To realize automatic modeling and dynamic simulation of the educational assembling-type robot with open structure, a general dynamic model for the educational assembling-type robot and a fast simulation algorithm are ...To realize automatic modeling and dynamic simulation of the educational assembling-type robot with open structure, a general dynamic model for the educational assembling-type robot and a fast simulation algorithm are put forward. First, the educational robot system is abstracted to a multibody system and a general dynamic model of the educational robot is constructed by the Newton-Euler method. Then the dynamic model is simplified by a combination of components with fixed connections according to the structural characteristics of the educational robot. Secondly, in order to obtain a high efficiency simulation algorithm, based on the sparse matrix technique, the augmentation algorithm and the direct projective constraint stabilization algorithm are improved. Finally, a numerical example is given. The results show that the model and the fast algorithm are valid and effective. This study lays a dynamic foundation for realizing the simulation platform of the educational robot.展开更多
The concept of Initial Casualty Matrix is introduced. Using some probability distribution functions, the initial casualty matrix of masonry is determined. The dynamic method of seismic casualty assessment is establish...The concept of Initial Casualty Matrix is introduced. Using some probability distribution functions, the initial casualty matrix of masonry is determined. The dynamic method of seismic casualty assessment is established and then applied to the Tangshan earthquake data, with some conclusions drawn.展开更多
We propose a method for calculating the nonradiative decay rates for polyatomic molecules including anharmonic effects of the potential energy surface(PES)in the Franck-Condon region.The method combines the n-mode rep...We propose a method for calculating the nonradiative decay rates for polyatomic molecules including anharmonic effects of the potential energy surface(PES)in the Franck-Condon region.The method combines the n-mode repre-sentation method to construct the ab initio PES and the nearly exact time-dependent density matrix renormalization group method(TD-DMRG)to simulate quantum dynamics.In addition,in the framework of TD-DMRG,we further develop an algorithm to calculate the final-state-resolved rate coefficient which is very useful to analyze the contribution from each vibrational mode to the transition process.We use this method to study the internal conversion(IC)process of azulene after taking into account the anharmonicity of the ground state PES.The results show that even for this semi-rigid molecule,the intramode anharmonicity enhances the IC rate significantly,and after considering the two-mode coupling effect,the rate increases even further.The reason is that the anharmonicity enables the C-H vibrations to receive electronic energy while C-H vibrations do not contribute on the harmonic PES as the Huang-Rhys factor is close to 0.展开更多
We propose a two-component form to describe massive relativistic fermions in gauge theories. Relations between the Green＇s functions in this form and those in the conventional four-component form are derived. It is s...We propose a two-component form to describe massive relativistic fermions in gauge theories. Relations between the Green＇s functions in this form and those in the conventional four-component form are derived. It is shown that the S-matrix elements in both forms are exactly the same. The description of the fermion in the new form simplifies significantly the γ-matrix algebra in the four-component form. In particular, in perturbative calculations the propagator of the fermion is a scalar function. As examples, we use this form to reproduce the relativistic spectrum of hydrodron atom, the S-matrix of e＋e-→μ＋μ- and QED one-loop vacuum polarization of photon.展开更多
COBOT is a new kind of collaborative robot , which can work with people in a shared space. In this paper a new kind of CVT using differential mechanism is introduced, which is major parts of five-bar COBOT and based t...COBOT is a new kind of collaborative robot , which can work with people in a shared space. In this paper a new kind of CVT using differential mechanism is introduced, which is major parts of five-bar COBOT and based the feature of nonhlonnmic constraint. The dynamic model of differential mechanism and five-bar architecture COBOT is founded. There are two kinds of coupled mode of two CVT:serial and parallel. In this paper, we present the dynamic model of serial and parallel COBOT take five-bar COBOT as research object. From the dynamic analysis foregoing, both serial and parallel COBOT model are have the feature of nonholonomic constraint. The ending track and moving state are controlled by the force of control motor and operator. The control motor can not control the movement and ending track of COBOT without the cooperation of operator.展开更多
A new diabatic potential energy matrix(PEM)of the coupled~^(1)ππ^(*)and~1πσ*states for the~1πσ*-mediated photodissociation of thiophenol was constructed using a neural network(NN)approach.The diabatization of th...A new diabatic potential energy matrix(PEM)of the coupled~^(1)ππ^(*)and~1πσ*states for the~1πσ*-mediated photodissociation of thiophenol was constructed using a neural network(NN)approach.The diabatization of the PEM was specifically achieved by our recent method[Chin.J.Chem.Phys.34,825(2021)],which was based on adiabatic energies without the associated costly derivative couplings.The equation of motion coupled cluster with single and double excitations(EOM-CCSD)method was employed to compute adiabatic energies of two excited states in this work due to its high accuracy,simplicity,and efficiency.The PEM includes three dimensionalities,namely the S-H stretch,C-S-H bend,and C-C-S-H torsional coordinates.The root mean square errors of the NN fitting for the S1 and S2 states are 0.89 and 1.33 me V,respectively,suggesting the high accuracy of the NN method as expected.The calculated lifetimes of the S1 vibronic 00 and31 states are found to be in reasonably good agreement with available theoretical and experimental results,which validates the new EOM-CCSD-based PEM fitted by the NN approach.The combination of the diabatization scheme solely based on the adiabatic energies and the use of EOM-CCSD method makes the construction of reliable diabatic PEM quite simple and efficient.展开更多
According to the definition of the new hypothetical states which have obvious physical significance and are termed as no-gravity static and accelerated states, a method for exact computation of the parallel robot＇s g...According to the definition of the new hypothetical states which have obvious physical significance and are termed as no-gravity static and accelerated states, a method for exact computation of the parallel robot＇s generalized inertia matrix is presented. Based on the matrix theory, the generalized inertia matrix of the parallel robot can be computed on the assumption that the robot is in these new hypothetical states respectively. The approach is demonstrated by the Delta robot as an example. Based on the principle of the virtual work, the inverse dynamics model of the robot is formulized after the kinematics analysis. Finally, a numerical example is given and the element distribution of the Delta robot＇s inertia matrix in the workspace is studied. The method has computationa＇, advantage of numerical accuracy for the Delta robot and can be parallelized easily.展开更多
In this paper,Waish functions are applied to dynamical system analysis. An operational matrix for differential is developed first and compared with M. S. Corrington's method vis a simple example. Then this operati...In this paper,Waish functions are applied to dynamical system analysis. An operational matrix for differential is developed first and compared with M. S. Corrington's method vis a simple example. Then this operational matrix is used to analyze both time-invariant and time-variant systems ,and examples are presented respectively.展开更多
Equivalent integrated finite element method is a canonical and efficient modeling method in dynamic analysis of complex mechanism. The key of establishing dynamic equations of spatial mechanism by the method is to con...Equivalent integrated finite element method is a canonical and efficient modeling method in dynamic analysis of complex mechanism. The key of establishing dynamic equations of spatial mechanism by the method is to confirm Jacobian matrix reflecting relations of all joints,nodes,and generalized coordinates,namely,relations of second-order and corresponding third-order conversion tensors. For complex motion relations of components in a parallel robot,it gives second-order and third-order conversion tensors of dynamic equations for the 6-HTRT parallel robot based on equivalent integrated finite element method. The method is suitable for the typical robots whose positions of work space and sizes of mechanism are different. The solving course of the method is simple and convenient,so the method lays the foundation of dynamic analysis for robots.展开更多
To find the difference in dynamic characteristics between conventional monohull ship and wave penetrating catamaran (WPC), a WPC was taken as an object; its dynamic characteristics were computed by transfer matrix met...To find the difference in dynamic characteristics between conventional monohull ship and wave penetrating catamaran (WPC), a WPC was taken as an object; its dynamic characteristics were computed by transfer matrix method and finite element method respectively. According to the comparison of the nature frequency results and mode shape results, the fact that FEM method is more suitable to dynamic characteristics analysis of a WPC was pointed out, special features on dynamic characteristics of WPC were given, and some beneficial suggestions are proposed to optimize the strength of a WPC in design period.展开更多
基金Hexa-Type Elites Peak Program of Jiangsu Province(No.2008144)Qing Lan Project of Jiangsu ProvinceFund for Excellent Young Teachers of Southeast University
文摘To realize automatic modeling and dynamic simulation of the educational assembling-type robot with open structure, a general dynamic model for the educational assembling-type robot and a fast simulation algorithm are put forward. First, the educational robot system is abstracted to a multibody system and a general dynamic model of the educational robot is constructed by the Newton-Euler method. Then the dynamic model is simplified by a combination of components with fixed connections according to the structural characteristics of the educational robot. Secondly, in order to obtain a high efficiency simulation algorithm, based on the sparse matrix technique, the augmentation algorithm and the direct projective constraint stabilization algorithm are improved. Finally, a numerical example is given. The results show that the model and the fast algorithm are valid and effective. This study lays a dynamic foundation for realizing the simulation platform of the educational robot.
文摘The concept of Initial Casualty Matrix is introduced. Using some probability distribution functions, the initial casualty matrix of masonry is determined. The dynamic method of seismic casualty assessment is established and then applied to the Tangshan earthquake data, with some conclusions drawn.
基金supported by the National Natural Science Foundation of China through the Project "Science Center for Luminescence from Molecular Aggregates(SCELMA)" (No.21788102)the Ministry of Science and Technology of China through the National Key R&D Plan (No.2017YFA0204501)supported by the National Natural Science Foundation of China (No.22003029)
文摘We propose a method for calculating the nonradiative decay rates for polyatomic molecules including anharmonic effects of the potential energy surface(PES)in the Franck-Condon region.The method combines the n-mode repre-sentation method to construct the ab initio PES and the nearly exact time-dependent density matrix renormalization group method(TD-DMRG)to simulate quantum dynamics.In addition,in the framework of TD-DMRG,we further develop an algorithm to calculate the final-state-resolved rate coefficient which is very useful to analyze the contribution from each vibrational mode to the transition process.We use this method to study the internal conversion(IC)process of azulene after taking into account the anharmonicity of the ground state PES.The results show that even for this semi-rigid molecule,the intramode anharmonicity enhances the IC rate significantly,and after considering the two-mode coupling effect,the rate increases even further.The reason is that the anharmonicity enables the C-H vibrations to receive electronic energy while C-H vibrations do not contribute on the harmonic PES as the Huang-Rhys factor is close to 0.
基金Supported by National Natural Science Foundation of China under Grant No. 10475103
文摘We propose a two-component form to describe massive relativistic fermions in gauge theories. Relations between the Green＇s functions in this form and those in the conventional four-component form are derived. It is shown that the S-matrix elements in both forms are exactly the same. The description of the fermion in the new form simplifies significantly the γ-matrix algebra in the four-component form. In particular, in perturbative calculations the propagator of the fermion is a scalar function. As examples, we use this form to reproduce the relativistic spectrum of hydrodron atom, the S-matrix of e＋e-→μ＋μ- and QED one-loop vacuum polarization of photon.
基金the National Natural Science Foundation of China( 60275030) Harbin Science and Technology Bureau(2002AFLXJ004)
文摘COBOT is a new kind of collaborative robot , which can work with people in a shared space. In this paper a new kind of CVT using differential mechanism is introduced, which is major parts of five-bar COBOT and based the feature of nonhlonnmic constraint. The dynamic model of differential mechanism and five-bar architecture COBOT is founded. There are two kinds of coupled mode of two CVT:serial and parallel. In this paper, we present the dynamic model of serial and parallel COBOT take five-bar COBOT as research object. From the dynamic analysis foregoing, both serial and parallel COBOT model are have the feature of nonholonomic constraint. The ending track and moving state are controlled by the force of control motor and operator. The control motor can not control the movement and ending track of COBOT without the cooperation of operator.
基金supported by the National Natural Science Foundation of China(No.22073073)the Startup Foundation of Northwest UniversityThe Double First-Class University Construction Project of Northwest University。
文摘A new diabatic potential energy matrix(PEM)of the coupled~^(1)ππ^(*)and~1πσ*states for the~1πσ*-mediated photodissociation of thiophenol was constructed using a neural network(NN)approach.The diabatization of the PEM was specifically achieved by our recent method[Chin.J.Chem.Phys.34,825(2021)],which was based on adiabatic energies without the associated costly derivative couplings.The equation of motion coupled cluster with single and double excitations(EOM-CCSD)method was employed to compute adiabatic energies of two excited states in this work due to its high accuracy,simplicity,and efficiency.The PEM includes three dimensionalities,namely the S-H stretch,C-S-H bend,and C-C-S-H torsional coordinates.The root mean square errors of the NN fitting for the S1 and S2 states are 0.89 and 1.33 me V,respectively,suggesting the high accuracy of the NN method as expected.The calculated lifetimes of the S1 vibronic 00 and31 states are found to be in reasonably good agreement with available theoretical and experimental results,which validates the new EOM-CCSD-based PEM fitted by the NN approach.The combination of the diabatization scheme solely based on the adiabatic energies and the use of EOM-CCSD method makes the construction of reliable diabatic PEM quite simple and efficient.
基金Supported by National Natural Science Foundation of China (No. 50375106) , the State Scholarship Fund (No. 2004812032) and Key Laboratory of Intelligent Manufacturing at Shantou University ( No. Imstu-2002-11).
文摘According to the definition of the new hypothetical states which have obvious physical significance and are termed as no-gravity static and accelerated states, a method for exact computation of the parallel robot＇s generalized inertia matrix is presented. Based on the matrix theory, the generalized inertia matrix of the parallel robot can be computed on the assumption that the robot is in these new hypothetical states respectively. The approach is demonstrated by the Delta robot as an example. Based on the principle of the virtual work, the inverse dynamics model of the robot is formulized after the kinematics analysis. Finally, a numerical example is given and the element distribution of the Delta robot＇s inertia matrix in the workspace is studied. The method has computationa＇, advantage of numerical accuracy for the Delta robot and can be parallelized easily.
文摘In this paper,Waish functions are applied to dynamical system analysis. An operational matrix for differential is developed first and compared with M. S. Corrington's method vis a simple example. Then this operational matrix is used to analyze both time-invariant and time-variant systems ,and examples are presented respectively.
基金Innovation Fund of Harbin,China (No.2006RFQXG036)
文摘Equivalent integrated finite element method is a canonical and efficient modeling method in dynamic analysis of complex mechanism. The key of establishing dynamic equations of spatial mechanism by the method is to confirm Jacobian matrix reflecting relations of all joints,nodes,and generalized coordinates,namely,relations of second-order and corresponding third-order conversion tensors. For complex motion relations of components in a parallel robot,it gives second-order and third-order conversion tensors of dynamic equations for the 6-HTRT parallel robot based on equivalent integrated finite element method. The method is suitable for the typical robots whose positions of work space and sizes of mechanism are different. The solving course of the method is simple and convenient,so the method lays the foundation of dynamic analysis for robots.
文摘To find the difference in dynamic characteristics between conventional monohull ship and wave penetrating catamaran (WPC), a WPC was taken as an object; its dynamic characteristics were computed by transfer matrix method and finite element method respectively. According to the comparison of the nature frequency results and mode shape results, the fact that FEM method is more suitable to dynamic characteristics analysis of a WPC was pointed out, special features on dynamic characteristics of WPC were given, and some beneficial suggestions are proposed to optimize the strength of a WPC in design period.
