考虑热应变的柔性并联空间机械臂动力学

研究考虑热应变的柔性并联空间机械臂动力学性态。用Jourdain速度变分原理建立各机械臂的动力学变分方程,在此基础上根据各物体之间的运动学约束关系,建立柔性多体系统的微分代数混合动力学方程。数值仿真结果表明,当温度升高时,机械臂的轴向约束力和中心刚体的质心运动速度均出现显著振荡,而适当减小温度变化率,可以有效地控制振幅。     

Viscous waves and wave-structure interaction in a tank using adapting quadtree grids

Viscous waves and waves over a submerged cylinder in a stationary tank are simulated using a volume-of-fluid numerical scheme on adaptive hierarchical grids. A high resolution interface-capturing method is used to advect the free surface interface and the Navier–Stokes equations are discretised using finite volumes with collocated primitive variables and solved using a Pressure Implicit with Splitting of Operators (PISO) algorithm. The cylinder is modelled by using the technique of Cartesian cut cells. Results of flow of a single fluid past a cylinder at Reynolds number Re=100 are presented and found to agree well with experimental and other numerical data. Viscous free surface waves in a tank are simulated using uniform and quadtree grids for Reynolds numbers in the range from 2 to 2000, and the results compared against analytical solutions where available. The quadtree-based results are of the same accuracy as those on the equivalent uniform grids, and retain a sharp interface at the free surface while leading to considerable savings in both storage and CPU requirements. The nonlinearity in the wave is investigated for a selection of initial wave amplitudes. A submerged cylinder is positioned in the tank and its influence on the waves as well as the hydrodynamic loading on the cylinder is investigated.     

机器人通过奇点的运动学逆问题的数值解法

机器人在完成其规划动作时,常可能要通过其运动链的奇点,这时求解其运动学逆问题的通用算法遇到本质的困难,本文给出了一种算法,它可以成功地克服这个困难。文中还给出了计算实例。     

Disappearing Wakes and Dispersion in Numerically Simulated Flows Through Tube Bundles

Flow through a staggered array or bundle of parallel rigid cylinders of diameter D is computed with the help of a three-dimensional direct numerical simulation (DNS) at various values of Reynolds number between 50 and 6000. Two different spacings L of the tubes, i.e. L/D= 2 and L/D= 3, have been considered. When Re 500 the flow is laminar. In that case the converging flow between a pair of adjacent cylinders brings the oppositely signed vorticity at the two edges of the wake closer together behind the upstream cylinder so that the vorticity decreases quickly due to cancellation by diffusion. At Re 6000, when the flow is highly turbulent, the wake vorticity disappears rather by turbulent diffusion. This disappearance of the wakes in the closely packed flows (i.e. L/D 2) causes the mean flow in a cell, which consists of the region around a single cylinder, to be effectively independent of that in other cells. Another consequence is that the mean velocity field can be very well approximated by potential flow except in a thin boundary layer along the cylinder and a short wake behind it. The results have been applied to the transport of scalars in closely packed arrays. As in other complex flows, the dispersion of the scalars is dominated by the divergence and convergence of the streamlines around the cylinder rather than by the wake turbulence. Approximate expressions are derived for this topologically influenced dispersion in terms of the geometry of the array. The fact when most of the flow in the array can be approximated by a potential flow, allows us to introduce a fast approximate calculation method to compute the dispersion.     

The PyPES library of high quality semi‐global potential energy surfaces

In this article, we present a Python‐based library of high quality semi‐global potential energy surfaces for 50 polyatomic molecules with up to six atoms. We anticipate that these surfaces will find widespread application in the testing of new potential energy surface construction algorithms and nuclear ro‐vibrational structure theories. To this end, we provide the ability to generate the energy derivatives required for Taylor series expansions to sixth order about any point on the potential energy surface in a range of common coordinate systems, including curvilinear internal, Cartesian, and normal mode coordinates. The PyPES package, along with FORTRAN, C, MATLAB and Mathematica wrappers, is available at http://sourceforge.net/projects/pypes-lib . © 2015 Wiley Periodicals, Inc.     

两类图的(d,1)-全标号

主要讨论了W_n与C_m的笛卡尔积和均衡完全r-部图K_r(n)的(d,1)-全标号,并得出了(d,1)-全数λ_d~T(W_n□C_m)和λ_d~T(K_(r(n)))的确切值.     

一类关节型机器人操作手的迭代学习控制

针对一类机器人操作手，提出了一种设计机器人操作手迭代学习控制的新方法，与其它现有的迭代学习控制方法相比较，当折合到机器人操作手关节轴上的驱动装置惯量足够大时，可以用驱动装置的动力学特性参数确定学习增益，克服了传统迭代学习控制方法由多次尝试选取学习增益的缺点，增强了实用性。在实际机器人操作手上的实验结果充分表明了新提出方法可获得较高学习速度和控制精度的优越性。     

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为了实现 EAST 装置真空室内的内窥多关节机械臂的实时高精度控制,提出了一种逆运动学算法,即建立机械臂多变量的方程组,转化成为矩阵的特征值问题求解。为了验证和满足实际控制的需要,还基于 VC++6.0 开发了 MFC 运动学算法程序。结果表明,该算法能在 ms 级别内得到机械臂的所有运动学逆解。     

Global secure sets of grid-like graphs

Let G=(V,E) be a graph and S⊆V. The set S is a secure set if ∀X⊆S,|N[X]∩S|≥|N[X]−S|, and S is a global secure set if S is a secure set and a dominating set. The cardinality of a minimum global secure set of G is the global security number of G, denoted γ_s(G). The sets studied in this paper are different from secure dominating sets studied in Cockayne et al. (2003) [3], Grobler and Mynhardt (2009) [8], or Klostermeyer and Mynhardt (2008) [13], which are also denoted by γ_s.In this paper, we provide results on the global security numbers of paths, cycles and their Cartesian products.