The piecewise constant method in gait design through optimization

The objective of this paper is to introduce the piecewise constant method in gait design of a planar,under actuated,five-link biped robot model and to discuss the advantages and disadvantages.The piecewise constant method transforms the dynamic optimal control problem into a static problem.

Probing the electric double layer structure at nitrogen-doped graphite electrodes by constant-potential molecular dynamics simulations

Electric double layer(EDL)is a critical topic in electrochemistry and largely determines the working performance of lithium batteries.However,atomic insights into the EDL structures on heteroatom-modified graphite anodes and EDL evolution with electrode potential are very lacking.Herein,a constant-potential molecular dynamics(CPMD)method is proposed to probe the EDL structure under working conditions,taking N-doped graphite electrodes and carbonate electrolytes as an example.An interface model was developed,incorporating the electrode potential and atom electronegativities.As a result,an insightful atomic scenario for the EDL structure under varied electrode potentials has been established,which unveils the important role of doping sites in regulating both the EDL structures and the following electrochemical reactions at the atomic level.Specifically,the negatively charged N atoms repel the anions and adsorb Li~+at high and low potentials,respectively.Such preferential adsorption suggests that Ndoped graphite can promote Li~+desolvation and regulate the location of Li~+deposition.This CPMD method not only unveils the mysterious function of N-doping from the viewpoint of EDL at the atomic level but also applies to probe the interfacial structure on other complicated electrodes.

A Fine-Structure Constant Can Be Explained Using the Electrochemical Method

We proposed an empirical equation for a fine-structure constant: . Then, . where mp and me are the rest mass of a proton and the rest mass of an electron, respectively. In this report, using the electrochemical method, we proposed an equivalent circuit. Then, we proposed a refined version of our own old empirical equations about the electromagnetic force and gravity. Regarding the factors of 9/2 and π, we used 3.132011447 and 4.488519503, respectively. The calculated values of Tc and G are 2.726312 K and 6.673778 × 10-11 (m3⋅kg-1⋅s-2).

Comparison of undrained behaviors of granular media using fluidcoupled discrete element method and constant volume method

The fluid-coupled discrete element method(DEM)and the constant volume method as two types of discrete modeling methods for fundamental study of undrained responses of granular materials,have been discussed by many researchers.The fluid-coupled DEM,which couples the motions of discrete particles with pore fluid movements,is theoretically robust although it requires a large amount of computation time.As a substitution for the complex fluid-coupled DEM,the constant volume method simulates an undrained condition for a saturated granular material by simply preserving the total volume of a granular assembly without considering interactions between fluids and particles;hence,the validity of its results is questionable.In this paper,the undrained behaviors of granular assemblies simulated using the aforementioned two methods are compared.Based on a comparison of both macroscopic and microscopic responses given by the two methods,it is demonstrated that the constant volume method may reasonably simulate the responses of a loose saturated granular material with very coarse grains,which has a high permeability,and thus a rapid pore pressure equalization.However,it is ineffective in simulating the responses of a loose material with fine components due to its failure to capture the process of a slow dissipation of the excess pore pressure among the individual pores.With regard to the dense material adopted,similar behaviors at the early and intermediate shearing stages given by the two methods are displayed.

3D Multiphase Piecewise Constant Level Set Method Based on Graph Cut Minimization

Segmentation of three-dimensional(3D) complicated structures is of great importance for many real applications.In this work we combine graph cut minimization method with a variant of the level set idea for 3D segmentation based on the Mumford-Shah model.Compared with the traditional approach for solving the Euler-Lagrange equation we do not need to solve any partial differential equations.Instead,the minimum cut on a special designed graph need to be computed.The method is tested on data with complicated structures.It is rather stable with respect to initial value and the algorithm is nearly parameter free.Experiments show that it can solve large problems much faster than traditional approaches.

Field-induced phase transitions in chiral smectic liquid crystals studied by the constant current method

In ferroelectric liquid crystals, phase transitions can be induced by an electric field. The current constant method allows these transition to be quickly localized and thus the（E, T） phase diagram of the studied product can be obtained.In this work, we make a slight modification to the measurement principles based on this method. This modification allows the characteristic parameters of ferroelectric liquid crystal to be quantitatively measured. The use of a current square signal highlights a phenomenon of ferroelectric hysteresis with remnant polarization at null field, which points out an effect of memory in this compound.

An Improved Mumford-Shah Model and Its Applications to Image Processing with the Piecewise Constant Level Set Method

为快分割并且降噪，提高 penalization 学期的古典 Mumford-Shah (MS ) 模型需要，即增加 penalization 参数，它导致目标的渐渐的消失。在这份报纸，我们建议一个改进 Mumford-Shah (IMS ) 模型避免现象，并且采用 piecewise 常数水平集合方法(PCLSM ) 和坡度降下方法解决最小化问题。数字实验被给显示出新模型和算法的效率和优点。

Influence of dopant content on morphology and optical constants of ZnO:Na films by sol-gel method

Undoped and Na-doped ZnO films were deposited by sol-gel method.The effects of sodium incorporation on structure,surface morphology and optical constants of the films were investigated.X-ray diffraction patterns show the hexagonal wurtzite polycrystalline structure and that the sodium incorporation leads to the change in the structural characteristics of ZnO films.The SEM observations show that the surface morphology of the films is affected by the sodium incorporation.The transmission spectra show that the average transmittance of the films is above 85% in the visible range.The absorption edge initially blue-shifts and then red-shifts with the increase of Na doping content.The optical constants of these films were calculated using transmission spectra.Refractive indices of the films in the visible range decrease at first and then increase with increasing Na doping content.

LA-ICP-MS Calibrations for Intact Rock Samples with Internal Standard and Modified Constant-Sum Methods

Laser ablation coupled with inductively coupled plasma-mass spectrometry (LA-ICP-MS) calibration was conducted with multiple spot analyses on eleven intact rock samples using both an internal standard (IS) method and a modified constant-sum (MCS) method. Methods were then compared for reported bulk elemental composition of the rocks. The MCS method was based on the sum of eight major elements, which is spatially more stable than one single major ele-ment as used in the IS method, and is quite constant among different rock samples. Calibrations were performed with standard reference materials NIST SRM 610, 612, 614, and 616. Little difference was found between using a single standard and a set of standards, because of the good linearity shown by the reference materials. Comparison of the two calibration methods shows that the MCS method produced better and more stable results than the IS method for heterogeneous samples. With the MCS method, approximately 94% to 95% of the total measurements are within the range of ±100% relative deviation, compared with 82% to 86% with the IS method. The IS method resulted insubstantial overestimations for some rock samples (e.g., 648% for Basalt BCR-2 using NIST SRM 610 as the calibration standard), while the largest deviation with the MCS method was 216% for U in Eagle Ford shale #80 sample. For Quartz latite QLO-1, a relative homogeneous sample, the IS method generated slightly better results than the MCS method. Regardless of method, spatially heterogeneous distribution of elements in the intact rock at the scale of the laser spot is considered to be the main reason for the large relative deviations seen in our work compared to published results.

Extracting Human Reaction Time from Observations in the Method of Constant Stimuli

We consider the psychophysical experiments in which the test subject’s binary reaction is determined by the prescribed exposure duration to a stimulus and a random variable subjective threshold. For example, when a subject is exposed to a millimeter wave beam for a prescribed duration, the occurrence of flight action is binary (yes or no). In experiments, in addition to the binary outcome, the actuation time of flight action is also recorded if it occurs;the delay from the initiation time to the actuation time of flight action is the human reaction time, which is not measurable. In this study, we model the random subjective threshold as a Weibull distribution and formulate an inference method for estimating the human reaction time, from data of prescribed exposure durations, binary outcomes and actuation times of flight action collected in a sequence of tests. Numerical simulations demonstrate that the inference of human reaction time based on the Weibull distribution converges to the correct value even when the underlying true model deviates from the inference model. This robustness of the inference method makes it applicable to real experimental data where the underlying true model is unknown.

Elastic constants of Al and TiN calculated by ab initio method

The elastic constants of Al single crystal were calculated by ab initio method for calibration. Three deformation directions were selected in order to obtain the different constants of c 11 , c 12 and c 44 . The cohesion energy curves of the three deformation directions were calculated. The results of the second order partial differential at the equilibrium point of the cohesion energy curve provide the elastic constants of the Al single crystal. The changes of crystal symmetry and lattice can lead to the deviations of the calculated cohesion energy curves and the accurate elastic constants can not be obtained, but when the correction is taken into calculation, the calculated results are very close to the literature data. It is very difficult to obtain the elastic constants of thin films by experiment and the data from the handbook are scattered in a large scale. However, the elastic constants calculated by this method can be served as a standard. Though the errors of TiN elastic constants calculated by this method are a little higher than that for Al, the results are acceptable. [

Determination of Compositions and Stability Constants of Holmium and Yttrium Complexes with Tribromoarsenazo by Linear Regression Method

According to the appearing of isosbestic point in the absorption spectra of Ho/Y-Tribromoarsenazo (TBA)systems,the complexation reaction is considered to be M+nL=ML_n.A method has been proposed based on it for calculating the mole fraction of free complexing agent in the solutions from spectral data.and two linear regression formula have been introduced to determine the composition,the molar absorptivity,the conditional stability constant of the complex and the concentration of the complexing agent. This method has been used in Ho-TBA and Y-TBA systems.Ho^(3+)and Y^(3+)react with TBA and form 1: 2 complexes in HCl-NaAc buffer solution at pH 3.80.Their molar absorptivities determined are 1.03×10~8 and 1.10×10~8 cm^2·mol^(-1),and the conditional stability constants(logβ_2)are 11.37 and 11.15 respectively.After considering the pH effect in TBA complexing,their stability constants(log β_2^(ahs))are 43.23 and 43.01. respectively.The new method is adaptable to such systems where the accurate concentration of the complexing agent can not be known conveniently.

Centralized Solar PV Systems for Static Loads Using Constant Voltage Control Method

The alternative energy resources, like solar, are always complementary due to environmental changes. Energy generation with the sources such as solar and wind is gaining importance and of that photovoltaic conversion is the main focus of researches due to its promising potential as the electrical source. This paper presents the constant voltage method of control where the output of the converter is maintained constant irrespective of the variations in the irradiance with the high step-up isolated efficient single switch DC-DC converter for the solar PV systems. Constant voltage method of control uses the array of photovoltaic systems as its energy source. The output of the Solar PV systems is nonlinear and has its dependency on temperature and irradiance by which the panel voltage and current varies with the variation in irradiance. Constant voltage control method always operates in such a way that the converter voltage is tried to be maintained constantly to the reference voltage which is set by the user. The system used here utilizes high step single switch isolated DC-DC converter and monitors the voltage continuously by varying the duty cycle to maintain the converter voltage always constant. As a way of improving the performance, both the open and closed loop analysis is done where the closed loop analysis uses the PI controller for its performance. The model is implemented in MATLAB and it accepts the irradiance as the input and outputs the constant voltage from the converter and the feasibility of the proposed converter topology is confirmed with experimental results of the prototype model.

Powell's optimal identification of material constants of thin-walled box girders based on Fibonacci series search method

A dynamic Bayesian error function of material constants of the structure is developed for thin-walled curve box girders. Combined with the automatic search scheme with an optimal step length for the one-dimensional Fibonacci series, Powell＇s optimization theory is used to perform the stochastic identification of material constants of the thin-walled curve box. Then, the steps in the parameter identification are presented. Powell＇s identification procedure for material constants of the thin-walled curve box is compiled, in which the mechanical analysis of the thin-walled curve box is completed based on the finite curve strip element （FCSE） method. Some classical examples show that Powell＇s identification is numerically stable and convergent, indicating that the present method and the compiled procedure are correct and reliable. During the parameter iterative processes, Powell＇s theory is irrelevant with the calculation of the FCSE partial differentiation, which proves the high computation efficiency of the studied methods. The stochastic performances of the system parameters and responses axe simultaneously considered in the dynamic Bayesian error function. The one-dimensional optimization problem of the optimal step length is solved by adopting the Fibonacci series search method without the need of determining the region, in which the optimized step length lies.

Elastic constants characterization on graphite at 500℃ by the virtual fields method

In this paper the elastic constants of graphite at elevated temperature were experimentally investigated by using the virtual fields method （VFM）. A new method was presented for the characterization of mechanical properties at elevated temperature. The three-point bending tests were performed on graphite materials by an universal testing machine equipped with heating fumace. Based on the heterogeneous deformation fields measured by the digital image correlation （DIC） technique, the elastic constants were then extracted by using VFM. The measurement results of the elastic constants at 500℃ were obtained. The ef- fect on the experimental results was also analyzed. The successful results verify the feasibility of using the proposed method to measure the properties of graphite at high temperature, and the proposed method is believed to have a good potential for further applications.

Error Correction in Permittivity Measurement of High Dielectric Constant Materials Based on Cavity Perturbation Method

The purpose of this paper is to reduce the error when measuring high dielectric constant materials.In this paper,the reason why the error introduced is analyzed firstly.Then,with HFSS,the method of choosing the size of cavity and the dimension of dielectric materials is proposed.And several error correction curves are provided for measuring high dielectric constant materials.Finally,the experiment is conducted to validate the feasibility of our analysis.

Determination of Composition and Stability Constant of Praseodymium(Pr^(3+))Complex with Tribromoarsenazo(TBA)by Dual-Series Linear Regression Method

A new method,dual-series linear regression method,has been used to study the complexation equilibrium of praseodymium(Pr^(3+))with tribromoarsenazo(TBA)without knowing the accurate concentra- tion of the complexing agent TBA.In 1.2 mol/L HCl solution, Pr^(3+)reacts with TBA and forms 1:3 com- plex,the conditional stability constant(lgβ_3)of the complex determined is 15.47,and its molar absorptivity(ε_3^(630))is 1.48×10~5 L·mol^(-1)·cm^(-1).

New Method for the Determination of Ionization Constants of Polyprotic Weak Acid

A new method for the determination of ionization constants of polyprotic weak acids is presented. Based on dissociation equilibrium,mass balance and charge balance, the mathematic model is established and the non linear least squares Gauss Newton method is applied to numerically solve the model equations. In order to get the concentration of hydrogen ion, the Debye Hückel equation is used to calculate its activity coefficient. The ionization constants of H 2SO 3 and H 2C 2O 4 obtained by this method are in good agreement with the literature values.

基于电应力损伤特征值的XLPE绝缘电压耐受指数评估方法研究

XLPE绝缘的电压耐受指数n表征绝缘电寿命特性,对加速寿命试验中获取的失效数据进行分析可以获取n值,然而,加速寿命试验中的外施场强与试验所获失效数据的分析方法影响n值的准确性。本文研究电压耐受指数n的评估方法,对XLPE绝缘试样分别进行恒定应力试验与步进应力试验,提出基于损伤特征值的试验数据分析方法,该方法通过损伤矩阵建立试验中累积损伤阈值(Dc)与n的映射关系,以矩阵秩的变化作为n值的选取依据。结果表明:本文所提方法在恒定应力试验中获取的XLPE绝缘电压耐受指数n2=12.43,在步进应力试验中获取的XLPE绝缘电压耐受指数n3=12.04,较线性拟合获取的XLPE绝缘电压耐受指数n1=12.83仅相差3%与6%,且本文所提方法能够节省75%以上的试验时间,验证了该方法的有效性。

Mobile Equilibrium Method for Determining Composition and Stability Constant of Coordination Compounds of the Form M_mR_n

A new method is proposed for determining the composition and stability constant of coordination compounds of the form M m R n ; it can be used to differentiate mono and poly nuclear coordination compounds. The equation derived is lg( A i/(A max - A i) m)=n lg c′ R+lg( m·β(c M/A max ) ( m -1) ). The method is based on Bent French limited logarithm method. The demonstration of the proposed method has yielded correct results for Sc 3+ chlorophosphonazo Ⅲ system and Fe 3+ Chromazurol S system.