In order to obtain direct solutions of parallel manipulator without divergence in real time,a modified global Newton-Raphson(MGNR) algorithm was proposed for forward kinematics analysis of six-degree-of-freedom(DOF) p...In order to obtain direct solutions of parallel manipulator without divergence in real time,a modified global Newton-Raphson(MGNR) algorithm was proposed for forward kinematics analysis of six-degree-of-freedom(DOF) parallel manipulator.Based on geometrical frame of parallel manipulator,the highly nonlinear equations of kinematics were derived using analytical approach.The MGNR algorithm was developed for the nonlinear equations based on Tailor expansion and Newton-Raphson iteration.The procedure of MGNR algorithm was programmed in Matlab/Simulink and compiled to a real-time computer with Microsoft visual studio.NET for implementation.The performance of the MGNR algorithms for 6-DOF parallel manipulator was analyzed and confirmed.Applying the MGNR algorithm,the real generalized pose of moving platform is solved by using the set of given positions of actuators.The theoretical analysis and numerical results indicate that the presented method can achieve the numerical convergent solution in less than 1 ms with high accuracy(1×10-9 m in linear motion and 1×10-9 rad in angular motion),even the initial guess value is far from the root.展开更多
In the continuous casting production of medium carbon steel (whose mass fraction of carbon is 0.09 % to 0.16 %) and high strength low alloy steel (whose mass fraction of Mn is 0.90 % to 1.40 %), flecks occurring the m...In the continuous casting production of medium carbon steel (whose mass fraction of carbon is 0.09 % to 0.16 %) and high strength low alloy steel (whose mass fraction of Mn is 0.90 % to 1.40 %), flecks occurring the most often are usually longitudinal and star cracks. In additional to the employment of a galvanized plate mould, two kinds of fluxes with special properties were studied and used to harmonize the conflicts between the function of heat transfer and lubrication. An industrial application revealed that the crystallizing temperature (Tc) and crystal ratio (R) of fluxes have a crucible effect on impeding the occurrence of above defects on a slab surface. In the case of slab section (180 to 240) mm(1000 to 1400) mm and casting speed Vc of (0.7 to 1.2) m/min, the optimized parameters of fluxes are Tc of (1170 to 1190) ℃, R of 80 % to 95 % for medium carbon steel, and Tc of (1100 to 1150) ℃, plus R of 40 % to 60 % for high strength low alloy steel.展开更多
The economic crisis, which has spread all over the world, soon has become a major scoop for all media. We hear about the effects of the economic crisis on a daily basis----countries going bankrupt, toppled governments...The economic crisis, which has spread all over the world, soon has become a major scoop for all media. We hear about the effects of the economic crisis on a daily basis----countries going bankrupt, toppled governments, high unemployment rate, lay-offs, and suicides caused by hopeless situation. Montenegrin media also pay considerable attention to economic problems. However, judging by the headlines, the media have no aim to provide citizens with objective reporting of the circumstances in the country. Instead, in the circumstances of economic crisis and depending on their editorial policy, they are trying to manipulate the public. Some portray the situation better than it actually is, failing to provide realistic information of the issues such as unemployment rate, inflation, average wages, and protests of dissatisfied citizens, while the others are focused on attacking their political opponents by hyping up the effects of economic crisis and portraying the events in the worst possible light. Basically, both are driven primarily by their own interests and not by the interests of the citizens.展开更多
基金Project(HgdJG00401D04) supported by National 921 Manned Space Project Foundation of ChinaProject(SKLRS200803B) supported by the Self-Planned Task Foundation of State Key Laboratory of Robotics and System (HIT) of China+1 种基金Project(CDAZ98502211) supported by China’s "World Class University (985)" Project FoundationProject(50975055) supported by the National Natural Science Foundation of China
文摘In order to obtain direct solutions of parallel manipulator without divergence in real time,a modified global Newton-Raphson(MGNR) algorithm was proposed for forward kinematics analysis of six-degree-of-freedom(DOF) parallel manipulator.Based on geometrical frame of parallel manipulator,the highly nonlinear equations of kinematics were derived using analytical approach.The MGNR algorithm was developed for the nonlinear equations based on Tailor expansion and Newton-Raphson iteration.The procedure of MGNR algorithm was programmed in Matlab/Simulink and compiled to a real-time computer with Microsoft visual studio.NET for implementation.The performance of the MGNR algorithms for 6-DOF parallel manipulator was analyzed and confirmed.Applying the MGNR algorithm,the real generalized pose of moving platform is solved by using the set of given positions of actuators.The theoretical analysis and numerical results indicate that the presented method can achieve the numerical convergent solution in less than 1 ms with high accuracy(1×10-9 m in linear motion and 1×10-9 rad in angular motion),even the initial guess value is far from the root.
文摘In the continuous casting production of medium carbon steel (whose mass fraction of carbon is 0.09 % to 0.16 %) and high strength low alloy steel (whose mass fraction of Mn is 0.90 % to 1.40 %), flecks occurring the most often are usually longitudinal and star cracks. In additional to the employment of a galvanized plate mould, two kinds of fluxes with special properties were studied and used to harmonize the conflicts between the function of heat transfer and lubrication. An industrial application revealed that the crystallizing temperature (Tc) and crystal ratio (R) of fluxes have a crucible effect on impeding the occurrence of above defects on a slab surface. In the case of slab section (180 to 240) mm(1000 to 1400) mm and casting speed Vc of (0.7 to 1.2) m/min, the optimized parameters of fluxes are Tc of (1170 to 1190) ℃, R of 80 % to 95 % for medium carbon steel, and Tc of (1100 to 1150) ℃, plus R of 40 % to 60 % for high strength low alloy steel.
文摘The economic crisis, which has spread all over the world, soon has become a major scoop for all media. We hear about the effects of the economic crisis on a daily basis----countries going bankrupt, toppled governments, high unemployment rate, lay-offs, and suicides caused by hopeless situation. Montenegrin media also pay considerable attention to economic problems. However, judging by the headlines, the media have no aim to provide citizens with objective reporting of the circumstances in the country. Instead, in the circumstances of economic crisis and depending on their editorial policy, they are trying to manipulate the public. Some portray the situation better than it actually is, failing to provide realistic information of the issues such as unemployment rate, inflation, average wages, and protests of dissatisfied citizens, while the others are focused on attacking their political opponents by hyping up the effects of economic crisis and portraying the events in the worst possible light. Basically, both are driven primarily by their own interests and not by the interests of the citizens.
