ON THE DYNAMIC MODELING AND CONTROL OF 2-DOF PLANAR PARALLEL MECHANISM WITH FLEXIBLE LINKS

The object of study is about dynamic modeling and control for a 2degree-of-freedom (DOF) planar parallel mechanism (PM) with flexible links. The kinematic anddynamic equations are established according to the characteristics of mixed rigid and flexiblestructure. By using the singular perturbation approach (SPA), the model of the mechanism can beseparated into slow and fast subsystems. Based on the feedback linearization theory and inputshaping technique, the large scale rigid motion controller and the flexible link vibrationcontroller can be designed separately to achieve fast and accurate positioning of the PM.

Layered Coded Cache Placement and Cooperative Delivery with Sharing Links in Satellite-Terrestrial Integrated Networks

Cooperative utilization of multidimensional resources including cache, power and spectrum in satellite-terrestrial integrated networks(STINs) can provide a feasible approach for massive streaming media content delivery over the seamless global coverage area. However, the on-board supportable resources of a single satellite are extremely limited and lack of interaction with others. In this paper, we design a network model with two-layered cache deployment, i.e., satellite layer and ground base station layer, and two types of sharing links, i.e., terrestrial-satellite sharing(TSS) links and inter-satellite sharing(ISS) links, to enhance the capability of cooperative delivery over STINs. Thus, we use rateless codes for the content divided-packet transmission, and derive the total energy efficiency(EE) in the whole transmission procedure, which is defined as the ratio of traffic offloading and energy consumption. We formulate two optimization problems about maximizing EE in different sharing scenarios(only TSS and TSS-ISS),and propose two optimized algorithms to obtain the optimal content placement matrixes, respectively.Simulation results demonstrate that, enabling sharing links with optimized cache placement have more than 2 times improvement of EE performance than other traditional placement schemes. Particularly, TSS-ISS schemes have the higher EE performance than only TSS schemes under the conditions of enough number of satellites and smaller inter-satellite distances.

Zhongshan:Embracing New Links

On June 30,2024,the much-anticipated Shenzhen-Zhongshan Link officially began trial operation.The world-class cross-sea cluster project integrating two bridges,two islands,and an underwater tunnel is expected to shorten the driving time from Shenzhen to Zhongshan from two hours to 30 minutes,helping create a 30-minute commute circle across the area.As the flow of innovation factors accelerates through the Shenzhen Zhongshan Link,Zhongshan City has been proactively exploring cooperation models such as“Shenzhen headquarters plus Zhongshan manufacturing,”“Shenzhen leading businesses plus Zhongshan support,”and“Shenzhen R&D plus Zhongshan commercialization”to form a one-hour science and technology industrial cooperation circle with Shenzhen and build a more open,coordinated,and efficient regional innovation system.

Mechanical Modeling of Dike Propagation: Methods, Recent Results and Links to Geophysics

Magma is transported in brittle rock by diking.Diking plays a key role in tectonic phenomena such as continental rifting and plate divergence at mid-ocean ridges.In spite of the importance of understanding how magma is

Application Practice of OMO Teaching Mode of"Two Courses,Three Links and Two Main Subjects"Based on the Wisdom Tree Platform

The shared course and flipped course of Modern Educational Technology were constructed and applied based on the wisdom tree platform.The OMO teaching mode of"two courses,three links and two main subjects"was constructed according to the course teaching practice,and the teaching practice was carried out.The main teaching links and teaching quality assurance system of the mode were expounded and the application effect was analyzed from the three aspects of student evaluation,course performance and course goal achievement value.The problems in the application of the mode were discussed,and some improvement measures were put forward from the aspects of students,teachers and schools.

Novel forward mode AC/AC converters with high frequency link

A circuit configuration and a circuit topologic family of the novel forward mode AC/AC converters with high frequency link are presented. The circuit configuration is constituted of input cycloconverter, high frequency transformer, output cycloconverter, input and output filters. The circuit topologic family includes eight circuit topologies, such as full-bridge-full-wave mode, etc. The bi-polarity phase-shifted control strategy and steady principles are thoroughly investigated. The output characteristics are obtained. By using the bi-polarity phase-shifted control strategy with phase-shifted control between the output cycloconveter and the input cycloconverter, commutation overlap period of the output cycloconverter, and polarity selection of the output filtering inductance current and the input voltage, the leakage inductance energy and the output filtering inductance current are naturally commutated, and surge voltage and surge current of the cycloconverters are overcome. The converters have such advantages as simple topology, two-stage power conversions(LFAC/HFAC/LFAC), bi-directional power flow, high frequency electrical isolation, good output waveforms, and strong ability to stabilize voltage. The converters lay key technical foundation on a new-type of regulated sinusoidal AC power supplies and electronic transformers. The correction and advancement of the converters are well verified by a principle test.

Vibration Reduction of Open-chain Flexible Manipulators by Optimizing Independent Motions of Branch Links

In order to suppress vibration in flexible manipulators, a new type of manipulator mechanism with controllable local degrees of freedom is proposed. This mechanism consists of a main chain and some branch links. The main chain is of a flexible open-chain configuration with an end-effector installed at its tip, and the rigid branch links are able to perform active movements. It is proved by kinematics and dynamic analysis that, the branch links bear no direct kinematic relation to the main chain, but their independent motions can strongly affect the dynamic behavior and performance of the flexible manipulator. Then comes a new idea of suppressing vibration, in which independent motions of the branch links are used to suppress the undesired vibration of the flexible main chain through dynamic coupling. On this basis, an optimal method for reducing vibration of flexible manipulators is proposed. Finally, the effectiveness of this method is verified by numerical simulations.

基于Modelsim与Matlab/Simulink联合仿真技术的接口与应用研究

根据Modelsim与Matlab/Simulink软件各自的特点,对两者的联合仿真技术进行了研究。应用Simulink仿真库里提供的link for modelsim功能解决了联合仿真的接口与实现问题,并把该技术应用于IEEE1588时钟同步仿真中硬件时间戳的获取,取得了良好的效果。

A Brief Analysis of the Self-correction Model——from the View of Linking Theory

Based on the theory of the post method pedagogy and the teaching practice，this paper proposes a new teaching model，the self-correction model，and explains it from the point of view of linking theory.

Percolation on networks with dependence links

As a classical model of statistical physics, the percolation theory provides a powerful approach to analyze the network structure and dynamics. Recently, to model the relations among interacting agents beyond the connection of the networked system, the concept of dependence link is proposed to represent the dependence relationship of agents. These studies suggest that the percolation properties of these networks differ greatly from those of the ordinary networks. In particular, unlike the well known continuous transition on the ordinary networks, the percolation transitions on these networks are discontinuous. Moreover, these networks are more fragile for a broader degree distribution, which is opposite to the famous results for the ordinary networks. In this article, we give a summary of the theoretical approaches to study the percolation process on networks with inter- and inner-dependence links, and review the recent advances in this field, focusing on the topology and robustness of such networks.

Anti-Dead-Zone Integral Sliding Control and Active Vibration Suppression of a Free-floating Space Robot with Elastic Base and Flexible Links

Under the conditions of joint torque output dead-zone and external disturbance,the trajectory tracking and vibration suppression for a free-floating space robot(FFSR)system with elastic base and flexible links were discussed.First,using the Lagrange equation of the second kind,the dynamic model of the system was derived.Second,utilizing singular perturbation theory,a slow subsystem describing the rigid motion and a fast subsystem corresponding to flexible vibration were obtained.For the slow subsystem,when the width of deadzone is uncertain,a dead-zone pre-compensator was designed to eliminate the impact of joint torque output dead-zone,and an integral sliding mode neural network control was proposed.The integral sliding mode term can reduce the steady state error.For the fast subsystem,an optimal linear quadratic regulator(LQR)controller was adopted to damp out the vibration of the flexible links and elastic base simultaneously.Finally,computer simulations show the effectiveness of the compound control method.

Modeling online social networks based on preferential linking

We study the phenomena of preferential linking in a large-scale evolving online social network and find that the linear preference holds for preferential creation, preferential acceptance, and preferential attachment. Based on the linear preference, we propose an analyzable model, which illustrates the mechanism of network growth and reproduces the process of network evolution. Our simulations demonstrate that the degree distribution of the network produced by the model is in good agreement with that of the real network. This work provides a possible bridge between the micro=mechanisms of network growth and the macrostructures of online social networks.

DYNAMIC SUBSTRUCTURING ANALYSISOF COMPOSITE STRUCTURES WITHNONLINEAR LINKS

The paper deals with the dynamic response prediction of the composite structure,which consists of two linear components coupled by some nonlinear vibration isolators. Based on the measured impulse response functions of the linear components, three kinds of dynamic equations of interfacial integration are proposed and a procedure to transform the dynamic equations of integral type into a set of ordinary differential equations is suggested. Computer simulations and a real test are given to verify the effectiveness of the theoretical results.

The linkage between two ENSO types/modes and the interdecadal changes of ENSO around the year 2000

This study focuses on the interdecadal changes in ENSO properties emerging around the year 2000. Compared to 1980-1999, after 2000, the ENSO amplitude weakened, the occurrence of the central Pacific （CP） Et Nino increased, and the eastern Pacific （EP） El Nino became suppressed. Meanwhile, the dominant period of ENSO shortened from quasi-quadrennial （QQ） to quasi-biennial （QB）. The authors show that these changes in ENSO properties are evidently consistent with the change in the stability of the ENSO mode through connecting the two ENSO types with the two coupled ENSO modes, i.e. the QQ and QB modes. It is suggested that the relative activity or stability of the two ENSO modes changed after the year 2000. The intensity of both the QQ and QB mode weakened. The QQ mode, which is linked to EP ENSO and was significantly strong during 1980-1999, became much weaker after 2000 in terms of the EP type almost disappearing. Compared with the weakness of the QQ mode, the QB mode, as manifested by the CP type, remained active and became dominant in the tropical Pacific after 2000. Analysis shows that the changes in mean states in the tropical Pacific were likely responsible for the interdecadal ENSO changes around the year 2000.

电动汽车电控液压制动系统CarSim/Simulink联合仿真研究

针对某款国产电动汽车的电控液压制动系统,文章基于滑移率的比例-积分-微分(PID)控制提出了防抱死制动系统(ABS)模型,以改善车辆制动性能,提高在对开路面上的制动有效性和安全性。首先,使用Simulink软件建立液压电控制动系统的动力学模型;然后,基于滑移率设计PID控制器,并通过1/4车辆模型验证其有效性;最后,利用S函数将ABS控制器的Simulink模型输入CarSim平台中,开展CarSim/Simulink双平台联合控制仿真。结果表明,基于滑移率的PID控制的ABS对比无ABS的车辆,制动性能更加优越,在对开路面上制动稳定性更加明显。

一种MAKLINK图多节点链路建模的路径规划研究

针对传统MAKLINK图规划路径线路改变时,其最优化路径易与环境约束条件冲突的问题,提出了在MAKLINK图中各链路上增加节点数目的方法,以提高系统建模的适应性和鲁棒性。设计的多节点链路通过dijkstra算法得到更为理想的次优化路径,由蚁群算法进行迭代计算获得最优化路径,实现了在保证路径适应度的前提下,提高优化路径对环境约束条件的适应性。实验结果表明,与基本MAKLINK图路径规划算法相比,多节点链路的建模路径规划算法可有效提高次优路径的建模精度,最优路径的适应度值较单节点链路减小了1.43%,具有一定的建模优势。

Social-Aware Joint Mode Selection and Link Allocation for Device-to-Device Communication Underlaying Cellular Networks

Joint mode selection and link allocation are crucial to achieve the advantage of Device-to-Device(D2 D) communications in improving spectral efficiency. In practice, cellular users tend to not be totally altruistic or absolutely selfish. How to stimulate them to devote their links and how to allocate their links to D2 D pair candidates efficiently are two main challenges. In this paper, we encourage cellular users through the variable payment with regard to the social tie strength between cellular users and D2 D pair candidates. In particular, the social tie strength is inferred through a graph inference model and its impact on the payment is quantified as a negative exponential function. Then, we propose a resource scheduling optimization model based on the non-transferable utility coalition formation game, and a distributed coalition formation algorithm based on the Pareto preference and merge-and-split rule. From them, the final coalition structure is obtained, which reflects the strategy of mode selection and link allocation. Numerical results are presented to verify the effectiveness of our proposed scheme.

Dynamic Characteristics of Inter-Satellite Links in LEO Networks

To establish an efficient inter-satellite link (ISL) in an LEO network, the effect of geometric characteristics of ISL on the ISLs and the devices on the LEO satellite should be examined. Because of the continuous movement of the LEO satellite, the time-varying behaviours of the ISL's geometric charactersistics continuously change with the changes of the satellite's position on the orbit. These dynamic geometric characteristics of the ISLs are important for ISL's performance analyzing and the design of the devices on the LEO satellite. This paper describes dynamic geometric characteristics of ISL, analyzes the impact of these regulations on the tracking system of the satellite's antenna and the power adjusting system of the satellite's transmitter, with the Iridium system as an example.

Finite element investigation of steel built-up shear links subjected to inelastic deformations

Non-linear finite element models accounting for large displacements have been used to investigate the behavior of steel built-up shear links that had previously been tested using large-scale experiments. The links were designed using steel grades with yield points ranging from high to low strengths. The objectives of the numerical analyses were to further investigate the non-linear behavior and to correlate the numerical results with experimental observations. Elasto-plastic as well as cyclic stress-strain material properties were incorporated to study the influence of material behavior on the overall shear link response. Non-linear monotonie analyses of the shear links incorporating the cyclic stress-strain steel properties resulted in similar trends in the response as the backbone curves recorded from the physical experiments. The numerical models of built-up shear links utilizing structural grade steels closely correlated to the experimentally recorded shear strength. Models utilizing low yield point steels overestimated the shear strength, which was caused by the characteristics of cyclic behavior of those steels. The detailed numerical models also allowed for investigation of the plastic strain demands on the different components of the link. It was shown that finite element models combined with appropriate stress-strain relationship may be used with confidence to check the design of shear links of different steel grades and sectional geometries.

Building up a Mathematical Model of Shaftes System and CAD for Linked Tetra-Shaft and Double-Cantilever Flat Flap Gate

Linked tetra shaft and double cantilever flat flap gate is a new type of structure in water conservancy projects,but the traditional method is now adopted in its design.In order to the application and dissemination of the type of sluice,this paper researches the difficult points of design advance,through researching the motion locus & stress coundition of linked tetra shaft system.The writer will build up the mathmatical model and handle it with the computer.Thus,we can achieve the modern desing on the basis of the software of linked tetra shaft system development.