In order to investigate wheel slip-sinkage problem, which is important for the design, control and simulation of lunar rovers, experiments were carried out with a wheel-soil interaction test system to measure the sink...In order to investigate wheel slip-sinkage problem, which is important for the design, control and simulation of lunar rovers, experiments were carried out with a wheel-soil interaction test system to measure the sinkage of three types of wheels in dimension with wheel lugs of different heights and numbers under a series of slip ratios (0-0.6). The curves of wheel sinkage versus slip ratio were obtained and it was found that the sinkage with slip ratio of 0.6 is 3-7 times of the static sinkage. Based on the experimental results, the slip-sinkage principle of lunar's rover lugged wheels (including the sinkage caused by longitudinal flow and side flow of soil, and soil digging of wheel lugs) was analyzed, and corresponding calculation equations were derived. All the factors that can cause slip sinkage were considered to improve the conventional wheel-soil interaction model, and a formula of changing the sinkage exponent with the slip ratio was established. Mathematical model for calculating the sinkage of wheel according to vertical load and slip ratio was developed. Calculation results show that this model can predict the slip-sinkage of wheel with high precision, making up the deficiency of Wong-Reece model that mainly reflects longitudinal slip-sinkage.展开更多
This paper introduces the complexity and particularity of tube-sphere intersection weld(J-groove weld) and establishes the mathematical model of tube-sphere intersection trajectory.Based on the characteristics of J-gr...This paper introduces the complexity and particularity of tube-sphere intersection weld(J-groove weld) and establishes the mathematical model of tube-sphere intersection trajectory.Based on the characteristics of J-groove welds,the computational process of welding gun orientation is first simplified.Then the kinematic algorithm of a welding robot is obtained according to screw theory and exponential product formula.Finally,Solidworks and SimMechanics are employed to simulate the kinematics of the welding robot,which proves the feasibility of the kinematic algorithm.展开更多
The leaf area index(LAI) is a critical biophysical variable that describes canopy geometric structures and growth conditions.It is also an important input parameter for climate,energy and carbon cycle models.The scali...The leaf area index(LAI) is a critical biophysical variable that describes canopy geometric structures and growth conditions.It is also an important input parameter for climate,energy and carbon cycle models.The scaling effect of the LAI has always been of concern.Considering the effects of the clumping indices on the BRDF models of discrete canopies,an effective LAI is defined.The effective LAI has the same function of describing the leaf density as does the traditional LAI.Therefore,our study was based on the effective LAI.The spatial scaling effect of discrete canopies significantly differed from that of continuous canopies.Based on the directional second-derivative method of effective LAI retrieval,the mechanism responsible for the spatial scaling effect of the discrete-canopy LAI is discussed and a scaling transformation formula for the effective LAI is suggested in this paper.Theoretical analysis shows that the mean values of effective LAIs retrieved from high-resolution pixels were always equal to or larger than the effective LAIs retrieved from corresponding coarse-resolution pixels.Both the conclusions and the scaling transformation formula were validated with airborne hyperspectral remote sensing imagery obtained in Huailai County,Zhangjiakou,Hebei Province,China.The scaling transformation formula agreed well with the effective LAI retrieved from hyperspectral remote sensing imagery.展开更多
基金Project(50975059) supported by the National Natural Science Foundation of ChinaProject(2006AA04Z231) supported by the National High-Tech Research and Development Program of China+2 种基金Project(ZJG0709) supported by Key Natural Science Foundation of Heilongjiang Province of ChinaProject(B07018) supported by the Program of Introducing Talents of Discipline to UniversityProject (SKLRS200801A02) supported by Chinese State Key Laboratory of Robotics and System Foundation
文摘In order to investigate wheel slip-sinkage problem, which is important for the design, control and simulation of lunar rovers, experiments were carried out with a wheel-soil interaction test system to measure the sinkage of three types of wheels in dimension with wheel lugs of different heights and numbers under a series of slip ratios (0-0.6). The curves of wheel sinkage versus slip ratio were obtained and it was found that the sinkage with slip ratio of 0.6 is 3-7 times of the static sinkage. Based on the experimental results, the slip-sinkage principle of lunar's rover lugged wheels (including the sinkage caused by longitudinal flow and side flow of soil, and soil digging of wheel lugs) was analyzed, and corresponding calculation equations were derived. All the factors that can cause slip sinkage were considered to improve the conventional wheel-soil interaction model, and a formula of changing the sinkage exponent with the slip ratio was established. Mathematical model for calculating the sinkage of wheel according to vertical load and slip ratio was developed. Calculation results show that this model can predict the slip-sinkage of wheel with high precision, making up the deficiency of Wong-Reece model that mainly reflects longitudinal slip-sinkage.
基金Supported by National Natural Science Foundation of China (No. 50975195)Tianjin Research Program of Application Foundation and Advanced Technology (No. 10JCYBJC06500)
文摘This paper introduces the complexity and particularity of tube-sphere intersection weld(J-groove weld) and establishes the mathematical model of tube-sphere intersection trajectory.Based on the characteristics of J-groove welds,the computational process of welding gun orientation is first simplified.Then the kinematic algorithm of a welding robot is obtained according to screw theory and exponential product formula.Finally,Solidworks and SimMechanics are employed to simulate the kinematics of the welding robot,which proves the feasibility of the kinematic algorithm.
基金supported by the National Natural Science Foundation of China(Grant Nos.91025006,40871186,40730525)National Basic Research Program of China(Grant No.2007CB714402)National High Technology Research and Development Program of China(Grant Nos.2009AA12Z143,2009AA122103)
文摘The leaf area index(LAI) is a critical biophysical variable that describes canopy geometric structures and growth conditions.It is also an important input parameter for climate,energy and carbon cycle models.The scaling effect of the LAI has always been of concern.Considering the effects of the clumping indices on the BRDF models of discrete canopies,an effective LAI is defined.The effective LAI has the same function of describing the leaf density as does the traditional LAI.Therefore,our study was based on the effective LAI.The spatial scaling effect of discrete canopies significantly differed from that of continuous canopies.Based on the directional second-derivative method of effective LAI retrieval,the mechanism responsible for the spatial scaling effect of the discrete-canopy LAI is discussed and a scaling transformation formula for the effective LAI is suggested in this paper.Theoretical analysis shows that the mean values of effective LAIs retrieved from high-resolution pixels were always equal to or larger than the effective LAIs retrieved from corresponding coarse-resolution pixels.Both the conclusions and the scaling transformation formula were validated with airborne hyperspectral remote sensing imagery obtained in Huailai County,Zhangjiakou,Hebei Province,China.The scaling transformation formula agreed well with the effective LAI retrieved from hyperspectral remote sensing imagery.
