New Formulas of Shear Strain during Equal-channel Angular Pressing Process with Consideration of Influences of Velocity and Motion Trajectory

The influences of die parameters on shear strain were investigated by using two-dimensional finite element simulation.New formulas of shear strain were proposed.According to the results of formulas,the shear strain showed a linear dependence on the difference between internal and external fillet radius and the slope was determined by the intersection angle.The simulation results indicated that the velocities of the points from different zones were different in the specimen and the motion trajectories of different points did not follow geometrical laws.The influences of the average velocity and the motion trajectory on shear strain were incorporated in the formula to calculate the shear strain produced during equalchannel angular pressing process.The reliability of simulation results has been partially validated by experiments.

Synergic Motion Trajectory Planning for Airplane Docking Based on6PURU Parallel Mechanism

Motion planning issues encountered in assembling airplanes by employing the 6PURU parallel mechanism are analyzed in this paper. A sine curve of the change rate of acceleration, which is called as jerk in the following text, is proposed for uniaxial flexible acceleration and deceleration planning based on the optimal time and velocity and acceleration constraints. Compared with other curves, the proposed curve can realize a continuous n-order derivative and the smooth change of the speed and acceleration. The method is computational^y simple and suitable for programming. In addition, a multiaxial coordinated movement scheme is proposed. The motion trajectory is no longer simply split into many single-direction trajectories nor are all single-direction planning trajectories combined directly. The multiaxial coordinated movement scheme aims to achieve synergic movement in multiple directions to ensure smoothness of the movement in the event of a kinematic error when maintaining a stable value. If the movement fails to achieve this goal, driving force mutations will deteriorate the effect of synergic movement. A physical model of the parallel mechanism is developed in simMechanics, and a holistic system model is completed in SIMULINK. The feasibility of the new planning algorithm is simulated and tested, and then, the multiaxial synergic movement planning method is proposed and verified.

Experimental Study of Nonlinear Behaviors of A Free-Floating Body in Waves

Nonlinear behaviors of a free-floating body in waves were experimentally investigated in the present study. The experiments were carried out for 6 different wave heights and 6 different wave periods to cover a relatively wide range of wave nonlinearities. A charge-coupled device （CCD） camera was used to capture the real-time motion of the floating body. The measurement data show that the sway, heave and roll motions of the floating body are all harmonic oscillations while the equilibrium position of the sway motion drifts in the wave direction. The drift speed is proportional to wave steepness when the size of the floating body is comparable to the wavelength, while it is proportional to the square of wave steepness when the floating body is relatively small. In addition, the drift motion leads to a slightly longer oscillation period of the floating body than the wave period of nonlinear wave and the discrepancy increases with the increment of wave steepness.

Trajectory planning and motion control of full-row seedling pick-up arm

Frequent start-stops of automatic seedling transplanters would lengthen the seedling picking time due to alternating movement of the motor,and cause positioning errors and frequent motor vibrations when starting the machine.To solve these problems and ensure the pick-up continuity of automatic transplanters,in this study the smooth circular arc interpolation algorithm and the least square method for multinomial curve fitting were used to conduct the trajectory planning of automatic transplanter based on the movement of the pick-up arm of the transplanter.Velocity and time curves were fitted in segments to acquire motion control parameters and further tracking control was conducted.The mathematical model of the control system was established using Simulink,and simulation analysis and system debugging test were performed.Experiments show that the trajectory curves obtained by MATLAB’s data processing can realize the continual and smooth motion trajectory of the pick-up arm;stepper motor velocity control can effectively track the planning curve and improve the seedling pick-up efficiency.The pick-up and pushing time of each motion of the planned plug seedling transplanter reduced by 1.0678 s and the start-stop times reduced from 6 to 1,which solved the frequent motor vibrations when starting the machine and improved the stability of the system.In addition,overstep and out-of-step of the motor at the start-stop moment were avoided and displacement error was reduced.

Numerical Simulation about the Characteristics of the Store Released from the Internal Bay in Supersonic Flow

To understand the influence of the initial release conditions on the separation characteristics of the store and improve it under high Mach number(Ma=4)flight conditions,the overset grid method and the Realizable k−εturbulence model coupled with an equation with six degrees of freedom are used to simulate the store released from the internal bay.The motion trajectory and the attitude angle of the store separation under the conditions of different centroid,velocity,height and control measures are given by the calculated result.Through analysis,the position of the centroid will affect the separation of the store,which needs to be considered in the design.Increasing the launching height is conducive to the separation of the store.If the store has an initial velocity,it can leave the internal bay more quickly and reduce the probability of collision with the wall.Cylindrical rod and slanted aft wall control measures can improve the attitude of the store and make the store fall more smoothly.

Modified Adaptive Weighted Averaging Filtering Algorithm for Noisy Image Sequences

In order to avoid the influence of noise variance on the filtering performances, a modified adaptive weighted averaging (MAWA) filtering algorithm is proposed for noisy image sequences. Based upon adaptive weighted averaging pixel values in consecutive frames, this algorithm achieves the filtering goal by assigning smaller weights to the pixels with inappropriate estimated motion trajectory for noise. It only utilizes the intensity of pixels to suppress noise and accordingly is independent of noise variance. To evaluate the performance of the proposed filtering algorithm, its mean square error and percentage of preserved edge points were compared with those of traditional adaptive weighted averaging and non-adaptive mean filtering algorithms under different noise variances. Relevant results show that the MAWA filtering algorithm can preserve image structures and edges under motion after attenuating noise, and thus may be used in image sequence filtering.

Analysis of Cr atom focusing deposition properties in the double half Gaussian standing wave field

The use of the dipole force on atoms is a new technology that is used to build nanostructures. In this way, a high quality standard nano-grating can be obtained. Based on the semi-classical model, the motion equation is investigated and the trajectories of atoms in double half Gaussian standing wave field are simulated. Compared with the Gaussian standing wave field, the double half Gaussian standing wave can well focus the Cr atoms. In order to obtain this kind of beam, a prism is designed and the experimental result shows that the beam is well generated.

An analysis on a rigid-flexible coupling system of an oscillating massand a rotating disk

A mass-rod-disk system consisting of an oscillating mass attached to a rigid rotating disk by an elastic rod is designed to study rigid-flexible coupling mechanism.Suppose the rod is lightweight and has enough stiffness,the theorems of linear momentum and angular momentum are applied to the mass-rod-disk system based on the kinematic description of the system.With respect to two deflections of the mass and one angular velocity of the system,a group of nonlinear differential equations are established where the tangential inertial force,centrifugal force,Coriolis force as well as the moments of additional inertial forces take important effects on the dynamic response.For the sake of description,these three types of inertial forces mentioned before are referred to as additional inertial forces in this paper.The horizontal deflections of the mass and the angular velocity of the disk rotating about a fixed-axis are numerically solved for the prescribed external torque.The oscillating trajectory of the mass is deeply influenced by the additional inertial forces,meanwhile the dynamic fluctuations of the angular velocity and rotary inertia of the system are strongly affected by the mass oscillation.

On Flexible Trajectory Description for Effective Rigid Body Motion Reproduction and Recognition

Recognizing and reproducing spatiotemporal motions are necessary when analyzing behaviors andmovements during human-robot interaction. Rigid body motion trajectories are proven as compact and informativeclues in characterizing motions. A flexible dual square-root function (DSRF) descriptor for representing rigid bodymotion trajectories, which can offer robustness in the description over raw data, was proposed in our previousstudy. However, this study focuses on exploring the application of the DSRF descriptor for effective backwardmotion reproduction and motion recognition. Specifically, two DSRF-based reproduction methods are initiallyproposed, including the recursive reconstruction and online optimization. New trajectories with novel situationsand contextual information can be reproduced from a single demonstration while preserving the similarities withthe original demonstration. Furthermore, motion recognition based on DSRF descriptor can be achieved byemploying a template matching method. Finally, the experimental results demonstrate the effectiveness of theproposed method for rigid body motion reproduction and recognition.

An RVT-based power allocation method for dynamic LEO-MEO links

Optimizing the power resources allocation method of low earth orbit(LEO)satellites to medium earth orbit(MEO)satellite'links is a significant way to construct efficient satellite constellations for satellite communication.A game theory power allocation method based on remaining visible time(RVT)of LEO-MEO satellites is proposed.Firstly,one LEO-MEO satellite network is classified as a cluster in which the RVT of LEO satellites is modeled.Secondly,the cost function of RVT concerning the character of orbit and throughput in each LEO satellite is mainly designed,which gives greater punishment of utility value to LEO satellites with less RVT and is an essential part of the reasonable utility function applied in diverse motion scenes.Meanwhile,the existence of Nash equilibrium for the proposed utility function in game theory area is proved.Thirdly,an off-cluster scheme for LEO satellites through the proposed threshold is raised to ensure the overall utility value of the whole LEO satellites in cluster.Finally,the performance improvement of the proposed algorithm to the baseline algorithm is verified through simulations in different scenarios.

Real-time trajectory planning for UCAV air-to-surface attack using inverse dynamics optimization method and receding horizon control

This paper presents a computationally efficient real-time trajectory planning framework for typical unmanned combat aerial vehicle （UCAV） performing autonomous air-to-surface （A/S） attack. It combines the benefits of inverse dynamics optimization method and receding horizon optimal control technique. Firstly, the ground attack trajectory planning problem is mathematically formulated as a receding horizon optimal control problem （RHC-OCP）. In particular, an approximate elliptic launch acceptable region （LAR） model is proposed to model the critical weapon delivery constraints. Secondly, a planning algorithm based on inverse dynamics optimization, which has high computational efficiency and good convergence properties, is developed to solve the RHCOCP in real-time. Thirdly, in order to improve robustness and adaptivity in a dynamic and uncer- tain environment, a two-degree-of-freedom （2-DOF） receding horizon control architecture is introduced and a regular real-time update strategy is proposed as well, and the real-time feedback can be achieved and the not-converged situations can be handled. Finally, numerical simulations demon- strate the efficiency of this framework, and the results also show that the presented technique is well suited for real-time implementation in dynamic and uncertain environment.

An Improved Underwater Confrontation Simulation Method of Naval Amphibious Operational Training System

This paper described an improved underwater confrontation simulation method of naval amphibious operational training system. The initial position of submarine forces on the enemy is generated automatically, and the attacking distance model of torpedoes is established based on the kinematics theory, which is more flexible and reasonable to judge the launch condition compared to traditional method. The two kinds of confrontation behavior models on the enemy submarine are created to depict its tactical action from the defensive to the offensive as well as the contrary, ensuring that operational style is simulated more comprehensively and properly. The existing motion trajectory estimation and collision detection algorithms on operational platforms are also improved to reduce the iteration error and further enhance the detection accuracy of target hit.