When the cycle slips take place in the attitude determination of a moving platform, the precision of the attitude will be impaired badly. A method of cycle slip detection and correction is proposed, which is suitable ...When the cycle slips take place in the attitude determination of a moving platform, the precision of the attitude will be impaired badly. A method of cycle slip detection and correction is proposed, which is suitable to the dynamic measurement using GPS carrier phase： the cycle slips detection is first achieved by triple difference observables, then the cycle slips correction is performed with baseline length constraint. The simulation results show that the proposed method is effective to the dynamic cycle slips problem.展开更多
Fracture behavior of CrN coatings deposited on the surface of silicon and AISI52100 steel by different energy ion beam assisted magnetron sputtering technique （IBAMS） was studied using indentation and dynamic cycle ...Fracture behavior of CrN coatings deposited on the surface of silicon and AISI52100 steel by different energy ion beam assisted magnetron sputtering technique （IBAMS） was studied using indentation and dynamic cycle impact. It is found that, for the coatings on silicon substrate, the cracks form in the indentation corners and then propagate outward under Vickers indentation. The coating prepared using ion assisted energy of 800 eV shows the highest fracture resistance due to its compact structure. Under Rockwell indentation, only finer radial cracks are found in the CrN coating on AISI 52100 steel without ion assisting while in the condition of ion assisting energy of 800 eV, radial, lateral cracks and spalling appear in the vicinity of indentation. The fracture of CrN coatings under dynamic cycle impact is similar to fatigue. The impact fracture resistance of CrN coatings increases with the increase of ion assisting energy.展开更多
Aiming at the environment such as ravines and obstacles that may be encountered in the actual movement,this paper proposes a method for optimizing the bounding and jumping motion based on the ground touching force tra...Aiming at the environment such as ravines and obstacles that may be encountered in the actual movement,this paper proposes a method for optimizing the bounding and jumping motion based on the ground touching force trajectory and the air motion trajectory of the quadruped robot.The method of optimizing the ground reaction force according to the speed of the demand and the height of the jump,and adjusting the stance and swing time according to the relationship of dynamics and momentum conservation.At the same time,under the constraints of dynamics and energy consumption of the robot system,considering the jumping distance and height,a method for optimizing the air trajectory of bounding and jumping is proposed.State switching and landing stability control are also added.Finally,the experimental results show that the quadruped robot has strong bounding and jumping ability,and has achieved stable bounding movement and forward jump movement of 0.8 m.展开更多
文摘When the cycle slips take place in the attitude determination of a moving platform, the precision of the attitude will be impaired badly. A method of cycle slip detection and correction is proposed, which is suitable to the dynamic measurement using GPS carrier phase： the cycle slips detection is first achieved by triple difference observables, then the cycle slips correction is performed with baseline length constraint. The simulation results show that the proposed method is effective to the dynamic cycle slips problem.
基金Funded by the National Natural Science Foundation of China(No. 50771070)Shanxi Province Science and Technology Key Projects (No. 20100321078-02)
文摘Fracture behavior of CrN coatings deposited on the surface of silicon and AISI52100 steel by different energy ion beam assisted magnetron sputtering technique （IBAMS） was studied using indentation and dynamic cycle impact. It is found that, for the coatings on silicon substrate, the cracks form in the indentation corners and then propagate outward under Vickers indentation. The coating prepared using ion assisted energy of 800 eV shows the highest fracture resistance due to its compact structure. Under Rockwell indentation, only finer radial cracks are found in the CrN coating on AISI 52100 steel without ion assisting while in the condition of ion assisting energy of 800 eV, radial, lateral cracks and spalling appear in the vicinity of indentation. The fracture of CrN coatings under dynamic cycle impact is similar to fatigue. The impact fracture resistance of CrN coatings increases with the increase of ion assisting energy.
基金supported by the National Key Research Program of China 2018AAA0100103.
文摘Aiming at the environment such as ravines and obstacles that may be encountered in the actual movement,this paper proposes a method for optimizing the bounding and jumping motion based on the ground touching force trajectory and the air motion trajectory of the quadruped robot.The method of optimizing the ground reaction force according to the speed of the demand and the height of the jump,and adjusting the stance and swing time according to the relationship of dynamics and momentum conservation.At the same time,under the constraints of dynamics and energy consumption of the robot system,considering the jumping distance and height,a method for optimizing the air trajectory of bounding and jumping is proposed.State switching and landing stability control are also added.Finally,the experimental results show that the quadruped robot has strong bounding and jumping ability,and has achieved stable bounding movement and forward jump movement of 0.8 m.
