机械臂运动路径设计问题

主要运用最优化的思想对机械臂运动路径的设计问题进行了讨论.首先利用空间几何知识,得出了机械臂末端的空间位置与各关节角度间的关系,然后就不同问题进行具体分析后分别建立了最优化模型并设计了相应算法,根据模型和算法并采用逐步缩小搜索范围等方法对各个问题进行了求解.最后,从提高机械臂灵活性和扩大其适用范围方面提出了改进建议.     

机械臂运动路径设计

采用D-H方法推导出了机械臂角度姿态与指尖空间位置的关系,以距离偏差为目标,建立了给定位置求机械臂参数的优化模型,并提出了二分步长接近式搜索算法求解该模型.进一步从实际工程精度要求出发,提出了确定精度求指令的方法.针对按照确定曲线运行的问题,采取了离散曲线而且相邻离散点之间一条指令可达的方法,并用改进的二分步长接近式搜索算法来求解.提出了解决避障问题的启发式算法和位姿空间变换法.还对机械臂结构进行了理论分析及论证,根据分析结果,针对旋转角度范围、角度量化、杆长选择等方面提出了一些建议.     

六关节机械臂运动路径设计

就关节式机械臂指尖在任意两点间移动、沿固定曲线移动、机械臂绕开障碍物执行任务以及参数优化等问题展开研究.首先确定了自由度组合到指尖空间位置的映射,建立了求解上述问题的最小二乘模型、泛函条件极值模型,并给出了数值解法.最后,结合图像处理等技术,对各参数的优化设计提出了改进措施.     

机械臂运动路径规划的算法设计

我们对题目中所给的特定的六自由度机械手臂设计一整套通用的算法.让它能够实现点到点移动,有障碍的曲线跟踪,和避障点对点移动三种基本功能.并能自动生成控制台所需要的指令序列.最后我们会对模型的适用范围和准确性进行评价.     

基于几何分析的机械臂运动路径规划问题研究

设计了分步-搜索逼近算法,解决了六自由度机械臂的位姿逆运算问题,使机械臂完成指尖到达指定目标点、沿指定曲线轨迹移动等动作.针对避障问题,设计了扫描截面的避碰算法.在此基础上,给出了机械臂作业的通用算法,并对所建模型和算法进行了实际检验.最后,分析了机械臂的设计参数,并提出了改进建议.     

六自由度机械臂的运动规划

为了使六自由度机械臂完成特定的动作,需要设计计算相应的指令序列.首先计算了机械臂位姿与指尖位置之间的关系公式,然后针对机械臂的到达问题、沿曲线运动问题和避障问题,分别提出目标位姿预测、曲线离散到达和受限目标到达三种解决方法,其中涉及的关键算法是自适应搜索法,该方法具有效率高、精度高、适用范围广的特点.在产生指令序列时采用贪心算法.通过以上方法得到的执行结果误差很小(<0.8mm),同时搜索收敛速度也很快.     

Ⅳ阶分歧问题的数值分析

构造了求解一类非退化分歧点及相关参数的扩充系统，给出了拟牛顿迭代法并证明了收敛性。     

一类新的求解双边障碍问题的数值方法

针对双边障碍问题的离散互补形式,提出了一类新的格式将其等价转化为方程组的形式,并采用牛顿迭代法进行求解.实验结果显示所提算法能快速,有效地计算出数值解和接触集.     

与剖分相结合的牛顿迭代法

使牛顿迭代法与剖分相结合所产生的新算法显示出: l.几乎可以求出一元复n次多项式的所有根。2.可以求出二元n次多项式的等位线。     

反演开弧的一种方法

利用最小化方法对含未知边界的不适定方程组进行正则化处理,然后依次迭代更新边界和相应的密度函数,最终得到反演的边界.给出一些数值例子以表明这种方法是有效的和可行的。     

A Moving Boundary Problem for the Sphere

A new technique is employed to solve a moving boundary problemin a sphere. A transformation is given which considerably simplifiesthe non-linearities associated with the moving boundary andenables an iterative analytic series solution to be found. Threeterms of the series expansion are obtained analytically andnumerically evaluated for comparison with results of previousauthors. Graphs of the motion of the reaction (freezing) frontand concentration (temperature) profiles behind the front aregiven. Also tabulated are the times to complete reaction (freezing)of the particle (that is the time for the moving boundary toreach the centre of the sphere).     

A Note on a Moving Boundary Problem Arising in the American Put Option

We consider an American put option, under the Black–Scholes model. This corresponds to a moving boundary problem for a PDE. We convert the problem to a nonlinear integral equation for the moving boundary, which corresponds to the optimal exercise of the option. We use singular perturbation methods to compute the moving boundary, as well as the full solution to the PDE, in various asymptotic limits. We consider times close to the expiration date, as well as systems where the interest rate is large or small, relative to the volatility of the asset for which the option is sold.     

A Study on CFL Conditions for the DG Solution of Conservation Laws on Adaptive Moving Meshes

The selection of time step plays a crucial role in improving stability and efficiency in the Discontinuous Galerkin (DG) solution of hyperbolic conservation laws on adaptive moving meshes that typically employs explicit stepping. A commonly used selection of time step is a direct extension based on Courant-Friedrichs-Levy (CFL) conditions established for fixed and uniform meshes. In this work, we provide a mathematical justification for those time step selection strategies used in practical adaptive DG computations. A stability analysis is presented for a moving mesh DG method for linear scalar conservation laws. Based on the analysis, a new selection strategy of the time step is proposed, which takes into consideration the coupling of the $α$-function (that is related to the eigenvalues of the Jacobian matrix of the flux and the mesh movement velocity) and the heights of the mesh elements. The analysis also suggests several stable combinations of the choices of the $α$-function in the numerical scheme and in the time step selection. Numerical results obtained with a moving mesh DG method for Burgers' and Euler equations are presented. For comparison purpose, numerical results obtained with an error-based time step-size selection strategy are also given.     

Maximum Likelihood Estimator of the Location Parameter under Moving Extremes Ranked Set Sampling Design

Cost effective sampling design is a problem of major concern in some experiments especially when the measurement of the characteristic of interest is costly or painful or time consuming.In the current paper,a modification of ranked set sampling(RSS) called moving extremes RSS(MERSS) is considered for the estimation of the location parameter for location family.A maximum likelihood estimator(MLE) of the location parameter for this family is studied and its properties are obtained.We prove that th...     

A Direct Method of Moving Planes to Fractional Power SubLaplace Equations on the Heisenberg Group

We give the direct method of moving planes for solutions to the conformally invariant fractional power sub Laplace equation on the Heisenberg group.The method is based on four maximum principles derived here.Then symmetry and nonexistence of positive cylindrical solutions are proved.     

一类非齐次树上关于马氏链场滑动平均的强偏差定理

树指标随机过程已成为近年来发展起来的概率论的研究方向之一.强偏差定理一直是国际概率论界研究的中心课题之一.本文利用Borel-Cantelli引理研究给出了一类非齐次树上马氏链场关于负二项分布滑动平均的强偏差定理.     

Moving Coframes: I. A Practical Algorithm

This is the first in a series of papers devoted to the development and applications of a new general theory of moving frames. In this paper, we formulate a practical and easy to implement explicit method to compute moving frames, invariant differential forms, differential invariants and invariant differential operators, and solve general equivalence problems for both finite-dimensional Lie group actions and infinite Lie pseudo-groups. A wide variety of applications, ranging from differential equations to differential geometry to computer vision are presented. The theoretical justifications for the moving coframe algorithm will appear in the next paper in this series.     

A Moving Boundary Problem Arising from the Diffusion of Oxygen in Absorbing Tissue

Approximate analytical and numerical solutions of a partialdifferential equation are obtained which describe the diffusionof oxygen in an absorbing medium. Essential mathematical difficultiesare associated with the presence of a moving boundary whichmarks the furthest penetration of oxygen into the medium andalso with the need to allow for an initial distribution of oxygenthrough the medium.