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三自由度并联仿生机械腿尺度分析与优化 被引量:1
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作者 王晓磊 金振林 +1 位作者 李晓丹 刘祥 《机械传动》 CSCD 北大核心 2018年第11期62-66,共5页
提出一种新型并联仿生机械腿,对该机械腿结构进行了尺度综合和优化。建立了该机械腿的位置矢量模型,推导了该机械腿的位置反解和速度映射方程,得到了速度雅可比矩阵。建立了机械腿的空间评价指标和运动灵巧指标,采用空间模型技术分析了... 提出一种新型并联仿生机械腿,对该机械腿结构进行了尺度综合和优化。建立了该机械腿的位置矢量模型,推导了该机械腿的位置反解和速度映射方程,得到了速度雅可比矩阵。建立了机械腿的空间评价指标和运动灵巧指标,采用空间模型技术分析了结构参数对机械腿工作空间评价指标和运动灵巧性指标的影响规律。结合加工与装配的工艺性,应用基于性能图谱的多目标概率参数优化法,选取了一组合理的结构参数,为仿生机械腿的静力学分析、动力学分析、刚度分析、轨迹规划和运动控制奠定了基础。 展开更多
关键词 并联仿生机械腿 尺度分析 参数优化 空间模型技术 性能图谱
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Construction of lake bathymetry from MODIS satellite data and GIS from 2003 to 2011
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作者 严翼 肖飞 杜耘 《Chinese Journal of Oceanology and Limnology》 SCIE CAS CSCD 2014年第3期720-731,共12页
In recent years, sedimentation conditions in Dongting Lake have varied greatly because of signifi cant changes in runoff and sediment load in the Changjiang(Yangtze) River following the construction of Three Gorges Da... In recent years, sedimentation conditions in Dongting Lake have varied greatly because of signifi cant changes in runoff and sediment load in the Changjiang(Yangtze) River following the construction of Three Gorges Dam. The topography of the lake bottom has changed rapidly because of the intense exchange of water and sediment between the lake and the Changjiang River. However, time series information on lake-bottom topographic change is lacking. In this study, we introduced a method that combines remote sensing data and in situ water level data to extract a record of Dongting Lake bottom topography from 2003 to 2011. Multi-temporal lake land/water boundaries were extracted from MODIS images using the linear spectral mixture model method. The elevation of water/land boundary points were calculated using water level data and spatial interpolation techniques. Digital elevation models of Dongting Lake bottom topography in different periods were then constructed with the multiple heighted waterlines. The mean root-mean-square error of the linear spectral mixture model was 0.036, and the mean predicted error for elevation interpolation was-0.19 m. Compared with fi eld measurement data and sediment load data, the method has proven to be most applicable. The results show that the topography of the bottom of Dongting Lake has exhibited uneven erosion and deposition in terms of time and space over the last nine years. Moreover, lake-bottom topography has undergone a slight erosion trend within this period, with 58.2% and 41.8% of the lake-bottom area being eroded and deposited, respectively. 展开更多
关键词 Dongting Lake geomorphy time-series maps remote sensing MODIS data water level
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