空间机器人组装超大型结构的动力学分析北大核心CSCD

超大型航天结构具有超大柔性、超低固有频率的特点,空间机器人在轨组装时应尽可能避免激起超大型结构的柔性振动.空间机器人组装超大型结构模块的过程分成抓捕阶段、位姿调整与稳定阶段、安装阶段和爬行阶段.通过对安装阶段的动力学与控制研究,提出共线安装的轨迹规划方法,有效避免了柔性结构振动.首先,采用自然坐标法和绝对节点坐标法建立主结构-空间机器人-待组装结构的在轨组装系统动力学模型.然后,将共线安装的要求转化为空间机器人的轨迹规划约束,要求空间机器人质心到主结构/待组装结构的距离保持不变,实现共线安装的轨迹规划.数值仿真表明:提出的组装方法在组装过程中可有效避免超大型结构的横向运动,降低夹持力矩.最后,分析了系统参数对组装过程动力学响应的影响,为超大型航天器的在轨组装提供了参考.     

Numerical simulation of axisymmetric unsteady incompressible flow by a vorticity-velocity method

A new numerical method for solving the axisymmetric unsteady incompressible Navier-Stokes equations using vorticity-velocity variables and a staggered grid is presented. The solution is advanced in time with an explicit two-stage Runge-Kutta method. At each stage a vector Poisson equation for velocity is solved. Some important aspects of staggering of the variable location, divergence-free correction to the velocity field by means of a suitably chosen scalar potential and numerical treatment of the vorticity boundary condition are examined. The axisymmetric spherical Couette flow between two concentric differentially rotating spheres is computed as an initial value problem. Comparison of the computational results using a staggered grid with those using a non-staggered grid shows that the staggered grid is superior to the non-staggered grid. The computed scenario of the transition from zero-vortex to two-vortex flow at moderate Reynolds number agrees with that simulated using a pseudospectral method, thus validating the temporal accuracy of our method.     

Transonic viscous-inviscid interaction by a finite element method

A method is outlined for solving two-dimensional transonic viscous flow problems, in which the velocity vector is split into the gradient of a potential and a rotational component. The approach takes advantage of the fact that for high-Reynolds-number flows the viscous terms of the Navier-Stokes equations are important only in a thin shear layer and therefore solution of the full equations may not be needed everywhere. Most of the flow can be considered inviscid and, neglecting the entropy and vorticity effects, a potential model is a good approximation in the flow core. The rotational part of the flow can then be calculated by solution of the potential, streamfunction and vorticity transport equations. Implementation of the no-slip and no-penetration boundary conditions at the walls provides a simple mechanism for the interaction between the viscous and inviscid solutions and no extra coupling procedures are needed. Results are presented for turbulent transonic internal choked flows.     

有界整规划中的渐近强非线性对偶

本文提出了一种整数规划中的指数一对数对偶.证明了此指数-对数对偶方法具有的渐近强对偶性质,并提出了不需要进行对偶搜索来解原整数规划问题的方法.特别地,当选取合适的参数和对偶变量时,原整数规划问题的解可以通过解一个非线性松弛问题来得到.对具有整系数目标函数及约束函数的多项式整规划问题,给出了参数及对偶变量的取法.     

A finite-element approach in stream-tube method for solving fluid and solid mechanics problems

This paper presents a theoretical formulation in which the stream-tube method (STM) is examined through a variational approach for solving solid strain and fluid flow problems with finite elements. The analysis considers a reference domain, used as computational domain, related to the physical domain by an unknown transformation function to be determined numerically. Mass conservation is automatically verified by STM. The variational approach leads to eliminate the pressure in fluid problems and avoids to set up a mixed displacement–pressure procedure in the case of incompressible solids. Examples are given for fluid flows, applications and comparisons are also provided in the bending problem in elasticity.     

Hamiltonian restriction of Vlasov equations to rotating isopycnic and isentropic two-layer equations

A direct link between a Vlasov equation and the equations of motion of a rotating fluid with an effective pressure depending only on a pseudo-density is illustrated. In this direct link, the resulting fluid equations necessarily appear in flux conservative form when there are no topographical and rotational terms. In contrast, multilayer isopycnic and isentropic equations used in atmosphere and ocean dynamics, in the absence of topographical and rotational terms, cannot be brought into a conservative flux form, and, hence, cannot be derived directly from the Vlasov equations. Another route is explored, therefore: deriving the Hamiltonian formulation of the two-layer isopycnic and isentropic equations as a restriction from a Hamiltonian formulation of two decoupled Vlasov equations. The work is motivated by our search for energy-preserving or even Hamiltonian (kinetic) numerical schemes.     

On pedigree polytopes and Hamiltonian cycles

In this paper we define a combinatorial object called a pedigree, and study the corresponding polytope, called the pedigree polytope. Pedigrees are in one-to-one correspondence with the Hamiltonian cycles on K_n. Interestingly, the pedigree polytope seems to differ from the standard tour polytope, Q_n with respect to the complexity of testing whether two given vertices of the polytope are nonadjacent. A polynomial time algorithm is given for nonadjacency testing in the pedigree polytope, whereas the corresponding problem is known to be NP-complete for Q_n. We also discuss some properties of the pedigree polytope and illustrate with examples.     

推广的Bessel过程的L~p估计

随机微分方程dX_t=(δf~2(t)-h(t)X_t)dt+2f(t) │X_t│～(1/2)dBt,(X_0=x,δ>0)的解X_t是一种推广的δ(δ>0)维Bessel过程.文章对于任意停时τ给出了‖sup0≤t≤τη(t)X_t‖p的L~p估计,其中η:R_+→R_+是一个R+上的可微函数,而且满足微分方程dη/dt-h(t)η=-η~2f~2(t),η(0)=1.     

Subset selection for the least probable multinomial cell

Summary An inverse sampling procedureR is proposed for selecting a randomsize subset which contains the least probable cell (i.e., the cell with the smallest cell probabilities) from a multinomial distribution withk cells. Type 2-Dirichlet integrals are used (i) to express the probability of a correct selection in terms of integrals with parameters only in the limits of integration, (ii) to prove that the least favorable configuration underR is the so-called slippage configuration withk equal cell probabilities, and (iii) to express exactly the expectation of the total number of observations required and the expectation of the subset size under the procedureR.     

Boundary element formulation for elastoplastic analysis of axisymmetric bodies

The complete formulation of B.E.M. applied to the analysis of axisymmetric bodies acting in the plastic range is presented in this paper. The concept of derivative of a singular integral given by Mikhlin has been used in order to calculate the stresses in internal points.Also a semianalytical approach is proposed to compute the matrix coefficients, presenting the way in which it can be done and the results obtained.