On the Motion of Controllable Mechanical Systems Having Variable Mass

The differential equations of motion of a comtlaint system with parameters and variable mass, of a system with variable mass and servo constraints and those for the control problem on the forced motion of constraint systems with variable mass are given respectively. Finally, an example is presented.

Lie symmetry and the generalized Hojman conserved quantity of Nielsen equations for a variable mass holonomic system of relative motion

Lie symmetry and the generalized Hojman conserved quantity of Nielsen equations for a variable mass holonomic system of relative motion are studied. The determining equation of Lie symmetry of Nielsen equations for a variable mass holonomic system of relative motion under the infinitesimal transformations of groups is given. The expression of generalized Hojman conserved quantity deduced directly from Lie symmetry for a variable mass holonomic system of relative motion is obtained. An example is given to illustrate the application of the results.

Mei symmetry and Mei conserved quantity of Appell equations for a variable mass holonomic system of relative motion

Mei symmetry and Mei conserved quantity of Appell equations for a variable mass holonomic system of relative motion are studied.The definition and criterion of the Mei symmetry of Appell equations for a variable mass holonomic system of relative motion under the infinitesimal transformations of groups are given.The structural equation of Mei symmetry of Appell equations and the expression of Mei conserved quantity deduced directly from Mei symmetry for a variable mass holonomic system of relative motion are gained.Finally,an example is given to illustrate the application of the results.

Exact Solutions and Mode Transition for Out-of-Plane Vibrations of Non-uniform Beams with Variable Curvature

The two coupled governing differential equations for the out-of-plane vibrations of non-uniform beams with variable curvature are derived via the Hamilton’s principle.These equations are expressed in terms of flexural and torsional displacements simultaneously.In this study,the analytical method is proposed.Firstly,two physical parameters are introduced to simplify the analysis.One derives the explicit relations between the flexural and the torsional displacements which can also be used to reduce the difficulty in experimental measurements.Based on the relation,the two governing characteristic differential equations with variable coefficients can be uncoupled into a sixth-order ordinary differential equation in terms of the flexural displacement only.When the material and geometric properties of the beam are in arbitrary polynomial forms,the exact solutions with regard to the outof-plane vibrations of non-uniform beams with variable curvature can be obtained by the recurrence formula.In addition,the mode transition mechanism is revealed and the influence of several parameters on the vibration of the non-uniform beam with variable curvature is explored.

Fast Approaches for Sub-pixel Precision Variable Block Size Motion Estimation

The new features of H. 264 video coding standard make the motion estimation module much more time consuming than before. Especially, the motion search is required for each of the 4 modes for inter prediction. In order to reduce the computational complexity, we analyze the statistics of results of motion estimation, such as the continuity of best modes of blocks in successive frames and the chance to give up a sub-partition mode （smaller than 16 × 16） after integer-pixel motion estimation, from which we suggest to make mode prediction based on the motion information of the previous frame and skip sub-pixel motion estimation in subpartition mode selectively. According to the experimental result, the proposed algorithm can save 75 % of the computational time with a slight degradation （0.03 dB） on PSNR compared with the pseudocode of fast search motion estimation in JM12.2.

KANE’S EQUATIONS FOR PERCUSSION MOTION OF VARIABLE MASS NONHOLONOMIC MECHANICAL SYSTEMS

In this paper,the Kane’s equations for the Routh’s form of variable massnonholonomic systems are established.and the Kane’s equations for percussion motionof variable mass holonomic and nonholonomic systems are deduced from them. Secondly,the equivalence to Lagrange’s equations for percussion motion and Kane’sequations is obtained,and the application of the new equation is illustrated by anexample.

RELATIVISTIC VARIATION PRINCIPLES AND EQUATION OF MOTION FOR VARIABLE MASS CONTROLLABLE MECHANICAL SYSTEM

With classical variable mass and relativistic variable mass cases being considered.the relativistic D' Alembert principles of Lagrange form Nielsen form and Appell. form for variable mass controllable mechanical system are given the relativistic Chaplygin equation. Nielsen equation and Appell equation .for variable mass controllable mechanical system in quasi-coordinates and generalized- coordinates are obtained, and the equations of motion of relativistic controllable mechanical system for holonomic system and constant mass system are diseussed

CPG Human Motion Phase Recognition Algorithm for a Hip Exoskeleton with VSA Actuator

Due to the dynamic stiffness characteristics of human joints, it is easy to cause impact and disturbance on normal movements during exoskeleton assistance. This not only brings strict requirements for exoskeleton control design, but also makes it difficult to improve assistive level. The Variable Stiffness Actuator (VSA), as a physical variable stiffness mechanism, has the characteristics of dynamic stiffness adjustment and high stiffness control bandwidth, which is in line with the stiffness matching experiment. However, there are still few works exploring the assistive human stiffness matching experiment based on VSA. Therefore, this paper designs a hip exoskeleton based on VSA actuator and studies CPG human motion phase recognition algorithm. Firstly, this paper puts forward the requirements of variable stiffness experimental design and the output torque and variable stiffness dynamic response standards based on human lower limb motion parameters. Plate springs are used as elastic elements to establish the mechanical principle of variable stiffness, and a small variable stiffness actuator is designed based on the plate spring. Then the corresponding theoretical dynamic model is established and analyzed. Starting from the CPG phase recognition algorithm, this paper uses perturbation theory to expand the first-order CPG unit, obtains the phase convergence equation and verifies the phase convergence when using hip joint angle as the input signal with the same frequency, and then expands the second-order CPG unit under the premise of circular limit cycle and analyzes the frequency convergence criterion. Afterwards, this paper extracts the plate spring modal from Abaqus and generates the neutral file of the flexible body model to import into Adams, and conducts torque-stiffness one-way loading and reciprocating loading experiments on the variable stiffness mechanism. After that, Simulink is used to verify the validity of the criterion. Finally, based on the above criterions, the signal mean value is removed using feedback structure to complete the phase recognition algorithm for the human hip joint angle signal, and the convergence is verified using actual human walking data on flat ground.

Rotational Swashplate Pulse Continuously Variable Transmission Based on Helical Gear Axial Meshing Transmission

The current research on pulse continuously variable transmission（CVT） is mainly focused on reducing the pulse degree and making pulse degrees a constant value. Current research mainly confined to find out new design parameters by using the method of optimization, and reduce the pulse degree of pulse CVT and its range of variation. But the fact is that the reduction of the pulse degree is not significant. This article presents a new structure of mechanical pulse CVT--the rotational swashplate pulse CVT with driven by helical gear axial meshing. This transmission is simple and compact in structure and low in pulsatile rate （it adopts 6 guide rods）, and the pulsatile degree is irrelevant to the transmission ratio. Theoretically, pulsatile rate could be reduced to zero if appropriate curved surface of the swashplate is used. Compared with the connecting rod pulse CVT, the present struc^tre uses helical gear mechanism as transmission part and it avoids unbalanced inertial force in the former model. This paper analyzes the principle of driving of this transmission, presents its mechanical structure, and discusses its motion characteristics. Experimental prototype of this type of CVT has been manufactured. Tests for the transmission efficiency（when the rotational speed of the output shaft is the maximum） and the angular velocity of the output shaft have been carried out, and data have been analyzed. The experimental results show that the speed of the output shaft for the experimental prototype is slightly lower than the theoretical value, and the transmission efficiency of the experimental prototype is about 70%. The pulse degree of the CVT discussed in this paper is less than the existing pulse CVT of other types, and it is irrelevant to the transmission ratio of the CVT. The research provides the new idea to the CVT study.

Dynamics and screening characteristics of a vibrating screen with variable elliptical trace

The ideal motion characteristics for the vibrating screen was presented according to the principle of screening process with constant bed thickness.A new vibrating screen with variable elliptical trace was proposed.An accurate mechanical model was constructed according to the required structural motion features.Applying multi-degree-of-freedom vibration theory,characteristics of the vibrating screen was analyzed.Kinematics parameters of the vibrating screen which motion traces were linear,circular or elliptical were obtained.The stable solutions of the dynamic equations gave the motions of the vibrating screen by means of computer simulations.Technological parameters,including amplitude,movement velocity and throwing index,of five specific points along the screen surface were gained by theoretical calculation.The results show that the traces of the new designed vibrating screen follow the ideal screening motion.The screening efficiency and processing capacity may thus be effectively improved.

Decentralized PD Control for Non-uniform Motion of a Hamiltonian Hybrid System

In this paper, a decentralized proportional-derivative （PD） controller design for non-uniform motion of a Hamiltonian hybrid system is considered. A Hamiltonian hybrid system with the capability of producing a non-uniform motion is developed. The structural properties of the system are investigated by means of the theory of Hamiltonian systems. A relationship between the parameters of the system and the parameters of the proposed decentralized PD controller is shown to ensure local stability and tracking performance. Simulation results are included to show the obtained non-uniform motion.

A fast block-matching algorithm based on variable shape search

Block-matching motion estimation plays an important role in video coding. The simple and efficient fast block-matching algorithm using Variable Shape Search (VSS) proposed in this paper is based on diamond search and hexagon search. The initial big diamond search is designed to fit the directional centre-biased characteristics of the real-world video se- quence, and the directional hexagon search is designed to identify a small region where the best motion vector is expected to locate. Finally, the small diamond search is used to select the best motion vector in the located small region. Experimental results showed that the proposed VSS algorithm can significantly reduce the computational complexity, and provide competitive computational speedup with similar distortion performance as compared with the popular Diamond-based Search (DS) algorithm in the MPEG-4 Simple Profile.

Sedimentation motion of sand particles in moving water(Ⅰ):The resistance on a small sphere moving in non-uniform flow

In hydraulics,when we deal with the problem of sand particles moving relative to the surrounding water,Stokes'formula of resistance has usually been used to render the velocity of sedimentation of the particles.But such an approach has not been proved rigorously,and its accuracy must be carefully considered.In this paper,we discuss the problem of a sphere moving in a non-uniform flow field,on the basis of the fundamental theory of hydrodynamics.We introduce two assumptions:i)the diameter of the sphere is much smaller than the linear dimension of the flow field,and ii)the velocity of the sphere relative to the surrounding water is very small.Using these two assumptions,we solve the linearized Navier-Stokes equations and equations of continuity by the method of Laplace transform,and finally we obtain a formula for the resistance acting on a sphere moving in a non-uniform flow field.

Variable Gear Ratio Control Using Vehicle Body Slip Angle

Vehicles with variable steering characteristics have long been studied and compared with those having typical fixed gear ratio steering, and the variable gear ratio properties are reported to have improved maneuverability and stability in high-speed lane changes and on slippery low-friction road surfaces. However, it is not clear how gear ratios should be set for individual vehicle characteristics. Therefore, the present study has investigated a variable steering gear system using body slip angle feedback for the purpose of improved maneuverability and stability in the critical cornering range and upwards, in excess of the critical limit, and into the countersteer range. The results of a driving simulator experiment show that the steering effect improves and maneuverability and stability increase in the critical cornering range and upwards, in excess of the critical limit, and into the countersteer range by applying linear-variable control to the steering ratio from a body slip angle of 5?. This result is seen both in double lane changes, such as in hazard avoidance, and in J-turns with long drifting. Moreover, it shows an improvement in drift controllability through prompt countersteering. Overall, the present system can enhance the driver’s hazard avoidance capability.

基于运动合成的旋转变速运动建模及其驱动机构演变

为满足织机开口运动停—升—停的工艺特性及其动力学性能,提出一种基于运动合成的旋转变速运动规律构造方法。从组合机构角度提出旋转变速运动驱动机构及其演变,建立不同驱动机构的相对运动传递函数模型。采用目标优化法对旋转变速机构尺寸参数进行设计,在相同的中心距半径和转子臂初始位置的情况下建立优化函数并进行求解。仿真结果表明:偏移系数是影响旋转变速运动的关键参数,且变速运动静止时间、相对位移和速度峰值随偏移系数增加而减小;传递函数是影响旋转变速机构运动特性的重要参数,当偏移系数为0.4147时,随传动比的减小,转子臂相对位移减小,同时影响旋转变速机构凸轮特性,传动比大于0.9后不能满足旋转变速机构约束条件;用导杆滑块机构和铰接四杆机构对齿轮机构进行代换,可近似实现变速规律相对运动的传递,其传动误差分别为0.010、0.003 rad;通过减小中心距对铰接四杆机构重新优化可以提高旋转变速机构传动性能,满足高速运动需求。

基于阈值控制策略的Filippov Chay神经元动力学及其耦合同步

细胞内外带电离子的连续泵送和传递产生的电磁感应效应对神经元的电活动及模态转换会产生一定的影响,促使其展现出更加丰富的放电特性.文章基于电磁感应影响下的Chay神经元模型,引入了一种以膜电压为阈值的不连续控制策略,建立了相应的Filippov Chay神经元模型,探究了在阈值控制策略影响下的神经元放电节律转迁及相应的边界运动.首先,对系统的边界动力学及滑膜动力学进行了理论分析.其次,利用单双参数分岔图探究了系统多样的放电模式.再次,结合Matcont仿真及稳定性理论详细分析了系统的平衡点及其稳定性,并且利用快慢动力学分析法进一步研究了在阈值影响下所产生的滑膜动力学及各种边界运动的切换.最后,通过电突触耦合,对不同阈值条件下耦合神经元的同步问题进行了讨论.数值仿真结果表明,在阈值的调控下Filippov Chay系统会产生滑膜放电活动及相应的穿越运动和擦边运动,同时其放电周期数也会随着阈值呈现出不同的变化规律,且对于不同阈值下的电耦合情况而言,在系统实现完全同步后都会稳定在周期数较低的放电态.以上所得结果有助于更好地理解神经元滑膜的相关控制,对进一步探究生物神经系统中复杂放电活动和信息处理的动力学行为提供了一定的帮助.

变化蜂巢织物基压力传感器的制备及性能研究

为改善织物基柔性压力传感器的灵敏度、响应性和稳定性,通过机织结构设计将微结构引入棉织物中,织造了具有圆顶形微表面结构的变化蜂巢组织织物。以变化蜂巢织物、炭黑(CB)和聚乙烯醇(PVA)为原料,采用浸烘法制备了不同的传感织物。测试了炭黑质量分数与传感器电阻的关系,并对制备的传感器结构形貌和力学传感性能进行表征,探讨其在人体运动监测中的应用。结果表明:在炭黑质量分数为5%时,传感器电阻降至20 kΩ/cm,制备的传感器具有较高的灵敏度,较小的迟滞性,在不同压力和压缩速率条件下均能保持良好的稳定性、重复性及耐用性。认为:制备的传感器可以应用于人体运动监测,包括手指按压、指关节、手腕和肘关节弯曲运动等。

具有变/定转轴的一类分岔2Rv广义并联机构构型综合

现有大部分2R并联机构靠近定平台的第1个转轴方向矢量不变,靠近动平台的第2个转轴方向矢量只随着第1个转轴而变化,第2转轴相对于动平台不变。本文利用有限旋量理论,在具有变/定转轴分岔1Rv(Rv表示变转轴转动)并联机构基础上,提出一类具有变/定轴线的2Rv并联机构。分析了机构装配条件和驱动配置。此种分岔2Rv并联机构包含4种运动模式,即定-定转轴运动模式、定-变转轴运动模式、变-定转轴运动模式和变-变转轴运动模式。将传统的2条定转轴2R并联机构拓展为具有变/定转轴(变转轴和定转轴)的分岔2Rv广义并联机构。

基于模糊PID的大型双旋翼无人机

相较于四旋翼无人机(Unmanned Aerial Vehicle,UAV),大型双旋翼无人机具有价格低廉、续航长以及效率高等优点,但存在耦合严重、抗干扰能力差等问题。为解决上述问题,文中提出了一种采用变论域模糊PID(Proportional Integration Differentiation)双旋翼控制算法。将无人机系统分解为位置控制和姿态控制两部分,在姿态控制上采用模糊PID实时调节PID参数,从而提高无人机的稳定性。根据无人机的运动方式提出一种新型无人机结构,搭建了双旋翼的动力学模型,并在Simulink上搭建了仿真模型进行验证。结果表明,相较于普通PID控制算法,所提算法将控制的超调量减少了50%,说明该算法在大型双旋翼无人机上具有更好的稳定性,在受到干扰的情况下可更快恢复。

基于FPGA的H.264可变块运动估计算法的优化及实现

可变块运动估计算法(Variable Block Size Motion Estimation,VBSME)是H.264标准中重要的组成部分。它不仅计算量大,而且耗时长。为了减少运动估计时间和计算量,本文采用硬件实现的方式,并提出了一种利用绝对差值和(Sum of Absolute Differences,SAD)计算的树状结构进行数据重用的方案。该方案使得各单元间的数据流向明确,结构更简单。同时,本文还考虑到了帧间模式决策(Mode Decision,MD)和SAD计算可以并行计算的可行性,设计了相应的并行流水线结构。利用Xilinx xc7v585tffg1761-1开发板进行了仿真验证。结果表明,该方案可以一次性处理输入的256个像素数据,提高了实时性,并且达到了100%的数据利用率。此外,该方案支持最大分辨率为1920×1080,帧率为60帧/s,并具备低编码延时,满足了绝大多数场合的实时性要求。