As the dynamic equations of space robots are highly nonlinear,strongly coupled and nonholonomic constrained,the efficiency of current dynamic modeling algorithms is difficult to meet the requirements of real-time simu...As the dynamic equations of space robots are highly nonlinear,strongly coupled and nonholonomic constrained,the efficiency of current dynamic modeling algorithms is difficult to meet the requirements of real-time simulation.This paper combines an efficient spatial operator algebra（SOA） algorithm for base fixed robots with the conservation of linear and angular momentum theory to establish dynamic equations for the free-floating space robot,and analyzes the influence to the base body＇s position and posture when the manipulator is capturing a target.The recursive Newton-Euler kinematic equations on screw form for the space robot are derived,and the techniques of the sequential filtering and smoothing methods in optimal estimation theory are used to derive an innovation factorization and inverse of the generalized mass matrix which immediately achieve high computational efficiency.The high efficient SOA algorithm is spatially recursive and has a simple math expression and a clear physical understanding,and its computational complexity grows only linearly with the number of degrees of freedom.Finally,a space robot with three degrees of freedom manipulator is simulated in Matematica 6.0.Compared with ADAMS,the simulation reveals that the SOA algorithm is much more efficient to solve the forward and inverse dynamic problems.As a result,the requirements of real-time simulation for dynamics of free-floating space robot are solved and a new analytic modeling system is established for free-floating space robot.展开更多
In this paper, we estimate the free entropy dimension of the group yon Neumann algebra L（Zt）, which is less than 1/t,2 ≤t ≤ ＋∞. This data is identical with the free dimension defined by Dykema.
In this work we review the class T of ternary algebras introduced by J. A. Brzozowski and C. J. Serger in [1]. We determine properties of the congruence lattice of a ternary algebra A. The most important result refers...In this work we review the class T of ternary algebras introduced by J. A. Brzozowski and C. J. Serger in [1]. We determine properties of the congruence lattice of a ternary algebra A. The most important result refers to the construction of the free ternary algebra on a poset. In particular, we describe the poset of the join irreducible elements of the free ternary algebra with two free generators.展开更多
In 1916, F.S. Macaulay developed specific localization techniques for dealing with “unmixed polynomial ideals” in commutative algebra, transforming them into what he called “inverse systems” of partial differentia...In 1916, F.S. Macaulay developed specific localization techniques for dealing with “unmixed polynomial ideals” in commutative algebra, transforming them into what he called “inverse systems” of partial differential equations. In 1970, D.C. Spencer and coworkers studied the formal theory of such systems, using methods of homological algebra that were giving rise to “differential homological algebra”, replacing unmixed polynomial ideals by “pure differential modules”. The use of “differential extension modules” and “differential double duality” is essential for such a purpose. In particular, 0-pure differential modules are torsion-free and admit an “absolute parametrization” by means of arbitrary potential like functions. In 2012, we have been able to extend this result to arbitrary pure differential modules, introducing a “relative parametrization” where the potentials should satisfy compatible “differential constraints”. We recently noticed that General Relativity is just a way to parametrize the Cauchy stress equations by means of the formal adjoint of the Ricci operator in order to obtain a “minimum parametrization” by adding sufficiently many compatible differential constraints, exactly like the Lorenz condition in electromagnetism. In order to make this difficult paper rather self-contained, these unusual purely mathematical results are illustrated by many explicit examples, two of them dealing with contact transformations, and even strengthening the comments we recently provided on the mathematical foundations of General Relativity and Gauge Theory. They also bring additional doubts on the origin and existence of gravitational waves.展开更多
We investigate decomposition of codes and finite languages. A prime decomposition is a decomposition of a code or languages into a concatenation of nontrivial prime codes or languages. A code is prime if it cannot be ...We investigate decomposition of codes and finite languages. A prime decomposition is a decomposition of a code or languages into a concatenation of nontrivial prime codes or languages. A code is prime if it cannot be decomposed into at least two nontrivial codes as the same for the languages. In the paper, a linear time algorithm is designed, which finds the prime decomposition. If codes or finite languages are presented as given by its minimal deterministic automaton, then from the point of view of abstract algebra and graph theory, this automaton has special properties. The study was conducted using system for computational Discrete Algebra GAP. .展开更多
基金supported by National Natural Science Foundation of China (Grant No. 50375071)Commission of Science, Technology and Industry for National Defense Pre-research Foundation of China (Grant No. C4220062501)
文摘As the dynamic equations of space robots are highly nonlinear,strongly coupled and nonholonomic constrained,the efficiency of current dynamic modeling algorithms is difficult to meet the requirements of real-time simulation.This paper combines an efficient spatial operator algebra（SOA） algorithm for base fixed robots with the conservation of linear and angular momentum theory to establish dynamic equations for the free-floating space robot,and analyzes the influence to the base body＇s position and posture when the manipulator is capturing a target.The recursive Newton-Euler kinematic equations on screw form for the space robot are derived,and the techniques of the sequential filtering and smoothing methods in optimal estimation theory are used to derive an innovation factorization and inverse of the generalized mass matrix which immediately achieve high computational efficiency.The high efficient SOA algorithm is spatially recursive and has a simple math expression and a clear physical understanding,and its computational complexity grows only linearly with the number of degrees of freedom.Finally,a space robot with three degrees of freedom manipulator is simulated in Matematica 6.0.Compared with ADAMS,the simulation reveals that the SOA algorithm is much more efficient to solve the forward and inverse dynamic problems.As a result,the requirements of real-time simulation for dynamics of free-floating space robot are solved and a new analytic modeling system is established for free-floating space robot.
文摘In this paper, we estimate the free entropy dimension of the group yon Neumann algebra L（Zt）, which is less than 1/t,2 ≤t ≤ ＋∞. This data is identical with the free dimension defined by Dykema.
文摘In this work we review the class T of ternary algebras introduced by J. A. Brzozowski and C. J. Serger in [1]. We determine properties of the congruence lattice of a ternary algebra A. The most important result refers to the construction of the free ternary algebra on a poset. In particular, we describe the poset of the join irreducible elements of the free ternary algebra with two free generators.
文摘In 1916, F.S. Macaulay developed specific localization techniques for dealing with “unmixed polynomial ideals” in commutative algebra, transforming them into what he called “inverse systems” of partial differential equations. In 1970, D.C. Spencer and coworkers studied the formal theory of such systems, using methods of homological algebra that were giving rise to “differential homological algebra”, replacing unmixed polynomial ideals by “pure differential modules”. The use of “differential extension modules” and “differential double duality” is essential for such a purpose. In particular, 0-pure differential modules are torsion-free and admit an “absolute parametrization” by means of arbitrary potential like functions. In 2012, we have been able to extend this result to arbitrary pure differential modules, introducing a “relative parametrization” where the potentials should satisfy compatible “differential constraints”. We recently noticed that General Relativity is just a way to parametrize the Cauchy stress equations by means of the formal adjoint of the Ricci operator in order to obtain a “minimum parametrization” by adding sufficiently many compatible differential constraints, exactly like the Lorenz condition in electromagnetism. In order to make this difficult paper rather self-contained, these unusual purely mathematical results are illustrated by many explicit examples, two of them dealing with contact transformations, and even strengthening the comments we recently provided on the mathematical foundations of General Relativity and Gauge Theory. They also bring additional doubts on the origin and existence of gravitational waves.
文摘We investigate decomposition of codes and finite languages. A prime decomposition is a decomposition of a code or languages into a concatenation of nontrivial prime codes or languages. A code is prime if it cannot be decomposed into at least two nontrivial codes as the same for the languages. In the paper, a linear time algorithm is designed, which finds the prime decomposition. If codes or finite languages are presented as given by its minimal deterministic automaton, then from the point of view of abstract algebra and graph theory, this automaton has special properties. The study was conducted using system for computational Discrete Algebra GAP. .
