The computation algorithm of knot point planning for Cartesian trajectorygeneration of manipulator is investigated, A novel inheritance bisection algorithm (IBA) based onconventional bisection algorithm (B A) is propo...The computation algorithm of knot point planning for Cartesian trajectorygeneration of manipulator is investigated, A novel inheritance bisection algorithm (IBA) based onconventional bisection algorithm (B A) is proposed. IBA has two steps. The first step is the 1 stknot point planning under lower set position accuracy; the second step is the 2nd knot pointplanning that inherits the results of the 1st planning under higher set position accuracy. Thesimulation results reveal that the number of inverse kinematical calculation (IKC) caused by IBA isdecreased compared with BA. IBA is more efficient to plan knot points.展开更多
Using an argument of Baldwin-Hu-Sivek,we prove that if K is a hyperbolic fibered knot with fiber F in a closed,oriented 3-manifold Y,andHFK(Y,K,[F],g(F)−1)has rank 1,then the monodromy of K is freely isotopic to a pse...Using an argument of Baldwin-Hu-Sivek,we prove that if K is a hyperbolic fibered knot with fiber F in a closed,oriented 3-manifold Y,andHFK(Y,K,[F],g(F)−1)has rank 1,then the monodromy of K is freely isotopic to a pseudo-Anosov map with no fixed points.In particular,this shows that the monodromy of a hyperbolic L-space knot is freely isotopic to a map with no fixed points.展开更多
针对点融合系统中航班调度问题,构建航班进场排序的二维元胞自动机模型,模拟先来先服务(first come first service, FCFS)和滑动窗口(sliding window, SDW)策略下的航班排序过程,对比不同策略下的终端区运行效率。实验结果表明:若都采用...针对点融合系统中航班调度问题,构建航班进场排序的二维元胞自动机模型,模拟先来先服务(first come first service, FCFS)和滑动窗口(sliding window, SDW)策略下的航班排序过程,对比不同策略下的终端区运行效率。实验结果表明:若都采用FCFS,使用中国民航航空器尾流重新分类标准(RECAT-CN)代替现行尾流间隔,进场航班流在点融合系统中的总运行时间减少了98 s,运行效率提升了4.3%;若都使用RECAT-CN间隔标准,采用SDW优化后的航班进场序列,较FCFS的总运行时间减少了193 s,运行效率提升了8.5%;点融合技术和RECAT-CN间隔标准可以实现终端区运行安全和效率的同步提升。展开更多
Euler angles and Euler kinematics equation of terminal sensing ammunition are expressed and rewritten by using quaternion to solve the singular problem in using Euler angles to describe the motion.The contrastive simu...Euler angles and Euler kinematics equation of terminal sensing ammunition are expressed and rewritten by using quaternion to solve the singular problem in using Euler angles to describe the motion.The contrastive simulations are performed in order to validate the correctness and advantage of the quaternion description.The simulation results show that the dynamic model with quaternion have stable solution,there is not singular point in the calculation,and the ballistic model rewritten by using the quaternion is suitable for describing the terminal sensing ammunition's scanning motion than the common Euler equation.展开更多
故障场景下,软开关(soft open points,SOP)的电压支撑和负荷转供作用能有效改善配电系统中的恢复性能。为了提高互联配电系统在极端事件下的运行灵活性和供电可靠性,该文建立含多端软开关的互联配电系统故障恢复的优化决策方法。具体地...故障场景下,软开关(soft open points,SOP)的电压支撑和负荷转供作用能有效改善配电系统中的恢复性能。为了提高互联配电系统在极端事件下的运行灵活性和供电可靠性,该文建立含多端软开关的互联配电系统故障恢复的优化决策方法。具体地,对互联配电网中的多端SOP、分布式电源、储能和冷负荷启动过程进行建模,分析SOP各个端口在恢复过程中的控制模式,并探讨互联配电系统恢复过程中线路拓扑变化和电气装置动作之间的联系,从而实现对系统内可控装置动作顺序的优化决策。之后以负荷恢复量最大、系统总损耗最小为目标,构建互联配电网的故障恢复模型。在原模型基础上进行二阶锥松弛和逻辑约束线性化,并对转化成的混合整数二阶锥规划模型进行求解。最后,以5端SOP连接IEEE33节点和IEEE69节点的系统为算例,验证所述恢复方法的有效性。展开更多
基金This project is supported by National 863 Hi-tech Foundation of China(No. 2001AA422210).
文摘The computation algorithm of knot point planning for Cartesian trajectorygeneration of manipulator is investigated, A novel inheritance bisection algorithm (IBA) based onconventional bisection algorithm (B A) is proposed. IBA has two steps. The first step is the 1 stknot point planning under lower set position accuracy; the second step is the 2nd knot pointplanning that inherits the results of the 1st planning under higher set position accuracy. Thesimulation results reveal that the number of inverse kinematical calculation (IKC) caused by IBA isdecreased compared with BA. IBA is more efficient to plan knot points.
基金The author was partially supported by NSF Grant Number DMS-1811900.
文摘Using an argument of Baldwin-Hu-Sivek,we prove that if K is a hyperbolic fibered knot with fiber F in a closed,oriented 3-manifold Y,andHFK(Y,K,[F],g(F)−1)has rank 1,then the monodromy of K is freely isotopic to a pseudo-Anosov map with no fixed points.In particular,this shows that the monodromy of a hyperbolic L-space knot is freely isotopic to a map with no fixed points.
文摘针对点融合系统中航班调度问题,构建航班进场排序的二维元胞自动机模型,模拟先来先服务(first come first service, FCFS)和滑动窗口(sliding window, SDW)策略下的航班排序过程,对比不同策略下的终端区运行效率。实验结果表明:若都采用FCFS,使用中国民航航空器尾流重新分类标准(RECAT-CN)代替现行尾流间隔,进场航班流在点融合系统中的总运行时间减少了98 s,运行效率提升了4.3%;若都使用RECAT-CN间隔标准,采用SDW优化后的航班进场序列,较FCFS的总运行时间减少了193 s,运行效率提升了8.5%;点融合技术和RECAT-CN间隔标准可以实现终端区运行安全和效率的同步提升。
文摘Euler angles and Euler kinematics equation of terminal sensing ammunition are expressed and rewritten by using quaternion to solve the singular problem in using Euler angles to describe the motion.The contrastive simulations are performed in order to validate the correctness and advantage of the quaternion description.The simulation results show that the dynamic model with quaternion have stable solution,there is not singular point in the calculation,and the ballistic model rewritten by using the quaternion is suitable for describing the terminal sensing ammunition's scanning motion than the common Euler equation.
文摘故障场景下,软开关(soft open points,SOP)的电压支撑和负荷转供作用能有效改善配电系统中的恢复性能。为了提高互联配电系统在极端事件下的运行灵活性和供电可靠性,该文建立含多端软开关的互联配电系统故障恢复的优化决策方法。具体地,对互联配电网中的多端SOP、分布式电源、储能和冷负荷启动过程进行建模,分析SOP各个端口在恢复过程中的控制模式,并探讨互联配电系统恢复过程中线路拓扑变化和电气装置动作之间的联系,从而实现对系统内可控装置动作顺序的优化决策。之后以负荷恢复量最大、系统总损耗最小为目标,构建互联配电网的故障恢复模型。在原模型基础上进行二阶锥松弛和逻辑约束线性化,并对转化成的混合整数二阶锥规划模型进行求解。最后,以5端SOP连接IEEE33节点和IEEE69节点的系统为算例,验证所述恢复方法的有效性。
