A two-degree-of-freedom（2-DOF） linear ultrasonic motor （USM） consists of a cylinder-shaped stator and a slider. Two bending vibration modes with orthogonality and one longitudinal vibration mode are excited in the...A two-degree-of-freedom（2-DOF） linear ultrasonic motor （USM） consists of a cylinder-shaped stator and a slider. Two bending vibration modes with orthogonality and one longitudinal vibration mode are excited in the stator by three groups of piezoelectric ceramic elements. The combinations of any one bending mode and the longitudinal mode mentioned above push the slider to move linearly in direction x or y. Some key issues for improving the motor output properties and efficiency are given. They include selection of the vibration modes, consistency of the modal frequencies, placement of the piezoelectric ceramic elements and the supporting plane, setting of pre-pressure, and influence of interfering modes.展开更多
In order to fulfill the goal of autonomous walking on rough terrain,a distributed gait planningmethod applied to hexapod biomimetic robot locomotion is proposed based on the research effort of gait co-ordination mecha...In order to fulfill the goal of autonomous walking on rough terrain,a distributed gait planningmethod applied to hexapod biomimetic robot locomotion is proposed based on the research effort of gait co-ordination mechanism of stick insect.The mathematical relation of walking velocity and gait pattern wasdepicted,a set of local rules operating between adjacent legs were put forward,and a distributed networkof local rules for gait control was constructed.With the interaction of adjacent legs,adaptive adjustmentof phase sequence fluctuation of walking legs resulting from change of terrain conditions or variety of walk-ing speed was implemented to generate statically stable gait.In the simulation experiments,adaptive ad-justment of inter-leg phase sequence and smooth transition of velocity and gait pattern were realized,andstatic stableness was ensured simultaneously,which provided the hexapod robot with the capability ofwalking on rough terrain stably and expeditiously.展开更多
Based on a comprehensive analysis on Sonic Anemometer and gradient data, wind profile radar(WPR) and GPS sounding data of March–August 2008 from the boundary layer(BL) tower observation system at Dali on the southeas...Based on a comprehensive analysis on Sonic Anemometer and gradient data, wind profile radar(WPR) and GPS sounding data of March–August 2008 from the boundary layer(BL) tower observation system at Dali on the southeastern edge of Tibetan Plateau(TP), it is found that the strengths of turbulent kinetic energy(TKE), buoyancy term and shear term depend on vegetation cover in association with local stability and thermodynamic condition. Strong kinetic turbulence appears when near surface layer in neutral condition with the large contribution from shear term. In an unstable condition within near surface layer, the atmospheric turbulent motion is mainly thermal turbulence, as buoyancy term is obviously larger than shear term. Under a stable condition the intermittent turbulence is accompanied by weak shear and buoyancy term, and TKE is significantly less than neutral or instable condition. The study also presents that the buoyancy term contribution at Nyingchi station in the southern slopes of the TP large topography in spring is significantly larger than that at Dali over the southeastern TP edge, reflecting that the thermal turbulence makes an important contribution to convection activity in the southern slopes of TP. Dali station is located in complex terrain with mountain and valley leading to larger kinetic turbulence. From the perspective of interaction of turbulence-convection in different scales, the study revealed that the height of convective boundary layer(CBL) could reach up to 1500–2000 m. TKE, shear term, and buoyancy term in near surface layer have the notable correlations with BL height and local vertical motion. The daytime thermodynamic turbulence effect of heat flux and buoyancy term has an obvious impact on the height of CBL, whereas mechanical turbulence only exerts a less impact. Mechanical turbulence in near surface layer has a significant impact on vertical motion especially in the forenoon with impacting height of 2500–3000 m. The peaks in diurnal variations of shear term and buoyancy term correspond to the high instable periods, especially in summer forenoon. Our observation analysis characterized the convection activity triggered by TKE source and their interaction in the southeastern TP edge.展开更多
Due to the relative movement between space debris and background stars,the blending of objects and stars is ineluctable through observation.It brings down position accuracy of objects and even makes the tracking break...Due to the relative movement between space debris and background stars,the blending of objects and stars is ineluctable through observation.It brings down position accuracy of objects and even makes the tracking break down in worse conditions.In view of the difference of geometry between stars and objects in space debris observation,a technique for separating blended objects based on mathematical morphology is presented.It's sufficiently flexible to be applied in image processing,and the blending images can be separated effectively with a high degree of centroid precision.展开更多
A new strategy to realize precise absolute positioning for a single-frequency user is presented. In the presented strategy, the receiver clock and ambiguities are removed using the satelliteand epoch-differenced (SDED...A new strategy to realize precise absolute positioning for a single-frequency user is presented. In the presented strategy, the receiver clock and ambiguities are removed using the satelliteand epoch-differenced (SDED) algorithm. As a further development of the SDED algorithm, a regional augmentation network is used to generate the SDED atmospheric delays at the user. The weakened mathematic property due to the epoch-differenced operation is improved by adding the generated atmospheric delays and applying the robust estimation. To test the new approach, the 24-h data at 5 Continuous Operation Reference Station (CORS) stations in Shanghai is processed. The results show a more than 96% success rate, defined as the case where three directions achieve the desired positioning accuracy of 10 cm, when the observation is longer than 20 min. The 20-min static results show that the new method can reach an accuracy of 3.42, 4.76 and 9.26 cm in the North, East and Up directions, respectively. An experiment was carried out to assess the kinematic positioning. The results show that the kinematic positioning accuracy is 4.11, 5.31 and 4.05 cm in the north-south, east-west and height directions,respectively.展开更多
文摘A two-degree-of-freedom（2-DOF） linear ultrasonic motor （USM） consists of a cylinder-shaped stator and a slider. Two bending vibration modes with orthogonality and one longitudinal vibration mode are excited in the stator by three groups of piezoelectric ceramic elements. The combinations of any one bending mode and the longitudinal mode mentioned above push the slider to move linearly in direction x or y. Some key issues for improving the motor output properties and efficiency are given. They include selection of the vibration modes, consistency of the modal frequencies, placement of the piezoelectric ceramic elements and the supporting plane, setting of pre-pressure, and influence of interfering modes.
基金Supported by the National High Technology Research and Development Programme of China (No. 2006AA04Z245)by the Progran for Changjiang Scholars and Innovative Research Team in University of China (PCSIRT) (IRT0423)
文摘In order to fulfill the goal of autonomous walking on rough terrain,a distributed gait planningmethod applied to hexapod biomimetic robot locomotion is proposed based on the research effort of gait co-ordination mechanism of stick insect.The mathematical relation of walking velocity and gait pattern wasdepicted,a set of local rules operating between adjacent legs were put forward,and a distributed networkof local rules for gait control was constructed.With the interaction of adjacent legs,adaptive adjustmentof phase sequence fluctuation of walking legs resulting from change of terrain conditions or variety of walk-ing speed was implemented to generate statically stable gait.In the simulation experiments,adaptive ad-justment of inter-leg phase sequence and smooth transition of velocity and gait pattern were realized,andstatic stableness was ensured simultaneously,which provided the hexapod robot with the capability ofwalking on rough terrain stably and expeditiously.
基金supported by the National Natural Science Foundation of China(Grant Nos.41130960,41165001,41175010)the China Special Fund for Meteorological Research in the Public Interest(Grant No.GYHY201406001)
文摘Based on a comprehensive analysis on Sonic Anemometer and gradient data, wind profile radar(WPR) and GPS sounding data of March–August 2008 from the boundary layer(BL) tower observation system at Dali on the southeastern edge of Tibetan Plateau(TP), it is found that the strengths of turbulent kinetic energy(TKE), buoyancy term and shear term depend on vegetation cover in association with local stability and thermodynamic condition. Strong kinetic turbulence appears when near surface layer in neutral condition with the large contribution from shear term. In an unstable condition within near surface layer, the atmospheric turbulent motion is mainly thermal turbulence, as buoyancy term is obviously larger than shear term. Under a stable condition the intermittent turbulence is accompanied by weak shear and buoyancy term, and TKE is significantly less than neutral or instable condition. The study also presents that the buoyancy term contribution at Nyingchi station in the southern slopes of the TP large topography in spring is significantly larger than that at Dali over the southeastern TP edge, reflecting that the thermal turbulence makes an important contribution to convection activity in the southern slopes of TP. Dali station is located in complex terrain with mountain and valley leading to larger kinetic turbulence. From the perspective of interaction of turbulence-convection in different scales, the study revealed that the height of convective boundary layer(CBL) could reach up to 1500–2000 m. TKE, shear term, and buoyancy term in near surface layer have the notable correlations with BL height and local vertical motion. The daytime thermodynamic turbulence effect of heat flux and buoyancy term has an obvious impact on the height of CBL, whereas mechanical turbulence only exerts a less impact. Mechanical turbulence in near surface layer has a significant impact on vertical motion especially in the forenoon with impacting height of 2500–3000 m. The peaks in diurnal variations of shear term and buoyancy term correspond to the high instable periods, especially in summer forenoon. Our observation analysis characterized the convection activity triggered by TKE source and their interaction in the southeastern TP edge.
基金supported by the National Natural Science Foundation of China (Grant No. 11033009)
文摘Due to the relative movement between space debris and background stars,the blending of objects and stars is ineluctable through observation.It brings down position accuracy of objects and even makes the tracking break down in worse conditions.In view of the difference of geometry between stars and objects in space debris observation,a technique for separating blended objects based on mathematical morphology is presented.It's sufficiently flexible to be applied in image processing,and the blending images can be separated effectively with a high degree of centroid precision.
基金the National Natural Science Foundation of China (Grant Nos. 41204034 and 11103068)the Opening Project of Shanghai Key Laboratory of Space Navigation and Position Techniques (Grant No. Y224353002)the Guangxi Key Laboratory of Spatial Information and Geomatics (Grant No. GKN1207115-20)
文摘A new strategy to realize precise absolute positioning for a single-frequency user is presented. In the presented strategy, the receiver clock and ambiguities are removed using the satelliteand epoch-differenced (SDED) algorithm. As a further development of the SDED algorithm, a regional augmentation network is used to generate the SDED atmospheric delays at the user. The weakened mathematic property due to the epoch-differenced operation is improved by adding the generated atmospheric delays and applying the robust estimation. To test the new approach, the 24-h data at 5 Continuous Operation Reference Station (CORS) stations in Shanghai is processed. The results show a more than 96% success rate, defined as the case where three directions achieve the desired positioning accuracy of 10 cm, when the observation is longer than 20 min. The 20-min static results show that the new method can reach an accuracy of 3.42, 4.76 and 9.26 cm in the North, East and Up directions, respectively. An experiment was carried out to assess the kinematic positioning. The results show that the kinematic positioning accuracy is 4.11, 5.31 and 4.05 cm in the north-south, east-west and height directions,respectively.
