空间机器人组装超大型结构的动力学分析北大核心CSCD

超大型航天结构具有超大柔性、超低固有频率的特点,空间机器人在轨组装时应尽可能避免激起超大型结构的柔性振动.空间机器人组装超大型结构模块的过程分成抓捕阶段、位姿调整与稳定阶段、安装阶段和爬行阶段.通过对安装阶段的动力学与控制研究,提出共线安装的轨迹规划方法,有效避免了柔性结构振动.首先,采用自然坐标法和绝对节点坐标法建立主结构-空间机器人-待组装结构的在轨组装系统动力学模型.然后,将共线安装的要求转化为空间机器人的轨迹规划约束,要求空间机器人质心到主结构/待组装结构的距离保持不变,实现共线安装的轨迹规划.数值仿真表明:提出的组装方法在组装过程中可有效避免超大型结构的横向运动,降低夹持力矩.最后,分析了系统参数对组装过程动力学响应的影响,为超大型航天器的在轨组装提供了参考.     

非合作博弈两阶段生产系统的效率评价——基于自由处置和管理处置的视角

为了识别被动适应环境和采取创新技术主动适应环境的生产系统的效率差异,基于主从非合作框架和决策者的期望需求,分别从自由处置和管理处置的视角建立了两阶段生产系统效率评价模型,应用模型对2017年中国24省市工业生产系统效率进行了分析。结果表明:两种环境适应策略下,中国24个省市工业生产的两个子系统的效率均值都较高,主要分布在中国东部。24省市在自由处置模式下的技术差距较小,管理处置模式下的技术差距较大。24省市技术创新的重点在于减少工业废水和工业废气的排放,但是对一般工业固体废物减量化的重视程度不足。各省市工业固体废物处理无效的根源包括固体废物减量化无效、固体废物再利用和固体废物处置同时无效,以及混合无效三种方式。     

The diagnonal multivariate natural exponential families and their classification

A natural exponential family (NEF)F in ? ⁿ ,n>1, is said to be diagonal if there existn functions,a ₁,...,a _n , on some intervals of ?, such that the covariance matrixV _F (m) ofF has diagonal (a ₁(m ₁),...,a _n (m _n )), for allm=(m ₁,...,m _n ) in the mean domain ofF. The familyF is also said to be irreducible if it is not the product of two independent NEFs in ? ^k and ? ^n-k , for somek=1,...,n?1. This paper shows that there are only six types of irreducible diagonal NEFs in ? ⁿ , that we call normal, Poisson, multinomial, negative multinomial, gamma, and hybrid. These types, with the exception of the latter two, correspond to distributions well established in the literature. This study is motivated by the following question: IfF is an NEF in ? ⁿ , under what conditions is its projectionp(F) in ? ^k , underp(x ₁,...,x _n )∶=(x ₁,...,x _k ),k=1,...,n?1, still an NEF in ? ^k ? The answer turns out to be rather predictable. It is the case if, and only if, the principalk×k submatrix ofV _F (m ₁,...,m _n ) does not depend on (m _k+1,...,m _n ).     

Spectrum of positive entropy multidimensional dynamical systems with a mixed time

It is shown that if an abelian countable group is such that is a finite group and every aperiodic positive entropy action of on a Lebesgue probability space has a countable Haar spectrum in the subspace , where denotes the Pinsker -
algebra of , then every aperiodic positive entropy action of on has the same property. A positive answer to the question of J.P. Thouvenot is obtained as a corollary.

     

Cocycle d'Euler etK2

In this paper we construct a canonical 2-cocycle on the groupP SL(2,k) with values in the Witt groupW(k) of the fieldk. This allows us to produce anatural homomorphism :H ₂(SL(2,k); Z)I ²(k), whereI ²(k) is the square of the fundamental ideal. We prove that this homomorphism is in fact a lift of Milnor's symbol.

     

An aldol approach to the total synthesis of (+)-brefeldin A

A convergent selective route to (+)-brefeldin A (BFA) and 7-epi-BFA was developed, with the crucial C-4/C-5 stereogenic centers were established using Crimmins asymmetric aldolization.     

Thermodynamics of natural selection

It is shown that biological-natural-selection-like behavior can occur, as a general type of time evolution, in a statistical system where detailed balance is violated owing to the presence of metastable energy states. A model of a non-equilibrium phase transition corresponding to the spontaneous origin of self-reproduction in the system is suggested. After a phase transition, the system passes from one quasistationary distribution of self-reproducing subsystems to another, with an increase in the total organization, as long as the growth of the energy flow through the system or a reduction of energy dissipation in the system is possible. The entropy production is calculated for this process in terms of selective values of Eigen's theory for self-organization in autocatalytic systems. Correspondence of the extremal principle of Eigen's theory with the criterion of evolution in Prigogine's thermodynamics is established.     

NATURAL GAS OF NEW GENETIC TYPE——BIO-, THERMO-CATALYTIC TRANSITIONAL ZONE GAS

Bio-, thermo-catalytic transitional zone gas (BTCTZ gas), of which burial depth is shallow (1000-2500m), chemical composition (C,/ΣC1-5 = 0.7-0.9) and isotopic composition (δ13C1= -55 to-48‰) coincide with the evolution level of organic matter (R0=0.25-0.6%) in the corresponding strata, is a natural gas of new genetic type. The genesis of BTCTZ gas must have some relation to microcatalysis under lower temperature and condensation of aromatic hydrocarbons. In line with the new theory of natural gas formation, the existence of BTCTZ gas is objective. According to data from all over the world, BTCTZ gas may hold an important position in the table of reserves of natural gas.     

A new selective population transfer experiment using a double pulsed field gradient spin-echo

A new pulse sequence is proposed for the determination of scalar coupling correlation in small- and medium-sized organic compounds. The method uses a combination of the double pulsed field gradient spin-echo (DPFGSE) and the selective population transfer (SPT) techniques and is shown to be useful in the analysis of complex spectra with many overlapped signals. The usefulness of this method in the structural elucidation of natural substances is demonstrated using strychnine and digitoxin as examples.