Flexible joints are usually used to transfer velocities in robot systems and may lead to delays in motion transformation due to joint flexibility. In this paper, a linkrotor structure connected by a flexible joint or ...Flexible joints are usually used to transfer velocities in robot systems and may lead to delays in motion transformation due to joint flexibility. In this paper, a linkrotor structure connected by a flexible joint or shaft is firstly modeled to be a slow-fast delayed system when moment of inertia of the lightweight link is far less than that of the heavy rotor. To analyze the stability and oscillations of the slowfast system, the geometric singular perturbation method is extended, with both slow and fast manifolds expressed analytically. The stability of the slow manifold is investigated and critical boundaries are obtained to divide the stable and the unstable regions. To study effects of the transformation delay on the stability and oscillations of the link, two quantitatively different driving forces derived from the negative feedback of the link are considered. The results show that one of these two typical driving forces may drive the link to exhibit a stable state and the other kind of driving force may induce a relaxation oscillation for a very small delay. However, the link loses stability and undergoes regular periodic and bursting oscillation when the transformation delay is large. Basically, a very small delay does not affect the stability of the slow manifold but a large delay affects substantially.展开更多
This paper is concerned with the recursive filtering problem for a class of discrete-time nonlinear stochastic systems in the presence of multi-sensor measurement delay. The delay occurs in a multi-step and asynchrono...This paper is concerned with the recursive filtering problem for a class of discrete-time nonlinear stochastic systems in the presence of multi-sensor measurement delay. The delay occurs in a multi-step and asynchronous manner, and the delay probability of each sensor is assumed to be known or unknown. Firstly, a new model is constructed to describe the measurement process, based on which a new particle filter is developed with the ability to fuse multi-sensor information in the case of known delay probability.In addition, an online delay probability estimation module is introduced in the particle filtering framework, which leads to another new filter that can be implemented without the prior knowledge of delay probability. More importantly, since there is no complex iterative operation, the resulting filter can be implemented recursively and is suitable for many real-time applications. Simulation results show the effectiveness of the proposed filters.展开更多
We present a detailed investigation of the evolution of observed net vertical current using a time series of vector magnetograms of the active region （AR） NOAA 11158 obtained from the Helioseismic and Magnetic Image...We present a detailed investigation of the evolution of observed net vertical current using a time series of vector magnetograms of the active region （AR） NOAA 11158 obtained from the Helioseismic and Magnetic Imager. We also discuss the relation of net current to the observed eruptive events. The AR evolved from the βγ to βγδ3 configuration over a period of six days. The AR had two sub-regions of activity with opposite chirality： one dominated by sunspot rotation producing a strong CME, and the other showing large shear motions producing a strong flare. The net current in each polarity over the CME producing sub-region increased to a maximum and then decreased when the sunspots were separated. The time profile of net current in this sub-region followed the time profile of the rotation rate of the south-polarity sunspot in the same sub-region. The net current in the flaring sub-region showed a sudden increase at the time of the strong flare and remained unchanged until the end of the observation, while the sunspots maintained their close proximity. The systematic evo- lution of the observed net current is seen to follow the time evolution of total length of strongly sheared polarity inversion lines in both of the sub-regions. The observed photospheric net current could be explained as an inevitable product of the emergence of a twisted flux rope, from a higher pressure confinement below the photosphere into the lower pressure environment of the photosphere.展开更多
Research on the pulsed flashover characteristics of vacuum insulation material is significant for the design and manufacture of pulse power devices. In view of the voltage increase rate of the fast pulse （pulse steep...Research on the pulsed flashover characteristics of vacuum insulation material is significant for the design and manufacture of pulse power devices. In view of the voltage increase rate of the fast pulse （pulse steepness）, the vacuum fiashover characteristics of pure epoxy under different steepnesses is investigated by using a pulse generator with parameters of a rise time of 40 ns and a full width at half maximum of 2.5 μs. Pulses with six levels of steepness were achieved by changing the charging voltage of the generator. Based on the linear equation and electron emission equation, the relationship between the flashover voltage and pulse steepness was fitted. By virtue of the fitted formula, it was possible to predict the flashover voltage under near DC or higher steepness conditions. Based on the electron emission equation, the relationship between the time delay and flashover field was also fitted. Result shows that F-N electron emission dominates the flashover process.展开更多
This paper presents a strong predictor-corrector method for the numerical solution of stochastic delay differential equations （SDDEs） of ItS-type. The method is proved to be mean-square convergent of order min{1/2,p...This paper presents a strong predictor-corrector method for the numerical solution of stochastic delay differential equations （SDDEs） of ItS-type. The method is proved to be mean-square convergent of order min{1/2,p} under the Lipschitz condition and the linear growth condition, where p is the exponent of HSlder condition of the initial function. Stability criteria for this type of method are derived. It is shown that for certain choices of the flexible parameter p the derived method can have a better stability property than more commonly used numerical methods. That is, for some p, the asymptotic MS-stability bound of the method will be much larger than that of the Euler-Maruyama method. Numerical results are reported confirming convergence properties and comparing stability properties of methods with different parameters p. Finally, the vectorised simulation is discussed and it is shown that this implementation is much more efficient.展开更多
基金supported by the National Natural Science Foundation of China(11032009 and 11272236)
文摘Flexible joints are usually used to transfer velocities in robot systems and may lead to delays in motion transformation due to joint flexibility. In this paper, a linkrotor structure connected by a flexible joint or shaft is firstly modeled to be a slow-fast delayed system when moment of inertia of the lightweight link is far less than that of the heavy rotor. To analyze the stability and oscillations of the slowfast system, the geometric singular perturbation method is extended, with both slow and fast manifolds expressed analytically. The stability of the slow manifold is investigated and critical boundaries are obtained to divide the stable and the unstable regions. To study effects of the transformation delay on the stability and oscillations of the link, two quantitatively different driving forces derived from the negative feedback of the link are considered. The results show that one of these two typical driving forces may drive the link to exhibit a stable state and the other kind of driving force may induce a relaxation oscillation for a very small delay. However, the link loses stability and undergoes regular periodic and bursting oscillation when the transformation delay is large. Basically, a very small delay does not affect the stability of the slow manifold but a large delay affects substantially.
基金supported by the National Natural Science Foundation of China(6147322711472222)+3 种基金the Fundamental Research Funds for the Central Universities(3102015ZY001)the Aerospace Technology Support Fund of China(2014-HT-XGD)the Natural Science Foundation of Shaanxi Province(2015JM6304)the Aeronautical Science Foundation of China(20151353018)
文摘This paper is concerned with the recursive filtering problem for a class of discrete-time nonlinear stochastic systems in the presence of multi-sensor measurement delay. The delay occurs in a multi-step and asynchronous manner, and the delay probability of each sensor is assumed to be known or unknown. Firstly, a new model is constructed to describe the measurement process, based on which a new particle filter is developed with the ability to fuse multi-sensor information in the case of known delay probability.In addition, an online delay probability estimation module is introduced in the particle filtering framework, which leads to another new filter that can be implemented without the prior knowledge of delay probability. More importantly, since there is no complex iterative operation, the resulting filter can be implemented recursively and is suitable for many real-time applications. Simulation results show the effectiveness of the proposed filters.
基金supported by an INSPIRE grant under the AORC scheme of the Department of Science and Technology
文摘We present a detailed investigation of the evolution of observed net vertical current using a time series of vector magnetograms of the active region （AR） NOAA 11158 obtained from the Helioseismic and Magnetic Imager. We also discuss the relation of net current to the observed eruptive events. The AR evolved from the βγ to βγδ3 configuration over a period of six days. The AR had two sub-regions of activity with opposite chirality： one dominated by sunspot rotation producing a strong CME, and the other showing large shear motions producing a strong flare. The net current in each polarity over the CME producing sub-region increased to a maximum and then decreased when the sunspots were separated. The time profile of net current in this sub-region followed the time profile of the rotation rate of the south-polarity sunspot in the same sub-region. The net current in the flaring sub-region showed a sudden increase at the time of the strong flare and remained unchanged until the end of the observation, while the sunspots maintained their close proximity. The systematic evo- lution of the observed net current is seen to follow the time evolution of total length of strongly sheared polarity inversion lines in both of the sub-regions. The observed photospheric net current could be explained as an inevitable product of the emergence of a twisted flux rope, from a higher pressure confinement below the photosphere into the lower pressure environment of the photosphere.
基金supported by National Natural Science Foundation of China(No.50437030)
文摘Research on the pulsed flashover characteristics of vacuum insulation material is significant for the design and manufacture of pulse power devices. In view of the voltage increase rate of the fast pulse （pulse steepness）, the vacuum fiashover characteristics of pure epoxy under different steepnesses is investigated by using a pulse generator with parameters of a rise time of 40 ns and a full width at half maximum of 2.5 μs. Pulses with six levels of steepness were achieved by changing the charging voltage of the generator. Based on the linear equation and electron emission equation, the relationship between the flashover voltage and pulse steepness was fitted. By virtue of the fitted formula, it was possible to predict the flashover voltage under near DC or higher steepness conditions. Based on the electron emission equation, the relationship between the time delay and flashover field was also fitted. Result shows that F-N electron emission dominates the flashover process.
基金This work is supported by National Natural Science Foundation of China （Nos. 11401594, 11171125, 91130003） and the New Teachers＇ Specialized Research Fund for the Doctoral Program from Ministry of Education of China （No. 20120162120096）.
文摘This paper presents a strong predictor-corrector method for the numerical solution of stochastic delay differential equations （SDDEs） of ItS-type. The method is proved to be mean-square convergent of order min{1/2,p} under the Lipschitz condition and the linear growth condition, where p is the exponent of HSlder condition of the initial function. Stability criteria for this type of method are derived. It is shown that for certain choices of the flexible parameter p the derived method can have a better stability property than more commonly used numerical methods. That is, for some p, the asymptotic MS-stability bound of the method will be much larger than that of the Euler-Maruyama method. Numerical results are reported confirming convergence properties and comparing stability properties of methods with different parameters p. Finally, the vectorised simulation is discussed and it is shown that this implementation is much more efficient.
