基于反馈线性化的整车振动状态观测算法

针对整车振动状态观测器设计中的整车悬架系统高维非线性特性,提出了反馈线性化卡尔曼滤波算法.基于微分几何理论,通过求解坐标变换,将车辆非线性振动模型变换成一个可观测的标准型,实现系统的精确反馈线性化,进而采用线性卡尔曼滤波算法,针对变换后的线性系统设计观测器,最后通过坐标逆变换获得原非线性系统的状态观测值.仿真结果表明,相比扩展卡尔曼滤波算法,该算法能够提高车辆振动状态观测精度和运算效率.      

BSP树消隐算法的改进研究

BSP树算法是在三维景物空间中实现消隐的一种常见算法.BSP树消隐算法中的遍历算法通常是采用递归来实现,在实时虚拟环境具体实现时会导致很大的系统开销.本文在分析BSP树消隐算法中的BSP树的构造和遍历方法的基础上,以一种基于顺序存储结构的非递归算法来代替通常的递归算法,有效的提高了BSP树的遍历速度,提高了三维景物空间的消隐的生成速度,降低了场景中的景物表面多边形的存储空间,有利于实时虚拟环境中三维景物的快速生成.     

舵叶随动式液压球形关节运动学及性能分析

针对球面运动机构驱动方式问题,提出了一种新型液压驱动球形关节机构,该机构利用超全周转动马达及舵叶摆动马达作为驱动,可以实现超全周转动;由机构学理论推导了正逆运动学方程及雅克比矩阵,得出了机构的奇异位形;分析了机构的灵巧度性能指标及惯性力全域性能指标,通过仿真找到了机构性能较优时的结构参数. 该关节机构具有结构紧凑、低耦合、负载大并且能够实现全方位输出的特点.      

工程车全液压制动系统性能试验台设计

为了对全液压制动系统的动态响应特性及制动压力输出特性进行精确检测,设计了一套由供油、主体、制动器及测控4个模块组成的全液压制动系统性能试验台,为满足充液阀和制动阀高低温试验空间的要求,主体模块的结构布置力求紧凑.另外,基于LabVIEW平台构建了制动系统参数检测与控制模块,并开发了一套制动踏板驱动机构及其反馈控制算法,实现了制动踏板运动过程的编程控制以及相关测试数据的自动化采集处理等功能.实验表明,该试验台可对不同温度和不同工况条件下的制动系统动态响应特性及制动压力输出特性等关键性能进行自动化精确检测.     

Interrelationship between total volatile organic compounds emissions,structure and properties of natural rubber/polycaprolactone bio-blends cross-linked with peroxides

Natural rubber/polycaprolactone (NR/PCL) bio-based blends with different organic peroxides were prepared using an internal batch mixer and subsequently cross-linked at 170 °C. Two types of commonly used organic peroxides, dicumyl peroxide and di(tert-butylperoxyisopropyl)benzene peroxide, were applied as free-radical initiator. Cross-linking efficiency of NR/PCL blends were investigated using oscillating disc rheometer measurements, followed by infrared spectroscopy, thermogravimetric analysis, differential scanning calorimetry, dynamic mechanical analysis and tensile testing. Total volatile organic compounds (TVOCs) emissions were determined using headspace analysis integrated with gas chromatography with flame ionization detector. Determined TVOCs emissions varying in range 21.6–52.1 μg/g and generally value of this parameter decreased with increasing content of PCL phase in studied blends or with application of more efficient di(tert-butylperoxyisopropyl)benzene peroxide as cross-linking agent. It was found that increasing of TVOCs parameter indicated deterioration of mechanical properties of NR/PCL blends, which corresponded with the changes in chemical structure and thermal properties of cross-linked NR/PCL. This confirms that evaluation of TVOCs parameter is interesting alternative for “conventional methods” to characterization of the studied bio-based blends.     

A full‐pivoting algorithm for the Cholesky decomposition of two‐electron repulsion and spin‐orbit coupling integrals

A significant reduction in the computational effort for the evaluation of the electronic repulsion integrals (ERI) in ab initio quantum chemistry calculations is obtained by using Cholesky decomposition (CD), a numerical procedure that can remove the zero or small eigenvalues of the ERI positive (semi)definite matrix, while avoiding the calculation of the entire matrix. Conversely, due to its antisymmetric character, CD cannot be directly applied to the matrix representation of the spatial part of the two‐electron spin‐orbit coupling (2e‐SOC) integrals. Here, we present a computational strategy to achieve a Cholesky representation of the spatial part of the 2e‐SOC integrals, and propose a new efficient CD algorithm for both ERI and 2e‐SOC integrals. The proposed algorithm differs from previous CD implementations by the extensive use of a full‐pivoting design, which allows a univocal definition of the Cholesky basis, once the CD δ threshold is made explicit. We show that is the upper limit for the errors affecting the reconstructed 2e‐SOC integrals. The proposed strategy was implemented in the ab initio program Computational Emulator of Rare Earth Systems (CERES), and tested for computational performance on both the ERI and 2e‐SOC integrals evaluation. © 2017 Wiley Periodicals, Inc.     

用地面模拟试验识别卫星太阳电池翼伸展运动的各种阻尼参数

本文利用Lagnrange方程建立了卫星太阳电池翼伸展运动的数学模型.这是一个包含摩擦阻尼、结构阻尼和空气阻尼参数的非线性微分方程组.在用气垫消除了重力影响但存在空气阻尼的地面环境中,对实尺太阳电池翼模型进行了伸展运动的模拟试验并用频闪摄影技术记录了运动的时间历程.再利用最小p乘优化方法识别出该系统的各个阻尼参数.通过对系统运动方程进行数值积分求得的太阳电池翼的伸展运动历程与实测值相当吻合.取空气阻尼等于零,得出了太阳电池翼在无空气阻尼的太空中的伸展运动规律.     

两轴全挂车体集装箱包装系统的运输动力学仿真

针对全挂重卡汽车的负载有集装箱体的全挂车体进行多自由度的动力学分析,为后续研究全挂车体对包装集装箱作用减振和降重奠定基础。通过建立全挂车体集装箱包装系统的动力学模型,使用MATLAB进行随机高斯白噪声仿真,并经过滤波处理得到虚拟路面激励。以各轮胎为输入激励,使用软件的微分方程求解模块对两轴全挂车体集装箱系统进行多自由度的动力学微分方程求解。通过模拟仿真,得到在相应时域内取等效步长,得到振幅位移曲线及车体在运行中的振动趋势。结果表明,在模拟仿真的虚拟激励作用下,其垂直位移在5. 5 s时达到最大数值0. 007 8 m;同时通过振幅位移曲线的趋势和虚拟激励趋势相吻合,校核了仿真的效果,为后集装箱包装的全挂车体研究提供新思路。     

First isolation of a flavonoid from Juniperus procera using ethyl acetate extract

Phytochemical investigation of the ethyl acetate extract of the leaves of Juniperus procera growing in south Saudi Arabia Enemas region led to the isolation of a new flavonoid using different chromatographic methods (i.e. paper, thin layer and column chromatography). The isolated flavonoid was identified and established by m.p., ¹H-NMR, ¹³C-NMR, UV and MS spectral analysis. The isolated compound was identified as 3′,4′,3,7-tetrahydroxyflavone.     

大型文本数据库中分布式数据去重备份方法研究

数据去重可删除备份过程中的冗余数据,节约存储资源与与网络带宽,是目前数据存储领域研究的重点问题。针对传统方法去重率和吞吐量低的问题,提出一种新的大型文本数据库中分布式数据去重备份方法。介绍了大型文本数据库中分布式数据去重方法基本思想,通过文件管理部分对数据片组中的扶贫数据进行查询和统计,给出数据片组路由策略,分析了数据预取过程。通过最终权值完成对数据块的排列,以恢复时间与恢复成本达到最小化为目的设计适应度函数。通过改进遗传方法对大型文本数据库中分布式扶贫数据进行备份。实验结果表明,所提方法有很高的去重率和吞吐量,且成本低,恢复速度快。