An improved OPCL method is developed and applied to both small swing and giant rotation synchronization of a two-link mechanism. Transition processes of the two kinds of synchronization are discussed. Comparisons of d...An improved OPCL method is developed and applied to both small swing and giant rotation synchronization of a two-link mechanism. Transition processes of the two kinds of synchronization are discussed. Comparisons of different motion characteristics of the two-link synchronization and the effects of different control parameters on synchronous processes are investigated with numerical simulations.展开更多
This paper is devoted to find an intelligent and safe path for two-link robotic arm in dynamic environment. This paper focuses on computational part of motion planning in completely changing dynamic environment at eve...This paper is devoted to find an intelligent and safe path for two-link robotic arm in dynamic environment. This paper focuses on computational part of motion planning in completely changing dynamic environment at every motion sample domains,?since the local minima and sharp edges are the most common problems in all path planning algorithms. In addition, finding a path solution in a dynamic environment represents a challenge for the robotics researchers,?so in this paper, a proposed mixing approach was suggested to overcome all these obstructions. The proposed approach methodology?for obtaining robot interactive path planning solution in known dynamic environment utilizes?the use of modified heuristic D-star (D*) algorithm based on the full free Cartesian space analysis at each motion sample with the Particle Swarm Optimization (PSO) technique.?Also, a modification on the?D* algorithm has been done to match the dynamic environment requirements by adding stop and return backward cases which is not included in the original D* algorithm theory. The resultant interactive path solution was computed by taking into consideration the time and position changes of the moving obstacles. Furthermore, to insure the enhancement of the?final path length optimality, the PSO technique was used.?The simulation results are given to show the effectiveness of the proposed method.展开更多
Multilayer network is a frontier direction of network science research. In this paper, the cluster ring network is extended to a two-layer network model, and the inner structures of the cluster blocks are random, smal...Multilayer network is a frontier direction of network science research. In this paper, the cluster ring network is extended to a two-layer network model, and the inner structures of the cluster blocks are random, small world or scale-free. We study the influence of network scale, the interlayer linking weight and interlayer linking fraction on synchronizability. It is found that the synchronizability of the two-layer cluster ring network decreases with the increase of network size. There is an optimum value of the interlayer linking weight in the two-layer cluster ring network, which makes the synchronizability of the network reach the optimum. When the interlayer linking weight and the interlayer linking fraction are very small, the change of them will affect the synchronizability.展开更多
An appropriate amount of toluene 2,4-diisocyanate（TDI） was added into polyether（[（CH2CH2O）13 CH2O]n/Li salt electrolyte to form a cross-linked network,with improving the film proces sability and thermal stability...An appropriate amount of toluene 2,4-diisocyanate（TDI） was added into polyether（[（CH2CH2O）13 CH2O]n/Li salt electrolyte to form a cross-linked network,with improving the film proces sability and thermal stability.The relation between the structure and ioinc conductive properties of the cross-lined polyether electrolytes was investigated by means of Fourier transform infra-red spectroscopy（FTIR）,differential scanning calorimetry（DSC）,mechanical property and AC impedance spectroscopy.The electrolytes system is found to have two glass transitions,and it is found that the two Tgs increase with increasing salt concentration.At the some Li salt concentration,the conductivity of cross-liked polyether/LiN（CF3SO2）2 complex system is higher than that of LiClo4,At EO/Li=25：1（mol ratio）,the former conductivity changes with temperature,while the later coincids with Arrhenius formula（σ=Ae^-Ea/RT）.The cross-linked polyether/LiN（CF3 SO2）2 electrolyte exhibits the maximum σ=10^-4.75S/cm at 30℃.展开更多
The main purpose of this study is to survey numerically comparison of two- phase and single phase of heat transfer and flow field of copper-water nanofluid in a wavy channel. The computational fluid dynamics （CFD） p...The main purpose of this study is to survey numerically comparison of two- phase and single phase of heat transfer and flow field of copper-water nanofluid in a wavy channel. The computational fluid dynamics （CFD） prediction is used for heat transfer and flow prediction of the single phase and three different two-phase models （mixture, volume of fluid （VOF）, and Eulerian）. The heat transfer coefficient, temperature, and velocity distributions are investigated. The results show that the differences between the temperature fie].d in the single phase and two-phase models are greater than those in the hydrodynamic tleld. Also, it is found that the heat transfer coefficient predicted by the single phase model is enhanced by increasing the volume fraction of nanoparticles for all Reynolds numbers; while for the two-phase models, when the Reynolds number is low, increasing the volume fraction of nanoparticles will enhance the heat transfer coefficient in the front and the middle of the wavy channel, but gradually decrease along the wavy channel.展开更多
基金supported by the Key Project of Science and Technology Research of Ministry of Educationof China (No. 108037)the National Natural Science Foundation of China (No. 10402008 and50535010)
文摘An improved OPCL method is developed and applied to both small swing and giant rotation synchronization of a two-link mechanism. Transition processes of the two kinds of synchronization are discussed. Comparisons of different motion characteristics of the two-link synchronization and the effects of different control parameters on synchronous processes are investigated with numerical simulations.
文摘This paper is devoted to find an intelligent and safe path for two-link robotic arm in dynamic environment. This paper focuses on computational part of motion planning in completely changing dynamic environment at every motion sample domains,?since the local minima and sharp edges are the most common problems in all path planning algorithms. In addition, finding a path solution in a dynamic environment represents a challenge for the robotics researchers,?so in this paper, a proposed mixing approach was suggested to overcome all these obstructions. The proposed approach methodology?for obtaining robot interactive path planning solution in known dynamic environment utilizes?the use of modified heuristic D-star (D*) algorithm based on the full free Cartesian space analysis at each motion sample with the Particle Swarm Optimization (PSO) technique.?Also, a modification on the?D* algorithm has been done to match the dynamic environment requirements by adding stop and return backward cases which is not included in the original D* algorithm theory. The resultant interactive path solution was computed by taking into consideration the time and position changes of the moving obstacles. Furthermore, to insure the enhancement of the?final path length optimality, the PSO technique was used.?The simulation results are given to show the effectiveness of the proposed method.
文摘Multilayer network is a frontier direction of network science research. In this paper, the cluster ring network is extended to a two-layer network model, and the inner structures of the cluster blocks are random, small world or scale-free. We study the influence of network scale, the interlayer linking weight and interlayer linking fraction on synchronizability. It is found that the synchronizability of the two-layer cluster ring network decreases with the increase of network size. There is an optimum value of the interlayer linking weight in the two-layer cluster ring network, which makes the synchronizability of the network reach the optimum. When the interlayer linking weight and the interlayer linking fraction are very small, the change of them will affect the synchronizability.
文摘An appropriate amount of toluene 2,4-diisocyanate（TDI） was added into polyether（[（CH2CH2O）13 CH2O]n/Li salt electrolyte to form a cross-linked network,with improving the film proces sability and thermal stability.The relation between the structure and ioinc conductive properties of the cross-lined polyether electrolytes was investigated by means of Fourier transform infra-red spectroscopy（FTIR）,differential scanning calorimetry（DSC）,mechanical property and AC impedance spectroscopy.The electrolytes system is found to have two glass transitions,and it is found that the two Tgs increase with increasing salt concentration.At the some Li salt concentration,the conductivity of cross-liked polyether/LiN（CF3SO2）2 complex system is higher than that of LiClo4,At EO/Li=25：1（mol ratio）,the former conductivity changes with temperature,while the later coincids with Arrhenius formula（σ=Ae^-Ea/RT）.The cross-linked polyether/LiN（CF3 SO2）2 electrolyte exhibits the maximum σ=10^-4.75S/cm at 30℃.
文摘The main purpose of this study is to survey numerically comparison of two- phase and single phase of heat transfer and flow field of copper-water nanofluid in a wavy channel. The computational fluid dynamics （CFD） prediction is used for heat transfer and flow prediction of the single phase and three different two-phase models （mixture, volume of fluid （VOF）, and Eulerian）. The heat transfer coefficient, temperature, and velocity distributions are investigated. The results show that the differences between the temperature fie].d in the single phase and two-phase models are greater than those in the hydrodynamic tleld. Also, it is found that the heat transfer coefficient predicted by the single phase model is enhanced by increasing the volume fraction of nanoparticles for all Reynolds numbers; while for the two-phase models, when the Reynolds number is low, increasing the volume fraction of nanoparticles will enhance the heat transfer coefficient in the front and the middle of the wavy channel, but gradually decrease along the wavy channel.
