On the numerical solution of tracked vehicle dynamic equations

In this investigation, the solution of the nonlinear dynamic equations of the multibody tracked vehicle systems are obtained using different procedures. In the first technique, which is based on the augmented formulation that employes the absolute Cartesian coordinates and Lagrange multipliers, the generalized coordinate partitioning of the constraint Jacobian matrix is used to determine the independent coordinates and the associated independent differential equations. An iterative Newton-Raphson algorithm is used to solve the nonlinear constraint equations for the dependent variables. The numerical problems encountered when one set of independent coordinates is used during the simulation of large scale tracked vehicle systems are demonstrated and their relationship to the track dynamics is discussed. The second approach employed in this investigation is the velocity transformation technique. One of the versions of this technique is discussed in this paper and the numerical problems that arise from the use of inconsistent system of kinematic equations are reported. In the velocity transformation technique, the tracked vehicle system is assumed to consist of two kinematically decoupled subsystems; the first subsystem consists of the chassis, the rollers, the sprocket and the idler, while the second subsystem consists of the track which is represented as a closed kinematic chain that consists of rigid links connected by revolute joints. It is demonstrated that the use of one set of recursive equations leads to numerical difficulties because of the change in the track configuration. Singular configurations can be avoided by repeated changes in the recursive equations. The sensitivity of the predictor-corrector multistep numerical integration schemes to the method of formulating the state equations is demonstrated. The numerical results presented in this investigation are obtained using a planner tracked vehicle model that consists of fifty four rigid bodies.     

北斗双频组合动对动高精度相对定位新算法

针对动对动相对定位基线矢量实时变化导致整周模糊度浮点解在动态情况下难以快速精确求解的问题,提出了一种北斗双频动对动相对定位算法:对组合双差方程基线向量的系数矩阵进行奇异值分解,并变换组合双差方程以消除基线参量,将变参数估计问题转化为定参数估计问题,然后采用递推最小二乘算法实时推算组合模糊度的浮点解及其协方差矩阵,在此基础上,采用最小二乘模糊度降相关平差法(LAMBDA)搜索和固定组合模糊度。试验结果表明,该方法能够快速准确固定组合模糊度,与单频解算相比,初始化时间用时更短,基线误差在5 cm以内,能较好地适用于动对动相对定位。     

DEPLOYMENT DYNAMICS OF FLEXIBLE SOLAR ARRAYS CONSIDERING FRICTIONAL JOINT

研究了空间漂浮航天器太阳阵展开与锁定过程的刚柔耦合动力学问题. 基于Jourdain 速度变分原理和单项递推组集方法, 建立了太阳阵展开与锁定过程的刚柔耦合多体系统动力学模型,采用虚功率原理推导了铰摩擦对系统动力学方程的贡献. 在以上动力学模型中引入3-D 鬃毛摩擦模型来研究铰链的摩擦特性对太阳阵展开动力学的影响. 所建动力学模型的正确性通过与商业软件ADAMS 和NASTRAN 的联合仿真对比得到了验证,该模型能够有效地预测太阳阵的展开历程以及航天器姿态的动态行为.     

On Information Processes in Statistical Experiments with Distributed Observations

Using stochastic integration theory in topological vector spaces general formulas for the Hellinger processes are derived. Feynman–Kac type formulas are obtained for the related Hellinger integrals in terms of the Hellinger processes and the geometric mean measures. The expected logarithmic utility from data, characterized as the Shannon information, is also considered.     

Worst allocations of policy limits and deductibles

In the literature, orderings of optimal allocations of policy limits and deductibles were established with respect to a policyholder’s preference. However, from the viewpoint of an insurer, the orderings are not enough for the purpose of pricing. In this paper, by applying the equivalent utility premium principle, we study worst allocations of policy limits and deductibles for an insurer, which give rise to the maximum fair premiums. Closed-form solutions are derived. Then we present a result concerning the optimality in a general risk-sharing scheme, by which we obtain optimal allocations for policyholders directly from worst allocations for an insurer. Several results in Cheung [Cheung, K.C., 2007. Optimal allocation of policy limits and deductibles. Insurance Math. Econom. 41, 382–391] are generalized here.     

Multicriteria modelling for a repair contract problem based on utility and the ELECTRE I method

Each alternative for a repair contract implies a specific responsetime and related cost. The response time is associated withthe commitment of repair time, based on the contract. A decisionmaker chooses the best alternative taking into account the systemperformance and the cost of the contract. This problem has beenanalysed through a multicriteria decision model. This decisionmodel supports decision makers in the determination of the bestcombination of contracting conditions. The decision model proposedallows the decision maker to quantify the consequences of anaction taking into account two basic criteria: the cost of thecontract and the system performance. Two different decisionmodels have been built to support decision makers. These decisionmodels are based on different multicriteria approaches. Thefirst, reported in a previous paper, is based on the multiattributeutility theory (MAUT). The model presented in this paper isbased on the ELECTRE I method combined with utility functions.The paper presents the main theoretical aspects related to bothapproaches and practical implications related to model building.A numerical application is presented in order to illustratethe use of the decision model.     

Optimal growth and recursive utility: Phase diagram analysis

The dynamics of the one-sector optimal growth model with recursive utility is analyzed through the use of a phase diagram. The steady state uniquely exists and is a saddle point. An increase in recursivity lowers both the steady-state capital and steady-state consumption. The model differs from the constant discount rate model in that a reduction in the population growth rate or a Hicks-neutral technical progress increases the steady-state consumption but not necessarily the steady-state capital.This research was supported in part by Indiana University through an Outstanding Young Faculty Award for which the author is grateful.The author is particularly indebted to Robert Becker and John Boyd for a careful reading of and detailed comments on an earlier draft, and to Frank Raymond and an anonymous referee for suggesting various expositional improvements. He is also indebted to Roy Gardner, Nori Hashimoto, and Nicolas Spulber for their suggestions.     

The structure and distances in Yule recursive trees

Based on uniform recursive trees, we introduce random trees with the factor of time, which are named Yule recursive trees. The structure and the distance between the vertices in Yule recursive trees are investigated in this paper. For arbitrary time t > 0, we first give the probability that a Yule recursive tree Y_t is isomorphic to a given rooted tree γ; and then prove that the asymptotic distribution of ζ_t,m, the number of the branches of size m, is the Poisson distribution with parameter λ = 1/m. Finally, two types of distance between vertices in Yule recursive trees are studied, and some limit theorems for them are established.© 2007 Wiley Periodicals, Inc. Random Struct. Alg., 2007     

灰色动态模型及其在人口预测中的应用

一个国家人口的数量直接影响着其经济、社会的发展和资源的利用 ,中国是世界上人口的第一大国 ,人口问题一直是制约中国发展的第一因素 .本文应用灰色系统等维灰数递补动态预测模型 ,对中国未来5 0年的人口数量进行了动态预测 ,通过检验表明 ,该模型合理、方法简便可行、结果符合实际 ,为中国经济和社会发展的决策和研究提供了科学依据     

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In this paper, the empirical Bayes (EB) two-sided test for parameter of Cox models is investigated under square loss functions. At first by using recursive kernel estimation of probability function the empirical Bayes two-sided test rule is constructed. It proves that the proposed empirical Bayes test rule is asymptotic optimal and convergence rates are obtained under suitable conditions. Finally an example of satisfying theorem conditions is given.