爱因斯坦速度加法定理的一种简便推导方法

介绍从四维速度的定义式直接推导相对论中爱因斯坦速度加法定理的一种简便方法,同时给出了任意相对论四维矢量在不同参照系中变换的普遍公式.

一种相对论四维矢量变换的普遍方法

给出了相对论四维物理量在不同参照系中变换的普遍方法，运用这种新方法推导了爱因斯坦相对论速度加法定理，以及电荷电流在不同坐标系间的变换关系，多普勒效应公式，光行差公式，并证明了自由电子不可能吸收或发射光子这一相对论的重要结论．

Improving IAC Algorithm Based on Range Rate Measurement

Aim Interactive multiple model(IMM) algorithm was introduced into two? stage estimation to improve the estimating accuracy for system position and velocity.Methods The state estimation was carried out in mixed coordinates according to the nonlinear measure equation, a generalized interactive acceleration compensation(IAC) algorithm in mixed coordinate was presented. Results Simulation result shows the estimation accuracy is improved through changing measure equation in polar coordinates. Conclusion The estimation accuracy for position and velocity estimation, has been improved greatly, and the proposed algorithm has the advantage of less calculating time comparing with other multiple model methods.

Research on cubic polynomial acceleration and deceleration control model for high speed NC machining

To satisfy the need of high speed NC (numerical control) machining, an acceleration and deceleration (acc/dec) control model is proposed, and the speed curve is also constructed by the cubic polynomial. The proposed control model provides continuity of acceleration, which avoids the intense vibration in high speed NC machining. Based on the discrete characteristic of the data sampling interpolation, the acc/dec control discrete mathematical model is also set up and the discrete expression of the theoretical deceleration length is obtained furthermore. Aiming at the question of hardly predetermining the deceleration point in acc/dec control before interpolation, the adaptive acc/dec control algorithm is deduced from the expressions of the theoretical deceleration length. The experimental result proves that the acc/dec control model has the characteristic of easy implementation, stable movement and low impact. The model has been applied in multi-axes high speed micro fabrication machining successfully.

论计算机和《易经》的法则

现代计算机技术已深入到国防、工、农、商、学、生活等各个领域,成为应用最广泛的一门科学。第一台计算机,仍回溯到1946年美国制造的ENIAC (Electronic Numerical Integrator & Calculator),它使用了188,00个电子管,加法速度每秒5000次,乘法速度每秒56次,比继电器计算机快一千倍,比人快20万倍,运行了大约十年。

Pseudo-dynamic analysis of overturning stability of retaining wall

A new method was presented to determine the safety factor of wall stability against overturning based on pseudo-dynamic approach. In this time-dependent method, the actual dynamic effect with variation of time and propagation of shear and primary wave velocities through the backfills was considered. Planar failure surface was considered behind the retaining wall. The results were compared with those obtained from Mononobe-Okabe theory. It is found that there is a higher value of safety factor by the present dynamic analysis. The effects of wall inclination, wall friction angle, soil friction angle and horizontal and vertical seismic coefficients on the overturning stability of retaining wall were investigated. The parametric study shows that both horizontal and vertical seismic accelerations have decreasing effect on the overturning stability of retaining wall.

Attitude Optimization Algorithm of GFIMU with Installation Errors

Taking the accelerometer installation errors into consideration, the attitude optimization algorithm of Gyro Free Inertial Meastement Unit （GFIMU） is studied in the high spinning condition in this paper. A ten-accelerometer configuration is designed so as to establish a mathematical model to acquire the angular speeds in the case of installation errors. Precision of the algorithm is evaluated by using damping GaussNewton method. A large amotmt of sinmlation results show that ff the accelertlmter＇s angleinstallation errors main-tain small （〈5°）, the errors of attitude angles can be limited within ±1°. Hence, the algorithm has a great applicable value in engineering.

Multi-degree-of-freedom coupling dynamic characteristic of TBM disc cutter under shock excitation

When the tunneling boring machine(TBM) cutterhead tunnels, the excessive vibration and damage are a severe engineering problem, thereby the anti-vibration design is a key technology in the disc cutter system. The structure of disc cutter contains many joint interfaces among cutter ring, cutter body, bearings and cutter shaft. On account of the coupling for dynamic contact and the transfer path among joint interface, mechanical behavior of disc cutter becomes extremely complex under the impact of heavy-duty, which puts forward higher requirements for disc cutter design. A multi-degree-of-freedom coupling dynamic model, which contains a cutter ring, a cutter body, two bearings and cutter shaft, is established, considering the external stochastic excitations, bearing nonlinear contact force, multidirectional mutual coupling vibration, etc. Based on the parameters of an actual project and the strong impact external excitations, the modal properties and dynamic responses are analyzed, as well as the cutter shaft and bearings' loads and load transmission law are obtained. Numerical results indicate the maximum radial and axial cutter ring amplitudes of dynamic responses are 0.568 mm and 0.112 mm; the maximum radial and axial vibration velocities are 41.1 mm/s and 38.9 mm/s; the maximum radial and axial vibration accelerations are 94.7 m/s2 and 58.6 m/s2; the maximum swing angle and angular velocity of cutter ring are 0.007° and 0.0074 rad/s, respectively. Finally, the maximum load of bearing roller is 40.3 k N. The proposed research lays a foundation for structure optimization design of disc cutter and cutter base, as well as model selection, modification and fatigue life of the cutter bearing.

A new compensation method for angular rate estimation of non-gyro inertial measurement unit

A new compensation method for angular rate estimation of non-gyro inertial measurement unit （NGIMU） is proposed in terms of the existence of aecelerometer mounting error, which seriously affects the precision of navigation parameter estimation. Using the accelerometer output error function, the algorithm compensates the posture parameters in the traditional algorithm of angular rate estimation to reduce the accelerometer mounting error. According to the traditional aceelerometer configurations, a novel nine-accelerometer confi-guration of NGIMU is presented with its mathematic model constructed. The semi-hardware simulations of the proposed algorithm are investigated based on the presented NGIMU configuration, and the results show the effectivity of the new algorithm.

A fast explicit finite difference method for determination of wellhead injection pressure

A fast explicit finite difference method (FEFDM),derived from the differential equations of one-dimensional steady pipe flow,was presented for calculation of wellhead injection pressure.Recalculation with a traditional numerical method of the same equations corroborates well the reliability and rate of FEFDM.Moreover,a flow rate estimate method was developed for the project whose injection rate has not been clearly determined.A wellhead pressure regime determined by this method was successfully applied to the trial injection operations in Shihezi formation of Shenhua CCS Project,which is a good practice verification of FEFDM.At last,this method was used to evaluate the effect of friction and acceleration terms on the flow equation on the wellhead pressure.The result shows that for deep wellbore,the friction term can be omitted when flow rate is low and in a wide range of velocity the acceleration term can always be deleted.It is also shown that with flow rate increasing,the friction term can no longer be neglected.

Experimental and Numerical Procedures of a Sonar Platform with a Sound Absorption Wedge

Experiments involving a sonar platform with a sound absorption wedge were carried out for the purpose of obtaining the low frequency acoustic characteristics. Acoustic characteristics of a sonar platform model with a sound absorption wedge were measured, and the effects of different wedge laid areas on platform acoustic characteristic were tested. Vibration acceleration and self-noise caused by model vibration were measured in four conditions: 0%, 36%, 60%, and 100% of wedge laid area when the sonar platform was under a single frequency excitation force. An experiment was performed to validate a corresponding numerical calculation. The numerical vibration characteristics of platform area were calculated by the finite element method, and self-noise caused by the vibration in it was predicted by an experiential formula. The conclusions prove that the numerical calculation method can partially replace the experimental process for obtaining vibration and sound characteristics.

An iterative calibration method for nonlinear coefficients of marine triaxial accelerometers

Single-axis rotation technique is often used in the marine laser inertial navigation system so as to modulate the constant biases of non-axial gyroscopes and accelerometers to attain better navigation performance.However,two significant accelerometer nonlinear errors need to be attacked to improve the modulation effect.Firstly,the asymmetry scale factor inaccuracy enlarges the errors of frequent zero-cross oscillating specific force measured by non-axial accelerometers.Secondly,the traditional linear model of accelerometers can hardly measure the continued or intermittent acceleration accurately.These two nonlinear errors degrade the high-precision specific force measurement and the calibration of nonlinear coefficients because triaxial accelerometers is urgent for the marine navigation.Based on the digital signal sampling property,the square coefficients and cross-coupling coefficients of accelerometers are considered.Meanwhile,the asymmetry scale factors are considered in the I-F conversion unit.Thus,a nonlinear model of specific force measurement is established compared to the linear model.Based on the three-axis turntable,the triaxial gyroscopes are utilized to measure the specific force observation for triaxial accelerometers.Considering the nonlinear combination,the standard calibration parameters and asymmetry factors are separately estimated by a two-step iterative identification procedure.Besides,an efficient specific force calculation model is approximately derived to reduce the real-time computation cost.Simulation results illustrate the sufficient estimation accuracy of nonlinear coefficients.The experiments demonstrate that the nonlinear model shows much higher accuracy than the linear model in both the gravimetry and sway navigation validations.

Neuron PI control for semi-active suspension system of tracked vehicle

A neuron proportion integration (PI) control strategy for semi-active suspension system of tracked vehicle was proposed based on its unique structure and the multiple and complex environment of the driving traffic. An adaptive genetic algorithm is used to optimize the parameters of the neuron PI controller. The simulation result of the neuron PI control for semi-active suspension system of tracked vehicle indicates that the vertical amplitude,pitch angle and vertical acceleration of the vehicle are well controlled. The root mean square (RMS) of the vertical amplitude decreases by 37.2%,and 45.2% for the pitch angle,38.6% for the vertical acceleration. The research of neuron PI control experiment for the semi-active suspension system of the tracked vehicle model mining in benthal indicates that the RMS of the weight acceleration vibrating along the vertical direction decreases by 29.5%,the power spectral density resonance peak of the acceleration of the car body decreases by 23.8%.

The Effectiveness of Shallow Surface Geophysical Methods in Shear Wave Velocity Derivation

Shear wave velocity Vs is measured by the surface geophysical survey like MASW （multi-channel surface wave analysis） or RWM （refraction wave method） and by the subsurface method like PS logging. PS logging and RWM are direct methods to derive shear wave velocity and MASW retrieves shear wave through the inversion of the surface wave. In this work, the effectiveness of surface methods （MASW and RWM） is compared with PS logging in determining shear wave velocity. For this purpose, shear wave velocity results Vs30 of 12 PS logging and MASW surveys conducted in Mymensingh Municipality in Bangladesh have been utilized. Additionally, the shear wave velocity results of three PS logging have been compared with the refraction profiles of RWM survey conducted in Rooppur nuclear power plant site in Bangladesh. The relative discrepancy between RWM and PS logging is found less （ranges from -3.92 to 0.93） compared to MASW and PS logging （＋/-0.88 to 33.92）. The correlation coefficient of Vs30 derived from RWM and PS logging is observed much better （0.60） compared to MASW and PS logging （0.40）. The result is good considering the lateral lithologic variability and inherent differences among techniques. It is evident from the comparison that the RWM can be used as a cost-effective alternative to traditional borehole PS logging method for Vs30 determination and thus the number of down-hole logging tests might be significantly reduced.

Measurement and characteristics of ground vibration caused by blasting demolition of urban overpass

To analyze the characteristics of ground vibration caused by blasting demolition of urban overpass, in this paper we introduced the measurement method and then studied the characteristics of recorded ground vi- brations. Through the analysis of peak acceleration, peak frequency and duration, results indicated that the ver- tical component of vibration is the most important in the region close to the collapse point; the collapse of bridge segments will lead to superposition of ground vibration, and isolation measures can reduce the peak ac- celeration but increase the duration of vibration; blasting and collapse vibration cause no damage to the re- served structure which indicates that blastin~ demolition is a safe and effective method.

Study on Dynamic Response of Fiber-Reinforced Plastic Float for Light Seaplane

The marine area of Japan, including territorial waters and the exclusive economic zone, is the sixth largest in the world at about 4,470,000 km2. Therefore, it is becoming necessary to establish appropriate means of transportation other than ships in order to utilize the area efficiently. In this respect, ultra-light seaplanes are attracting attention from the viewpoint of protecting the natural environment. Accordingly, JRPS （Japan Reinforced Plastics Society） is currently developing FRP （fiber-reinforced plastic） floats for such planes. In this study, we conducted simulations of seaplane behavior during alighting by using the smoothed particle hydrodynamics method, which is one of the functions in the PAM-CRASH solver, and we present the observed trend in the vertical acceleration of the floats as a first step toward deriving the impact force from analytical data.

Investigation of Cutting Force by End Milling Operation

In this work, the cutting forces by end milling operation are analyzed. Therefore, the main parameters of cutting force as cutting speed, feed rate and depth of cut also are investigated in our case. The cutting force is modelled and analyzed into mathematical Wolfram simulations in order to compare the results and in the same time achieve the best solutions. Theoretical results are carried out by using the regression method that required fulfilling the critter by Fisher. The number of experiment, measurements and results of cutting force are presented in 2D as well as 3D. In order to verify the accuracy of the 2D diagram, the results for our case is used both two way such as experimental and theoretical method as well as results are compared. In other hands, these results indicate directly that the optimized parameters are capable of machining the workpiece. The obtained measurement results are compared with theoretical methods in Wolfram software.

Compression techniques of mechanical vibration signals based on optimal sparse representations

This paper presents the result of an experimental study on the compression of mechanical vibration signals. The signals are collected from both rotating and reciprocating machineries by the accelerometers and a data acquisition （DAQ） system. Four optimal sparse representation methods for compression have been considered including the method of frames （ MOF）, best orthogonal basis （ BOB）, matching pursuit （MP） and basis pursuit （BP）. Furthermore, several indicators including compression ratio （CR）, mean square error （MSE）, energy retained （ER） and Kurtosis are taken to evaluate the performance of the above methods. Experimental results show that MP outperforms other three methods.

A Self-Position Estimation Algorithm for Multiple Mobile Robots Using Two Omnidirectional Cameras and an Accelerometer

This paper proposes a self-position estimate algorithm for the multiple mobile robots; each robot uses two omnidirectional cameras and an accelerometer. In recent years, the Great East Japan Earthquake and large-scale disasters have occurred frequently in Japan. From this, development of the searching robot which supports the rescue team to perform a relief activity at a large-scale disaster is indispensable. Then, this research has developed the searching robot group system with two or more mobile robots. In this research, the searching robot equips with two omnidirectional cameras and an accelerometer. In order to perform distance measurement using two omnidirectional cameras, each parameter of an omnidirectional camera and the position and posture between two omnidirectional cameras have to be calibrated in advance. If there are few mobile robots, the calibration time of each omnidirectional camera does not pose a problem. However, if the calibration is separately performed when using two or more robots in a disaster site, etc., it will take huge calibration time. Then, this paper proposed the algorithm which estimates a mobile robot＇s position and the parameter of the position and posture between two omnidirectional cameras simultaneously. The algorithm proposed in this paper extended Nonlinear Transformation （NLT） Method. This paper conducted the simulation experiment to check the validity of the proposed algorithm. In some simulation experiments, one mobile robot moves and observes the circumference of another mobile robot which has stopped at a certain place. This paper verified whether the mobile robot can estimate position using the measurement value when the number of observation times becomes 10 times in n/18 of observation intervals. The result of the simulation shows the effectiveness of the algorithm.