Motion Planning Algorithms of Redundant Manipulators Based on Self-motion Manifolds

The current motion planning approaches for redundant manipulators mainly includes two categories： improved gradient-projection method and some other efficiency numerical methods. The former is excessively sensitive to parameters, which makes adjustment difficult; and the latter treats the motion planning as general task by ignoring the particularity, which has good universal property but reduces the solving speed for on-line real-time planning. In this paper, a novel stepwise solution based on self-motion manifold is proposed for motion planning of redundant manipulators, namely, the chief tasks and secondary tasks are implemented step by step. Firstly, the posture tracking of end-effector is achieved accurately by employing the non-redundant joint. Secondly, the end-effector is set to keep stationary. Finally, self-motion of manipulator is realized via additional work on the gradient of redundant joint displacement. To verify this solution, experiments of round obstacle avoiding are carried out via the planar 3 degree-of-~eedom manipulator. And the experimental results indicate that this motion planning algorithm can effectively achieve obstacle avoiding and posture tracking of the end-effector. Compared with traditional gradient projection method, this approach can accelerate the problem-solving process, and is more applicable to obstacle avoiding and other additional work in displacement level.

Self-motion Manifolds of an 8-DOF Non-holonomic Mobile Manipulator

For the non-holonomic constraint robot,determining the pose of its end-effector will rely on its joints' displacement and the velocity of its non-holonomic constraint joints as well.Therefore,it becomes increasingly difficult to obtain the analytic solution of its self-motion manifold in the traditional way for solving matrix equation.In this paper,we take the pose of end manipulator as the result of the joint sequential motion based on the mentality of motion equivalence,the structure and the reference velocity which correspond precisely to the points in self-motion manifold as self-motion variable.Thus an analytical solution for the self-motion manifold of the 8 degree of freedom wheeled mobile manipulator is presented by taking vector algebra as a tool,which facilitates deriving the closed solution of its self-motion manifold.In the closing part of this paper,calculating examples of self-motion manifold and mechanism self-motion simulation are proposed,which proves the validity of solution algorithm for self-motion manifold.

Numerical manifold method for thermo-mechanical coupling simulation of fractured rock mass

As a calculation method based on the Galerkin variation,the numerical manifold method(NMM)adopts a double covering system,which can easily deal with discontinuous deformation problems and has a high calculation accuracy.Aiming at the thermo-mechanical(TM)coupling problem of fractured rock masses,this study uses the NMM to simulate the processes of crack initiation and propagation in a rock mass under the influence of temperature field,deduces related system equations,and proposes a penalty function method to deal with boundary conditions.Numerical examples are employed to confirm the effectiveness and high accuracy of this method.By the thermal stress analysis of a thick-walled cylinder(TWC),the simulation of cracking in the TWC under heating and cooling conditions,and the simulation of thermal cracking of the SwedishÄspöPillar Stability Experiment(APSE)rock column,the thermal stress,and TM coupling are obtained.The numerical simulation results are in good agreement with the test data and other numerical results,thus verifying the effectiveness of the NMM in dealing with thermal stress and crack propagation problems of fractured rock masses.

Delineating homogeneous domains of fractured rocks using topological manifolds and deep learning

Determining homogeneous domains statistically is helpful for engineering geological modeling and rock mass stability evaluation.In this text,a technique that can integrate lithology,geotechnical and structural information is proposed to delineate homogeneous domains.This technique is then applied to a high and steep slope along a road.First,geological and geotechnical domains were described based on lithology,faults,and shear zones.Next,topological manifolds were used to eliminate the incompatibility between orientations and other parameters(i.e.trace length and roughness)so that the data concerning various properties of each discontinuity can be matched and characterized in the same Euclidean space.Thus,the influence of implicit combined effect in between parameter sequences on the homogeneous domains could be considered.Deep learning technique was employed to quantify abstract features of the characterization images of discontinuity properties,and to assess the similarity of rock mass structures.The results show that the technique can effectively distinguish structural variations and outperform conventional methods.It can handle multisource engineering geological information and multiple discontinuity parameters.This technique can also minimize the interference of human factors and delineate homogeneous domains based on orientations or multi-parameter with arbitrary distributions to satisfy different engineering requirements.

A STABILITY RESULT FOR TRANSLATINGSPACELIKE GRAPHS IN LORENTZ MANIFOLDS

In this paper,we investigate spacelike graphs defined over a domain Ω⊂M^(n) in the Lorentz manifold M^(n)×ℝ with the metric−ds^(2)+σ,where M^(n) is a complete Riemannian n-manifold with the metricσ,Ωhas piecewise smooth boundary,and ℝ denotes the Euclidean 1-space.We prove an interesting stability result for translating spacelike graphs in M^(n)×ℝ under a conformal transformation.

Galerkin-based quasi-smooth manifold element(QSME)method for anisotropic heat conduction problems in composites with complex geometry

The accurate and efficient analysis of anisotropic heat conduction problems in complex composites is crucial for structural design and performance evaluation. Traditional numerical methods, such as the finite element method(FEM), often face a trade-off between calculation accuracy and efficiency. In this paper, we propose a quasi-smooth manifold element(QSME) method to address this challenge, and provide the accurate and efficient analysis of two-dimensional(2D) anisotropic heat conduction problems in composites with complex geometry. The QSME approach achieves high calculation precision by a high-order local approximation that ensures the first-order derivative continuity.The results demonstrate that the QSME method is robust and stable, offering both high accuracy and efficiency in the heat conduction analysis. With the same degrees of freedom(DOFs), the QSME method can achieve at least an order of magnitude higher calculation accuracy than the traditional FEM. Additionally, under the same level of calculation error, the QSME method requires 10 times fewer DOFs than the traditional FEM. The versatility of the proposed QSME method extends beyond anisotropic heat conduction problems in complex composites. The proposed QSME method can also be applied to other problems, including fluid flows, mechanical analyses, and other multi-field coupled problems, providing accurate and efficient numerical simulations.

Isometric Immersions of Lightlike Warped Product Manifolds

In this paper, we deal with isommetric immersions of globally null warped product manifolds into Lorentzian manifolds with constant curvature c in codimension k≥3. Under the assumptions that the globally null warped product manifold has no points with the same constant sectional curvature c as the Lorentzian ambient, we show that such isometric immersion splits into warped product of isometric immersions.

Secret Sharing Scheme Based on the Differential Manifold

In this paper, the concepts of topological space and differential manifold are introduced, and it is proved that the surface determined by function F (x2, x2, …, xt) of class Cr in Euelidean Rt is a differential manifold. Using the intersection of the tangent plane and the hypernormal of the differential manifold to construct the shared master key of participants, an intuitive, secure and complete (t,n)-threshold secret sharing scheme is designed. The paper is proved to be safe, and the probability of successful attack of attackers is only 1/pt-1. When the prime number p is sufficiently large, the probability is almost 0. The results show that this scheme has the characteristics of single-parameter representation of the master key in the geometric method, and is more practical and easy to implement than the Blakley threshold secret sharing scheme.

SOME CONVERGENCE PROBLEMS REGARDING THE FRACTIONAL SCHRODINGER PROPAGATOR ON NONCOMPACT MANIFOLDS

Let L be the Laplace-Beltrami operator.On an n-dimensional(n≥2),complete,noncompact Riemannian manifold M,we prove that if 0<α<1,s>α/2 and f∈Hs(M),then the fractional Schr?dinger propagator e(it|L|α/2)(f)(x)→f(x)a.e.as t→0.In addition,for when M is a Lie group,the rate of the convergence is also studied.These results are a non-trivial extension of results on Euclidean spaces and compact manifolds.

Invariant manifold growth formula in cylindrical coordinates and its application for magnetically confined fusion

For three-dimensional vector fields,the governing formula of invariant manifolds grown from a hyperbolic cycle is given in cylindrical coordinates.The initial growth directions depend on the Jacobians of Poincarémap on that cycle,for which an evolution formula is deduced to reveal the relationship among Jacobians of different Poincarésections.The evolution formula also applies to cycles in arbitrary finite n-dimensional autonomous continuous-time dynamical systems.Non-Möbiusian/Möbiusian saddle cycles and a dummy X-cycle are constructed analytically as demonstration.A real-world numeric example of analyzing a magnetic field timeslice on EAST is presented.

Fluid-Structure Coupled Analysis of the Transient Thermal Stress in an Exhaust Manifold

The development of thermal stress in the exhaust manifold of a gasoline engine is considered.The problem is addresses in the frame of a combined approach wherefluid and structure are coupled using the GT-POWER and STAR-CCM+software.First,the external characteristic curve of the engine is compared with a one-dimen-sional simulation model,then the parameters of the model are modified until the curve matches the available experimental values.GT-POWER is then used to transfer the inlet boundary data under transient conditions to STAR-CCM+in real-time.The temperature profiles of the inner and outer walls of the exhaust manifold are obtained in this way,together with the thermal stress and thermal deformation of the exhaust manifold itself.Using this information,the original model is improved through the addition of connections.Moreover,the local branch pipes are optimized,leading to significant improvements in terms of thermal stress and thermal deforma-tion of the exhaust manifold(a 7%reduction in the maximum thermal stress).

A Discussion on the Establishment That a Fibre Metric on the Positive Definite Real Inner-Product of a Properly Embedded Smooth Submanifold Be Always Extended to a Riemannian Metric on the Positive Definite Real Inner-Product

Let M be a smooth manifold and S ⊆ M a properly embedded smooth submanifold. Suppose that we have a fibre metric on TM|s i.e. a positive definite real inner-product on TpM for all p ∈ S, which depends smoothly on p ∈ S. The purpose of this article is to figure out that the fibre metric on TM|s can always be extended to a Riemannian metric on TM from a special perspective.

Experimental Investigation of Regular or Wavy Two-Phase Flow in a Manifold

An experimental study was conducted to investigate the properties of stratified regular or wavy two-phase flow in two parallel separators located after a manifold.A total of 103 experiments with various gas and liquid velocity combinations in three inlet pipes were conducted,including 77 groups of outlet pipe resistance symmetry and 26 groups of outlet pipe resistance asymmetry trials.The experimental results have revealed that when the gas-liquid flow rate is low,the degree of uneven splitting is high,and“extreme”conditions are attained.When the superficial gas velocity is greater than that established in the extreme case,the direction of the liquid-phase displacement is reversed,while that of the gas remains unchanged.Thus,the degree of gas phase bias tends to be mitigated with an increase in the gas velocity,while the uneven splitting degree of liquid approaches 10%.Finally,varying the gas-phase outlet pipe resistance is shown to effectively change the gas-liquid two-phase flow distribution.

Representation of Physical Fields as Einstein Manifold

In this work we investigate the possibility to represent physical fields as Einstein manifold. Based on the Einstein field equations in general relativity, we establish a general formulation for determining the metric tensor of the Einstein manifold that represents a physical field in terms of the energy-momentum tensor that characterises the physical field. As illustrations, we first apply the general formulation to represent the perfect fluid as Einstein manifold. However, from the established relation between the metric tensor and the energy-momentum tensor, we show that if the trace of the energy-momentum tensor associated with a physical field is equal to zero then the corresponding physical field cannot be represented as an Einstein manifold. This situation applies to the electromagnetic field since the trace of the energy-momentum of the electromagnetic field vanishes. Nevertheless, we show that a system that consists of the electromagnetic field and non-interacting charged particles can be represented as an Einstein manifold since the trace of the corresponding energy-momentum of the system no longer vanishes. As a further investigation, we show that it is also possible to represent physical fields as maximally symmetric spaces of constant scalar curvature.

Dynamic Analogical Association Algorithm Based on Manifold Matching for Few-Shot Learning

At present,deep learning has been well applied in many fields.However,due to the high complexity of hypothesis space,numerous training samples are usually required to ensure the reliability of minimizing experience risk.Therefore,training a classifier with a small number of training examples is a challenging task.From a biological point of view,based on the assumption that rich prior knowledge and analogical association should enable human beings to quickly distinguish novel things from a few or even one example,we proposed a dynamic analogical association algorithm to make the model use only a few labeled samples for classification.To be specific,the algorithm search for knowledge structures similar to existing tasks in prior knowledge based on manifold matching,and combine sampling distributions to generate offsets instead of two sample points,thereby ensuring high confidence and significant contribution to the classification.The comparative results on two common benchmark datasets substantiate the superiority of the proposed method compared to existing data generation approaches for few-shot learning,and the effectiveness of the algorithm has been proved through ablation experiments.

Brain Functional Networks with Dynamic Hypergraph Manifold Regularization for Classification of End-Stage Renal Disease Associated with Mild Cognitive Impairment

The structure and function of brain networks have been altered in patients with end-stage renal disease(ESRD).Manifold regularization(MR)only considers the pairing relationship between two brain regions and cannot represent functional interactions or higher-order relationships between multiple brain regions.To solve this issue,we developed a method to construct a dynamic brain functional network(DBFN)based on dynamic hypergraph MR(DHMR)and applied it to the classification of ESRD associated with mild cognitive impairment(ESRDaMCI).The construction of DBFN with Pearson’s correlation(PC)was transformed into an optimization model.Node convolution and hyperedge convolution superposition were adopted to dynamically modify the hypergraph structure,and then got the dynamic hypergraph to form the manifold regular terms of the dynamic hypergraph.The DHMR and L_(1) norm regularization were introduced into the PC-based optimization model to obtain the final DHMR-based DBFN(DDBFN).Experiment results demonstrated the validity of the DDBFN method by comparing the classification results with several related brain functional network construction methods.Our work not only improves better classification performance but also reveals the discriminative regions of ESRDaMCI,providing a reference for clinical research and auxiliary diagnosis of concomitant cognitive impairments.

Stability analysis of the projectile based on random center manifold reduction

The center manifold method has been widely used in the field of stochastic dynamics as a dimensionality reduction method.This paper studied the angular motion stability of a projectile system under random disturbances.The random bifurcation of the projectile is studied using the idea of the Routh-Hurwitz stability criterion,the center manifold reduction,and the polar coordinates transformation.Then,an approximate analytical presentation for the stationary probability density function is found from the related Fokker–Planck equation.From the results,the random dynamical system of projectile generates three different dynamical behaviors with the changes of the bifurcation parameter and the noise strength,which can be a reference for projectile design.

Two-Dimensional Manifolds with Computation V-Function of ODE Systems

The computation of stable or unstable manifold of two-dimensional is developed, which is an efficient method in studying stable structure analysis of system character geometrically. The Lorentz stable manifold is computed by the fixed arclength method and the hyperbolic equilibrium is a saddle. The two-dimensional stable structure of Lorentz manifold is significant in people’s usual view. We also introduce the V-function to compute the V-manifold correspondingly. The defined V-function is smooth in the unstable direction of the manifold. Especially, the routh to period-doubling attractor on manifold surface is discussed too.

Manifold Structure Analysis of Tactical Network Traffic Matrix Based on Maximum Variance Unfolding Algorithm

As modern weapons and equipment undergo increasing levels of informatization,intelligence,and networking,the topology and traffic characteristics of battlefield data networks built with tactical data links are becoming progressively complex.In this paper,we employ a traffic matrix to model the tactical data link network.We propose a method that utilizes the Maximum Variance Unfolding(MVU)algorithm to conduct nonlinear dimensionality reduction analysis on high-dimensional open network traffic matrix datasets.This approach introduces novel ideas and methods for future applications,including traffic prediction and anomaly analysis in real battlefield network environments.

油轮Manifolds及附属设备常见问题24问

在油轮的生产运营中,从初始的商务揽货问卷,填写Manifolds(货油管管头)及附属设备的相关参数;到靠泊前与码头的交换其参数;靠泊后接管和试压及完成货油的装卸;及随后的拆管,都少不了Manifolds及附属设备这个环节。