This paper presents a two-wheeled differential spherical mobile robot in view of the problems that the motion of spherical robot is difficult to control and the sensor is limited by the spherical shell.The robot is si...This paper presents a two-wheeled differential spherical mobile robot in view of the problems that the motion of spherical robot is difficult to control and the sensor is limited by the spherical shell.The robot is simple in structure,flexible in motion and easy to control.The kinematics and dynamics model of spherical mobile robot is established according to the structure of spherical mobile robot.On the basis of the adaptive neural sliding mode control,the trajectory tracking controller of the system is designed.During the simulation of the s-trajectory and circular trajectory tracking control of the spherical mobile robot,it is concluded that the spherical mobile robot is flexible in motion and easy to control.In addition,the simulation results show that the adaptive neural sliding mode control can effectively track the trajectory of the spherical robot.The adaptive control eliminates the influence of unknown parameters and disturbances,and avoids the jitter of left and right wheels during the torque output.展开更多
Through vector analysis the kinetic vector model is built in a machining cylinder surface through axial turn-milling. When building a kinetic vector model in the machining field, machining through axial turn-milling a...Through vector analysis the kinetic vector model is built in a machining cylinder surface through axial turn-milling. When building a kinetic vector model in the machining field, machining through axial turn-milling and using equilateral triangles and square prism surfaces, the kinetic vector model is given any equilateral polygon prismic surface. Kinetic tracks are simulated through these kinetic models respectively, thus it can be seen that the axial turn-milling is a very effective method in manufacturing any equilateral, polygon, prismic surface.展开更多
The influence of the confining potential strength and temperature on the structures and dynamics of a two-dimensional (2D) dusty plasma system is investigated through molecular dynamic (MD) simulation. The circular sy...The influence of the confining potential strength and temperature on the structures and dynamics of a two-dimensional (2D) dusty plasma system is investigated through molecular dynamic (MD) simulation. The circular symmetric confining potential leads to the nonuniform packing of particles, that is, an inner core with a hexagon lattice surrounded by a few outer circular shells. Under the appropriate confining potential and temperature, the particle trajectories on middle shells form a series of concentric and nested hexagons due to tangential movements of particles.Mean square displacement, self-diffusion constant, pair correlation function, and the nearest bond are used to characterize the structural and dynamical properties of the system. With the increase of the confining potential, the radial and tangential movements of particles have different behaviors. With the increase of temperature, the radial and tangential motions strengthen, particle trajectories gradually become disordered, and the system gradually changes from a crystal or liquid state to a gas state.展开更多
The reaction dynamics of the F＋H20/D20→HF/DF＋OH/OD are investigated on an accurate potential energy surface （PES） using a quasi-classical trajectory method. For both isotopomers, the hydrogen/deuterium abstractio...The reaction dynamics of the F＋H20/D20→HF/DF＋OH/OD are investigated on an accurate potential energy surface （PES） using a quasi-classical trajectory method. For both isotopomers, the hydrogen/deuterium abstraction reaction is dominated by a direct rebound mechanism over a very low ＂reactant-like＂ barrier, which leads to a vibrationally hot HF/DF product with an internally cold OH/OD companion. It is shown that the lowered reaction barrier on this PES, as suggested by high-level ab initio calculations, leads to a much better agreement with the experimental reaction cross section, but has little impact on the product state distributions and mode selectivity. Our results further indicate that rotational excitation of the H20 reactant leads to significant enhancement of the reactivity, suggesting a strong coupling with the reaction coordinate.展开更多
基金Foundation items:National Science and Technology Major Project(No.2011ZX05021-001)China Postdoctoral Science Foundation(No.2019M663865)。
文摘This paper presents a two-wheeled differential spherical mobile robot in view of the problems that the motion of spherical robot is difficult to control and the sensor is limited by the spherical shell.The robot is simple in structure,flexible in motion and easy to control.The kinematics and dynamics model of spherical mobile robot is established according to the structure of spherical mobile robot.On the basis of the adaptive neural sliding mode control,the trajectory tracking controller of the system is designed.During the simulation of the s-trajectory and circular trajectory tracking control of the spherical mobile robot,it is concluded that the spherical mobile robot is flexible in motion and easy to control.In addition,the simulation results show that the adaptive neural sliding mode control can effectively track the trajectory of the spherical robot.The adaptive control eliminates the influence of unknown parameters and disturbances,and avoids the jitter of left and right wheels during the torque output.
基金Sponsored by the National High Technology Research and Development Program of China(Grant No.2003AA424020), Important Scientech ProblemTackling Subject Foundation Under the State 9th 5 -Year Plan(Grant No.96 -A22 -01 -01) and Provincial Doctoral Science Foundation of LiaoningProvince, China(Grant No.2001102034).
文摘Through vector analysis the kinetic vector model is built in a machining cylinder surface through axial turn-milling. When building a kinetic vector model in the machining field, machining through axial turn-milling and using equilateral triangles and square prism surfaces, the kinetic vector model is given any equilateral polygon prismic surface. Kinetic tracks are simulated through these kinetic models respectively, thus it can be seen that the axial turn-milling is a very effective method in manufacturing any equilateral, polygon, prismic surface.
基金the National Natural Science Foundation of China under
文摘The influence of the confining potential strength and temperature on the structures and dynamics of a two-dimensional (2D) dusty plasma system is investigated through molecular dynamic (MD) simulation. The circular symmetric confining potential leads to the nonuniform packing of particles, that is, an inner core with a hexagon lattice surrounded by a few outer circular shells. Under the appropriate confining potential and temperature, the particle trajectories on middle shells form a series of concentric and nested hexagons due to tangential movements of particles.Mean square displacement, self-diffusion constant, pair correlation function, and the nearest bond are used to characterize the structural and dynamical properties of the system. With the increase of the confining potential, the radial and tangential movements of particles have different behaviors. With the increase of temperature, the radial and tangential motions strengthen, particle trajectories gradually become disordered, and the system gradually changes from a crystal or liquid state to a gas state.
文摘The reaction dynamics of the F＋H20/D20→HF/DF＋OH/OD are investigated on an accurate potential energy surface （PES） using a quasi-classical trajectory method. For both isotopomers, the hydrogen/deuterium abstraction reaction is dominated by a direct rebound mechanism over a very low ＂reactant-like＂ barrier, which leads to a vibrationally hot HF/DF product with an internally cold OH/OD companion. It is shown that the lowered reaction barrier on this PES, as suggested by high-level ab initio calculations, leads to a much better agreement with the experimental reaction cross section, but has little impact on the product state distributions and mode selectivity. Our results further indicate that rotational excitation of the H20 reactant leads to significant enhancement of the reactivity, suggesting a strong coupling with the reaction coordinate.
