基于能源消耗最小的自治水下机器人—机械手系统协调运动研究

描述了自治水下机器人搭载的三功能水下电动机械手的设计.鉴于自治水下机器人—机械手系统是运动学冗余的且自带能源,因此将系统阻力优化函数引入逆运动学求解,设计了基于系统能源消耗最小的系统协调运动规划算法.仿真表明,该算法在解决系统冗余度的同时,有效地减小了系统能源消耗.

全方位六足步行机器人运动规划的相对运动算法

本文提出了步行机器人运动控制算法。该方法以相对运动学原理为基础,把机体的运动规划问题转化为腿的足端轨迹规划问题,从而使步行机器人运动控制问题得到大大简化.并应用该方法对全方位三角步态算法及稳定性进行分析求解.

Study of the shock motion in a hypersonic shock system turbulent boundary-layer interaction

Wall pressure fluctuations and surface heat transfer signals have been measured in the hypersonic turbulent boundary layer over a number of compression-corner models. The distributions of the separation shock oscillation frequencies and periods have been calculated using a conditional sampling algorithm. In all cases the oscillation frequency distributions are of broad band, but the most probable frequencies are low. The VITA method is used for deducing large scale disturbances at the wall in the incoming boundary layer and the separated flow region. The results at present showed the existence of coherent structures in the two regions. The zero-cross frequencies of the large scale structures in the two regions are of the same order as that of the separation shock oscillation. The average amplitude of the large scale structures in the separated region is much higher than that in the incoming boundary layer. The length scale of the separation shock motion region is found to increase with the disturbance strength. The results show that the shock oscillation is of inherent nature in the shock wave/turbulent boundary layer interaction with separation. The shock oscillation is considered to be the consequence of the coherent structures in the separated region.

Algorithm for simulating fracture processes in concrete by lattice modeling

To simulate fracture behaviors in concrete more realistically, a theoretical analysis on the potential question in the quasi-static method is presented, then a novel algorithm is proposed which takes into account the inertia effect due to unstable crack propagation and meanwhile requests much lower computational efforts than purely dynamic method. The inertia effect due to load increasing becomes less important and can be ignored with the loading rate decreasing, but the inertia effect due to unstable crack propagation remains considerable no matter how low the loading rate is. Therefore, results may become questionable if a fracture process including unstable cracking is simulated by the quasi-static procedure excluding completely inertia effects. However, it requires much higher computational effort to simulate experiments with not very high loading rates by the dynamic method. In this investigation which can be taken as a natural continuation, the potential question of quasi-static method is analyzed based on the dynamic equations of motion. One solution to this question is the new algorithm mentioned above. Numerical examples are provided by the generalized beam (GB) lattice model to show both fracture processes under different loading rates and capability of the new algorithm.

Dynamics of quantum dissipation systems interacting with fermion and boson grand canonical bath ensembles: Hierarchical equations of motion approach

A hierarchical equations of motion formalism for a quantum dissipation system in a grand canonical bath ensemble surrounding is constructed on the basis of the calculus-on-path-integral algorithm, together with the parametrization of arbitrary non-Markovian bath that satisfies fluctuation-dissipation theorem. The influence functionals for both the fermion or boson bath interaction are found to be of the same path integral expression as the canonical bath, assuming they all satisfy the Gaussian statistics. However, the equation of motion formalism is different due to the fluctuation-dissipation theories that are distinct and used explicitly. The implications of the present work to quantum transport through molecular wires and electron transfer in complex molecular systems are discussed. (c) 2007 American Institute of Physics.

VGIS-COLLIDE: an effective collision detection algorithm for

Collision detection is an important component in simulation applications which are based on virtual geographic information system (VGIS). In this paper, an effective collision detection algorithm for multiple objects in VGIS, VGIS-COLLIDE, is presented. The algorithm firstly integrates existing quadtree, which is the global hierarchical structure of VGIS, with axis-aligned bounding box of object to perform the broad-phase of collision detection. After that, exact collision detection between two objects which have passed the broad-phase of collision detection is performed. The algorithm makes no assumption about input primitives or object's motion and is directly applicable to all triangulated models. It can be applicable to both rigid and deformable objects without preprocessing. The performance of the algorithm has been demonstrated in several environments consisting of a high number of objects with hundreds of thousands of triangles.

Application of the Conjugate Gradient Optimization Algorithm of Neural Network on Laser Machining

在应用激光技术加工复杂曲面时,通常以采样点集为插值点来建立曲面函数,然后实现曲面上任意坐标点的精确定位。人工神经网络的BP算法能实现函数插值,但计算精度偏低,往往达不到插值精确要求,造成较大的加工误差。提出人工神经网络的共轭梯度最优化插值新算法,并通过实例仿真,证明了这种曲面精确定位方法的可行性,从而为激光加工的三维精确定位提供了一种良好解决方案。这种方法已经应用在实际中。

Simulating shock to detonation transition: Algorithm and results

An algorithm based on flux-corrected transport and the Lagrangian finite element method is presented for solving the problem of shock dynamics. It is verified through the model problem of one-dimensional strain elastoplastic shock wave propagation that the algorithm leads to stable, non-oscillatory results. Shock initiation and detonation wave propagation is simulated using the algorithm, and some interesting results are obtained. (C) 1999 Academic Press.

Governing Equations and Numerical Solutions of Tension Leg Platform with Finite Amplitude Motion

It is demonstrated that when tension leg platform (TLP) moves with finite amplitude in waves, the inertia force, the drag force and the buoyancy acting on the platform are nonlinear functions of the response of TLP. The tensions of the tethers are also nonlinear functions of the displacement of TLP. Then the displacement, the velocity and the acceleration of TLP should be taken into account when loads are calculated. In addition, equations of motions should be set up on the instantaneous position. A theoretical model for analyzing the nonlinear behavior of a TLP with finite displacement is developed, in which multifold nonlinearities are taken into account, i.e., finite displacement, coupling of the six degrees of freedom, instantaneous position, instantaneous wet surface, free surface effects and viscous drag force. Based on the theoretical model, the comprehensive nonlinear differential equations are deduced. Then the nonlinear dynamic analysis of ISSC TLP in regular waves is performed in the time domain. The degenerative linear solution of the proposed nonlinear model is verified with existing published one. Furthermore, numerical results are presented, which illustrate that nonlinearities exert a significant influence on the dynamic responses of the TLP.

Effect of weak Brownian motion on gravitational coagulation

The effect of a small amount of Brownian diffusion on gravitational coagulation is numerically calculated by incorporating gravitational and interparticle forces (both attractive and repulsive), as well as hydrodynamic interactions. It is found that weak Brownian diffusion, the effect of which is nonlinearly coupled with gravity, can act to decrease the coagulation rate.

Analysis of Spacecraft Relative Motion and Applicability of Hill's Solution

研究了空间飞行器编队中最具基础性的问题之一,即相对运动的解析表达及Hill方程的适用条件。通过建立相对运动的通解公式,针对不同性质的初值深入地分析了其相对运动轨迹的本质特征,并给出了Hill方程的适用条件。此外,文中还给出了一个新的编队设计简化公式。

Arc Root Motion In An Argon-Hydrogen Dc Plasma Torch

Arc root motion on the anode surface of a dc non-transferred plasma torch was observed. Adding hydrogen changes the arc root attachment from a diffused type to a constricted type, and the arc root of Ar-H-2 plasma suddenly,jumps from one spot to another irregularly. Images of the arc root motions taken by a high-speed video camera are presented.

Thermocapillary Motion Of Droplets At Large Marangoni Numbers

In this paper, the thermocapillary motion problem of drops is investigated using the axisymmetric model. The front-tracking method is employed to capture the drop interface. We find that the migration velocity of the drop is greatly influenced by the temperature field in the drop when Ma is fairly large (>100), which leads to an increase-decrease migration velocity at the beginning of our simulations. (C) 2007 COSPAR. Published by Elsevier Ltd. All rights reserved.

Ancient Chinese algorithm: The Ying Buzu Shu (method of surplus and deficiency) vs Newton iteration method

Air exploratory discussion of an ancient Chinese algorithm, the Ying Buzu Shu, in about 2nd century BC, known as the rule of double false position in the West is given. In addition to pointing out that the rule of double false position is actually a translation version of the ancient Chinese algorithm, a comparison with well-known Newton iteration method is also made. If derivative is introduced, the ancient Chinese algorithm reduces to the Newton method. A modification of the ancient Chinese algorithm is also proposed, and some of applications to nonlinear oscillators are illustrated.

The motion of a small bubble in waves

The motion of a single spherical small bubble due to buoyancy in the ideal fluid with waves is investigated theoretically and experimentally in this article. Assuming that the bubble has no effect on the wave field, equations of a bubble motion are obtained and solved. It is found that the nonlinear effect increases with the increase of the bubble radius and the rising time. The rising time and the motion orbit are given by calculations and experiments. When the radius of a bubble is smaller than 0.5mm and the distance from the free surface is greater than the wave height, the results of the present theory are in close agreement with measurements.