Electronic Structure and Magnetic Properties of Rh13 Cluster with Three Possible Symmetries

1 INTRODUCTION Transition-metal (TM) clusters have been the sub- ject of widespread investigations in recent years be- cause of their promising practical applications in de- veloping new magnetic materials with large moment. As is well known that all 3d, 4d and 5d TM atoms have a finite magnetic moment due to the Hund’s- rule coupling in their unfilled d shells, but only 3d Fe, Co and Ni atoms are able to retain these mo- ments at a much reduced level in the bulk environ- ment. On the…     

Mechatronic design,experimental setup,and control architecture design of a novel 4 DoF parallel manipulator

Although parallel manipulators started with the introduction of architectures with six degrees of freedom, a vast number of applications require less than six degrees of freedom. Consequently, scholars have proposed architectures with three and four degrees of freedom, but relatively few four degrees of freedom parallel manipulators have become prototypes, especially of the two rotation and two translation motion types. In this article, we explain the mechatronics design, prototype, and control architecture design of a four degrees of freedom parallel manipulators with two rotation and two translation motions. We chose to design a four degrees of freedom manipulator based on the motion needed to complete the tasks of lower limb rehabilitation. To the author’s best knowledge, parallel manipulators between three and six degrees of freedom for rehabilitation of lower limb have not been proposed to date. The developed architecture enhances the three minimum degrees of freedom required by adding a four degrees of freedom, which allows combinations of normal or tangential efforts in the joints, or torque acting on the knee. We put forward the inverse and forward displacement equations, describe the prototype, perform the experimental setup, and develop the hardware and control architecture. The tracking accuracy experiments from the proposed controller show that the manipulator can accomplish the required application.     

基于约束关系的下颈椎运动测量新方法

下颈椎各个关节准确稳定的运动参数是医生对颈椎病进行诊断的重要依据。本文提出了一种满足颈椎耦合约束关系,基于双目视觉原理的下颈椎运动参数测量方法。首先,根据下颈椎围绕瞬时旋转中心运动的特点和下颈椎耦合运动的规律,建立了满足耦合约束关系的下颈椎运动学模型;其次,在下颈椎解剖学特征位置(棘突和横突)上布置标志点,借助多台摄像机,基于双目视觉原理和三维数字图像相关(3D-DIC)技术,直接测量不考虑耦合约束关系的下颈椎前屈、后伸、左旋、右旋及侧屈等运动时的角度;最后,利用考虑耦合约束关系的运动学模型对下颈椎运动角度变化曲线进行了校正。波动范围的分析结果表明测量的稳定性得到了提高。利用本方法实现了对下颈椎关节运动角度的实时测量,提供了一种对下颈椎关节运动进行稳定测量的有效手段。     

SOME PROBLEMS FOR DYNAMIC COMPUTATION OF CLOSED CYLINDRICAL SHELL DUE TO AXIAL IMPACT LOAD

The present paper treats some of the problems for dynamic computation of closed cylindrical shell due to an axial impact load, including the calculations of the dynamic stresses and the problems of stability. It analyses the changes of the momentums and the energy in the impact process, takes into account the effect of the mass of the striking object and the system of the closed cylindrical shell to be struck, turns the distributed mass of the total cylindrical shell into an "equivalent mass" being concentrated on only at one end of the shell by using the way of reduced mass, and accordingly derives the dynamic factor of the closed cylindrical shell under the axial impact load, hence resolves the questions of calculation of the dynamic stresses in the loaded case mentioned above and found out the critical loading.     

一般齐次核Hardy-Mulholland型不等式

应用实分析技巧、权函数方法及参量化思想,给出了一个一般齐次核Hardy-Mulholland型不等式,此为经典的Mulholland不等式的推广。同时,还讨论了当常数因子取最佳值时的联系参数的等价陈述,并给出了若干应用特例。     

A new supersymmetric classical Boussinesq equation

In this paper, we obtain a supersymmetric generalization for the classical Boussinesq equation. We show that the supersymmetric equation system passes the Painlev\'{e test and we also calculate its one- and two-soliton solutions.     

多机器人协调吊运系统逆运动学分析及优化

针对紧耦合多机器人协调吊运系统的逆运动学问题进行了分析,首先利用几何关系和力旋量平衡方程建立了系统的运动学模型和动力学模型;然后对系统的逆运动学进行分析,将其分为变柔索长度和固定柔索长度两种情况分别进行分析;随后对运动学逆解在某一时刻存在无穷多解、多组解和无解的情况分别给出了解决方法,对存在多组解的情况,提出一优化目标求解最优解;最后结合软件UG/ADAMS/MATLAB建立了系统的实验平台,通过实例仿真计算验证了方法的有效性,为后续进一步研究系统运动稳定性、优化拉力分布和控制算法奠定了基础.     

Constitutive Equations in Continuum Mechanics

One of the main research areas in continuum mechanics is constitutive equations. There is no generally accepted viewpoint on or method for this research. Several concepts have appeared, but further studies are still necessary. The paper elucidates some problems and viewpoints of such research     

Kinematic analysis of multi-loop spatial mechanisms: The five-loop case

Multi-loop spatial mechanisms, or parallel mechanisms, are being used to an increasing degree in robotic applications, because they offer some advantages over the open-chain mechanisms. In fact they exhibit high stiffness and low inertia, a fair compliance to the design requirements, and the ability to hold the power actuators in the base. On the other hand, they are often so complex that they can be analyzed only by digital computers, and in general they are designed on the basis of practical solutions rather than theoretical investigations of their structure and kinematics.This paper on the kinematic analysis of multi-loop spatial mechanisms deals in particular with manipulators with five loops and lower pairs. Two approaches are outlined, according to the different backgrounds of the authors: the decomposition method [9], and a differential approach to the non-linear equation set, 19.(6) which encompasses the direct and inverse kinematic problems, as well as the synthesis of the robot.The results are then specialized for mechanisms with the end-effector supported by three spatial parallelograms, like the DELTA-4 robot. For this class of mechanisms an interesting property is also demonstrated, which dramatically reduces the need for computation in the kinematic problems.

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Sommario I meccanismi spaziali in catena chiusa, o meccanismi paralleli, trovano sempre più largo impiego in robotica, dal momento che presentano taluni vantaggi rispetto ai meccanismi in catena aperta: offrono tra l'altro elevata rigidezza e bassa inerzia, flessibilità nel soddisfare le esigenze progettuali e possibilità di collocare gli azionamenti nella base. Spesso tuttavia la loro complessità è tale che si possono analizzare solo col computer, e vengono quindi progettati a partire da soluzioni pratiche, piuttosto che da sistematiche basi teoriche. Questo lavoro illustra metodi generali per lo studio cinematico di meccanismi spaziali in catena chiusa, riferendoli al caso di meccanismi con cinque catene e coppie cinematiche elementari. Gli approcci presentati, che riflettono la diversa formazione degli autori, sono: un metodo di decomposizione [9], e un metodo basato sul calcolo differenziale per lo studio del sistema di equazioni non lineari (6) che, in forma implicita, configura i problemi cinematici diretto e inverso e la sintesi del robot.I risultati vengono quindi applicati a un meccanismo il cui elemento terminale è sostenuto da tre parallelogrammi articolati spaziali, come nel caso del robot DELTA-4. Per questa classe di meccanismi si dimostra anche un'interessante proprietà che riduce drasticamente la quantità di calcoli richiesti dal problema cinematico.

     

Comparative study of chained systems theory and fuzzy logic as a solution for the nonlinear lateral control of a road vehicle

This paper presents a comparative study of different lateral controllers applied to the autonomous steering of automobiles. The nonlinear nature of vehicle dynamics makes it a challenging problem in the Intelligent Transportation Systems (ITS) field, as long as a stable, accurate controller is compulsorily needed in order to ensure safety during navigation. The problem has been tackled under two different approaches. The first one is based on chained systems theory, while the second controller relies on fuzzy logic. A comparative analysis has been carried out based on the results achieved in practical trials. Real tests were conducted using a DGPS-driven electric Citroen Berlingo in a private test circuit located at the Industrial Automation Institute of the CSIC (Arganda del Rey, Madrid). The final results and conclusions are presented.