平行平面上直线的刚体运动估计

本文讨论了基于直线对应的一些运动估计问题，当位于平行平面上的一组直线作刚体运动时，两帧图象的５条直线对应关系可以确定旋转参数和平行平面的法向量，其求解可以通过吴消元法得到。     

退化抛物型方程与单侧约束系统

本文讨论了一类非线性非自治多值的退化抛物型方程解的存在性和解的正则性等。它代表一类具非线性本构约束及不可微外约束的能量耗散的物理、力学和优化等问题。     

多刚体系统的外碰撞动力学方程

本文讨论了两个多刚体系统之间相互碰撞的动力学问题,给出了碰撞冲量和广义速度增量已经解耦的,且适合于计算机程式求解的外碰撞动力学模型,该模型具有实用价值。     

约束的NLS系统的刚体型Poisson结构

A constrained system associated with a 3×3 matrix spectral problem of the nonlinear Schrodinger(NLS) hierarchy is proposed. It is shown that the constrained system is a Hamiltonian system with the rigid body type Poisson structure on the Poisson manifold R3N. Further, the reduction of the constrained system extended to the common level set of the complex cones is proved to be the constrained AKNS system on C2N.     

平面运动的复变函数方法

前言复变函数理论和方法是解决平面问题的有力数学工具,理论力学中的许多平面问题也可用该方法来解决,如平面力系、平面运动等等。本文就平面运动问题采用复变函数方法来研究,一方面许多工程问题是平面问题,另     

含摩擦的多刚体系统碰撞问题的滑动状态步进法

研究了含铰摩擦的多刚体系统的碰撞动力学问题．在保留了关于处理冲击问题的经典近似假定的基础上,给出了计算冲击后系统广义速度的滑动模式步进算法．该算法避免了求解变尺度的微分方程的困难,同时由于考虑了切向模式的复杂性,从而使计算结果避免了碰撞前后能量的不协调性．算例描述了该算法的实现过程．     

推导刚体动力学方程的张量方法

本文提出了基于连续介质力学概念推导刚体动力学方程的张量方法,运用具有零共旋率的惯性张量的时间导数公式,证明了Lagrange方程、Nielsen方程、Gibbs-Appell方程、Kane方程和广义动量式Kane方程等五种方法的等价性,给出了角速度、角加速度之间的一些微分关系式.     

刚柔耦合系统动力学建模及分析

准确预测经历大范围刚体运动和弹性变形的柔性体的行为,是当前柔性多体系统动力学领域关注的主要课题.基于线性理论的传统方法由于无法计及动力刚化效应,导致在许多实际应用中得到错误的结果.本文从离心力势场的概念出发,应用Hamilton原理建立了具有动力刚化效应的刚柔耦合系统的运动方程,证明了该方程解的周期性,并采用了Frobenius方法给出了其精确解的一般形式.通过算例分析了刚体运动对弹性运动的模态和频率的影响.     

刚体位移对应变测试的影响

通过运用波前干涉理论,得到了贴片云纹干涉法测圆柱壳的位移与应变公式,分析了刚体位移及曲率对测试结果的影响情况.指出了在对压力容器及管道进行测试时应注意的事项.     

高维纵向数据群点的刚体结构检验方法

本文中, 我们提出一种检验高维纵向数据群点在运动中是否保持刚体结构的方法, 并给出高维群点变形系数的定义. 对群点刚体结构的检验, 可以把握群点运动的主要特征, 并便于对群点的未来运动趋势做总体预测. 通过仿真案例以及分析比较中国东部、西部城市群的经济发展过程中多元性的变化, 验证了方法的合理性和应用价值.     

在重力场和磁场影响下自旋刚性航天器的周期运动

考虑重力场和磁场对轴对称航天器本体的影响，研究其质心在圆形轨道上的运动,通过降低系统的运动方程数，并将它变成为一个带电粒子在电磁场作用下的平面运动．确认系统运动是稳定的，并通过Liapunov全纯积分定理，构建其近似的周期运动.     

On the Geometry of Inner Approximations to the Set of Null Controllability for Constrained Linear Systems

The problem of obtaining inner approximations to the set of null controllability for linear systems is considered, and the geometry of certain sets arising in the approximation of using linear feedback is explored. A two-dimensional example is worked in detail in order to delineate the limitations to the use of linear feedback.     

Primitive Illumination Systems for Families of Convex Bodies in the Plane

Let F= {C₁,C₂,...,C} be a family of ndisjoint convex bodies in the plane. We say that a set Vof exterior light sources illuminates F, if for every boundary point of any member of Fthere is a point in Vsuch that is visible from ,i.e. the open line segment joining and is disjoint from F. An illumination system Vis called primitive if no proper subset of Villuminates F. Let p_max(F) denote the maximum number of points forming a primitive illumination system for F, and letp_max(n) denote the minimum of F) taken over all families Fconsisting of ndisjoint convex bodies in the plane. The aim of this paper is to investigate the quantities p_max(F) and p_max(n).     

旋转刚柔耦合系统的模型及控制

旋转刚柔耦合系统在航空航天、机器人、高速机构以及车辆等领域有着广泛的应用,主要描述负载在旋转刚体上的柔性梁的运动。对旋转刚柔耦合系统施加控制使得整个闭环系统达到:1)旋转刚体以预期的旋转角速度运动;2)负载在刚体上的柔性梁镇定。本文将从控制器设计的角度出发,介绍目前在旋转刚柔耦合系统控制方面取得的主要研究成果。     

Enumerating Constrained Non-crossing Minimally Rigid Frameworks

In this paper we present an algorithm for enumerating without repetitions all the non-crossing generically minimally rigid bar-and-joint frameworks under edge constraints, which we call constrained non-crossing Laman frameworks, on a given set of n points in the plane. Our algorithm is based on the reverse search paradigm of Avis and Fukuda. It generates each output graph in O(n ⁴) time and O(n) space, or, with a slightly different implementation, in O(n ³) time and O(n ²) space. In particular, we obtain that the set of all the constrained non-crossing Laman frameworks on a given point set is connected by flips which preserve the Laman property. D. Avis’s research was supported by NSERC and FQRNT grants. N. Katoh’s, M. Ohsaki’s and S.-i. Tanigawa’s research was supported by NEXT Grant-in-Aid for Scientific Research on priority areas of New Horizons in Computing. I. Streinu’s research was supported by NSF grant CCF-0430990 and NSF-DARPA CARGO CCR-0310661.     

Equations of Motion for Constrained Multibody Systems and their Control

This paper presents some recent advances in the dynamics and control of constrained multibody systems. The constraints considered need not satisfy the D’Alembert principle and therefore the results are of general applicability. They show that, in the presence of constraints, the constraint force acting on the multibody system can always be viewed as made up of the sum of two components whose explicit form is provided. The first of these components consists of the constraint force that would have existed were all the constraints ideal; the second is caused by the nonideal nature of the constraints, and though it needs specification by the mechanician who is modeling the specific system at hand, it has a specific form. The general equations of motion obtained herein provide new insights into the simplicity with which Nature seems to operate. They point toward the development of new and novel approaches for the exact control of complex multibody nonlinear systems. In honor of Bob kalaba, friend, colleague, and mentor.     

On Gaussian Marginals of Uniformly Convex Bodies

Recently, Bo’az Klartag showed that arbitrary convex bodies have Gaussian marginals in most directions. We show that Klartag’s quantitative estimates may be improved for many uniformly convex bodies. These include uniformly convex bodies with power type 2, and power type p>2 with some additional type condition. In particular, our results apply to all unit-balls of subspaces of quotients of L _p for 1<p<∞. The same is true when L _p is replaced by S _p ^m , the l _p -Schatten class space. We also extend our results to arbitrary uniformly convex bodies with power type p, for 2≤p<4. These results are obtained by putting the bodies in (surprisingly) non-isotropic positions and by a new concentration of volume observation for uniformly convex bodies. Supported in part by BSF and ISF.     

广义 Rigid环(英文)

本文定义并研究了广义 Rigid环 ,并讨论了环上有限生成投射模的性质     

Classical Integrable Systems and Billiards Related to Generalized Jacobians

We study some classical integrable systems of dynamics (the Euler top in space, the asymptotic geodesic motion on an ellipsoid) which are linearized on unramified coverings of generalized Jacobian varieties. We find explicit expressions for so called root functions living on such coverings which enable us to solve the problems in terms of generalized theta-functions. In addition, general and asymptotic solutions for ellipsoidal billiards and the billiard in an ellipsoidal layer are obtained.