A transition method based on Bezier curve for trajectory planning in cartesian space

In order to smooth the trajectory of a robot and reduce dwell time,a transition curve is introduced between two adjacent curves in three-dimensional space.G2 continuity is guaranteed to transit smoothly.To minimize the amount of calculation,cubic and quartic Bezier curves are both analyzed.Furthermore,the contour curve is characterized by a transition parameter which defines the distance to the corner of the deviation.How to define the transition points for different curves is presented.A general move command interface is defined for receiving the curve limitations and transition parameters.Then,how to calculate the control points of the cubic and quartic Bezier curves is analyzed and given.Different situations are discussed separately,including transition between two lines,transition between a line and a circle,and transition between two circles.Finally,the experiments are carried out on a six degree of freedom(DOF) industrial robot to validate the proposed method.Results of single transition and multiple transitions are presented.The trajectories in the joint space are also analyzed.The results indicate that the method achieves G2 continuity within the transition constraint and has good efficiency and adaptability.

Estimation of the amount of erosion at unconformities in the last stage of the Eocene Sanduo period in the Subei Basin,China

Strata erosion is a widespread phenomenon in sedimentary basins. The generation, migration, and accumulation of hydrocarbon is influenced by the scale of erosion, so estimating the amount of erosion is essential in the analysis of oil and gas bearing basins. According to the geological features in the Subei Basin and the actual data, using the integrated method, we estimated the level of erosion at the unconformities caused by the Sanduo event. By using the mudstone interval transit time method and the vitrinite reflectance method on data from typical wells, it can be concluded that the Gaoyou, Jinhu, and Hongze depressions suffered strong strata erosion from the late Eocene to Oligocene, and the total strata erosion thickness was 300–1,100 m. Different tectonic units in the same depression have extremely uneven erosion intensity: the low convex regions have the maximum erosion thickness, amounting to 800–1,100 m; the slope regions have an erosion thickness of generally 600–800 m; the erosion thickness of the slope-hollow transition zone is 300–500 m. For the whole basin, we used the strata thickness trend analysis method combined with the interval transit time and vitrinite reflectance methods to estimate the erosion thickness in the Sanduo period. The results show that the most severe erosion of the Sanduo event in the Subei Basin is between 1,000 m to 1,200 m, mainly located in depressions around the Jianhu Uplift; the deep hollow area has the least erosion, generally about 300–600 m, and the erosion in the slope area is about 600–900 m. Compared with the northern part, the southern part has relatively little erosion. It is also proved that the Sanduo movement has heterogeneous intensity, and the western region has greater intensity than the eastern region.

AN ANALYSIS OF THE APPLICABILITY OF FUZZY CLUSTERING IN ESTABLISHING AN INDEX FOR THE EVALUATION OF METEOROLOGICAL SERVICE SATISFACTION

An evaluation index is a prerequisite for the scientific evaluation of a public meteorological service.This paper aims to explore a technical method for determining and screening evaluation indicators.Based on public satisfaction survey data obtained in Wafangdian,China in 2010,this study investigates the suitability of fuzzy clustering analysis method in establishing an evaluation index.Through quantitative analysis of multilayer fuzzy clustering of various evaluation indicators,correlation analysis indicates that if the results of clustering were identical for two evaluation indicators in the same sub-evaluation layer,then one indicator could be removed,or the two indicators merged.For evaluation indicators in different sub-evaluation layers,although clustering reveals attribute correlations,these indicators may not be substituted for one another.Analysis of the applicability of the fuzzy clustering method shows that it plays a certain role in the establishment and correction of an evaluation index.

Sky reconstruction for the Tianlai cylinder array

We apply our sky map reconstruction method for transit type interferometers to the Tianlai cylin- der array. The method is based on spherical harmonic decomposition, and can be applied to a cylindrical array as well as dish arrays and we can compute the instrument response, synthesized beam, transfer func- tion and noise power spectrum. We consider cylinder arrays with feed spacing larger than half a wavelength and, as expected, we find that the arrays with regular spacing have grating lobes which produce spurious images in the reconstructed maps. We show that this problem can be overcome using arrays with a different feed spacing on each cylinder. We present the reconstructed maps, and study the performance in terms of noise power spectrum, transfer function and beams for both regular and irregular feed spacing configura- tions.

Magnetic transition of ferromagnetic material at high pressure using a novel system

A system for the investigation of the magnetic properties of materials under high pressure is fabricated based on diamond anvil cell （DAC） technology. The system is designed with an improved coil arranged around the diamond of a non-magnetic DAC. Using this system, the magnetic transition of ferromagnetic （Fe） sample under increasing pressure can be observed. We successfully obtain the evolution of magnetic properties as a function of applied pressure reaching 26.9 GPa in the Fe sample. A magnetic transition is observed at approximately 13 GPa, which is consistent with the theoretical prediction.

Configuration interaction studies on the spectroscopic properties of PbO including spin-orbit coupling

Lead oxide（Pb O）, which plays the key roles in a range of research fields, has received a great deal of attention. Owing to the large density of electronic states and heavy atom Pb including in Pb O, the excited states of the molecule have not been well studied. In this work, high level multireference configuration interaction calculations on the low-lying states of Pb O have been carried out by utilizing the relativistic effective core potential. The effects of the core-valence correlation correction, the Davidson modification, and the spin–orbital coupling on the electronic structure of the Pb O molecule are estimated. The potential energy curves of 18 Λ-S states correlated to the lowest dissociation limit（Pb（~3P_g） ＋ O（~3P_g）） are reported. The calculated spectroscopic parameters of the electronic states below 30000 cm^（-1）, for instance, X^1Σ~＋, 1~3Σ~＋,and 1~3Σ^-, and their spin–orbit coupling interaction, are compared with the experimental results, and good agreements are derived. The dipole moments of the 18 Λ-S states are computed with the configuration interaction method, and the calculated dipole moments of X^1Σ~＋and 1~3Σ~＋are consistent with the previous experimental results. The transition dipole moments from 1~1Π, 2~1Π, and 2~Σ to X^1Σ~＋and other singlet excited states are estimated. The radiative lifetime of several low-lying vibrational levels of 1~1Π, 2~1Π, and 2~1Σ~＋ states are evaluated.