Type Synthesis of 1T2R Parallel Mechanisms Using Structure Coupling-Reducing Method

Direct kinematics with analytic solutions is critical to the real-time control of parallel mechanisms.Therefore,the type synthesis of a mechanism having explicit form of forward kinematics has become a topic of interest.Based on this purpose,this paper deals with the type synthesis of 1T2R parallel mechanisms by investigating the topological structure coupling-reducing of the 3UPS&UP parallel mechanism.With the aid of the theory of mechanism topology,the analysis of the topological characteristics of the 3UPS&UP parallel mechanism is presented,which shows that there are highly coupled motions and constraints amongst the limbs of the mechanism.Three methods for structure coupling-reducing of the 3UPS&UP parallel mechanism are proposed,resulting in eight new types of 1T2R parallel mechanisms with one or zero coupling degree.One obtained parallel mechanism is taken as an example to demonstrate that a mechanism with zero coupling degree has an explicit form for forward kinematics.The process of type synthesis is in the order of permutation and combination;therefore,there are no omissions.This method is also appli cable to other configurations,and novel topological structures having simple forward kinematics can be obtained from an original mechanism via this method.

STRUCTURE SYNTHESIS OF 4-DOF PARALLEL ROBOT MECHANISMS BASED ON SCREW THEORY

Structural synthesis for 4-DOF parallel manipulators using screw theory issystematically studied. Motion properties and constraint conditions of 4-DOF parallel manipulatorsaccording to the relationship between screw and reciprocal screw are analyzed. Mathematicalexpressions for constraint screws and twist screws of moving platform are constructed, and allpossible limbs, which provide one or more force constraints, are enumerated. Finally, a parallelmanipulator with 3-rotation-DOF and 1-translation-DOF is used as an example to describe thesynthesis procedure for symmetrical and non-symmetrical 4-DOF parallel manipulators.

Improved frequency modeling and solution for parallel liquid-filled pipes considering both fluid-structure interaction and structural coupling

The dynamic characteristics of a single liquid-filled pipe have been broadly studied in the previous literature.The parallel liquid-filled pipe(PLFP)system is also widely used in engineering,and its structure is more complex than that of a single pipe.However,there are few reports about the dynamic characteristics of the PLFPs.Therefore,this paper proposes improved frequency modeling and solution for the PLFPs,involving the logical alignment principle and coupled matrix processing.The established model incorporates both the fluid-structure interaction(FSI)and the structural coupling of the PLFPs.The validity of the established model is verified by modal experiments.The effects of some unique parameters on the dynamic characteristics of the PLFPs are discussed.This work provides a feasible method for solving the FSI of multiple pipes in parallel and potential theoretical guidance for the dynamic analysis of the PLFPs in engineering.

Improved multi-scale inverse bottleneck residual network based on triplet parallel attention for apple leaf disease identification

Accurate diagnosis of apple leaf diseases is crucial for improving the quality of apple production and promoting the development of the apple industry. However, apple leaf diseases do not differ significantly from image texture and structural information. The difficulties in disease feature extraction in complex backgrounds slow the related research progress. To address the problems, this paper proposes an improved multi-scale inverse bottleneck residual network model based on a triplet parallel attention mechanism, which is built upon ResNet-50, while improving and combining the inception module and ResNext inverse bottleneck blocks, to recognize seven types of apple leaf(including six diseases of alternaria leaf spot, brown spot, grey spot, mosaic, rust, scab, and one healthy). First, the 3×3 convolutions in some of the residual modules are replaced by multi-scale residual convolutions, the convolution kernels of different sizes contained in each branch of the multi-scale convolution are applied to extract feature maps of different sizes, and the outputs of these branches are multi-scale fused by summing to enrich the output features of the images. Second, the global layer-wise dynamic coordinated inverse bottleneck structure is used to reduce the network feature loss. The inverse bottleneck structure makes the image information less lossy when transforming from different dimensional feature spaces. The fusion of multi-scale and layer-wise dynamic coordinated inverse bottlenecks makes the model effectively balances computational efficiency and feature representation capability, and more robust with a combination of horizontal and vertical features in the fine identification of apple leaf diseases. Finally, after each improved module, a triplet parallel attention module is integrated with cross-dimensional interactions among channels through rotations and residual transformations, which improves the parallel search efficiency of important features and the recognition rate of the network with relatively small computational costs while the dimensional dependencies are improved. To verify the validity of the model in this paper, we uniformly enhance apple leaf disease images screened from the public data sets of Plant Village, Baidu Flying Paddle, and the Internet. The final processed image count is 14,000. The ablation study, pre-processing comparison, and method comparison are conducted on the processed datasets. The experimental results demonstrate that the proposed method reaches 98.73% accuracy on the adopted datasets, which is 1.82% higher than the classical ResNet-50 model, and 0.29% better than the apple leaf disease datasets before preprocessing. It also achieves competitive results in apple leaf disease identification compared to some state-ofthe-art methods.

A NEW CLASS OF LINEAR CODES WITH TWO-LEVEL STRUCTURE

The binary extended Golay code has a two-level structure, which can be used in the decoding of the code. However, such structure is not limited to the Golay code, in fact, several binary linear codes can be constructed by a projective method which is related to the structure. In this correspondence, the binary (4n,n + 2k, ≥min(8, n,2d)) linear codes are resulted from quaternary (n,k,d) linear block codes. Based on the structure, the efficient maximum likelihood decoding algorithms can be presented correspondingly for the derived codes.

Parallel Structure of Topological Space in Shakespeare’s Cymbeline

Topology is a newly branch of mathematics,dealing with the non-qualitative properties of members within a solid topological space.In a broad sense,space is considered as an arena to exemplify the power relations,and power relationship becomes a dominant property within a topological space in a holistic way.Recently,topology has been allied with literary criticism,arising as a transdisciplinary approach.In Shakespeare’s Cymbeline,three physical places-namely chamber,cave and battlefield-function as three individual topological places due to the commonality of power relationship within each place.At first,Innogen,the female protagonist who is enclosed in her chamber,becomes an object of supervision and scrutiny by triplex authorities,thus female body gains a metaphorical meaning within the topological boundary.Later,she changes costumes and enters the cave,embodying as the other in terms of power relations,where gender awareness becomes blurred.Finally,Innogen moves to the battlefield,gets access to the court,a public topological space symbolizing male authority,and launches an equal dialogue with men,thus constructing a brave female image.From chamber to the battlefield,Innogen’s self-saving trip set up a parallel structure of topological space and a token for the subversiveness of hierarchy social order dominated by royalty,paternity and the absolute authority of husband in early Renaissance.

Application of the Morphological Analysis for the Synthesis Arrangements of Industrial Robots with Parallel Structure Mechanisms

The main features of morphological model of industrial robots are discussed, such as support system, manipulator and gripping device. These features are presented with the alternatives for their realization as separate modules. The examples of synthesis of arrangements of industrial robots are resulted on module principle with writing of their morphological formulas.

Comparison between English and Chinese Repeated References to the Same Thing and Parallel Structure

Chinese and English are two very different languages; the former belongs to the Sino-Tibetan Language Family and the latter the Indo-European Language Family. In terms of textual organization, they show substantial differences. Chinese is mainly a pragmatic, paratactic and topic-prominent language, while English a grammatical, hypotactic and subject-prominent language. This thesis gives a contrastive study of two problems in English and Chinese. They are repeated references to the same thing and parallel structure. In this way, the translation work will be more succinct and smooth.

STRUCTURAL PARAMETERS CALIBRATION BY POSTURE MEASUREMENT ON PARALLEL 6-DOF PLATFORM

Some approaches to measure parallel 6-degree of freedom platform's posturestatically and to calibrate the platform's actual structural parameters by measuring a series of theplatform's varying postures are studied. In the case where high posture accuracy is requiredrelatively, to obtain the platform's actual structural parameters is very important. Threedimensions measurement with 2 theodolites are used to obtain the platform's postures statically andNewton iterative method is adopted to calibrate structural parameters. Some measures taken in themeasurement and the calibration are discussed in detail. And the experiment results of theplatform's posture control before and after the calibration are given. The results show that theplatform's posture control accuracy after the calibration is improved notably.

基于STRUCTURED网的AR模型谱估计方法

本文着重分析了文献[1]中提出的用于求解线性方程组的STRUCTURED同的结构及其所使用的学习算法,改进了STRUCTURED网的收敛性能,并基于STRUCTURED网提出了一种自回归(AR)模型建模方法。这种建模方法的基本思想是用STRUCTURED网求解Yule-Walker型矩阵方程来得到AR模型系数。与现有的其它确定AR模型系数的方法相比,本文方法的优点在于:采用并行处理结构,能直接用VLSI硬件直接实现;不包含常用除法运算,能求解病态Yule-Walker型矩阵方程。

Numerical Simulation of ATPS Parachute Transient Dynamics Using Fluid-Structure Interaction Method

In order to simulate and analyze the dynamic characteristics of the parachute from advanced tactical parachute system(ATPS),a nonlinear finite element algorithm and a preconditioning finite volume method are employed and developed to construct three dimensional parachute fluid-structure interaction(FSI)model.Parachute fabric material is represented by membrane-cable elements,and geometrical nonlinear algorithm is employed with wrinkling technique embedded to simulate the large deformations of parachute structure by applying the NewtonRaphson iteration method.On the other hand,the time-dependent flow surrounding parachute canopy is simulated using preconditioned lower-upper symmetric Gauss-Seidel(LU-SGS)method.The pseudo solid dynamic mesh algorithm is employed to update the flow-field mesh based on the complex and arbitrary motion of parachute canopy.Due to the large amount of computation during the FSI simulation,massage passing interface(MPI)parallel computation technique is used for all those three modules to improve the performance of the FSI code.The FSI method is tested to simulate one kind of ATPS parachutes to predict the parachute configuration and anticipate the parachute descent speeds.The comparison of results between the proposed method and those in literatures demonstrates the method to be a useful tool for parachute designers.

A parallel two-level finite element method for the Navier-Stokes equations

Based on domain decomposition, a parallel two-level finite element method for the stationary Navier-Stokes equations is proposed and analyzed. The basic idea of the method is first to solve the Navier-Stokes equations on a coarse grid, then to solve the resulted residual equations in parallel on a fine grid. This method has low communication complexity. It can be implemented easily. By local a priori error estimate for finite element discretizations, error bounds of the approximate solution are derived. Numerical results are also given to illustrate the high efficiency of the method.

Structural design, analysis and performance evaluation of a novel planar parallel robot： theory and experiment

The structural design, analysis and experimental verification of a novel planar parallel robot that includes parallelogram linkages are reported in this paper. A design methodology combining finite element analysis (FEA) and flexible dynamics is employed in the analysis. The appropriate natural frequencies of robot throughout workspace are predicted, and the effects of payload, flexibility of joints, cross section and orientations of robot on the natural frequency are analyzed by simulation. Extensive structural vibration experiments with the completed manipulator confirm the predicted structural vibration characteristics throughout the workspace. The experiment also proves the robot's performance under a fuzzy self-tuning PI controller.

直流微电网储能荷电状态协调控制

储能系统采用串并联结构(串联的储能单元为一组,多组并联)可以实现将小容量、低电压等级的储能单元接入直流微电网中,并且可以实现系统扩容和提高端电压。为避免串并联结构的储能单元因荷电状态(state of charge,SOC)和额定容量差别导致个别储能单元提前退运的短板效应,提出一种考虑储能SOC和额定容量的控制方法,实现串联模块间的电压和并联模块间的功率合理分配。考虑到功率分配后期因储能单元间SOC差别较小导致均衡速度较慢的问题,引入变异系数对下垂系数进行动态优化。考虑到升压或扩容导致各组总容量不同,引入容量权重因子,使储能单元达到均衡出力。通过搭建MATLAB/Simulink仿真模型,验证了策略的可行性。

平行构式的存在理据:对话句法+认知构式语法的视角

本文从对话句法和认知构式语法的视角,把平行结构视作一种构式-平行构式,并从构式的定义、场景编码假设、语言的体认性、平行构式对于组成词汇的压制等方面,进一步论证了平行构式存在的理据。平行构式能够改变其中词汇的读音、词性、意义,引起词义的转换,并可能产生新词。对于平行构式的研究有助于我们理解小句层级之上语篇的句法结构,有助于把构式的概念真正扩展到语篇的层面和语言之外的模态,有助于将构式语法应用到语篇层面的分析和多模态话语分析。

摄影测量局部场景稳健合并的并行式运动恢复结构方法

针对并行式运动恢复结构(SfM)在局部场景合并时稳健性差的问题,提出一种摄影测量局部场景稳健合并的并行式SfM方法。对整个场景的影像关联图进行分块及扩展处理,得到相互重叠的子区块,并利用一种改进的增量式SfM方法生成局部场景重建结果。在局部场景合并时,首先利用局部场景的重叠关系构建子区块关联图,并以子区块三元组为单元,进行粗差剔除;然后,利用子区块三元组的代数性质,优化得到更符合几何一致性的子区块间的相对变换;最后,从上述结果中计算得到更准确的局部场景到统一坐标系下的尺度、旋转、平移变换。试验采用无人机影像,结果表明本文方法在局部场景合并时有更好的稳健性,而且SfM结果的精确度也要优于其他并行式方法和COLMAP,在摄影测量和实景三维重建中有较大的应用潜力。

基于结构相似性的并联机构拓扑与尺寸同步设计方法

随着并联机构从单一尺寸设计和拓扑设计向两者融合方向不断发展,基于拓扑叠加-再惩罚和全变量正交设计-再拓扑的同步设计方法得到广泛应用,但两者存在设计效率低等不足。为解决上述问题,本文提出了一种基于结构相似性的并联机构拓扑与尺寸同步设计方法,该方法拓扑优化时以相同质量保留此条件下尺寸参数小范围变化对拓扑结构微弱影响为切入点,通过拓扑结构参数化缩放和刚度-质量元模型构建,形成并联机构尺寸-拓扑同步高效设计流程。以典型■RS并联机构为例开展算例验证与对比分析,结果表明,相同质量条件下,所提设计方法比尺寸设计方法得到的各向刚度更高,即拓扑优化使RS连杆的材料分布更加合理。

400 km/h高铁隧道联通式缓冲结构对微气压波的影响

随着高速列车运行速度的提升,隧道口微气压波幅值剧增,强烈的爆破噪声同时影响着周边环境和附近居民的正常生活。本文研究由平行导坑与横通道组成的联通式缓冲结构对400 km/h高铁隧道微气压波的缓解作用。首先,进行400 km/h动模型试验,验证数值模拟方法的准确性;其次,基于RNG k-ε湍流模型和滑移网格技术分析联通式缓冲结构位置距隧道入口的距离D与联通式缓冲结构长度L对微气压波的影响。研究结果表明:随着D增加,微气压波的缓解率逐渐增大,在D=25 m时达到最优,微气压波幅值减少34.4%;随着L增加,微气压波幅值缓慢增加;当L=30 m时,隧道口20 m处的微气压波幅值为91 Pa,缓解率为37.1%。联通式缓冲结构与既有350 km/h高铁线路上的断面扩大开孔型缓冲结构组合,可将隧道口20 m处微气压波幅值减小至47.3 Pa,降幅达67.3%。联通式缓冲结构合理利用了修建隧道时遗留的平行导坑,可在保障施工成本几乎不变的前提下,显著缓解微气压波,保护隧道周边环境。

基于可重构阵列的CNN数据量化方法

针对卷积神经网络(CNN)模型中大量卷积操作,导致网络规模大幅增加,从而无法部署到嵌入式硬件平台,以及不同粒度数据与底层硬件结构不协调导致计算效率低的问题,基于项目组开发的可重构阵列处理器,面向支持多种位宽的运算单元,通过软硬件协同和可重构计算方法,采用KL(Kullback-Leibler)散度自定义量化阈值和随机取整进行截断处理的方式,寻找参数定长的最佳基点位置,设计支持多种计算粒度并行操作的指令及其卷积映射方案,并以此实现三种不同位宽的动态数据量化。实验结果表明,将权值与特征图分别量化到8 bit可以在准确率损失2%的情况下将模型压缩为原来的50%左右;将测试图像量化到三种位宽下进行硬件测试的加速比分别达到1.012、1.273和1.556,最高可缩短35.7%的执行时间和降低56.2%的访存次数,同时仅带来不足1%的相对误差,说明该方法可以在三种量化位宽下实现高效率的神经网络计算,进而达到硬件加速和模型压缩的目的。