To avoid impacts and vibrations during the processes of acceleration and deceleration while possessing flexible working ways for cable-suspended parallel robots(CSPRs),point-to-point trajectory planning demands an und...To avoid impacts and vibrations during the processes of acceleration and deceleration while possessing flexible working ways for cable-suspended parallel robots(CSPRs),point-to-point trajectory planning demands an under-constrained cable-suspended parallel robot(UCPR)with variable angle and height cable mast as described in this paper.The end-effector of the UCPR with three cables can achieve three translational degrees of freedom(DOFs).The inverse kinematic and dynamic modeling of the UCPR considering the angle and height of cable mast are completed.The motion trajectory of the end-effector comprising six segments is given.The connection points of the trajectory segments(except for point P3 in the X direction)are devised to have zero instantaneous velocities,which ensure that the acceleration has continuity and the planned acceleration curve achieves smooth transition.The trajectory is respectively planned using three algebraic methods,including fifth degree polynomial,cycloid trajectory,and double-S velocity curve.The results indicate that the trajectory planned by fifth degree polynomial method is much closer to the given trajectory of the end-effector.Numerical simulation and experiments are accomplished for the given trajectory based on fifth degree polynomial planning.At the points where the velocity suddenly changes,the length and tension variation curves of the planned and unplanned three cables are compared and analyzed.The OptiTrack motion capture system is adopted to track the end-effector of the UCPR during the experiment.The effectiveness and feasibility of fifth degree polynomial planning are validated.展开更多
This paper presents a new method to estimate the height of the atmospheric boundary layer(ABL) by using COSMIC radio occultation bending angle(BA) data. Using the numerical differentiation method combined with the reg...This paper presents a new method to estimate the height of the atmospheric boundary layer(ABL) by using COSMIC radio occultation bending angle(BA) data. Using the numerical differentiation method combined with the regularization technique, the first derivative of BA profiles is retrieved, and the height at which the first derivative of BA has the global minimum is defined to be the ABL height. To reflect the reliability of estimated ABL heights, the sharpness parameter is introduced, according to the relative minimum of the BA derivative. Then, it is applied to four months of COSMIC BA data(January, April, July, and October in 2008), and the ABL heights estimated are compared with two kinds of ABL heights from COSMIC products and with the heights determined by the finite difference method upon the refractivity data. For sharp ABL tops(large sharpness parameters), there is little difference between the ABL heights determined by different methods, i.e.,the uncertainties are small; whereas, for non-sharp ABL tops(small sharpness parameters), big differences exist in the ABL heights obtained by different methods, which means large uncertainties for different methods. In addition, the new method can detect thin ABLs and provide a reference ABL height in the cases eliminated by other methods. Thus, the application of the numerical differentiation method combined with the regularization technique to COSMIC BA data is an appropriate choice and has further application value.展开更多
A numerical method has been used to analyze the flow field related to a NACA 0015 airfoil with and without a flap and assess the influence of the flap height and angle on the surface pressure coefficient,lift coeffici...A numerical method has been used to analyze the flow field related to a NACA 0015 airfoil with and without a flap and assess the influence of the flap height and angle on the surface pressure coefficient,lift coefficient,and drag coefficient.The numerical results demonstrate that the flap can effectively improve the lift coefficient of the airfoil;however,at small attack angles,its influence is significantly reduced.When the angle of attack exceeds the critical stall angle and the flap height is 1.5%of the chord length,the influence of the flap becomes very evident.As the flap height increases,the starting point of the separation vortex gradually moves forward and generates a larger wake vortex.Optimal aerodynamic characteristics are obtained for 1.5%(of the chord length)flap height and a 45°flap angle;in this case,the separation vortex is effectively reduced.展开更多
基金National Natural Science Foundation of China(Grant Nos.51925502,51575150).
文摘To avoid impacts and vibrations during the processes of acceleration and deceleration while possessing flexible working ways for cable-suspended parallel robots(CSPRs),point-to-point trajectory planning demands an under-constrained cable-suspended parallel robot(UCPR)with variable angle and height cable mast as described in this paper.The end-effector of the UCPR with three cables can achieve three translational degrees of freedom(DOFs).The inverse kinematic and dynamic modeling of the UCPR considering the angle and height of cable mast are completed.The motion trajectory of the end-effector comprising six segments is given.The connection points of the trajectory segments(except for point P3 in the X direction)are devised to have zero instantaneous velocities,which ensure that the acceleration has continuity and the planned acceleration curve achieves smooth transition.The trajectory is respectively planned using three algebraic methods,including fifth degree polynomial,cycloid trajectory,and double-S velocity curve.The results indicate that the trajectory planned by fifth degree polynomial method is much closer to the given trajectory of the end-effector.Numerical simulation and experiments are accomplished for the given trajectory based on fifth degree polynomial planning.At the points where the velocity suddenly changes,the length and tension variation curves of the planned and unplanned three cables are compared and analyzed.The OptiTrack motion capture system is adopted to track the end-effector of the UCPR during the experiment.The effectiveness and feasibility of fifth degree polynomial planning are validated.
基金supported by the National Natural Science Foundation of China (Grant No. 41475021)
文摘This paper presents a new method to estimate the height of the atmospheric boundary layer(ABL) by using COSMIC radio occultation bending angle(BA) data. Using the numerical differentiation method combined with the regularization technique, the first derivative of BA profiles is retrieved, and the height at which the first derivative of BA has the global minimum is defined to be the ABL height. To reflect the reliability of estimated ABL heights, the sharpness parameter is introduced, according to the relative minimum of the BA derivative. Then, it is applied to four months of COSMIC BA data(January, April, July, and October in 2008), and the ABL heights estimated are compared with two kinds of ABL heights from COSMIC products and with the heights determined by the finite difference method upon the refractivity data. For sharp ABL tops(large sharpness parameters), there is little difference between the ABL heights determined by different methods, i.e.,the uncertainties are small; whereas, for non-sharp ABL tops(small sharpness parameters), big differences exist in the ABL heights obtained by different methods, which means large uncertainties for different methods. In addition, the new method can detect thin ABLs and provide a reference ABL height in the cases eliminated by other methods. Thus, the application of the numerical differentiation method combined with the regularization technique to COSMIC BA data is an appropriate choice and has further application value.
基金supported by the National Natural Science Foundation Project(Grant Numbers 51966018 and 51466015)the Key Research&Development Program of Xinjiang(Grant Number 2022B01003).
文摘A numerical method has been used to analyze the flow field related to a NACA 0015 airfoil with and without a flap and assess the influence of the flap height and angle on the surface pressure coefficient,lift coefficient,and drag coefficient.The numerical results demonstrate that the flap can effectively improve the lift coefficient of the airfoil;however,at small attack angles,its influence is significantly reduced.When the angle of attack exceeds the critical stall angle and the flap height is 1.5%of the chord length,the influence of the flap becomes very evident.As the flap height increases,the starting point of the separation vortex gradually moves forward and generates a larger wake vortex.Optimal aerodynamic characteristics are obtained for 1.5%(of the chord length)flap height and a 45°flap angle;in this case,the separation vortex is effectively reduced.
