We have studied the effects of the finite range on the fusion and/or breakup of ^6He^+238U and ^11Li+^208pb Pb dynamic polarization potential approach. It has been found of the interaction between the fragments of t...We have studied the effects of the finite range on the fusion and/or breakup of ^6He^+238U and ^11Li+^208pb Pb dynamic polarization potential approach. It has been found of the interaction between the fragments of the projectile systems at near barrier energies within the framework of that at near barrier energies the maximum flux is lost to the breakup channel and at energies well above the Coulomb barrier the fusion coupled with the breakup channel opens up, initially with sharp rise and later becoming saturated at energy nearly twice of the Coulomb barrier. Further, it is found that the breakup cross section increases with the increasing range of the interaction between the fragments of the projectile while the fusion coupled with the breakup channel cross section decreases with the increasing range.展开更多
An optimal trajectory planning method has been proposed for the walking locomotion of a biped mechanical system with thighs, shanks and small feet, which is modelled as a 3 DOF link system consisting of an inverted pe...An optimal trajectory planning method has been proposed for the walking locomotion of a biped mechanical system with thighs, shanks and small feet, which is modelled as a 3 DOF link system consisting of an inverted pendulum and a 2 DOF swing leg. The locomotion of swing and supporting legs is solved by the optimal trajectory planning based on function approximation. The optimal trajectory planning based on function approximation. The optimal walking locomotion solution with minimum square of input torque exhibits a natural walking gait with one step period of 0.64 s similar to the human walking gait by using the link parameters of an adult’s leg. It is concluded from the computation results that the method proposed in this paper has been proved to be an effective tool for solving the optimal walking locomotion and joint control torque problems for a 3 DOF biped mechanism; when the ankle joint of the supporting leg is a passive joint, a nearly, optimal walking solution can be obtained at t 1=0.49 s and t 2=10 s, and however, when the knee is a passive joint, it is impossible to obtain a solution which satisfies the constraint condition; for the link parameters used in this paper, the length of an optimal stride is 0.3 m.展开更多
文摘We have studied the effects of the finite range on the fusion and/or breakup of ^6He^+238U and ^11Li+^208pb Pb dynamic polarization potential approach. It has been found of the interaction between the fragments of the projectile systems at near barrier energies within the framework of that at near barrier energies the maximum flux is lost to the breakup channel and at energies well above the Coulomb barrier the fusion coupled with the breakup channel opens up, initially with sharp rise and later becoming saturated at energy nearly twice of the Coulomb barrier. Further, it is found that the breakup cross section increases with the increasing range of the interaction between the fragments of the projectile while the fusion coupled with the breakup channel cross section decreases with the increasing range.
文摘An optimal trajectory planning method has been proposed for the walking locomotion of a biped mechanical system with thighs, shanks and small feet, which is modelled as a 3 DOF link system consisting of an inverted pendulum and a 2 DOF swing leg. The locomotion of swing and supporting legs is solved by the optimal trajectory planning based on function approximation. The optimal trajectory planning based on function approximation. The optimal walking locomotion solution with minimum square of input torque exhibits a natural walking gait with one step period of 0.64 s similar to the human walking gait by using the link parameters of an adult’s leg. It is concluded from the computation results that the method proposed in this paper has been proved to be an effective tool for solving the optimal walking locomotion and joint control torque problems for a 3 DOF biped mechanism; when the ankle joint of the supporting leg is a passive joint, a nearly, optimal walking solution can be obtained at t 1=0.49 s and t 2=10 s, and however, when the knee is a passive joint, it is impossible to obtain a solution which satisfies the constraint condition; for the link parameters used in this paper, the length of an optimal stride is 0.3 m.