This article lists all possible conversion equations of influence coefficients(ICs)with different formats when some of these are known to handle two-plane balancing tasks with no or less trial weight runs.There are tw...This article lists all possible conversion equations of influence coefficients(ICs)with different formats when some of these are known to handle two-plane balancing tasks with no or less trial weight runs.There are two approaches for two-plane balancing.One can treat it as a multi-plane balance problem involving a 2×2 matrix of complex ICs where two direct ICs along with two cross-effect ICs are generated so that correction weights at one or two balance planes can be determined.One can also apply a static pare(in-phase)and/or couple pair(180 degrees out-of-phase)weights for balancing.The latter approach has been used quite often in the field,especially on steam turbine and generator rotors.Dependent on vibration mode shapes and combinations as well as balance plane accessibility,sometimes applying static or couple pair weights can be a wise choice;other times weights at one or two end planes are needed.There are totally 4 possible sets of IC data due to weights at plane 1,plane 2,static pair,and couple pair.IC data would typically be obtained by applying trial weights followed by trial weight runs.It is found,however,that all these IC data can be converted easily without trial weight runs once any two of 4 sets are known.The above findings and conversion equations have been obtained analytically and verified by experimental results.Real cases are given to demonstratetheirapplications.展开更多
Measurement error of unbalance's vibration response plays a crucial role in calibration and on-line updating of influence coefficient(IC). Focusing on the two problems that the moment estimator of data used in cali...Measurement error of unbalance's vibration response plays a crucial role in calibration and on-line updating of influence coefficient(IC). Focusing on the two problems that the moment estimator of data used in calibration process cannot fulfill the accuracy requirement under small sample and the disturbance of measurement error cannot be effectively suppressed in updating process, an IC calibration and on-line updating method based on hierarchical Bayesian method for automatic dynamic balancing machine was proposed. During calibration process, for the repeatedly-measured data obtained from experiments with different trial weights, according to the fact that measurement error of each sensor had the same statistical characteristics, the joint posterior distribution model for the true values of the vibration response under all trial weights and measurement error was established. During the updating process, information obtained from calibration was regarded as prior information, which was utilized to update the posterior distribution of IC combined with the real-time reference information to implement online updating. Moreover, Gibbs sampling method of Markov Chain Monte Carlo(MCMC) was adopted to obtain the maximum posterior estimation of parameters to be estimated. On the independent developed dynamic balancing testbed, prediction was carried out for multiple groups of data through the proposed method and the traditional method respectively, the result indicated that estimator of influence coefficient obtained through the proposed method had higher accuracy; the proposed updating method more effectively guaranteed the measurement accuracy during the whole producing process, and meantime more reasonably compromised between the sensitivity of IC change and suppression of randomness of vibration response.展开更多
In order to develop a general calculating rotor’s torsional stiffness based on stiffness influence coefficient for different rotor assembling, the calculation method of the torsional stiffness influence coefficient o...In order to develop a general calculating rotor’s torsional stiffness based on stiffness influence coefficient for different rotor assembling, the calculation method of the torsional stiffness influence coefficient of equal thickness disc is researched in this paper at first. Then the torsional stiffness influence coefficient λ of equal thickness disc is fit to a binary curved face and a calculation equation is obtained based on a large quantity of calculating data, which lays the foundation for research on a general calculating method of rotor torsional stiffness. Thirdly a simplified calculation method for equivalent stiffness diameter of stepped equal thickness disc and cone disc in the steam turbine generators is suggested. Finally a general calculating program for calculating rotor’s torsional vibration features is developed, and the torsional vibration features of a verity of steam turbine rotors are calculated for verification. The calculating results show that stiffness influence coefficient λ of equal-thickness disc depends on parameters of B and H, as well as the stiffness influence coefficient λ;and discs with complex structure can be simplified to equal-thickness discs with little error by using the method suggested in this paper;error can be controlled within 1% when equivalent diameter of stiffness is calculated by this method.展开更多
In this paper, we study local influence analysis for Zhang's generalized correlation coefficients and Hotelling's generalized correlation coefficient by using approach. of local influence analysis suggested by...In this paper, we study local influence analysis for Zhang's generalized correlation coefficients and Hotelling's generalized correlation coefficient by using approach. of local influence analysis suggested by Shi (1991), i.e., generalized influence function (GIF) and generalized Cook distance (GCD). An example is given to illustrate our results.展开更多
In order to execute geometric analysis for planar deployable mechanism of scissors unit,the dynamic analysis model of scissor planar deployable structure is created based on the Cartesian coordinate system,the influen...In order to execute geometric analysis for planar deployable mechanism of scissors unit,the dynamic analysis model of scissor planar deployable structure is created based on the Cartesian coordinate system,the influence coefficient is acquired by means of the coordinate transformation,combining the D 'Alembert 's principle with Dynamic-Static method,the dynamic characteristic analysis is completed finally. Moreover,specific calculating examples are adopted to verify the effectiveness of proposed method,and the result shows that the movement of each component of scissors unit mechanism is more smooth during initial deployment stage,however,when the configuration angle θ of unit mechanism is approaching π,some comparative large variations would appear on movement parameters and hinge constraint force.展开更多
Based on the model structure of the influence coefficient method analyzed in depth by matrix theory ,it is explained the reason why the unreasonable and instable correction masses with bigger MSE are obtained by LS in...Based on the model structure of the influence coefficient method analyzed in depth by matrix theory ,it is explained the reason why the unreasonable and instable correction masses with bigger MSE are obtained by LS influence coefficient method when there are correlation planes in the dynamic balancing. It also presencd the new ridge regression method for solving correction masses according to the Tikhonov regularization theory, and described the reason why the ridge regression can eliminate the disadvantage of the LS method. Applying this new method to dynamic balancing of gas turbine, it is found that this method is superior to the LS method when influence coefficient matrix is ill-conditioned,the minimal correction masses and residual vibration are obtained in the dynamic balancing of rotors.展开更多
According to the concept of virtual bending force,a rational explanation for SHOHET's model was presented. Considering the deformation characters of the work rolls in four-high mill,the deformation model of the wo...According to the concept of virtual bending force,a rational explanation for SHOHET's model was presented. Considering the deformation characters of the work rolls in four-high mill,the deformation model of the work roll was regarded as a cantilever beam and new influence coefficients were deduced.The effect of the bending force was taken into account independently. Therefore,the contribution to work roll deflection caused by rolling load,rolling pressure between rolls and bending force can be got from the new formulas.To validate the accuracy of the formulas,the results obtained from the new formulas were compared with those from SHOHET's formulas.It is found that they highly coincide,which illustrates that the formulas are reliable.展开更多
The influence of the pressure transmission medium(PTM)on the excitonic interband transitions in monolayer tungsten diselenide(WSe2)is investigated using photoluminescence(PL)spectra under hydrostatic pressure up...The influence of the pressure transmission medium(PTM)on the excitonic interband transitions in monolayer tungsten diselenide(WSe2)is investigated using photoluminescence(PL)spectra under hydrostatic pressure up to 5GPa.Three kinds of PTMs,condensed argon(Ar),1:1 n-pentane and isopentane mixture(PM),and4:1 methanol and ethanol mixture(MEM,a PTM with polarity),are used.It is found that when either Ar or PM is used as the PTM,the PL peak of exciton related to the direct K-K interband transition shows a pressure-induced blue-shift at a rate of 32±4 or 32±1 meV/GPa,while it turns to be 50±9meV/GPa when MEM is used as the PTM.The indirect A-K interband transition presents almost no shift with increasing pressure up to approximatel.y 5 GPa when Ar and PM are used as the PTM,while it shows a red-shift at the rate of-17±7meV/GPa by using MEM as the PTM.These results reveal that the optical interband transitions of monolayer WSe2 are very sensitive to the polarity of the PTM.The anomalous pressure coefficient obtained using the polar PTM of MEM is ascribed to the existence of hydrogen-like bonds between hydroxyl in MEM and Se atoms under hydrostatic pressure.展开更多
Typical rotors such as those on steam turbine or generator are often supported by two bearings with two balance planes at both ends.Vibrations are monitored by a pair of proximity probes at each bearing.There are two ...Typical rotors such as those on steam turbine or generator are often supported by two bearings with two balance planes at both ends.Vibrations are monitored by a pair of proximity probes at each bearing.There are two approaches to reduce 1X vibration due to unbalance at both ends via balancing with influence coefficient method.The first approach is to treat it as a multiple-plane balancing problem involving 2x2 matrix of complex influence coefficients.The second approach is to treat it as two single-plane balance problems using static(in-phase)and couple(180 degree out-of-phase)components,respectively.Conversion equations of influence coefficients between these two approaches have been found previously by the author.The corresponding spreadsheets that convert influence coefficients between these two formats are presented in the current paper.The paper shows effectiveness of these conversion equations in dealing with real balancing problems in the field.A detailed balance case is presented to demonstrate how the conversion equations are used to reduce vibration effectively.展开更多
Due to the diversity of work requirements and environment,the number of degrees of freedom(DOFs)and the complexity of structure of industrial robots are constantly increasing.It is difficult to establish the accurate ...Due to the diversity of work requirements and environment,the number of degrees of freedom(DOFs)and the complexity of structure of industrial robots are constantly increasing.It is difficult to establish the accurate dynamical model of industrial robots,which greatly hinders the realization of a stable,fast and accurate trajectory tracking control.Therefore,the general expression of the constraint relation in the explicit dynamic equation of the multi-DOF industrial robot is derived on the basis of solving the Jacobian matrix and Hessian matrix by using the kinematic influence coefficients method.Moreover,an explicit dynamic equation with general constraint relation expression is established based on the Udwadia-Kalaba theory.The problem of increasing the time of establishing constraint relationship when the multi-DOF industrial robots complete complex task constraints is solved.With the SCARA robot as the research object,the simulation results show that the proposed method can provide a new idea for industrial robot system modeling with complex constraints.展开更多
The steel slag (SS) permeable concrete was prepared by SS. The influences of the aggregate-cement rate, the aggregate particle size, the water-cement rate, the admixture dosage and other factors on the permeability ...The steel slag (SS) permeable concrete was prepared by SS. The influences of the aggregate-cement rate, the aggregate particle size, the water-cement rate, the admixture dosage and other factors on the permeability coefficient of SS permeable concrete were analyzed. The law of influence was also investigated. The study serves as a technological reference for the construction and design of SS permeable concrete.展开更多
Many interesting characteristics of sea ice drift depend on the atmospheric drag coefficient (Ca) and oceanic drag coefficient (Cw). Parameterizations of drag coefficients rather than constant values provide us a ...Many interesting characteristics of sea ice drift depend on the atmospheric drag coefficient (Ca) and oceanic drag coefficient (Cw). Parameterizations of drag coefficients rather than constant values provide us a way to look insight into the dependence of these characteristics on sea ice conditions. In the present study, the parameterized ice drag coefficients are included into a free-drift sea ice dynamic model, and the wind factor a and the deflection angle θ between sea ice drift and wind velocity as well as the ratio of Ca to Cw are studied to investigate their dependence on the impact factors such as local drag coefficients, floe and ridge geometry. The results reveal that in an idealized steady ocean, Ca/Cw increases obviously with the increasing ice concentration for small ice floes in the marginal ice zone, while it remains at a steady level (0.2-0.25) for large floes in the central ice zone. The wind factor a increases rapidly at first and approaches a steady level of 0.018 when A is greater than 20%. And the deflection angle ~ drops rapidly from an initial value of approximate 80° and decreases slowly as A is greater than 20% without a steady level like a. The values of these parameters agree well with the previously reported observations in Arctic. The ridging intensity is an important parameter to determine the dominant contribution of the ratio of skin friction drag coefficient (Cs'/Cs) and the ratio of ridge form drag coefficient (Cr'/Cr) to the value of Ca/Cw, a, and 8, because of the dominance of ridge form drag for large ridging intensity and skin friction for small ridging intensity among the total drag forces. Parameterization of sea ice drag coefficients has the potential to be embedded into ice dynamic models to better account for the variability of sea ice in the transient Arctic Ocean.展开更多
The diffuse attenuation coefficient (Kd) for downwelling irradiance is calculated from solar irradiance data measured in the Arctic Ocean during 3rd and 4th Chinese National Arctic Research Expedition (CHINARE), i...The diffuse attenuation coefficient (Kd) for downwelling irradiance is calculated from solar irradiance data measured in the Arctic Ocean during 3rd and 4th Chinese National Arctic Research Expedition (CHINARE), including 18 stations and nine stations selected for irradiance profiles in seawater respectively. In this study, the variation of attenuation coefficient in the Arctic Ocean was studied, and the following results were obtained. First, the relationship between attenuation coefficient and chlorophyll concentration in the Arctic Ocean has the form of a power function. The best fit is at 443 nm, and its determination coefficient is more than 0.7. With increasing wavelength, the determination coefficient decreases abruptly. At 550 nm, it even reaches a value lower than 0.2. However, the exponent fitted is only half of that adapted in low-latitude ocean because of the lower chlorophyll-specific absorption in the Arctic Ocean. The upshot was that, in the case of the same chlorophyll concentration, the attenuation caused by phytoplankton chlorophyll in the Arctic Ocean is lower than in low-latitude ocean. Second, the spectral model, which exhibits the relationship of attenuation coefficients between 490 nm and other wavelength, was built and provided a new method to estimate the attenuation coefficient at other wavelength, if the attenuation coefficient at 490 nm was known. Third, the impact factors on attenuation coefficient, including sea ice and sea water mass, were discussed. The influence of sea ice on attenuation coefficient is indirect and is determined through the control of enter- ing solar radiation. The linear relationship between averaging sea ice concentration (ASIC, from 158 Julian day to observation day) and the depth of maximum chlorophyll is fitted by a simple linear equation. In addition, the sea water mass, such as the ACW (Alaskan Coastal Water), directly affects the amount of chlo- rophyll through taking more nutrient, and results in the higher attenuation coefficient in the layer of 30-60 m. Consequently, the spectral model of diffuse attenuation coefficient, the relationship between attenuation coefficient and chlorophyll and the linear relationship between the ASIC and the depth of maximum chlorophyll, together provide probability for simulating the process of diffuse attenuation coefficient during summer in the Arctic Ocean.展开更多
Varying-coefficient single-index model( VCSIM) avoids the so-called "curse of dimensionality " and is flexible enough to include several important statistical models. This paper considers statistical diagnos...Varying-coefficient single-index model( VCSIM) avoids the so-called "curse of dimensionality " and is flexible enough to include several important statistical models. This paper considers statistical diagnosis for VCSIM. First,the parametric estimation equation is established based on empirical likelihood. Then,some diagnosis statistics are defined. At last, an example is given to illustrate all the results.展开更多
The calculative method of heat transfer coefficient between ice cover and water is analyzed considering the heat balance at ice cover bottom firstly. The heat transfer coefficient is calculated with the meteorological...The calculative method of heat transfer coefficient between ice cover and water is analyzed considering the heat balance at ice cover bottom firstly. The heat transfer coefficient is calculated with the meteorological, oceanographic data and sea ice conditions measured on the JZ20-2 Oil/Gas Platform in the Bohai Sea during the winter of 1997/1998. From the results, it is shown that the heat transfer coefficient is smaller in the freezing and melting periods, which is about 0.16×10-3 and 0.04×10-3 respectively. In the middle of ice season, the heat transfer coefficient has a larger value, which is about 0.5×10-3. Lastly, the influences of ice thickness and ice type on the heat transfer coefficient are discussed. With the heat transfer coefficient determined above, the oceanic heat flux in the winter of 1997~1998 is calculated, and its trend in the winter is analyzed. This study can be referenced in the sea ice numerical simulation and prediction in the Bohai Sea.展开更多
In this paper, a varying-coefficient density-ratio model for case-control studies is developed. We investigate the local empirical likelihood diagnosis of varying coefficient density-ratio model for case-control data....In this paper, a varying-coefficient density-ratio model for case-control studies is developed. We investigate the local empirical likelihood diagnosis of varying coefficient density-ratio model for case-control data. The local empirical log-likelihood ratios for the nonparametric coefficient functions are introduced. First, the estimation equations based on empirical likelihood method are established. Then, a few of diagnostic statistics are proposed. At last, we also examine the performance of proposed method for finite sample sizes through simulation studies.展开更多
文摘This article lists all possible conversion equations of influence coefficients(ICs)with different formats when some of these are known to handle two-plane balancing tasks with no or less trial weight runs.There are two approaches for two-plane balancing.One can treat it as a multi-plane balance problem involving a 2×2 matrix of complex ICs where two direct ICs along with two cross-effect ICs are generated so that correction weights at one or two balance planes can be determined.One can also apply a static pare(in-phase)and/or couple pair(180 degrees out-of-phase)weights for balancing.The latter approach has been used quite often in the field,especially on steam turbine and generator rotors.Dependent on vibration mode shapes and combinations as well as balance plane accessibility,sometimes applying static or couple pair weights can be a wise choice;other times weights at one or two end planes are needed.There are totally 4 possible sets of IC data due to weights at plane 1,plane 2,static pair,and couple pair.IC data would typically be obtained by applying trial weights followed by trial weight runs.It is found,however,that all these IC data can be converted easily without trial weight runs once any two of 4 sets are known.The above findings and conversion equations have been obtained analytically and verified by experimental results.Real cases are given to demonstratetheirapplications.
基金supported by National Hi-tech Research and Development Program of China (863 Program, Grant No. 2008 AA04Z114)
文摘Measurement error of unbalance's vibration response plays a crucial role in calibration and on-line updating of influence coefficient(IC). Focusing on the two problems that the moment estimator of data used in calibration process cannot fulfill the accuracy requirement under small sample and the disturbance of measurement error cannot be effectively suppressed in updating process, an IC calibration and on-line updating method based on hierarchical Bayesian method for automatic dynamic balancing machine was proposed. During calibration process, for the repeatedly-measured data obtained from experiments with different trial weights, according to the fact that measurement error of each sensor had the same statistical characteristics, the joint posterior distribution model for the true values of the vibration response under all trial weights and measurement error was established. During the updating process, information obtained from calibration was regarded as prior information, which was utilized to update the posterior distribution of IC combined with the real-time reference information to implement online updating. Moreover, Gibbs sampling method of Markov Chain Monte Carlo(MCMC) was adopted to obtain the maximum posterior estimation of parameters to be estimated. On the independent developed dynamic balancing testbed, prediction was carried out for multiple groups of data through the proposed method and the traditional method respectively, the result indicated that estimator of influence coefficient obtained through the proposed method had higher accuracy; the proposed updating method more effectively guaranteed the measurement accuracy during the whole producing process, and meantime more reasonably compromised between the sensitivity of IC change and suppression of randomness of vibration response.
文摘In order to develop a general calculating rotor’s torsional stiffness based on stiffness influence coefficient for different rotor assembling, the calculation method of the torsional stiffness influence coefficient of equal thickness disc is researched in this paper at first. Then the torsional stiffness influence coefficient λ of equal thickness disc is fit to a binary curved face and a calculation equation is obtained based on a large quantity of calculating data, which lays the foundation for research on a general calculating method of rotor torsional stiffness. Thirdly a simplified calculation method for equivalent stiffness diameter of stepped equal thickness disc and cone disc in the steam turbine generators is suggested. Finally a general calculating program for calculating rotor’s torsional vibration features is developed, and the torsional vibration features of a verity of steam turbine rotors are calculated for verification. The calculating results show that stiffness influence coefficient λ of equal-thickness disc depends on parameters of B and H, as well as the stiffness influence coefficient λ;and discs with complex structure can be simplified to equal-thickness discs with little error by using the method suggested in this paper;error can be controlled within 1% when equivalent diameter of stiffness is calculated by this method.
文摘In this paper, we study local influence analysis for Zhang's generalized correlation coefficients and Hotelling's generalized correlation coefficient by using approach. of local influence analysis suggested by Shi (1991), i.e., generalized influence function (GIF) and generalized Cook distance (GCD). An example is given to illustrate our results.
基金Sponsored by the National Natural Science Foundation of China(Grant No.51175422)
文摘In order to execute geometric analysis for planar deployable mechanism of scissors unit,the dynamic analysis model of scissor planar deployable structure is created based on the Cartesian coordinate system,the influence coefficient is acquired by means of the coordinate transformation,combining the D 'Alembert 's principle with Dynamic-Static method,the dynamic characteristic analysis is completed finally. Moreover,specific calculating examples are adopted to verify the effectiveness of proposed method,and the result shows that the movement of each component of scissors unit mechanism is more smooth during initial deployment stage,however,when the configuration angle θ of unit mechanism is approaching π,some comparative large variations would appear on movement parameters and hinge constraint force.
文摘Based on the model structure of the influence coefficient method analyzed in depth by matrix theory ,it is explained the reason why the unreasonable and instable correction masses with bigger MSE are obtained by LS influence coefficient method when there are correlation planes in the dynamic balancing. It also presencd the new ridge regression method for solving correction masses according to the Tikhonov regularization theory, and described the reason why the ridge regression can eliminate the disadvantage of the LS method. Applying this new method to dynamic balancing of gas turbine, it is found that this method is superior to the LS method when influence coefficient matrix is ill-conditioned,the minimal correction masses and residual vibration are obtained in the dynamic balancing of rotors.
基金Project(20050216007) supported by the Specialized Research Fund for the Doctoral Program of Higher Education of China
文摘According to the concept of virtual bending force,a rational explanation for SHOHET's model was presented. Considering the deformation characters of the work rolls in four-high mill,the deformation model of the work roll was regarded as a cantilever beam and new influence coefficients were deduced.The effect of the bending force was taken into account independently. Therefore,the contribution to work roll deflection caused by rolling load,rolling pressure between rolls and bending force can be got from the new formulas.To validate the accuracy of the formulas,the results obtained from the new formulas were compared with those from SHOHET's formulas.It is found that they highly coincide,which illustrates that the formulas are reliable.
基金Supported by the National Key Research and Development Program of China under Grant No 2016YFA0301202the National Natural Science Foundation of China under Grant Nos 11474275,61674135 and 91536101+1 种基金the Strategic Priority Research Program of the Chinese Academy of Sciences under Grant No XDPB0603the China Postdoctoral Science Foundation under Grant No 2017M622400
文摘The influence of the pressure transmission medium(PTM)on the excitonic interband transitions in monolayer tungsten diselenide(WSe2)is investigated using photoluminescence(PL)spectra under hydrostatic pressure up to 5GPa.Three kinds of PTMs,condensed argon(Ar),1:1 n-pentane and isopentane mixture(PM),and4:1 methanol and ethanol mixture(MEM,a PTM with polarity),are used.It is found that when either Ar or PM is used as the PTM,the PL peak of exciton related to the direct K-K interband transition shows a pressure-induced blue-shift at a rate of 32±4 or 32±1 meV/GPa,while it turns to be 50±9meV/GPa when MEM is used as the PTM.The indirect A-K interband transition presents almost no shift with increasing pressure up to approximatel.y 5 GPa when Ar and PM are used as the PTM,while it shows a red-shift at the rate of-17±7meV/GPa by using MEM as the PTM.These results reveal that the optical interband transitions of monolayer WSe2 are very sensitive to the polarity of the PTM.The anomalous pressure coefficient obtained using the polar PTM of MEM is ascribed to the existence of hydrogen-like bonds between hydroxyl in MEM and Se atoms under hydrostatic pressure.
文摘Typical rotors such as those on steam turbine or generator are often supported by two bearings with two balance planes at both ends.Vibrations are monitored by a pair of proximity probes at each bearing.There are two approaches to reduce 1X vibration due to unbalance at both ends via balancing with influence coefficient method.The first approach is to treat it as a multiple-plane balancing problem involving 2x2 matrix of complex influence coefficients.The second approach is to treat it as two single-plane balance problems using static(in-phase)and couple(180 degree out-of-phase)components,respectively.Conversion equations of influence coefficients between these two approaches have been found previously by the author.The corresponding spreadsheets that convert influence coefficients between these two formats are presented in the current paper.The paper shows effectiveness of these conversion equations in dealing with real balancing problems in the field.A detailed balance case is presented to demonstrate how the conversion equations are used to reduce vibration effectively.
基金the Beijing Municipal Scienceand Technology Project (No.KM202111417006)the Academic Research Projects of Beijing Union University (Nos.ZK10202305 and ZK80202004)the Beijing Municipal Science and Technology Project (No.KM202111417005)。
文摘Due to the diversity of work requirements and environment,the number of degrees of freedom(DOFs)and the complexity of structure of industrial robots are constantly increasing.It is difficult to establish the accurate dynamical model of industrial robots,which greatly hinders the realization of a stable,fast and accurate trajectory tracking control.Therefore,the general expression of the constraint relation in the explicit dynamic equation of the multi-DOF industrial robot is derived on the basis of solving the Jacobian matrix and Hessian matrix by using the kinematic influence coefficients method.Moreover,an explicit dynamic equation with general constraint relation expression is established based on the Udwadia-Kalaba theory.The problem of increasing the time of establishing constraint relationship when the multi-DOF industrial robots complete complex task constraints is solved.With the SCARA robot as the research object,the simulation results show that the proposed method can provide a new idea for industrial robot system modeling with complex constraints.
文摘The steel slag (SS) permeable concrete was prepared by SS. The influences of the aggregate-cement rate, the aggregate particle size, the water-cement rate, the admixture dosage and other factors on the permeability coefficient of SS permeable concrete were analyzed. The law of influence was also investigated. The study serves as a technological reference for the construction and design of SS permeable concrete.
基金The National Natural Science Foundation of China under contracts Nos 41276191 and 41306207the Public Science and Technology Research Funds Projects of Ocean under contract No.201205007-05the Global Change Research Program of China under contract No.2015CB953901
文摘Many interesting characteristics of sea ice drift depend on the atmospheric drag coefficient (Ca) and oceanic drag coefficient (Cw). Parameterizations of drag coefficients rather than constant values provide us a way to look insight into the dependence of these characteristics on sea ice conditions. In the present study, the parameterized ice drag coefficients are included into a free-drift sea ice dynamic model, and the wind factor a and the deflection angle θ between sea ice drift and wind velocity as well as the ratio of Ca to Cw are studied to investigate their dependence on the impact factors such as local drag coefficients, floe and ridge geometry. The results reveal that in an idealized steady ocean, Ca/Cw increases obviously with the increasing ice concentration for small ice floes in the marginal ice zone, while it remains at a steady level (0.2-0.25) for large floes in the central ice zone. The wind factor a increases rapidly at first and approaches a steady level of 0.018 when A is greater than 20%. And the deflection angle ~ drops rapidly from an initial value of approximate 80° and decreases slowly as A is greater than 20% without a steady level like a. The values of these parameters agree well with the previously reported observations in Arctic. The ridging intensity is an important parameter to determine the dominant contribution of the ratio of skin friction drag coefficient (Cs'/Cs) and the ratio of ridge form drag coefficient (Cr'/Cr) to the value of Ca/Cw, a, and 8, because of the dominance of ridge form drag for large ridging intensity and skin friction for small ridging intensity among the total drag forces. Parameterization of sea ice drag coefficients has the potential to be embedded into ice dynamic models to better account for the variability of sea ice in the transient Arctic Ocean.
基金The National Basic Science Research Program of Global Change of China under contract No.2010CB951403
文摘The diffuse attenuation coefficient (Kd) for downwelling irradiance is calculated from solar irradiance data measured in the Arctic Ocean during 3rd and 4th Chinese National Arctic Research Expedition (CHINARE), including 18 stations and nine stations selected for irradiance profiles in seawater respectively. In this study, the variation of attenuation coefficient in the Arctic Ocean was studied, and the following results were obtained. First, the relationship between attenuation coefficient and chlorophyll concentration in the Arctic Ocean has the form of a power function. The best fit is at 443 nm, and its determination coefficient is more than 0.7. With increasing wavelength, the determination coefficient decreases abruptly. At 550 nm, it even reaches a value lower than 0.2. However, the exponent fitted is only half of that adapted in low-latitude ocean because of the lower chlorophyll-specific absorption in the Arctic Ocean. The upshot was that, in the case of the same chlorophyll concentration, the attenuation caused by phytoplankton chlorophyll in the Arctic Ocean is lower than in low-latitude ocean. Second, the spectral model, which exhibits the relationship of attenuation coefficients between 490 nm and other wavelength, was built and provided a new method to estimate the attenuation coefficient at other wavelength, if the attenuation coefficient at 490 nm was known. Third, the impact factors on attenuation coefficient, including sea ice and sea water mass, were discussed. The influence of sea ice on attenuation coefficient is indirect and is determined through the control of enter- ing solar radiation. The linear relationship between averaging sea ice concentration (ASIC, from 158 Julian day to observation day) and the depth of maximum chlorophyll is fitted by a simple linear equation. In addition, the sea water mass, such as the ACW (Alaskan Coastal Water), directly affects the amount of chlo- rophyll through taking more nutrient, and results in the higher attenuation coefficient in the layer of 30-60 m. Consequently, the spectral model of diffuse attenuation coefficient, the relationship between attenuation coefficient and chlorophyll and the linear relationship between the ASIC and the depth of maximum chlorophyll, together provide probability for simulating the process of diffuse attenuation coefficient during summer in the Arctic Ocean.
文摘Varying-coefficient single-index model( VCSIM) avoids the so-called "curse of dimensionality " and is flexible enough to include several important statistical models. This paper considers statistical diagnosis for VCSIM. First,the parametric estimation equation is established based on empirical likelihood. Then,some diagnosis statistics are defined. At last, an example is given to illustrate all the results.
基金co-sponsored by the National Foundation of Natural Sciencein part by the Bohai Offshore Oil Corporation(Grant No.59739170).
文摘The calculative method of heat transfer coefficient between ice cover and water is analyzed considering the heat balance at ice cover bottom firstly. The heat transfer coefficient is calculated with the meteorological, oceanographic data and sea ice conditions measured on the JZ20-2 Oil/Gas Platform in the Bohai Sea during the winter of 1997/1998. From the results, it is shown that the heat transfer coefficient is smaller in the freezing and melting periods, which is about 0.16×10-3 and 0.04×10-3 respectively. In the middle of ice season, the heat transfer coefficient has a larger value, which is about 0.5×10-3. Lastly, the influences of ice thickness and ice type on the heat transfer coefficient are discussed. With the heat transfer coefficient determined above, the oceanic heat flux in the winter of 1997~1998 is calculated, and its trend in the winter is analyzed. This study can be referenced in the sea ice numerical simulation and prediction in the Bohai Sea.
文摘In this paper, a varying-coefficient density-ratio model for case-control studies is developed. We investigate the local empirical likelihood diagnosis of varying coefficient density-ratio model for case-control data. The local empirical log-likelihood ratios for the nonparametric coefficient functions are introduced. First, the estimation equations based on empirical likelihood method are established. Then, a few of diagnostic statistics are proposed. At last, we also examine the performance of proposed method for finite sample sizes through simulation studies.