Working principle for a four-axis oblique intersection line welding robot is analyzed. A mathematical model for welding torch orientation angle is established, and an interpolation algorithm based on time division is ...Working principle for a four-axis oblique intersection line welding robot is analyzed. A mathematical model for welding torch orientation angle is established, and an interpolation algorithm based on time division is proposed. The algorithm makes all interpolation points fall on a required curve in theory with no accumulated errors and a direct interpolation control on the saddle-shaped curve trajectory and space orientation angle can be achieved. It is shown by MATLAB simulation that the algorithm is real-time and fully meets the precision requirement. The algorithm has been applied to real robots.展开更多
We construct two conical surfaces which take non-coplanar lines as generatrix and rational Bezier curve as ridge-line, and prove that the intersecting line of conical surface has similar properties to Bezier curve. Th...We construct two conical surfaces which take non-coplanar lines as generatrix and rational Bezier curve as ridge-line, and prove that the intersecting line of conical surface has similar properties to Bezier curve. Then, the smoothly blending of two cylinders whose axes are non-coplanar is realized by taking intersecting line of conical surface as axes.展开更多
This work is carried out to predict the special distribution of electric field induced by multi-circuit intersecting overhead high-voltage (HV) transmission lines (TLs) within a large range without any expensive and t...This work is carried out to predict the special distribution of electric field induced by multi-circuit intersecting overhead high-voltage (HV) transmission lines (TLs) within a large range without any expensive and time-consuming computation. The two main parts of the presented methodology are 1) setting up a three-dimensional (3D) model to calculate the electric field based on combining ca- tenary equations with charge simulation method and 2) calculating the hybrid electric field excited by multi-circuit intersecting TLs using coordinate transformation and superposition technique. Examples of different TLs configurations, including a 220 kV single-circuit hori- zontally configured TLs, a 500 kV single-circuit triangularly configured TLs and a combination of the 220 kV TLs and the 550 kV TLs, are illustrated to verify the validity of this methodology. A more complicatal configurations, including a 500 kV double-circuit TLs and two 220 kV single-circuit horizontally configured TLs, are also calculated. Conclusions were drawn from the simulation: 1) The presented 3D model outperforms 2D models in describing the electric field distribution generated by practical HV TLs with sag and span. 2) Coordinate trans- formation and superposition technique considerably simplify the electric field computation for multi-circuit TLs configurations, which makes it possible to deal with complex engineering problems. 3) The electric field in the area covered by multiple intersecting overhead TLs is distorted and the hybrid electric field strength in some partial region increases so sharply that it might exceed the admissible value. 4) The configuration parameters of the TLs and the spatial configuration of multi-circuit TLs, for instance, the height of TLs, the length of span and the intersection angle of multiple circuits, influence the strength and the distribution of hybrid electric field. The influence regularities sum- marized in this paper can be referred by future TL designs to meet the electromagnetic environmental protection regulations.展开更多
The line control for multiple intersections is a hot spot in the area of transportation. According to the principle of system analysis and coordination, a method about fuzzy line control for multiple intersections is ...The line control for multiple intersections is a hot spot in the area of transportation. According to the principle of system analysis and coordination, a method about fuzzy line control for multiple intersections is proposed. The system is made of two control units, one is the basic control unit for every single intersection, and the other is used for the function of coordination.展开更多
An application of line simplification considering spatial knowledge is described.A method for identifying potential conflict regions,in order to avoid the self_intersection of generalized lines,is also discussed.Furth...An application of line simplification considering spatial knowledge is described.A method for identifying potential conflict regions,in order to avoid the self_intersection of generalized lines,is also discussed.Furthermore,a new progressive line simplification algorithm is presented.From the view point of spatial cognition,a spatial hierarchical structure is proposed,and its application to construction of spatial knowledge related to a line is explained.展开更多
In order to establish the groove model for intersecting structures of circular tubes,mathematical model of the intersecting line is established by the method of analytic geometry,and parametric equations are thus dete...In order to establish the groove model for intersecting structures of circular tubes,mathematical model of the intersecting line is established by the method of analytic geometry,and parametric equations are thus determined.The dihedral angle,groove angle and actual cutting angle for any position of the intersecting line are derived as well.In order to identify groove vectors for two pipes,a new analytical method,i.e.coplanarity of vectors,is further proposed to complete the groove model.The established model is virtually verified by programming and simulation calculation in the MATLAB environment.The results show that groove vectors of intersecting structures simulated by MATLAB are consistent with the theoretical groove model,indicating that the theoretical groove model established in this paper is accurate,and further proves that the proposed coplanarity of vectors for solving groove vectors is correct and feasible.Finally,a graphical user interface(GUI)is developed by MATLAB software to independently realize functions such as model drawing,variable calculation and data output.The research outcome provides a theoretical foundation for the actual welding of circular intersecting structures,and lays an essential basis for weld bead layout and path planning.展开更多
This paper presents a new algorithm for line clipping against a polygonal window by exploiting the local relationship between each line segment and the polygon. Firstly, a minimal enclosing box （MEB） of the polygon ...This paper presents a new algorithm for line clipping against a polygonal window by exploiting the local relationship between each line segment and the polygon. Firstly, a minimal enclosing box （MEB） of the polygon is adopted to reject the invisible line segments located outside the MEB. Secondly, a 45° rotated box is used to encode the endpoint of the line segment, and then reject a portion of the invisible segments crossing polygon comers. Finally, instead of encoding the endpoints of all line segments with respect to the polygonal window, each vertex of the polygon is encoded, taking the line segment to be clipped as reference. For efficient encoding of the polygon vertices, a new concept, termed with slope adaptive virtual box, is introduced regarding each line segment. Such a box can not only conveniently reject all totally invisible lines lying outside the MEB conveniently, but also precisely identify the edges of the polygon with which the line segment potentially intersects. With the summation of the vertex codes, it can be verified whether the line segment is separated from or potentially intersects the polygon window. Based on the product of the codes of adjacent vertices, singular cases of intersection can be solved accurately. Experimental results demonstrate the efficiency and stability of the new algorithm.展开更多
Let M be a n-dimensional compact irreducible complex space with a line bundle L. It is shown that if M is completely intersected with respect to L and dimH0(M, L) = n + 1, then M is biholomorphic to a complex projecti...Let M be a n-dimensional compact irreducible complex space with a line bundle L. It is shown that if M is completely intersected with respect to L and dimH0(M, L) = n + 1, then M is biholomorphic to a complex projective space Pn of dimension n.展开更多
文摘Working principle for a four-axis oblique intersection line welding robot is analyzed. A mathematical model for welding torch orientation angle is established, and an interpolation algorithm based on time division is proposed. The algorithm makes all interpolation points fall on a required curve in theory with no accumulated errors and a direct interpolation control on the saddle-shaped curve trajectory and space orientation angle can be achieved. It is shown by MATLAB simulation that the algorithm is real-time and fully meets the precision requirement. The algorithm has been applied to real robots.
文摘We construct two conical surfaces which take non-coplanar lines as generatrix and rational Bezier curve as ridge-line, and prove that the intersecting line of conical surface has similar properties to Bezier curve. Then, the smoothly blending of two cylinders whose axes are non-coplanar is realized by taking intersecting line of conical surface as axes.
基金Project supported by Scientific Research Foundation of State Key Laboratory of Power Transmission Equipment ＆ System Security and New Technology （2007DA1051271 2204）, Natural Science Foundation of Chongqing Municipality （cstc201 ljjA20009）.
文摘This work is carried out to predict the special distribution of electric field induced by multi-circuit intersecting overhead high-voltage (HV) transmission lines (TLs) within a large range without any expensive and time-consuming computation. The two main parts of the presented methodology are 1) setting up a three-dimensional (3D) model to calculate the electric field based on combining ca- tenary equations with charge simulation method and 2) calculating the hybrid electric field excited by multi-circuit intersecting TLs using coordinate transformation and superposition technique. Examples of different TLs configurations, including a 220 kV single-circuit hori- zontally configured TLs, a 500 kV single-circuit triangularly configured TLs and a combination of the 220 kV TLs and the 550 kV TLs, are illustrated to verify the validity of this methodology. A more complicatal configurations, including a 500 kV double-circuit TLs and two 220 kV single-circuit horizontally configured TLs, are also calculated. Conclusions were drawn from the simulation: 1) The presented 3D model outperforms 2D models in describing the electric field distribution generated by practical HV TLs with sag and span. 2) Coordinate trans- formation and superposition technique considerably simplify the electric field computation for multi-circuit TLs configurations, which makes it possible to deal with complex engineering problems. 3) The electric field in the area covered by multiple intersecting overhead TLs is distorted and the hybrid electric field strength in some partial region increases so sharply that it might exceed the admissible value. 4) The configuration parameters of the TLs and the spatial configuration of multi-circuit TLs, for instance, the height of TLs, the length of span and the intersection angle of multiple circuits, influence the strength and the distribution of hybrid electric field. The influence regularities sum- marized in this paper can be referred by future TL designs to meet the electromagnetic environmental protection regulations.
文摘The line control for multiple intersections is a hot spot in the area of transportation. According to the principle of system analysis and coordination, a method about fuzzy line control for multiple intersections is proposed. The system is made of two control units, one is the basic control unit for every single intersection, and the other is used for the function of coordination.
文摘An application of line simplification considering spatial knowledge is described.A method for identifying potential conflict regions,in order to avoid the self_intersection of generalized lines,is also discussed.Furthermore,a new progressive line simplification algorithm is presented.From the view point of spatial cognition,a spatial hierarchical structure is proposed,and its application to construction of spatial knowledge related to a line is explained.
基金This work was supported by Natural Science Foundation of Fujian Province(Grant No.2020J01873)Science and Technology Major Project of Fujian Province(Grant No.2020HZ03018).
文摘In order to establish the groove model for intersecting structures of circular tubes,mathematical model of the intersecting line is established by the method of analytic geometry,and parametric equations are thus determined.The dihedral angle,groove angle and actual cutting angle for any position of the intersecting line are derived as well.In order to identify groove vectors for two pipes,a new analytical method,i.e.coplanarity of vectors,is further proposed to complete the groove model.The established model is virtually verified by programming and simulation calculation in the MATLAB environment.The results show that groove vectors of intersecting structures simulated by MATLAB are consistent with the theoretical groove model,indicating that the theoretical groove model established in this paper is accurate,and further proves that the proposed coplanarity of vectors for solving groove vectors is correct and feasible.Finally,a graphical user interface(GUI)is developed by MATLAB software to independently realize functions such as model drawing,variable calculation and data output.The research outcome provides a theoretical foundation for the actual welding of circular intersecting structures,and lays an essential basis for weld bead layout and path planning.
基金Project supported by the National Natural Science Foundation of China(No. 60021201), and the Research Fund for the Doctoral Program of Higher Education (No. 2002335093), China
文摘This paper presents a new algorithm for line clipping against a polygonal window by exploiting the local relationship between each line segment and the polygon. Firstly, a minimal enclosing box （MEB） of the polygon is adopted to reject the invisible line segments located outside the MEB. Secondly, a 45° rotated box is used to encode the endpoint of the line segment, and then reject a portion of the invisible segments crossing polygon comers. Finally, instead of encoding the endpoints of all line segments with respect to the polygonal window, each vertex of the polygon is encoded, taking the line segment to be clipped as reference. For efficient encoding of the polygon vertices, a new concept, termed with slope adaptive virtual box, is introduced regarding each line segment. Such a box can not only conveniently reject all totally invisible lines lying outside the MEB conveniently, but also precisely identify the edges of the polygon with which the line segment potentially intersects. With the summation of the vertex codes, it can be verified whether the line segment is separated from or potentially intersects the polygon window. Based on the product of the codes of adjacent vertices, singular cases of intersection can be solved accurately. Experimental results demonstrate the efficiency and stability of the new algorithm.
文摘Let M be a n-dimensional compact irreducible complex space with a line bundle L. It is shown that if M is completely intersected with respect to L and dimH0(M, L) = n + 1, then M is biholomorphic to a complex projective space Pn of dimension n.
