Hydrodynamic interaction between two vertical cylinders in water waves

The hydrodynamic interaction between two vertical cylinders in water waves is investigated based on the linearized potential flow theory. One of the two cylinders is fixed at the bottom while the other is articulated at the bottom and oscillates with small amplitudes in the direction of the incident wave. Both the diffracted wave and the radiation wave are studied in the present paper. A simple analytical expression for the velocity potential on the surface of each cylinder is obtained by means of Graf's addition theorem. The wave-excited forces and moments on the cylinders, the added masses and the radiation damping coefficients of the oscillating cylinder are all expressed explicitly in series form. The coefficients of the series are determined by solving algebraic equations. Several numerical examples are given to illustrate the effects of various parameters, such as the separation distance, the relative size of the cylinders, and the incident angle, on the first-order and steady second-order forces, the added masses and radiation-damping coefficients as well as the response of the oscillating cylinder.

A review of the cyprinoid fish genus Barbodes Bleeker, 1859, from Yunnan, China, with descriptions of two new species

Fishes of the genus Barbodes in Yunnan have been reviewed and 2 new species are described on the basis of specimens deposited in Kunming institute of Zoology, Chinese Academy of Sciences. Counts and measurements follow Chu and Chen (1989). Barbodes heterostomus is distinguished by its terminal mouth, with gape being horizontal in the male, and acclivitous in the female, last unbranched dorsal ray smooth with upper 1/3 articulated; dorsal fin origin anterior to pelvic fin origin; no dark lateral band on sides of body; gill rakers 13-19; lateral line scales 24-29; longest caudal ray length about 2 times that of shortest. It is distributed in Longchuanjiang and Dayingjiang (upper Irrawaddy). Barbodes baoshanensis is distinguished by its smooth last unbranched dorsal ray with upper 1/3-1/2 articulated; dorsal fin origin anterior to pelvic fin origin; sides of body with a dark longitudinal band; gill rakers 13-14; lateral line scales 23-28. It occurs in Nujiang (upper Salween) and Longchuanjiang. A key to the species of Barbodes in Yunnan is provided.

Description of a new genus and two new species of Ioninae (Isopoda : Epicaridea : Bopyridae) parasites of Leucosiidae (Decapoda : Brachyura) from Beibu Gulf

A new genus, Onkokepon n. gen., and two new species, O. articulatus n. sp. and O. beibuensis n. sp., infesting Leucosia longibranchia Shen & Chen and Leucosia unidentata de Haan, respectively, are described from Beibu Gulf in China and Vietnam. Neither of these species of Leucosia has previously been reported as bopyrid hosts. The new genus differs from other ionine bopyrid genera in the presence of a well-developed tubercular frontal lamina, a deeply digitate barbula, rudimentary subcircular pleopodal endopodites, and lacking coxal plates. O. articulatus n. sp. is distinguished from O. beibuensis n. sp. by having articulated maxillipedal palp, blunt posterolateral point of oostegite 1 and setose triangular frontal lamina of the female.

一种基于遗传线性搜索算法的关节手模型匹配方法

提出了一种可替代传统搜索算法的改进型模型匹配算法 这种算法将遗传算法 (GeneticAlgorithm ,GA)和经典的线性搜索算法 (LineSearch ingAlgorithm ,LSA)相结合 它能保证匹配解是全局最优的并且运算是近乎实时的

装配机器人系统快速碰撞检测算法

提出一种面向操作手装配系统的快速碰撞检测算法。该算法以机器人运动学和空间解析几何为基础 ,将判断机械手手臂与障碍物是否发生碰撞问题转化为直线段与有界平面是否存在公共点的简单解析几何问题 ,并以 PU MA5 6 0操作手为例对算法加以说明。该算法不仅适用于静态的障碍物已知的环境 ,而且适用于障碍物运动规律已知的动态环境 ,减少了碰撞检测占用的时间 ,提高了路径规划的效率

遥控移动式作业机器人实时多任务管理系统

本文介绍遥控移动式作业机器人实时多任务管理系统．该系统是在多总线和位总线相结合的计算机系统上，利用ｉＲＭＸⅡ实时多任务操作系统设计编制的实时多任务管理系统．该系统为遥控机器人提供了数据通讯，人机接口，任务作业等重要管理工作，使机器人能顺利地完成机械手操作和车体运动等重要控制功能。