The singular points of a 6-SPS Stewart platform are distributed on the multi-dimensional singularity hypersurface in the task-space, which divides the workspace of the manipulator into several singularity-free regions...The singular points of a 6-SPS Stewart platform are distributed on the multi-dimensional singularity hypersurface in the task-space, which divides the workspace of the manipulator into several singularity-free regions. Because of the motion un- certainty at singular points, while the manipulator traverses this kind of hypersurface from one singularity-free region to another, its motion cannot be predetermined. In this paper, a detailed approach for the manipulator to traverse the singularity hypersurface with its non-persistent configuration is presented. First, the singular point transfer disturbance and the pose disturbance, which make the perturbed singular point transfer horizontally and vertically, respectively, are constructed. Through applying these dis- turbances into the input parameters within the maximum loss control domain, the perturbed persistent configuration is transformed into its corresponding non-persistent one. Under the action of the disturbances, the manipulator can traverse the singularity hy- persurface from one singularity-free region to another with a desired configuration.展开更多
The Free-floating Flexible Dual-arm Space Robot is a highly nonlinear and coupled dynamics system. In this paper, the dynamic model is derived of a Free-floating Flexible Dual-arm Space Robot holding a rigid payload. ...The Free-floating Flexible Dual-arm Space Robot is a highly nonlinear and coupled dynamics system. In this paper, the dynamic model is derived of a Free-floating Flexible Dual-arm Space Robot holding a rigid payload. Furthermore, according to the singular perturbation method, the system is separated into a slow subsystem representing rigid body motion of the robot and a fast subsystem representing the flexible link dynamics. For the slow subsystem, based on the second method of Lyapunov, using simple quantitative bounds on the model uncertainties, a robust tracking controller design is used during the trajectory tracking phase. The optimal control method is designed in the fast subsystem to guarantee the exponential stability. With the combination of the two above, the system can track the expected trajectory accurately, even though with uncertainty in model parameters, and its flexible vibration gets suppressed, too. Finally, some simulation tests have been conducted to verify the effectiveness of the proposed methods.展开更多
Steel 20Mn23AlV is a type of high aluminum steel with a very low ladle free-opening rate. The aluminum composition of 20Mn23AlV ranges from 1.6% to 2.45% ,which is significantly higher than other types of steel. Accor...Steel 20Mn23AlV is a type of high aluminum steel with a very low ladle free-opening rate. The aluminum composition of 20Mn23AlV ranges from 1.6% to 2.45% ,which is significantly higher than other types of steel. According to the real condition of 40 t ladle in steel-making plant of Baosteel Special Steel Company, previous works show that the key factors affecting the ladle free-opening rate of high aluminum steel in continuous casting are：sand material, accessories baking, ladle nozzle cleaning, the process and amount of adding sand, and the rate of argon stirring during refining. Therefore, improving the ladle filler sand quality, baking all of the raw materials, controlling the addition of ladle filler sand, cleaning the ladle nozzle, and optimizing argon stirring during the refining process can resolve the problem of a low ladle free-opening rate of high aluminum steel caused by the long ladle time of liquid steel.展开更多
A higher order boundary dement method （HOBEM） is implemented for wave-current action on structures. The freeterm coefficient and Cauchy principal value （ GPV） integrals are computed by direct methods. Numerical ex...A higher order boundary dement method （HOBEM） is implemented for wave-current action on structures. The freeterm coefficient and Cauchy principal value （ GPV） integrals are computed by direct methods. Numerical experiments are carried out to validate the computation of free-term coefficient and GPV integrals. The results show that the computation precision of free-term coefficient is very high for various bodies, even with edges and corners, and the convergence speed is fast for CPV integrals for different meshes. The comparison of the second order mean drift force due to wave-current action on a uniform cylinder is made with an analytic solution. It is found that good agreement exists between the present calculation and the analytic solutions. Finally, the numerical code is applied for computing wave-current action on Snorrc TLP.展开更多
The basic principle and numerical technique for simulating two three-dimensional bubbles near a free surface are studied in detail by using boundary element method. The singularities of influence coefficient matrix ar...The basic principle and numerical technique for simulating two three-dimensional bubbles near a free surface are studied in detail by using boundary element method. The singularities of influence coefficient matrix are eliminated using coordinate transformation and so-called 4π rule. The solid angle for the open surface is treated in direct method based on its definition. Several kinds of configurations for the bubbles and free surface have been investigated. The pressure contours during the evolution of bubbles are obtained in our model and can better illuminate the mechanism underlying the motions of bubbles and free surface. The bubble dynamics and their interactions have close relation with the standoff distances, buoyancy parameters and initial sizes of bubbles. Completely different bubble shapes, free surface motions, jetting patterns and pressure distributions under different parameters can be observed in our model, as demon- strated in our calculation results.展开更多
We have been developing debris-free laser plasma sources for EUV lithography since 1996. Two types of debris-free sources, such as cryogenic target and gas-puff target laser plasma sources, were designed and built up ...We have been developing debris-free laser plasma sources for EUV lithography since 1996. Two types of debris-free sources, such as cryogenic target and gas-puff target laser plasma sources, were designed and built up in CIOMP. EUV radiation spectra of the sources with a variety of targets have been obtained by different ways.展开更多
In this paper, we propose and discuss a class of singular integral equation of convolution type with csc(τ- θ) kernel in class L2[-π, π]. Using discrete Fourier transform and the lemma, this kind of equations is t...In this paper, we propose and discuss a class of singular integral equation of convolution type with csc(τ- θ) kernel in class L2[-π, π]. Using discrete Fourier transform and the lemma, this kind of equations is transformed to discrete system of equations, and then we obtain the solvable conditions and the explicit solutions in class L2[-π, π].展开更多
In this paper,we give all-sided pastic analysis of the rectangular slab with three edges simply-supported and other free.Here we discuss the following four cases:(1)The uniformly distributedload over the area a slab.(...In this paper,we give all-sided pastic analysis of the rectangular slab with three edges simply-supported and other free.Here we discuss the following four cases:(1)The uniformly distributedload over the area a slab.(2).A concentrated load act at midpoint of free edges slab.(3)A concen-trated load act at the center a slab.(4)The line load act along free edge of slab.展开更多
BACKGROUND It is known that under conditions of tissue tolerance to insulin,observed during type 2 diabetes mellitus(DM2),there is an increased production of reactive oxygen species.Moreover,the free radicals can init...BACKGROUND It is known that under conditions of tissue tolerance to insulin,observed during type 2 diabetes mellitus(DM2),there is an increased production of reactive oxygen species.Moreover,the free radicals can initiate lipid peroxidation(LPO)in lipoprotein particles.The concentration of LPO products can influence the state of insulin receptors,repressing their hormone connection activity,which is expressed as a reduction of the glucose consumption by cells.It is possible that reduction in glucose concentration during administration of 10-(6-plastoquinonyl)decyltriphenylphosphonium(SkQ1)to rats with DM2 may be related to the antioxidant properties of this substance.AIM To establish the influence of SkQ1 on free-radical homeostasis in the heart and blood serum of rats with streptozotocin-induced hyperglycemia.METHODS To induce hyperglycemia,rats were fed a high-fat diet for 1 mo and then administered two intra-abdominal injections of streptozotocin with a 7-d interval at a 30 mg/kg of animal weight dose with citrate buffer equal to pH 4.4.SkQ1 solution was administered intraperitoneally at a 1250 nmol/kg dose per day.Tissue samples were taken from control animals,animals with experimental hyperglycemia,rats with streptozotocin-induced glycemia that were administered SkQ1 solution,animals housed under standard vivarium conditions that were administered SkQ1,rats that were administered intraperitoneally citrate buffer equal to pH 4.4 once a week during 2 wk after 1-mo high-fat diet,and animals that were administered intraperitoneally with appropriate amount of solution without SkQ1(98%ethanol diluted eight times with normal saline solution).To determine the intensity of free radical oxidation and total antioxidant activity,we used the biochemiluminescence method.Aconitate hydratase(AH),superoxide dismutase,and catalase activities were estimated using the Hitachi U-1900 spectrophotometer supplied with software.The amount of citrate was determined by means of the Natelson method.Real-time polymerase chain reaction was carried out using an amplifier ANK-32.RESULTS It was found that the mitochondrial-directed antioxidant elicits decrease of biochemiluminescence parameter values that increase by pathology as well as the levels of primary products of LPO,such as diene conjugates and carbonyl compounds,which indicate intensity of free radical oxidation.At the same time,the activity of AH,considered a crucial target of free radicals,which decreased during experimental hyperglycemia,increased.Apparently,increasing activity of AH influenced the speed of citrate utilization,whose concentration decreased after administering SkQ1 by pathology.Moreover,the previously applied antioxidant during hyperglycemia influenced the rate of antioxidant system mobilization.Thus,superoxide dismutase and catalase activity,as well as the level of gene transcript under influence of SkQ1 at pathology,were changing to the direction of control groups values.CONCLUSION According to the results of performed research,SkQ1 can be considered a promising addition to be included in antioxidant therapy of DM2.展开更多
Flexible joints are usually used to transfer velocities in robot systems and may lead to delays in motion transformation due to joint flexibility. In this paper, a linkrotor structure connected by a flexible joint or ...Flexible joints are usually used to transfer velocities in robot systems and may lead to delays in motion transformation due to joint flexibility. In this paper, a linkrotor structure connected by a flexible joint or shaft is firstly modeled to be a slow-fast delayed system when moment of inertia of the lightweight link is far less than that of the heavy rotor. To analyze the stability and oscillations of the slowfast system, the geometric singular perturbation method is extended, with both slow and fast manifolds expressed analytically. The stability of the slow manifold is investigated and critical boundaries are obtained to divide the stable and the unstable regions. To study effects of the transformation delay on the stability and oscillations of the link, two quantitatively different driving forces derived from the negative feedback of the link are considered. The results show that one of these two typical driving forces may drive the link to exhibit a stable state and the other kind of driving force may induce a relaxation oscillation for a very small delay. However, the link loses stability and undergoes regular periodic and bursting oscillation when the transformation delay is large. Basically, a very small delay does not affect the stability of the slow manifold but a large delay affects substantially.展开更多
In issues like hearing impairment,speech therapy and hearing aids play a major role in reducing the impairment.Removal of noise signals from speech signals is a key task in hearing aids as well as in speech therapy.Du...In issues like hearing impairment,speech therapy and hearing aids play a major role in reducing the impairment.Removal of noise signals from speech signals is a key task in hearing aids as well as in speech therapy.During the transmission of speech signals,several noise components contaminate the actual speech components.This paper addresses a new adaptive speech enhancement(ASE)method based on a modified version of singular spectrum analysis(MSSA).The MSSA generates a reference signal for ASE and makes the ASE is free from feeding reference component.The MSSA adopts three key steps for generating the reference from the contaminated speech only.These are decomposition,grouping and reconstruction.The generated reference is taken as a reference for variable size adaptive learning algorithms.In this work two categories of adaptive learning algorithms are used.They are step variable adaptive learning(SVAL)algorithm and time variable step size adaptive learning(TVAL).Further,sign regressor function is applied to adaptive learning algorithms to reduce the computational complexity of the proposed adaptive learning algorithms.The performance measures of the proposed schemes are calculated in terms of signal to noise ratio improvement(SNRI),excess mean square error(EMSE)and misadjustment(MSD).For cockpit noise these measures are found to be 29.2850,-27.6060 and 0.0758 dB respectively during the experiments using SVAL algorithm.By considering the reduced number of multiplications the sign regressor version of SVAL based ASE method is found to better then the counter parts.展开更多
基金Project (Nos. 50375111 and 50675188) supported by the National Natural Science Foundation of China
文摘The singular points of a 6-SPS Stewart platform are distributed on the multi-dimensional singularity hypersurface in the task-space, which divides the workspace of the manipulator into several singularity-free regions. Because of the motion un- certainty at singular points, while the manipulator traverses this kind of hypersurface from one singularity-free region to another, its motion cannot be predetermined. In this paper, a detailed approach for the manipulator to traverse the singularity hypersurface with its non-persistent configuration is presented. First, the singular point transfer disturbance and the pose disturbance, which make the perturbed singular point transfer horizontally and vertically, respectively, are constructed. Through applying these dis- turbances into the input parameters within the maximum loss control domain, the perturbed persistent configuration is transformed into its corresponding non-persistent one. Under the action of the disturbances, the manipulator can traverse the singularity hy- persurface from one singularity-free region to another with a desired configuration.
基金This work was supported by the application foundation for basic research of Jiangsu(No.BJ98057)the innovation foundation for the scientific research of Nanjing University of Aeronautics and Astronautics(No.Y0487-031)
文摘The Free-floating Flexible Dual-arm Space Robot is a highly nonlinear and coupled dynamics system. In this paper, the dynamic model is derived of a Free-floating Flexible Dual-arm Space Robot holding a rigid payload. Furthermore, according to the singular perturbation method, the system is separated into a slow subsystem representing rigid body motion of the robot and a fast subsystem representing the flexible link dynamics. For the slow subsystem, based on the second method of Lyapunov, using simple quantitative bounds on the model uncertainties, a robust tracking controller design is used during the trajectory tracking phase. The optimal control method is designed in the fast subsystem to guarantee the exponential stability. With the combination of the two above, the system can track the expected trajectory accurately, even though with uncertainty in model parameters, and its flexible vibration gets suppressed, too. Finally, some simulation tests have been conducted to verify the effectiveness of the proposed methods.
基金Supported by National Outstanding Youth Science Foundation （61125306）, Major Research Plan of National Natural Science Foundation of China （91016004）, National Natural Science Foundation （61203071）, Fundamental Research Funds for the Central Universities （FRF-TP-13-017A）, and Specialized Research Fund for the Doctoral Program of Higher Education （20130006120027, 20110092110020）
文摘Steel 20Mn23AlV is a type of high aluminum steel with a very low ladle free-opening rate. The aluminum composition of 20Mn23AlV ranges from 1.6% to 2.45% ,which is significantly higher than other types of steel. According to the real condition of 40 t ladle in steel-making plant of Baosteel Special Steel Company, previous works show that the key factors affecting the ladle free-opening rate of high aluminum steel in continuous casting are：sand material, accessories baking, ladle nozzle cleaning, the process and amount of adding sand, and the rate of argon stirring during refining. Therefore, improving the ladle filler sand quality, baking all of the raw materials, controlling the addition of ladle filler sand, cleaning the ladle nozzle, and optimizing argon stirring during the refining process can resolve the problem of a low ladle free-opening rate of high aluminum steel caused by the long ladle time of liquid steel.
基金This researchis supported by Research Fund for Doctoral Programs of Higher Education (Grant No.20030141006) ,and a Program for Changjiang Scholars and Innovative Research Teams in Universities (Grant No.IRT0420)
文摘A higher order boundary dement method （HOBEM） is implemented for wave-current action on structures. The freeterm coefficient and Cauchy principal value （ GPV） integrals are computed by direct methods. Numerical experiments are carried out to validate the computation of free-term coefficient and GPV integrals. The results show that the computation precision of free-term coefficient is very high for various bodies, even with edges and corners, and the convergence speed is fast for CPV integrals for different meshes. The comparison of the second order mean drift force due to wave-current action on a uniform cylinder is made with an analytic solution. It is found that good agreement exists between the present calculation and the analytic solutions. Finally, the numerical code is applied for computing wave-current action on Snorrc TLP.
基金supported by the Funds for Creative Research Groups of China (50921001)the State Key Development Program for Basic Research of China (2010CB832704)
文摘The basic principle and numerical technique for simulating two three-dimensional bubbles near a free surface are studied in detail by using boundary element method. The singularities of influence coefficient matrix are eliminated using coordinate transformation and so-called 4π rule. The solid angle for the open surface is treated in direct method based on its definition. Several kinds of configurations for the bubbles and free surface have been investigated. The pressure contours during the evolution of bubbles are obtained in our model and can better illuminate the mechanism underlying the motions of bubbles and free surface. The bubble dynamics and their interactions have close relation with the standoff distances, buoyancy parameters and initial sizes of bubbles. Completely different bubble shapes, free surface motions, jetting patterns and pressure distributions under different parameters can be observed in our model, as demon- strated in our calculation results.
文摘We have been developing debris-free laser plasma sources for EUV lithography since 1996. Two types of debris-free sources, such as cryogenic target and gas-puff target laser plasma sources, were designed and built up in CIOMP. EUV radiation spectra of the sources with a variety of targets have been obtained by different ways.
基金Supported by the Qufu Normal University Youth Fund(XJ201218)
文摘In this paper, we propose and discuss a class of singular integral equation of convolution type with csc(τ- θ) kernel in class L2[-π, π]. Using discrete Fourier transform and the lemma, this kind of equations is transformed to discrete system of equations, and then we obtain the solvable conditions and the explicit solutions in class L2[-π, π].
文摘In this paper,we give all-sided pastic analysis of the rectangular slab with three edges simply-supported and other free.Here we discuss the following four cases:(1)The uniformly distributedload over the area a slab.(2).A concentrated load act at midpoint of free edges slab.(3)A concen-trated load act at the center a slab.(4)The line load act along free edge of slab.
文摘BACKGROUND It is known that under conditions of tissue tolerance to insulin,observed during type 2 diabetes mellitus(DM2),there is an increased production of reactive oxygen species.Moreover,the free radicals can initiate lipid peroxidation(LPO)in lipoprotein particles.The concentration of LPO products can influence the state of insulin receptors,repressing their hormone connection activity,which is expressed as a reduction of the glucose consumption by cells.It is possible that reduction in glucose concentration during administration of 10-(6-plastoquinonyl)decyltriphenylphosphonium(SkQ1)to rats with DM2 may be related to the antioxidant properties of this substance.AIM To establish the influence of SkQ1 on free-radical homeostasis in the heart and blood serum of rats with streptozotocin-induced hyperglycemia.METHODS To induce hyperglycemia,rats were fed a high-fat diet for 1 mo and then administered two intra-abdominal injections of streptozotocin with a 7-d interval at a 30 mg/kg of animal weight dose with citrate buffer equal to pH 4.4.SkQ1 solution was administered intraperitoneally at a 1250 nmol/kg dose per day.Tissue samples were taken from control animals,animals with experimental hyperglycemia,rats with streptozotocin-induced glycemia that were administered SkQ1 solution,animals housed under standard vivarium conditions that were administered SkQ1,rats that were administered intraperitoneally citrate buffer equal to pH 4.4 once a week during 2 wk after 1-mo high-fat diet,and animals that were administered intraperitoneally with appropriate amount of solution without SkQ1(98%ethanol diluted eight times with normal saline solution).To determine the intensity of free radical oxidation and total antioxidant activity,we used the biochemiluminescence method.Aconitate hydratase(AH),superoxide dismutase,and catalase activities were estimated using the Hitachi U-1900 spectrophotometer supplied with software.The amount of citrate was determined by means of the Natelson method.Real-time polymerase chain reaction was carried out using an amplifier ANK-32.RESULTS It was found that the mitochondrial-directed antioxidant elicits decrease of biochemiluminescence parameter values that increase by pathology as well as the levels of primary products of LPO,such as diene conjugates and carbonyl compounds,which indicate intensity of free radical oxidation.At the same time,the activity of AH,considered a crucial target of free radicals,which decreased during experimental hyperglycemia,increased.Apparently,increasing activity of AH influenced the speed of citrate utilization,whose concentration decreased after administering SkQ1 by pathology.Moreover,the previously applied antioxidant during hyperglycemia influenced the rate of antioxidant system mobilization.Thus,superoxide dismutase and catalase activity,as well as the level of gene transcript under influence of SkQ1 at pathology,were changing to the direction of control groups values.CONCLUSION According to the results of performed research,SkQ1 can be considered a promising addition to be included in antioxidant therapy of DM2.
基金supported by the National Natural Science Foundation of China(11032009 and 11272236)
文摘Flexible joints are usually used to transfer velocities in robot systems and may lead to delays in motion transformation due to joint flexibility. In this paper, a linkrotor structure connected by a flexible joint or shaft is firstly modeled to be a slow-fast delayed system when moment of inertia of the lightweight link is far less than that of the heavy rotor. To analyze the stability and oscillations of the slowfast system, the geometric singular perturbation method is extended, with both slow and fast manifolds expressed analytically. The stability of the slow manifold is investigated and critical boundaries are obtained to divide the stable and the unstable regions. To study effects of the transformation delay on the stability and oscillations of the link, two quantitatively different driving forces derived from the negative feedback of the link are considered. The results show that one of these two typical driving forces may drive the link to exhibit a stable state and the other kind of driving force may induce a relaxation oscillation for a very small delay. However, the link loses stability and undergoes regular periodic and bursting oscillation when the transformation delay is large. Basically, a very small delay does not affect the stability of the slow manifold but a large delay affects substantially.
文摘In issues like hearing impairment,speech therapy and hearing aids play a major role in reducing the impairment.Removal of noise signals from speech signals is a key task in hearing aids as well as in speech therapy.During the transmission of speech signals,several noise components contaminate the actual speech components.This paper addresses a new adaptive speech enhancement(ASE)method based on a modified version of singular spectrum analysis(MSSA).The MSSA generates a reference signal for ASE and makes the ASE is free from feeding reference component.The MSSA adopts three key steps for generating the reference from the contaminated speech only.These are decomposition,grouping and reconstruction.The generated reference is taken as a reference for variable size adaptive learning algorithms.In this work two categories of adaptive learning algorithms are used.They are step variable adaptive learning(SVAL)algorithm and time variable step size adaptive learning(TVAL).Further,sign regressor function is applied to adaptive learning algorithms to reduce the computational complexity of the proposed adaptive learning algorithms.The performance measures of the proposed schemes are calculated in terms of signal to noise ratio improvement(SNRI),excess mean square error(EMSE)and misadjustment(MSD).For cockpit noise these measures are found to be 29.2850,-27.6060 and 0.0758 dB respectively during the experiments using SVAL algorithm.By considering the reduced number of multiplications the sign regressor version of SVAL based ASE method is found to better then the counter parts.
