Two experimental satellites, Chuangxin 1-03 and Shiyan Satellite 4, were put into orbit on a LM-2D launch vehicle from the Jiuquan Satellite Launch Center (JSLC) in northwest China's Gansu Province on November 20.
RRT^(*)(rapidly-exploring random tree star)算法是机械臂路径规划中的一个重要工具,但在高维空间内的应用表现存在搜索效率低下、对维数的敏感度高、难以快速收敛至优化路径等问题。此外机械臂避障的规划需要考虑到路径的平滑性,但...RRT^(*)(rapidly-exploring random tree star)算法是机械臂路径规划中的一个重要工具,但在高维空间内的应用表现存在搜索效率低下、对维数的敏感度高、难以快速收敛至优化路径等问题。此外机械臂避障的规划需要考虑到路径的平滑性,但是算法生成的路径往往缺乏所需的平滑性,难以直接应用于实际的机械臂操作。针对这些问题,研究提出了一个基于贪心策略的RRT^(*)算法改进版本。新算法改进了代价函数和重连策略,并在高维搜索环境中,通过贪心算法进行偏执采样,自适应地选取预设路径节点,从而提高搜索效率,增强轨迹的平滑性并进行直接应用。通过Matlab、ROS仿真和机械臂实际应用避障实验,验证了改进的RRT^(*)算法在三维空间中的高效性和优越性,尤其是在搜索效率与路径平滑性等方面。展开更多
The instantaneous angle of attack on the blade has a significant effect on the hydrodynamic performance of a vertical-axis tidal-current turbine with straight blades. This paper investigates the influence of different...The instantaneous angle of attack on the blade has a significant effect on the hydrodynamic performance of a vertical-axis tidal-current turbine with straight blades. This paper investigates the influence of different preset angles of attack on the hydrodynamic performance of a three-bladed, vertical-axis, tidal-current turbine both experimentally and numerically. Experiments are carried out in a towing tank. This tested turbine＇s solidity is 0.1146. The preset angles of attack on the blade are -3°, 0°, 3°, and 5°, in the experiments. Experimental results show that with the increase of the preset angle of attack from -3°, to 5°, the hydrodynamic performance of the turbine is improved significantly with the power coefficients being increased from 15.3% to 34.8%, respectively. Compared to the result of a 0° preset angle of attack, the performance of the turbine with positive preset angles of attack is experimentally demonstrated to be beneficial. This performance improvement is also shown by numerical simulations based on the Unsteady Reynolds Averaged Navier-Stokes （URANS） equations. In addition, the numerical results show that the optimal positive preset angle of attack is 7° for the turbine studied. The corresponding power coefficient is 38%. Beyond this optimal preset angle of attack, the hydrodynamic performance of the turbine decreases. Therefore, due to the dynamic stall phenomenon, an optimal preset angle of attack exists for any vertical-axis turbine. This value should be considered in the design of a vertical-axis tidal-current turbine. words：展开更多
Tailor rolled blank （TRB） is a type of emerging material to produce lightweight vehicle parts. Transitional zoners shape is an important parameter for tailor rolled blank. It not only affects mold design and the loc...Tailor rolled blank （TRB） is a type of emerging material to produce lightweight vehicle parts. Transitional zoners shape is an important parameter for tailor rolled blank. It not only affects mold design and the local carrying capacity of the stamping parts, but also determines the maximum value and variation characteristics of rolling force. How to get the best transitional zone＇s shape is a key problem for production of tailor rolled blank. A double power function is put forward using for transitional curve, which is continuous and smooth at all connection points inde- pendent of its parameters, so the sudden change of mechanical parameters during rolling and forming process can be avoided. At the same time, the velocity formula and restriction for arbitrary transitional curve are derived to preset vertical velocity of the roller and judge whether the curve can be rolled successfully or not. Then, the finite element method （FEM） is used to verify the precision of velocity formula and study the mechanical characteristics of different curves. Finally, a method to obtain the optimal curve equation is put forward and verified.展开更多
文摘Two experimental satellites, Chuangxin 1-03 and Shiyan Satellite 4, were put into orbit on a LM-2D launch vehicle from the Jiuquan Satellite Launch Center (JSLC) in northwest China's Gansu Province on November 20.
文摘RRT^(*)(rapidly-exploring random tree star)算法是机械臂路径规划中的一个重要工具,但在高维空间内的应用表现存在搜索效率低下、对维数的敏感度高、难以快速收敛至优化路径等问题。此外机械臂避障的规划需要考虑到路径的平滑性,但是算法生成的路径往往缺乏所需的平滑性,难以直接应用于实际的机械臂操作。针对这些问题,研究提出了一个基于贪心策略的RRT^(*)算法改进版本。新算法改进了代价函数和重连策略,并在高维搜索环境中,通过贪心算法进行偏执采样,自适应地选取预设路径节点,从而提高搜索效率,增强轨迹的平滑性并进行直接应用。通过Matlab、ROS仿真和机械臂实际应用避障实验,验证了改进的RRT^(*)算法在三维空间中的高效性和优越性,尤其是在搜索效率与路径平滑性等方面。
基金supported by the Fundamental Research Funds for the Central Universities(Grant No.DUT13JN10)the Doctoral Starting Up Funds of Liaoning Province(Grant No.20111029)
文摘The instantaneous angle of attack on the blade has a significant effect on the hydrodynamic performance of a vertical-axis tidal-current turbine with straight blades. This paper investigates the influence of different preset angles of attack on the hydrodynamic performance of a three-bladed, vertical-axis, tidal-current turbine both experimentally and numerically. Experiments are carried out in a towing tank. This tested turbine＇s solidity is 0.1146. The preset angles of attack on the blade are -3°, 0°, 3°, and 5°, in the experiments. Experimental results show that with the increase of the preset angle of attack from -3°, to 5°, the hydrodynamic performance of the turbine is improved significantly with the power coefficients being increased from 15.3% to 34.8%, respectively. Compared to the result of a 0° preset angle of attack, the performance of the turbine with positive preset angles of attack is experimentally demonstrated to be beneficial. This performance improvement is also shown by numerical simulations based on the Unsteady Reynolds Averaged Navier-Stokes （URANS） equations. In addition, the numerical results show that the optimal positive preset angle of attack is 7° for the turbine studied. The corresponding power coefficient is 38%. Beyond this optimal preset angle of attack, the hydrodynamic performance of the turbine decreases. Therefore, due to the dynamic stall phenomenon, an optimal preset angle of attack exists for any vertical-axis turbine. This value should be considered in the design of a vertical-axis tidal-current turbine. words：
基金Item Sponsored by National Science and Technology Support Program of China(2011BAF15B02)Natural Science Foundation of Hebei Province of China(E2012203108)+2 种基金Science and Technology Research Program of the Colleges and Universities in Hebei of China(ZD2014034)Independent Research Project of Yanshan University of China(14LGA003)Open Project of National Engineering Research Center for Equipment and Technology of Cold Rolling Strip of China(NECSR-201206)
文摘Tailor rolled blank （TRB） is a type of emerging material to produce lightweight vehicle parts. Transitional zoners shape is an important parameter for tailor rolled blank. It not only affects mold design and the local carrying capacity of the stamping parts, but also determines the maximum value and variation characteristics of rolling force. How to get the best transitional zone＇s shape is a key problem for production of tailor rolled blank. A double power function is put forward using for transitional curve, which is continuous and smooth at all connection points inde- pendent of its parameters, so the sudden change of mechanical parameters during rolling and forming process can be avoided. At the same time, the velocity formula and restriction for arbitrary transitional curve are derived to preset vertical velocity of the roller and judge whether the curve can be rolled successfully or not. Then, the finite element method （FEM） is used to verify the precision of velocity formula and study the mechanical characteristics of different curves. Finally, a method to obtain the optimal curve equation is put forward and verified.
