一个></li> <li><a class="sc-htpNat bUhGXt link blog" href="//www.newsama.com/blog/" aria-label="Blog"><img alt="" class="sc-EHOje jRIjVn" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iOCIgaGVpZ2h0PSIxNCIgdmlld0JveD0iMCAwIDggMTQiPjxkZWZzPjxjbGlwUGF0aCBpZD0iYSI+PHBhdGggZD0iTTcsMi40MTRsNS4yOTMsNS4yOTNhMSwxLDAsMSwwLDEuNDE0LTEuNDE0bC02LTZhMSwxLDAsMCwwLTEuNDE0LDBsLTYsNkExLDEsMCwwLDAsMS43MDcsNy43MDdaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSg1IDgpIi8+PC9jbGlwUGF0aD48L2RlZnM+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTggMTkpIHJvdGF0ZSgtOTApIj48cGF0aCBkPSJNNywyLjQxNGw1LjI5Myw1LjI5M2ExLDEsMCwxLDAsMS40MTQtMS40MTRsLTYtNmExLDEsMCwwLDAtMS40MTQsMGwtNiw2QTEsMSwwLDAsMCwxLjcwNyw3LjcwN1oiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDUgOCkiLz48ZyBjbGlwLXBhdGg9InVybCgjYSkiPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0icmdiYSgwLDAsMCwwKSIvPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0iIzZiYTQzOSIvPjwvZz48L2c+PC9zdmc+" height="14">博客</一个></li> </ul> <ul class="_2k5c8zEhMT-84kRD4oDgAz _1SoDWGr_FVsil9klRfjnhb"> <li><a class="sc-htpNat bUhGXt link journals" href="//www.newsama.com/journals/" aria-label="Journals"><img alt="" class="sc-EHOje jRIjVn" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iOCIgaGVpZ2h0PSIxNCIgdmlld0JveD0iMCAwIDggMTQiPjxkZWZzPjxjbGlwUGF0aCBpZD0iYSI+PHBhdGggZD0iTTcsMi40MTRsNS4yOTMsNS4yOTNhMSwxLDAsMSwwLDEuNDE0LTEuNDE0bC02LTZhMSwxLDAsMCwwLTEuNDE0LDBsLTYsNkExLDEsMCwwLDAsMS43MDcsNy43MDdaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSg1IDgpIi8+PC9jbGlwUGF0aD48L2RlZnM+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTggMTkpIHJvdGF0ZSgtOTApIj48cGF0aCBkPSJNNywyLjQxNGw1LjI5Myw1LjI5M2ExLDEsMCwxLDAsMS40MTQtMS40MTRsLTYtNmExLDEsMCwwLDAtMS40MTQsMGwtNiw2QTEsMSwwLDAsMCwxLjcwNyw3LjcwN1oiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDUgOCkiLz48ZyBjbGlwLXBhdGg9InVybCgjYSkiPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0icmdiYSgwLDAsMCwwKSIvPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0iIzZiYTQzOSIvPjwvZz48L2c+PC9zdmc+" height="14">期刊</一个></li> <li><a class="sc-htpNat bUhGXt link article_processing_charges" href="//www.newsama.com/publish-research/authors/article-processing-charges/" aria-label="Article Processing Charges"><img alt="" class="sc-EHOje jRIjVn" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iOCIgaGVpZ2h0PSIxNCIgdmlld0JveD0iMCAwIDggMTQiPjxkZWZzPjxjbGlwUGF0aCBpZD0iYSI+PHBhdGggZD0iTTcsMi40MTRsNS4yOTMsNS4yOTNhMSwxLDAsMSwwLDEuNDE0LTEuNDE0bC02LTZhMSwxLDAsMCwwLTEuNDE0LDBsLTYsNkExLDEsMCwwLDAsMS43MDcsNy43MDdaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSg1IDgpIi8+PC9jbGlwUGF0aD48L2RlZnM+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTggMTkpIHJvdGF0ZSgtOTApIj48cGF0aCBkPSJNNywyLjQxNGw1LjI5Myw1LjI5M2ExLDEsMCwxLDAsMS40MTQtMS40MTRsLTYtNmExLDEsMCwwLDAtMS40MTQsMGwtNiw2QTEsMSwwLDAsMCwxLjcwNyw3LjcwN1oiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDUgOCkiLz48ZyBjbGlwLXBhdGg9InVybCgjYSkiPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0icmdiYSgwLDAsMCwwKSIvPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0iIzZiYTQzOSIvPjwvZz48L2c+PC9zdmc+" height="14">文章处理费用</一个></li> <li><a class="sc-htpNat bUhGXt link subscriptions" href="//www.newsama.com/subscriptions/" aria-label="Subscriptions"><img alt="" class="sc-EHOje jRIjVn" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iOCIgaGVpZ2h0PSIxNCIgdmlld0JveD0iMCAwIDggMTQiPjxkZWZzPjxjbGlwUGF0aCBpZD0iYSI+PHBhdGggZD0iTTcsMi40MTRsNS4yOTMsNS4yOTNhMSwxLDAsMSwwLDEuNDE0LTEuNDE0bC02LTZhMSwxLDAsMCwwLTEuNDE0LDBsLTYsNkExLDEsMCwwLDAsMS43MDcsNy43MDdaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSg1IDgpIi8+PC9jbGlwUGF0aD48L2RlZnM+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTggMTkpIHJvdGF0ZSgtOTApIj48cGF0aCBkPSJNNywyLjQxNGw1LjI5Myw1LjI5M2ExLDEsMCwxLDAsMS40MTQtMS40MTRsLTYtNmExLDEsMCwwLDAtMS40MTQsMGwtNiw2QTEsMSwwLDAsMCwxLjcwNyw3LjcwN1oiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDUgOCkiLz48ZyBjbGlwLXBhdGg9InVybCgjYSkiPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0icmdiYSgwLDAsMCwwKSIvPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0iIzZiYTQzOSIvPjwvZz48L2c+PC9zdmc+" height="14">订阅</一个></li> </ul> <ul class="_2k5c8zEhMT-84kRD4oDgAz _1SoDWGr_FVsil9klRfjnhb"> <li><a class="sc-htpNat bUhGXt link authors" href="//www.newsama.com/publish-research/authors/" aria-label="Authors"><img alt="" class="sc-EHOje jRIjVn" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iOCIgaGVpZ2h0PSIxNCIgdmlld0JveD0iMCAwIDggMTQiPjxkZWZzPjxjbGlwUGF0aCBpZD0iYSI+PHBhdGggZD0iTTcsMi40MTRsNS4yOTMsNS4yOTNhMSwxLDAsMSwwLDEuNDE0LTEuNDE0bC02LTZhMSwxLDAsMCwwLTEuNDE0LDBsLTYsNkExLDEsMCwwLDAsMS43MDcsNy43MDdaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSg1IDgpIi8+PC9jbGlwUGF0aD48L2RlZnM+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTggMTkpIHJvdGF0ZSgtOTApIj48cGF0aCBkPSJNNywyLjQxNGw1LjI5Myw1LjI5M2ExLDEsMCwxLDAsMS40MTQtMS40MTRsLTYtNmExLDEsMCwwLDAtMS40MTQsMGwtNiw2QTEsMSwwLDAsMCwxLjcwNyw3LjcwN1oiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDUgOCkiLz48ZyBjbGlwLXBhdGg9InVybCgjYSkiPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0icmdiYSgwLDAsMCwwKSIvPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0iIzZiYTQzOSIvPjwvZz48L2c+PC9zdmc+" height="14">作者</一个></li> <li><a class="sc-htpNat bUhGXt link editors" href="//www.newsama.com/publish-research/editors/" aria-label="Editors"><img alt="" class="sc-EHOje jRIjVn" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iOCIgaGVpZ2h0PSIxNCIgdmlld0JveD0iMCAwIDggMTQiPjxkZWZzPjxjbGlwUGF0aCBpZD0iYSI+PHBhdGggZD0iTTcsMi40MTRsNS4yOTMsNS4yOTNhMSwxLDAsMSwwLDEuNDE0LTEuNDE0bC02LTZhMSwxLDAsMCwwLTEuNDE0LDBsLTYsNkExLDEsMCwwLDAsMS43MDcsNy43MDdaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSg1IDgpIi8+PC9jbGlwUGF0aD48L2RlZnM+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTggMTkpIHJvdGF0ZSgtOTApIj48cGF0aCBkPSJNNywyLjQxNGw1LjI5Myw1LjI5M2ExLDEsMCwxLDAsMS40MTQtMS40MTRsLTYtNmExLDEsMCwwLDAtMS40MTQsMGwtNiw2QTEsMSwwLDAsMCwxLjcwNyw3LjcwN1oiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDUgOCkiLz48ZyBjbGlwLXBhdGg9InVybCgjYSkiPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0icmdiYSgwLDAsMCwwKSIvPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0iIzZiYTQzOSIvPjwvZz48L2c+PC9zdmc+" height="14">编辑器</一个></li> <li><a class="sc-htpNat bUhGXt link reviewers" href="//www.newsama.com/publish-research/reviewers/" aria-label="Reviewers"><img alt="" class="sc-EHOje jRIjVn" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iOCIgaGVpZ2h0PSIxNCIgdmlld0JveD0iMCAwIDggMTQiPjxkZWZzPjxjbGlwUGF0aCBpZD0iYSI+PHBhdGggZD0iTTcsMi40MTRsNS4yOTMsNS4yOTNhMSwxLDAsMSwwLDEuNDE0LTEuNDE0bC02LTZhMSwxLDAsMCwwLTEuNDE0LDBsLTYsNkExLDEsMCwwLDAsMS43MDcsNy43MDdaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSg1IDgpIi8+PC9jbGlwUGF0aD48L2RlZnM+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTggMTkpIHJvdGF0ZSgtOTApIj48cGF0aCBkPSJNNywyLjQxNGw1LjI5Myw1LjI5M2ExLDEsMCwxLDAsMS40MTQtMS40MTRsLTYtNmExLDEsMCwwLDAtMS40MTQsMGwtNiw2QTEsMSwwLDAsMCwxLjcwNyw3LjcwN1oiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDUgOCkiLz48ZyBjbGlwLXBhdGg9InVybCgjYSkiPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0icmdiYSgwLDAsMCwwKSIvPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0iIzZiYTQzOSIvPjwvZz48L2c+PC9zdmc+" height="14">评论家</一个></li> </ul> <ul class="_2k5c8zEhMT-84kRD4oDgAz _1SoDWGr_FVsil9klRfjnhb"> <li><a class="sc-htpNat bUhGXt link hindawi_xml_corpus" href="//www.newsama.com/hindawi-xml-corpus/" aria-label="Hindawi XML Corpus"><img alt="" class="sc-EHOje jRIjVn" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iOCIgaGVpZ2h0PSIxNCIgdmlld0JveD0iMCAwIDggMTQiPjxkZWZzPjxjbGlwUGF0aCBpZD0iYSI+PHBhdGggZD0iTTcsMi40MTRsNS4yOTMsNS4yOTNhMSwxLDAsMSwwLDEuNDE0LTEuNDE0bC02LTZhMSwxLDAsMCwwLTEuNDE0LDBsLTYsNkExLDEsMCwwLDAsMS43MDcsNy43MDdaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSg1IDgpIi8+PC9jbGlwUGF0aD48L2RlZnM+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTggMTkpIHJvdGF0ZSgtOTApIj48cGF0aCBkPSJNNywyLjQxNGw1LjI5Myw1LjI5M2ExLDEsMCwxLDAsMS40MTQtMS40MTRsLTYtNmExLDEsMCwwLDAtMS40MTQsMGwtNiw2QTEsMSwwLDAsMCwxLjcwNyw3LjcwN1oiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDUgOCkiLz48ZyBjbGlwLXBhdGg9InVybCgjYSkiPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0icmdiYSgwLDAsMCwwKSIvPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0iIzZiYTQzOSIvPjwvZz48L2c+PC9zdmc+" height="14">雷电竞APP</a></li> <li><a class="sc-htpNat bUhGXt link open_archives_initiative" href="//www.newsama.com/open-archives-initiative/" aria-label="Open Archives Initiative"><img alt="" class="sc-EHOje jRIjVn" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iOCIgaGVpZ2h0PSIxNCIgdmlld0JveD0iMCAwIDggMTQiPjxkZWZzPjxjbGlwUGF0aCBpZD0iYSI+PHBhdGggZD0iTTcsMi40MTRsNS4yOTMsNS4yOTNhMSwxLDAsMSwwLDEuNDE0LTEuNDE0bC02LTZhMSwxLDAsMCwwLTEuNDE0LDBsLTYsNkExLDEsMCwwLDAsMS43MDcsNy43MDdaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSg1IDgpIi8+PC9jbGlwUGF0aD48L2RlZnM+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTggMTkpIHJvdGF0ZSgtOTApIj48cGF0aCBkPSJNNywyLjQxNGw1LjI5Myw1LjI5M2ExLDEsMCwxLDAsMS40MTQtMS40MTRsLTYtNmExLDEsMCwwLDAtMS40MTQsMGwtNiw2QTEsMSwwLDAsMCwxLjcwNyw3LjcwN1oiIHRyYW5zZm9ybT0idHJhbnNsYXRlKDUgOCkiLz48ZyBjbGlwLXBhdGg9InVybCgjYSkiPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0icmdiYSgwLDAsMCwwKSIvPjxyZWN0IHdpZHRoPSIyNCIgaGVpZ2h0PSIyNCIgZmlsbD0iIzZiYTQzOSIvPjwvZz48L2c+PC9zdmc+" height="14">开放档案倡议</一个></li> </ul> </nav> <div class="sc-ckVGcZ gizesk desktop"> 遵循我们:<N一个v role="navigation" class="sc-eNQAEJ kZcFWM"> <a class="sc-htpNat bUhGXt link sc-jKJlTe kkOZmp" href="https://twitter.com/hindawi" aria-label="Twitter" rel="noopener noreferrer" target="_blank"><img alt="" class="sc-EHOje dyvnNv" title="" role="presentation" src="data:image/svg+xml;base64,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" height="40"></a> <a class="sc-htpNat bUhGXt link sc-jKJlTe kkOZmp" href="https://www.linkedin.com/company/hindawilimited/" aria-label="LinkedIn" rel="noopener noreferrer" target="_blank"><img alt="" class="sc-EHOje dyvnNv" title="" role="presentation" src="data:image/svg+xml;base64,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" height="40"></a> <a class="sc-htpNat bUhGXt link sc-jKJlTe kkOZmp" href="https://www.youtube.com/channel/UCDIK_O7FATPEkhad_sQVaSg" aria-label="Youtube" rel="noopener noreferrer" target="_blank"><img alt="" class="sc-EHOje dyvnNv" title="" role="presentation" src="data:image/svg+xml;base64,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" height="40"></a> <a class="sc-htpNat bUhGXt link sc-jKJlTe kkOZmp" href="https://www.facebook.com/HindawiLimited/" aria-label="Facebook" rel="noopener noreferrer" target="_blank"><img alt="" class="sc-EHOje dyvnNv" title="" role="presentation" src="https://static-01.hindawi.com/next_assets/Lvhw1J_a6cWVqaLmZO6Im/_next/static/node_modules/hindawi-ui/src/icon/svg/facebookDark.svg" height="40"></a> </nav> </div> </div> </section> <div class="sc-bZQynM bNmdOy"> <section class="sc-hMqMXs gwWYzB E_HUmlU2Hj3PpkDmWzKPd"> <span class="_2k5c8zEhMT-84kRD4oDgAz _3YBvMs82CMJ-uNoH7JwwWl"><a class="sc-htpNat bUhGXt link" href="//www.newsama.com/privacy/" aria-label="Privacy Policy">隐私政策 |</一个><a class="sc-htpNat bUhGXt link" href="//www.newsama.com/terms/" aria-label="Terms of Service">服务条款 |</一个><a class="sc-htpNat bUhGXt link" href="//www.newsama.com/cookie-policy/" aria-label="Cookie Policy">饼干的政策 |</一个><a class="sc-htpNat bUhGXt link" href="//www.newsama.com/copyright/" aria-label="Copyright">版权</a></span> </section> </div> </footer> <div class="sc-epGmkI gJlPsM advWrapper hideBanner"> <span><p>我们致力于尽快、安全地分享与COVID-19有关的调查结果。任何提交COVID-19论文的作者应通过以下方式通知我们<一个href="mailto:help@hindawi.com">help@hindawi.com</一个>为确保他们的研究快速跟踪并尽快在预印刷服务器上提供。我们将为与Covid-19相关的接受文章提供无限的出版费豁免。<一个href="https://docs.google.com/forms/d/e/1FAIpQLSf7MILluJtO9xV2QXznWVd66UQU4puow4wSk7iwLz7iYcykfA/viewform">在此注册</一个>作为评论员，帮助快速跟踪新的提交。</p></span> <button class="sc-fCPvlr kfkJUY"><img alt="" class="sc-EHOje cPuqxU sc-gAmQfK cvvVPH" title="" role="presentation" src="data:image/svg+xml;base64,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" height="16"></button> </div> </div> </div> <noscript> <iframe src="https://www.newsama.com/ns.html?id=GTM-MQ4MGW" height="0" width="0" style="display:none;visibility:hidden"></iframe> </noscript> </div> </body> </html>