INVESTIGATION ON KANE DYNAMIC EQUATIONS BASED ON SCREW THEORY FOR OPEN-CHAIN MANIPULATORS

IntroductionDynamicsofroboticmanipulatorsisthebasisofdynamiccontrolandmechanicaldesignofroboticmanipulators.Dynamicanalysisofrobotscanemploytheapproachesoftheoreticalmechanicsanddynamicequationsofanalyticalmechanics,suchasNewton_Eulerdynamicequations,Lagrange_Eulerdynamicequations ,Routhequation ,Appellequation ,andKaneequations.Theultimateresultsarethesamewhenweinvestigateononekindofmotionsaboutoneobjectivebydifferentdynamicequations,butthespeedandquantitiesofcomputationoftheseequationsare…     

高能飞行粒子对托卡马克中内扭曲模的稳定效应

用普遍能量原理分析了托卡马克中具有各向异性高能飞行粒子成分等离子体对m=1,n=1内扭曲模的稳定性,发现刚刚飞行的高能粒子对此模能提供稳定作用,并比较了高能俘获粒子和高能飞行粒子对内扭曲模稳定作用的异同及其物理图象。 关键词：     

一种网格参数化的优化算法

网格参数化是数字几何处理(Digital Geometry Processing)中的一个基本问题.作者利用Floater的具有保形权或均值权的凸线性组合参数化引入一种新的参数化的扭曲度量--点密度,以及网格上的最短切割路径来优化原来的参数化.切割路径由网格上的一内点和网格上的一边界点连接而成,内点位于参数区域上最密集区域,也是扭曲最严重的区域.具有最短切割路径的网格模型,被重新参数化成为一个具有较小扭曲的参数化.最后给出实例说明了此方法是可行和有效的,并且是优于原来的参数化的.     

电子碰撞激发的全相对论扭曲波理论和计算

给出计算高荷离子的电子碰撞强度的全相对论曲波Ｂｏｍ理论和有关高剥离离子电子碰撞激发截面的计算结果。并将计算结果和其他工作进行了比较。     

高离化态类氖离子的电子碰撞激发特性研究

利用基于多组态Dirac-Fock(MCDF)理论方法的原子结构和性质计算程序GRASP92和全相对论扭曲波电子碰撞激发计算程序REIE06,系统计算了类氖离子(Z=50—57)激发组态2s22p53l和2s2p63l(l=s,p,d)的能级结构和碰撞激发截面,总结了碰撞激发截面随入射电子能量的变化规律,讨论了实验中感兴趣的(2p1/23d3/2)1→2s22p61S0(标记为3C线)与(2p3/23d5/2)1→2s22p61S0(标记为3D线)跃迁线强度比值的沿等电子系列特性和强组态相互作用对高离化态类氖离子截面的影响.     

液晶全漏导模的实验研究

夹在2块玻璃基板之间的液晶可以形成波导层,光在其间传播形成导模.通过全漏波导技术,分别对扭曲向列相液晶盒施加不同电压进行测试,得到了依赖于角度变化的反射率(包括偏振保存和偏振转换)实验曲线.液晶指向矢的变化将直接影响反射率变化,验证了液晶全漏波导技术在探索液晶盒内部细微变化方面是有效手段.     

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应用半解析方法,研究了直圆柱位形下等离子体压强P0分别为P0=0、P0=常数和P0=f(r)时Line-tied扭曲不稳定性的增长率和二维径向本征函数的演化规律。结果表明,P0=0和P0=常数时的轴向波数k的范围相同,但P0=常数时的增长率比P0=0时的小。P0=f(r)时的轴向波数k的范围和增长率则都比P0=0时的大,同时磁流体的速度变化也较大。因此,P0=f(r)更接近实际的物理模型(例如日冕的喷射问题)。     

Differential and Integral Cross Sections for Electron Impact Excitation of Lithium

The differential and integral cross sections for electron impact excitation of lithium from the ground state 1s22s to excited states 1s22p, 1s23l （l=s, p, d） and 1s24l （l=s, p, d, f）at incident energies ranging from 5 eV to 25 eV are calculated by using a full relativistic distorted wave method. The target state wavefunctions are calculated by using the Grasp92 code. The continuum orbitals are computed in the distorted-wave approximation, in which the direct and exchange potentials among all the electrons are included. A part of the cross sections are compared with the available experimental data and with the previous theoretical values. It is found that, for the integral cross sections, the present calculations are in good agreement with the time-independent distorted wave method calculation, for differential cross sections, our results agree with the experimental data very well.     

Neutron Spectroscopic Factors of ^7Li and Astrophysical ^6Li（n,γ）^7Li Reaction Rates

Angular distributions of the ^7Li（^6Li, ^6Li）^7Li elastic scattering and the ^7Li（^6Li, ^7Lig.s.）^6Li, ^7Li（^6Li, ^7Li0.48）^6Li transfer reactions at Ec.m. = 23.7 MeV are measured with the Q3D magnetic spectrograph. The optical potential of ^6Li ＋ ^7Li is obtained by fitting the elastic scattering differential cross sections. Based on the distorted wave Born approximation （DWBA） analysis, spectroscopic factors of ^7Li =^6Li n are determined to be 0.73 ± 0.05 and 0.90 ± 0.09 for the ground and first exited states in ^7Li, respectively. Using the spectroscopic factors, the cross sections of the ^6 Li（n, γ0,1）^7 Li direct neutron capture reactions and the astrophysical ^6Li（n, γ）^7 Li reaction rates are derived.     

Xe(4d~(10))(e,2e)反应三重微分截面的理论研究

采用修正后的扭曲波玻恩近似理论,计算了共面不对称几何条件下Xe(4d~(10))(e,2e)反应的三重微分截面.散射电子能量为1000 eV,敲出电子能量为20 eV,散射电子角度分别固定在2°,4°和7.5°.理论计算与Avaldi等人的实验结果和扭曲波玻恩近似理论计算进行了比较,发现出射电子之间的后碰撞相互作用较弱,极化效应在反应过程中起着重要作用.