Triad-displaced ULAs configuration for non-circular sources with larger continuous virtual aperture and enhanced degrees of freedom

Non-uniform linear array(NULA)configurations are well renowned due to their structural ability for providing increased degrees of freedom(DOF)and wider array aperture than uniform linear arrays(ULAs).These characteristics play a significant role in improving the direction-of-arrival(DOA)estimation accuracy.However,most of the existing NULA geometries are primarily applicable to circular sources(CSs),while they limitedly improve the DOF and continuous virtual aperture for noncircular sources(NCSs).Toward this purpose,we present a triaddisplaced ULAs(Tdis-ULAs)configuration for NCS.The TdisULAs structure generally consists of three ULAs,which are appropriately placed.The proposed antenna array approach fully exploits the non-circular characteristics of the sources.Given the same number of elements,the Tdis-ULAs design achieves more DOF and larger hole-free co-array aperture than its sparse array competitors.Advantageously,the number of uniform DOF,optimal distribution of elements among the ULAs,and precise element positions are uniquely determined by the closed-form expressions.Moreover,the proposed array also produces a filled resulting co-array.Numerical simulations are conducted to show the performance advantages of the proposed Tdis-ULAs configuration over its counterpart designs.

Degree of Freedom Analysis for Holographic MIMO Based on a Mutual-Coupling-Compliant Channel Model

Degree of freedom(DOF)is a key indicator for spatial multiplexing layers of a wireless channel.Traditionally,the channel of a multiple-input multiple-output(MIMO)half-wavelength dipole array has a DOF that equals the antenna number.However,recent studies suggest that the DOF could be less than the antenna number when strong mutual coupling is considered.We utilize a mutual-coupling-compliant channel model to investigate the DOF of the holographic MIMO(HMIMO)channel and give a upper bound of the DOF with strong mutual coupling.Our numerical simulations demonstrate that a dense array can support more DOF per unit aperture as compared with a half-wavelength MIMO system.

Trimming the Degrees of Freedom via a K^(+) Flux Rectifier for Safe and Long‑Life Potassium‑Ion Batteries

High degrees of freedom(DOF)for K^(+)movement in the electrolytes is desirable,because the resulting high ionic conductivity helps improve potassium-ion batteries,yet requiring support from highly free and flammable organic solvent molecules,seriously affecting battery safety.Here,we develop a K^(+)flux rectifier to trim K ion’s DOF to 1 and improve electrochemical properties.Although the ionic conductivity is compromised in the K^(+)flux rectifier,the overall electrochemical performance of PIBs was improved.An oxidation stability improvement from 4.0 to 5.9 V was realized,and the formation of dendrites and the dissolution of organic cathodes were inhibited.Consequently,the K||K cells continuously cycled over 3,700 h;K||Cu cells operated stably over 800 cycles with the Coulombic efficiency exceeding 99%;and K||graphite cells exhibited high-capacity retention over 74.7%after 1,500 cycles.Moreover,the 3,4,9,10-perylenetetracarboxylic diimide organic cathodes operated for more than 2,100 cycles and reached year-scale-cycling time.We fabricated a 2.18 Ah pouch cell with no significant capacity fading observed after 100 cycles.

Modified Two-Degrees-of-Freedom Internal Model Control for Non-Square Systems with Multiple Time Delays

A modified two-degrees-of-freedom( M-TDOF) internal model control( IMC) method is proposed for non-square systems with multiple time delays and right-half-plane( RHP) zeros. In this method,pseudo-inverse is introduced to design the internal model controller,and a desired closed-loop transfer function is designed to eliminate the unrealizable factors of the derived controller. In addition,set-point tracking and load-disturbance rejection of each process are separately controlled by two controllers. The simulation results show that in addition to high decoupling performance and robustness,the proposed control method also effectively improves loaddisturbance rejection and simultaneously optimizes the input tracking performance and disturbance rejection performance by selecting the parameters of controllers. Furthermore,the higher tolerance of model mismatch is achieved in this paper.

System Identification Modeling of Ship Manoeuvring Motion in 4 Degrees of Freedom Based on Support Vector Machines

Based on support vector machines, three modeling methods, i.e., white-box modeling, grey-box modeling and black-box modeling of ship manoeuvring motion in 4 degrees of freedom are investigated. With the whole-ship mathematical model for ship manoeuvring motion, in which the hydrodynamic coefficients are obtained from roll planar motion mechanism test, some zigzag tests and turning circle manoeuvres are simulated. In the white-box modeling and grey-box modeling, the training data taken every 5 s from the simulated 20°/20° zigzag test are used, while in the black-box modeling, the training data taken every 5 s from the simulated 15°/15°, 20°/20° zigzag tests and 15°, 25° turning manoeuvres are used; and the trained support vector machines are used to predict the whole 20°/20° zigzag test. Comparisons between the simulated and predicted 20°/20° zigzag tests show good predictive ability of the proposed methods. Besides, all mathematical models obtained by the proposed modeling methods are used to predict the 10°/10° zigzag test and 35° turning circle manoeuvre, and the predicted results are compared with those of simulation tests to demonstrate the good generalization performance of the mathematical models. Finally, the proposed modeling methods are analyzed and compared with each other in aspects of application conditions, prediction accuracy and computation speed. The appropriate modeling method can be chosen according to the intended use of the mathematical models and the available data needed for system identification.

Generalized Parallel Coprime Array for Two-Dimensional DOA Estimation:A Perspective from Maximizing Degree of Freedom

Parallel arrays with coprime subarrays have shown its potential advantages for two dimensional direction of arrival(DOA)estimation.In this paper,by introducing two flexible coprime factors to enlarge the inter-element spacing of parallel uniform subarrays,we propose a generalized parallel coprime array(GPCA)geometry.The proposed geometry enjoys flexible array layouts by the coprime factors and enables to extend the array aperture to achieve great improvement of estimation performance.Meanwhile,we verify that GPCA always can obtain M2 degrees of freedom(DOFs)in co-array domain via 2M sensors after optimization,which outperforms sparse parallel array geometries,such as parallel coprime array(PCA)and parallel augmented coprime array(PACA),and is the same as parallel nested array(PNA)with extended aperture.The superiority of GPCA geometry has been proved by numerical simulations with sparse representation methods.

Bionic Quadruped Robot Dynamic Gait Control Strategy Based on Twenty Degrees of Freedom

Quadruped robot dynamic gaits have much more advantages than static gaits on speed and efficiency, however high speed and efficiency calls for more complex mechanical structure and complicated control algorithm. It becomes even more challenging when the robot has more degrees of freedom.As a result, most of the present researches focused on simple robot, while the researches on dynamic gaits for complex robot with more degrees of freedom are relatively limited. The paper is focusing on the dynamic gaits control for complex robot with twenty degrees of freedom for the first time. Firstly, we build a relatively complete 3 D model for quadruped robot based on spring loaded inverted pendulum(SLIP) model, analyze the inverse kinematics of the model, plan the trajectory of the swing foot and analyze the hydraulic drive. Secondly, we promote the control algorithm of one-legged to the quadruped robot based on the virtual leg and plan the state variables of pace gait and bound gait. Lastly, we realize the above two kinds of dynamic gaits in ADAMS-MATLAB joint simulation platform which testify the validity of above method.

Physical Modeling and Parametric Study on Two-Degree-of-Freedom VIV of A Cylinder near Rigid Wall

Unlike most previous studies on the transverse vortex-induced vibration（VlV） of a cylinder mainly under the wallfree condition （Williamson ＆ Govardhan, 2004）, this paper experimentally investigates the vortex-induced vibration of a cylinder with two degrees of freedom near a rigid wall exposed to steady flow. The amplitude and frequency responses of the cylinder are discussed. The lee wake flow patterns of the cylinder undergoin^g VIV were visualized by employing the hydrogen bubble technique. The effects of the gap-to-diameter ratio （eo/D） and the mass ratio on the vibration amplitude and frequency are analyzed. Comparisons of VIV response of the cylinder are made between one degree （only transverse） and two degrees of freedom （streamwise and transverse） and those between the present study and previous ones. The experimental observation indicates that there are two types of streamwise vibration, i.e. the first streamwise vibration （FSV） with small amplitude and the second streamwise vibration （SSV） which coexists with transverse vibration. The vortex shedding pattern for the FSV is approximately syrmnetric and that for the SSV is ahernate. The first streamwise vibration tends to disappear with the decrease of eo/D. For the case of large gap-to-dianeter ratios （ e.g. eo/D = 0. 54 ～ 1.58）, the maximum amplitudes of the second streamwise vibration and transverse one increase with the increasing gap- to-diameter ratio. But for the case of small gap-to-diameter ratios （e. g. eo/D= 0. 16, 0.23）, the vibration amplitude of the cylinder increases slowly at the initial stage （i.e. at small reduced velocity Vr）, and across the maximum amplitude it decreases quickly at the last stage （i.e. at large Vr）. Within the range of the examined small mass ratio （m 〈 4）, both streamwise and transverse vibration amplitude of the cylinder decrease with the increase of mass ratio for the fixed value of Vr- The vibration range （ in terms of Vr） tends to widen with the decrease of the mass ratio. In the second streamwise vibration region, the vibration frequency of the cylinder with a small mass ratio （ e.g. mx = 1.44） undergoes a jump at a certain Vr＋ The maximum amplitudes of the transverse vibration for two-degree-of-freedom case is larger than that for one-degree-of-freedom case, but the transverse vibration frequency of the cylinder with two degrees of freedom is lower than that with one degree of freedom（transverse）.

Type Synthesis of Two-Degrees-of-Freedom Rotational Parallel Mechanism with Two Continuous Rotational Axes

The two-rotational-degrees-of-freedom（2R） parallel mechanism（PM） with two continuous rotational axes（CRAs） has a simple kinematic model.It is therefore easy to implement trajectory planning,parameter calibration,and motion control,which allows for a variety of application prospects.However,no systematic analysis on structural constraints of the 2R-PM with two CRAs has been performed,and there are only a few types of 2R-PM with two CRAs.Thus,a theory regarding the type synthesis of the 2R-PM with two CRAs is systematically established.First,combining the theories of reciprocal screw and space geometry,the spatial arrangement relationships of the constraint forces applied to the moving platform by the branches are explored,which give the 2R-PM two CRAs.The different distributions of the constraint forces in each branch are also studied.On the basis of the obtained structural constraints of branches,and considering the geometric relationships of constraint forces in each branch,the appropriate kinematic chains are constructed.Through the reasonable configuration of branch kinematic chains corresponding to every structural constraint,a series of new 2R-PMs with two CRAs are finally obtained.

The number of least degrees of freedom required for a polarization controller to transform any state of polarization to any other output covering the entire Poincar sphere

Using two typical types of polarization controller, this paper analyses theoretically and experimentally the fact that it is necessary to adjust at least three instead of two waveplates in order to transform any state of polarization to any other output covering the entire Poincar6 sphere. The experimental results are exactly in accordance with the theory discussed in this paper. It has corrected the conventional and inaccurate point of view that two waveplates of a polarization controller are adequate to complete the transformation of state of polarization.

Dynamic analysis of new type elastic screen surface with multi degree of freedom and experimental validation

A feasible method was proposed to improve the vibration intensity of screen surface via application of a new type elastic screen surface with multi degree of freedom(NTESSMDF). In the NTESSMDF, the primary robs were coupled to the main screen structure with ends embedded into the elastomers, and the secondary robs were attached to adjacent two primary robs with elastic bands. The dynamic model of vibrating screen with NTESSMDF was established based on Lagrange's equation and the equivalent stiffnesses of the elastomer and elastic band were calculated. According to numerical simulation using the 4th order Runge-Kutta method, the vibration intensity of screen surface can be enhanced substantially with an averaged acceleration amplitude increasing ratio of 72.36%. The primary robs and secondary robs vibrate inversely in steady state, which would result in the friability of materials and avoid stoppage. The experimental results validate the dynamic characteristics with acceleration amplitude rising by62.93% on average, which demonstrates the feasibility of NTESSMDF.

Behavior of Vortex-Induced Vibration of A Circular Cylinder Near A Deformable Wall with Two Degrees of Freedom in Steady Flow

The behavior of vortex-induced vibration of a two-degree-of-freedom cylinder near a deformable wall in steady flow is investigated experimentally. The typical phenomenon of the two-degree-of-freedom cylinder＇s VIV is discussed. The influences of initial gap between the cylinder and the wall on the dynamic responses of the cylinder are analyzed. The comparison is made about dynamic responses of the cylinder with one and two degrees of freedom. Experimental results show that the vibration of the cylinder near a deformable wall with a small value of initial gap-to-diameter ratios can generally be divided into two phases. The initial gap-to-diameter ratios have a noticeable influence on the occurrence of transverse vibration. The transverse maximum amplitude of the cylinder with two degrees of freedom is larger than that of the cylinder with one degree of freedom under the condition with the same values of other parameters. However, the vibration frequency of the cylinder for the two degrees of freedom case is smaller than that for the one degree of freedom case at the same value of Vr number

OPTIMAL CONTROL OF THE FLEXI-BLE LINK MANIPULATOR WITH CONTROLLABLE LOCAL DEGREES OF FREEDOM

Although flexible manipulators own many potential advantages, one of their major disadvantages is the deterioration of the end-effector accuracy due to the flexibility. Therefore, how to reduce vibration is a significant problem. Inspired by the observation on the motion behaviors of animals, a new idea of decreasing motion deflection of the flexible manipulator is suggested. The concept of controllable local degrees of freedom is proposed and analyzed. By way of optimizing local motion provided by the controllable local degrees of freedom, the end-effector deflection of the flexible manipulator can be effectively decreased through dynamic coupling. The corresponding optimal method for vibration control of the flexible manipulator is put forward. The kinematic simulation is carried ant on a three-link flexible manipulator The corresponding results verify the feasibility of this method.

Design and Analysis of a Novel Compliant Mechanism with RPR Degrees of Freedom

A novel compliant mechanism with RPR degrees of freedom(DOF)is proposed where R and P represent rotation and translation DOFs,respectively.The proposed compliant mechanism is obtained from dimension synthesizing a 2-RPU-UPR rigid parallel mechanism with the method of optimization of motion/force transfer characteristic.R,P and U represent rotation,translation and universal pairs,respectively.Firstly,inverse kinematics and Jacobian matrix are analyzed for the dimensional synthesis.Then,output transmission indexes of branches in the parallel mechanism are given.Dimensional synthesis is completed based on the normalized design parameter.And optimization of flexure joints based on constrained energy is carried out.Afterwards,the novel compliant mechanism is obtained by direct replacing method.Mechanical model of the compliant mechanism including static stiffness and input stiffness is built based on the pseudo-rigid body modeling method and virtual work principle.Finally,FEA simulation by Ansys Workbench is carried out to verify DOF,effectiveness of the dimension synthesis,and compliant model.Optimization of motion/force transfer characteristic is first applied for the design of compliant mechanisms to suppress drift of rotation axis in the paper.

Effects of Degrees of Motion Freedom on Free-Fall of A Sphere in Fluid

Free-fall of a sphere in fluid is investigated at a Galileo number of 204 by direct numerical simulations(DNS). We mainly focus on the effects of different degrees-of-freedom(DOFs) of the sphere motion during free-fall. The characteristics of free-fall are compared with those of flow past a fixed sphere. Additional numerical tests are conducted with constraints placed on the translational or rotational DOFs of the sphere motion to analyze different DOFs of sphere motion. The transverse motion contributes significantly to the characteristics of free-fall; it results in the retardation of the vortex shedding, leading to the decrease of the Strouhal number. In addition, the transversal sphere motion exhibits the tendency to promote the sphere rotation. On the contrary, the effects of the sphere rotation and vertical oscillations during free-fall are negligible.

A meshfree-based local Galerkin method with condensation of degree of freedom for elastic dynamic analysis

Condensation technique of degree of freedom is first proposed to improve the computational efficiency of meshfree method with Galerkin weak form for elastic dy- namic analysis. In the present method, scattered nodes with- out connectivity are divided into several subsets by cells with arbitrary shape. Local discrete equation is established over each cell by using moving Kriging interpolation, in which the nodes that located in the cell are used for approxima- tion. Then local discrete equations can be simplified by con- densation of degree of freedom, which transfers equations of inner nodes to equations of boundary nodes based on cells. The global dynamic system equations are obtained by as- sembling all local discrete equations and are solved by using the standard implicit Newmark＇s time integration scheme. In the scheme of present method, the calculation of each cell is carried out by meshfree method, and local search is imple- mented in interpolation. Numerical examples show that the present method has high computational efficiency and good accuracy in solving elastic dynamic problems.

Temperature Control Based on Fuzzy Logic Two-degree-of-freedom Smith Internal Model

According to the characteristics of the large time delay,nonlinearity and the great inertia of temperature control system in biomass pyrolysis reactor,a two-degree-of-freedom Smith internal model controller based on fuzzy control is proposed.Firstly,the mathematical model of the temperature control system is established by using the step response method,and then the two-degree-of-freedom Smith internal model controller is designed,and the good tracking performance and disturbance suppression performance can be obtained by designing the set value tracking controller and interference rejection capability.Secondly,the fuzzy control algorithm is used to realize the on-line tuning of the control parameters of the two-degree-of-freedom Smith internal model algorithm.The simulation results show that,compared with the traditional internal model control,fuzzy internal model PID control and two-degree-of-freedom Smith internal model control,the algorithm proposed in this paper improves the influence of lag time on the control system,realizes the separation control of set point tracking and anti-jamming performance and the self-tuning of control parameters,and improves the control performance of the system.

The duality of a single particle with an n-dimensional internal degree of freedom

The wave-particle duality of a single particle with an n-dimensional internal degree of freedom is re-examined theo- retically in a Mach-Zehnder interferometer. The famous duality relation D2 ＋ V2 〈 1 is always valid in this situation, where D is the distinguishability and V is the visibility. However, the sum of the particle information and the wave information, D2 V2, can be smaller than one for the input of a pure state if this initial pure state includes the internal degree of freedom of the particle, while the quantity D2~ V2 is always equal to one when the internal degree of freedom of the particle is excluded.

Asymptotic dynamics of the alternate degrees of freedom for a two-mode system:An analytically solvable model

The composite systems can be non-uniquely decomposed into parts（subsystems）.Not all decompositions（structures） of a composite system are equally physically relevant.In this paper we answer on theoretical ground why it may be so.We consider a pair of mutually un-coupled modes in the phase space representation that are subjected to the independent quantum amplitude damping channels.By investigating asymptotic dynamics of the degrees of freedom,we find that the environment is responsible for the structures non-equivalence.Only one structure is distinguished by both locality of the environmental influence on its subsystems and a classical-like description.

The Effective Degree of Freedom of Low Energy QCD

The adiabatic effective baryon-baryon interactions and dibaryon candidates are studied syst ematicallywith three constituent quark models based on different effective degrees of freedom: Glozman-Riska-Brown Goldstoneboson exchange model based on constituent quark and Goldstone boson coupling; Fujiwara model based on constituentquark gluon coupling and Nijmegen one-boson exchange; QDCSM based on constituent quark and gluon coupling withquark delocalization and color screening. We find that the three models predicted the similar effective baryon-baryoninteractions for roughly two thirds among the 64 states consisted of octet and decuplet baryons. The differences amongthree models and their separate characteristics are also studied.