面向公路施工现场的三维实景模型建模方法

倾斜摄影实景三维模型是一种能够表达和刻画复杂公路施工现场的有效方式之一。然而由于倾斜摄影测量影像采集方式的局限性和公路施工现场环境的复杂性,塔吊、斜拉索等特殊重建对象的三维模型会发生结构破损、变形以及桥底等近地面遮挡区域出现纹理拉伸、缺失,所以需要针对不同类型重建对象的特征采取相适应的建模方法。针对公路施工现场实景三维建模的痛点问题,提出在获取倾斜影像基础上补充公路施工现场的近景影像,两者相互补充联合建模,解决桥底等近地面区域纹理缺失和结构拉伸的问题;采用DP Modeler与3ds Max联动建模方法解决类网状对象三维模型结构破损缺失问题。实验结果表明,该方法实现了公路施工现场精细化、高精度建模,为智慧工地的土方计量、变形监测等应用提供了可靠数据支撑。

Dynamic modeling and analysis of 3-■RS parallel manipulator with flexible links

The dynamic modeling and solution of the 3-RRS spatial parallel manipulators with flexible links were investigated. Firstly, a new model of spatial flexible beam element was proposed, and the dynamic equations of elements and branches of the parallel manipulator were derived. Secondly, according to the kinematic coupling relationship between the moving platform and flexible links, the kinematic constraints of the flexible parallel manipulator were proposed. Thirdly, using the kinematic constraint equations and dynamic model of the moving platform, the overall system dynamic equations of the parallel manipulator were obtained by assembling the dynamic equations of branches. FtLrthermore, a few commonly used effective solutions of second-order differential equation system with variable coefficients were discussed. Newmark numerical method was used to solve the dynamic equations of the flexible parallel manipulator. Finally, the dynamic responses of the moving platform and driving torques of the 3-RRS parallel mechanism with flexible links were analyzed through numerical simulation. The results provide important information for analysis of dynamic performance, dynamics optimization design, dynamic simulation and control of the 3-RRS flexible parallel manipulator.

Determinants of Female Employment Rate in the European Union

The aim of this paper is to provide a clear insight about the determinants of female employment rate in the European Union where we have used panel data analyses of 27 countries members of the European Union from 1995 till 2009. Applying dynamic modeling, i.e, generalized method of moments （GMM） econometrics findings have driven us to system estimated model where the following institutional variables have been tested： maternity leave, child care facilities, college education, fertility rate, GDP growth, female unemployment rate and part-time employment. We expect these variables to have a positive impact on the female employment rate except for the female unemployment rate and maternity leave

Elastodynamic modeling and joint reaction prediction for 3-PRS PKM

To gain a thorough understanding of the load state of parallel kinematic machines(PKMs), a methodology of elastodynamic modeling and joint reaction prediction is proposed. For this purpose, a Sprint Z3 model is used as a case study to illustrate the process of joint reaction analysis. The substructure synthesis method is applied to deriving an analytical elastodynamic model for the 3-PRS PKM device, in which the compliances of limbs and joints are considered. Each limb assembly is modeled as a spatial beam with non-uniform cross-section supported by lumped virtual springs at the centers of revolute and spherical joints. By introducing the deformation compatibility conditions between the limbs and the platform, the governing equations of motion of the system are obtained. After degenerating the governing equations into quasi-static equations, the effects of the gravity on system deflections and joint reactions are investigated with the purpose of providing useful information for the kinematic calibration and component strength calculations as well as structural optimizations of the 3-PRS PKM module. The simulation results indicate that the elastic deformation of the moving platform in the direction of gravity caused by gravity is quite large and cannot be ignored. Meanwhile, the distributions of joint reactions are axisymmetric and position-dependent. It is worthy to note that the proposed elastodynamic modeling method combines the benefits of accuracy of finite element method and concision of analytical method so that it can be used to predict the stiffness characteristics and joint reactions of a PKM throughout its entire workspace in a quick and accurate manner. Moreover, the present model can also be easily applied to evaluating the overall rigidity performance as well as statics of other PKMs with high efficiency after minor modifications.

Structural Synthesis, Dynamic Modeling and Analysis of a 3-DOF Asymmetric Parallel Mechanism

Most research papers about parallel kinematic chainmechanisms investigate symmetric robot manipulators, in which all the limbs connecting the end-effector to the fixed based are composed by the same sequence of links and joints. Contrarily, in some manipulation tasks the velocity and stiffness requirements are anisotropic. In such cases, the asymmetric parallel kinematic chain mechanisms may offer advantages. This work objective is to present the synthesis, dynamic modeling and analysis of a 3-dof asymmetric parallel chain mechanism, conceived as a robot manipulator for pick-and-place operations. Firs＇t, a structural synthesis, resulting in a three translations end-effector, and a kinematic modeling are carried out. Then, the inverse dynamic modeling is developed by employing the virtual work principle. Based on the model equations and on the saturation of the mechanism actuators, a maximum acceleration analysis is performed and shows that although the mechanism has a parallel architecture its actuators influences on the 3-dof are quite decoupled.