空间柔性双臂机器人系统建模、控制与仿真研究

空间柔性多臂机器人系统是高度非线性,强耦合的动力学系统,其动力学的研究是比较复杂和困难的问题.本文针对极为复杂的空间柔性双臂机器人系统,建立了其系统动力学模型,利用逆动力学控制算法对该动力学模型实现了轨迹跟踪控制,仿真结果表明该方法具有较好的控制效果,分析了在仿真过程中出现的有关数值算法的问题.

水下机器人粘性类水动力数值计算方法研究

通过对通用流体动力学仿真软件CFX的研究,提出了一套水下机器人粘性类水动力的数值计算方法.该方法采用标准k-ε湍流模型计算位置力系数,采用标准k-ω湍流模型计算旋转力系数及其它耦合水动力系数.对“CR-02”6000 m自治水下机器人的计算表明,通过这种方法获得的水动力系数具有较高的精度,可以满足水下机器人方案设计阶段的操纵性设计、运动预报和仿真等需求.

波动方程辛几何算法三维叠前深度偏移及其并行实现

Oil and scientific groups have been focusing on the 3D wave equation prestack depth migration since it can solve the complex problems of the geologic structure accurately and maintain the wave information, which is propitious to lithology imaging. The symplectic method was brought up by Feng Kang firstly in 1984 and became the hotspot of numerical computation study. It will be widely applied in many scientific field of necessity because of its great virtue in scientific sense. This paper combines the Symplectic method and the 3-D wave equation prestack depth migration to bring up an effectual numerical computation method of wave field extrapolatation technique under the scientific background mentioned above. At the base of deep analysis of computation method and the performance of PC cluster, a seismic prestack depth migration flow considering the virtue of both seismic migration method and Pc cluster has formatted. The software, named 3D Wave Equation Prestack Depth Migration of Symplectic Method, which is based on the flow, has been enrolled in the National Bureau of Copyright (No. 0013767). Dagang and Daqing Oil Field have now put it into use in the field data processing. In this paper, the one way wave equation operator is decompounded into a phase shift operator and a time shift operator and the correct item with high rank Symplectic method when approaching E exponent. After reviewing eliminating alias frequency of operator, computing the maximum angle of migration and the imaging condition, we present the test result of impulse response of the Symplectic method. Taking the imaging results of the SEG/EAGE salt and overthrust models for example and seeing about the imaging ability with complex geologic structure of our software system, the paper has discussed the effect of the selection of imaging parameters and the effectuation on the migration result of the seismic wavelet and compared the 2-D and 3-D prestack depth migration result of the salt mode. We also present the test result of impulse response with the overthrust model. The imaging result of the two international models indicates that the Symplectic method of 3-D prestack depth migration accommodates great transversal velocity variation and complex geologic structure. The huge computing cost is the key obstruction that 3-D prestack depth migration wave equation cannot be adopted by oil industry. After deep analysis of prestack depth migration flow and the character of PC cluster ,the paper put forward :i)parallel algorithms in shot and frequency domain of the common shot gather 3-D wave equation prestack migration; ii)the optimized setting scheme of breakpoint in field data processing; iii)dynamic and static load balance among the nodes of the PC cluster in the 3-D prestack depth migration. It has been proven that computation periods of the 3-D prestack depth migration imaging are greatly shortened given that adopting the computing method mentioned in the paper. In addition,considering the 3-D wave equation prestack depth migration flow in complex medium and examples of the field data processing, the paper put the emphasis on: i)seismic data relative preprocessing, ii) 2.5D prestack depth migration velocity analysis, iii)3D prestack depth migration. The result of field data processing shows satisfied application ability of the flow put forward in the paper.

Shaping Inputs to Reduce Vibration: A Vector Diagram Approach

This paper describes a method for limiting vibration in flexible systems by shaping the system inputs. Unlike most previous attempts at input shaping, this method does not require an extensive system model or lengthy numerical computation; only knowledge of the system natural frequency and damping ratio are required. The effectiveness of this method when there are errors in the system model is explored and quantified. An algorithm is presented which, given an upper bound on acceptable residual vibration amplitude, determines a shaping strategy that is insensitive to errors in the estimated natural frequency. A procedure for shaping inputs to systems with input constraints is outlined. The shaping method is evaluated by dynamic simulations and hardware experiments.

Using Special-Purpose Computing to Examine Chaotic Behavior in Nonlinear Mappings

Studying chaotic behavior in nonlinear systems requires numerous computations in order to simulate the behavior of such systems. The Standard Map Machine was designed and implemented as a special computer for performing these intensive computations with high-speed and high-precision. Its impressive performance is due to its simple architecture specialized to the numerical computations required of nonlinear systems. This report discusses the design and implementation of the Standard Map Machine and its use in the study of nonlinear mappings; in particular, the study of the standard map.

Controlo fotogramétrico da condição de estruturas quebra-mar

Dissertação de natureza Científica para obtenção do grau de Mestre em Engenharia Civil

Höyryturbiinin kanavistojen numeerinen virtauslaskenta

Diplomityössä tutkittiin Fortumin Loviisan ydinvoimalaitoksen ulosvirtauskanaviston ja suurnopeuskosteudenerottimen toimintaa, sekä selvitettiin taustalla olevaa teoriaa ja aiemmin tehtyjä tutkimuksia. Tavoitteena oli ymmärtää ja esittää laitteiden toimintaa, sekä tutkia voiko ulosvirtauskanaviston suorituskykyä parantaa geometrian muutoksilla. Työssä luotiin tutkittaville kohteille geometriat ja laskentahilat, joiden avulla simuloitiin niiden toimintaa eri käyttötilanteissa numeerisen virtauslaskennan avulla. Laskennan reunaehdot saatiin olemassa olevasta prosessimallista ja aiemmista turbiiniselvityksistä. Ulosvirtauskanaviston suorituskyky laskettiin kolmella eri lauhdutinpaineella neljällä eri geometrialla. Geometrian muutokset vaikuttivat selkeästi ulosvirtauskanaviston suorituskykyyn ja sitä saatiin parannettua. Kaksi kolmesta muutoksesta, lisäkanavat ja oikaistu vesilippa, pa-ransivat suorituskykyä. Lokinsiipien poistaminen heikensi ulosvirtauskanaviston toi-mintaa. Suurnopeuskosteudenerottimen mallintaminen jäi lähtötietojen ja ajan puutteen takia hieman tavoitteesta. Sekä ulosvirtauskanaviston että suurnopeuskosteudenerotti-men jatkotutkimusta ja mahdollisia toimenpiteitä varten saatiin arvokasta uutta tietoa.

Development and Analysis of Microstrip Antennas For Dual Band Microwave Communication

The thesis explores the outcome of the exhaustive theoretical and experimental investigations performed on Octagonal Microstrip Antenna configurations. Development of the MATLAB TM backed 3D-Conformal Finite Difference Time Domain (CFDTD)Modeller for the numerical computation of the radiation characteristics of the antenna is the theme of the work. The predicted results are verified experimentally and by IE3D TM simulation. The influence of the patch dimensions,feed configurations,feed dimensions and feed positions upon the radiation performance of the antenna is studied in detail. Octagonal Microstrip Antenna configurations suitable for Mobile-Bluetooth application is dealt in detail. A simple design formula for the regular Octagonal geometry is also presented. A compact planar multi band antenna for GPS/DCS/2.4/5.8GHz WLAN application is included as appendix A. Planar near field measurement technique is explained in appendix B.

Printed Monopole Antenna for Ultra Wide Band (UWB) Applications

The thesis is the outcome of the exhaustive theoretical and experimental investigations performed on Printed Monopole Antennas loaded with different geometries .The work presented in this thesis describes the development of a 3D- FDTD(Finite Difference Time Domain) Modeller using MATLAB for the numerical computation of the radiation characteristics of the antenna. The predicted results are verified experimentally and also through simulation using Ansoft HFSS.The effect of top loading of the monopole with different geometries ,the dimensions of the loading patch and ground plane and the material parameters of the dielectric substrate upon the radiation performance of the antenna is studied in detail. Optimized Printed Monopole antennas suitable for Ultra Wide Band (UWB) applications have been developed.

Design and Development of re configurable compact cross patch antenna for switchable polarization

Antennas are necessary and vital components of communication and radar systems, but sometimes their inability to adjust to new operating scenarios can limit system performance. Reconfigurable antennas can adjust with changing system requirements or environmental conditions and provide additional levels of functionality that may result in wider instantaneous frequency bandwidths, more extensive scan volumes, and radiation patterns with more desirable side lobe distributions. Their agility and diversity created new horizons for different types of applications especially in cognitive radio, Multiple Input Multiple Output Systems, satellites and many other applications. Reconfigurable antennas satisfy the requirements for increased functionality, such as direction finding, beam steering, radar, control and command, within a confined volume. The intelligence associated with the reconfigurable antennas revolved around switching mechanisms utilized. In the present work, we have investigated frequency reconfigurable polarization diversity antennas using two methods: 1. By using low-loss, high-isolation switches such as PIN diode, the antenna can be structurally reconfigured to maintain the elements near their resonant dimensions for different frequency bands and/or polarization. 2. Secondly, the incorporation of variable capacitors or varactors, to overcome many problems faced in using switches and their biasing. The performances of these designs have been studied using standard simulation tools used in industry/academia and they have been experimentally verified. Antenna design guidelines are also deduced by accounting the resonances. One of the major contributions of the thesis lies in the analysis of the designed antennas using FDTD based numerical computation to validate their performance.

Investigations On A Microstrip Excited Rectangular Dielectric Resonator Antenna

The thesis relates to the investigations carried out on Rectangular Dielectric Resonator Antenna configurations suitable for Mobile Communication applications. The main objectives of the research are to: - numerically compute the radiation characteristics of a Rectangular DRA - identify the resonant modes - validate the numerically predicted data through simulation and experiment 0 ascertain the influence of the geometrical and material parameters upon the radiation behaviour of the antenna ° develop compact Rectangular DRA configurations suitable for Mobile Communication applications Although approximate methods exist to compute the resonant frequency of Rectangular DRA’s, no rigorous analysis techniques have been developed so far to evaluate the resonant modes. In this thesis a 3D-FDTD (Finite Difference Time Domain) Modeller is developed using MATLAB® for the numerical computation of the radiation characteristics of the Rectangular DRA. The F DTD method is a powerful yet simple algorithm that involves the discretimtion and solution of the derivative form of Maxwell’s curl equations in the time domain.

Propriedades magnéticas quase-estáticas de filmes ferromagnéticos amorfos de FeCuNbSiB

Today, one of the topics that attracts interest of the scientific community is the understanding of magnetic properties of magnetic systems with reduced dimensions, in particular, ferromagnetic thin films. In this case, the comprehension and control of these properties, as well as the development of routes to obtain them, are crucial issues in many aspects of current and future technologies for storage and transmission of information in the electro-electronic industry. There are several materials that exhibit soft magnetic properties, and we highlight the amorphous alloys and that ones obtained by partial crystallization, so-called nanocrystalline materials. The production of these alloys as magnetic ribbons is very common in scientific and technological area, but there are just a few works related to the production of these alloys as thin films. In this work, we studied the quasi-static magnetic properties of ferromagnetic thin films based on FeCuNbSiB in a wide range of thicknesses, from 20 to 500 nm, produced by sputtering. In particular, after the structural characterization performed via X-ray diffraction, the magnetic properties of the sets of samples were investigated using experimental magnetization curve, obtained using a vibrating sample magnetometer, as well as through theoretical curves obtained by theoretical modeling and numerical computation. The modeling process is based on the Stoner Wohlfarth model applied to three dimensions, and adds some energy terms, using as reference experimental results of magnetization. In this case, from the comparison between theoretical and experimental results and the analysis of the constant anisotropy behavior as a function of film thickness, we aim to obtain further information on the magnetization process of the samples, to identify routes for the production of thin films and develop a theoretical to films to use it, in the future, in the obtainment of the theoretical curves of some magnetic measurements, such as magnetoimpedance and magnetoresistance

The Interval Constructor on classes of ML-algebras

Monoidal logic, ML for short, which formalized the fuzzy logics of continuous t-norms and their residua, has arisen great interest, since it has been applied to fuzzy mathematics, artificial intelligence, and other areas. It is clear that fuzzy logics basically try to represent imperfect or fuzzy information aiming to model the natural human reasoning. On the other hand, in order to deal with imprecision in the computational representation of real numbers, the use of intervals have been proposed, as it can guarantee that the results of numerical computation are in a bounded interval, controlling, in this way, the numerical errors produced by successive roundings. There are several ways to connect both areas; the most usual one is to consider interval membership degrees. The algebraic counterpart of ML is ML-algebra, an interesting structure due to the fact that by adding some properties it is possible to reach different classes of residuated lattices. We propose to apply an interval constructor to ML-algebras and some of their subclasses, to verify some properties within these algebras, in addition to the analysis of the algebraic aspects of them

Asymmetry parameter for nonmesonic hypernuclear decay

We give general expressions for the vector asymmetry in the angular distribution of protons in the nonmesonic weak decay of polarized hypernuclei. From these we derive an explicit expression for the calculation of the asymmetry parameter, a(Lambda), which is applicable to the specific cases of He-5(Lambda) and C-12(Lambda) described within the extreme shell model. In contrast to the approximate formula widely used in the literature, it includes the effects of three-body kinematics in the final states of the decay and correctly treats the contribution of transitions originating from single-proton states beyond the s-shell. This expression is then used for the corresponding numerical computation of a(Lambda) within several one-meson-exchange models. Besides the strictly local approximation usually adopted for the transition potential, we also consider the addition of the first-order nonlocality terms. We find values for a(Lambda) ranging from -0.62 to -0.24, in qualitative agreement with other theoretical estimates but in contradiction with some recent experimental determinations.

Dissipative three-wave structures in stimulated backscattering. I. A subluminous solitary attractor

We present a solitary solution of the three-wave nonlinear partial differential equation (PDE) model - governing resonant space-time stimulated Brillouin or Raman backscattering - in the presence of a cw pump and dissipative material and Stokes waves. The study is motivated by pulse formation in optical fiber experiments. As a result of the instability any initial bounded Stokes signal is amplified and evolves to a subluminous backscattered Stokes pulse whose shape and velocity are uniquely determined by the damping coefficients and the cw-pump level. This asymptotically stable solitary three-wave structure is an attractor for any initial conditions in a compact support, in contrast to the known superluminous dissipative soliton solution which calls for an unbounded support. The linear asymptotic theory based on the Kolmogorov-Petrovskii-Piskunov assertion allows us to determine analytically the wave-front slope and the subluminous velocity, which are in remarkable agreement with the numerical computation of the nonlinear PDE model when the dynamics attains the asymptotic steady regime. © 1997 The American Physical Society.