Dynamic analysis of cable-driven parallel manipulators with time-varying cable lengths

In conventional researches, cables of cable-driven parallel manipulators are treated as simple linear elements that can only work in tension. This results in the fact that the effect of cable dynamics on the positioning precision of the end-effector is not adequately taken into account. To overcome this shortcoming, a dynamic model for cable-driven parallel manipulators with cables of slowly time-varying length is presented in this paper. The partial differential equation characterizing the dynamics of a cable with varying-length is deduced, and converted into ordinary differential equations through spatial discretization by finite difference approximation. Then, the dynamic model for cable-driven parallel manipulators is achieved considering the relationship between the motion of the end-effector and the cable end force, in which the degrees of freedom of cables and the end-effector are all involved. Two numerical examples are demonstrated to validate the dynamic model, and also show that it is necessary to take into consideration the cable dynamics for manipulators of long-span cables.     

An inventory system with unit demand and varying ordering levels

An inventory system with unit demand, varying ordering levels and random lead times is considered in this paper. Ordering level is determined by the number of demands during last lead time. The ordering quantity will be such as to bring back the inventory level to S at the ordering epoch. No backlog is permitted. The time dependent probability distribution of the inventory level is obtained. Correlation between the number of demands during a lead time and the length of the next inventory dry period is obtained and it is illustrated by an example.     

Calculations of silicooxygen ring vibration frequencies

In the work model calculations of the vibrations of ideally isolated silicooxygen rings (using PM3 method) have been carried out. three-, four-, and six-membered rings have been considered. It has been found that that the three-membered silicooxygen rings are flat and practically undeformed showing D_3h symmetry. The rings of higher number of ring members (i.e. n>3) are deformed to some extent. The deformation reveals itself most significantly in the Si–O–Si bond angles distribution. In the case of all the rings the bridging Si–O–Si bonds are ca. 0.02–0.04 Å shorter than the non-bridging Si–O⁻ bonds. Hypothetical IR spectra for all the rings considered have been also calculated. Analysis of these hypothetical spectra leads to the conclusion that the whole spectrum can be divided into four wavenumbers regions, 1200–1100 cm⁻¹ stretching Si–O(Si) vibrations; 1000–800 cm⁻¹ stretching Si–O⁻ vibrations; 800–600 cm⁻¹; the region in which a band characteristic of silicooxygen rings appears, and below 600 cm⁻¹ bending ⁻O–Si–O⁻ and (Si)O–Si–O(Si). It has been also found that as the number of ring members increases the ‘ring band’ shifts to lower wavenumbers: 725 cm⁻¹ for three-membered rings, 650 cm⁻¹ for four-membered rings and 610 cm⁻¹ for six-membered rings. Calculated spectra have been compared with the experimental spectra of cyclosilicates. They showed good agreement in the 1200–600 cm⁻¹ region. In the experimental spectra as well as in the calculated ones, with increasing the number of ring members the ‘ring band’ shifts towards lower wavenumbers.     

A chaotic approach to maintain the population diversity of genetic algorithm in network training

The concept of chaos being radically different from statistical randomness is introduced into chemometrics research. The chaotic system that is deterministic with underlying patterns and inherent ability in searching the space of interest has been employed to improve the performance of chemometric algorithms. In this paper, a chaotic mutation is introduced into the genetic algorithm (GA) which is used for artificial neural network (ANN) training. The chaotic algorithm is very efficient in maintaining the population diversity during the evolution process of GA. The proposed algorithm CGANN has been testified by prediction of vibrational frequencies of octahedral hexahalides from some selected molecular parameters.     

Analytical solutions of refined plate theory for bending,buckling and vibration analyses of thick plates

Analytical solutions for bending, buckling, and vibration analyses of thick rectangular plates with various boundary conditions are presented using two variable refined plate theory. The theory accounts for parabolic variation of transverse shear stress through the thickness of the plate without using shear correction factor. In addition, it contains only two unknowns and has strong similarities with the classical plate theory in many aspects such as equations of motion, boundary conditions, and stress resultant expressions. Equations of motion are derived from Hamilton’s principle. Closed-form solutions of deflection, buckling load, and natural frequency are obtained for rectangular plates with two opposite edges simply supported and the other two edges having arbitrary boundary conditions. Comparison studies are presented to verify the validity of present solutions. It is found that the deflection, stress, buckling load, and natural frequency obtained by the present theory match well with those obtained by the first-order and third-order shear deformation theories.     

A possible mechanism for magnetar soft X-ray/γ-ray emission

Once the energies of electrons near the Fermi surface obviously exceed the threshold energy of the inverse β decay,electron capture(EC) dominates inside the magnetar.Since the maximal binding energy of the 3 P 2 neutron Cooper pair is only about 0.048 MeV,the outgoing high-energy neutrons(E k(n) > 60 MeV) created by the EC can easily destroy the 3 P 2 neutron Cooper pairs through the interaction of nuclear force.In the anisotropic neutron superfluid,each 3 P 2 neutron Cooper pair has magnetic energy 2μ n B in the applied magnetic field B,where μ n = 0.966 × 10 23 erg.G 1 is the absolute value of the neutron abnormal magnetic moment.While being destroyed by the high-energy EC neutrons,the magnetic moments of the 3 P 2 Cooper pairs are no longer arranged in the paramagnetic direction,and the magnetic energy is released.This released energy can be transformed into thermal energy.Only a small fraction of the generated thermal energy is transported from the interior to the surface by conduction,and then it is radiated in the form of thermal photons from the surface.After highly efficient modulation within the star’s magnetosphere,the thermal surface emission is shaped into a spectrum of soft X-rays/γ-rays with the observed characteristics of magnetars.By introducing related parameters,we calculate the theoretical luminosities of magnetars.The calculation results agree well with the observed parameters of magnetars.     

An ab initio investigation of the low-lying electronic states of BeH

Potential energy curves(PECs) for the ground state(X 2 Σ +) and the four excited electronic states(A 2 Π,B 2 Π,C 2 Σ +,4 Π) of a BeH molecule are calculated using the multi-configuration reference single and double excited configuration interaction(MRCI) approach in combination with the aug-cc-pVTZ basis sets.The calculation covers the internuclear distance ranging from 0.07 nm to 0.70 nm,and the equilibrium bond length R e and the vertical excited energy T e are determined directly.It is evident that the X2Σ+,A2Π,B2Π,C2Σ+ states are bound and 4Π is a repulsive excited state.With the potentials,all of the vibrational levels and inertial rotation constants are predicted when the rotational quantum number J is set to be equal to zero(J = 0) by numerically solving the radial Schr¨odinger equation of nuclear motion.Then the spectroscopic data are obtained including the rotation coupling constant ω e,the anharmonic constant ωexe,the equilibrium rotation constant Be,and the vibration-rotation coupling constant αe.These values are compared with the theoretical and experimental results currently available,showing that they are in agreement with each other.     

Extended collective bands in neutron-rich 109Ru

Levels in the neutron-rich 109Ru have been studied by observing the prompt γ-rays following the spontaneous fission fragments of 252Cf. The ground state band and the negative parity bands have been confirmed and extended. A positive parity band with the band head level at 332.5 keV is newly identified and suggested as a single-neutron excitation band built on the 7/2+ [404] Nilsson orbital. Some structural characteristics of these bands are discussed.     

基于附加环结构的分布式光纤传感系统研究

研究了一种使用2×2耦合器将附加环耦合到萨格奈克主环上的分布式光纤传感预警系统.采用单模光纤和脉冲光源,在时域上提取光不同次经过附加环的干涉光束多重响应.理论推导和仿真试验证明,比较多重响应的幅度能够探测发生在主环里因外界破坏事件引起的振动所在位置.提出了准确定位的数学模型,其定位方法与外界作用的频率特性无关.     

A general nonlocal beam theory: Its application to nanobeam bending, buckling and vibration

In the present study, a generalized nonlocal beam theory is proposed to study bending, buckling and free vibration of nanobeams. Nonlocal constitutive equations of Eringen are used in the formulations. After deriving governing equations, different beam theories including those of Euler–Bernoulli, Timoshenko, Reddy, Levinson and Aydogdu [Compos. Struct., 89 (2009) 94] are used as a special case in the present compact formulation without repeating derivation of governing equations each time. Effect of nonlocality and length of beams are investigated in detail for each considered problem. Present solutions can be used for the static and dynamic analyses of single-walled carbon nanotubes.