The coupling vibration of a hydraulic pipe system consisting of two pipes is studied.The pipes are installed in parallel and fixed at their ends,and are restrained by clips to one bracket at their middle points.The pi...The coupling vibration of a hydraulic pipe system consisting of two pipes is studied.The pipes are installed in parallel and fixed at their ends,and are restrained by clips to one bracket at their middle points.The pipe subjected to the basement excitation at the left end is named as the active pipe,while the pipe without excitation is called the passive pipe.The clips between the two pipes are the bridge for the vibration energy.The adjacent natural frequencies will enhance the vibration coupling.The governing equation of the coupled system is deduced by the generalized Hamilton principle,and is discretized to the modal space.The modal correction is used during the discretization.The investigation on the natural characters indicates that the adjacent natural frequencies can be adjusted by the stiffness of the two clips and bracket.The harmonic balance method(HBM)is used to study the responses in the adjacent natural frequency region.The results show that the vibration energy transmits from the active pipe to the passive pipe swimmingly via the clips together with a flexible bracket,while the locations of them are not node points.The adjacent natural frequencies may arouse wide resonance curves with two peaks for both pipes.The stiffness of the clip and bracket can release the vibration coupling.It is suggested that the stiffness of the clip on the passive pipe should be weak and the bracket should be strong enough.In this way,the vibration energy is reflected by the almost rigid bracket,and is hard to transfer to the passive pipe via a soft clip.The best choice is to set the clips at the pipe node points.The current work gives some suggestions for weakening the coupled vibration during the dynamic design of a coupled hydraulic pipe system.展开更多
In this paper,a non-negative adaptive mechanism based on an adaptive nonsingular fast terminal sliding mode control strategy is proposed to have finite time and high-speed trajectory tracking for parallel manipulators...In this paper,a non-negative adaptive mechanism based on an adaptive nonsingular fast terminal sliding mode control strategy is proposed to have finite time and high-speed trajectory tracking for parallel manipulators with the existence of unknown bounded complex uncertainties and external disturbances.The proposed approach is a hybrid scheme of the online non-negative adaptive mechanism,tracking differentiator,and nonsingular fast terminal sliding mode control(NFTSMC).Based on the online non-negative adaptive mechanism,the proposed control can remove the assumption that the uncertainties and disturbances must be bounded for the NFTSMC controllers.The proposed controller has several advantages such as simple structure,easy implementation,rapid response,chattering-free,high precision,robustness,singularity avoidance,and finite-time convergence.Since all control parameters are online updated via tracking differentiator and non-negative adaptive law,the tracking control performance at high-speed motions can be better in real-time requirement and disturbance rejection ability.Finally,simulation results validate the effectiveness of the proposed method.展开更多
The dynamical prediction of the Asian-Australian monsoon(AAM)has been an important and long-standing issue in climate science.In this study,the predictability of the first two leading modes of the AAM is studied using...The dynamical prediction of the Asian-Australian monsoon(AAM)has been an important and long-standing issue in climate science.In this study,the predictability of the first two leading modes of the AAM is studied using retrospective prediction datasets from the seasonal forecasting models in four operational centers worldwide.Results show that the model predictability of the leading AAM modes is sensitive to how they are defined in different seasonal sequences,especially for the second mode.The first AAM mode,from various seasonal sequences,coincides with the El Niño phase transition in the eastern-central Pacific.The second mode,initialized from boreal summer and autumn,leads El Niño by about one year but can exist during the decay phase of El Niño when initialized from boreal winter and spring.Our findings hint that ENSO,as an early signal,is conducive to better performance of model predictions in capturing the spatiotemporal variations of the leading AAM modes.Still,the persistence barrier of ENSO in spring leads to poor forecasting skills of spatial features.The multimodel ensemble(MME)mean shows some advantage in capturing the spatiotemporal variations of the AAM modes but does not provide a significant improvement in predicting its temporal features compared to the best individual models in predicting its temporal features.The BCC_CSM1.1M shows promising skill in predicting the two AAM indices associated with two leading AAM modes.The predictability demonstrated in this study is potentially useful for AAM prediction in operational and climate services.展开更多
This paper proposes the new cascaded series parallel design for improved dynamic performance of DC-DC buck boost converters by a new Sliding Mode Control (SMC) method. The converter is controlled using Sliding Mode Co...This paper proposes the new cascaded series parallel design for improved dynamic performance of DC-DC buck boost converters by a new Sliding Mode Control (SMC) method. The converter is controlled using Sliding Mode Control method that utilizes the converter’s duty ratio to determine the skidding surface. System modeling and simulation results are presented. The results also showed an improved overall performance over typical PID controller, and there was no overshoot or settling time, tracking the desired output nicely. Improved converter performance and robustness were expected.展开更多
A parallel manipulator joint driven by three pneumatic muscles and its posture control strategy are presented. Based on geometric constraints and dynamics, a system model is developed through which some influences on ...A parallel manipulator joint driven by three pneumatic muscles and its posture control strategy are presented. Based on geometric constraints and dynamics, a system model is developed through which some influences on dynamic response and open-loop gain are analyzed including the supply pressure, the initial pressure and the volume of pneumatic muscle. A sliding-mode controller with a nonlinear switching function is applied to control posture, which adopts the combination of a main method that separates control of each muscle and an auxiliary method that postures error evaluation of multiple muscles, especially adopting the segmented and intelligent adjustments of sliding-mode parameters to fit different expected postures and initial states. Experimental results show that this control strategy not only amounts to the steady-state error of 0. 1° without overshoot, but also achieves good trajectory tracking.展开更多
针对无标定分拣并联机器人需获取精确图像雅可比矩阵的问题,同时为克服图像检测误差、建模误差及外部干扰对无标定视觉伺服系统的影响,提出一种基于扩张状态观测器(extended state observer,ESO)的分拣并联机器人无标定视觉伺服自适应...针对无标定分拣并联机器人需获取精确图像雅可比矩阵的问题,同时为克服图像检测误差、建模误差及外部干扰对无标定视觉伺服系统的影响,提出一种基于扩张状态观测器(extended state observer,ESO)的分拣并联机器人无标定视觉伺服自适应滑模控制方法。通过将表征机器人图像空间与任务空间映射关系的图像雅可比矩阵与系统不确定项集总到同一通道的状态方程,引入ESO对分拣并联机器人视觉伺服系统的集总不确定性进行在线估计,设计一种基于扩张状态观测器的自适应积分滑模控制器,并通过设计自适应律动态调整滑模控制切换增益,以提高视觉伺服系统精度,同时达到抑制滑模控制抖振的效果。采用Lyapunov稳定性理论证明该控制方法的稳定性,最后通过仿真实验验证了所提出视觉伺服自适应滑模控制方法的可行性和有效性。展开更多
This study investigates the relationship between circulation patterns and austral summer temperature anomalies in southern Africa. The results show that the formation of continental lows tends to increase the thicknes...This study investigates the relationship between circulation patterns and austral summer temperature anomalies in southern Africa. The results show that the formation of continental lows tends to increase the thickness of the lower atmosphere. Further, the distinct variabilities of high and low pressure under the circulation types, influence air mass advection from the adjacent oceans, as well as atmospheric stability over land. Stronger anticyclonic circulation at the western branch of the Mascarene high-pressure system enhances the low-level cold air advection by southeast winds,decreases the thickness, and lowers the temperature over a majority of the land in southern Africa. Conversely, a weaker Mascarene High, coupled with enhanced cyclonic activity in the southwest Indian Ocean increases low-level warm air advection and increases temperature anomalies over vast regions in southern Africa. The ridging of a closed South Atlantic anticyclone at the southern coast of southern Africa results in colder temperatures near the tip of southern Africa due to enhanced low-level cold air advection by southeast winds. However, when the ridge is weak and westerly winds dominate the southern coast of southern Africa, these areas experience temperature increases. The northward track of the Southern Hemisphere mid-latitude cyclone, which can be linked to the negative Southern Annular Mode, reduces the temperature in the southwestern part of southern Africa. Also, during the analysis period, El Ni?o was associated with temperature increases over the central parts of southern Africa;while the positive Indian Ocean dipole was linked to a temperature increase over the northeastern, northwestern, and southwestern parts of southern Africa.展开更多
Since Multimode data is composed of many modes and their complex relationships,it cannot be retrieved or mined effectively by utilizing traditional analysis and processing techniques for single mode data.To address th...Since Multimode data is composed of many modes and their complex relationships,it cannot be retrieved or mined effectively by utilizing traditional analysis and processing techniques for single mode data.To address the challenges,we design and implement a graph-based storage and parallel loading system aimed at multimode medical image data.The system is a framework designed to flexibly store and rapidly load these multimode data.Specifically,the system utilizes the Mode Network to model the modes and their relationships in multimode medical image data and the graph database to store the data with a parallel loading technique.展开更多
基金Project supported by the National Natural Science Foundation of China(No.12002195)the Pujiang Project of Shanghai Science and Technology Commission of China(No.20PJ1404000)。
文摘The coupling vibration of a hydraulic pipe system consisting of two pipes is studied.The pipes are installed in parallel and fixed at their ends,and are restrained by clips to one bracket at their middle points.The pipe subjected to the basement excitation at the left end is named as the active pipe,while the pipe without excitation is called the passive pipe.The clips between the two pipes are the bridge for the vibration energy.The adjacent natural frequencies will enhance the vibration coupling.The governing equation of the coupled system is deduced by the generalized Hamilton principle,and is discretized to the modal space.The modal correction is used during the discretization.The investigation on the natural characters indicates that the adjacent natural frequencies can be adjusted by the stiffness of the two clips and bracket.The harmonic balance method(HBM)is used to study the responses in the adjacent natural frequency region.The results show that the vibration energy transmits from the active pipe to the passive pipe swimmingly via the clips together with a flexible bracket,while the locations of them are not node points.The adjacent natural frequencies may arouse wide resonance curves with two peaks for both pipes.The stiffness of the clip and bracket can release the vibration coupling.It is suggested that the stiffness of the clip on the passive pipe should be weak and the bracket should be strong enough.In this way,the vibration energy is reflected by the almost rigid bracket,and is hard to transfer to the passive pipe via a soft clip.The best choice is to set the clips at the pipe node points.The current work gives some suggestions for weakening the coupled vibration during the dynamic design of a coupled hydraulic pipe system.
基金the Vietnam National Foundation for Science and Technology Development(NAFOSTED)Vietnam under Grant No.(107.01-2019.311).
文摘In this paper,a non-negative adaptive mechanism based on an adaptive nonsingular fast terminal sliding mode control strategy is proposed to have finite time and high-speed trajectory tracking for parallel manipulators with the existence of unknown bounded complex uncertainties and external disturbances.The proposed approach is a hybrid scheme of the online non-negative adaptive mechanism,tracking differentiator,and nonsingular fast terminal sliding mode control(NFTSMC).Based on the online non-negative adaptive mechanism,the proposed control can remove the assumption that the uncertainties and disturbances must be bounded for the NFTSMC controllers.The proposed controller has several advantages such as simple structure,easy implementation,rapid response,chattering-free,high precision,robustness,singularity avoidance,and finite-time convergence.Since all control parameters are online updated via tracking differentiator and non-negative adaptive law,the tracking control performance at high-speed motions can be better in real-time requirement and disturbance rejection ability.Finally,simulation results validate the effectiveness of the proposed method.
基金supported by the National Natural Science Foundation of China(Grant Nos.U2242206,41975094 and 41905062)the National Key Research and Development Program on monitoring,Early Warning and Prevention of Major Natural Disaster(Grant Nos.2017YFC1502302 and 2018YFC1506005)+1 种基金the Basic Research and Operational Special Project of CAMS(Grant No.2021Z007)the Met Office Climate Science for Service Partnership(CSSP)China.
文摘The dynamical prediction of the Asian-Australian monsoon(AAM)has been an important and long-standing issue in climate science.In this study,the predictability of the first two leading modes of the AAM is studied using retrospective prediction datasets from the seasonal forecasting models in four operational centers worldwide.Results show that the model predictability of the leading AAM modes is sensitive to how they are defined in different seasonal sequences,especially for the second mode.The first AAM mode,from various seasonal sequences,coincides with the El Niño phase transition in the eastern-central Pacific.The second mode,initialized from boreal summer and autumn,leads El Niño by about one year but can exist during the decay phase of El Niño when initialized from boreal winter and spring.Our findings hint that ENSO,as an early signal,is conducive to better performance of model predictions in capturing the spatiotemporal variations of the leading AAM modes.Still,the persistence barrier of ENSO in spring leads to poor forecasting skills of spatial features.The multimodel ensemble(MME)mean shows some advantage in capturing the spatiotemporal variations of the AAM modes but does not provide a significant improvement in predicting its temporal features compared to the best individual models in predicting its temporal features.The BCC_CSM1.1M shows promising skill in predicting the two AAM indices associated with two leading AAM modes.The predictability demonstrated in this study is potentially useful for AAM prediction in operational and climate services.
文摘This paper proposes the new cascaded series parallel design for improved dynamic performance of DC-DC buck boost converters by a new Sliding Mode Control (SMC) method. The converter is controlled using Sliding Mode Control method that utilizes the converter’s duty ratio to determine the skidding surface. System modeling and simulation results are presented. The results also showed an improved overall performance over typical PID controller, and there was no overshoot or settling time, tracking the desired output nicely. Improved converter performance and robustness were expected.
基金This project is supported by International Cooperation with Festo.
文摘A parallel manipulator joint driven by three pneumatic muscles and its posture control strategy are presented. Based on geometric constraints and dynamics, a system model is developed through which some influences on dynamic response and open-loop gain are analyzed including the supply pressure, the initial pressure and the volume of pneumatic muscle. A sliding-mode controller with a nonlinear switching function is applied to control posture, which adopts the combination of a main method that separates control of each muscle and an auxiliary method that postures error evaluation of multiple muscles, especially adopting the segmented and intelligent adjustments of sliding-mode parameters to fit different expected postures and initial states. Experimental results show that this control strategy not only amounts to the steady-state error of 0. 1° without overshoot, but also achieves good trajectory tracking.
文摘针对无标定分拣并联机器人需获取精确图像雅可比矩阵的问题,同时为克服图像检测误差、建模误差及外部干扰对无标定视觉伺服系统的影响,提出一种基于扩张状态观测器(extended state observer,ESO)的分拣并联机器人无标定视觉伺服自适应滑模控制方法。通过将表征机器人图像空间与任务空间映射关系的图像雅可比矩阵与系统不确定项集总到同一通道的状态方程,引入ESO对分拣并联机器人视觉伺服系统的集总不确定性进行在线估计,设计一种基于扩张状态观测器的自适应积分滑模控制器,并通过设计自适应律动态调整滑模控制切换增益,以提高视觉伺服系统精度,同时达到抑制滑模控制抖振的效果。采用Lyapunov稳定性理论证明该控制方法的稳定性,最后通过仿真实验验证了所提出视觉伺服自适应滑模控制方法的可行性和有效性。
文摘This study investigates the relationship between circulation patterns and austral summer temperature anomalies in southern Africa. The results show that the formation of continental lows tends to increase the thickness of the lower atmosphere. Further, the distinct variabilities of high and low pressure under the circulation types, influence air mass advection from the adjacent oceans, as well as atmospheric stability over land. Stronger anticyclonic circulation at the western branch of the Mascarene high-pressure system enhances the low-level cold air advection by southeast winds,decreases the thickness, and lowers the temperature over a majority of the land in southern Africa. Conversely, a weaker Mascarene High, coupled with enhanced cyclonic activity in the southwest Indian Ocean increases low-level warm air advection and increases temperature anomalies over vast regions in southern Africa. The ridging of a closed South Atlantic anticyclone at the southern coast of southern Africa results in colder temperatures near the tip of southern Africa due to enhanced low-level cold air advection by southeast winds. However, when the ridge is weak and westerly winds dominate the southern coast of southern Africa, these areas experience temperature increases. The northward track of the Southern Hemisphere mid-latitude cyclone, which can be linked to the negative Southern Annular Mode, reduces the temperature in the southwestern part of southern Africa. Also, during the analysis period, El Ni?o was associated with temperature increases over the central parts of southern Africa;while the positive Indian Ocean dipole was linked to a temperature increase over the northeastern, northwestern, and southwestern parts of southern Africa.
文摘Since Multimode data is composed of many modes and their complex relationships,it cannot be retrieved or mined effectively by utilizing traditional analysis and processing techniques for single mode data.To address the challenges,we design and implement a graph-based storage and parallel loading system aimed at multimode medical image data.The system is a framework designed to flexibly store and rapidly load these multimode data.Specifically,the system utilizes the Mode Network to model the modes and their relationships in multimode medical image data and the graph database to store the data with a parallel loading technique.
