Assembly errors have great influence on assembly quality in robotic assembly systems. Error analysis is directed to the propagations and accumula-tions of various errors and their effect on assembly success.Using the ...Assembly errors have great influence on assembly quality in robotic assembly systems. Error analysis is directed to the propagations and accumula-tions of various errors and their effect on assembly success.Using the screw coordinates, assembly errors are represented as 'error twist', the extremely compact expression. According to the law of screw composition, relative position and orientation errors of mating parts are computed and the necessary condition of assembly success is concluded. A new simple method for measuring assembly errors is also proposed based on the transformation law of a screw.Because of the compact representation of error, the model presented for error analysis can be applied to various part- mating types and especially useful for error analysis of complexity assembly.展开更多
To make the detecting robot move on the surface of the finned tubes, a novel combined moving mechanism is developed. The combined moving mechanism is composed of sprocket wheel and drum-like small wheel installed on t...To make the detecting robot move on the surface of the finned tubes, a novel combined moving mechanism is developed. The combined moving mechanism is composed of sprocket wheel and drum-like small wheel installed on the chain. It can make the robot move independently in the direction parallel to the tubes and in the direction perpendicular to the tubes. This paper made a detailed discussion on the composition of the combined moving mechanism, the design method of the conjugate outline curve and the circular-arc outline curve of the drum-like small wheel that meshes with the tubes. The error of the circular-arc outline curve is also analyzed.展开更多
This paper presents Isotope, an efficient, locality aware, fault-tolerant, and decentralized scheme for data location in distributed networks. This scheme is designed based on the mathematical model of decentralized l...This paper presents Isotope, an efficient, locality aware, fault-tolerant, and decentralized scheme for data location in distributed networks. This scheme is designed based on the mathematical model of decentralized location services and thus has provable correctness and performance. In Isotope, each node needs to only maintain linkage information with about O(log n) other nodes and any node can be reached within O(log n) routing hops. Compared with other related schemes, Isotope’s average locating path length is only half that of Chord, and its locating performance and locality-awareness are similar to that of Pastry and Tapestry. In addition, Isotope is more suitable for constantly changing networks because it needs to exchange only O(log n) O(log n) messages to update the routing information for nodes arrival, departure and failure.展开更多
Accounting concepts dictate that separately disclosed components should contain separate useful information. This paper examines the relations between income statement components and analysts＇ earnings forecasts and ...Accounting concepts dictate that separately disclosed components should contain separate useful information. This paper examines the relations between income statement components and analysts＇ earnings forecasts and forecast errors. Regressions explaining earnings forecasts using earnings components provide a better fit than regression using just aggregate income to explain forecasts. We interpret this as consistent with the hypothesis that analysts use incremental information in components not available in aggregate income. However, additional tests based on predictability of forecast errors indicate that analysts do not incorporate all information available in components into earnings forecasts. In addition, this inefficiency appears to increase at longer forecast horizons.展开更多
Since the process writing was raised in the L2 writing in 1970s, the feedback has been an important part of teaching. A range of researchers have investigated the effect of different types of error feedback to find wh...Since the process writing was raised in the L2 writing in 1970s, the feedback has been an important part of teaching. A range of researchers have investigated the effect of different types of error feedback to find whether the feedback can help L2 writers improve the accuracy of their writing. Similar to the previously discussed question, they have also reached rather controversial conclusions. Most often, these studies have categorized corrective feedback as either direct or indirect. To explore the effects of corrective feedback in L2 writing, the paper investigated the types of feedback given to 30 college students of Tianhe College in Guangdong province. The study improved that correction feedback can improve accuracy in student writing.展开更多
After the Yutian M_S7.3 earthquake,the authors instantly collected 1Hz high frequency data of the 4 reference stations within 350 km around the epicenter,and calculated the GNSS data with the TRACK module. The results...After the Yutian M_S7.3 earthquake,the authors instantly collected 1Hz high frequency data of the 4 reference stations within 350 km around the epicenter,and calculated the GNSS data with the TRACK module. The results showed that:( 1) The co-seismic displacement of Yutian station,about 54 km from the epicenter,is the most obvious,particularly in the EW component,with a change of about 52.5 ± 11mm,which is more than three times the mean-square error of calculating precision.( 2) In the Yutian reference station,the biggest variation in the EW component appeared within 1 minute after the earthquake.( 3) The change in the NS component is not great.展开更多
This study examines econometric relationships between bank lending and the business cycle in Turkey. Firstly, the cyclical components of the real GDP and real bank loans were determined using time series. A cointegrat...This study examines econometric relationships between bank lending and the business cycle in Turkey. Firstly, the cyclical components of the real GDP and real bank loans were determined using time series. A cointegration analysis and a vector error-correction model with quarterly data were used for period of 1987：01-2013：03. The results of cointegration analysis indicate that there is a single stable long-run equilibrium relationship between real bank loans and macroeconomic variables. The response of bank loans to GDP shocks is positive. Bank loans have pro-cyclical character in Turkey.展开更多
Geostationary(GEO) satellites form an indispensable component of the constellation of Beidou navigation system(BDS). The ephemerides, or predicted orbits of these GEO satellites(GEOs), are broadcast to positioning, na...Geostationary(GEO) satellites form an indispensable component of the constellation of Beidou navigation system(BDS). The ephemerides, or predicted orbits of these GEO satellites(GEOs), are broadcast to positioning, navigation, and timing users. User equivalent ranging error(UERE) based on broadcast message is better than 1.5 m(root formal errors: RMS) for GEO satellites. However, monitoring of UERE indicates that the orbital prediction precision is significantly degraded when the Sun is close to the Earth's equatorial plane(or near spring or autumn Equinox). Error source analysis shows that the complicated solar radiation pressure on satellite buses and the simple box-wing model maybe the major contributor to the deterioration of orbital precision. With the aid of BDS' two-way frequency and time transfer between the GEOs and Beidou time(BDT, that is maintained at the master control station), we propose a new orbit determination strategy, namely three-step approach of the multi-satellite precise orbit determination(MPOD). Pseudo-range(carrier phase) data are transformed to geometric range(biased geometric range) data without clock offsets; and reasonable empirical acceleration parameters are estimated along with orbital elements to account for the error in solar radiation pressure modeling. Experiments with Beidou data show that using the proposed approach, the GEOs' UERE when near the autumn Equinox of 2012 can be improved to 1.3 m from 2.5 m(RMS), and the probability of user equivalent range error(UERE)<2.0 m can be improved from 50% to above 85%.展开更多
It is the main aim of this paper to investigate the numerical methods of the radiative transfer equation. Using the five-point formula to approximate the differential part and the Simpson formula to substitute for int...It is the main aim of this paper to investigate the numerical methods of the radiative transfer equation. Using the five-point formula to approximate the differential part and the Simpson formula to substitute for integral part respectively, a new high-precision numerical scheme, which has 4-order local truncation error, is obtained. Subsequently, a numerical example for radiative transfer equation is carried out, and the calculation results show that the new numerical scheme is more accurate.展开更多
基金This work is Supported by the National Science Foundation under Grant 863 -512 -9820-04.
文摘Assembly errors have great influence on assembly quality in robotic assembly systems. Error analysis is directed to the propagations and accumula-tions of various errors and their effect on assembly success.Using the screw coordinates, assembly errors are represented as 'error twist', the extremely compact expression. According to the law of screw composition, relative position and orientation errors of mating parts are computed and the necessary condition of assembly success is concluded. A new simple method for measuring assembly errors is also proposed based on the transformation law of a screw.Because of the compact representation of error, the model presented for error analysis can be applied to various part- mating types and especially useful for error analysis of complexity assembly.
文摘To make the detecting robot move on the surface of the finned tubes, a novel combined moving mechanism is developed. The combined moving mechanism is composed of sprocket wheel and drum-like small wheel installed on the chain. It can make the robot move independently in the direction parallel to the tubes and in the direction perpendicular to the tubes. This paper made a detailed discussion on the composition of the combined moving mechanism, the design method of the conjugate outline curve and the circular-arc outline curve of the drum-like small wheel that meshes with the tubes. The error of the circular-arc outline curve is also analyzed.
基金Sponsored by the National Natural Science Foundation of China(Grant No.60073074).
文摘This paper presents Isotope, an efficient, locality aware, fault-tolerant, and decentralized scheme for data location in distributed networks. This scheme is designed based on the mathematical model of decentralized location services and thus has provable correctness and performance. In Isotope, each node needs to only maintain linkage information with about O(log n) other nodes and any node can be reached within O(log n) routing hops. Compared with other related schemes, Isotope’s average locating path length is only half that of Chord, and its locating performance and locality-awareness are similar to that of Pastry and Tapestry. In addition, Isotope is more suitable for constantly changing networks because it needs to exchange only O(log n) O(log n) messages to update the routing information for nodes arrival, departure and failure.
文摘Accounting concepts dictate that separately disclosed components should contain separate useful information. This paper examines the relations between income statement components and analysts＇ earnings forecasts and forecast errors. Regressions explaining earnings forecasts using earnings components provide a better fit than regression using just aggregate income to explain forecasts. We interpret this as consistent with the hypothesis that analysts use incremental information in components not available in aggregate income. However, additional tests based on predictability of forecast errors indicate that analysts do not incorporate all information available in components into earnings forecasts. In addition, this inefficiency appears to increase at longer forecast horizons.
文摘Since the process writing was raised in the L2 writing in 1970s, the feedback has been an important part of teaching. A range of researchers have investigated the effect of different types of error feedback to find whether the feedback can help L2 writers improve the accuracy of their writing. Similar to the previously discussed question, they have also reached rather controversial conclusions. Most often, these studies have categorized corrective feedback as either direct or indirect. To explore the effects of corrective feedback in L2 writing, the paper investigated the types of feedback given to 30 college students of Tianhe College in Guangdong province. The study improved that correction feedback can improve accuracy in student writing.
基金founded the Projects of Science for Earthquake Resilience(XH16042Y)Project of Earthquake Science Foundation of Xinjiang,China(201501,201514)
文摘After the Yutian M_S7.3 earthquake,the authors instantly collected 1Hz high frequency data of the 4 reference stations within 350 km around the epicenter,and calculated the GNSS data with the TRACK module. The results showed that:( 1) The co-seismic displacement of Yutian station,about 54 km from the epicenter,is the most obvious,particularly in the EW component,with a change of about 52.5 ± 11mm,which is more than three times the mean-square error of calculating precision.( 2) In the Yutian reference station,the biggest variation in the EW component appeared within 1 minute after the earthquake.( 3) The change in the NS component is not great.
文摘This study examines econometric relationships between bank lending and the business cycle in Turkey. Firstly, the cyclical components of the real GDP and real bank loans were determined using time series. A cointegration analysis and a vector error-correction model with quarterly data were used for period of 1987：01-2013：03. The results of cointegration analysis indicate that there is a single stable long-run equilibrium relationship between real bank loans and macroeconomic variables. The response of bank loans to GDP shocks is positive. Bank loans have pro-cyclical character in Turkey.
基金supported by the National Natural Science Foundation of China(Grant Nos.11033004,41204022 and 41204023)the Opening Project of Shanghai Key Laboratory of Space Navigation and Position Techniques(Grant Nos.12DZ2273300 and 13DZ2273300)Surveying and Mapping Basic Research Program of National Administration of Surveying,Mapping and Geoinformation(Grant No.2013-01-06)
文摘Geostationary(GEO) satellites form an indispensable component of the constellation of Beidou navigation system(BDS). The ephemerides, or predicted orbits of these GEO satellites(GEOs), are broadcast to positioning, navigation, and timing users. User equivalent ranging error(UERE) based on broadcast message is better than 1.5 m(root formal errors: RMS) for GEO satellites. However, monitoring of UERE indicates that the orbital prediction precision is significantly degraded when the Sun is close to the Earth's equatorial plane(or near spring or autumn Equinox). Error source analysis shows that the complicated solar radiation pressure on satellite buses and the simple box-wing model maybe the major contributor to the deterioration of orbital precision. With the aid of BDS' two-way frequency and time transfer between the GEOs and Beidou time(BDT, that is maintained at the master control station), we propose a new orbit determination strategy, namely three-step approach of the multi-satellite precise orbit determination(MPOD). Pseudo-range(carrier phase) data are transformed to geometric range(biased geometric range) data without clock offsets; and reasonable empirical acceleration parameters are estimated along with orbital elements to account for the error in solar radiation pressure modeling. Experiments with Beidou data show that using the proposed approach, the GEOs' UERE when near the autumn Equinox of 2012 can be improved to 1.3 m from 2.5 m(RMS), and the probability of user equivalent range error(UERE)<2.0 m can be improved from 50% to above 85%.
基金Supported by the Youth Foundation of Beijing University of Chemical Technology under Grant No. QN0622
文摘It is the main aim of this paper to investigate the numerical methods of the radiative transfer equation. Using the five-point formula to approximate the differential part and the Simpson formula to substitute for integral part respectively, a new high-precision numerical scheme, which has 4-order local truncation error, is obtained. Subsequently, a numerical example for radiative transfer equation is carried out, and the calculation results show that the new numerical scheme is more accurate.
