底层大空间高层结构自由振动的实用计算方法

本文以连杆节间为界，按弹性支座上和Ｔｉｍｏｓｈｅｎｋｏ悬臂梁建立力墙部分的振动方程，按一般框架建立框架部分的振动方程，根据力，变形协调条件，形成底层大空间高层建筑结构的自由振动，并据此计算其自由振动。     

Pore space network characterization with sub-voxel definition

Morphological measurements in 3D for pore space characterization (connectivity pore-body/throat classification, shape factors, virtual fluid intrusion) are based on computed intensive digital-thinning operations for skeletonization and medial axis extraction from 3D digital images. We present an alternative method that is measurably faster and allows sub-voxel definition of the pore space network. The method allows extracting—based on morphological considerations only—the centered and shortest stream-lines—i.e., the paths—to follow in order to go through the pore space from one given point to another and to exit. In addition the method penalizes long and narrow pore-throats in favor of short stubby/ones—i.e., it has a built-in exemplification capacity. It exploits well-established mathematical methods successfully applied in medical endoscopy.     

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。     

变长度弹性伸缩腿双足机器人动力学与控制

研究了半被动双足机器人的平面稳定行走的控制问题．基于弹簧质点模型，采用拉格朗日方法分别得到双足机器人单支撑阶段与双支撑阶段的动力学方程，对机器人系统的动力学方程求得周期解．应用非线性系统状态反馈线性化理论，在双足机器人的单支撑阶段和双支撑阶段中，通过控制双足机器人的腿长度，实现稳定的周期行走．在理论分析的基础上，对控制算法进行了仿真与研究．结果表明：在周期行走过程中，文中采用的变长度控制算法可以使双足机器人克服外界的干扰，并具有较强的抗干扰性．     

板锥网壳结构几何非线性受力性能的广义协调元分析

板锥网壳网络是一种新型的空间结构，它是在板锥单元和常规的双层刚壳结构的基础上组合形成的一种新型结构形式，具有良好的技术经济效益和建筑视觉效果。本文在对这类结构有限法分析的基础上，根据板锥网壳结构的构成特点，应用广义协调元的基本思想，对这类结构进行了分析，给出了这类结构广义协调元分析的基本公式。分析表明：广义协调元法适宜于板锥网壳结构的受力性能分析，广义协调元固有的简便，高效和可靠的特性，将会使结构分析得到更为可信和可靠的论证。     

An implicit-explicit upwind algorithm for the parabolized Navier-Stokes equations

In this paper, a second-order implicit-explicit upwind algorithm has been developed for three-dimensional Parabolized Navier-Stokes (PNS) equations. The agreement between the results of the new upwind algorithm and those of the implicit upwind algorithm and its ability in marching a long distance along the streamwise direction have been shown for the supersonic viscous flow past a sphere-cone body. The CPU time is greatly reduced. The project supported by the National Natural Science Foundation of China     

带空间机械臂航天器姿态运动规划的数值算法研究

自由漂浮空间机械臂系统在无外力矩作用时,系统的动量矩守恒而成为非完整系统。利用这一特性本文研究了自由漂浮空间机械臂系统的三维姿态运动规划问题。导出带空间机械臂的航天器三维姿态运动数学模型,将系统的非完整运动规划问题转化为非线性系统最优控制问题,在最优控制中利用小波逼近控制输入规律,提出基于遗传算法的最优控制数值算法。通过数值仿真,表明该方法对带空间机械臂航天器系统的非完整姿态运动规划是有效的。     

A stability study of Navier-Stokes equations (III)

In this paper, the necessary conditions of the existence of C² solutions in some initial problems of Navier-Stokes equations are given, and examples of instability of initial value (at t=0) problems are also given. The initial value problem of Navier-Stokes equation is one of the most fundamental problem for this equation various authors studies this problem and contributed a number of results. J. Lerav, a French professor, proved the existence of Navier-Stokes equation under certain defined initial and boundary value conditions. In this paper, with certain rigorously defined key concepts, based upon the basic theory of J. Hadamard partial differential equations¹, gives a fundamental theory of instability of Navier-Stokes equations. Finally, many examples are given, proofs referring to Ref. [4].     

FIXED POINTS OF INCREASING OPERATORS IN ORDERED SPACE WITH APPLICATIONS

ＩｎｔｒｏｄｕｃｔｉｏｎＩｎｖｅｓｔｉｇａｔｉｎｇｔｈｅｆｏｌｌｏｗｉｎｇｂｏｕｎｄａｒｙｐｒｏｂｌｅｍｉｎｏｒｄｉｎａｒｙｄｉｆｆｅｒｅｎｔｉａｌｅｑｕａｔｉｏｎ :¨ｘ+ｆ(ｔ,ｘ(ｔ) ) =0 ,ａ<ｔ<ｂ,αｘ(ａ) -β ｘ(ａ) =0 ,γｘ(ｂ) +δ ｘ(ｂ) =0 ,( 1 )ｗｈｅｒｅα ,β,γ ,δ≥ 0 ,Δ=(ｂ-ａ)αγ+αδ+ βγ>0 .ｆ(ｔ,ｓ)ｍａｙｂｅｓｉｎｇｕｌａｒｉｎｔ =ａ ,ｂ.Ｉｔｈａｓｂｅｅｎｄｉｒｅｃｔｌｙｖｅｒｉｆｉｅｄｔｈａｔｘ(ｔ)ｉｓｔｈｅｓｏｌｕｔｉｏｎｏｆ( 1 )ｉｎＣ2 [ａ ,ｂ]ｉｆａｎｄｏｎｌｙｉｆｘ(…     

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。