Variational solution about over-determined geodetic boundary value problem and its related theories

A new solving method for Laplace equation with over-determined geodetic boundary conditions is pro- posed in the paper, with the help of minimizing some kinds of quadratic functional in calculus of variation. At first, the so-called variational solution for over-determined geodetic boundary value problem is defined in terms of principles in calculus of variation. Then theoretical properties related with the solution are derived, especially for its existence, uniqueness and optimal approximation. And then the computational method of the solution is discussed, and its expression is exhibited under the case that all boundaries are spheres. Finally an arithmetic example about EGM96 gravity field model is given, and the computational results show that the proposed method can efficiently raise accuracy to deal with gravity data. In all, the variational solution of over-determined geodetic boundary value problem can not only fit to deal with many kinds of gravity data in a united form, but also has strict mathematical basements.

Fourier Method for an Over-Determined Elliptic System with Several Complex Variables

Two boundary value problems are investigated for an over-determined elliptic system with several complex variables in polydisc. Necessary and sufficient conditions for the existence of finitely many linearly independent solutions and finitely many solvability conditions are derived. Moreover, the boundary value problem for any number of complex variables is treated in a unified way and the essential difference between the case of one complex variable and that of several complex variables is revealed.

Scattering of Surface Water Waves Involving Semi-infinite Floating Elastic Plates on Water of Finite Depth

Two problems of scattering of surface water waves involving a semi-infinite elastic plate and a pair of semi-infinite elastic plates,separated by a gap of finite width,floating horizontally on water of finite depth,are investigated in the present work for a two-dimensional time-harmonic case.Within the frame of linear water wave theory,the solutions of the two boundary value problems under consideration have been represented in the forms of eigenfunction expansions.Approximate values of the reflection and transmission coefficients are obtained by solving an over-determined system of linear algebraic equations in each problem.In both the problems,the method of least squares as well as the singular value decomposition have been employed and tables of numerical values of the reflection and transmission coefficients are presented for specific choices of the parameters for modelling the elastic plates.Our main aim is to check the energy balance relation in each problem which plays a very important role in the present approach of solutions of mixed boundary value problems involving Laplace equations.The main advantage of the present approach of solutions is that the results for the values of reflection and transmission coefficients obtained by using both the methods are found to satisfy the energy-balance relations associated with the respective scattering problems under consideration.The absolute values of the reflection and transmission coefficients are presented graphically against different values of the wave numbers.

Kinematics and Dynamics Analysis of a Quadruped Walking Robot with Parallel Leg Mechanism

It is desired to require a walking robot for the elderly and the disabled to have large capacity,high stiffness,stability,etc.However,the existing walking robots cannot achieve these requirements because of the weight-payload ratio and simple function.Therefore,Improvement of enhancing capacity and functions of the walking robot is an important research issue.According to walking requirements and combining modularization and reconfigurable ideas,a quadruped/biped reconfigurable walking robot with parallel leg mechanism is proposed.The proposed robot can be used for both a biped and a quadruped walking robot.The kinematics and performance analysis of a 3-UPU parallel mechanism which is the basic leg mechanism of a quadruped walking robot are conducted and the structural parameters are optimized.The results show that performance of the walking robot is optimal when the circumradius R,r of the upper and lower platform of leg mechanism are 161.7 mm,57.7 mm,respectively.Based on the optimal results,the kinematics and dynamics of the quadruped walking robot in the static walking mode are derived with the application of parallel mechanism and influence coefficient theory,and the optimal coordination distribution of the dynamic load for the quadruped walking robot with over-determinate inputs is analyzed,which solves dynamic load coupling caused by the branches’ constraint of the robot in the walk process.Besides laying a theoretical foundation for development of the prototype,the kinematics and dynamics studies on the quadruped walking robot also boost the theoretical research of the quadruped walking and the practical applications of parallel mechanism.