基于图论的行星轮系的运动性分析

应用图论知识,将图画表示法与基本回路方法相结合,用于行星齿轮系的运动性分析。该方法用图论图画表示出行星轮系的构造,并可依次算出构件间角速度关系、传动比、转矩、功率、效率等指标。这种方法较传统方法方便、直观,为行星轮系传动技术的研究提供一种理论分析方法。

SARS冠状病毒主要蛋白酶结构模建及活性部位运动性分析

SARS冠状病毒 3CL蛋白酶是病毒复制过程中的关键酶 ,有可能成为针对抗SARS药物研制的重要靶标。利用同源模建的方法建立了SARS冠状病毒 3CL蛋白酶的结构模型 ,对于二聚体中蛋白质分子间相互作用分析表明该蛋白在溶液中有可能形成二聚体。利用分子动力学与多正则系综采样相结合的方法对于SARS冠状病毒 3CL蛋白酶活性部位的两个环区进行了构象模拟 ,找到了两种代表性构象 ,预示着SARS冠状病毒

3-TPT五自由度并联机床的灵巧性分析

通过对东北大学研发的 3 -TPT五自由度并联机床机构分析 ,推导出其运动学方程正解、逆解及雅可比矩阵表达式。通过对运动灵巧性分析及仿真 ,定量地分析了并联机床在结构设计上可能存在的奇异点问题 ,提出了解决方法 ,对提高并联机床操作精度有着十分重要的意义。

CALCULATING ACCURATE PERIODIC MOTIONS OF HARMONICALLY FORCED PIECEWISE LINEAR OSCILLATORS

This paper presents an efficient numerical scheme for calculating the periodic motion of a harmonically forced piecewise linear oscillator very accurately. The scheme is based on the shooting technique with the traditional numerical Poincare mapping and its Jacobian replaced by the piecewise analytic ones. Thus, the scheme gets rid of the requirement of the current schemes for an assumed order of the oscillator trajectory passing through different linear regions. The numerical examples in the paper demonstrate that the new scheme, compared with the current schemes, enables one to cope with more complicated dynamics of harmonically forced piecewise linear oscillators.

Conserved quantities from Lie symmetries for nonholonomic systems

This paper presents a new method to seek the conserved quantity from a Lie symmetry without using either Lagrangians or Hamiltonians for nonholonomic systems. The differential equations of motion of the systems are established. The definition of the Lie symmetrical transformations of the systems is given, which only depends upon the infinitesimal transformations of groups for the generalized coordinates. The conserved quantity is directly constructed in terms of the Lie symmetry of the systems. The condition under which the Lie symmetry can lead to the conserved quantity and the form of the conserved quantity are obtained. Finally, an example is given to illustrate the application of the result.

Human-machine compatibility and dynamic analysis of a novel unpowered and self-adaptive shoulder rehabilitation exoskeleton

To reduce the complexity of the configuration and control strategy for shoulder rehabilitation exoskeleton,a 2R1R1P2R serial of shoulder exoskeleton based on gravity balance is proposed.Based on three basic rotatory shoulder joints,an exact kinematic constraint system can be formed between the exoskeleton and the upper arm by introducing a passive sliding pair and a center of glenohumeral(CGH)unpowered compensation mechanism,which realizes the human-machine kinematic compatibility.Gravity balance is used in the CGH compensation mechanism to provide shoulder joint support.Meanwhile,the motion of the compensation mechanism is pulled by doing reverse leading through the arm to realize the kinematic self-adaptive,which decreases control complexity.Besides,a simple and intuitive spring adjustment strategy is proposed to ensure the gravity balance of any prescribed quality.Furthermore,according to the influencing factors analysis of the scapulohumeral rhythm,the kinematic analysis of CGH mechanism is performed,which shows that the mechanism can fit the trajectory of CGH under various conditions.Finally,the dynamic simulation of the mechanism is carried out.Results indicate that the compensation torques are reduced to below 0.22 N·m,and the feasibility of the mechanism is also verified.

A new linearly-combined bi-exponential model for kinetic analysis of the isometric relaxation process of Bufo gastrocnemius under electric stimulation in vitro

There was a slow-relaxing tail of skeletal muscles in vitro upon the inhibition of Ca2+-pump by cyclopiazonic acid (CPA). Herein, a new linearly-combined bi-exponential model to resolve this slow-relaxing tail from the fast-relaxing phase was investigated for kinetic analysis of the isometric relaxation process of Bufo gastrocnemius in vitro, in comparison to the single exponential model and the classical bi-exponential model. During repetitive stimulations at a 2-s interval by square pulses of a 2-ms duration at 12 V direct currency (DC), the isometric tension of Bufo gastrocnemius was recorded at 100 Hz. The relaxation curve with tensions falling from 90% of the peak to the 15th datum before next stimulation was analyzed by three exponential models using a program in MATLAB 6.5. Both the goodness of fit and the distribution of the residuals for the best fitting sup- ported the comparable validity of this new bi-exponential model for kinetic analysis of the relaxation process of the control muscles. After CPA treatment, however, this new bi-exponential model showed an obvious statistical superiority for kinetic analysis of the muscle relaxation process, and it gave the estimated rest tension consistent to that by experimentation, whereas both the classical bi-exponential model and the single exponential model gave biased rest tensions. Moreover, after the treatment of muscles by CPA, both the single exponential model and the classical bi-exponential model yielded lowered relaxation rates, nevertheless, this new bi-exponential model had relaxation rates of negligible changes except much higher rest tensions. These results suggest that this novel linearly-combined bi-exponential model is desirable for kinetic analysis of the relaxation process of muscles with altered Ca2+-pumping activity.

Forward Displacement Analysis of a Class of the 6-6 Stewart Platforms

A special form of the Stewart platform is presented in which the top platform and base platform are similar and corresponding vertices are connected by six prismatic joints.A closed-from solution for the forward displacement analysis of this mechanism is developed.When the six vertices of the top platform are in a quadratic curve,this mechanism becomes singular.This new theoretical result is confirmed with a numerical example.

Chaotic Roll Motions of Ships in Regular Longitudinal Waves

Parametric resonance can lead to dangerously large rolling motions, endangering the ship, cargo and crew. The QR-faetorization method for calculating （LCEs） Lyapunov Characteristic Exponents was introduced; parametric resonance stability of ships in longitudinal waves was then analyzed using LCEs. Then the safe and unsafe regions of target ships were then identified. The results showed that this method can be used to analyze ship stability and to accurately identify safe and unsafe operating conditions for a ship in longitudinal waves.

Comparison of wrist motion classification methods using surface electromyogram

The Gaussian mixture model (GMM), k-nearest neighbor (k-NN), quadratic discriminant analysis (QDA), and linear discriminant analysis (LDA) were compared to classify wrist motions using surface electromyogram (EMG). Effect of feature selection in EMG signal processing was also verified by comparing classification accuracy of each feature, and the enhancement of classification accuracy by normalization was confirmed. EMG signals were acquired from two electrodes placed on the forearm of twenty eight healthy subjects and used for recognition of wrist motion. Features were extracted from the obtained EMG signals in the time domain and were applied to classification methods. The difference absolute mean value (DAMV), difference absolute standard deviation value (DASDV), mean absolute value (MAV), root mean square (RMS) were used for composing 16 double features which were combined of two channels. In the classification methods, the highest accuracy of classification showed in the GMM. The most effective combination of classification method and double feature was (MAV, DAMV) of GMM and its classification accuracy was 96.85%. The results of normalization were better than those of non-normalization in GMM, k-NN, and LDA.

Analysis of the Motion and Deformation Characteristics along the Zhangjiakou-Bohai Fault

We have collected GPS data in the period of 1999-2007 from the Crustal Motion Observation Network of China along the Zhangjiakou-Bohai fault and its adjacent regions to study the characteristics of present-day crustal horizontal motion velocities in the research zone.Strain rate components are computed in the spheric coordinate system by the least square collocation method.According to the spatial distribution of the principal strain rate,dilation rate and maximum shear strain rate derived from GPS measurements,this paper analyses the deformation of the subordinary faults of the Zhangjiakou-Bohai fault.The principal compression strain rates are apparently greater than the principal extension strain rates.The larger shear strain rate is mainly in and around the Xianghe,Wenan and Tangshan areas in Hebei Province.According to the profiles across different segments of the Zhangjiakou-Bohai fault,the three segments glong the Zhangjiakou-Bohai fault show an obviously left-lateal strike-slip and compression characteristics.By analysis of the motion characteristics of the blocks,e.g.the Yanshan block,North China Plain block,Ordos block,and Ludong-Huanghai block in and around the North China region,this paper speculates that the dynamics of the motion styles of Zhangjiakou-Bohai fault may directly come from the relative movement between the Yanshan block and the North China plain block,and the ultimate dynamics may be the results of the collison between Indian plate and Eurasian plate,and the persistent northeastward extrusion of the Indian plate.

A parametric study on the contact stress of half toroidal continuously variable transmission

The most general contact in mechanical transmission is the elliptical one. In particular, a toroidal continuously variable transmission (CVT) has an elliptical shape in the contact area under the elastohydrodynamic lubrication regime, where the shearing of the fluid subjects to high contact stress and transmits the power. Many parameters affect the contact service performance of the half toroidal CVT, which include the properties of the contacting material (Young抯 modulus), operating parameters (input torque and maximum traction coefficient) and geometrical parameters (aspect cavity ratio, curvature ratio and half cone angle of the power roller). In this paper, the contacts between the input disk, the power roller and the output disk are formulated using the classical Hertzian contact theory. Based on the formulated equations, different system parameters, which affect the maximum Hertzian stresses, are compared. The comparative results will provide some observations of the relations between the maximum Hertzian stresses and transmission ratios in the form of graphs. These graphs give useful information for designer to know the maximum Hertzian stress during operation in such systems.

Concept Design of a New Deep Draft Platform

The authors analyzed requirements for a new deepwater platform, from conceptual design to hydrodynamic analysis.The design incorporated Deep Draft Multi-Spar (DDMS) that allowed easy fabrication, reduced costs, and provided favorable motion performance.It also provided a dry tree system and other benefits.The conceptual design process included dimension estimation, general arrangements, weight estimation, weight distribution, stability analysis, etc.A high order boundary element method based on potential theory and the modified Morison equation was used to predict the hydrodynamic and viscous effects of this new concept platform.The response amplitude operators (RAOs) were acquired and compared with those of a typical Truss Spar.The response of the platform to the JONSWAP spectra of 3 different extreme ocean conditions was analyzed to evaluate the seakeeping ability of the new concept.The results revealed favorable motion performance due to all the degrees of freedom available.

Analyses of Crustal Deformation, Strain Field and Risk of Moderate and Strong Earthquakes in the Shanxi Seismic Belt

Using the four phases (1996～1999) of re-surveying data from the GPS network along the Shanxi fault zone, the recent state of horizontal movement of the fault zone and its relation with the Datong-Yanggao M5.6 earthquake (November 1, 1999), which took place on the north end of the monitored area, are analyzed. In the focal region, three areas with relatively higher strain (1×10 -6) appeared in Xinzhou and to the northeast of Jiexiu. The Shanxi fault zone is mainly controlled by the WNW-ESE-trending compressive stress field and the NNE-SSW-trending tensile stress field, and it does not have strike-slip movement. When examined for long-term tendency, attention should be paid to the junctures between the three moving elements.

Stability analysis via the concept of Lyapunov exponents―a case study

The dynamics characteristics of the robotic arm system are usually highly nonlinear and strongly coupling,which will make it difficult to analyze the stability by the methods of solving kinetic equations or constructing Lyapunov function,especially,these methods cannot calculate the quantitative relationship between mechanical structures or control input and dynamics parameters and stability.The theoretical analysis process from symbol dynamics modeling of the robotic arm system to the movement stability is studied by using the concept of Lyapunov exponents method. To verify the algorithm effectiveness,the inner relation between its joint input torque and stability or chaotic and stable motion of the 2-DOF robotic arm system is analyzed quantitatively. As compared with its counterpart of Lyapunov's direct method,the main advantage of the concept of Lyapunov exponents is that the methods for calculating the exponents are constructive to provide an effective analysis tool for analyzing robotic arm system movement stability of nonlinear systems.

Development of XY scanner with minimized coupling motions for high-speed atomic force microscope

The design and fabrication processes of a novel scanner with minimized coupling motions for a high-speed atomic force microscope （AFM） were addressed. An appropriate design modification was proposed through the analyses of the dynamic characteristics of existing linear motion stages using a dynamic analysis program, Recurdyn. Because the scanning speed of each direction may differ, the linear motion stage for a high-speed scanner was designed to have different resonance frequencies for the modes, with one dominant displacement in the desired directions. This objective was achieved by using one-direction flexure mechanisms for each direction and mounting one stage for fast motion on the other stage for slow motion. This unsymmetrical configuration separated the frequencies of two vibration modes with one dominant displacement in each desired direction, and hence suppressed the coupling between motions in two directions. A pair of actuators was used for each axis to decrease the crosstalk between the two motions and give a sufficient force to actuate the slow motion stage, which carried the fast motion stage, A lossy material, such as grease, was inserted into the flexure hinge to suppress vibration problems that occurred when using an input triangular waveforrn. With these design modifications and the vibration suppression method, a novel scanner with a scanning speed greater than 20 Hz is achieved.

Characteristic of Drop Coalescence Resting on Liquid-Liquid Interface

The trajectory model of dispersed phase drops and the model of basic flow for drop motion between two inclined parallel plates are derived with the optimized calculation. The analytical results of direct numerical simulation indicate that the basic flow plays an important role in the drop coalescence on liquid-liquid interface. In the stratified two-phase flow field, the smaller droplets are difficult to drain the thin continuous film between the approaching droplets and bulk interfaces and eventually immerse into the trickling film to yield coalescence. They almost attain the velocity of their local surroundings. Moreover, the basic flow exerts a dominant influence on the motion of smaller droplet. The smaller droplets are easily entrained by the basic flow. On the contrary, the larger drop presents advantageous characteristics of coalescence due to its high velocity. The range of 0.3 mm < δR≤ 0.75 mm is the advantageous drop coalescence condition since the rapidly varied velocity and its first derivative theoretically cause the forces acting on a drop to become imbalanced. On the other hand, the thin layer of the continuous phase drained from the interval between the drops and trickling film should not be neglected in the calculation of shearing force since it is important for drop rotation. The drop rotation is an indispensable factor in coalescence.

A Coupled Analysis of Nonlinear Sloshing and Ship Motion

Nonlinear interactions among incident wave, tank-sloshing and floating body coupling motion are investigated. The fully nonlinear sloshing and body-surface nonlinear free surface hydrodynamics is simulated using a Non-Uniform Rational B-Spline （NURBS） higher-order panel method in time domain based on the potential theory. A robust and stable improved iterative procedure （Yan and Ma, 2007） for floating bodies is used for calculating the time derivative of velocity potential and floating body motion. An energy dissipation condition based on linear theory adopted by Huang （2011） is developed to consider flow viscosity effects of sloshing flow in nonlinear model. A two-dimensional tank model test was performed to identify its validity. The present nonlinear coupling sway motion results are subsequently compared with the corresponding Rognebakke and Faltinsen （2003）＇s experimental results, showing fair agreement. Thus, the numerical approach presented in this paper is expected to be very efficient and realistic in evaluating the coupling effects of nonlinear sloshing and body motion.

Study on the Dynamic Characteristics of an Eastward-offshore Mesoscale Vortex along the Meiyu-Baiu Front

The eastward-moving Meiyu-Baiu frontal mesoscale vortices (MBFMVs) appear frequently and often cause heavy rainfall events along their tracks. A move-off-shore MBFMV was selected to enhance our understanding of this type of vortex. Synoptic analyses indicate that the MBFMV is a type of meso-α vortex and mainly occurs in the lower troposphere. A short wave trough near the coastline is highly favorable for the formation, sustainment, and displacement of the MBFMV. Vorticity budgets indicate that at lower levels of the MBFMV, convergence is the dominant factor for the increase of positive vorticity, and at high levels of the MBFMV, the vertical transportation associated with convective activities is the most important factor. The hori-zontal transportation was the main factor decreasing the positive vorticity. The land and sea environments are crucial to the evolution of the MBFMV. The characteristics of the Meiyu-Baiu Front (MBF) are also vital to the variation of the vortex.