The control of a free-floating space manipulator system isdiscussed. With the augmentation approach, the nonlinearparameterization problem of the dynamic equations of the spacemanipulator system is overcome. Based on ...The control of a free-floating space manipulator system isdiscussed. With the augmentation approach, the nonlinearparameterization problem of the dynamic equations of the spacemanipulator system is overcome. Based on the results, the robustcontrol scheme for free-floating space manipulator with uncer- tainpayload parameters to track the desired trajectory in jointspace isproposed, and the global convergence of the tracking is verified byusing the Lyapunov method.展开更多
We develop the immersed interface method(IIM)to simulate a two-fluid flow of two immiscible fluids with different density and viscosity.Due to the surface tension and the discontinuous fluid properties,the two-fluid f...We develop the immersed interface method(IIM)to simulate a two-fluid flow of two immiscible fluids with different density and viscosity.Due to the surface tension and the discontinuous fluid properties,the two-fluid flow has nonsmooth velocity and discontinuous pressure across the moving sharp interface separating the two fluids.The IIM computes the flow on a fixed Cartesian grid by incorporating into numerical schemes the necessary jump conditions induced by the interface.We present how to compute these necessary jump conditions from the analytical principal jump conditions derived in[Xu,DCDS,Supplement 2009,pp.838-845].We test our method on some canonical two-fluid flows.The results demonstrate that the method can handle large density and viscosity ratios,is second-order accurate in the infinity norm,and conserves mass inside a closed interface.展开更多
基金the National Natural Science Foundation of China(No.19872032) Aeronautical Science FoandationScience Foundation of Fuzhou University
文摘The control of a free-floating space manipulator system isdiscussed. With the augmentation approach, the nonlinearparameterization problem of the dynamic equations of the spacemanipulator system is overcome. Based on the results, the robustcontrol scheme for free-floating space manipulator with uncer- tainpayload parameters to track the desired trajectory in jointspace isproposed, and the global convergence of the tracking is verified byusing the Lyapunov method.
基金the support of this work by the NSF grant DMS 0915237.
文摘We develop the immersed interface method(IIM)to simulate a two-fluid flow of two immiscible fluids with different density and viscosity.Due to the surface tension and the discontinuous fluid properties,the two-fluid flow has nonsmooth velocity and discontinuous pressure across the moving sharp interface separating the two fluids.The IIM computes the flow on a fixed Cartesian grid by incorporating into numerical schemes the necessary jump conditions induced by the interface.We present how to compute these necessary jump conditions from the analytical principal jump conditions derived in[Xu,DCDS,Supplement 2009,pp.838-845].We test our method on some canonical two-fluid flows.The results demonstrate that the method can handle large density and viscosity ratios,is second-order accurate in the infinity norm,and conserves mass inside a closed interface.
