Floating zone convection

The microgravity research, as a branch of the advanced sciences and a spe- cialized field of high technology, has been made in China since the late 1980's. The research group investigating microgravity fluid physics consisted of our col- leagues and the authors in the Institute of Mechanics of the Chinese Academy of Sciences (CAS), and we pay special attention to the floating zone convection as our first research priority. Now, the research group has expanded and is a part of the National Microgravity Laboratory of the CAS, and the research fields have been extended to include more subjects related to microgravity science. Howev- er, the floating zone convection is still an important topic that greatly holds our research interests.

A face detection algorithm based on high dimensional space geometry

In this paper, a face detection algorithm which is based on high dimensional space geometry has been proposed. Then after the simulation experiment of Euclidean Distance and the introduced algorithm, it was theoretically analyzed and discussed that the proposed algorithm has apparently advantage over the Euclidean Distance. Furthermore, in our experiments in color images, the proposed algorithm even gives more surprises.

基于神经网络的机器人视觉伺服控制

视觉伺服可以应用于机器人初始定位自动导引、自动避障、轨线跟踪和运动目标跟踪等控制系统中。传统的视觉伺服系统在运行时包括工作空间定位和动力学逆运算两个过程,需要实时计算视觉雅可比矩阵和机器人逆雅可比矩阵,计算量大,系统结构复杂。本文分析了基于图像的机器人视觉伺服的基本原理,使用BP神经网络来确定达到指定位姿所需要的关节角度,将视觉信息直接融入伺服过程,在保证伺服精度的情况下大大简化了控制算法。文中针对Puma560工业机器人的模型进行了仿真实验,结果验证了该方法的有效性。

多目标追逐问题的一种混合整数线性规划解

研究多车辆多目标追逐的路径规划问题。提出两个基于混合整数线性规划(Mixed integer linear programming,MILP)的多目标追逐(Multi-target pursuit,MTP)模型:就近追逐和"一对一"使能追逐。在两个MIP追逐模型中,小车运动的状态方程考虑为具有线性阻尼的质点动力学方程。采用整数变量描述小车与障碍物的相对位置信息,提出"目标膨胀尺寸"的概念来描述对目标的追逐,定义小车的"追逐方向"。采用选取整变量的等高面法求解MILP追逐问题,并给出初始内点整变量的确定方法。最后给出仿真试验1对两个多目标追逐模型进行对比研究,仿真试验2证实了算法的效率。

基于并联机器人的船载炮半物理仿真试验系统研究

20世纪90年代以来，并联机器人被广为注意，成了机器人技术新的热点。并联机器人技术被广泛地应用在工业、航天、航海等领域，尤其是并联机床，佩一出现就引起了广泛的关注，被称为是“21世纪的机床”，“20世纪机床首次革命性改型”。为了提高船载炮射击训练效益，解决船载炮兵训练的保障问题，同时也为船载炮兵训练的保障工作探索新的路子，提出研制基于并联机器人的船载炮半物理仿真试验系统，使训练可以不受天气、场地的限制。本系统采用模拟船、操瞄炮等设备与计算机图形虚拟技术相结合的方式组成船载炮半物理仿真试验系统。系统既要虚拟船载炮的作战环境，又要实现船在海浪中的6维运动。采用3自由度并联机器人平台构建模拟船，实现船的3维转动；采用计算机仿真虚拟作战环境，并实现船的3维移动。本文介绍了整个系统的软硬件构成，硬件从三自由度并联机构的运动学到控制系统的结构，软件从形成虚拟视景的图形驱动原理到主程序界面，最后展示了系统的硬件实物和软件界面的照片。基于并联机器人的船载炮半物理仿真试验系统具有以下特点：1．采用变频调速技术，研制了三自由度并联机构模拟系统，实现了船炮平台的运动模拟，使系统具有负载能力强、成本低、性能可靠等特点。2.整个系统由计算机图形分系统、动态数据采集与处理分系统、船的运动模拟分系统等组成，实现了船载炮兵射击指挥和火炮操作的模拟训练。 3．应用了多传感器信息融合技术，实现了多信息实时处理，达到了实时仿真的要求。系统能够实时检测船姿态和火炮操作状态等信息，评价射击效果。4.采用三自由度的旋转模拟与图像三自由度的平移运动相结合的方法，实现了六自由度的炮目相对运动模拟效果。该系统可用于模拟炮兵部队实施渡海登陆作战，对岸防目标、海上目标射击和指挥训练。完成船载炮兵的火炮操瞄和射击指挥的教学、训练及考核任务。

多水下机器人系统水动力计算的多线程实现

介绍多水下机器人(UUV)数字仿真平台的硬件结构以及单体UUV和多UUV系统的水动力计算流程,在此基础上利用Windows多线程技术实现多UUV的水动力计算,该方法已经用于多UUV数字仿真平台虚拟环境节点的设计中。系统仿真实验表明该方法设计的应用程序具有良好的执行效率和实时响应能力,为以后多UUV半物理仿真平台的水动力计算和实体多UUV系统水动力系数的验证奠定了基础。

柔性机械臂运动轨迹的鲁棒自适应控制

本文针对多连杆柔性机械臂的运动轨迹控制问题，讨论了动力学建模、控制系统结构设计以及鲁棒自适应控制算法，运用假设模态方法得到了柔性机械臂动力学近似方程，通过对柔性机械臂动力学特性分析，建立了等价动力学模型，依此提出了一种鲁棒自适应控制算法，并给出了仿真研究结果。

工业机器人的小脑模型控制

本文为动力学控制工业机器人提出了一种综合学习算法,这种学习算法可将以前所学的信息用于新的控制输入.这种控制方法不需要事先知道机器人动力学,它易于应用于特殊的控制问题或修改以适应实际系统中的变化,控制方法在时间上是有效的,且很适合于定点实现.学习控制算法的有效性通过4自由度的直接驱动机器人前两个关节在重复运动中的计算机仿真实验得到了验证.

工业机器人机械手的小脑模型自适应控制

本文为动力学控制工业机器人机械手提出一种综合控制算法。该控制算法,利用小脑模型算术计算机模块模拟机器人机械手的动力学方程并计算实现期望运动所需力矩作为前馈力矩控制项;利用自适应控制器实现反馈控制,以消除由输入扰动和参数变化而引起的机器人机械手运动误差。这种控制方法在时间上是有效的,且很适合于定点实现。控制方法的有效性通过四自由度的直接驱动机器人前两个关节的计算机仿真实验得到验证。

柔性制造单元的智能调度系统

本文基于递阶控制原理提出了柔性制造单元的一种新的计划与调度方法,并综合采用了理论分析、专家系统技术和仿真技术,建立了一个智能调度系统原型.另外,在制造单元调度问题的描述上采用了状态方程形式,从系统的观点来研究调度问题.并在此基础上建立了仿真模块,对单元的加工过程进行了仿真实验.

印度与欧亚板块强烈相互作用区深部结构特征研究

The central-south Tibet is a part of the products of the continental plate collision between Eurasia and India. To study the deep structure of the study area is significant for understanding the dynamics of the continental-continental collision. A 3-D density model matched well with the observations in the central-south Tibet was proposed in this study. In addition, this study has also used numerical simulation method to prove that Quasi-Love (QL) wave is deduced by anisotropy variation but not by lateral heterogeneity. Meanwhile, anisotropy variation in the upper mantle of the Qiangtang terrane and Lhasa terrane is detected by the QL waves observed in recorded seismograms. Based on the gravity modeling, some results are summarized as follows: 1) Under the constrain of geometrical structure detected by seismic data, a 3-D density model and Moho interface are proposed by gravity inversion of the central-south Tibet. 2) The fact that the lower crustal densities are smaller than 3.2 g/cm3, suggests absence of eclogite or partial eclogitization due to delamination under the central-south Tibet. 3) Seismicity will be strong or weak in the most negative Bouguer gravity anomaly. So there is no a certain relationship between seismicity and Bouguer gravity anomaly. 4) Crustal composition are determined after temperature-pressure calibration of seismic P wave velocity. The composition of lower crust might be one or a mixture of: 1. amphibolite and greenschist facies basalt beneath the Qiangtang terrane; 2. gabbro-norite-troctolite and mafic granulite beneath the Lhasa terrane. Because the composition of the middle crust cannot be well constrained by the above data set, the data set published by Rudnick & Fountain (1995) is used for comparison. It indicated the composition of the middle crust is granulite facies and might be pelitic gneisses.Granulite facies used to be interpreted as residues of partial melting, which coincidences with the previous study on partial melting middle crust. Amphibolite facies are thought to be produced after delamination, when underplating works in the rebound of the lower crust and lithospheric mantle. From the seismology study, I have made several followed conclusions: 1) Through the numerical simulation experiment of surface wave propagating in heterogeneity media, we can find that amplitude and polarization of surface wave only change a little when considering heterogeneity. Furthermore, it is proved that QL waves, generated by surface wave scattering, are caused by lateral variation of anisotropy but not by heterogeneity. 2) QL waves are utilized to determine the variation of uppermost mantle anisotropy of the Tibetan plateau. QL waves are identified from the seismograms of the selected paths recorded by the CAD station. The location of azimuth anisotropy gradient is estimated from the group velocities of Rayleigh wave, Love wave and QL wave. It suggests that south-north lateral variation of azimuthal anisotropy locates in Tanggula mountain, and east-west lateral variation in the north of Gandese mountain with 85°E longitude and near the Jinsha river fault with 85°E longitude.

Investigation on a simulation model of floating half zone convection .2. Experiment

A simulation model of floating half zone with non-uniform temperature distribution at the upper rod and uniform temperature distribution at lower rod was discussed by numerical investigation in a previous paper. In the present paper, the experimental investigation of the simulation model is given generally. The results of the present model show that the temperature profile is quite different and the critical applied temperature difference is lower than the one of usual model with same geometrical parameters in most cases. The features of critical Marangoni number depending on the liquid bridge volume are also different from the ones of usual model.

Bump-Surface Multicompartment Micelles from a Linear ABC Triblock Copolymer: A Combination Study by Experiment and Computer Simulation

Novel bump-surface multicompartment micelles formed by a linear amphiphilic ABC triblock copolymer via self-assembly in selective solvent were successfully observed both in simulation and experiment. The results revealed that the block A forms the most inner core, and the blocks B and C form the inner and outer layers, respectively, and the bumps were formed by block A and more likely to be born on curving surfaces. Moreover, the micelle shape could be controlled by changing the solvent selectivity of the blocks A and B. Spherical, cylindrical, and discoidal micelles with bumpy surfaces were obtained both in experiment and simulation.

Experimental study and simulation principles of an oil-gas multiphase transportation system

Presented is an experimental study on the performance of an oil-gas multiphase transportation system, especially on the multiphase flow patterns, multiphase pumping and multiphase metering of the system. A dynamic simulation analysis is conducted to deduce simulation parameters of the system and similarity criteria under simplified conditions are obtained. The reliability and feasibility of two-phase flow experiment with oil and natural gas simulated by water and air are discussed by using the similarity criteria.

A Generalized Soft-Sphere for Monte Carlo Simulation

A new collision model, called the generalized soft-sphere (GSS) model, is introduced. It has the same total cross section as the generalized hard-sphere model [Phys. Fluids A 5, 738 (1993)], whereas the deflection angle is calculated by the soft-sphere scattering model [Phys. Fluids A 3, 2459 (1991)]. In virtue of a two-term formula given to fit the numerical solutions of the collision integrals for the Lennard-Jones (6-12) potential and for the Stockmayer potential, the parameters involved in the GSS model are determined explicitly that may fully reproduce the transport coefficients under these potentials. Coefficients of viscosity, self-diffusion and diffusion for both polar and nonpolar molecules given by the GSS model and experiment are in excellent agreement over a wide range of temperature from low to high.