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基于旋转势场法的双足机器人避障路径规划方法 被引量:2
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作者 宋晖 殷国富 李光日 《四川大学学报(工程科学版)》 EI CAS CSCD 北大核心 2015年第5期167-171,共5页
针对双足机器人在实际环境中运动时难以实时规避障碍物的问题,提出一种基于旋转势场法的避障路径规划方法。该方法将足迹规划思想引入基于势场法的局部实时路径规划中,通过设计新的障碍物旋转势场来解决传统势场法的局部极小值问题,进... 针对双足机器人在实际环境中运动时难以实时规避障碍物的问题,提出一种基于旋转势场法的避障路径规划方法。该方法将足迹规划思想引入基于势场法的局部实时路径规划中,通过设计新的障碍物旋转势场来解决传统势场法的局部极小值问题,进而利用旋转势场和足迹规划间的映射关系实现双足机器人的实时避障运动。将该算法应用到1台双足机器人上进行实验验证,现场设定障碍物使路径更接近实际作业环境,机器人顺利完成了U型场地的避障,验证了该方法的有效性。 展开更多
关键词 双足机器人 旋转势 避障 路径规划
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CX_2(NO_2)_2(X=H,F,C1)分子旋转势和构型稳定性的ab initio研究
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作者 吴念慈 董南 +2 位作者 蔡国强 俞庆森 宗汉兴 《杭州大学学报(自然科学版)》 CSCD 1992年第2期172-178,共7页
本文用ab initio计算方法,采用STO-3G基组,对二硝基卤代甲烷CH_2(NO_2)_3(1),CF_2(NO_2)_2(2);CCl_2(NO_2)_2(3)等分子作了单点计算,研究其旋转势能.全构型优化研究了五个具有对称性构型的结构和稳定性,并作了理论分析和探讨.
关键词 分子旋转势 硝基卤代甲烷 稳定性
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(CX_3)_2Y型分子的内旋转势能函数
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作者 许宗荣 高艳玲 《光谱学与光谱分析》 SCIE EI CAS CSCD 北大核心 1997年第1期25-28,共4页
研究有M(≥2)个等价的N(≥3)重对称内旋转陀螺的分子,将内旋转运动方程解耦,应用无波函数微扰理论,导出内旋转能谱解析式。应用所得结果及扭转频率的光谱数据,确定了(CH3)2O与(CF3)2CO分子的内旋转势能函数。
关键词 旋转势函烽 CX3Y型 分子
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氢分子在Li(100)面的吸附旋转势能面研究
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作者 夏少武 王泽新 +2 位作者 王建新 贺传腾 牛节光 《青岛化工学院学报(自然科学版)》 1992年第1期36-41,共6页
利用推广的LEPS势分析H_2在Li(100)面的吸附、迁移、旋转等行为.给出的这种作用是短程相互作用,它因吸附位、吸附方式不同而不同,使H_2分别呈稳定分子吸附态、亚稳分子吸附态.这些吸附态通过H_2沿表面迁移而相互转换;通过H_2绕质心的转... 利用推广的LEPS势分析H_2在Li(100)面的吸附、迁移、旋转等行为.给出的这种作用是短程相互作用,它因吸附位、吸附方式不同而不同,使H_2分别呈稳定分子吸附态、亚稳分子吸附态.这些吸附态通过H_2沿表面迁移而相互转换;通过H_2绕质心的转动而进行立式与卧式吸附方式之间的转变.并指出亚稳分子吸附态具有变型小、属弱化学吸附,迁移性强,不易解离成原子等特性. 展开更多
关键词 催化 吸附态 活化分析 旋转势
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二维旋转简谐振子势的讨论 被引量:2
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作者 尹相宇 《大学物理》 北大核心 2009年第1期48-49,共2页
以二维旋转简谐振子势为例分析了在BEC中经常用到的旋转势,分析了哈密顿量的表达式,给出了波函数和能量本征值,并注意到了二维旋转简谐振子势与带电粒子在磁场中的情形具有相近的形式.
关键词 旋转势 BEC 简谐振子
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一种旋转塑性势面模型及非关联塑性流动法则 被引量:1
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作者 徐日庆 蒋佳琪 +1 位作者 冯苏阳 鞠露莹 《岩土力学》 EI CAS CSCD 北大核心 2020年第5期1474-1482,共9页
为了较好地描述软土塑性应变发展规律,提出了一种改进的塑性流动模型。该模型采用了与屈服函数形式相同,但具有一定倾角γ的塑性势函数。土体在变形过程中,塑性流动方向会依赖于塑性势面的旋转而变化,直至达到破坏状态。通过对常规三轴... 为了较好地描述软土塑性应变发展规律,提出了一种改进的塑性流动模型。该模型采用了与屈服函数形式相同,但具有一定倾角γ的塑性势函数。土体在变形过程中,塑性流动方向会依赖于塑性势面的旋转而变化,直至达到破坏状态。通过对常规三轴试验结果的分析可以发现:在剪切过程中,塑性势面旋转角的初值γ0与终值γd较为稳定,不受围压变化影响。在此试验观察基础上,引入了归一化的旋转角参数γ’以及描述土体应力状态的参数ξ,在采用蛋形势函数的情况下二者具有良好的分段线性关系。利用该关系,建立了改进的塑性流动法则,只需要2个额外的模型参数。对所提出的塑性流动模型进行了验证,计算结果表明该模型能较好地反映塑性应变的变化趋势。 展开更多
关键词 非关联塑性流动法则 旋转塑性 蛋形函数 应力状态
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一种交流异步电机旋转磁动势测定的方法探讨
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作者 张东盛 刘亚祥 《价值工程》 2010年第15期214-215,共2页
异步电机的旋转磁动势的形状和幅值对于电机的启动扭矩、性能等有着重要的影响。本文探讨了一种通过电流测量进而确定交流异步电机旋转磁动势的测定方法,从而实现对异步电机的设计和应用指明改善的方向。
关键词 旋转磁动 电流测量 异步电机
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异步电动机缺相磁通势分析:探究式教学应用
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作者 张小青 牛超英 《中国教育技术装备》 2014年第23期136-138,共3页
根据教学实验中出现的缺相运行现象,通过在课堂上应用探究式教学方法,针对异步电动机的定子绕组星形接法缺相、定子绕组三角形接法电源供电缺相及绕组断线缺相等几种情况分别进行相应的磁通势分析。
关键词 异步电动机 缺相 旋转磁通
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从磁动势视角透析双馈发电机的能量传递
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作者 王晓东 《船电技术》 2014年第10期70-73,共4页
双馈发电机以其励磁绕组采用空间三相对称绕组的结构特点,励磁电流采用幅值、频率、相位均可变化的交流电流调节方式,使之具有不仅能够充分利用转子动能,而且能够相对独立地调节有功、无功,并且还能大大减少对电网扰动的独特优势,因而... 双馈发电机以其励磁绕组采用空间三相对称绕组的结构特点,励磁电流采用幅值、频率、相位均可变化的交流电流调节方式,使之具有不仅能够充分利用转子动能,而且能够相对独立地调节有功、无功,并且还能大大减少对电网扰动的独特优势,因而得到日益广泛地应用。本文从双馈发电机等值电路和相量图入手,通过旋转磁动势并遵循能量守恒原理对双馈发电机能量传递进行分析探讨。 展开更多
关键词 双馈发电机 相量图 旋转磁动 能量守恒 能量传递
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由直流电动机到广义直流电动机自控方式的发展 被引量:2
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作者 童钟良 《电机与控制应用》 北大核心 2014年第9期39-44,50,共7页
从以交流观点分析直流电动机的电枢旋转磁动势着手,阐明多相矩形波电流产生合成磁动势的效果与三相正弦波电流相当,电枢电流相位自控条件下必形成气隙磁场箝位。对正弦波电枢电流实施相位自控在技术上复杂许多,矢量控制则是对正弦波电... 从以交流观点分析直流电动机的电枢旋转磁动势着手,阐明多相矩形波电流产生合成磁动势的效果与三相正弦波电流相当,电枢电流相位自控条件下必形成气隙磁场箝位。对正弦波电枢电流实施相位自控在技术上复杂许多,矢量控制则是对正弦波电流实施相位自控的有效手段。三相正弦交流的电机本体内气隙磁场箝位还呈功角或转矩角可行调整的特点,但与同步电机以功角作为自变量有本质差异。据此,联系电机可逆运行原理也能辨明广义直流电动机不是同步电机的新发展而是直流电机的新发展。 展开更多
关键词 直流电动机 旋转磁动 电流相位自控 磁场箝位 广义直流电动机
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感应电动机不对称运转模式
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作者 刘晓东 橐晓宇 陆敏华 《安全与电磁兼容》 2005年第2期78-84,共7页
针对感应电动机不对称工作时发射二次谐波,文章分析了椭圆形旋转磁场的运动规律,解释了现行理论的问题,建立了修正模式,说明不对称合成磁动势由两部分组成:一个呈闭合余弦曲线形状的以电源角速度正向旋转的驱动磁动势和无数个分布在驱... 针对感应电动机不对称工作时发射二次谐波,文章分析了椭圆形旋转磁场的运动规律,解释了现行理论的问题,建立了修正模式,说明不对称合成磁动势由两部分组成:一个呈闭合余弦曲线形状的以电源角速度正向旋转的驱动磁动势和无数个分布在驱动磁动势曲线上的以二倍电源角速度反向旋转的扰动磁动势,扰动磁动势在定子绕组产生二次谐波。 展开更多
关键词 感应电动机 不对称运转模式 二次谐波 旋转磁动 脉振磁动 驱动磁动 扰动磁动
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超固结土的蛋形弹塑性本构模型 被引量:1
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作者 蒋佳琪 徐日庆 +3 位作者 裘志坚 詹晓波 汪悦 成广谋 《浙江大学学报(工学版)》 EI CAS CSCD 北大核心 2021年第8期1444-1452,共9页
为了描述超固结软土在不同应力条件下的强度变形特征,以蛋形函数为基本框架,建立并发展适用于超固结土体的弹塑性本构模型.通过对一系列超固结土应力路径三轴压缩试验结果的分析,探讨土体在超固结状态下塑性应变的发展规律(剪胀/剪缩).... 为了描述超固结软土在不同应力条件下的强度变形特征,以蛋形函数为基本框架,建立并发展适用于超固结土体的弹塑性本构模型.通过对一系列超固结土应力路径三轴压缩试验结果的分析,探讨土体在超固结状态下塑性应变的发展规律(剪胀/剪缩).在先前提出的旋转塑性势面流动法则基础上对其进行发展与改进,引入峰值应力比,构建剪胀状态下归一化塑性势面旋转角与应力状态参数之间的近似线性关系,以满足超固结土的塑性变形特性.结合基于等效硬化参量的广义塑性功硬化原理构建超固结软土的蛋形弹塑性本构模型.将三轴压缩试验数据与数值预测结果进行对比以验证模型有效性,结果表明该模型可以有效反映超固结软土在不同加载条件下的应力应变特性,比如软化与剪胀. 展开更多
关键词 超固结软土 应变软化 剪胀 蛋形本构模型 旋转塑性 广义硬化原理
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电动机单相运行的原因及预防措施 被引量:1
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作者 李宁 《河南科技》 2011年第2X期60-60,共1页
在现代工业生产中,电动机的应用非常广泛,但是在生产当中电动机因缺相运行而造成烧毁的事故在生产中占有很大的比例,怎样减少这些问题的出现,全面提高电动机的使用效率,是一个值得认真思考的问题。
关键词 单相运行 预防措施 缺相运行 旋转磁动 过负荷保护 断相 轻载 热继电器 单相接地 动静触头
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单相电容运转式电动机空载过热的原因分析
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作者 杜志勇 戚新波 王鲜芳 《河南机电高等专科学校学报》 CAS 1997年第3期20-22,共3页
本文阐述了单相电容运转式电动机旋转磁场产生的基本条件,分析了空载过热的主要原因,提出了正确使用和维护的一般方法。
关键词 脉振磁动热 旋转磁动 椭圆形旋转磁动
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Quasi-classical Trajectory Study of F-I-H20→HF-I-OH Reaction: Influence of Barrier Height, Reactant Rotational Excitation, and Isotopic Substitution
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作者 Jun Li Hua Guo 《Chinese Journal of Chemical Physics》 SCIE CAS CSCD 2013年第6期627-634,I0003,共9页
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
关键词 Reaction dynamics Potential energy surface Isotopic effect
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Moment-Rotation Characteristics for Flexible Beam-to-Column Steel Joint Exposed to Fire
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作者 Mariusz Maslak Michal Pazdanowski Malgorzata Snela 《Journal of Civil Engineering and Architecture》 2015年第3期257-261,共5页
Analytical models used to describe behaviour of steel frame loadbearing structures in fully developed fire usually do not allow for reduced joint stiffness due to increased member temperature. Joints previously design... Analytical models used to describe behaviour of steel frame loadbearing structures in fully developed fire usually do not allow for reduced joint stiffness due to increased member temperature. Joints previously designed as nominally rigid tend to become flexible in fire situation, with degree of flexibility increasing during fire development. Reliable analysis of this phenomenon and its influence on the redistribution of internal forces result in the need for developing appropriate characteristics, describing relationship between bending moment applied to the joint and joint rotation. Characteristics of such type, specified for fire conditions, depend on steel temperature, in the current work, the authors propose a practical approach to develop such characteristics, based on the knowledge of analogous characteristic prepared for persistent design situation. The developed technique does not require to generalize the classical component method to the case of fire, which may be difficult in practical situations. The proposed computational algorithm has been tested on an example of a typical beam-to-column joint. 展开更多
关键词 Steel joint FIRE temperature FLEXIBILITY STIFFNESS rotation.
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The unified ideal model of mean motion resonance of artificial satellites due to geopotential perturbations 被引量:1
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作者 ZHANG MingJiang ZHAO ChangYin +2 位作者 XIONG YongQing SUN RongYu ZHU TingLei 《Science China(Physics,Mechanics & Astronomy)》 SCIE EI CAS 2013年第4期840-847,共8页
From Kaula's Earth gravitational potential written in classical orbital elements, the unified ideal model of mean motion resonance of artificial satellites due to geopotential perturbations is developed in this pa... From Kaula's Earth gravitational potential written in classical orbital elements, the unified ideal model of mean motion resonance of artificial satellites due to geopotential perturbations is developed in this paper first, through a suitable sequence of canonical transformations constructed by implicit functions. This unified ideal orbital resonance model is valid for all the commensurabilities between the rotational angular velocity of the Earth and the angular velocities of mean orbital motion of artificial satellites with arbitrary inclination and small eccentricity, and can be also transformed into Garfinkel's general expression of ideal resonance problem. Then 1/1 resonance of the 24-hour satellite with arbitrary inclination and small eccentricity is analyzed under the effect of harmonics of J2 and J 22 of the geopotential, based on the unified ideal model of mean motion resonance. The analytical expressions of the libration period and libration half width of the 1/1 resonance of the 24-hour satellite with arbitrary inclination and small eccentricity are presented. 展开更多
关键词 artificial satellite mean motion orbital resonance unified ideal model
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Effects of a Weakly Interacting Light U Boson on Protoneutron Stars Including the Hyperon-Hyperon Interactions 被引量:1
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作者 Zi Yu Yan Xu +1 位作者 Gui-Qing Zhang Tao-Ping Hu 《Communications in Theoretical Physics》 SCIE CAS CSCD 2018年第4期417-424,共8页
In the framework of the relativistic mean field theory including the hyperon-hyperon(YY) interactions,protoneutron stars with a weakly interacting light U boson are studied. The U-boson leads to the increase of the st... In the framework of the relativistic mean field theory including the hyperon-hyperon(YY) interactions,protoneutron stars with a weakly interacting light U boson are studied. The U-boson leads to the increase of the star maximum mass. The modification to the maximum mass by the U-boson with the strong YY interaction is larger than that with the weak YY interaction. The maximum mass of the protoneutron star is less sensitive to the U-boson than that of the neutron star. The inclusion of the U-boson narrows down the mass window for the hyperonized protoneutron stars. As g^2/μ~2 increases, the species of hyperons, which can appear in a stable protoneutron star decrease. The rotation frequency, the red shift, the momentum of inertia and the total neutrino fraction of PSR J1903-0327 are sensitive to the U-boson and change with g^2/μ~2 in an approximate linear trend. The possible way to constrain the coupling constants of the U-boson is discussed. 展开更多
关键词 neutron star U-boson hyperon-hyperon interactions
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Novel Rotating Hairy Black Hole in (2 + 1) Dimensions 被引量:2
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作者 赵柳 徐伟 祝斌 《Communications in Theoretical Physics》 SCIE CAS CSCD 2014年第4期475-481,共7页
We present some novel rotating hairy black hole metric in (2 + 1) dimensions, which is an exact solution to the field equations of the Einstein-scalar-AdS theory with a non-minimal coupling. The scalar potential is... We present some novel rotating hairy black hole metric in (2 + 1) dimensions, which is an exact solution to the field equations of the Einstein-scalar-AdS theory with a non-minimal coupling. The scalar potential is determined by the metric ansatz and consistency of the field equations and cannot be prescribed arbitrarily. In the simplified, critical ease, the scalar potential contains two independent constant parameters, which are respectively related to the mass and angular momentum of the black hole in a particular way. As long as the angular momentum does not vanish, the metric can have zero, one or two horizons. The case with no horizon is physically uninteresting because of the curvature singularity lying at the origin. We identify the necessary conditions for at least one horizon to be present in the solution, which imposes some bound on the mass-angular momentum ratio. For some particular choice of pararneters our solution degenerates into some previously known black hole solutions. 展开更多
关键词 rotating hairy black hole (2 1)-dimensional gravity non-minimal coupling scalar potential
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Ground and Low-Lying Collective States of Rotating Three-Boson System
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作者 Mohd.Imran M.A.H.Ahsan 《Communications in Theoretical Physics》 SCIE CAS CSCD 2016年第4期473-482,共10页
The ground and low-lying collective states of a rotating system of N=3 bosons harmonically confined in quasi-two-dimension and interacting via repulsive finite-range Gaussian potential is studied in weakly to moderate... The ground and low-lying collective states of a rotating system of N=3 bosons harmonically confined in quasi-two-dimension and interacting via repulsive finite-range Gaussian potential is studied in weakly to moderately interacting regime.The N-body Hamiltonian matrix is diagonalized in subspaces of quantized total angular momenta 0 ≤ L ≤ 4N to obtain the ground and low-lying eigenstates.Our numerical results show that breathing modes with N-body eigenenergy spacing of 2hω⊥,known to exist in strictly 2D system with zero-range(δ-function) interaction potential,may as well exist in quasi-2D system with finite-range Gaussian interaction potential.To gain an insight into the many-body states,the von Neumann entropy is calculated as a measure of quantum correlation and the conditional probability distribution is analyzed for the internal structure of the eigenstates.In the rapidly rotating regime the ground state in angular momentum subspaces L=(q/2)N(N-1) with q=2,4 is found to exhibit the anticorrelation structure suggesting that it may variationally be described by a Bose–Laughlin like state.We further observe that the first breathing mode exhibits features similar to the Bose–Laughlin state in having eigenenergy,von Neumann entropy and internal structure independent of interaction for the three-boson system considered here.On the contrary,for eigenstates lying between the Bose–Laughlin like ground state and the first breathing mode,values of eigenenergy,von Neumann entropy and internal structure are found to vary with interaction. 展开更多
关键词 Bose–Einstein condensation exact diagonalization breathing mode Bose–Laughlin state von Neumann entropy conditional probability distribution
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