In order to realize the small error attitude transformation of a free floating space robot,a new method of three degrees of freedom（ DOF） attitude transformation was proposed for the space robot using a bionic joint...In order to realize the small error attitude transformation of a free floating space robot,a new method of three degrees of freedom（ DOF） attitude transformation was proposed for the space robot using a bionic joint. A general kinematic model of the space robot was established based on the law of linear and angular momentum conservation. A combinational joint model was established combined with bionic joint and closed motion. The attitude transformation of planar,two DOF and three DOF is analyzed and simulated by the model,and it is verified that the feasibility of attitude transformation in three DOF space. Finally,the specific scheme of disturbance elimination in attitude transformation is presented and simulation results are obtained.Therefore,the range of application field of the bionic joint model has been expanded.展开更多
Pose and structure estimation from a single image is a fundamental problem in machine vision and multiple sensor fusion and integration. In this paper we propose using rigid constraints described in different coordina...Pose and structure estimation from a single image is a fundamental problem in machine vision and multiple sensor fusion and integration. In this paper we propose using rigid constraints described in different coordinate frames to iteratively estimate structural and camera pose parameters. Using geometric properties of reflected correspondences we put forward a new concept, the reflected pole of a rigid transformation. The reflected pole represents a general analysis of transformations that can be applied to both 2D and 3D transformations. We demonstrate how the concept is applied to calibration by proposing an iterative method to estimate the structural parameters of objects. The method is based on a coarse-to-fine strategy in which initial estimation is obtained through a classical linear algorithm which is then refined by iteration. For a comparative study of performance, we also implemented an extended motion estimation algorithm (from 2D-2D to 3D-2D case) based on epipolar geometry.展开更多
This paper studies the dynamic behavior of large deformation of spherical shells impacted by a flat-nosed missile.By using isometric transformations,the deformation modes are given.On the basis of Perzyna-Symonds visc...This paper studies the dynamic behavior of large deformation of spherical shells impacted by a flat-nosed missile.By using isometric transformations,the deformation modes are given.On the basis of Perzyna-Symonds viscoplastic constitutive equations,the motion equations of the shells are obtained by rigid- viscoplastic variational principle.A comparison made between the numerical results and experimental ones indicates that the two groups of results are in conformity with each other.展开更多
The problem of a rigid disk acting with normal force on saturated soil was studied using Biot consolidation theory and integral equation method and the Merchant model to describe the saturated soil rheology. Using int...The problem of a rigid disk acting with normal force on saturated soil was studied using Biot consolidation theory and integral equation method and the Merchant model to describe the saturated soil rheology. Using integral transform techniques, general solutions of Biot consolidation functions and the dual integral equations of a rigid disk on saturated soil were established based on the boundary conditions. These equations can be simplified using Laplace-Hankel and Abel transform methods. The numerical solutions of the integral equations, and the corresponding inversion transform were used to obtain the settlement and contact stresses of the rigid disk. Numerical examples showed that the soil settlement is small if only consolidation is considered, so the soil rheology must be taken into account to calculate the soil settlement. Numerical solution of Hankel inverse transform is also given in this paper.展开更多
文摘In order to realize the small error attitude transformation of a free floating space robot,a new method of three degrees of freedom（ DOF） attitude transformation was proposed for the space robot using a bionic joint. A general kinematic model of the space robot was established based on the law of linear and angular momentum conservation. A combinational joint model was established combined with bionic joint and closed motion. The attitude transformation of planar,two DOF and three DOF is analyzed and simulated by the model,and it is verified that the feasibility of attitude transformation in three DOF space. Finally,the specific scheme of disturbance elimination in attitude transformation is presented and simulation results are obtained.Therefore,the range of application field of the bionic joint model has been expanded.
文摘Pose and structure estimation from a single image is a fundamental problem in machine vision and multiple sensor fusion and integration. In this paper we propose using rigid constraints described in different coordinate frames to iteratively estimate structural and camera pose parameters. Using geometric properties of reflected correspondences we put forward a new concept, the reflected pole of a rigid transformation. The reflected pole represents a general analysis of transformations that can be applied to both 2D and 3D transformations. We demonstrate how the concept is applied to calibration by proposing an iterative method to estimate the structural parameters of objects. The method is based on a coarse-to-fine strategy in which initial estimation is obtained through a classical linear algorithm which is then refined by iteration. For a comparative study of performance, we also implemented an extended motion estimation algorithm (from 2D-2D to 3D-2D case) based on epipolar geometry.
基金This subject was SHpported by the Natural Science Foundation of Shanxi
文摘This paper studies the dynamic behavior of large deformation of spherical shells impacted by a flat-nosed missile.By using isometric transformations,the deformation modes are given.On the basis of Perzyna-Symonds viscoplastic constitutive equations,the motion equations of the shells are obtained by rigid- viscoplastic variational principle.A comparison made between the numerical results and experimental ones indicates that the two groups of results are in conformity with each other.
文摘The problem of a rigid disk acting with normal force on saturated soil was studied using Biot consolidation theory and integral equation method and the Merchant model to describe the saturated soil rheology. Using integral transform techniques, general solutions of Biot consolidation functions and the dual integral equations of a rigid disk on saturated soil were established based on the boundary conditions. These equations can be simplified using Laplace-Hankel and Abel transform methods. The numerical solutions of the integral equations, and the corresponding inversion transform were used to obtain the settlement and contact stresses of the rigid disk. Numerical examples showed that the soil settlement is small if only consolidation is considered, so the soil rheology must be taken into account to calculate the soil settlement. Numerical solution of Hankel inverse transform is also given in this paper.
