工业集装箱生产线码垛机器人运动单元轨迹控制

传统的控制方法没有充分考虑工业集装箱生产线码垛机器人运动过程中,连杆间的复杂关系和运动误差积累等因素,导致机器人的轨迹控制中出现冲突,只能以延迟平衡点等待时间的模式完成轨迹控制,缺少对平衡点的灵活调整过程。因此,提出一种工业集装箱生产线机器人轨迹控制方法。采用密码散列函数建立机器人运动的数学模型,计算四个连杆的坐标乘积并设定矩阵,求得各个连杆在标准状态下加速度和位姿,查找当下位姿与目标位姿间的最低误差并转换为条件函数。计算机器人在不同工况下到达目标点的位姿和关节角速度变化,设定一个超限范围并求解在范围内的机器人与平衡点间差值,按照制约关系实现适当调整。采用粒子群优化算法在轨迹范围内查找目标点,将位置与加速度等值实现模态拟合,得到一个最终的控制阈值,按照阈值实现合理控制。实验证明该方法控制精准度高,轨迹角度和距离的控制效果好。

一种快速的混合参数宏模型无源性补偿方法

针对高速数字系统的混合参数宏建模,采用模态矢量拟合算法具有模型拟合精度高,易于电路仿真集成的优点,但是初始生成的宏模型可能会在局部频带内不满足系统无源性。该文提出一种基于特征值模态的混合参数宏模型无源性补偿方法。首先构建了包含宏模型特征对的无源性目标函数,利用特征对加权的形式来控制参数扰动带来的模型精度变化,然后结合相应的无源性约束条件,将无源性补偿过程等效为可以解析求解的最小二乘优化问题。该方法在补偿混合参数宏模型无源性的同时,兼顾模型在任意端接激励源条件下的应用要求。结合实例并与留数扰动、模态扰动等无源性补偿方法进行比较,结果表明该方法在精度或效率方面均具有一定的优势。

高桩码头桩基动力损伤识别方法

结构的损伤对其动力特性会产生一定的影响,利用结构损伤前后的模态参数的变化来进行结构的损伤识别是行之有效的方法。然而结构在完整状态下的模态参数很难得到,损伤程度更是难以确定。针对上述问题,提出一种基于损伤状态下的拟合曲率模态的损伤识别方法:首先通过损伤后的位移模态拟合出无损伤位移模态,然后根据拟合出的位移模态得到拟合曲率模态,基于损伤后的真实曲率模态相对于拟合曲率模态的突变来判别损伤位置;引入曲率相对改变量、损伤位置参数和模态阶数作为损伤样本的特征向量,通过支持向量机判断结构损伤程度。实例分析表明该方法能够对高桩码头排架结构的损伤进行识别。

Numerical simulation of dynamic fracture properties of rocks under different static stress conditions

When underground cavities are subjected to explosive stress waves,a uniquely damaged zone may appear due to the combined effect of dynamic loading and static pre-load stress.In this study,a rate-dependent two-dimensional rock dynamic constitutive model was established to investigate the dynamic fractures of rocks under different static stress conditions.The effects of the loading rate and peak amplitude of the blasting wave under different confining pressures and the vertical compressive coefficient(K_(0))were considered.The numerical simulated results reproduced the initiation and further propagation of primary radial crack fractures,which were in agreement with the experimental results.The dynamic loading rate,peak amplitude,static vertical compressive coefficient(K_(0))and confining pressure affected the evolution of fractures around the borehole.The heterogeneity parameter(m)plays an important role in the evolution of fractures around the borehole.The crack propagation path became more discontinuous and rougher in a smallerheterogeneity parameter case.

Transient Absorption of the Chlorophyll a in Ethanol

The excited state of Chlorophyll a is investiga.ted by ferntosecond transient absorption. The transient absorption spectra of Q band and By band of Chlorophyll a in ethanol have been observed. The fast kinetics of Chlorophyll a which exhibit two ultrafast components were also ineasured. The one is assigned to transient absorption of the inhomogencously broadened ground state absorption spectrum, while the other is the response of the solvent to the change of the electron configuration in the excited state due to solvation dynamics of the polar solvent molecules. To understand the anisotropy of Chlorophyll a in ethanol, the anisotropy profile was also performed by 405 nm excitation and found that the anisotropy profile is 0.143. The possible combination of θda, θdb and η at at excitation of By band has been simulated.

Deterministic Generation of Quantum State Transfer Between Spatially Separated Single Molecule Magnets

We propose a new scheme for realizing deterministic quantum state transfer （QST） between two spatially separated single molecule magnets （SMMs） with the framework of cavity quantum eleetrodynamics （QED）. In the present scheme, two SMMs are trapped in two spatially separated optical cavities coupled by an optical fiber. Through strictly numerically simulating, we demonstrate that our scheme is robust with respect to the SMMs＇ spontaneous decay and fiber loss under the conditions of dispersive SMMs-field interaction and strong coupling of cavity fiber. In addition, we also discuss the influence of photon leakage out of cavities and show that our proposal is good enough to demonstrate the generation of QST with high fidelity utilizing the current experimental technology. The present investigation provides research opportunities for realizing QST between solid-state qubits and may result in a substantial impact on the progress of solid-state-based quantum communications network.

The microphysics of ice accretion on wires:Observations and simulations

The weather system, meteorological conditions, and microphysics of cloud, fog, and rain droplets are studied during the formation, growth, maintenance, and shedding periods of ice accretion on wires in Enshi, Hubei Province in China using 2008/2009 and 2009/2010 winter observations. The comprehensive observations include data of visibility, microphysics of fog and rain droplets, and ice thickness, as well as data from an automated weather station and other routinely recorded meteorological data. The results show that icing occurred during the passage of a cold front, with a high-pressure system and a cold temperature trough at 850 hPa, and a southeasterly at 500 hPa that provided abundant moisture. Ice formation usually started in the evening or early morning, and ice shed around noon the following day when the temperature was -1℃ to 0℃. The averaged liquid water content of the fog droplet was distinctly greater during the growth period than during the other three periods, and there was precipitation during the growth period in each case of ice accretion. The growth rate of the ice thickness was clearly correlated with the liquid water content, with a correlation coefficient of 0.62. Simulations using empirical equations were carried out, and the simulated ice thickness agreed with observations fairly well.

Regional Simulation of Soil Organic Carbon Dynamics for Dry Farmland in East China by Coupling a 1:500000 Soil Database with the Century Model

Changes in soil organic carbon (SOC) in agricultural soils influence soil quality and greenhouse gas concentrations in the atmosphere. Dry farmland covers more than 70% of the whole cropland area in China and plays an important role in mitigating carbon dioxide (CO2) emissions. In this study, 4109 dry farmland soil polygons were extracted using spatial overlay analysis of the soil layer (1:500000) and the land use layer (1:500000) to support Century model simulations of SOC dynamics for dry farmland in Anhui Province, East China from 1980 to 2008. Considering two field-validation sites, the Century model performed relatively well in modeling SOC dynamics for dry farmland in the province. The simulated results showed that the area-weighted mean soil organic carbon density (SOCD) of dry farmland increased from 18.77 Mg C ha1 in 1980 to 23.99 Mg C ha1 in 2008 with an average sequestration rate of 0.18 Mg C ha1 year?1. Approximately 94.9% of the total dry farmland area sequestered carbon while 5.1% had carbon lost. Over the past 29 years, the net SOC gain in dry farmland soils of the province was 19.37 Tg, with an average sequestration rate of 0.67 Tg C year1. Augmentation of SOC was primarily due to increased consumption of nitrogen fertilizer and farmyard manure. Moreover, SOC dynamics were highly differentiated among dry farmland soil groups. The integration of the Century model with a fine-scale soil database approach could be conveniently utilized as a tool for the accurate simulation of SOC dynamics at the regional scale.

Simulation of Unsteady State Performance of a Secondary Air System by the 1D-3D-Structure Coupled Method

This paper describes the calculation method for unsteady state conditions in the secondary air systems in gas turbines. The 1D-3D-Structure coupled method was applied. A 1D code was used to model the standard components that have typical geometric characteristics. Their flow and heat transfer were described by empirical correlations based on experimental data or CFD calculations. A 3D code was used to model the non-standard components that cannot be described by typical geometric languages, while a finite element analysis was carried out to compute the structural deformation and heat conduction at certain important positions. These codes were coupled through their interfaces. Thus, the changes in heat transfer and structure and their interactions caused by exterior disturbances can be reflected. The results of the coupling method in an unsteady state showed an apparent deviation from the existing data, while the results in the steady state were highly consistent with the existing data. The difference in the results in the unsteady state was caused primarily by structural deformation that cannot be predicted by the 1D method. Thus, in order to obtain the unsteady state performance of a secondary air system more accurately and efficiently, the 1D-3D-Structure coupled method should be used.