A design strategy for a research platform of a telepresence telerobot system based on virtual reality technology is put forward. The design frame of the system is described, and its important core techniques are descr...A design strategy for a research platform of a telepresence telerobot system based on virtual reality technology is put forward. The design frame of the system is described, and its important core techniques are described. An octrees data structure is utilized to build kinematic and dynamic modeling of the virtual simulation environment, Delphi+OpenGL+3DS MAX are adopted to carry through the virtual modeling and visible simulation exploitation of the slave-robot and its environment. Photo-correction is adopted to correct positioning deviation of the virtual geometric model and modeling errors. The cost of software and hardware equipment for the research platform realized is low. The master/slave robot (manipulator) system and all software in the system were designed and manufactured by our research group. The performance of the system has reached the level required for research. An indispensable experiment base is provided for the research of a telepresence telerobot system based on virtual reality technology.展开更多
The thermal decomposition of n-heptane is an important process in petroleum industry. The theoretical investigations show that the main products are C2H4, H2, CH4, and C3H6, which agree well with the experimental resu...The thermal decomposition of n-heptane is an important process in petroleum industry. The theoretical investigations show that the main products are C2H4, H2, CH4, and C3H6, which agree well with the experimental results. The products populations depend strongly on the temperature. The quantity of ethylene increases quickly as the temperature goes up. The conversion of n-heptane and the mole fraction of primary products from reactive molecular dynamic and chemical kinetic modeling are compared with each other. We also investigated the pre-exponential factor and activation energy for thermal decomposition of n-heptane by kinetic analysis from the reactive force field simulations, which were extracted to be 1.78×10^14 s^-1 and 47.32 kcal/mol respectively.展开更多
Supersonic axisymmetric jet flow over a missile afterbody containing exhaust jet is simulated using the second order accurate positive schemes method developed for solving the axisymmetric Euler equations based on the...Supersonic axisymmetric jet flow over a missile afterbody containing exhaust jet is simulated using the second order accurate positive schemes method developed for solving the axisymmetric Euler equations based on the 2-D conservation laws.Comparisons between the numerical results and the experimental measurements show excellent agreements.The computed results are in good agreement with the numerical solutions obtained by using third order accurate RKDG finite element method.The results show larger gradient at discontinuous points compared with those obtained by second order accurate TVD schemes.It indicates that the presented method is efficient and reliable for solving the axisymmetric jet with external freestream flows,and shows that the method captures shocks well without numerical noise.展开更多
在建立六自由度焊装机器人D-H坐标系及确定各手臂参数的基础上,研究其正逆运动学方程,设计其数值模拟算法,并在MATLAB环境下建立仿真模型,获得在定点控制模式下各个关节电机控制量,得到具有固定重力补偿的机器人控制模型;基于六自由度...在建立六自由度焊装机器人D-H坐标系及确定各手臂参数的基础上,研究其正逆运动学方程,设计其数值模拟算法,并在MATLAB环境下建立仿真模型,获得在定点控制模式下各个关节电机控制量,得到具有固定重力补偿的机器人控制模型;基于六自由度机器人动力学控制原理,在考虑电机特性及机器人手臂动力学特性的基础上,建立了具有传感器反馈控制的优化模型;在Tecnomatix环境下创建了四机器人焊接工位,利用其提供的Robotics功能模块,实现了机器人的路径及功能示教;利用DSP(Digital Single Processor,数字信号处理器)解算了机器人关节坐标的牛顿-欧拉逆运动学方程,并实时、快速处理传感器反馈信号,实现了对多个伺服系统的闭环控制。展开更多
文摘A design strategy for a research platform of a telepresence telerobot system based on virtual reality technology is put forward. The design frame of the system is described, and its important core techniques are described. An octrees data structure is utilized to build kinematic and dynamic modeling of the virtual simulation environment, Delphi+OpenGL+3DS MAX are adopted to carry through the virtual modeling and visible simulation exploitation of the slave-robot and its environment. Photo-correction is adopted to correct positioning deviation of the virtual geometric model and modeling errors. The cost of software and hardware equipment for the research platform realized is low. The master/slave robot (manipulator) system and all software in the system were designed and manufactured by our research group. The performance of the system has reached the level required for research. An indispensable experiment base is provided for the research of a telepresence telerobot system based on virtual reality technology.
基金This work was supported by the National Natural Science Foundation of China （No.21103117）.
文摘The thermal decomposition of n-heptane is an important process in petroleum industry. The theoretical investigations show that the main products are C2H4, H2, CH4, and C3H6, which agree well with the experimental results. The products populations depend strongly on the temperature. The quantity of ethylene increases quickly as the temperature goes up. The conversion of n-heptane and the mole fraction of primary products from reactive molecular dynamic and chemical kinetic modeling are compared with each other. We also investigated the pre-exponential factor and activation energy for thermal decomposition of n-heptane by kinetic analysis from the reactive force field simulations, which were extracted to be 1.78×10^14 s^-1 and 47.32 kcal/mol respectively.
基金Supported by the National Natural Defense Basic Scientific Research Program of China(A262006-1288)the Key Disciplines Program of Shanghai Municipal Commission of Education(J50501)~~
文摘Supersonic axisymmetric jet flow over a missile afterbody containing exhaust jet is simulated using the second order accurate positive schemes method developed for solving the axisymmetric Euler equations based on the 2-D conservation laws.Comparisons between the numerical results and the experimental measurements show excellent agreements.The computed results are in good agreement with the numerical solutions obtained by using third order accurate RKDG finite element method.The results show larger gradient at discontinuous points compared with those obtained by second order accurate TVD schemes.It indicates that the presented method is efficient and reliable for solving the axisymmetric jet with external freestream flows,and shows that the method captures shocks well without numerical noise.
文摘在建立六自由度焊装机器人D-H坐标系及确定各手臂参数的基础上,研究其正逆运动学方程,设计其数值模拟算法,并在MATLAB环境下建立仿真模型,获得在定点控制模式下各个关节电机控制量,得到具有固定重力补偿的机器人控制模型;基于六自由度机器人动力学控制原理,在考虑电机特性及机器人手臂动力学特性的基础上,建立了具有传感器反馈控制的优化模型;在Tecnomatix环境下创建了四机器人焊接工位,利用其提供的Robotics功能模块,实现了机器人的路径及功能示教;利用DSP(Digital Single Processor,数字信号处理器)解算了机器人关节坐标的牛顿-欧拉逆运动学方程,并实时、快速处理传感器反馈信号,实现了对多个伺服系统的闭环控制。
