in the Houtu Temple at Miaoqian village, Baojing township, Wanting county,Shanxi, there exists the “Houtu Temple appearance Stele” carved in the 15th year, Tianhui reign, Jindynasty and recarved at the turn from the...in the Houtu Temple at Miaoqian village, Baojing township, Wanting county,Shanxi, there exists the “Houtu Temple appearance Stele” carved in the 15th year, Tianhui reign, Jindynasty and recarved at the turn from the Jiajing to the Tianqi reign, Ming period. The Stele depicts asmaller and a larger square platforms within the courtyard in front of the main hall. The former is asquare mound encircled by railings and must cover a stone case, while the latter, located in front of that,is an open-air terrace and functioned both as an altar and a stage.展开更多
Wave fields in Beibu Bay during Typhoon Damrey (2005) were simulated by SWAN wave model through inputting high resolution reanalysis wind fields data, current and water level data. Comparisons for wind input and wav...Wave fields in Beibu Bay during Typhoon Damrey (2005) were simulated by SWAN wave model through inputting high resolution reanalysis wind fields data, current and water level data. Comparisons for wind input and wave hindcast between observation and simulation show good consistency. Distributions of wave parameters such as wave height, wave period, wave length and wave direction under typhoon wind forcing were given. Also, the directional spectra related to the different position from the typhoon center were discussed. And at last, the variation and characteristics of observed frequency spectrum during the passage of Damrey were presented.展开更多
According to the characteristics of gravity passive navigation, this paper presents a novel gravity passive navigation system (GPNS), which consists of the rate azimuth platform (RAP), gravity sensor, digitally st...According to the characteristics of gravity passive navigation, this paper presents a novel gravity passive navigation system (GPNS), which consists of the rate azimuth platform (RAP), gravity sensor, digitally stored gravity maps, depth sensor and relative log. The algorithm of rate azimuth platform inertial navigation system, error state-space equations, measurement equations and GPNS optimal filter are described. In view of the measurements made by an onboard gravity sensor the Eotvos effect is introduced in the gravity measurement equation of a GPNS optimal filter. A GPNS is studied with the Matlab/Simulink tools; simulation results demonstrate that a GPNS has small errors in platform attitude and position. Because the inertial navigation platform is the rate azimuth platform in the GPNS and gravity sensor is mounted on the rate azimuth platform, the cost of the GPNS is lower than existing GPNS's and according to the above results the GPNS meets the need to maintain accuracy navigation for underwater vehicles over long intervals.展开更多
The cost of the gravity passive inertial navigation system will be lower witha rate azimuth platform and gravity sensor constituting a gravity measurement and navigationsystem. According to the system performance char...The cost of the gravity passive inertial navigation system will be lower witha rate azimuth platform and gravity sensor constituting a gravity measurement and navigationsystem. According to the system performance characteristics, we study the rate azimuth platforminertial navigation system (RAPINS), give the system navigation algorithm, error equations of theattitude, velocity and position of the rate azimuth platform, and random error models of theaccelerometer and gyro. Using the MATLAB/Simulink tools, we study the RAPINS and RAPINS withvelocity damping. Simulation results demonstrate that the RAPINS with velocity damping has smallerrors in platform attitude and position and satisfies gravity measurement and navigationrequirement.展开更多
The method of commensurability was used by the authors to predict the great earthquake of magnitude 7.5 that occurred on March 31,2002 in Taiwan 70km away from Hualian. Analyzing the earthquakes of magnitude≥7.0 whic...The method of commensurability was used by the authors to predict the great earthquake of magnitude 7.5 that occurred on March 31,2002 in Taiwan 70km away from Hualian. Analyzing the earthquakes of magnitude≥7.0 which occurred in the Hualian area of Taiwan within the 20th century, the authors discovered that the occurrences of the earthquakes are commensurable. The earthquakes of magnitude 7.6 which occurred in Hualian of Taiwan, on September 20th, 1999 and of magnitude 7.5 which occurred 70 km away from Hualian, on March 31th, 2002 appeared at the commensurable point of K=2 and the period times the golden section, respectively. An extended discussion is carried out on the method of commensurability and its implied physical significance, especially on the contribution of the commensurable periodic extension made by Prof. Weng Wenbo.展开更多
An idealized numerical wave flume has been established by finite element method on the bases of Navier Stokes equations through prescribing the appropriate boundary conditions for the open boundary,incident boundary,...An idealized numerical wave flume has been established by finite element method on the bases of Navier Stokes equations through prescribing the appropriate boundary conditions for the open boundary,incident boundary,free surface and solid boundary in this paper.The characteristics of waves propagating over a step have been investigated by this numerical model.The breaker wave height is determined depending on the kinetic criterion.The numerical model is verified by laboratory experiments,and the empirical formula for the damping of wave height due to breaking is also given by experiments.展开更多
A quasi-global high-resolution HYbrid Coordinate Ocean Model (HYCOM) is used to investigate seasonal variations of water transports through the four main straits in the South China Sea. The results show that the annua...A quasi-global high-resolution HYbrid Coordinate Ocean Model (HYCOM) is used to investigate seasonal variations of water transports through the four main straits in the South China Sea. The results show that the annual transports through the four straits Luzon Strait, Taiwan Strait, Sunda Shelf and Mindoro Strait are -4.5, 2.3, 0.5 and 1.7 Sv (1 Sv=106 m3s-1), respectively. The Mindoro Strait has an important outflow that accounts for over one third of the total inflow through the Luzon Strait. Furthermore, it indicates that there are strong seasonal variations of water transport in the four straits. The water transport through the Luzon Strait (Taiwan Strait, Sunda Shelf, Mindoro Strait) has a maximum value of -7.6 Sv in December (3.1 Sv in July, 2.1S v in January, 4.5Sv in November), a minimum value of -2.1 Sv in June (1.5 Sv in October, -1.0 Sv in June, -0.2 Sv in May), respectively.展开更多
In the process of designing self-elevating drilling unit, it is important, yet complicated, to use comparison and filtering to select the optimum scheme from the feasible ones. In this research, an index system and me...In the process of designing self-elevating drilling unit, it is important, yet complicated, to use comparison and filtering to select the optimum scheme from the feasible ones. In this research, an index system and methodology for the evaluation of self-elevating drilling unit was proposed. Based on this, a multi-objective combinatorial optimization model was developed, using the improved grey relation Analysis (GRA), in which the analytic hierarchy process (AHP) was used to determine the weights of the evaluating indices. It considered the connections within the indices, reflecting the objective nature of things, and also considered the subjective interests of ship owners and the needs of designers. The evaluation index system and evaluation method can be used in the selection of an optimal scheme and advanced assessment. A case study shows the index system and evaluation method are scientific, reasonable, and easy to put into practice. At the same time, such an evaluation index system and evaluation method will be helpful for making decisions for other mobile platforms.展开更多
In this paper, the prediction of the track for No.1 tropical cyclone, Neoguri, is concretely provided by using a special solution to (2-1)-dimensional Euler Equation.
Stability analysis of the dam is important for disaster prevention and reduction. The dam's geometry plays an important role in understanding its stability. This study develops a rapid landslide dam geometry asses...Stability analysis of the dam is important for disaster prevention and reduction. The dam's geometry plays an important role in understanding its stability. This study develops a rapid landslide dam geometry assessment method for both earthquake-induced and rainfall-induced landslide dams based on nine real cases collected in Chinese Taipei and 214 cases collected worldwide. For simplification purposes, a landslide dam is classified into triangular or trapezoidal. The rapid landslide dam geometry assessment method in this paper uses only satellite maps and the topographic maps to get landslide area, and then analyze the dam geometry. These maps are used to evaluate the area of the landslide and the slope of the river bed. Based on the evaluation information, the proposed method can calculate dam height, the length of the dam, and the angles of the dam in both upstream and downstream directions. These geometry parameters of a landslide dam provide important information for further dam stability analysis. The proposed methodology is applied to a real landslide dam case at Hsiaolin Village. The result shows that the proposed method can be used to assess the landslide dam geometry.展开更多
The sensitive regions of conditional nonlinear optimal perturbations (CNOPs) and the first singular vector (FSV) for a northwest Pacific typhoon case are reported in this paper. A large number of probes have been desi...The sensitive regions of conditional nonlinear optimal perturbations (CNOPs) and the first singular vector (FSV) for a northwest Pacific typhoon case are reported in this paper. A large number of probes have been designed in the above regions and the ensemble transform Kalman filter (ETKF) techniques are utilized to examine which approach can locate more appropriate regions for typhoon adaptive observations. The results show that, in general, the majority of the probes in the sensitive regions of CNOPs can reduce more forecast error variance than the probes in the sensitive regions of FSV. This implies that adaptive observations in the sensitive regions of CNOPs are more effective than in the sensitive regions of FSV. Furthermore, the reduction of the forecast error variance obtained by the best probe identified by CNOPs is twice the reduction of the forecast error variance obtained by FSV. This implies that dropping sondes, which is the best probe identified by CNOPs, can improve the forecast more than the best probe identified by FSV. These results indicate that the sensitive regions identified by CNOPs are more appropriate for adaptive observations than those identified by FSV.展开更多
A cryptosystem with non-commutative platform groups based on conjugator search problem was recently introduced at Neural Computing and Applications 2016. Its versatility was illustrated by building a public-key encryp...A cryptosystem with non-commutative platform groups based on conjugator search problem was recently introduced at Neural Computing and Applications 2016. Its versatility was illustrated by building a public-key encryption scheme. We propose an algebraic key-recovery attack in the polynomial computational complexity. Furthermore, we peel off the encryption and decryption process and propose attack methods for solving the conjugator search problem over the given non-abelian group. Finally, we provide corresponding practical attack examples to illustrate the attack methods in our cryptanalysis, and provide some improved suggestions.展开更多
The dynamic modeling and solution of the 3-RRS spatial parallel manipulators with flexible links were investigated. Firstly, a new model of spatial flexible beam element was proposed, and the dynamic equations of elem...The dynamic modeling and solution of the 3-RRS spatial parallel manipulators with flexible links were investigated. Firstly, a new model of spatial flexible beam element was proposed, and the dynamic equations of elements and branches of the parallel manipulator were derived. Secondly, according to the kinematic coupling relationship between the moving platform and flexible links, the kinematic constraints of the flexible parallel manipulator were proposed. Thirdly, using the kinematic constraint equations and dynamic model of the moving platform, the overall system dynamic equations of the parallel manipulator were obtained by assembling the dynamic equations of branches. FtLrthermore, a few commonly used effective solutions of second-order differential equation system with variable coefficients were discussed. Newmark numerical method was used to solve the dynamic equations of the flexible parallel manipulator. Finally, the dynamic responses of the moving platform and driving torques of the 3-RRS parallel mechanism with flexible links were analyzed through numerical simulation. The results provide important information for analysis of dynamic performance, dynamics optimization design, dynamic simulation and control of the 3-RRS flexible parallel manipulator.展开更多
Single-axis rotation technique is often used in the marine laser inertial navigation system so as to modulate the constant biases of non-axial gyroscopes and accelerometers to attain better navigation performance.Howe...Single-axis rotation technique is often used in the marine laser inertial navigation system so as to modulate the constant biases of non-axial gyroscopes and accelerometers to attain better navigation performance.However,two significant accelerometer nonlinear errors need to be attacked to improve the modulation effect.Firstly,the asymmetry scale factor inaccuracy enlarges the errors of frequent zero-cross oscillating specific force measured by non-axial accelerometers.Secondly,the traditional linear model of accelerometers can hardly measure the continued or intermittent acceleration accurately.These two nonlinear errors degrade the high-precision specific force measurement and the calibration of nonlinear coefficients because triaxial accelerometers is urgent for the marine navigation.Based on the digital signal sampling property,the square coefficients and cross-coupling coefficients of accelerometers are considered.Meanwhile,the asymmetry scale factors are considered in the I-F conversion unit.Thus,a nonlinear model of specific force measurement is established compared to the linear model.Based on the three-axis turntable,the triaxial gyroscopes are utilized to measure the specific force observation for triaxial accelerometers.Considering the nonlinear combination,the standard calibration parameters and asymmetry factors are separately estimated by a two-step iterative identification procedure.Besides,an efficient specific force calculation model is approximately derived to reduce the real-time computation cost.Simulation results illustrate the sufficient estimation accuracy of nonlinear coefficients.The experiments demonstrate that the nonlinear model shows much higher accuracy than the linear model in both the gravimetry and sway navigation validations.展开更多
The development of robust damage detection methods for offshore structures is crucial to prevent catastrophes caused by structural failures. In this research, we developed an Improved Modal Strain Energy (IMSE) meth...The development of robust damage detection methods for offshore structures is crucial to prevent catastrophes caused by structural failures. In this research, we developed an Improved Modal Strain Energy (IMSE) method for detecting damage in offshore platform structures based on a traditional modal strain energy method (the Stubbs index method). The most significant difference from the Stubbs index method was the application of modal frequencies. The goal was to improve the robustness of the traditional method. To demonstrate the effectiveness and practicality of the proposed IMSE method, both numerical and experimental studies were conducted for different damage scenarios using a jacket platform structure. The results demonstrated the effectiveness of the IMSE method in damage location when only limited, spatially incomplete, and noise-polluted modal data is available. Comparative studies showed that the IMSE index outperformed the Stubbs index and exhibited stronger robustness, confirming the superiority of the proposed approach.展开更多
Wafer pre-aligning system is an important component in IC manufacturing industry.A wafer pre-aligning platform with a CCD sensor is presented in this paper.The centering and notch detecting approaches are extended bas...Wafer pre-aligning system is an important component in IC manufacturing industry.A wafer pre-aligning platform with a CCD sensor is presented in this paper.The centering and notch detecting approaches are extended based on this platform. Least square circle fitting approach is adopted to calculate the center and radius of the wafer, and a formula for calculating the fitting error is derived. An approach called edge variation rate is also proposed to detect the range of wafer notch, and the fiducial is calculated by curve fitting approach. These approaches can improve the accuracy effectively as indicated by experiments.展开更多
A jack-up platform, with its particular structure, showed obvious dynamic characteristics under complex environmental loads in extreme conditions. In this paper, taking a simplified 3-D finite element dynamic model in...A jack-up platform, with its particular structure, showed obvious dynamic characteristics under complex environmental loads in extreme conditions. In this paper, taking a simplified 3-D finite element dynamic model in extreme storm conditions as research object, a transient dynamic analysis method was proposed, which was under both regular and irregular wave loads. The steps of dynamic analysis under extreme conditions were illustrated with an applied case, and the dynamic amplification factor (DAF) was calculated for each response parameter of base shear, overturning moment and hull sway. Finally, the structural response results of dynamic and static were compared and analyzed. The results indicated that the static strength analysis of the Jack-up Platforms was not enough under the dynamic loads including wave and current, further dynamic response analysis considering both computational efficiency and accuracy was necessary.展开更多
文摘in the Houtu Temple at Miaoqian village, Baojing township, Wanting county,Shanxi, there exists the “Houtu Temple appearance Stele” carved in the 15th year, Tianhui reign, Jindynasty and recarved at the turn from the Jiajing to the Tianqi reign, Ming period. The Stele depicts asmaller and a larger square platforms within the courtyard in front of the main hall. The former is asquare mound encircled by railings and must cover a stone case, while the latter, located in front of that,is an open-air terrace and functioned both as an altar and a stage.
文摘Wave fields in Beibu Bay during Typhoon Damrey (2005) were simulated by SWAN wave model through inputting high resolution reanalysis wind fields data, current and water level data. Comparisons for wind input and wave hindcast between observation and simulation show good consistency. Distributions of wave parameters such as wave height, wave period, wave length and wave direction under typhoon wind forcing were given. Also, the directional spectra related to the different position from the typhoon center were discussed. And at last, the variation and characteristics of observed frequency spectrum during the passage of Damrey were presented.
文摘According to the characteristics of gravity passive navigation, this paper presents a novel gravity passive navigation system (GPNS), which consists of the rate azimuth platform (RAP), gravity sensor, digitally stored gravity maps, depth sensor and relative log. The algorithm of rate azimuth platform inertial navigation system, error state-space equations, measurement equations and GPNS optimal filter are described. In view of the measurements made by an onboard gravity sensor the Eotvos effect is introduced in the gravity measurement equation of a GPNS optimal filter. A GPNS is studied with the Matlab/Simulink tools; simulation results demonstrate that a GPNS has small errors in platform attitude and position. Because the inertial navigation platform is the rate azimuth platform in the GPNS and gravity sensor is mounted on the rate azimuth platform, the cost of the GPNS is lower than existing GPNS's and according to the above results the GPNS meets the need to maintain accuracy navigation for underwater vehicles over long intervals.
文摘The cost of the gravity passive inertial navigation system will be lower witha rate azimuth platform and gravity sensor constituting a gravity measurement and navigationsystem. According to the system performance characteristics, we study the rate azimuth platforminertial navigation system (RAPINS), give the system navigation algorithm, error equations of theattitude, velocity and position of the rate azimuth platform, and random error models of theaccelerometer and gyro. Using the MATLAB/Simulink tools, we study the RAPINS and RAPINS withvelocity damping. Simulation results demonstrate that the RAPINS with velocity damping has smallerrors in platform attitude and position and satisfies gravity measurement and navigationrequirement.
基金This work was supported by the Nation’s Natural Science Found of China (No.10373017) and the Chinese Astronomical Committee Foundation.
文摘The method of commensurability was used by the authors to predict the great earthquake of magnitude 7.5 that occurred on March 31,2002 in Taiwan 70km away from Hualian. Analyzing the earthquakes of magnitude≥7.0 which occurred in the Hualian area of Taiwan within the 20th century, the authors discovered that the occurrences of the earthquakes are commensurable. The earthquakes of magnitude 7.6 which occurred in Hualian of Taiwan, on September 20th, 1999 and of magnitude 7.5 which occurred 70 km away from Hualian, on March 31th, 2002 appeared at the commensurable point of K=2 and the period times the golden section, respectively. An extended discussion is carried out on the method of commensurability and its implied physical significance, especially on the contribution of the commensurable periodic extension made by Prof. Weng Wenbo.
文摘An idealized numerical wave flume has been established by finite element method on the bases of Navier Stokes equations through prescribing the appropriate boundary conditions for the open boundary,incident boundary,free surface and solid boundary in this paper.The characteristics of waves propagating over a step have been investigated by this numerical model.The breaker wave height is determined depending on the kinetic criterion.The numerical model is verified by laboratory experiments,and the empirical formula for the damping of wave height due to breaking is also given by experiments.
基金Supported by National Natural Science Foundation of China (No. 40806012, 40876013)Open Fund of the Key Laboratory of Ocean Circulation and Waves, Chinese Academy of Sciences (No. KLOCAW0803)Scientific Research Foundation for talent, Guangdong Ocean University (No. E06118)
文摘A quasi-global high-resolution HYbrid Coordinate Ocean Model (HYCOM) is used to investigate seasonal variations of water transports through the four main straits in the South China Sea. The results show that the annual transports through the four straits Luzon Strait, Taiwan Strait, Sunda Shelf and Mindoro Strait are -4.5, 2.3, 0.5 and 1.7 Sv (1 Sv=106 m3s-1), respectively. The Mindoro Strait has an important outflow that accounts for over one third of the total inflow through the Luzon Strait. Furthermore, it indicates that there are strong seasonal variations of water transport in the four straits. The water transport through the Luzon Strait (Taiwan Strait, Sunda Shelf, Mindoro Strait) has a maximum value of -7.6 Sv in December (3.1 Sv in July, 2.1S v in January, 4.5Sv in November), a minimum value of -2.1 Sv in June (1.5 Sv in October, -1.0 Sv in June, -0.2 Sv in May), respectively.
基金Supported by the National 863 Plan Foundation under Grant No.2003AA414060
文摘In the process of designing self-elevating drilling unit, it is important, yet complicated, to use comparison and filtering to select the optimum scheme from the feasible ones. In this research, an index system and methodology for the evaluation of self-elevating drilling unit was proposed. Based on this, a multi-objective combinatorial optimization model was developed, using the improved grey relation Analysis (GRA), in which the analytic hierarchy process (AHP) was used to determine the weights of the evaluating indices. It considered the connections within the indices, reflecting the objective nature of things, and also considered the subjective interests of ship owners and the needs of designers. The evaluation index system and evaluation method can be used in the selection of an optimal scheme and advanced assessment. A case study shows the index system and evaluation method are scientific, reasonable, and easy to put into practice. At the same time, such an evaluation index system and evaluation method will be helpful for making decisions for other mobile platforms.
基金supported by the National Natural Science Foundations of China under Grant Nos.10475055,10601033,and 40305009National Basic Research Program of China (973 Program) under Grant No.2007CB814800
文摘In this paper, the prediction of the track for No.1 tropical cyclone, Neoguri, is concretely provided by using a special solution to (2-1)-dimensional Euler Equation.
基金supported by the National Science Council of the Chinese Taipei under Contracts No. NSC 101-2218-E-006-001
文摘Stability analysis of the dam is important for disaster prevention and reduction. The dam's geometry plays an important role in understanding its stability. This study develops a rapid landslide dam geometry assessment method for both earthquake-induced and rainfall-induced landslide dams based on nine real cases collected in Chinese Taipei and 214 cases collected worldwide. For simplification purposes, a landslide dam is classified into triangular or trapezoidal. The rapid landslide dam geometry assessment method in this paper uses only satellite maps and the topographic maps to get landslide area, and then analyze the dam geometry. These maps are used to evaluate the area of the landslide and the slope of the river bed. Based on the evaluation information, the proposed method can calculate dam height, the length of the dam, and the angles of the dam in both upstream and downstream directions. These geometry parameters of a landslide dam provide important information for further dam stability analysis. The proposed methodology is applied to a real landslide dam case at Hsiaolin Village. The result shows that the proposed method can be used to assess the landslide dam geometry.
基金jointly sponsored by the National Natural Science Foundation of China (Grant Nos. 40830955 and 40821092)the China Meteorological Administration (Grant No. GYHY200906009)
文摘The sensitive regions of conditional nonlinear optimal perturbations (CNOPs) and the first singular vector (FSV) for a northwest Pacific typhoon case are reported in this paper. A large number of probes have been designed in the above regions and the ensemble transform Kalman filter (ETKF) techniques are utilized to examine which approach can locate more appropriate regions for typhoon adaptive observations. The results show that, in general, the majority of the probes in the sensitive regions of CNOPs can reduce more forecast error variance than the probes in the sensitive regions of FSV. This implies that adaptive observations in the sensitive regions of CNOPs are more effective than in the sensitive regions of FSV. Furthermore, the reduction of the forecast error variance obtained by the best probe identified by CNOPs is twice the reduction of the forecast error variance obtained by FSV. This implies that dropping sondes, which is the best probe identified by CNOPs, can improve the forecast more than the best probe identified by FSV. These results indicate that the sensitive regions identified by CNOPs are more appropriate for adaptive observations than those identified by FSV.
基金supported by the State Key Program of National Natural Science of China(Grant Nos. 61332019)the National Natural Science Foundation of China (61572303)+7 种基金National Key Research and Development Program of China ( 2017YFB0802003 , 2017YFB0802004)National Cryptography Development Fund during the 13th Five-year Plan Period (MMJJ20170216)the Foundation of State Key Laboratory of Information Security (2017-MS-03)the Fundamental Research Funds for the Central Universities(GK201702004,GK201603084)Major State Basic Research Development Program of China (973 Program) (No.2014CB340600)National High-tech R&D Program of China(2015AA016002, 2015AA016004)Natural Science Foundation of He Bei Province (No. F2017201199)Science and technology research project of Hebei higher education (No. QN2017020)
文摘A cryptosystem with non-commutative platform groups based on conjugator search problem was recently introduced at Neural Computing and Applications 2016. Its versatility was illustrated by building a public-key encryption scheme. We propose an algebraic key-recovery attack in the polynomial computational complexity. Furthermore, we peel off the encryption and decryption process and propose attack methods for solving the conjugator search problem over the given non-abelian group. Finally, we provide corresponding practical attack examples to illustrate the attack methods in our cryptanalysis, and provide some improved suggestions.
基金Projects(50875002, 60705036) supported by the National Natural Science Foundation of ChinaProject(3062004) supported by Beijing Natural Science Foundation, China+1 种基金Project(20070104) supported by the Key Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of SciencesProject(2009AA04Z415) supported by the National High-Tech Research and Development Program of China
文摘The dynamic modeling and solution of the 3-RRS spatial parallel manipulators with flexible links were investigated. Firstly, a new model of spatial flexible beam element was proposed, and the dynamic equations of elements and branches of the parallel manipulator were derived. Secondly, according to the kinematic coupling relationship between the moving platform and flexible links, the kinematic constraints of the flexible parallel manipulator were proposed. Thirdly, using the kinematic constraint equations and dynamic model of the moving platform, the overall system dynamic equations of the parallel manipulator were obtained by assembling the dynamic equations of branches. FtLrthermore, a few commonly used effective solutions of second-order differential equation system with variable coefficients were discussed. Newmark numerical method was used to solve the dynamic equations of the flexible parallel manipulator. Finally, the dynamic responses of the moving platform and driving torques of the 3-RRS parallel mechanism with flexible links were analyzed through numerical simulation. The results provide important information for analysis of dynamic performance, dynamics optimization design, dynamic simulation and control of the 3-RRS flexible parallel manipulator.
基金Project(61174002)supported by the National Natural Science Foundation of ChinaProject(200897)supported by the Foundation of National Excellent Doctoral Dissertation of PR China+1 种基金Project(NCET-10-0900)supported by the Program for New Century ExcellentTalents in University,ChinaProject(131061)supported by the Fok Ying Tung Education Foundation,China
文摘Single-axis rotation technique is often used in the marine laser inertial navigation system so as to modulate the constant biases of non-axial gyroscopes and accelerometers to attain better navigation performance.However,two significant accelerometer nonlinear errors need to be attacked to improve the modulation effect.Firstly,the asymmetry scale factor inaccuracy enlarges the errors of frequent zero-cross oscillating specific force measured by non-axial accelerometers.Secondly,the traditional linear model of accelerometers can hardly measure the continued or intermittent acceleration accurately.These two nonlinear errors degrade the high-precision specific force measurement and the calibration of nonlinear coefficients because triaxial accelerometers is urgent for the marine navigation.Based on the digital signal sampling property,the square coefficients and cross-coupling coefficients of accelerometers are considered.Meanwhile,the asymmetry scale factors are considered in the I-F conversion unit.Thus,a nonlinear model of specific force measurement is established compared to the linear model.Based on the three-axis turntable,the triaxial gyroscopes are utilized to measure the specific force observation for triaxial accelerometers.Considering the nonlinear combination,the standard calibration parameters and asymmetry factors are separately estimated by a two-step iterative identification procedure.Besides,an efficient specific force calculation model is approximately derived to reduce the real-time computation cost.Simulation results illustrate the sufficient estimation accuracy of nonlinear coefficients.The experiments demonstrate that the nonlinear model shows much higher accuracy than the linear model in both the gravimetry and sway navigation validations.
基金Supported by the National Natural Science Foundation of China (51209189, 51379196), and the Natural Science Foundation of Shandong Province (ZR2013 EEQ006, ZR2011 EL049)
文摘The development of robust damage detection methods for offshore structures is crucial to prevent catastrophes caused by structural failures. In this research, we developed an Improved Modal Strain Energy (IMSE) method for detecting damage in offshore platform structures based on a traditional modal strain energy method (the Stubbs index method). The most significant difference from the Stubbs index method was the application of modal frequencies. The goal was to improve the robustness of the traditional method. To demonstrate the effectiveness and practicality of the proposed IMSE method, both numerical and experimental studies were conducted for different damage scenarios using a jacket platform structure. The results demonstrated the effectiveness of the IMSE method in damage location when only limited, spatially incomplete, and noise-polluted modal data is available. Comparative studies showed that the IMSE index outperformed the Stubbs index and exhibited stronger robustness, confirming the superiority of the proposed approach.
文摘Wafer pre-aligning system is an important component in IC manufacturing industry.A wafer pre-aligning platform with a CCD sensor is presented in this paper.The centering and notch detecting approaches are extended based on this platform. Least square circle fitting approach is adopted to calculate the center and radius of the wafer, and a formula for calculating the fitting error is derived. An approach called edge variation rate is also proposed to detect the range of wafer notch, and the fiducial is calculated by curve fitting approach. These approaches can improve the accuracy effectively as indicated by experiments.
基金Supported by the National Natural Science Foundation of China (Grant No.51079034) Fundamental Research Funds for the Central Universities (Grant No. HEUCFRI003).
文摘A jack-up platform, with its particular structure, showed obvious dynamic characteristics under complex environmental loads in extreme conditions. In this paper, taking a simplified 3-D finite element dynamic model in extreme storm conditions as research object, a transient dynamic analysis method was proposed, which was under both regular and irregular wave loads. The steps of dynamic analysis under extreme conditions were illustrated with an applied case, and the dynamic amplification factor (DAF) was calculated for each response parameter of base shear, overturning moment and hull sway. Finally, the structural response results of dynamic and static were compared and analyzed. The results indicated that the static strength analysis of the Jack-up Platforms was not enough under the dynamic loads including wave and current, further dynamic response analysis considering both computational efficiency and accuracy was necessary.