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Hydraulic Jump: Problem Solving01:16

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To analyze a hydraulic jump in a rectangular channel with a flow speed of 6 meters per second, follow these steps:Calculate Effective Upstream Velocity:When the downstream gate closes, a hydraulic jump forms, traveling upstream at 2 meters per second. This wave speed combines with the initial channel flow velocity, creating an effective upstream velocity.Identify Flow Velocities Before and After the Hydraulic Jump:Upstream of the hydraulic jump, the effective flow velocity includes both the...
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A hydraulic jump is a sudden rise in fluid depth in open channels, occurring when high-velocity (supercritical) flow transitions to low-velocity (subcritical) flow. This phenomenon requires an upstream Froude number greater than 1, as flows with Fr1<1 remain subcritical, making a hydraulic jump impossible due to the need for negative head loss, which violates thermodynamic principles.The characteristics of a hydraulic jump depend on the upstream Froude number and are classified as...
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The concept of real numbers includes all the values that can be represented on a continuous number line. The system began with basic counting values used for enumeration. It later expanded to include values that represent the absence of quantity and opposites of the counting values. When situations required expressing parts of a whole or dividing quantities evenly, values capable of representing such proportions were developed. When written using decimal notation, these values can end or repeat...
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The operational amplifier, often referred to as an op-amp, is a multifaceted building block of a circuit. This electronic component functions like a voltage-controlled voltage source and can also be used to create a voltage- or current-controlled current source. The design of an operational amplifier enables it to execute mathematical operations when external components like resistors and capacitors are linked to its terminals. An op-amp has the capacity to sum signals, amplify a signal,...
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基于视觉指导的共享远程操作控制用于液压操纵器.

Shizhao Zhou1, Chong Shen2, Manzhi Qi2

  • 1School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350108, China; The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310058, China.

ISA transactions
|February 8, 2026
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概括
此摘要是机器生成的。

这项研究引入了用于液压操纵器的共享远程操作控制,即使在视觉障碍的情况下,也提高了精度和效率. 该系统提高了视觉指导可靠性,使远程控制操作更安全,更准确.

关键词:
命令融合指挥融合指挥融合指挥液压操纵器是一个液压操纵器.主 - 奴隶的异质性共享远程操作的共享远程操作视觉指导 视觉指导是一种指导.

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 控制系统 控制系统
  • 人与计算机的交互

背景情况:

  • 液压操纵器在危险环境中至关重要,例如海洋勘探和林业.
  • 由于高扭矩风险,偏远操作是首选的,但主-奴隶异质性和封闭视野 (FOV) 限制了效率和精度.
  • 现有的视觉指导系统在可变的成像条件和目标遮蔽方面扎,影响指挥可靠性.

研究的目的:

  • 为液压操纵器设计基于视觉指导的共享远程操作控制系统.
  • 通过解决主-奴隶异质性和FOV封闭问题来提高运营效率和精度.
  • 在具有挑战性的条件下提高视觉指导命令的可靠性.

主要方法:

  • 开发了一种适应性命令映射方法,以平衡速度和准确性.
  • 实现了功能不匹配纠正和故障识别,以提高视觉指导的可靠性.
  • 设计了一种双指令的融合控制方法,用于集成优化指令.

主要成果:

  • 拟议的自适应指挥映射有效平衡指挥速度和准确性.
  • 功能不匹配纠正和故障意识显著提高视觉指导命令的可靠性.
  • 双指令融合控制可实现优化指令的无集成,以便共享远程操作.

结论:

  • 设计的共享远程操作控制系统确保了液压操纵器的强大性能.
  • 系统保持高运行性能,即使操作员的FOV被封闭.
  • 这种方法提高了复杂环境中远程液压操纵器操作的安全性和有效性.