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بررسی فرایند الکترو اکسایش آسکوربیک اسید بر روی الکترودهای نقره و نقره سلنید
معجری کسمایی، لاله Majari Kasmaee, Laleh
Cataloging brief
بررسی فرایند الکترو اکسایش آسکوربیک اسید بر روی الکترودهای نقره و نقره سلنید
پدیدآور اصلی :
معجری کسمایی، لاله Majari Kasmaee, Laleh
ناشر :
صنعتی شریف
سال انتشار :
1390
موضوع ها :
بازدارنده Inhibitor الکترواکسایش Electro-Oxidation آسکوربیک اسید Ascorbic Acid روش...
شماره راهنما :
03-42417
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Introduction
(12)
1.1 Definition
(12)
1.2 Swarm Robotic
(12)
1.3 Swarm Control
(15)
1.4 Swarm dynamics, Coordination and Control
(15)
1.4.1 Swarm Model Characteristic
(16)
1.4.3 Discussion on Swarm Center Motion
(19)
1.4.4 Swarm Coordination
(22)
1.4.5 Swarm members’ Robot Characteristics
(25)
1.4.6 Thesis Objectives
(26)
1.5 Outline
(27)
Geometric and Kinematic Modeling of the Agents
(29)
2.1 Mobile Robot Kinematics
(29)
2.2 Wheel type and Arrangement
(30)
2.3 Appropriate Geometry and Kinematic Model
(32)
2.4 Swarm Communication
(35)
2.4.1 Communication System
(36)
Sensor Selection and Sensor Noise Characteristics
(38)
3.1 Ultrasonic Sensors
(38)
3.2 IR Sensors
(38)
3.3 Rotary IR Sensor System
(39)
3.4 Fixed IR Sensor Systems
(40)
3.5 Sensor Information Processing
(42)
3.6 Statistical Analysis of the Sensor Output
(44)
3.7 Dynamic Distance Measurement
(45)
3.8 Global Positioning System
(50)
3.9 Optical Flow Sensors
(52)
3.10 Odometer
(52)
/
(52)
Sensor Noise Effects Analysis and Filter Design
(55)
4.1 Selecting Appropriate Swarm Parameters
(56)
4.2 Analyzing Sensory Noise Effects on the Swarm Control
(58)
4.3 Kalman filter, Low pass and Sensor Fusion Design
(66)
4.4.1 Introduction to Kalman filter
(66)
4.4.2 Kalman Filter Design
(67)
4.5 Low Pass Filter Design
(71)
4.5 Sensor Fusion Design
(73)
Simulations Results and Conclusion
(76)
5.1 Low Pass Filter Performance
(77)
5.2 Conclusions and Future Works
(86)
D.1 Robot kinematic constraints
(102)
D.2 Spherical wheel
(103)
D.3 Swedish wheel
(104)
D.4 Castor wheel
(104)
F.1 Important points of Communication
(113)
