3-D Animation as Applied to the Solving of Coupling Relations in the 6-DOF Parallel Robot

How to solve the coupling relations in a 6 - DOF parallel robot quickly and accurately within the limits of realtime control is a critical problem. In traditional analytic method, the complicated mathemtical model must first be constructed and then solved by programming.Obviously, this method is not very practical. This paper,therefore, proposes a new way of approach with a new method using 3- D animation for the solving of coupling relations in the 6 - DOF parallel robot. This method is much simpler and its solving accuracy approaches that of the more complicated analytic method.

Three Dimensional Coupling between Elastic and Thermal Fields in the Static Analysis of Multilayered Composite Shells

This new work aims to develop a full coupled thermomechanical method including both the temperature profile and displacements as primary unknowns of the model.This generic full coupled 3D exact shell model permits the thermal stress investigation of laminated isotropic,composite and sandwich structures.Cylindrical and spherical panels,cylinders and plates are analyzed in orthogonal mixed curved reference coordinates.The 3D equilibrium relations and the 3D Fourier heat conduction equation for spherical shells are coupled and they trivially can be simplified in those for plates and cylindrical panels.The exponential matrix methodology is used to find the solutions of a full coupled model based on coupled differential relations with respect to the thickness coordinate.The analytical solution is based on theories of simply supported edges and harmonic relations for displacement components and sovra-temperature.The sovra-temperature magnitudes are directly applied at the outer faces through static state hypotheses.As a consequence,the sovra-temperature description is assumed to be an unknown variable of themodel and it is calculated in the sameway as the three displacements.The final systemis based on a set of coupled homogeneous differential relations of second order in the thickness coordinate.This system is reduced in a first order differential relation system by redoubling the number of unknowns.Therefore,the exponential matrix methodology is applied to calculate the solution.The temperature field effects are evaluated in the static investigation of shells and plates in terms of displacement and stress components.After an appropriate preliminary validation,new benchmarks are discussed for several thickness ratios,geometrical data,lamination sequences,materials and sovra-temperature values imposed at the outer faces.Results make evident the accordance between the uncoupled thermo-mechanical model and this new full coupled thermo-mechanical model without the need to separately solve the Fourier heat conduction relation.Both effects connected with the thickness layer and the related embedded materials are included in the conducted thermal stress analysis.

Bifurcation and chaos analysis of a nonlinear electromechanical coupling relative rotation system

Hopf bifurcation and chaos of a nonlinear electromechanical coupling relative rotation system are studied in this paper. Considering the energy in air-gap field of AC motor, the dynamical equation of nonlinear electromechanical coupling relative rotation system is deduced by using the dissipation Lagrange equation. Choosing the electromagnetic stiffness as a bifurcation parameter, the necessary and sufficient conditions of Hopf bifurcation are given, and the bifurcation characteristics are studied. The mechanism and conditions of system parameters for chaotic motions are investigated rigorously based on the Silnikov method, and the homoclinic orbit is found by using the undetermined coefficient method. Therefore, Smale horseshoe chaos occurs when electromagnetic stiffness changes. Numerical simulations are also given, which confirm the analytical results.

Coupling Between the Group—Related Coherent States

When two representations of the Lie algebra are coupled, the coupling integral kernels are presented to relate the coupled to uncoupled group-related coherent states. These kernels have a connection with usual coupling coefficients. The explicit expressions of these kernels for SU(2), SO(4) and SUq(2) are given. When the direct product of three representations is formed in two ways, the recoupling integral kernels relating to the coupled group-related coherent states corresponding to two different schemes are introduced, and the relations between these kernels and the general recoupling coefficients are obtained. The properties of these kernels are discussed.

Dynamic Analysis of Supply and Demand Coupling of Ecosystem Services in Loess Hilly Region:A Case Study of Lanzhou,China

The relationship between the supply and demand for ecosystem services(ESs)is a key issue for the rational allocation of natural resources and optimisation of sustainable development capacity.This paper investigateed the dynamic evolution features of supply and demand of four ESs in Lanzhou of China,namely,water supply,food supply,carbon fixation and soil retention services.The crosssectional data of 2005 and 2017 were used for calculating ESs value and its supply and demand through ArcGIS software,InVEST model,elastic coefficient model and coupling coordination model.Results showed that:1)from 2005 to 2017,the supply of water supply services increased,the demand of soil retention services decreased,and the supply and demand of food supply and carbon fixation services increased.The high-value areas of service supply were mainly distributed in the rocky mountain areas in the southeast and northwest with high vegetation coverage,while the high-value areas of demand were mainly distributed in the urban areas and surrounding areas with high population density.2)There were five different types of coupling relations.Water supply service was dominated by a negative coupling type D,which means that the decrease in demand for ESs has had a positive response on the supply of ESs.Negative coupling type C was the main type of food supply and carbon fixation services,which means that the increase in demand for ESs has had a negative response on the supply of ESs.All three services were supplemented by a positive coupling type A,which means that the increase in demand for ESs has had a positive response on the supply of ESs.Soil retention service generally exhibits a positive coupling type B,which means that the decrease in demand for ESs has had a negative response on the supply of ESs.3)Over the past 12 yr,the coordination degree of supply and demand of water supply,food supply and soil retention services decreased,and the coordination degree of carbon fixation service increased.Various types of ES had a low degree of coupling and coordination,showing different characteristics of temporal and spatial evolution.The areas with imbalanced ESs supply and demand were mainly distributed in urban areas dominated by construction land.The research results are valuable to the optimisation of urban and rural ecological environments and the sustainable development of territory space under the framework of ecological civilisation,including similar ecologically vulnerable areas in other developing countries.

Does Industry-University-Research Cooperation Matter? An Analysis of Its Coupling Effect on Regional Innovation and Economic Development

The dislocation between regional innovation and economic development directly influences the economic effect of regional innovation. However, no in-depth researches have been made on how to solve this problem. Using data from Henan Province, China,employing geographical detector technology, this paper focuses on testing whether the industry-university-research cooperation can contribute to coordinating the relation between regional innovation and economic development. It is shown that: 1) the industry-universityresearch cooperation in Henan Province is increasing gradually, and the network presents a core-edge structure, and the coupling degree between regional innovation and economic development is spatially unbalanced, which is similar to the spatial distribution of the intensity of industry-university-research cooperation;2) as an important approach to effectively connect scientific researches with market demands, the industry-university-research cooperation can help form an interactive, interconnected, coupled and coordinated virtuous relation between regional innovation and economic development. Compared with the cooperation between organizations of the same type and the separate innovation of organizations, the improvement of the industry-university-research cooperation level can better coordinate the relation between regional innovation and economic development;3) the cooperative innovation model between enterprises and universities can better promote the coupling between regional innovation and economic development, compared with many industryuniversity-research cooperation models. For underdeveloped areas lacking local knowledge base, industry-university-research cooperation should be considered as a long-term development strategy, especially using the knowledge sources of external universities and scientific research institutions to enhance innovation capability and achieve economic growth.

Hopf bifurcation control for a coupled nonlinear relative rotation system with time-delay feedbacks

This paper investigates the Hopf bifurcations resulting from time delay in a coupled relative-rotation system with time- delay feedbacks. Firstly, considering external excitation, the dynamical equation of relative rotation nonlinear dynamical system with primary resonance and 1：1 internal resonance under time-delay feedbacks is deduced. Secondly, the averaging equation is obtained by the multiple scales method. The periodic solution in a closed form is presented by a perturbation approach. At last, numerical simulations confirm that time-delay theoretical analyses have influence on the Hopf bifurcation point and the stability of periodic solution.

Seepage-stress coupling constitutive model of anisotropic soft rock

To provide a seepage-stress coupling constitutive model that can directly describe the seepage-stress coupling relationship, a series of one-dimensional seepage-stress coupling tests on two kinds of soft rock (argillaceous siltstone and brown mudstone) were performed by using an MTS-815.02 tri-axial rock mechanics test system, with which the stress-strain curves according to the seepage variation were obtained. Based on the experimental results and by employing Hooke's law, the formulation of the coefficient of strain-dependent permeability was presented and introduced to establish a coupling model. In addition, the mathematical expression and the incremental formulation for coupling model were advanced, in which five parameters that can be respectively determined by using the experimental results were included. The calculated results show that the proposed coupling model is capable of simulating the stress-strain relationship with considering the seepage-stress coupling in the nonlinear elastic stage of two kinds of soft rock.

A Neo Explanation of the"Mass-Velocity Relation

A reinterpretation of the well-known formula of the 'mass-velocity relation' is exactlyderived from a new viewpoint with new concepts, such as the finiteness of the transmitting velocityof force (TVF), effective action, and the coupled effect of the TVF for two EM fields, etc. Then, atrue meaning hidden in the Lorentz factor is exploited : i.e., when a charged particle is moving at aspeed v under an EM field, the effective action exerted on it by the field varies inversely with thespeed ratio β= v / U, where U is the TVF, which probably is equal to the propagation velocity ofEM field. The actual reduction of the effective action gives a false impression of mass gain.Accordingly, it is a major mistake in orientation to ascribe the (genuine) electrodynamics of movingbodies to any observation, or to any motion of an observer, while disregarding the facts of mutualaction.

Galactic Route to the Strong Coupling Constant αs(mz) and Its Implication on the Mass Constituents of the Universe

Some fundamental physical quantities need an alternative description. We derive the word average value of interaction coupling constant αs(mz) from the observed maximum galactic rotation velocity by the simple relation , where is the velocity, at which the difference between galactic rotation velocity and Thomas precession is equal, and α is Sommerfeld’s constant. The result is in excellent agreement with the value of αs = 0.1170 ± 0.0019, recently measured and verified via QCE analysis by CERN researchers. One can formulate a reciprocity relation, connecting αs with the circle constant: . It is the merit of Preston Guynn to derive the Milky Way maximum value of the galactic rotation velocity βg, pointing to its “extremely important role in all physics”. The mass (energy) constituents of the Universe follow a golden mean hierarchy and can simply be related to the maximum of Guynn’s difference velocity respectively to αs(mz), therewith excellently confirming Bouchet’s WMAP data analysis. We conclude once more that the golden mean concept is the leading one of nature.

基于Python的平面杆系结构有限元分析

基于Python程序,将杆单元位移不连续、理想刚杆两种力学对象关联统一,开展平面杆系结构有限元模型分析,并实现一种基于“变量标记”的自由度集中处理的计算模式.基于虚功原理引入并推证刚体荷载传递定理,表明耦合单元、刚杆及忽略某一自由度的有限元内置算法处理过程中,实质是将单元刚度矩阵进行“刚化”处理.算例分析表明,“变量标记”的计算模式与单元刚度矩阵的“刚化”处理,具有力学模型的普适性和统一性、编程的可行性以及结果的可靠性等特点,能解决平面任意杆系结构的建模问题.研究结果表明,“主从结点”、“刚杆”等建模方法,对于进一步开展有限元二次开发、大变形以及非线性等功能性扩展等有重要的参加价值,证明将Python程序应用于结构有限元分析的可行性.

地理学中自然与人文耦合的挑战与前景

进入人类世以来,随着重大自然与社会问题的涌现,作为一门典型的交叉学科,地理学面临着前所未有的挑战与机遇。地理学研究的是复杂交织的人地关系问题,所以需要先在内部摒除二元论的偏见,实现自然(包括GIS)与人文的耦合。对中国地理学而言,自然与人文耦合的关键或难点在于方法论。应对挑战,地理学共同体应该鼓励面向重大问题的、多元化的交叉研究,促进数据、技术与社会的融合,共创治理科学新范式,逐步改变重理轻文的学科评价导向。在全球可持续发展的大背景下,地理学内部的交叉融合以及地理学与其他学科的交叉合作至关重要,人文与自然的耦合是地理学应该始终坚持的方向。

矿区排土场植物多样性及其与土壤理化指标的耦合关系

探究鄂尔多斯满来梁矿区不同修复年限下植物多样性及其与土壤理化指标的耦合关系,揭示植被与土壤在生态修复中的相互作用,为优化植被恢复策略及评估修复效果提供科学依据。以修复年限在2~12 a的植被与土壤理化指标为研究对象,原始地貌为对照,通过调查不同样地内的植被组成与土壤理化性质,利用相关性分析揭示其相互影响与作用方式。结果表明:1)研究区共调查到51种植物,以菊科、禾本科和豆科为主,三者共占植物种类总数的61%;2)植物多样性随时间变化显著,物种数量先减少后增加,Margalef和Shannon-Weiner指数先降后升,Pielou和Simpson指数无明显变化;3)植物多样性指数与土壤理化指标存在中度及以上关联,其中pH和全磷与物种多样性关联较密切;4)修复初期,植物多样性与土壤理化指标的协调度提高,随修复年限增加,协调度先升高再降低,修复6 a时协调度最高。修复措施对植物多样性及其土壤理化指标的平衡发展有积极作用,需不断优化修复措施,使之达到最佳协调水平。

肥大细胞在特应性皮炎发病中的作用及相关治疗进展

特应性皮炎(atopic dermatitis,AD)发病机制复杂,多种细胞参与其发病过程。肥大细胞主要分布于皮肤和黏膜,是多种变态反应性疾病的重要效应细胞,但肥大细胞在AD发病机制中的作用尚不完全明确。研究表明,肥大细胞主要通过“IgE-FcεRI-组胺”途径和“MrgprB2/X2-类胰蛋白酶”途径在AD的发病中发挥作用,同时肥大细胞还释放多种2型炎症相关细胞因子进一步促进AD的免疫失衡。本文主要回顾近年来肥大细胞在AD发病机制中的研究及相关治疗进展,以期为AD的治疗与管理提供新思路。

耦合级联失效系统可靠性建模与分析

现实生活中绝大多数系统并不是孤立存在的,如通信网和电网,它们相互依存、相互影响,这种系统间的耦合关系使得级联失效范围变得更广,导致级联过程更为复杂,从而影响整个系统可靠性及其正常运行。针对此问题,论文以电力通信系统为研究背景,给出了耦合系统转移率的解析表达,分析了元件负载增加影响元件故障率的级联失效效应和子系统间的相依关系,建立了耦合级联失效系统的可靠性模型,并证明了系统可靠度的计算方法和解析式结果。并且利用一个算例展示了耦合系统发生级联失效的具体过程,以验证该方法的有效性与可行性。本文为基于负载和时间的耦合系统的级联研究提供了新的思路,可拓展至不同的耦合关系、耦合强度以及不同的负载分配模式来进一步研究系统的级联失效过程以及可靠度分析。

高温下多主元合金的动态变形行为与本构建模

为加速多主元合金在航空工业领域的应用,将航空发动机经常面临的高温高应变率耦合环境作为实验条件,在5种温度下开展了CoCrFeNiMn多主元合金的动态压缩实验和变形后试样的塑性变形机理微观表征。结果表明:在1273 K的高温环境中,多主元合金的动态屈服强度可达200 MPa,表现出较好的耐高温性能;随着动态塑性应变的增加,材料内部出现了晶粒粗化的现象,并且在晶界处具有更高的亚结构孕育能力。此外,量化了不同环境温度下动态塑性变形过程中绝热温升的变化规律,指出了现有动态本构关系对CoCrFeNiMn多主元合金在宽温度域内动态应力-应变关系预测能力的不足。最后,通过解耦分析初始屈服与塑性流动阶段的温度效应,建立了一个指数形式的唯象动态本构方程。该本构方程可用于预测冲击载荷作用下宽温度域内多主元合金的屈服强度和塑性流动规律。

武汉都市圈乡村地域系统结构与功能演变及耦合优化

研究目的:基于“人—地—域”与“三生空间”视角,分析2010—2020年武汉都市圈乡村地域系统结构与功能的时空演变特征,系统探讨结构与功能的耦合关系及其优化路径。研究方法:指标评价法和弹性系数模型。研究结果:(1)武汉都市圈乡村地域系统结构与功能指数空间格局相对稳定,2010—2020年结构与功能指数整体呈现波动上升趋势。(2)根据结构与功能指数变化及弹性系数的组合特征,将武汉都市圈乡村地域划分为6种类型。(3)协调增长区应找准特色发展主轴,巩固脱贫攻坚成果;双减区应变被动虹吸为主动承接,依托特色引领产业发展;结构滞后增长区和结构减—功能增反向区应借助区位优势打造品牌,实现转型发展;功能滞后增长区和结构增—功能减反向区应推动农村农业现代化,改善农村人居环境。研究结论:乡村地域系统结构与功能存在显著的阶段性和分异性耦合特征,通过制定针对性分区优化策略,促进乡村地域系统结构与功能的协调发展。

Transfer relation between subgrade frost heave and slab track deformation and vehicle dynamic response in seasonally frozen ground

Subgrade frost heave in seasonally frozen ground can greatly influence the safety and smooth running of high-speed trains and the service performance of track structures.In this study,we used a static model to:(1)investigate track-subgrade frost heave and develop a dynamic model of vehicle-track-subgrade frost heave;(2)explore the transfer relation between subgrade frost heave and track structure deformation;(3)examine the characteristics of interlayer debonding;(4)study the influence of subgrade frost heave on the dynamic response of vehicles in high-speed railways in seasonally frozen regions.A Fourier series was used to fit the frost heave waveform and simulate the behavior of subgrade uneven frost heave using data collected on-site.The results show:(i)The position of frost heave significantly affects the transfer of deformation to a slab track.The largest deformation of the track slab,with the amplitude transfer ratio reaching 20%,was recorded when the frost heave occurred near the joint of the base plate.(ii)At the same frost heave amplitude,long-wave frost heave causes smaller deformation and debonding of the track structure than short-wave frost heave.In the wavelength range of 10-30 m,the main frequency of the acceleration spectral density was concentrated between 3.5 and 3.7 Hz,with larger frost heave wavelengths producing smaller superposition on the vertical acceleration of the vehicle.(ii)The maximum wheel-rail force occurs when the front bogie passes the frost heave peak,with greater frost heave amplitudes producing greater wheel-rail force.From these results,we conclude there is a clear need to control the frost heave deformation of the track to reduce the dynamic response of the vehicle and in turn improve train operatSubgrade frost heave in seasonally frozen ground can greatly influence the safety and smooth running of high-speed trains and the service performance of track structures.In this study,we used a static model to:(1)investigate track`-subgrade frost heave and develop a dynamic model of vehicle`-track`-subgrade frost heave;(2)explore the transfer relation between subgrade frost heave and track structure deformation;(3)examine the characteristics of interlayer debonding;(4)study the influence of subgrade frost heave on the dynamic response of vehicles in high-speed railways in seasonally frozen regions.A Fourier series was used to fit the frost heave waveform and simulate the behavior of subgrade uneven frost heave using data collected on-site.The results show:(i)The position of frost heave significantly affects the transfer of deformation to a slab track.The largest deformation of the track slab,with the amplitude transfer ratio reaching 20%,was recorded when the frost heave occurred near the joint of the base plate.(ii)At the same frost heave amplitude,long-wave frost heave causes smaller deformation and debonding of the track structure than short-wave frost heave.In the wavelength range of 10-30 m,the main frequency of the acceleration spectral density was concentrated between 3.5 and 3.7 Hz,with larger frost heave wavelengths producing smaller superposition on the vertical acceleration of the vehicle.(iii)The maximum wheel`-rail force occurs when the front bogie passes the frost heave peak,with greater frost heave amplitudes producing greater wheel`-rail force.From these results,we conclude there is a clear need to control the frost heave deformation of the track to reduce the dynamic response of the vehicle and in turn improve train operations.ions.

Numerical simulation of hypersonic thermochemical nonequilibrium flows using nonlinear coupled constitutive relations

To predict aeroheating performance of hypersonic vehicles accurately in thermochemical nonequilibrium flows accompanied by rarefaction effect,a Nonlinear Coupled Constitutive Relations(NCCR)model coupled with Gupta’s chemical models and Park’s two-temperature model is firstly proposed in this paper.Three typical cases are intensively investigated for further validation,including hypersonic flows over a two-dimensional cylinder,a RAM-C II flight vehicle and a type HTV-2 flight vehicle.The results predicted by NCCR solution,such as heat flux coefficient and electron number densities,are in better agreement with those of direct simulation Monte Carlo or flight data than Navier-Stokes equations,especially in the extremely nonequilibrium regions,which indicates the potential of the newly-developed solution to capture both thermochemical and rarefied nonequilibrium effects.The comparisons between the present solver and NCCR model without a two-temperature model are also conducted to demonstrate the significance of vibrational energy source term in the accurate simulation of high-Mach flows.

基于博弈论组合赋权的云南省水资源承载力评价

水资源承载力是指一个区域或国家所能提供的可持续利用的水资源量,它直接关系到社会经济的可持续发展和生态环境的健康,也是衡量特定区域水资源供需平衡能力的重要指标。本文将对云南省水资源承载力进行分析评价,首先运用博弈论组合赋权法,结合专家打分的层次分析法和客观分析原始数据的熵权法及变异系数法,得出综合权重;然后采用灰色关联度改进的逼近理想解的排序方法(Technique for order preference by similarity to ideal solution,TOPSIS)及耦合协调分析法,综合得出云南省在2008~2020年间水资源承载力的变化情况并做出评价。结果表明,2008~2020年水资源承载力总体呈上升趋势,其中,经济子系统和社会子系统的承载力始终保持持续上升的状态,而水资源子系统和生态环境子系统则出现波动情况。2008~2014年,云南省为大力发展经济,牺牲了一定的水资源合理开发利用,但在2014年后,开始注重水资源保护,实施绿色可持续发展战略,水资源子系统的承载力逐步提升。