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10101 results about "Close contact" patented technology

Exhaust gas treatment catalyst for internal combustion engines with two catalytically active layers on a carrier structure

A catalyst for treating the exhaust gas from internal combustion engines is provided, wherein the catalyst contains two catalytically active layers supported on a support. The first catalytically active layer contains a platinum group metal in close contact with all of the constituents of the first catalytically active layer, wherein the constituents of the first catalytically active layer include particulate aluminum oxide; particulate oxygen storage material, such as cerium oxide, cerium/zirconium and zirconium/cerium mixed oxides, and alkaline earth metal oxides. The second catalytically active layer, which is in direct contact with the exhaust gas, contains particulate aluminum oxide and at least one particulate oxygen storage material, such as cerium oxide, cerium/zirconium and zirconium/cerium mixed oxides. Rhodium is supported on part of the aluminum oxides in the second catalytically active layer or on the particulate oxygen storage material in the second catalytically active layer. By providing the platinum group metal in close contact with all of the constituents of the first catalytically active layer, improved conversion efficiency of the impurities in the exhaust gas can be achieved.
Owner:UMICORE AG & CO KG +1

Control method of man machine interaction mechanical arm

The invention provides a control method of a human-machine interaction mechanical arm, which relates to a safe control method of a mechanical arm working under an unknown environment and solves the problem that an operator accidentally injured due to failure of the existing mechanical arm to accurately model the working environment when the mechanical arm works in close contact with the operator. A mechanical arm controller of the invention collects a joint position in a real time manner by a joint sensor and transforms the joint position q to a Descartes position x by the positive kinematics, and calculates the real-time trajectory planning xpg which is provided with a feedback of the Descartes force; the mechanical arm controller also collects the torque Tau by the joint sensor in a real time manner, calculates the expected torque Taur by Descartes impedance control, and calculates the input torque Taum of the mechanical arm joint by the dynamic compensation of a motor. The control method can effectively detect the force from each joint of the mechanical arm; when contacting an object, the mechanical arm can carry out a soft contact; when a collision happens, the mechanical arm can ensure that the contact force from each direction is within the range of the expected force, thus ensuring the safety of the mechanical arm and the operator.
Owner:HARBIN INST OF TECH
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