179 resultados para Simulation in robotcs


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It is well known that noise and detection error can affect the performances of an adaptive optics (AO) system. Effects of noise and detection error on the phase compensation effectiveness in a dynamic AO system are investigated by means of a pure numerical simulation in this paper. A theoretical model for numerically simulating effects of noise and detection error in a static AO system and a corresponding computer program were presented in a previous article. A numerical simulation of effects of noise and detection error is combined with our previous numeral simulation of a dynamic AO system in this paper and a corresponding computer program has been compiled. Effects of detection error, readout noise and photon noise are included and investigated by a numerical simulation for finding the preferred working conditions and the best performances in a practical dynamic AO system. An approximate model is presented as well. Under many practical conditions such approximate model is a good alternative to the more accurate one. A simple algorithm which can be used for reducing the effect of noise is presented as well. When signal to noise ratio is very low, such method can be used to improve the performances of a dynamic AO system.

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An on-board space experiment of bubble thermocapillary migration was performed in the Chinese 22nd recoverable satellite in 2005. Silicone oil of nominal viscosity 5cSt was used as the continuous phase in the experiment. Air bubbles were injected into the liquid in the same direction as the constant temperature gradient in the liquid. The velocities of bubbles were obtained by recording the paths of the bubbles. The results indicate that the scaled velocity of bubbles decreases with an increase of the Marangoni number extended to 9288, which agrees with the results of previous space experiments and numerical simulation. In addition, the interaction between two bubbles was also observed in the space experiment. The trajectories and the velocities of the bubbles were obtained. The two-bubble experiment results are also consistent with the theoretical analysis.

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The interaction of a dislocation array emitted from a crack tip under mode II loading with asymmetric tilt grain boundaries (GBs) is analysed by the molecular dynamics method. The GBs can generally be described by planar and linear matching zones and unmatching zones. All GBs are observed to emit dislocations. The GBs migrated easily due to their planar and linear matching structure and asymmetrical type. The diffusion induced by stress concentration is found to promote the GB migration. The transmissions of dislocations are either along the matched plane or along another plane depending on tilt angle theta. Alternate processes of stress concentration and stress relaxation take place ahead of the pileup. The stress concentration can be released either by transmission of dislocations, by atom diffusion along GBs, or by migration of GBs by formation of twinning bands. The simulated results also unequivocally demonstrate two processes, i.e. asymmetrical GBs evolving into symmetrical ones and unmatching zones evolving into matching ones during the loading process.

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A discrete slip model which characterizes the inhomogeneity of material properties in ductile single crystals is proposed in this paper. Based on this model rate-dependent finite element investigations are carried out which consider the finite deformation, finite rotation, latent hardening effect and elastic anisotropy. The calculation clearly exhibits the process from microscopic inhomogeneous and localized deformation to necking and the formation of LSBS and reveals several important features of shear localization. For example, the inhomogeneous deformation is influenced by the imperfections and initial non-uniformities of material properties. The inhomogeneous deformation may either induce necking which results in the lattice rotation and leads to geometrical softening, which in turn promotes the formation of CSBS, or induces heavily localized deformation. The microscopic localized deformation eventually develops into the LSBS and results in a failure. These results are in close agreement with experiment. Our calculations also find that the slip lines on the specimen's surface at necking become curved and also find that if the necking occurs before the formation of LSBS, this band must be misoriented from the operative slip systems. In this case, the formation of LSBS must involve non-crystallographic effects. These can also be indirectly confirmed by experiment. All these suggest that our present discrete slip model offers a correct description of the inhomogeneous deformation characterization in ductile crystals.

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The effects of the chain structure and the intramolecular interaction energy of an A/B copolymer on the miscibility of the binary blends of the copolymer and homopolymer C have been studied by means of a Monte Carlo simulation. In the system, the interactions between segments A, B and C are more repulsive than those between themselves. In order to study the effect of the chain structure of the A/B copolymer on the miscibility, the alternating, random and block copolymers were introduced in the simulations, respectively. The simulation results show that the miscibility of the binary blends strongly depends on the intramolecular interaction energy ((ε) over bar (AB)) between segments A and B within the A/B copolymers. The higher the repulsive interaction energy, the more miscible the A/B copolymer and homopolymer C are. For the diblock copolymer/homopolymer blends, they tend to form micro phase domains. However, the phase domains become so small that the blend can be considered as a homogeneous phase for the alternating copolymer/ homopolymer blends. Furthermore, the investigation of the average end-to-end distance ((h) over bar) in different systems indicates that the copolymer chains tend to coil with the decrease Of (ε) over bar (AB) whereas the (h) over bar of the homopolymer chains depends on the chain structure of the copolymers.

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The miscibility and structure of A-B copolymer/C homopolymer blends with special interactions were studied by a Monte Carlo simulation in two dimensions. The interaction between segment A and segment C was repulsive, whereas it was attractive between segment B and segment C. In order to study the effect of copolymer chain structure on the morphology and structure of A-B copolymer/C homopolymer blends, the alternating, random and block A-B copolymers were introduced into the blends, respectively. The simulation results indicated that the miscibility of A-B block copolymer/C homopolymer blends depended on the chain structure of the A-B copolymer. Compared with alternating or random copolymer, the block copolymer, especially the diblock copolymer, could lead to a poor miscibility of A-B copolymer/C homopolymer blends. Moreover, for diblock A-B copolymer/C homopolymer blends, obvious self-organized core-shell structure was observed in the segment B composition region from 20% to 60%. However, if diblock copolymer composition in the blends is less than 40%, obvious self-organized core-shell structure could be formed in the B-segment component region from 10 to 90%. Furthermore, computer statistical analysis for the simulation results showed that the core sizes tended to increase continuously and their distribution became wider with decreasing B-segment component.

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Full Paper: The phase, behavior of A-B-random copolymer/C-homopolymer, blends with special interaction was studied by a. Monte, Carlo simulation in two dimensions. The interaction between I segment A and segment C was repulsive, whereas it was attractive between segment B and segment C. The simulation results showed that the blend became two large co-continuous phase domains at lower segment-B component compositions, indicating that the blend showed spinodal decomposition. With an increase of the segment-B component, the miscibility between the copolymer,and the polymer was gradually improved up to being miscible. In addition, it was found that segment B tended to move to the surface of the copolymer phase in the case of a lower component of segment B. On the other hand, if was observed that the average, end-to-end distances ((h) over bar) for both copolymer and polymer changed slowly with increasing segment-B component of the copolymer up to 40%, thereafter they increased considerably with increasing segment B component. Moreover, it was found that the (h) over bar of the copolymer was obviously shorter than that of the homopolymer for the segment-B composition, region from 0% to 80%. Finally, a, phase diagram showing I phase and - II phase regions under the condition of constant-temperature is presented.

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The mixed layer depth (MLD) in the upper ocean is an important physical parameter for describing the upper ocean mixed layer. We analyzed several major factors influencing the climatological mixed layer depth (CMLD), and established a numerical simulation in the South China Sea (SCS) using the Regional Ocean Model System (ROMS) with a high-resolution (1/12A degrees x1/12A degrees) grid nesting method and 50 vertical layers. Several ideal numerical experiments were tested by modifying the existing sea surface boundary conditions. Especially, we analyzed the sensitivity of the results simulated for the CMLD with factors of sea surface wind stress (SSWS), sea surface net heat flux (SSNHF), and the difference between evaporation and precipitation (DEP). The result shows that of the three factors that change the depth of the CMLD, SSWS is in the first place, when ignoring the impact of SSWS, CMLD will change by 26% on average, and its effect is always to deepen the CMLD; the next comes SSNHF (13%) for deepening the CMLD in October to January and shallowing the CMLD in February to September; and the DEP comes in the third (only 2%). Moreover, we analyzed the temporal and spatial characteristics of CMLD and compared the simulation result with the ARGO observational data. The results indicate that ROMS is applicable for studying CMLD in the SCS area.

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本文采用数值模拟的方法研究油水混合物在直管和螺旋管中的流动状况.计算采用Euler-Euler法和Euler模型:支配油水分离两相流动的基本方程包括连续方程和动量方程,湍流模型采用多相流中混合型k-ε模式,基本方程的离散和求解采用SIMPLE算法.利用Fluent软件,以直管和螺旋管为例进行了计算,获得了初步计算结果.计算表明,本文所用方法可以较好地模拟直管中油水在重力作用下的分离,以及螺旋分离器中油水在重力和离心力共同作用下的分离现象.并可为实验研究提供参考。

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Classical fracture mechanics is based on the premise that small scale features could be averaged to give a larger scale property such that the assumption of material homogeneity would hold. Involvement of the material microstructure, however, necessitates different characteristic lengths for describing different geometric features. Macroscopic parameters could not be freely exchanged with those at the microscopic scale level. Such a practice could cause misinterpretation of test data. Ambiguities arising from the lack of a more precise range of limitations for the definitions of physical parameters are discussed in connection with material length scales. Physical events overlooked between the macroscopic and microscopic scale could be the link that is needed to bridge the gap. The classical models for the creation of free surface for a liquid and solid are oversimplified. They consider only the translational motion of individual atoms. Movements of groups or clusters of molecules deserve attention. Multiscale cracking behavior also requires the distinction of material damage involving at least two different scales in a single simulation. In this connection, special attention should be given to the use of asymptotic solution in contrast to the full field solution when applying fracture criteria. The former may leave out detail features that would have otherwise been included by the latter. Illustrations are provided for predicting the crack initiation sites of piezoceramics. No definite conclusions can be drawn from the atomistic simulation models such as those used in molecular dynamics until the non-equilibrium boundary conditions can be better understood. The specification of strain rates and temperatures should be synchronized as the specimen size is reduced to microns. Many of the results obtained at the atomic scale should be first identified with those at the mesoscale before they are assumed to be connected with macroscopic observations. Hopefully, "mesofracture mechanics" could serve as the link to bring macrofracture mechanics closer to microfracture mechanics.

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Using a variational method, a general three-dimensional solution to the problem of a sliding spherical inclusion embedded in an infinite anisotropic medium is presented in this paper. The inclusion itself is also a general anisotropic elastic medium. The interface is treated as a thin interface layer with interphase anisotropic properties. The displacements in the matrix and the inclusion are expressed as polynomial series of the cartesian coordinate components. Using the virtual work principle, a set of linear algebraic equations about unknown coefficients are obtained. Then the general sliding spherical inclusion problem is accurately solved. Based on this solution, a self-consistent method for sliding polycrystals is proposed. Combining this with a two-dimensional model of an aggregate polycrystal, a systematic analysis of the mechanical behaviour of sliding polycrystals is given in detail. Numerical results are given to show the significant effect of grain boundary sliding on the overall mechanical properties of aggregate polycrystals.

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Czochralski (Cz) technique, which is used for growing single crystals, has dominated the production of single crystals for electronic applications. The Cz growth process involves multiple phases, moving interface and three-dimensional behavior. Much has been done to study these phenomena by means of numerical methods as well as experimental observations. A three-dimensional curvilinear finite volume based algorithm has been developed to model the Cz process. A body-fitted transformation based approach is adopted in conjunction with a multizone adaptive grid generation (MAGG) technique to accurately handle the three-dimensional problems of phase-change in irregular geometries with free and moving surfaces. The multizone adaptive model is used to perform a three-dimensional simulation of the Cz growth of silicon single crystals.Since the phase change interface are irregular in shape and they move in response to the solution, accurate treatment of these interfaces is important from numerical accuracy point of view. The multizone adaptive grid generation (MAGG) is the appropriate scheme for this purpose. Another challenge encountered is the moving and periodic boundary conditions, which is essential to the numerical solution of the governing equations. Special treatments are implemented to impose the periodic boundary condition in a particular direction and to determine the internal boundary position and shape varying with the combination of ambient physicochemical transport process and interfacial dynamics. As indicated above that the applications and processes characterized by multi-phase, moving interfaces and irregular shape render the associated physical phenomena three-dimensional and unsteady. Therefore a generalized 3D model rather than a 2D simulation, in which the governing equations are solved in a general non-orthogonal coordinate system, is constructed to describe and capture the features of the growth process. All this has been implemented and validated by using it to model the low pressure Cz growth of silicon. Accuracy of this scheme is demonstrated by agreement of simulation data with available experimental data. Using the quasi-steady state approximation, it is shown that the flow and temperature fields in the melt under certain operating conditions become asymmetric and unsteady even in the absence of extrinsic sources of asymmetry. Asymmetry in the flow and temperature fields, caused by high shear initiated phenomena, affects the interface shape in the azimuthal direction thus results in the thermal stress distribution in the vicinity, which has serious implications from crystal quality point of view.

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利用动态密闭气室法(Licor-6400-09),对锦州玉米生长季(5~9月)农田土壤呼吸作用动态及其影响因子进行连续两年的野外动态观测,分析表明,在植株尺度上,玉米地土壤呼吸作用存在明显的空间异质性,较高的土壤呼吸速率通常出现在靠近玉米植株的地方。玉米地土壤呼吸作用的日变化为不对称的单峰型曲线,最小值和最大值分别出现在6:00~7:00和13:00左右。2005年玉米生长季土壤呼吸速率均值为3.16 µmol CO2 •m-2•s-1,最大值为4.77 µmol CO2 •m-2•s-1,出现在7月28日,最小值为1.31 µmol CO2 •m-2•s-1,出现在5月4日。 植物根系生物量的分布格局是影响土壤呼吸作用空间异质性的关键因素。土壤呼吸作用与根系生物量呈显著的线性关系,而土壤湿度、土壤有机质、全氮和碳氮比对土壤呼吸作用空间异质性的影响并不显著。在土壤呼吸作用日变化中,土壤呼吸速率(SR, µmol CO2 •m-2•s-1)与10 cm土壤温度(T, ℃)均呈显著的指数函数关系 。在季节尺度上,参数α和β是波动的,玉米净第一性生产力(NPP, g •m-2 •d-1)和生物量(B, g •m-2)分别为影响参数α和β季节性波动的主导因素。鉴于此,建立了方程 用以模拟土壤呼吸作用的季节变化。土壤温度、NPP和生物量共同影响着玉米生长季土壤呼吸作用的季节性变化,它们共同解释了土壤呼吸作用季节变化的93%。 小时尺度上,土环中的根系生物量是影响土壤呼吸速率空间变异的关键因子,土壤呼吸速率与根系生物量呈线性关系 ;日时间尺度上,土壤呼吸速率与根系生物量线性方程中的参数α和β是波动,土壤温度是影响α和β波动的主导因素,于是得到方程 。季节时间尺度上,土壤呼吸作用可表达为 ,土壤温度、土壤湿度和玉米NPP共同驱动着玉米生长季土壤呼吸作用的时间变化和空间变异,它们可以解释玉米生长季土壤呼吸作用时空变化的74%。 通过建立土壤呼吸作用与玉米根系生物量的回归方程,对根系呼吸作用占土壤呼吸作用的比例进行了间接估算。玉米生长季根系呼吸作用占土壤呼吸作用的比例在43.1~63.6%之间波动,均值为54.5%。假定玉米果实和秸杆中的碳在收获期间没有从农田中转移走,2005年整个生长季玉米生态系统的碳收支为–1127.0 gC•m-2,碳交换速率在 0.52~-18.05 g C•m-2 •d-1 之间波动。玉米生长初期,玉米生态系统表现为C的弱碳源;玉米播种后35天一直到收获,玉米生态系统表现为碳汇。

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地上净初级生产力(ANPP)是陆地生态系统碳循环的重要组成部分,但由于估测ANPP的方法不同使得对ANPP的估测值存在很大的不确定性。本文采用3种方法(群落中所有种群当年最大地上生物量之和(ANPPC1)、当年群落最大地上生物量(ANPPC2)以及每年固定日期(8月30日)的地上生物量(ANPPC3))在种群、功能群和群落水平上分别对连续19年(1980~1998)的内蒙古羊草和大针茅草原生态系统功能(如ANPP、植物多样性和水分利用效率(WUE))的动态变化进行了比较分析,同时探讨了不同估测方法下气候和放牧对ANPP的影响,在此基础上利用DNDC模型进行了ANPP的模拟和敏感性分析研究,主要结果包括: 在羊草和大针茅草原群落中,不同主要植物种群或功能群多年平均地上最大生物量出现的时间不同,而同一植物种群或功能群的年地上最大生物量出现的时间存在年际间的变化。采用当年最大地上生物量和8月30日固定日期的地上生物量作为群落ANPP的这两种方法高估了建群种或禾草功能群在群落中的作用。 羊草草原群落多年平均ANPPC1、ANPPC2和 ANPPC3分别是257.5、190.1和166.0 g.m-2;相应的大针茅草原多年平均ANPPC1、ANPPC2和 ANPPC3分别是180.4、132.8和122.5 g.m-2。就群落生产力而言,后两种常用的方法二和方法三分别低估了草原群落ANPP 14.2%~40.0%和15.5~59.0%。本文研究表明尽管ANPPC1与ANPPC2和ANPPC3之间存在显著的差异,但二者之间存在极显著的相关性:羊草草原的ANPPC1= 59.587+1.061×ANPPC2(r2=0.865, p<0.001),ANPPC1= 92.329+1.017×ANPPC3(r2=0.569, p<0.001);大针茅草原的ANPPC1= 32.918+1.114×ANPPC2(r2=0.814, p<0.001),ANPPC1= 76.120+0.875×ANPPC3(r2=0.499, p=0.001)。 种群、功能群和群落地上净初级生产力与气候因子间的关系因不同的估测方法而异。羊草草原的建群种羊草种群仅ANPPS3与8月和11月份的平均温度间存在显著相关性,而大针茅草原群落的建群种大针茅种群的ANPPS1和ANPPS2与3月份平均最高气温间呈负相关关系。在羊草草原群落,杂类草功能群ANPPF1和ANPPF2与3月份气温呈负相关关系;而灌木半灌木功能群ANPPF1和ANPPF2与3月份降水呈负相关关系。在大针茅草原群落,禾草功能群ANPPF1与5月份最高平均气温呈显著负相关关系。羊草草原群落ANPPC1和ANPPC3分别与11月份最低温度和平均温度存在显著负相关关系;大针茅草原群落ANPPC1与2和6月份月降水量间相关性显著,ANPP2与5月和11月份月平均最低温度呈显著负相关关系,而4~9月份,1和4月份平均最低温度对群落ANPPC3起决定作用。 在羊草和大针茅草原群落,由方法一得到的群落水分利用效率、Shannon植物多样性指数和均匀度指数与方法二或方法三得到的相应的指数间存在显著的差异,方法二和方法三得到的值间差异不显著。群落地上净初级生产力与相应估测方法的植物Shannon多样性指数和均匀度指数之间相关性不显著。 放牧条件下羊草或大针茅草原群落中的建群种羊草和大针茅在群落中的相对地上生物量较围栏内的相应植物种群的降低,而糙隐子草种群在群落中的比例上升。不同的放牧管理条件下,群落中植物种群地上现存量的季节动态发生变化。群落的植物组成及植物种群地上生物量在群落中总生物量的比例发生了明显的变化。利用遥感来估测地上净初级生产力时,分别低估了羊草和大针茅草原ANPP 52%和27%。 DNDC模型可以很好地模拟内蒙古典型草原生态系统的地上生物量,通过敏感性分析表明降水是草原植物生长的主要限制因子,在降水量增加或降低至日降水的30%时,模拟的地上生物量显著地高于或低于实测地上生物量值。在多年平均降水量为347mm的情况下,随着土壤粘粒含量的增加,地上生物量逐渐降低,与北美草原一致。

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仿真图像生成技术是计算机图形学研究的一个重要内容,在各个方面都有广泛的应用。在航空航天领域,地面的应用处理常常依赖空间探测器拍摄结果,由于实验成本的昂贵,对探测器拍摄结果进行仿真就显得尤其重要。本文主要关注在宇宙空间这一特殊场景下的仿真图像生成方法。针对在空间环境的特点,在分析星空环境下相机成像机理的基础上,从相机光学系统、光感受器工作特性、光圈衍射、电子线路噪声、空间背景等各个方面对星空环境下的成像系统进行了建模,设计了空间环境下成像效果的仿真方案,提出了对各种成像效果、背景星图、CCD噪声的模拟算法。其中基于OpenGL的方法以简单高效的针孔相机模型为基础,结合后期的图像处理,可以在较短的时间内生成仿真结果图像,并能反映拍摄场景下的主要成像效果,在仿真的实时性和结果的真实性之间取得了平衡,而基于物理的渲染方法则精确模拟了成像过程中光线传播的物理过程,能够很好的体现成像系统的光学特征,虽然耗时较长,但是可以生成真实感很强的结果。 基于这些模型和算法,本文还设计并实现了空间环境下的成像仿真系统。用户可以通过该系统来配置空间探测器的任务流程、拍摄参数,来模拟探测器对宇宙目标及背景星空的拍摄结果。由于针对不同拍摄场景设计的各种仿真实验结果均证实了算法和模型的有效性,因此该仿真系统的结果可以作为地面后期应用处理的输入,而本文的研究内容对空间环境中的数据压缩、地面恢复、天文定位、恒星识别等都有重要意义。