Non-uniform linear array(NULA)configurations are well renowned due to their structural ability for providing increased degrees of freedom(DOF)and wider array aperture than uniform linear arrays(ULAs).These characteris...Non-uniform linear array(NULA)configurations are well renowned due to their structural ability for providing increased degrees of freedom(DOF)and wider array aperture than uniform linear arrays(ULAs).These characteristics play a significant role in improving the direction-of-arrival(DOA)estimation accuracy.However,most of the existing NULA geometries are primarily applicable to circular sources(CSs),while they limitedly improve the DOF and continuous virtual aperture for noncircular sources(NCSs).Toward this purpose,we present a triaddisplaced ULAs(Tdis-ULAs)configuration for NCS.The TdisULAs structure generally consists of three ULAs,which are appropriately placed.The proposed antenna array approach fully exploits the non-circular characteristics of the sources.Given the same number of elements,the Tdis-ULAs design achieves more DOF and larger hole-free co-array aperture than its sparse array competitors.Advantageously,the number of uniform DOF,optimal distribution of elements among the ULAs,and precise element positions are uniquely determined by the closed-form expressions.Moreover,the proposed array also produces a filled resulting co-array.Numerical simulations are conducted to show the performance advantages of the proposed Tdis-ULAs configuration over its counterpart designs.展开更多
Degree of freedom(DOF)is a key indicator for spatial multiplexing layers of a wireless channel.Traditionally,the channel of a multiple-input multiple-output(MIMO)half-wavelength dipole array has a DOF that equals the ...Degree of freedom(DOF)is a key indicator for spatial multiplexing layers of a wireless channel.Traditionally,the channel of a multiple-input multiple-output(MIMO)half-wavelength dipole array has a DOF that equals the antenna number.However,recent studies suggest that the DOF could be less than the antenna number when strong mutual coupling is considered.We utilize a mutual-coupling-compliant channel model to investigate the DOF of the holographic MIMO(HMIMO)channel and give a upper bound of the DOF with strong mutual coupling.Our numerical simulations demonstrate that a dense array can support more DOF per unit aperture as compared with a half-wavelength MIMO system.展开更多
High degrees of freedom(DOF)for K^(+)movement in the electrolytes is desirable,because the resulting high ionic conductivity helps improve potassium-ion batteries,yet requiring support from highly free and flammable o...High degrees of freedom(DOF)for K^(+)movement in the electrolytes is desirable,because the resulting high ionic conductivity helps improve potassium-ion batteries,yet requiring support from highly free and flammable organic solvent molecules,seriously affecting battery safety.Here,we develop a K^(+)flux rectifier to trim K ion’s DOF to 1 and improve electrochemical properties.Although the ionic conductivity is compromised in the K^(+)flux rectifier,the overall electrochemical performance of PIBs was improved.An oxidation stability improvement from 4.0 to 5.9 V was realized,and the formation of dendrites and the dissolution of organic cathodes were inhibited.Consequently,the K||K cells continuously cycled over 3,700 h;K||Cu cells operated stably over 800 cycles with the Coulombic efficiency exceeding 99%;and K||graphite cells exhibited high-capacity retention over 74.7%after 1,500 cycles.Moreover,the 3,4,9,10-perylenetetracarboxylic diimide organic cathodes operated for more than 2,100 cycles and reached year-scale-cycling time.We fabricated a 2.18 Ah pouch cell with no significant capacity fading observed after 100 cycles.展开更多
The reduced weight and improved efficiency of modern aeronautical structures result in a decreasing separation of frequency ranges of rigid and elastic modes.Particularly,a high-aspect-ratio flexible flying wing is pr...The reduced weight and improved efficiency of modern aeronautical structures result in a decreasing separation of frequency ranges of rigid and elastic modes.Particularly,a high-aspect-ratio flexible flying wing is prone to body freedomflutter(BFF),which is a result of coupling of the rigid body short-periodmodewith 1st wing bendingmode.Accurate prediction of the BFF characteristics is helpful to reflect the attitude changes of the vehicle intuitively and design the active flutter suppression control law.Instead of using the rigid body mode,this work simulates the rigid bodymotion of the model by using the six-degree-of-freedom(6DOF)equation.A dynamicmesh generation strategy particularly suitable for BFF simulation of free flying aircraft is developed.An accurate Computational Fluid Dynamics/Computational Structural Dynamics/six-degree-of-freedom equation(CFD/CSD/6DOF)-based BFF prediction method is proposed.Firstly,the time-domain CFD/CSD method is used to calculate the static equilibrium state of the model.Based on this state,the CFD/CSD/6DOF equation is solved in time domain to evaluate the structural response of themodel.Then combinedwith the variable stiffnessmethod,the critical flutter point of the model is obtained.This method is applied to the BFF calculation of a flyingwing model.The calculation results of the BFF characteristics of the model agree well with those fromthe modalmethod andNastran software.Finally,the method is used to analyze the influence factors of BFF.The analysis results show that the flutter speed can be improved by either releasing plunge constraint or moving the center ofmass forward or increasing the pitch inertia.展开更多
Increasing degrees of freedom(DOFs)is a useful way to raise the power capture efficiency of oscillating wave energy converters.Thus,this study proposes a buoy with three DOFs,which are surge,heave,and pitch.The hydrod...Increasing degrees of freedom(DOFs)is a useful way to raise the power capture efficiency of oscillating wave energy converters.Thus,this study proposes a buoy with three DOFs,which are surge,heave,and pitch.The hydrodynamic performance and power capture efficiency of the buoy is physically modeled.Amplitudes of unidirectional and coupled motions are compared to analyze the interaction effect between freedoms under conditions with and without power take-off damping.The capture width ratio and corresponding growth rates are also calculated.Results show that the buoy makes a periodic sinusoidal(or approximate)movement in every DOF.Coupling effect can cause an increase in the amplitude in one DOF and a decrease in the amplitudes of the others.This phenomenon shows that the kinematic energy of the buoy redistributes to all DOFs compared with the unidirectional conditions.Adding DOFs can improve the power absorption of the buoy in most cases,but the number of DOFs is not the more the better.展开更多
A modified two-degrees-of-freedom( M-TDOF) internal model control( IMC) method is proposed for non-square systems with multiple time delays and right-half-plane( RHP) zeros. In this method,pseudo-inverse is introduced...A modified two-degrees-of-freedom( M-TDOF) internal model control( IMC) method is proposed for non-square systems with multiple time delays and right-half-plane( RHP) zeros. In this method,pseudo-inverse is introduced to design the internal model controller,and a desired closed-loop transfer function is designed to eliminate the unrealizable factors of the derived controller. In addition,set-point tracking and load-disturbance rejection of each process are separately controlled by two controllers. The simulation results show that in addition to high decoupling performance and robustness,the proposed control method also effectively improves loaddisturbance rejection and simultaneously optimizes the input tracking performance and disturbance rejection performance by selecting the parameters of controllers. Furthermore,the higher tolerance of model mismatch is achieved in this paper.展开更多
Based on support vector machines, three modeling methods, i.e., white-box modeling, grey-box modeling and black-box modeling of ship manoeuvring motion in 4 degrees of freedom are investigated. With the whole-ship mat...Based on support vector machines, three modeling methods, i.e., white-box modeling, grey-box modeling and black-box modeling of ship manoeuvring motion in 4 degrees of freedom are investigated. With the whole-ship mathematical model for ship manoeuvring motion, in which the hydrodynamic coefficients are obtained from roll planar motion mechanism test, some zigzag tests and turning circle manoeuvres are simulated. In the white-box modeling and grey-box modeling, the training data taken every 5 s from the simulated 20°/20° zigzag test are used, while in the black-box modeling, the training data taken every 5 s from the simulated 15°/15°, 20°/20° zigzag tests and 15°, 25° turning manoeuvres are used; and the trained support vector machines are used to predict the whole 20°/20° zigzag test. Comparisons between the simulated and predicted 20°/20° zigzag tests show good predictive ability of the proposed methods. Besides, all mathematical models obtained by the proposed modeling methods are used to predict the 10°/10° zigzag test and 35° turning circle manoeuvre, and the predicted results are compared with those of simulation tests to demonstrate the good generalization performance of the mathematical models. Finally, the proposed modeling methods are analyzed and compared with each other in aspects of application conditions, prediction accuracy and computation speed. The appropriate modeling method can be chosen according to the intended use of the mathematical models and the available data needed for system identification.展开更多
Quadruped robot dynamic gaits have much more advantages than static gaits on speed and efficiency, however high speed and efficiency calls for more complex mechanical structure and complicated control algorithm. It be...Quadruped robot dynamic gaits have much more advantages than static gaits on speed and efficiency, however high speed and efficiency calls for more complex mechanical structure and complicated control algorithm. It becomes even more challenging when the robot has more degrees of freedom.As a result, most of the present researches focused on simple robot, while the researches on dynamic gaits for complex robot with more degrees of freedom are relatively limited. The paper is focusing on the dynamic gaits control for complex robot with twenty degrees of freedom for the first time. Firstly, we build a relatively complete 3 D model for quadruped robot based on spring loaded inverted pendulum(SLIP) model, analyze the inverse kinematics of the model, plan the trajectory of the swing foot and analyze the hydraulic drive. Secondly, we promote the control algorithm of one-legged to the quadruped robot based on the virtual leg and plan the state variables of pace gait and bound gait. Lastly, we realize the above two kinds of dynamic gaits in ADAMS-MATLAB joint simulation platform which testify the validity of above method.展开更多
Unlike most previous studies on the transverse vortex-induced vibration(VlV) of a cylinder mainly under the wallfree condition (Williamson & Govardhan, 2004), this paper experimentally investigates the vortex-ind...Unlike most previous studies on the transverse vortex-induced vibration(VlV) of a cylinder mainly under the wallfree condition (Williamson & Govardhan, 2004), this paper experimentally investigates the vortex-induced vibration of a cylinder with two degrees of freedom near a rigid wall exposed to steady flow. The amplitude and frequency responses of the cylinder are discussed. The lee wake flow patterns of the cylinder undergoin^g VIV were visualized by employing the hydrogen bubble technique. The effects of the gap-to-diameter ratio (eo/D) and the mass ratio on the vibration amplitude and frequency are analyzed. Comparisons of VIV response of the cylinder are made between one degree (only transverse) and two degrees of freedom (streamwise and transverse) and those between the present study and previous ones. The experimental observation indicates that there are two types of streamwise vibration, i.e. the first streamwise vibration (FSV) with small amplitude and the second streamwise vibration (SSV) which coexists with transverse vibration. The vortex shedding pattern for the FSV is approximately syrmnetric and that for the SSV is ahernate. The first streamwise vibration tends to disappear with the decrease of eo/D. For the case of large gap-to-dianeter ratios ( e.g. eo/D = 0. 54 ~ 1.58), the maximum amplitudes of the second streamwise vibration and transverse one increase with the increasing gap- to-diameter ratio. But for the case of small gap-to-diameter ratios (e. g. eo/D= 0. 16, 0.23), the vibration amplitude of the cylinder increases slowly at the initial stage (i.e. at small reduced velocity Vr), and across the maximum amplitude it decreases quickly at the last stage (i.e. at large Vr). Within the range of the examined small mass ratio (m 〈 4), both streamwise and transverse vibration amplitude of the cylinder decrease with the increase of mass ratio for the fixed value of Vr- The vibration range ( in terms of Vr) tends to widen with the decrease of the mass ratio. In the second streamwise vibration region, the vibration frequency of the cylinder with a small mass ratio ( e.g. mx = 1.44) undergoes a jump at a certain Vr+ The maximum amplitudes of the transverse vibration for two-degree-of-freedom case is larger than that for one-degree-of-freedom case, but the transverse vibration frequency of the cylinder with two degrees of freedom is lower than that with one degree of freedom(transverse).展开更多
Conventional manipulators with rigid structures and sti ness actuators have poor flexibility,limited obstacle avoidance capability,and constrained workspace.Some developed flexible or soft manipulators in recent years...Conventional manipulators with rigid structures and sti ness actuators have poor flexibility,limited obstacle avoidance capability,and constrained workspace.Some developed flexible or soft manipulators in recent years have the characteristics of infinite degrees of freedom,high flexibility,environmental adaptability,and extended manipulation capability.However,these existing manipulators still cannot achieve the shrinking motion and independent control of specified segments like the animals,which hinders their applications.In this paper,a flexible bio-tensegrity manipulator,inspired by the longitudinal and transversal muscles of octopus tentacles,was proposed to mimic the shrinking behavior and achieve the variable motion patterns of each segment.Such proposed manipulator uses the elastic spring as the backbone,which is driven by four cables and has one variable structure mechanism in each segment to achieve the independent control of each segment.The variable structure mechanism innovatively contains seven lock-release states to independently control the bending and shrinking motion of each segment.After the kinematic modeling and analysis,one prototype of such bionic flexible manipulator was built and the open-loop control method was proposed.Some proof-of-concept experiments,including the shrinking motion,bending motion,and variable structure motion,were carried out by controlling the length of four cables and changing the lock-release states of the variable structure mechanism,which validate the feasibility and validity of our proposed prototype.Meanwhile,the experimental results show the flexible manipulator can accomplish the bending and shrinking motion with the relative error less than 6.8%through the simple independent control of each segment using the variable structure mechanism.This proposed manipulator has the features of controllable degree-of-freedom in each segment,which extend their environmental adaptability,and manipulation capability.展开更多
The two-rotational-degrees-of-freedom(2R) parallel mechanism(PM) with two continuous rotational axes(CRAs) has a simple kinematic model.It is therefore easy to implement trajectory planning,parameter calibration...The two-rotational-degrees-of-freedom(2R) parallel mechanism(PM) with two continuous rotational axes(CRAs) has a simple kinematic model.It is therefore easy to implement trajectory planning,parameter calibration,and motion control,which allows for a variety of application prospects.However,no systematic analysis on structural constraints of the 2R-PM with two CRAs has been performed,and there are only a few types of 2R-PM with two CRAs.Thus,a theory regarding the type synthesis of the 2R-PM with two CRAs is systematically established.First,combining the theories of reciprocal screw and space geometry,the spatial arrangement relationships of the constraint forces applied to the moving platform by the branches are explored,which give the 2R-PM two CRAs.The different distributions of the constraint forces in each branch are also studied.On the basis of the obtained structural constraints of branches,and considering the geometric relationships of constraint forces in each branch,the appropriate kinematic chains are constructed.Through the reasonable configuration of branch kinematic chains corresponding to every structural constraint,a series of new 2R-PMs with two CRAs are finally obtained.展开更多
Using two typical types of polarization controller, this paper analyses theoretically and experimentally the fact that it is necessary to adjust at least three instead of two waveplates in order to transform any state...Using two typical types of polarization controller, this paper analyses theoretically and experimentally the fact that it is necessary to adjust at least three instead of two waveplates in order to transform any state of polarization to any other output covering the entire Poincar6 sphere. The experimental results are exactly in accordance with the theory discussed in this paper. It has corrected the conventional and inaccurate point of view that two waveplates of a polarization controller are adequate to complete the transformation of state of polarization.展开更多
Parallel arrays with coprime subarrays have shown its potential advantages for two dimensional direction of arrival(DOA)estimation.In this paper,by introducing two flexible coprime factors to enlarge the inter-element...Parallel arrays with coprime subarrays have shown its potential advantages for two dimensional direction of arrival(DOA)estimation.In this paper,by introducing two flexible coprime factors to enlarge the inter-element spacing of parallel uniform subarrays,we propose a generalized parallel coprime array(GPCA)geometry.The proposed geometry enjoys flexible array layouts by the coprime factors and enables to extend the array aperture to achieve great improvement of estimation performance.Meanwhile,we verify that GPCA always can obtain M2 degrees of freedom(DOFs)in co-array domain via 2M sensors after optimization,which outperforms sparse parallel array geometries,such as parallel coprime array(PCA)and parallel augmented coprime array(PACA),and is the same as parallel nested array(PNA)with extended aperture.The superiority of GPCA geometry has been proved by numerical simulations with sparse representation methods.展开更多
The current research of supporting and transmission system in flywheel energy storage system(FESS) focuses on the low consumption design. However, friction loss is a non-negligible factor in the high-speed but lightwe...The current research of supporting and transmission system in flywheel energy storage system(FESS) focuses on the low consumption design. However, friction loss is a non-negligible factor in the high-speed but lightweight FESS energy and momentum storage with mechanical-type supporting system. In order to realize the support system without mechanical loss and to maximize the e ciency of the flywheel battery, a permanent magnet biased magnetic bearings(PMBMB) is applied to the FESS with the advantages of low loss, high critical speed, flexible controllability and compact structure. In this frame, the relevant research of three degrees of freedom(3-DOF) PMBMB for a new type FESS is carried out around the working principle, structural composition, coupling characteristics analysis, mathematical model, and structural design. In order to verify the performance of the 3-DOF PMBMB, the radial force mathematical model and the coupling determination equations of radial two DOF are calculated according to an equivalent magnetic circuit, and radial–axial coupling is analyzed through finite element analysis. Moreover, a control system is presented to solve the control problems in practical applications. The rotor returns to the balanced position in 0.05 s and maintains stable suspension. The displacement fluctuation is approximately 40 μm in the y direction and 30 μm in the x direction. Test results indicate that the dynamic rotor of the proposed flywheel energy storage system with PMBMB has excellent characteristics, such as good start-of-suspension performance and stable suspension characteristics. The proposed research provides the instruction to design and control a low loss support system for FESS.展开更多
The behavior of vortex-induced vibration of a two-degree-of-freedom cylinder near a deformable wall in steady flow is investigated experimentally. The typical phenomenon of the two-degree-of-freedom cylinder's VIV is...The behavior of vortex-induced vibration of a two-degree-of-freedom cylinder near a deformable wall in steady flow is investigated experimentally. The typical phenomenon of the two-degree-of-freedom cylinder's VIV is discussed. The influences of initial gap between the cylinder and the wall on the dynamic responses of the cylinder are analyzed. The comparison is made about dynamic responses of the cylinder with one and two degrees of freedom. Experimental results show that the vibration of the cylinder near a deformable wall with a small value of initial gap-to-diameter ratios can generally be divided into two phases. The initial gap-to-diameter ratios have a noticeable influence on the occurrence of transverse vibration. The transverse maximum amplitude of the cylinder with two degrees of freedom is larger than that of the cylinder with one degree of freedom under the condition with the same values of other parameters. However, the vibration frequency of the cylinder for the two degrees of freedom case is smaller than that for the one degree of freedom case at the same value of Vr number展开更多
Although flexible manipulators own many potential advantages, one of their major disadvantages is the deterioration of the end-effector accuracy due to the flexibility. Therefore, how to reduce vibration is a signific...Although flexible manipulators own many potential advantages, one of their major disadvantages is the deterioration of the end-effector accuracy due to the flexibility. Therefore, how to reduce vibration is a significant problem. Inspired by the observation on the motion behaviors of animals, a new idea of decreasing motion deflection of the flexible manipulator is suggested. The concept of controllable local degrees of freedom is proposed and analyzed. By way of optimizing local motion provided by the controllable local degrees of freedom, the end-effector deflection of the flexible manipulator can be effectively decreased through dynamic coupling. The corresponding optimal method for vibration control of the flexible manipulator is put forward. The kinematic simulation is carried ant on a three-link flexible manipulator The corresponding results verify the feasibility of this method.展开更多
Free-fall of a sphere in fluid is investigated at a Galileo number of 204 by direct numerical simulations(DNS). We mainly focus on the effects of different degrees-of-freedom(DOFs) of the sphere motion during free-fal...Free-fall of a sphere in fluid is investigated at a Galileo number of 204 by direct numerical simulations(DNS). We mainly focus on the effects of different degrees-of-freedom(DOFs) of the sphere motion during free-fall. The characteristics of free-fall are compared with those of flow past a fixed sphere. Additional numerical tests are conducted with constraints placed on the translational or rotational DOFs of the sphere motion to analyze different DOFs of sphere motion. The transverse motion contributes significantly to the characteristics of free-fall; it results in the retardation of the vortex shedding, leading to the decrease of the Strouhal number. In addition, the transversal sphere motion exhibits the tendency to promote the sphere rotation. On the contrary, the effects of the sphere rotation and vertical oscillations during free-fall are negligible.展开更多
基金supported by the National Natural Science Foundation of China(62031017,61971221)the Fundamental Research Funds for the Central Universities of China(NP2020104)。
文摘Non-uniform linear array(NULA)configurations are well renowned due to their structural ability for providing increased degrees of freedom(DOF)and wider array aperture than uniform linear arrays(ULAs).These characteristics play a significant role in improving the direction-of-arrival(DOA)estimation accuracy.However,most of the existing NULA geometries are primarily applicable to circular sources(CSs),while they limitedly improve the DOF and continuous virtual aperture for noncircular sources(NCSs).Toward this purpose,we present a triaddisplaced ULAs(Tdis-ULAs)configuration for NCS.The TdisULAs structure generally consists of three ULAs,which are appropriately placed.The proposed antenna array approach fully exploits the non-circular characteristics of the sources.Given the same number of elements,the Tdis-ULAs design achieves more DOF and larger hole-free co-array aperture than its sparse array competitors.Advantageously,the number of uniform DOF,optimal distribution of elements among the ULAs,and precise element positions are uniquely determined by the closed-form expressions.Moreover,the proposed array also produces a filled resulting co-array.Numerical simulations are conducted to show the performance advantages of the proposed Tdis-ULAs configuration over its counterpart designs.
基金supported in part by National Key Research and Develop⁃ment Program of China under Grant No.2020YFB1807600.
文摘Degree of freedom(DOF)is a key indicator for spatial multiplexing layers of a wireless channel.Traditionally,the channel of a multiple-input multiple-output(MIMO)half-wavelength dipole array has a DOF that equals the antenna number.However,recent studies suggest that the DOF could be less than the antenna number when strong mutual coupling is considered.We utilize a mutual-coupling-compliant channel model to investigate the DOF of the holographic MIMO(HMIMO)channel and give a upper bound of the DOF with strong mutual coupling.Our numerical simulations demonstrate that a dense array can support more DOF per unit aperture as compared with a half-wavelength MIMO system.
基金supported by the National Natural Science Foundation of China(Nos.U20A20247 and 51922038).A.M.R.acknowledges the seed funding provided by the R.A.Bowen Endowed Professorship funds at Clemson University.
文摘High degrees of freedom(DOF)for K^(+)movement in the electrolytes is desirable,because the resulting high ionic conductivity helps improve potassium-ion batteries,yet requiring support from highly free and flammable organic solvent molecules,seriously affecting battery safety.Here,we develop a K^(+)flux rectifier to trim K ion’s DOF to 1 and improve electrochemical properties.Although the ionic conductivity is compromised in the K^(+)flux rectifier,the overall electrochemical performance of PIBs was improved.An oxidation stability improvement from 4.0 to 5.9 V was realized,and the formation of dendrites and the dissolution of organic cathodes were inhibited.Consequently,the K||K cells continuously cycled over 3,700 h;K||Cu cells operated stably over 800 cycles with the Coulombic efficiency exceeding 99%;and K||graphite cells exhibited high-capacity retention over 74.7%after 1,500 cycles.Moreover,the 3,4,9,10-perylenetetracarboxylic diimide organic cathodes operated for more than 2,100 cycles and reached year-scale-cycling time.We fabricated a 2.18 Ah pouch cell with no significant capacity fading observed after 100 cycles.
基金This work was supported by the National Natural Science Foundation of China(No.11872212)and a project funded by the Priority Academic Program Development of Jiangsu Higher Education Institutions.
文摘The reduced weight and improved efficiency of modern aeronautical structures result in a decreasing separation of frequency ranges of rigid and elastic modes.Particularly,a high-aspect-ratio flexible flying wing is prone to body freedomflutter(BFF),which is a result of coupling of the rigid body short-periodmodewith 1st wing bendingmode.Accurate prediction of the BFF characteristics is helpful to reflect the attitude changes of the vehicle intuitively and design the active flutter suppression control law.Instead of using the rigid body mode,this work simulates the rigid bodymotion of the model by using the six-degree-of-freedom(6DOF)equation.A dynamicmesh generation strategy particularly suitable for BFF simulation of free flying aircraft is developed.An accurate Computational Fluid Dynamics/Computational Structural Dynamics/six-degree-of-freedom equation(CFD/CSD/6DOF)-based BFF prediction method is proposed.Firstly,the time-domain CFD/CSD method is used to calculate the static equilibrium state of the model.Based on this state,the CFD/CSD/6DOF equation is solved in time domain to evaluate the structural response of themodel.Then combinedwith the variable stiffnessmethod,the critical flutter point of the model is obtained.This method is applied to the BFF calculation of a flyingwing model.The calculation results of the BFF characteristics of the model agree well with those fromthe modalmethod andNastran software.Finally,the method is used to analyze the influence factors of BFF.The analysis results show that the flutter speed can be improved by either releasing plunge constraint or moving the center ofmass forward or increasing the pitch inertia.
基金the support of the National Key R&D Program of China (No. 2018YFB1501900)the National Natural Science Fund of China (No. 41706100)+3 种基金the Shandong Provincial Natural Science Key Basic Program (No. ZR2017ZA 0202)the Special Projects for Marine Renewable Energy (No. GHME2016YY02)the Shandong Provincial Key Laboratory of Ocean Engineeringthe Qingdao Municipal Key Laboratory of Ocean Renewable Energy
文摘Increasing degrees of freedom(DOFs)is a useful way to raise the power capture efficiency of oscillating wave energy converters.Thus,this study proposes a buoy with three DOFs,which are surge,heave,and pitch.The hydrodynamic performance and power capture efficiency of the buoy is physically modeled.Amplitudes of unidirectional and coupled motions are compared to analyze the interaction effect between freedoms under conditions with and without power take-off damping.The capture width ratio and corresponding growth rates are also calculated.Results show that the buoy makes a periodic sinusoidal(or approximate)movement in every DOF.Coupling effect can cause an increase in the amplitude in one DOF and a decrease in the amplitudes of the others.This phenomenon shows that the kinematic energy of the buoy redistributes to all DOFs compared with the unidirectional conditions.Adding DOFs can improve the power absorption of the buoy in most cases,but the number of DOFs is not the more the better.
基金Sponsored by the Fundamental Research Funds for the Central Universities(Grant No.N110304008)the National Natural Science Foundation of China(Grant No.61374137)
文摘A modified two-degrees-of-freedom( M-TDOF) internal model control( IMC) method is proposed for non-square systems with multiple time delays and right-half-plane( RHP) zeros. In this method,pseudo-inverse is introduced to design the internal model controller,and a desired closed-loop transfer function is designed to eliminate the unrealizable factors of the derived controller. In addition,set-point tracking and load-disturbance rejection of each process are separately controlled by two controllers. The simulation results show that in addition to high decoupling performance and robustness,the proposed control method also effectively improves loaddisturbance rejection and simultaneously optimizes the input tracking performance and disturbance rejection performance by selecting the parameters of controllers. Furthermore,the higher tolerance of model mismatch is achieved in this paper.
基金financially supported by the National Natural Science Foundation of China(Grant No.51279106)the Special Research Fund for the Doctoral Program of Higher Education of China(Grant No.20110073110009)
文摘Based on support vector machines, three modeling methods, i.e., white-box modeling, grey-box modeling and black-box modeling of ship manoeuvring motion in 4 degrees of freedom are investigated. With the whole-ship mathematical model for ship manoeuvring motion, in which the hydrodynamic coefficients are obtained from roll planar motion mechanism test, some zigzag tests and turning circle manoeuvres are simulated. In the white-box modeling and grey-box modeling, the training data taken every 5 s from the simulated 20°/20° zigzag test are used, while in the black-box modeling, the training data taken every 5 s from the simulated 15°/15°, 20°/20° zigzag tests and 15°, 25° turning manoeuvres are used; and the trained support vector machines are used to predict the whole 20°/20° zigzag test. Comparisons between the simulated and predicted 20°/20° zigzag tests show good predictive ability of the proposed methods. Besides, all mathematical models obtained by the proposed modeling methods are used to predict the 10°/10° zigzag test and 35° turning circle manoeuvre, and the predicted results are compared with those of simulation tests to demonstrate the good generalization performance of the mathematical models. Finally, the proposed modeling methods are analyzed and compared with each other in aspects of application conditions, prediction accuracy and computation speed. The appropriate modeling method can be chosen according to the intended use of the mathematical models and the available data needed for system identification.
基金supported by the National Science Fund for Distinguished Young Scholars of China(51225503)the National Natural Science Foundation of China(61603076)the Fundamental Research Funds for the Central Universities(ZYGX2016J116)
文摘Quadruped robot dynamic gaits have much more advantages than static gaits on speed and efficiency, however high speed and efficiency calls for more complex mechanical structure and complicated control algorithm. It becomes even more challenging when the robot has more degrees of freedom.As a result, most of the present researches focused on simple robot, while the researches on dynamic gaits for complex robot with more degrees of freedom are relatively limited. The paper is focusing on the dynamic gaits control for complex robot with twenty degrees of freedom for the first time. Firstly, we build a relatively complete 3 D model for quadruped robot based on spring loaded inverted pendulum(SLIP) model, analyze the inverse kinematics of the model, plan the trajectory of the swing foot and analyze the hydraulic drive. Secondly, we promote the control algorithm of one-legged to the quadruped robot based on the virtual leg and plan the state variables of pace gait and bound gait. Lastly, we realize the above two kinds of dynamic gaits in ADAMS-MATLAB joint simulation platform which testify the validity of above method.
基金supported by the Eleventh Five-Year Plan of Chinese Academy of Sciences(Grant No.KJCX2-YW-L02) the National Natural Science Foundation of China (Grant No.50509022)
文摘Unlike most previous studies on the transverse vortex-induced vibration(VlV) of a cylinder mainly under the wallfree condition (Williamson & Govardhan, 2004), this paper experimentally investigates the vortex-induced vibration of a cylinder with two degrees of freedom near a rigid wall exposed to steady flow. The amplitude and frequency responses of the cylinder are discussed. The lee wake flow patterns of the cylinder undergoin^g VIV were visualized by employing the hydrogen bubble technique. The effects of the gap-to-diameter ratio (eo/D) and the mass ratio on the vibration amplitude and frequency are analyzed. Comparisons of VIV response of the cylinder are made between one degree (only transverse) and two degrees of freedom (streamwise and transverse) and those between the present study and previous ones. The experimental observation indicates that there are two types of streamwise vibration, i.e. the first streamwise vibration (FSV) with small amplitude and the second streamwise vibration (SSV) which coexists with transverse vibration. The vortex shedding pattern for the FSV is approximately syrmnetric and that for the SSV is ahernate. The first streamwise vibration tends to disappear with the decrease of eo/D. For the case of large gap-to-dianeter ratios ( e.g. eo/D = 0. 54 ~ 1.58), the maximum amplitudes of the second streamwise vibration and transverse one increase with the increasing gap- to-diameter ratio. But for the case of small gap-to-diameter ratios (e. g. eo/D= 0. 16, 0.23), the vibration amplitude of the cylinder increases slowly at the initial stage (i.e. at small reduced velocity Vr), and across the maximum amplitude it decreases quickly at the last stage (i.e. at large Vr). Within the range of the examined small mass ratio (m 〈 4), both streamwise and transverse vibration amplitude of the cylinder decrease with the increase of mass ratio for the fixed value of Vr- The vibration range ( in terms of Vr) tends to widen with the decrease of the mass ratio. In the second streamwise vibration region, the vibration frequency of the cylinder with a small mass ratio ( e.g. mx = 1.44) undergoes a jump at a certain Vr+ The maximum amplitudes of the transverse vibration for two-degree-of-freedom case is larger than that for one-degree-of-freedom case, but the transverse vibration frequency of the cylinder with two degrees of freedom is lower than that with one degree of freedom(transverse).
基金Supported by National Natural Science Foundation of China(Grant Nos.51705066,51805128)Sichuan Science and Technology Program(Grant No.2019YFG0343)Fundamental Research Funds for the Central Universities of China(Grant Nos.ZYGX2019J041,ZYGX2016KYQD137).
文摘Conventional manipulators with rigid structures and sti ness actuators have poor flexibility,limited obstacle avoidance capability,and constrained workspace.Some developed flexible or soft manipulators in recent years have the characteristics of infinite degrees of freedom,high flexibility,environmental adaptability,and extended manipulation capability.However,these existing manipulators still cannot achieve the shrinking motion and independent control of specified segments like the animals,which hinders their applications.In this paper,a flexible bio-tensegrity manipulator,inspired by the longitudinal and transversal muscles of octopus tentacles,was proposed to mimic the shrinking behavior and achieve the variable motion patterns of each segment.Such proposed manipulator uses the elastic spring as the backbone,which is driven by four cables and has one variable structure mechanism in each segment to achieve the independent control of each segment.The variable structure mechanism innovatively contains seven lock-release states to independently control the bending and shrinking motion of each segment.After the kinematic modeling and analysis,one prototype of such bionic flexible manipulator was built and the open-loop control method was proposed.Some proof-of-concept experiments,including the shrinking motion,bending motion,and variable structure motion,were carried out by controlling the length of four cables and changing the lock-release states of the variable structure mechanism,which validate the feasibility and validity of our proposed prototype.Meanwhile,the experimental results show the flexible manipulator can accomplish the bending and shrinking motion with the relative error less than 6.8%through the simple independent control of each segment using the variable structure mechanism.This proposed manipulator has the features of controllable degree-of-freedom in each segment,which extend their environmental adaptability,and manipulation capability.
基金Supported by National Natural Science Foundation of China(Grant No.51405425)Hebei Provincial Natural Science Foundation of China(Grant No.E2014203255)Independent Research Program Topics of Young Teachers in Yanshan University,China(Grant No.13LGA001)
文摘The two-rotational-degrees-of-freedom(2R) parallel mechanism(PM) with two continuous rotational axes(CRAs) has a simple kinematic model.It is therefore easy to implement trajectory planning,parameter calibration,and motion control,which allows for a variety of application prospects.However,no systematic analysis on structural constraints of the 2R-PM with two CRAs has been performed,and there are only a few types of 2R-PM with two CRAs.Thus,a theory regarding the type synthesis of the 2R-PM with two CRAs is systematically established.First,combining the theories of reciprocal screw and space geometry,the spatial arrangement relationships of the constraint forces applied to the moving platform by the branches are explored,which give the 2R-PM two CRAs.The different distributions of the constraint forces in each branch are also studied.On the basis of the obtained structural constraints of branches,and considering the geometric relationships of constraint forces in each branch,the appropriate kinematic chains are constructed.Through the reasonable configuration of branch kinematic chains corresponding to every structural constraint,a series of new 2R-PMs with two CRAs are finally obtained.
基金supported by the National Natural Science Foundation of China (Grant No 60577046)the Corporative Building Project of Beijing Educational Committee of China (Grant No XK100130737) Shandong High Technology Project of China (Grant No 2006GG2201002)
文摘Using two typical types of polarization controller, this paper analyses theoretically and experimentally the fact that it is necessary to adjust at least three instead of two waveplates in order to transform any state of polarization to any other output covering the entire Poincar6 sphere. The experimental results are exactly in accordance with the theory discussed in this paper. It has corrected the conventional and inaccurate point of view that two waveplates of a polarization controller are adequate to complete the transformation of state of polarization.
文摘Parallel arrays with coprime subarrays have shown its potential advantages for two dimensional direction of arrival(DOA)estimation.In this paper,by introducing two flexible coprime factors to enlarge the inter-element spacing of parallel uniform subarrays,we propose a generalized parallel coprime array(GPCA)geometry.The proposed geometry enjoys flexible array layouts by the coprime factors and enables to extend the array aperture to achieve great improvement of estimation performance.Meanwhile,we verify that GPCA always can obtain M2 degrees of freedom(DOFs)in co-array domain via 2M sensors after optimization,which outperforms sparse parallel array geometries,such as parallel coprime array(PCA)and parallel augmented coprime array(PACA),and is the same as parallel nested array(PNA)with extended aperture.The superiority of GPCA geometry has been proved by numerical simulations with sparse representation methods.
基金Supported by National Natural Science Foundation of China(Grant Nos.51707082,51877101,51607080)Jiangsu Provincial Natural Science Foundation of China(Grant Nos.BK20170546,BK20150510)+1 种基金China Postdoctoral Science Foundation(Grant No.2017M620192)Priority Academic Program Development of Jiangsu Higher Education Institutions
文摘The current research of supporting and transmission system in flywheel energy storage system(FESS) focuses on the low consumption design. However, friction loss is a non-negligible factor in the high-speed but lightweight FESS energy and momentum storage with mechanical-type supporting system. In order to realize the support system without mechanical loss and to maximize the e ciency of the flywheel battery, a permanent magnet biased magnetic bearings(PMBMB) is applied to the FESS with the advantages of low loss, high critical speed, flexible controllability and compact structure. In this frame, the relevant research of three degrees of freedom(3-DOF) PMBMB for a new type FESS is carried out around the working principle, structural composition, coupling characteristics analysis, mathematical model, and structural design. In order to verify the performance of the 3-DOF PMBMB, the radial force mathematical model and the coupling determination equations of radial two DOF are calculated according to an equivalent magnetic circuit, and radial–axial coupling is analyzed through finite element analysis. Moreover, a control system is presented to solve the control problems in practical applications. The rotor returns to the balanced position in 0.05 s and maintains stable suspension. The displacement fluctuation is approximately 40 μm in the y direction and 30 μm in the x direction. Test results indicate that the dynamic rotor of the proposed flywheel energy storage system with PMBMB has excellent characteristics, such as good start-of-suspension performance and stable suspension characteristics. The proposed research provides the instruction to design and control a low loss support system for FESS.
基金supported by the National Natural Science Foundation of China (Grant No. 10902112)
文摘The behavior of vortex-induced vibration of a two-degree-of-freedom cylinder near a deformable wall in steady flow is investigated experimentally. The typical phenomenon of the two-degree-of-freedom cylinder's VIV is discussed. The influences of initial gap between the cylinder and the wall on the dynamic responses of the cylinder are analyzed. The comparison is made about dynamic responses of the cylinder with one and two degrees of freedom. Experimental results show that the vibration of the cylinder near a deformable wall with a small value of initial gap-to-diameter ratios can generally be divided into two phases. The initial gap-to-diameter ratios have a noticeable influence on the occurrence of transverse vibration. The transverse maximum amplitude of the cylinder with two degrees of freedom is larger than that of the cylinder with one degree of freedom under the condition with the same values of other parameters. However, the vibration frequency of the cylinder for the two degrees of freedom case is smaller than that for the one degree of freedom case at the same value of Vr number
基金Important Project of Science and Technology Research of Ministry of Education of China (No. 307005)National Hi-tech Research and Development Program of China (863 Program, No.SQ2007AA04Z231266).
文摘Although flexible manipulators own many potential advantages, one of their major disadvantages is the deterioration of the end-effector accuracy due to the flexibility. Therefore, how to reduce vibration is a significant problem. Inspired by the observation on the motion behaviors of animals, a new idea of decreasing motion deflection of the flexible manipulator is suggested. The concept of controllable local degrees of freedom is proposed and analyzed. By way of optimizing local motion provided by the controllable local degrees of freedom, the end-effector deflection of the flexible manipulator can be effectively decreased through dynamic coupling. The corresponding optimal method for vibration control of the flexible manipulator is put forward. The kinematic simulation is carried ant on a three-link flexible manipulator The corresponding results verify the feasibility of this method.
基金financially supported by the National Key Research and Development Program of China(Grant No.2016YFC0304103)the National Natural Science Foundation of China(Grant No.51509152)
文摘Free-fall of a sphere in fluid is investigated at a Galileo number of 204 by direct numerical simulations(DNS). We mainly focus on the effects of different degrees-of-freedom(DOFs) of the sphere motion during free-fall. The characteristics of free-fall are compared with those of flow past a fixed sphere. Additional numerical tests are conducted with constraints placed on the translational or rotational DOFs of the sphere motion to analyze different DOFs of sphere motion. The transverse motion contributes significantly to the characteristics of free-fall; it results in the retardation of the vortex shedding, leading to the decrease of the Strouhal number. In addition, the transversal sphere motion exhibits the tendency to promote the sphere rotation. On the contrary, the effects of the sphere rotation and vertical oscillations during free-fall are negligible.