Kinematic Geometry for the Saddle Line Fitting of Planar Discrete Positions

The position synthesis of planar linkages is to locate the center point of the moving joint on a rigid link, whose trajectory is a circle or a straight line. Utilizing the min-max optimization scheme, the fitting curve needs to minimize the maximum fitting error to acquire the dimension of a planar binary P-R link. Based on the saddle point programming, the fitting straight line is determined to the planar discrete point-path traced by the point of the rigid body in planar motion. The property and evolution of the defined saddle line error can be revealed from three given separate points. A quartic algebraic equation relating the fitting error and the coordinates is derived, which agrees with the classical theory. The effect of the fourth point is discussed in three cases through the constraint equations. The multi-position saddle line error is obtained by combination and comparison from the saddle point programming. Several examples are presented to illustrate the solution process for the saddle line error of the moving plane. The saddle line error surface and the contour map presented to show the variations of the fitting error in the fixed frame. The discrete kinematic geometry is then set up to disclose the relations of the separate positions of the rigid body, the location of the tracing point on the moving body, and the position and orientation of the saddle line to the point-path. This paper presents a new analytic geometry method for saddle line fitting and provides a theoretical foundation for position synthesis.

Recent Applications of Descriptive Geometry to Mechanical Engineering

This is a brief summary of a paper presented at the 5th Japan-China Joint Conference on Graphics Education in Osaka 2001.

On simulation of precise orbit determination of HY-2 with centimeter precision based on satellite-borne GPS technique

The HY-2 satellite carrying a satellite-borne GPS receiver is the first Chinese radar altimeter satellite, whose radial orbit determination precision must reach the centimeter level. Now HY-2 is in the test phase so that the observations are not openly released. In order to study the precise orbit determination precision and procedure for HY-2 based on the satellite- borne GPS technique, the satellite-borne GPS data are simulated in this paper. The HY-2 satellite-borne GPS antenna can receive at least seven GPS satellites each epoch, which can validate the GPS receiver and antenna design. What＇s more, the precise orbit determination processing flow is given and precise orbit determination experiments are conducted using the HY-2-borne GPS data with both the reduced-dynamic method and the kinematic geometry method. With the 1 and 3 mm phase data random errors, the radial orbit determination precision can achieve the centimeter level using these two methods and the kinematic orbit accuracy is slightly lower than that of the reduced-dynamic orbit. The earth gravity field model is an important factor which seriously affects the precise orbit determination of altimeter satellites. The reduced-dynamic orbit determination experiments are made with different earth gravity field models, such as EIGEN2, EGM96, TEG4, and GEMT3. Using a large number of high precision satellite-bome GPS data, the HY-2 precise orbit determination can reach the centimeter level with commonly used earth gravity field models up to above 50 degrees and orders.

Global Geometry of 3-Body Motions with Vanishing Angular MomentumⅠ

Following Jacobi＇s geometrization of Lagrange＇s least action principle, trajectories of classical mechanics can be characterized as geodesics on the configuration space M with respect to a suitable metric which is the conformal modification of the kinematic metric by the factor （U ＋ h）, where U and h are the potential function and the total energy, respectively. In the special case of 3-body motions with zero angular momentum, the global geometry of such trajectories can be reduced to that of their moduli curves, which record the change of size and shape, in the moduli space of oriented m-triangles, whose kinematic metric is, in fact, a Riemannian cone over the shape space M^＊≌S^2 （1/2）. In this paper, it is shown that the moduli curve of such a motion is uniquely determined by its shape curve （which only records the change of shape） in the case of h≠0, while in the special case of h = 0 it is uniquely determined up to scaling. Thus, the study of the global geometry of such motions can be further reduced to that of the shape curves, which are time-parametrized curves on the 2-sphere characterized by a third order ODE. Moreover, these curves have two remarkable properties, namely the uniqueness of parametrization and the monotonieity, that constitute a solid foundation for a systematic study of their global geometry and naturally lead to the formulation of some pertinent problems.

ON THE KINEMATIC GEOMETRY OF MANY BODY SYSTEMS

In mechanics, both classical and quantum, one studies the profound interaction betweentwo types of energy, namely, the kinetic energy and the potential energy. The former can beorganized as the kinematic metric on the configuration space while the latter can be representedby a suitable potential function, such as the Newtonian potential in celestial mechanics andthe Coulomb potential in quantum mechanics of atomic and molecular physics. In this paper,the author studies the kinematic geometry of n-body systems. The main results are (i) theintroduction of a canonical coordinate svstem which reveals the total amount of kinematicsymmetry by an SO(3) x O(n-1) action in such a canonical coordinate representationt (ii) anin depth analysis of the above kinematic system both in the setting of classical invariant theoryand by the technique of equivariant Riemannian geometry; (iii) a remarkably simple formulafor the potential function in such a canonical coordinate system which reveals the well-fittingbetween the kinematic symmetry and the Potential energy.

Late Mesozoic extensional tectonics of the Liaodong Peninsula massif:Response of crust to continental lithosphere destruction of the North China Craton

Unlike most Precambrian cratons that have thick sub-continental lithospheric roots,the Archean lithosphere beneath the North China Craton is thin (reduced from 200 km to about 80 km),and has been replaced by a geochemically juvenile lithospheric mantle.This is a unique regional geological event,which has attracted worldwide attention.In the North China Block,Late Mesozoic extensional tectonics is evident by low-angle detachment faults,syntectonic plutons bounded by ductile faults,metamorphic core complexes (MCC) and widespread Jurassic to Cretaceous half-grabens filled by continental terrigenous deposits and volcanic rocks.At a regional scale,these structures share the same NW-SE extensional direction,while maintaining their own individual kinematics.In other words,the MCC feature a top-to-the-NW sense of shear,and syntectonic plutons are typified by a top-to-the-SE shearing deformations.Geochronological results indicate that the extensional structures were formed between 130-120 Ma.These extensional events lead to magmatic rock emplacement,distributed at the footwall of the detachment faults.Two different exhumation stages can be identified based on regional structural and magmatic interpretation:a Jurassic slow or negligible exhumation and a Cretaceous fast one assisted by normal faulting.These two cooling stages correspond to distinct geodynamic processes that occurred during the Jurassic and Cretaceous.Extensional tectonics appear to have been insignificant before the Early Cretaceous,and the process may be demonstrated by partial melting of the crust.The second stage,dominated by an extensional regime,developed after ca 120 Ma,and is tentatively correlated with crustal extension caused by lithospheric removal of the North China Craton.

Automated pavement horizontal curve measurement methods based on inertial measurement unit and 3D profiling data

Pavement horizontal curve is designed to serve as a transition between straight segments, and its presence may cause a series of driving-related safety issues to motorists and drivers. As is recognized that traditional methods for curve geometry investigation are time consuming, labor intensive, and inaccurate, this study attempts to develop a method that can automatically conduct horizontal curve identification and measurement at network level. The digital highway data vehicle （DHDV） was utilized for data collection, in which three Euler angles, driving speed, and acceleration of survey vehicle were measured with an inertial measurement unit （IMU）. The 3D profiling data used for cross slope calibration was obtained with PaveVision3D Ultra technology at 1 mm resolution. In this study, the curve identification was based on the variation of heading angle, and the curve radius was calculated with ki- nematic method, geometry method, and lateral acceleration method. In order to verify the accuracy of the three methods, the analysis of variance （ANOVA） test was applied by using the control variable of curve radius measured by field test. Based on the measured curve radius, a curve safety analysis model was used to predict the crash rates and safe driving speeds at horizontal curves. Finally, a case study on 4.35 km road segment demonstrated that the proposed method could efficiently conduct network level analysis.