Stabilization of Uncertain Nonholonomic Dynamic Systems with Bounded Inputs

The sliding mode approach and the multi-step control strategy are exploited to propose a stabilizing controller for uncertain nonholonomic dynamic systems with bounded inputs. This controller can stabilize the system to an arbitrarily small neighborhood about its equilibrium in a finite time .Its application to a nonholonomic wheeled mobile robot is described. Simulation result shows that the proposed controller is effective

Interactions of Penny-Shaped Cracks in Three-Dimensional Solids

The interaction of arbitrarily distributed penny-shaped cracks in three-dimensional solids is analyzed in this paper. Using oblate spheroidal coordinates and displacement functions, an analytic method is developed in which the opening and the sliding displacements on each crack surface are taken as the basic unknown functions. The basic unknown functions can be expanded in series of Legendre polynomials with unknown coefficients. Based on superposition technique, a set of governing equations for the unknown coefficients are formulated from the traction free conditions on each crack surface. The boundary collocation procedure and the average method for crack-surface tractions are used for solving the governing equations. The solution can be obtained for quite closely located cracks. Numerical examples are given for several crack problems. By comparing the present results with other existing results, one can conclude that the present method provides a direct and efficient approach to deal with three-dimensional solids containing multiple cracks.

Static Study of Cantilever Beam stiction under Electrostatic Force Influence

The model and analysis of the cantilever beam adhesion problem under the action of electrostatic force are given. Owing to the nonlinearity of electrostatic force, the analytical solution for this kind of problem is not available. In this paper, a systematic method of generating polynomials which are the exact beamsolutions of the loads with different distributions is provided. The polynomials are used to approximate the beam displacement due to electrostatic force. The equilibrium equation offers an answer to how the beam deforms but no information about the unstuck length. The derivative of the functional with respect to the unstuck length offers such information. But to compute the functional it is necessary to know the beam deformation. So the problem is iteratively solved until the results are converged. Galerkin and Newton-Raphson methods are used to solve this nonlinear problem. The effects of dielectric layer thickness and electrostatic voltage on the cantilever beamstiction are studied.The method provided in this paper exhibits good convergence. For the adhesion problem of cantilever beam without electrostatic voltage, the analytical solution is available and is also exactly matched by the computational results given by the method presented in this paper.

静态不确定性环境中非完整轮式移动机器人路径规划研究

本文研究了静态不确定性环境下非完整轮式移动机器人路径规划问题,提出了一种实时路径规划方法--动态随机路径规划方法.此规划方法以随机路径规划方法为基础,通过对搜索图进行局部实时重构,引导机器人到达全局目标点.这种方法不仅使规划和执行很好地结合起来,而且对随机路图只做局部修改.仿真结果验证方法的有效性.

Bending solution of high-order refined shear deformation-theory for rectangular composite plates

A new high-order refined shear deformation theory based on Reissner's mixed variational principle in conjunction with the state- space concept is used to determine the deflections and stresses for rectangular cross-ply composite plates. A zig-zag shaped function and Legendre polynomials are introduced to approximate the in-plane displacement distributions across the plate thickness. Numerical results are presented with different edge conditions, aspect ratios, lamination schemes and loadings. A comparison with the exact solutions obtained by Pagano and the results by Khdeir indicates that the present theory accurately estimates the in-plane responses.

不确定边界条件下悬臂梁裂纹参数识别方法研究

基于Bernoulli-Euler梁振动理论,以等效弹簧来模拟裂纹引起的局部软化效应和由非完全固支边界条件引起的转角效应.推导了悬臂梁在不确定边界条件下确定其振动频率的特征方程,直接利用该特征方程,提出一种有效估计裂纹参数的优化方法,通过计算测量频率和理论频率之间的误差目标函数最小化即可识别裂纹参数-裂纹位置和深度.最后,应用两个实例-理想固支边界条件下和非完全固支边界条件下的悬臂梁实验来说明本文方法的有效性.实验结果表明:只需梁结构前三阶频率即可识别裂纹位置和深度.对于理想边界条件下的裂纹参数识别,在测量频率存在小误差情况下,该方法仍能给出比较满意的结果,对于非完全固支边界条件下的裂纹参数识别,利用本文方法能得到比Narkis的方法更精确的裂纹位置识别结果.同时本文方法还能给出比较满意的裂纹深度识别结果.

不确定大时延下遥操作对象模型的在线修正方法

基于预测模型的遥操作是消减通信大时延的有效方法,预测精度直接影响操作品质.分析了遥操作中的不确定大时延及有限带宽对模型修正的影响,针对模型参数的不确定性,提出了一种新的模型在线修正方法.该方法采用时标标识、同态模型、数据平滑等策略,有效克服了实测信息错配、反馈修正与实时预测过程异步以及变采样步长问题,实现了模型的精确在线修正,提高了预测精度和系统的鲁棒性.通过仿真实验验证了该方法的有效性.

室温下稳定的多波长掺铒光纤激光器的研究

通过在线形谐振腔中引入一段缠绕在压电陶瓷上的单模光纤作为正弦相位调制器，使得激射波长的损耗不固定，抑制由于掺铒光纤的均匀展宽效应引起的模式竞争，从而避免了在室温下不稳定的单波长激射，实现了多波长掺铒光纤激光器的稳定输出。为了获得平坦的多波长输出，在谐振腔里使用了一个损耗峰位于1530nm处的长周期光纤光栅，以获得较为平坦的增益谱。通过两个3dB耦合器制成的反射型梳状滤波器的滤波作用，实验中观察到稳定的多波长激射，相邻波长间隔约为0．45nm。中心9个波长的输出功率平坦度为10dB，边模抑制比大于25dB。

像差对星间激光通信相互对准误差的影响

We analyze mutual alignment errors due to wave-front aberrations. To solve the central obscured problem, we introduce modified Zernike polynomials, which are a set of complete orthogonal polynomials. It is found that different aberrations have different effects on mutual alignment errors. Some aberrations influence only the line of sight, while some aberrations influence both the line of sight and the intensity distributions. (c) 2005 Optical Society of America

Multiple maternal origins of chickens: Out of the Asian jungles

Domestic chickens have long been important to human societies for food, religion, entertainment, and decorative uses, yet the origins and phylogeography of chickens through Eurasia remain uncertain. Here, we assessed their origins and phylogeographic hist

Zebu Cattle Are an Exclusive Legacy of the South Asia Neolithic

Animal domestication was a major step forward in human prehistory, contributing to the emergence of more complex societies. At the time of the Neolithic transition, zebu cattle (Bos indicus) were probably the most abundant and important domestic livestock species in Southern Asia. Although archaeological evidence points toward the domestication of zebu cattle within the Indian subcontinent, the exact geographic origins and phylogenetic history of zebu cattle remains uncertain. Here, we report evidence from 844 zebu mitochondrial DNA (mtDNA) sequences surveyed from 19 Asiatic countries comprising 8 regional groups, which identify 2 distinct mitochondrial haplogroups, termed I1 and I2. The marked increase in nucleotide diversity (P < 0.001) for both the I1 and I2 haplogroups within the northern part of the Indian subcontinent is consistent with an origin for all domestic zebu in this area. For haplogroup I1, genetic diversity was highest within the Indus Valley among the three hypothesized domestication centers (Indus Valley, Ganges, and South India). These data support the Indus Valley as the most likely center of origin for the I1 haplogroup and a primary center of zebu domestication. However, for the I2 haplogroup, a complex pattern of diversity is detected, preventing the unambiguous pinpointing of the exact place of origin for this zebu maternal lineage. Our findings are discussed with respect to the archaeological record for zebu domestication within the Indian subcontinent.