Interconverting Models of Gray Matrix and Geographic Coordinates Based on Space Analytic Geometry

With the progress and development of science, the synchronous satellite as the high-tech product is taken something more and more seriously by all countries. Converting gray value matrix into geographic coordinates becomes more and more important. This paper establishes the models for interconverting row and column of gray value matrix which detected by the infrared detectors on synchronous satellites and geographic coordinates based on the related theorems and properties of space analytic geometry. We draw satellite cloud image with the data of gray matrix in MATLAB, convert coastline’s latitude and longitude coordinates into row and column coordinates of a gray matrix according via these models when the sub-satellite point’s row and column coordinates and geographic coordinates are given, then add coast-lines to the original satellite cloud image with the transformation data. We find that coast-lines completely match with the bump characteristics of satellite cloud image, and that verify the correctness of the models.

Coordinatively unsaturated sites in zeolite matrix: Construction and catalysis

Zeolites with ordered porous structure of molecular size are widely employed as commercial adsorbents and catalysts.On the other hand,the zeolite matrix is regarded as an ideal scaffold for hosting coordinatively unsaturated sites.Remarkable achievements have been made dealing with the construction,characterization and catalytic applications of coordinatively unsaturated sites in zeolite matrix.Herein,a literature overview of recent progresses on this important topic is presented from the specific view of coordination chemistry.Different strategies to construction coordinatively unsaturated sites in zeolite matrix,in zeolite framework or extraframework positions,are first introduced and their characteristics are compared.Then,spectroscopic techniques to determine the existing states of cation sites and their transformations in zeolite matrix are discussed.In the last section,the catalytic applications of coordinatively unsaturated sites in zeolite matrix for various important chemical transformations are summarized.

Geometric Deviation Modeling by Kinematic Matrix Based on Lagrangian Coordinate

Typical representation of dimension and geometric accuracy is limited to the self-representation of dimension and geometric deviation based on geometry variation thinking, yet the interactivity affection of geometric variation and gesture variation of multi-rigid body is not included. In this paper, a kinematic matrix model based on Lagrangian coordinate is introduced, with the purpose of unified model for geometric variation and gesture variation and their interactive and integrated analysis. Kinematic model with joint, local base and movable base is built. The ideal feature of functional geometry is treated as the base body; the fitting feature of functional geometry is treated as the adjacent movable body; the local base of the kinematic model is fixed onto the ideal geometry, and the movable base of the kinematic model is fixed onto the fitting geometry. Furthermore, the geometric deviation is treated as relative location or rotation variation between the movable base and the local base, and it＇s expressed by the Lagrangian coordinate. Moreover, kinematic matrix based on Lagrangian coordinate for different types of geometry tolerance zones is constructed, and total freedom for each kinematic model is discussed. Finally, the Lagrangian coordinate library, kinematic matrix library for geometric deviation modeling is illustrated, and an example of block and piston fits is introduced. Dimension and geometric tolerances of the shaft and hole fitting feature are constructed by kinematic matrix and Lagrangian coordinate, and the results indicate that the proposed kinematic matrix is capable and robust in dimension and geometric tolerances modeling.

Expression of strain tensor in orthogonal curvilinear coordinates

Based on an analysis of connotation and extension of the concept of the orthogonal curvilinear coordinates, we have deduced a platform of strain tensor expression of Cartesian coordinates, which turns out to be a function of Lame coefficient and unit vector. By using transform matrix between Cartesian coordinates and orthogonal eurvilinear coordinates, we have deduced a mathematical expression for correcting displacement vector differential in orthogonal curvilinear coordinates, and given a general expression of strain tensor in orthogonal curvilinear coordinates.

加权区间值犹豫模糊集的群决策方法

为了在区间值犹豫模糊集(IVHFS)中体现出决策专家的重要性,把所有评审专家的综合权重注入IVHFS中,进而定义了加权区间值犹豫模糊集(WIVHFS).将WIVHFS用三维点坐标(由区间值隶属度的中位数、区间值隶属度的清晰度以及评审专家综合权重构成)进行刻画,在此基础上给出了加权区间值犹豫模糊元(WIVHFE)的相关运算;基于WIVHFE的相关运算采用熵值法计算测评准则客观权重,利用0-1优先关系矩阵来获取任意2个备选方案的总测评准则权重优势值与总测评准则权重劣势值,并依据二者之间的大小排序方案.最后,通过一个具体案例说明了文中理论与方法的可行性.

基于奇异值分解张拉整体结构找形方法

张拉整体结构是由一组不连续的受压单元包含于连续受拉单元组成的稳定自平衡结构,为了寻找自平衡状态下的构型,引入奇异值分解的方法,将寻找张拉整体结构的自平衡构型问题转化为最小奇异值的判定。通过广义节点坐标和构件之间的连接关系建立结构的数学模型;引入力密度的概念,对张拉整体结构进行受力分析,列写包含平衡矩阵的平衡方程;对平衡矩阵进行奇异值分解,利用分解获得的最小奇异值判断平衡方程是否有解,对张拉整体结构是否存在自平衡构型进行初步判定,再依据获得的力密度的均匀性(同组构件力密度大小相等)和正负属性(杆的力密度小于0,索的力密度大于0)对结构自平衡状态进一步判断;通过实例分析对该找形方法的可行性进行了验证,结果表明:该方法可以找到张拉整体结构自平衡构型。本文为寻找自平衡张拉整体结构提供了一种思路。

Systematic Elastostatic Stiffness Model of Over-Constrained Parallel Manipulators Without Additional Constraint Equations

The establishment of an elastostatic stiffness model for over constrained parallel manipulators(PMs),particularly those with over constrained subclosed loops,poses a challenge while ensuring numerical stability.This study addresses this issue by proposing a systematic elastostatic stiffness model based on matrix structural analysis(MSA)and independent displacement coordinates(IDCs)extraction techniques.To begin,the closed-loop PM is transformed into an open-loop PM by eliminating constraints.A subassembly element is then introduced,which considers the flexibility of both rods and joints.This approach helps circumvent the numerical instability typically encountered with traditional constraint equations.The IDCs and analytical constraint equations of nodes constrained by various joints are summarized in the appendix,utilizing multipoint constraint theory and singularity analysis,all unified within a single coordinate frame.Subsequently,the open-loop mechanism is efficiently closed by referencing the constraint equations presented in the appendix,alongside its elastostatic model.The proposed method proves to be both modeling and computationally efficient due to the comprehensive summary of the constraint equations in the Appendix,eliminating the need for additional equations.An example utilizing an over constrained subclosed loops demonstrate the application of the proposed method.In conclusion,the model proposed in this study enriches the theory of elastostatic stiffness modeling of PMs and provides an effective solution for stiffness modeling challenges they present.

矩阵模式下高速检测汽轮机叶片

针对汽轮机叶片的结构特点,设计了一种快速、精确的装夹装置,并采用矩阵测量方案,在三坐标测量机检测汽轮机叶片复杂曲面时不仅保证了检测的稳定和精度,也实现了高速、高效检测。

基于多相似度模糊C均值聚类的不均衡流数据检索方法

针对在不均衡流数据在检索过程中,由于数据流中存在不均衡性,且易受差异性数据、边缘数据的影响,导致数据检索性能下降的问题,提出了基于多相似度模糊C均值聚类的不均衡流数据检索方法。该方法计算出不均衡流数据之间的多相似度,针对不同相似度的数据,采用模糊C均值算法对其聚类处理。通过构建八叉树检索模型,对聚类后的数据进行存储、编码和判断,完成不均衡流数据的检索。实验结果表明,所提方法的检索时间低于20 s,查全率和查准率保持在80%以上,且NDCG(Normalized Discounted Cumulative Gain)数值高。

不平衡电网下双dq坐标变换的M3C微分平坦控制策略

针对目前模块化多电平矩阵变换器(M3C)研究中常用的双αβ坐标变换解耦不彻底、传统PID控制方法效果差、不平衡工况研究少等问题,在分析拓扑结构和数学模型的基础上,采用双dq坐标变换对电气量进行解耦,建立了M3C的输入输出侧数学模型,分别对电压、电流进行正负序分离,并结合微分平坦理论,推导了输入侧、输出侧的微分平坦控制(DFC),最后模拟了两种不平衡工况下的运行情况。仿真结果表明,与线性PID控制相比,非线性的微分平坦控制提高了内环电流的跟踪速度和精度,更适用于非线性的M3C系统。在电网平衡或电网出现不对称故障时,微分平坦控制下M3C系统的动态稳定性与快速性更好,电能质量更高,电流谐波含量最多可以降低1.42%,能够更有效地抑制负序电流。

基于离散指示矩阵优化的多视角图聚类方法

为了解决当前多视角图聚类方法依赖于谱分解而导致计算量高且超参数调优过程繁琐的问题,基于离散指示矩阵优化的方式,提出了一种无超参数的多视角图聚类方法。为了避免谱分解的连续松弛,采用一种超集群策略来高效区分数据的离散集群关系。在优化层面,改进了传统的坐标下降方法,以降低计算复杂度以及实现离散指示矩阵的快速优化。在物体图像、人脸图像、文本数据、手写字体图像中进行了算法性能验证。结果表明:相比于最近常用的多视角图聚类方法,所提方法在聚类精度和运行效率方面具有明显优势。

Three Types of Spatial Function Zoning in Key Ecological Function Areas Based on Ecological and Economic Coordinated Development: A Case Study of Tacheng Basin, China

Three types of spatial function zoning is an effective measure for regional environmental protection and orderly development.For ecological and economic coordinated development, spatial function zones should be divided scientifically to clear its direction of development and protection. Therefore, based on ecological constraints, a beneficial discussion would be about the key ecological function areas adopting the concept of ecological protection restriction and supporting socioeconomic development for spatial function zoning. In this paper, the researchers, taking Tacheng Basin, Xinjiang of China as an example, choose township as basic research unit and set up an evaluation index system from three aspects, namely, ecological protection suitability, agricultural production suitability, and urban development suitability, which are analyzed by using spatial analysis functions and exclusive matrix method. The results showed that: 1) This paper formed a set of multilevel evaluation index systems for three types of spatial function zoning of the key ecological function areas based on a novel perspective by scientifically dividing Tacheng Basin into ecological space, agricultural space, and urban space,which realized the integration and scientific orientation for spatial function at the township scale. 2) Under the guidance of three types of spatial pattern, the functional orientation and suggestions of development and protection was clearly defined for ecological protection zones,ecological economic zones, agricultural production zones, and urban development zones. 3) A new idea of space governance is provided to promote the coordinated and sustainable development between ecology and economy, which can break the traditional mode of thinking about regional economic development, and offers a scientific basis and reference for macro decision-making.

Correlation of coordinate transformation parameters

Coordinate transformation parameters between two spatial Cartesian coordinate systems can be solved from the positions of non-colinear corresponding points. Based on the characteristics of translation, rotation and zoom components of the transformation, the complete solution is divided into three steps. Firstly, positional vectors are regulated with respect to the centroid of sets of points in order to separate the translation compo- nents. Secondly, the scale coefficient and rotation matrix are derived from the regulated positions independent- ly and correlations among transformation model parameters are analyzed. It is indicated that this method is applicable to other sets of non-position data to separate the respective attributions for transformation parameters.

Disturbance observer based finite-time coordinated attitude tracking control for spacecraft on SO(3)

To solve the problem of attitude synchronization control for spacecraft formation flying(SFF)suffering from external disturbances under a directed communication topology,a sliding mode disturbance observer(SMDO)based on the finite-time control strategy is developed to observe the time-varying external disturbance via estimating the upper bound of its first derivative.Meanwhile,the rotation matrix is employed to describe the attitude of SFF for the purpose of the avoidance of singularity and unwinding phenomenon.As for the attitude synchronization and the tracking control architecture,a sliding mode surface(SMS)is given such that the control objective can be achieved.The effectiveness and the validity of the proposed method are elaborated via theoretical analysis and numerical simulations.

Investigations of the electron paramagnetic resonance parameters and the tetragonal local structure for (VCl_6)^(4-) coordination complex in MCl:V^(2+) (M=Na,K,Rb) systems

By simulating the electron paramagnetic resonance （EPR） and optical spectra on the basis of the 120 × 120 complete energy matrix, this paper determines the local lattice structure parameters R1 and R2 for MCl：V2＋ （M=Na, K, Rb） systems at 77K, 195 K and RT （room temperature 295 K or 302 K）, respectively. The theoretical results indicate that there exists a compressed distortion in MCl：V2＋ systems. Meanwhile, it finds that the structure parameters R1, R2 and ｜△R｜（ = R1 - R2） increase with the rising temperature. Subsequently, from the analysis it concludes that the relation of EPR parameter D vs. △R is approximately linear. Finally, the effects of orbital reduction factor k on the g factors for the three systems have been discussed.

Adaptive neural network control for coordinated motion of a dual-arm space robot system with uncertain parameters

Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversation with the Lagrangian approach, the dynamic equation of a robot is established. Based on the above results, the free-floating dual-arm space robot system is modeled with RBF neural networks, the GL matrix and its product operator. With all uncertain inertial system parameters, an adaptive RBF neural network control scheme is developed for coordinated motion between the base attitude and the arm joints. The proposed scheme does not need linear parameterization of the dynamic equation of the system and any accurate prior-knowledge of the actual inertial parameters. Also it does not need to train the neural network offline so that it would present real-time and online applications. A planar free-floating dual-arm space robot is simulated to show feasibility of the proposed scheme.

Light pen whole space coordinate measuring system based on a tracking turntable

Light pen coordinate measuring system(LPCMS)is a kind of portable coordinate measuring technique based on vision metrology.In classical LPCMS,the measuring range is limited to the camera’s field of view.To overcome this defect,a new LPCMS is designed in this paper to fulfil whole space coordinate measurement.The camera is installed on a turntable instead of a tripod,so that the camera can rotate to track the movement of the light pen.The new system can be applied to large scale onsite measurement,and therefore it notably extends the application of LPCMS.To guarantee the accuracy of the new system,a method to calibrate the parameters of the tracking turntable is also proposed.Fixing the light pen at a stationary position,and changing the azimuth angles of the turntable’s two shafts,so that the camera can capture the images of the light pen from different view angles.According to the invariant spatial relationship between the camera and the pedestal of the tracking turntable,a system of nonlinear equations can be established to solve the parameters of the turntable.Experimental results show that the whole space coordinate measuring accuracy of the new system can reach 0.25 mm within 10 m.It can be concluded that the newly designed system can significantly expand the measuring range of LPCMS without losing too much accuracy.

Research and Design of Coordinated Control Strategy for Smart Electromechanical Actuator System

In order to improve the frequency response and anti-interference characteristics of the smart electromechanical actuator(EMA)system,and aiming at the force fighting problem when multiple actuators work synchronously,a multi input multi output(MIMO)position difference cross coupling control coordinated strategy based on double‑closed-loop load feedforward control is proposed and designed.In this strategy,the singular value method of return difference matrix is used to design the parameter range that meets the requirements of system stability margin,and the sensitivity function and the H_(∞)norm theory are used to design and determine the optimal solution in the obtained parameter stability region,so that the multi actuator system has excellent synchronization,stability and anti-interference.At the same time,the mathematical model of the integrated smart EMA system is established.According to the requirements of point-to-point control,the controller of double-loop control and load feedforward compensation is determined and designed to improve the frequency response and anti-interference ability of single actuator.Finally,the 270 V high-voltage smart EMA system experimental platform is built,and the frequency response,load feedforward compensation and coordinated control experiments are carried out to verify the correctness of the position difference cross coupling control strategy and the rationality of the parameter design,so that the system can reach the servo control indexes of bandwidth 6 Hz,the maximum output force 20000 N and the synchronization error≤0.1 mm,which effectively solves the problem of force fighting.

基于广义逆-坐标变换的多光谱辐射测温反演算法

多光谱辐射测温在高温测量领域应用广泛。但是,未知的光谱发射率是多光谱辐射测温反演过程的最大困难。目前,解决方法多采用假设发射率模型法,二次测量法等,此类方法反演精度取决于假设的发射率模型和实际发射率是否相符,多数情况下反演结果误差较大。基于约束优化的多光谱辐射温度数据处理算法解决了未知发射率的难题,但受迭代算法的复杂性和初值难以确定的影响,反演精度和效率不高。为此,提出广义逆-坐标轮换算法解决约束优化算法中的反演效率问题。由于广义逆法需对发射率范围进行约束,坐标轮换法需设定合适的发射率初值,考虑两种算法各自的优势与不足,可对两种算法进行结合。将广义逆法求得的最小范数解作为约束优化算法中迭代搜索的初始点,进一步提高了算法对不同材料发射率的适应度。为验证算法是否能在无需考虑发射率模型的前提下寻找符合待测目标的发射率和真温,选取六种不同发射率类型的目标材料进行仿真实验。针对六种典型材料的仿真结果表明,新方法在真温1 800 K的情况下,绝对误差和相对误差均小于5.0%,与梯度投影法相比运算效率平均提高了202倍。表明该算法具有无需考虑发射率模型、反演精度高,速度快,适合于各类材料等优点,解决了约束优化算法中初值选择不确定的问题,为在线实时高温测量中的数据处理提供了解决方案。

The Use of the Matrix Method for the Study of Human Motion:Theory and Applications

Kinematics has been successfully used to describe body motion without reference to the kinetics (or forces causing the motion). In this article, both the theory and applications of the matrix method are provided to describe complex human motion. After the definition of a Cartesian coordinate frame is introduced, the description of transformations between multiple coordinate frames is given; the decomposition of a transformation matrix into anatomical joint motion parameters (e.g. Euler angles) is then explained. The advantages of the matrix method are illustrated by three examples related to biomechanical studies. The first describes a reaching and grasping task in which matrix transformations are applied to position the hand with respect to an object during grasping. The second example demonstrates the utility of the matrix method in revealing the coupling motion of the wrist between flexion-extension and radial-ulnar deviation. The last example highlights the indispensable use of the matrix method for the study of knee biomechanics, including the description of knee joint kinematics during functional activities and determination of in-situ ligament forces using robotic technology, which has advanced our understanding of the functions of the cruciate ligaments to knee joint kinematics. It is hoped that the theoretical development and biomechanical application examples will help the readers apply the matrix method to research problems related to human motion.