三自由度冗余驱动飞行模拟器设计及分析

提出一种三转动自由度冗余驱动飞行模拟器。在3-RRR球面并联机构的基础上,通过球面平行四边形机构的引入而实现冗余驱动,从而克服电机驱动相对于液压驱动功率相对较小的缺点。将一般3-RRR球面并联机构的参数进行变化,从而设计出体积相对较小的运动机构。利用空间球面解析理论建立了各支链的方向余弦,在方向余弦建立的基础上给出机构的雅可比矩阵。利用支链夹角不变原理建立了机构的约束方程,进行了运动学反解分析。考虑球面平行四边形冗余驱动支链的干涉情况,根据向量叉积定理计算得出了输入转角范围,并通过一种数值正解算法计算得到机构给定输入参数的工作空间。分析结果表明,在给定特定结构参数的情况下,所提出的飞行模拟器具有转角大的优点,远远大于传统的Stewart机构,从而为飞行模拟器的实际应用提供一种新的选择。

SYMMETRIC POSITIVE DEFINITE SOLUTIONS OF MATRIX EQUATIONS (AX,XB)=(C,D) AND AXB=C

The symmetric positive definite solutions of matrix equations (AX,XB)=(C,D) and AXB=C are considered in this paper. Necessary and sufficient conditions for the matrix equations to have symmetric positive definite solutions are derived using the singular value and the generalized singular value decompositions. The expressions for the general symmetric positive definite solutions are given when certain conditions hold.

Multiplicity Results for Second-order Generalized Sturm-Liouville Boundary Value Problems with Dependence on the First Order Derivative

By using fixed point theorems,we consider multiplicity of positive solutions for second-order generalized Sturm-Liouville boundary value problem,where the first order derivative is involved in the nonlinear term explicitly.We show the existence of multiple positive solutions for the problems.Example is given to illustrate the main results of the article.

B→ρ(ω,φ)η(′)Decays and NLO Contributions in pQCD Approach

By employing the perturbative QCD （pQCD） factorization approach, we calculate some important next- to-leading-order （NLO） contributions to the two-body charmless hadronic decays B^＋ →ρ^＋η（＇） and B^0 → ρ^0（ω, φ）η（＇）, induced by the vertex QCD corrections, the quark-loops as well as the chromo-magnetic penguins. From the numerical results and phenomenological analysis we find that （a） for B^± → ρ^±η（＇） （B^0 → ρ^0（ω, φ）η（＇）decays, the partial NLO contributions to branching ratios are small （large） in magnitude; and （b） the pQCD predictions for ACP^dir（B^± → ρ^±η（＇）） are consistent with the data, while the predicted .ACP（B^0 → ρ^0（ω）η（＇）） are generally large in magnitude and could be tested by the forthcoming LHCb experiments.

Heron Triangle and Diophantine Equation

In this paper, we study the quantic Diophantine equation （1） with elementary geometry method, therefore all positive integer solutions of the equation （1） are obtained, and existence of Heron triangle whose median lengths are all positive integer are discussed here.

Characterizations of Orthogonal Vector-valued Multivariate Wavelet Packets

In this paper, the notion of orthogonal vector-valued wavelet packets of space L2 （R^s, C^n） is introduced. A procedure for constructing the orthogonal vector-valued wavelet packets is presented. Their properties are characterized by virtue of time-frequency analysis method, matrix theory and finite group theory, and three orthogonality formulas are obtained. Finally, new orthonormal bases of space L2（R^s,C^n） are extracted from these wavelet packets.

The estimate for mean values on prime numbers relative to 4/p=1/(n_1) + 1/(n_2) + 1/(n_3)

If n is a positive integer,let f (n) denote the number of positive integer solutions (n 1,n 2,n 3) of the Diophantine equation 4/n=1/n_1 + 1/n_2 + 1/n_3.For the prime number p,f (p) can be split into f 1 (p) + f 2 (p),where f i (p) (i=1,2) counts those solutions with exactly i of denominators n 1,n 2,n 3 divisible by p.In this paper,we shall study the estimate for mean values ∑ p<x f i (p),i=1,2,where p denotes the prime number.

An Iterative Stabilized Scheme for Unsteady Incompressible Viscous Flow

An efficient iterative algorithm is presented for the numerical solution of viscous incompressible Navier-Stokes equations based on Taylor-Galerkin like split and pressure correction method in this paper. Taylor-Hood element is introduced to overcome the numerical difficulties arising from the fluid incompressibility. In order to confirm the properties of the algorithm, the numerical simulation on plane Poisseuille flow problem and lid- driven cavity flow problem with different Reynolds numbers is presented. The numerical results indicate that the proposed iterative version can be effectively applied to the simulation of viscous incompressible flows. Moreover, the proposed iterative version has a better overall performance in maximum time step size allowed, under comparable convergence rate, stability and accuracy, than other tested versions in numerical solutions of the plane PoisseuiUe flow with different Reynolds numbers ranging from low to high viscosities.

Existence and Global Asymptotic Behavior of Positive Solutions for Sublinear and Superlinear Fractional Boundary Value Problems

In this paper, the authors aim at proving two existence results of fractional differential boundary value problems of the form （Pa,bα）{D^au（x）＋f（x,u（x））=0,x∈（0,1）,u（0）=u（1）=0,D^a-3u（0）=a,u^（1）=-6where 3 ≤ a 〈 4, D^ is the standard Riemann-Liouville fractional derivative and a, b are nonnegative constants. First the authors suppose that f（x, t） = -p（x）t^σ, with cr ~ （-1, 1） and p being a nonnegative continuous function that may be singular at x - 0 or x - 1 and satisfies some conditions related to the Karamata regular variation theory. Combining sharp estimates on some potential functions and the Sch^uder fixed point theorem, the authors prove the existence of a unique positive continuous solution to problem （P0,0）. Global estimates on such a solution are also obtained. To state the second existence result, the authors assume that a, b are nonnegative constants such that a ＋ b 〉 0 and f（x, t） -= tφ（x, t）, with φ（x, t） being a nonnegative continuous function in （0, 1） × [0, ∞） that is required to satisfy some suitable integrability condition. Using estimates on the Green＇s function and a perturbation argument, the authors prove the existence and uniqueness of a positive continuous solution u to problem （Pa,b）, which behaves like the unique solution of the homogeneous problem corresponding the existence results. to （Pa,b）. Some examples are given to illustrate the existence results.,

Some results on the regularization of LSQR for large-scale discrete ill-posed problems

LSQR, a Lanczos bidiagonalization based Krylov subspace iterative method, and its mathematically equivalent conjugate gradient for least squares problems(CGLS) applied to normal equations system, are commonly used for large-scale discrete ill-posed problems. It is well known that LSQR and CGLS have regularizing effects, where the number of iterations plays the role of the regularization parameter. However, it has long been unknown whether the regularizing effects are good enough to find best possible regularized solutions. Here a best possible regularized solution means that it is at least as accurate as the best regularized solution obtained by the truncated singular value decomposition(TSVD) method. We establish bounds for the distance between the k-dimensional Krylov subspace and the k-dimensional dominant right singular space. They show that the Krylov subspace captures the dominant right singular space better for severely and moderately ill-posed problems than for mildly ill-posed problems. Our general conclusions are that LSQR has better regularizing effects for the first two kinds of problems than for the third kind, and a hybrid LSQR with additional regularization is generally needed for mildly ill-posed problems. Exploiting the established bounds, we derive an estimate for the accuracy of the rank k approximation generated by Lanczos bidiagonalization. Numerical experiments illustrate that the regularizing effects of LSQR are good enough to compute best possible regularized solutions for severely and moderately ill-posed problems, stronger than our theory, but they are not for mildly ill-posed problems and additional regularization is needed.