A novel high-speed parallel kinematic machine （PKM） named Delta-S parallel manipulator is proposed, which consists of a fixed base connected to a moving platform through three limbs with identical topology. Each lim...A novel high-speed parallel kinematic machine （PKM） named Delta-S parallel manipulator is proposed, which consists of a fixed base connected to a moving platform through three limbs with identical topology. Each limb is composed of one driving ann and one follower arm, herein, the latter includes two strings and one middle rod, all located in a same plane. Compared with similar manipulators with uniform parameters, the novel and unique topology as well as the addition of two strings of Delta-S manipulator can remove the clearance of the spherical joints, reduce the inertial load of components further, improve the positioning accuracy and dynamic performance, and so on. In order to formulate the kineto-static model of Delta-S manipulator, the kineto-static analyses and models of the driving arm, the generalized follower and the moving platform can be carried out by the D＇ALEMBERT principle. For the sake of obtaining the force analytic results of strings, the deformation compatibility condition of strings and the middle rod are determined. Furthermore, in virtue of the assumption of small deformation and the linear superposition principle, the minimal pre-tightening force of the strings is calculated. The main results include that the loads of the strings and the middle rod must be larger than ＂zero＂ and the pre-tightening force over the workspace must be larger than the minimal pre-tightening force at any time within the workspace, which lay the foundation for the dynamic analysis and the prototype manufacture of the Delta-S manipulator.展开更多
Self-localization is one of the most important aspects for using mobile robots in unstructured environments. In this paper, the authors introduce a new approach for a self-localization and navigation unit for mobile p...Self-localization is one of the most important aspects for using mobile robots in unstructured environments. In this paper, the authors introduce a new approach for a self-localization and navigation unit for mobile platforms in extraterrestrial environments, based on the authors＂ successful results in self-localization of forestry machines on earth. The presented approach is developed from a highly modular concept, which allows a simple but efficient adaption to specific applications by just substituting some scenario dependent components. In this paper, the authors will explain the general concept and the terrestrial implementation so far. On this basis, the authors will demonstrate and discuss the necessary adaptions to the general concept in order to handle the different conditions on extraterrestrial surfaces.展开更多
This paper systematically analyzes the structure and function of mobile office system in cloud platform, puts forward the method how to blend the advantages of cloud computing to organically integrate mobile office sc...This paper systematically analyzes the structure and function of mobile office system in cloud platform, puts forward the method how to blend the advantages of cloud computing to organically integrate mobile office scene. Firstly, this paper introduces the key technology of mobile OA platform based on cloud computing; secondly, this paper proposes the ideas of cloud computing middleware combination with original system, and on this basis, forming a mobile office architecture model based on cloud computing, gives the mobile office platform architecture scheme, combined with the actual development problems in some model specifications and solutions to build mobile office system based on cloud computing..展开更多
The inter-story drift stiffness considered the semirigidity of beam and column joints connection, and P-Delta second order effect of steel frame parts in the mixed structure is presented in the paper. After considerin...The inter-story drift stiffness considered the semirigidity of beam and column joints connection, and P-Delta second order effect of steel frame parts in the mixed structure is presented in the paper. After considering on the influence of semirigidity between steel beams and steel columns, second order effect of beam-column members for steel frame and structural second order effect, the traditional continuum analytial method used in RC shear-frames wall structure is developed to steel frames-reinforced concrete shear wall mixed structure subject to horizontal load in this paper. A continuum approach, which is suitable for analyzing steel frames-reinforced concrete shear wall mixed structure subject to horizontal load, is presented. The method is relatively simple and more practical. It will be referred to structural design for steel frames-reinforced concrete shear wall mixed structure.展开更多
Modeling the mean and covariance simultaneously is a common strategy to efficiently estimate the mean parameters when applying generalized estimating equation techniques to longitudinal data. In this article, using ge...Modeling the mean and covariance simultaneously is a common strategy to efficiently estimate the mean parameters when applying generalized estimating equation techniques to longitudinal data. In this article, using generalized estimation equation techniques, we propose a new kind of regression models for parameterizing covariance structures. Using a novel Cholesky factor, the entries in this decomposition have moving average and log innovation interpretation and are modeled as the regression coefficients in both the mean and the linear functions of covariates. The resulting estimators for eovarianee are shown to be consistent and asymptotically normally distributed. Simulation studies and a real data analysis show that the proposed approach yields highly efficient estimators for the parameters in the mean, and provides parsimonious estimation for the covariance structure.展开更多
Ten years of SABER/TIMED temperature data are used to analyze the global structure and seasonal variations of the migrating 6-h tide from the stratosphere to the lower thermosphere. The amplitudes of the migrating 6-h...Ten years of SABER/TIMED temperature data are used to analyze the global structure and seasonal variations of the migrating 6-h tide from the stratosphere to the lower thermosphere. The amplitudes of the migrating 6-h tide increase with altitudes. In the stratosphere, the migrating 6-h tide peaks around 35°N/S. The climatologically annual mean of the migrating 6-h tide clearly shows the manifestation of the(4, 6) Hough mode between 70 and 90 km that peaks at the equator and near 35°N/S. Above 90 km, the 6-h tide shows more than one Hough mode with the(4, 6) mode being the dominant one. The migrating 6-h tide is stronger in the southern hemisphere. Annual, semiannual, 4-, and 3-month oscillations are the four dominant seasonal variations of the tidal amplitude. In the stratosphere and stratopause, the spring enhancement of the 6-h tide at middle latitudes is the most conspicuous feature. From the mesosphere to the lower thermosphere, the tidal amplitude at low latitudes is gradually in the scale of that at middle latitudes and exhibits different temporal variations at different altitudes and latitudes. Both ozone heating in the stratosphere and the background atmosphere probably affect the generation and the seasonal variations of the migrating 6-h tide. In addition, the non-linear interaction between different tidal harmonics is another possible mechanism.展开更多
基金Projects(50175295,50675151) supported by the National Natural Science Foundation of ChinaProject(11JCZDJC22700) supported by Tianjin Science and Technology Program,ChinaProject(2007AA042001) supported by the National High Technology Research and Development Program of China
文摘A novel high-speed parallel kinematic machine （PKM） named Delta-S parallel manipulator is proposed, which consists of a fixed base connected to a moving platform through three limbs with identical topology. Each limb is composed of one driving ann and one follower arm, herein, the latter includes two strings and one middle rod, all located in a same plane. Compared with similar manipulators with uniform parameters, the novel and unique topology as well as the addition of two strings of Delta-S manipulator can remove the clearance of the spherical joints, reduce the inertial load of components further, improve the positioning accuracy and dynamic performance, and so on. In order to formulate the kineto-static model of Delta-S manipulator, the kineto-static analyses and models of the driving arm, the generalized follower and the moving platform can be carried out by the D＇ALEMBERT principle. For the sake of obtaining the force analytic results of strings, the deformation compatibility condition of strings and the middle rod are determined. Furthermore, in virtue of the assumption of small deformation and the linear superposition principle, the minimal pre-tightening force of the strings is calculated. The main results include that the loads of the strings and the middle rod must be larger than ＂zero＂ and the pre-tightening force over the workspace must be larger than the minimal pre-tightening force at any time within the workspace, which lay the foundation for the dynamic analysis and the prototype manufacture of the Delta-S manipulator.
文摘Self-localization is one of the most important aspects for using mobile robots in unstructured environments. In this paper, the authors introduce a new approach for a self-localization and navigation unit for mobile platforms in extraterrestrial environments, based on the authors＂ successful results in self-localization of forestry machines on earth. The presented approach is developed from a highly modular concept, which allows a simple but efficient adaption to specific applications by just substituting some scenario dependent components. In this paper, the authors will explain the general concept and the terrestrial implementation so far. On this basis, the authors will demonstrate and discuss the necessary adaptions to the general concept in order to handle the different conditions on extraterrestrial surfaces.
文摘This paper systematically analyzes the structure and function of mobile office system in cloud platform, puts forward the method how to blend the advantages of cloud computing to organically integrate mobile office scene. Firstly, this paper introduces the key technology of mobile OA platform based on cloud computing; secondly, this paper proposes the ideas of cloud computing middleware combination with original system, and on this basis, forming a mobile office architecture model based on cloud computing, gives the mobile office platform architecture scheme, combined with the actual development problems in some model specifications and solutions to build mobile office system based on cloud computing..
文摘The inter-story drift stiffness considered the semirigidity of beam and column joints connection, and P-Delta second order effect of steel frame parts in the mixed structure is presented in the paper. After considering on the influence of semirigidity between steel beams and steel columns, second order effect of beam-column members for steel frame and structural second order effect, the traditional continuum analytial method used in RC shear-frames wall structure is developed to steel frames-reinforced concrete shear wall mixed structure subject to horizontal load in this paper. A continuum approach, which is suitable for analyzing steel frames-reinforced concrete shear wall mixed structure subject to horizontal load, is presented. The method is relatively simple and more practical. It will be referred to structural design for steel frames-reinforced concrete shear wall mixed structure.
基金supported by National Natural Science Foundation of China(Grant Nos.11271347 and 11171321)
文摘Modeling the mean and covariance simultaneously is a common strategy to efficiently estimate the mean parameters when applying generalized estimating equation techniques to longitudinal data. In this article, using generalized estimation equation techniques, we propose a new kind of regression models for parameterizing covariance structures. Using a novel Cholesky factor, the entries in this decomposition have moving average and log innovation interpretation and are modeled as the regression coefficients in both the mean and the linear functions of covariates. The resulting estimators for eovarianee are shown to be consistent and asymptotically normally distributed. Simulation studies and a real data analysis show that the proposed approach yields highly efficient estimators for the parameters in the mean, and provides parsimonious estimation for the covariance structure.
基金supported by the Chinese Academy of Sciences(Grant No.KZZD-EW-01-2)the National Natural Science Foundation of China(Grant Nos.41331069,41274153)+2 种基金the National Basic Research Program of China(Grant No.2011CB811405)the Specialized Research Fund for State Key Laboratories of Chinaperformed by Numerical Forecast Modelling R&D and VR System of State Key Lab.of Space Weather and Special HPC workstand of Chinese Meridian Project
文摘Ten years of SABER/TIMED temperature data are used to analyze the global structure and seasonal variations of the migrating 6-h tide from the stratosphere to the lower thermosphere. The amplitudes of the migrating 6-h tide increase with altitudes. In the stratosphere, the migrating 6-h tide peaks around 35°N/S. The climatologically annual mean of the migrating 6-h tide clearly shows the manifestation of the(4, 6) Hough mode between 70 and 90 km that peaks at the equator and near 35°N/S. Above 90 km, the 6-h tide shows more than one Hough mode with the(4, 6) mode being the dominant one. The migrating 6-h tide is stronger in the southern hemisphere. Annual, semiannual, 4-, and 3-month oscillations are the four dominant seasonal variations of the tidal amplitude. In the stratosphere and stratopause, the spring enhancement of the 6-h tide at middle latitudes is the most conspicuous feature. From the mesosphere to the lower thermosphere, the tidal amplitude at low latitudes is gradually in the scale of that at middle latitudes and exhibits different temporal variations at different altitudes and latitudes. Both ozone heating in the stratosphere and the background atmosphere probably affect the generation and the seasonal variations of the migrating 6-h tide. In addition, the non-linear interaction between different tidal harmonics is another possible mechanism.
