Generation of intense, fully coherent radiation with wide spectral coverage has been a long-standing challenge for laser technologies. Several techniques have been developed in recent years to extend the spectral cove...Generation of intense, fully coherent radiation with wide spectral coverage has been a long-standing challenge for laser technologies. Several techniques have been developed in recent years to extend the spectral coverage in optical physics, but none of them hold the potential to produce X-ray laser pulses with very high-peak power. Urgent demands for intense X-ray light sources have prompted the development of free-electron lasers(FELs), which have been proved to be very useful tools in many scientific areas. In this paper, we give an overview of the basic principle of FELs, techniques for realizing fully coherent FELs, and the development of fully coherent FEL facilities in China.展开更多
Two new free-living marine nematode species from the mangrove wetlands of Fujian Province, China are identified and illustrated. Sabatieria conicoseta sp. nov. is characterized by its short conical somatic setae. Ther...Two new free-living marine nematode species from the mangrove wetlands of Fujian Province, China are identified and illustrated. Sabatieria conicoseta sp. nov. is characterized by its short conical somatic setae. There are 12-15 tubular pre-cloacal supplements and 12-15/Jm long straight gubernacular apophyses. Dorylaimopsis papilla sp. nov. is characterized by spicules which are 1.5-1.8 a. b. d, long with media cuticularized strip along entire spicules, and have a cephalated proximal end with small hooked. There are 16-18 small papillate precloacal supplements and 37-40 μm long dorso-caudal gubernacular apophyses.展开更多
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
Although significant progress has been made in precision machining of free-form surfaces recently, inspection of such surfaces remains a difficult problem. In order to solve the problem that no specific standards for ...Although significant progress has been made in precision machining of free-form surfaces recently, inspection of such surfaces remains a difficult problem. In order to solve the problem that no specific standards for the verification of free-form surface profile are available, the profile parameters of free-form surface are proposed by referring to ISO standards regarding form tolerances and considering its complexity and non-rotational symmetry. Non-uniform rational basis spline（NURBS） for describing free-form surface is formulated. Crucial issues in surface inspection and profile error verification are localization between the design coordinate system（DCS） and measurement coordinate system（MCS） for searching the closest points on the design model corresponding to measured points. A quasi particle swarm optimization（QPSO） is proposed to search the transformation parameters to implement localization between DCS and MCS. Surface subdivide method which does the searching in a recursively reduced range of the parameters u and v of the NURBS design model is developed to find the closest points. In order to verify the effectiveness of the proposed methods, the design model is generated by NURBS and the measurement data of simulation example are generated by transforming the design model to arbitrary position and orientation, and the parts are machined based on the design model and are measured on CMM. The profile errors of simulation example and actual parts are calculated by the proposed method. The results verify that the evaluation precision of freeform surface profile error by the proposed method is higher 10%-22% than that by CMM software. The proposed method deals with the hard problem that it has a lower precision in profile error evaluation of free-form surface.展开更多
基金supported by the National Key Research and Development Program of China(No.2016YFA0401900)the National Natural Science Foundation of China(Nos.11475250 and11775293)+1 种基金the Young Elite Scientist Sponsorship Program of CAST(2015QNRC001)the Ten Thousand Talent Program
文摘Generation of intense, fully coherent radiation with wide spectral coverage has been a long-standing challenge for laser technologies. Several techniques have been developed in recent years to extend the spectral coverage in optical physics, but none of them hold the potential to produce X-ray laser pulses with very high-peak power. Urgent demands for intense X-ray light sources have prompted the development of free-electron lasers(FELs), which have been proved to be very useful tools in many scientific areas. In this paper, we give an overview of the basic principle of FELs, techniques for realizing fully coherent FELs, and the development of fully coherent FEL facilities in China.
基金The National Natural Science Foundation of China under contract No.31772416the Science Foundation of Fujian Province under contract No.2017J01450
文摘Two new free-living marine nematode species from the mangrove wetlands of Fujian Province, China are identified and illustrated. Sabatieria conicoseta sp. nov. is characterized by its short conical somatic setae. There are 12-15 tubular pre-cloacal supplements and 12-15/Jm long straight gubernacular apophyses. Dorylaimopsis papilla sp. nov. is characterized by spicules which are 1.5-1.8 a. b. d, long with media cuticularized strip along entire spicules, and have a cephalated proximal end with small hooked. There are 16-18 small papillate precloacal supplements and 37-40 μm long dorso-caudal gubernacular apophyses.
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.
基金supported by National Natural Science Foundation of China(Grant No. 51075198)Jiangsu Provincial Natural Science Foundation of China(Grant No. BK2010479)+1 种基金Jiangsu Provincial Project of 333 Talents Engineering of ChinaJiangsu Provincial Project of Six Talented Peak of China
文摘Although significant progress has been made in precision machining of free-form surfaces recently, inspection of such surfaces remains a difficult problem. In order to solve the problem that no specific standards for the verification of free-form surface profile are available, the profile parameters of free-form surface are proposed by referring to ISO standards regarding form tolerances and considering its complexity and non-rotational symmetry. Non-uniform rational basis spline（NURBS） for describing free-form surface is formulated. Crucial issues in surface inspection and profile error verification are localization between the design coordinate system（DCS） and measurement coordinate system（MCS） for searching the closest points on the design model corresponding to measured points. A quasi particle swarm optimization（QPSO） is proposed to search the transformation parameters to implement localization between DCS and MCS. Surface subdivide method which does the searching in a recursively reduced range of the parameters u and v of the NURBS design model is developed to find the closest points. In order to verify the effectiveness of the proposed methods, the design model is generated by NURBS and the measurement data of simulation example are generated by transforming the design model to arbitrary position and orientation, and the parts are machined based on the design model and are measured on CMM. The profile errors of simulation example and actual parts are calculated by the proposed method. The results verify that the evaluation precision of freeform surface profile error by the proposed method is higher 10%-22% than that by CMM software. The proposed method deals with the hard problem that it has a lower precision in profile error evaluation of free-form surface.
