Development of in-wheel sensor system for accurate measurement of wheel terrain interaction characteristics

Planetary rovers need high mobility on a rough terrain such as sandy soil, because such a terrain often impedes the rover mobility and causes significant wheel slip. Therefore, the accurate estimation of wheel soil interaction characteristics is an important issue. Recent studies related to wheel soil interaction mechanics have revealed that the classical wheel model has not adequately addressed the actual interaction characteristics observed through experiments. This article proposes an in-wheel sensor system equipped with two sensory devices on the wheel surface: force sensors that directly measure the force distribution between the wheel and soil and light sensors that accurately detect the wheel soil surface boundary line. This sensor design enables the accurate measurement of wheel terrain interaction characteristics such as wheel force distribution, wheel–soil contact angles, and wheel sinkage when the powered wheel runs on loose sand. In this article, the development of the in-wheel sensor system is introduced along with its system diagram and sensor modules. The usefulness of the in-wheel sensor system is then experimentally evaluated via a single wheel test bench. The experimental results confirm that explicit differences can be observed between the classical wheel model and practical data measured by the in-wheel sensor system.     

Generic applications of 13C‐detected NMR diffusion to formulated systems with suppression of thermal convection induced by proton decoupling

Fast and effective structural/compositional analysis on formulated systems represents one of the major challenges encountered in analytical science. ¹³C‐detected diffusion represents a promising tool to tackle the aforementioned challenges, particularly in industry. Toward exploring the generic applications of ¹³C‐detected diffusion, thermal convection induced by ¹H decoupling has been identified as a key factor that resulted in significantly reduced resolution in the diffusion dimension. Optimization of experimental parameters and utilization of double‐stimulated echo‐based pulse sequence both can effectively suppress the thermal convection caused by the ¹H decoupling, the success of which allows robust and generic applications of ¹³C‐detected diffusion to systems from mixtures of small molecules, polymer blends, and copolymers to actual complex formulated systems. The method is particularly powerful in differentiating small molecules from polymers, polymer blends from copolymers, and end‐group analysis. Copyright © 2016 John Wiley & Sons, Ltd.     

A Preliminary Study of Diastereoselectivity in the PdII‐Catalyzed C(sp3)‐H Alkoxylation of Cyclic Systems

Primary mechanism of a Pd^II‐catalyzed 8‐aminoquinoline‐directed C?H alkoxylation was investigated. It was understood that the Pd^II‐catalyzed C(sp³)?O bond formation proceeded through a concerted reductive elimination from the Pd^IV intermediate in the cyclic system. Deuteration experiments and related computational studies elucidate that intrinsic conformation determined the diastereoselectivity of the Pd^II‐catalyzed C?H alkoxylation of cyclic carboxylic acids.     

Decision and approximation complexity for identifying codes and locating-dominating sets in restricted graph classes

An identifying code is a subset of vertices of a graph with the property that each vertex is uniquely determined (identified) by its nonempty neighbourhood within the identifying code. When only vertices out of the code are asked to be identified, we get the related concept of a locating-dominating set. These notions are closely related to a number of similar and well-studied concepts such as the one of a test cover. In this paper, we study the decision problems Identifying Code and Locating-Dominating Set (which consist in deciding whether a given graph admits an identifying code or a locating-dominating set, respectively, with a given size) and their minimization variants Minimum Identifying Code and Minimum Locating-Dominating Set. These problems are known to be NP-hard, even when the input graph belongs to a number of specific graph classes such as planar bipartite graphs. Moreover, it is known that they are approximable within a logarithmic factor, but hard to approximate within any sub-logarithmic factor. We extend the latter result to the case where the input graph is bipartite, split or co-bipartite: both problems remain hard in these cases. Among other results, we also show that for bipartite graphs of bounded maximum degree (at least 3), the two problems are hard to approximate within some constant factor, a question which was open. We summarize all known results in the area, and we compare them to the ones for the related problem Dominating Set. In particular, our work exhibits important graph classes for which Dominating Set is efficiently solvable, but Identifying Code and Locating-Dominating Set are hard (whereas in all previous works, their complexity was the same). We also introduce graph classes for which the converse holds, and for which the complexities of Identifying Code and Locating-Dominating Set differ.     

Morris-Lecar系统中通道噪声诱导的自发性动作电位研究

在生物物理学中, 越来越多的现象是由于分段确定性的动力系统与连续时间马氏过程之间的耦合作用而产生的. 因为这种耦合性, 相关的数学模型更适合取为随机混合系统而不是扩散过程(基于It?随机微分方程). 本文从理论上和数值上研究了在弱噪声条件下无鞍点状态的随机混合Morris-Lecar系统中, 由通道噪声诱导的自发性放电现象. 一个动作电位的初始阶段可视为噪声诱导的逃逸事件, 其最优路径和拟势可由辅助Hamilton系统给出. 由于系统不存在鞍点, 因此可选择虚拟分界线(ghost separatrix)为阈值, 研究噪声诱导的自静息态的逃逸事件. 通过计算在阈值处的拟势, 便可发现其值有一个明显的最小值, 其作用类似于鞍点. 通过改进的Monte Carlo模拟方法, 计算了历程概率分布, 其结果对初始阶段和兴奋阶段的理论解均给出了验证. 此外, 基于前人将拟势等高线作为阈值的另一种选择, 我们对两种阈值取法的优劣性进行了比较. 最后, 本文研究了钠离子和钾离子通道噪声的不同组合对最优路径和拟势的影响. 结果表明: 钾离子通道噪声在自发性放电过程中起主导作用, 且两种噪声强度存在一个最优比例能使总的噪声强度达到最小.      

An analysis of overlapping Schwarz method for a weakly coupled system of singularly perturbed convection-diffusion equations

In this article, we have developed an overlapping Schwarz method for a weakly coupled system of convection-diffusion equations. The method splits the original domain into two overlapping subdomains. A hybrid difference scheme is proposed in which on the boundary layer region, we use the central finite difference scheme on a uniform mesh, whereas on the nonlayer region, we use the mid-point difference scheme on a uniform mesh. It is shown that the numerical approximations converge in the maximum norm to the exact solution. We have proved that, when appropriate subdomains are used, the method produces almost second-order convergence. Furthermore, it is shown that two iterations are sufficient to achieve the expected accuracy. Numerical examples are presented to support the theoretical results. The main advantage of this method used with the proposed scheme is that it reduces iteration counts very much and easily identifies in which iteration the Schwarz iterate terminates.     

On the inflation and deflation dynamics of liquid-filled,hyperelastic balloons

We derive a reduced-order model describing the inflation and deflation dynamics of a liquid-filled hyperelastic balloon, focusing on inviscid laminar flow and the extensional motion of the balloon. We initially study the flow and pressure fields for dictated motion of the solid, which throughout deflation are obtained by solving the potential problem. However, during inflation, flow separation creates a jet within the balloon, requiring a different approach. The analyses of both flow regimes lead to a simple piecewise model, describing the fluidic pressure during inflation and deflation, which is verified by finite element computations. We then use a variational approach to derive the equation describing the interaction between the extensional mode of the balloon and the entrapped fluid, yielding a nonlinear hybrid oscillator equation. Analytical and graphical investigations of the suggested model are presented, shedding light on its static and dynamic behaviour under different operating conditions. Our simplified model and its underlying assumptions are verified utilizing a fully coupled finite element scheme, showing excellent agreement.     

采用组合引导磁场的多注二极管设计

分析了采用单一同轴磁场时强流相对论多注阴极的侧端发射问题,研究了在不同磁场内半径和多注漂移管长度情况下多注电子束的传输效率。研究发现:由于引导磁场尺寸有限,高压下多注阴极杆及多注阴极柱的电子束发射是影响多注电子束传输效率的主要因素,且该部分电子束对多注漂移管入口管壁的轰击直接影响了多注速调管的重频能力。设计了采用永磁铁和同轴磁场组合工作的强流相对论多注二极管,理论分析和模拟计算证明:基于组合磁场的多注二极管可明显减弱甚至抑制多注阴极发射球头以外的电子束发射,并且组合磁场的磁场位形和强度可满足强流相对论多注电子束的高效、稳定传输。     

考虑完全拆分的拣选分批与拣选路径集成优化模型

在电商海量订单背景下,在线订单拣选作业难度加大,因此设计了基于订单完全拆分的拣选分批与拣选路径综合优化模型解决此问题.模型共分两阶段.第一阶段,基于种子算法,设计考虑订单完成度、等待时间与拣选路径的拣选分批模型;第二阶段以拣选单流为单队列,设计多拣选员并行服务的拣选系统.行走策略为基于返回型和遍历型的综合策略,拣选路径优化模型采用模拟退火算法求解.算例分析表明,与传统的不拆分拣选分批模型相比,构建的综合优化模型能够显著提高拣选系统效率.拣选员为4人时,模型能够使总服务时间减少58.79%,订单完成率提高10.09%.     

Superperiodicity,chaos and coexisting orbits of ion-acoustic waves in a four-component nonextensive plasma

Superperiodicity, chaos and coexisting orbits of ion-acoustic waves (IAWs) are studied in a multi-component plasma consisting of fluid ions, q -nonextensive cold and hot electrons and Maxwellian hot positrons. The significant impacts of the system parameters on superperiodic and nonlinear periodic IAWs are presented. Considering an external periodic perturbation various types of quasiperiodic and chaotic features for IAWs are studied in different parametric ranges through time series’ plots, phase spaces and Lyapunov exponents. It has been observed that there exist some coexisting orbits for IAWs. Coexisting orbits for IAWs in a classical electron–positron–ion plasma system are reported.