The benefit utilising a more compliant structural adhesive in this joint was quantified during a cantilever load test when compared with the typical adhesive used elsewhere on the vessel. The function of the bilge keels in this case varies from that of the other classes in that the keels need to be sacrificial when the boat is at sea but maintain their integrity during slipway operations. There was good operational and through-life experience of bilge keels on the Severn and Trent classes to help protect the rudders and propellers, but with these two classes being afloat boats, additional knowledge was required during the development of the Tamar class as this is a slipway launch lifeboat. One example where further testing was carried out was in the case of the Tamar class bilge keels as shown in Fig. 3.6. In experiments, we design some challenging scenes as from the tracking point of view, such as camera movement and optical zoom, high speed and agility of satellite, satellite pose variation in pitch, yaw and roll, occlusions due to our preset strong light spot, specular reflections from the satellite surface and solar array, and background clutter caused by bright stars.ĭepending on the familiarity and importance of a particular adhesive joint, the RNLI also assesses the need to carry out further evaluation to support the design calculations. We designed a curve approach experiment to test our algorithm. Lights systems, background simulation, and any other environmental factors can also be separately or jointly controlled. The 6 DOF can be controlled separately or jointly by PEWIN32RO installed in PC, including their amplitudes, velocity, and acceleration. We have a 6 DOF motion platform composed of a 2 DOF slipway, 2 DOF (pitch and yaw) revolving table, and 2 DOF lifting and roll platforms. A Chang'e-IIsatellite model is used, the main body of which is a 70 × 70 × 60 mm 3 cube. We designed several semiphysical experiments to simulate the real scene in our lab, as shown in Fig. Fan Zhang, in Tethered Space Robot, 2018 3.4.6.2 Design of Experiments
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