基于运动耦合结构的并联机器人的运动学正逆解

根据运动学等效的原则，在并联机器人中引入等效串联机器人及分支等效串联机器人，以等效广义坐标为中间变量建立并联机器人运动学正道解求解算法。该算法能有效处理结构带来的运动耦合，并且规划的软件具有自动生成迭代初始点、避免多解性以及便于实际应用等特点，从而为并联机器人的结构设计与创新提供了理论支持。

The motion and the core structure of a geostrophic vortex - one-time scale inner solution and the motion of the vortex

By means of the matched asymptotic expansion method with one-time scale analysis we have shown that the inviscid geostrophic vortex solution represents our leading solution away from the vortex. Near the vortex there is a viscous core structure, with the length scale O(a). In the core the viscous stresses (or turbulent stresses) are important, the variations of the velocity and the equivalent height are finite and dependent of time. It also has been shown that the leading inner solutions of the core structure are the same for two different time scales of S/(ghoo)1/2 and S/a (ghoo)1/2. Within the accuracy of O(a) the velocity of a geostrophic vortex center is equal to the velocity of the local background flow, where the vortex is located, in the absence of the vortex. Some numerical examples demonstrate the contributions of these results.

A VSLMS Style Tap-length Learning Algorithm for Structure Adaptation

Compared with the ordinary adaptive filter, the variable-length adaptive filter is more efficient (including smaller., lower power consumption and higher computational complexity output SNR) because of its tap-length learning algorithm, which is able to dynamically adapt its tap-length to the optimal tap-length that best balances the complexity and the performance of the adaptive filter. Among existing tap-length algorithms, the LMS-style Variable Tap-Length Algorithm (also called Fractional Tap-Length Algorithm or FT Algorithm) proposed by Y.Gong has the best performance because it has the fastest convergence rates and best stability. However, in some cases its performance deteriorates dramatically. To solve this problem, we first analyze the FT algorithm and point out some of its defects. Second, we propose a new FT algorithm called 'VSLMS' (Variable Step-size LMS) Style Tap-Length Learning Algorithm, which not only uses the concept of FT but also introduces a new concept of adaptive convergence slope. With this improvement the new FT algorithm has even faster convergence rates and better stability. Finally, we offer computer simulations to verify this improvement.

Shock-Induced Near-Wall Two-Phase Flow Structure Over a Micron-Sized Particles Bed

The present paper studies numerical modelling of near-wall two-phase flows induced by a normal shock wave moving at a constant speed, over a micronsized particles bed. In this two-fluid model, the possibility of particle trajectory intersection is considered and a full Lagrangian formulation of the dispersed phase is introduced. The finiteness of the Reynolds and Mach numbers of the flow around a particle as well as the fineness of the particle sizes are taken into account in describing the interactions between the carrier- and dispersed- phases. For the small mass-loading ratio case, the numerical simulation of flow structure of the two phases is implemented and the profiles of the particle number density are obtained under the constant-flux condition on the wall. The effects of the shock Mach number and the particle size and material density on particle entrainment motion are discussed in detail.The obtained results indicate that interphase non-equilibrium in the velocity and temperature is a common feature for this type of flows and a local particle accumulation zone may form near the envelope of the particle trajectory family.

Two-time scales inner solutions and motion of a geostrophic vortex

Based on the authors' previous work, in this paper the systematical analyses on the motion and the inner solutions of a geostrophic vortex have been presented by means of thematched asymptotic expansion method with multiple time scales (S/gh001/2 and α S/gh001/2) and space scales. It has been shown that the leading inner solutions to the core structure in two-time scales analyses are identified with the results in normal one-time scale analyses. The time averages of the first-order solutions on short time variable τ are the same as the first-order solutions obtained in one normal time scale analyses. The geostrophic vortex induces an oscillatory motion in addition to moving with the background flow. The period, amplitude andthe deviation from the mean trajectory depend on the core structure and the initial conditions. The velocity of the motion of vortex center varies periodically and the time average of the velocity on short time variable τ is equal to the value of the local mean velocity.

Vortex motion in the early stages of unsteady flow around a circular cylinder

In this paper, processes in the early stages of vortex motion and the development of flow structure behind an impulsively-started circular cylinder at high Reynolds number are investigated by combining the discrete vortex model with boundary layer theory, considering the separation of incoming flow boundary layer and rear shear layer in the recirculating flow region. The development of flow structure and vortex motion, particularly the formation and development of secondary vortex and a pair of secondary vortices and their effect on the flow field are calculated. The results clearly show that the flow structure and vortices motion went through a series of complicated processes before the symmetric main vortices change into asymmetric: development of main vortices induces secondary vortices; growth of the secondary vortices causes the main vortex sheets to break off and causes the symmetric main vortices to become “free” vortices, while a pair of secondary vortices is formed; then the vortex sheets, after breaking off, gradually extend downstream and the structure of a pair of secondary vortices becomes relaxed. These features of vortex motion look very much like the observed features in some available flow field visualizations. The action of the secondary vortices causes the main vortex sheets to break off and converts the main vortices into free vortices. This should be the immediate cause leading to the instability of the motion of the symmetric main vortices. The flow field structure such as the separation position of boundary layer and rear shear layer, the unsteady pressure distributions and the drag coefficient are calculated. Comparison with other results or experiments is also made.

Numerical Analyses of Transonic Fluid/Structure interaction in Aircraft Engineering

Through the coupling between aerodynamic and structural governing equations, a fully implicit multiblock aeroelastic solver was developed for transonic fluid/stricture interaction. The Navier-Stokes fluid equations are solved based on LU-SGS (lower-upper symmetric Gauss-Seidel) Time-marching subiteration scheme and HLLEW (Harten-Lax-van Leer-Einfeldt-Wada) spacing discretization scheme and the same subiteration formulation is applied directly to the structural equations of motion in generalized coordinates. Transfinite interpolation (TFI) is used for the grid deformation of blocks neighboring the flexible surfaces. The infinite plate spline (IPS) and the principal of virtual work are utilized for the data transformation between fluid and structure. The developed code was fort validated through the comparison of experimental and computational results for the AGARD 445.6 standard aeroelastic wing. In the subsonic and transonic range, the calculated flutter speeds and frequencies agree well with experimental data, however, in the supersonic range, the present calculation overpredicts the experimental flutter points similar to other computations. Then the flutter character of a complete aircraft configuration is analyzed through the calculation of the change of structural stiffness. Finally, the phenomenon of aileron buzz is simulated for the weakened model of a supersonic transport wing/body model at Mach numbers of 0.98 and l.05. The calculated unsteady flow shows, on the upper surface, the shock wave becomes stronger as the aileron deflects downward, and the flow behaves just contrary on the lower surface of the wing. Corresponding to general theoretical analysis, the flow instability referred to as aileron buzz is induced by a stronger shock alternately moving on the upper and lower surfaces of wing. For the rigid structural model, the flow is stable at all calculated Mach numbers as observed in experiment

Nonlinear Fluid Damping In Structure-Wake Oscillators In Modeling Vortex-Induced Vibrations

A Nonlinear Fluid Damping (NFD) in the form of the square-velocity is applied in the response analysis of Vortex-induced Vibrations (VIV). Its nonlinear hydrodynamic effects oil the coupled wake and structure oscillators are investigated. A comparison between the coupled systems with the linear and nonlinear fluid dampings and experiments shows that the NFD model can well describe response characteristics, such as the amplification of body displacement at lock-in and frequency lock-ill, both at high and low mass ratios. Particularly, the predicted peak amplitude of the body in the Griffin plot is ill good agreement with experimental data and empirical equation, indicating the significant effect of the NFD on the structure motion.

Electron transport through a double-quantum-dot structure with intradot and interdot Coulomb interactions

Electron transport through a double-quantum-dot structure with intradot and interdot Coulomb interactions is studied by a Green's function (GF) approach. The conductance is calculated by a Landauer-Buttiker formula for the interacting systems derived using the nonequilibrium Keldysh formalism and the GF's are solved by the equation-of-motion method. It is shown that the interdot-coupling dependence of the conductance peak splitting matches the recent experimental observations. Also, the breaking of the electron-hole symmetry is numerically demonstrated by the presence of the interdot repulsion. [S0163-1829(99)01640-9].

Spectral properties of a double-quantum-dot structure: A causal Green's function approach

Spectral properties of a double quantum dot (QD) structure are studied by a causal Green's function (GF) approach. The double QD system is modeled by an Anderson-type Hamiltonian in which both the intra- and interdot Coulomb interactions are taken into account. The GF's are derived by an equation-of-motion method and the real-space renormalization-group technique. The numerical results show that the average occupation number of electrons in the QD exhibits staircase features and the local density of states depends appreciably on the electron occupation of the dot.

Thrust generation and wake structure of wiggling hydrofoil

Marine animals and micro-machines often use wiggling motion to generate thrust. The wiggling motion can be modeled by a progressive wave where its wavelength describes the flexibility of wiggling animals. In the present study, an immersed boundary method is used to simulate the flows around the wiggling hydrofoil NACA 65-010 at low Reynolds numbers. One can find from the numerical simulations that the thrust generation is largely determined by the wavelength. The thrust coefficients decrease with the increasing wavelength while the propulsive efficiency reaches a maximum at a certain wavelength due to the viscous effects. The thrust generation is associated with two different flow patterns in the wake: the well-known reversed Karman vortex streets and the vortex dipoles. Both are jet-type flows where the thrust coefficients associated with the reversed Karman vortex streets are larger than the ones associated with the vortex diploes.

NMR investigation of phenolphthalein polyether ether ketone .1. The chain structure and assignments of H-1, C-13 NMR lines of PEK-C

Amorphous samples of polyether ketone with cardo(PEK-C) have been studied in the solution state by C-13, H-1 high-resolution NMR, The H-1 and C-13 1D NMR spectra were assigned using two dimensional chemical shift correlated spectroscopy, 2D homonuclear correlated(COSY) and heteronuclear correlated (HETCOR) spectroscopy present important information. In this work, the structural units of PEK-C was determined by NMR. For some peaks, these assignments are confirmed by two dimensional long-range heteronuclear correlation experiments, A little modification is made on the original C-13 peak assignments for the main chain, The symmetry and the isotacticity of the chain structure for PEK-C are obvious on NMR data.

A SIMPLE METHOD FOR PREDICTION OF GAS-PERMEABILITY OF POLYMERS FROM THEIR MOLECULAR-STRUCTURE

A method for the prediction of gas permeabilities (P) through polymers from their chemical structure has been developed on the basis of the ratio of molar free volume to molar cohesive energy, V(f)/E(coh). The permeation of small gas molecules through polymer membranes is dependent on the chain packing density measured by V(f) and segmental motion of polymer chains measured by E(coh). But no simple relationship between P and V(f) or E(coh) alone was found. The permeability data of more than 60 polymers covering 7 orders of magnitude for six gases have been treated with linear regression analysis. All plots of log P vs. V(f)/E(coh) gave good straight lines. It is also found that a linear relationship holds when plotting both the intercepts and slopes of log P vs. V(f)/E(coh) lines against square of the diameters of gas molecules. Therefore, the permeabilities of all the non-swelling gases through a great variety of polymers can be estimated using two correlations above. Moreover, this method is more accurate than others in the literature and may found useful for the selection of gas separation or barrier membrane materials.