An iterative method is introduced successfully to solve the inverse kinematics of a 6-DOF manipulator of a tunnel drilling rig based on dual quaternion, which is difficult to get the solution by Denavit-Hartenberg(D-H...An iterative method is introduced successfully to solve the inverse kinematics of a 6-DOF manipulator of a tunnel drilling rig based on dual quaternion, which is difficult to get the solution by Denavit-Hartenberg(D-H) based methods. By the intuitive expression of dual quaternion to the orientation of rigid body, the coordinate frames assigned to each joint are established all in the same orientation, which does not need to use the D-H procedure. The compact and simple form of kinematic equations, consisting of position equations and orientation equations, is also the consequence of dual quaternion calculations. The iterative process is basically of two steps which are related to solving the position equations and orientation equations correspondingly. First, assume an initial value of the iterative variable; then, the position equations can be solved because of the reduced number of unknown variables in the position equations and the orientation equations can be solved by applying the solution from the position equations, which obtains an updated value for the iterative variable; finally, repeat the procedure by using the updated iterative variable to the position equations till the prescribed accuracy is obtained. The method proposed has a clear geometric meaning, and the algorithm is simple and direct. Simulation for 100 poses of the end frame shows that the average running time of inverse kinematics calculation for each demanded pose of end-effector is 7.2 ms on an ordinary laptop, which is good enough for practical use. The iteration counts 2-4 cycles generally, which is a quick convergence. The method proposed here has been successfully used in the project of automating a hydraulic rig.展开更多
A new theory for inverse problem of wave equation, that is, the union method for scattered wave extrapolation and velocity imaging, is proposed in this paper. This method is very different from the classical wave extr...A new theory for inverse problem of wave equation, that is, the union method for scattered wave extrapolation and velocity imaging, is proposed in this paper. This method is very different from the classical wave extrapolation for migration, because we relate directly the scattered wave extrapolation to velocity inversion. And also this method is different from any linearized inverse method of wave equation, because we needn′t use linearized approximation. Because of this, the method can be applied to strong scattering case effectively (i.e. the value of scattered wave is not small, which can not be neglected). This method, of course, is different from nonlinearized optimum inverse method, because in this paper, the nonlinear inverse problem is turned into two steps inverse problem, i.e. scattered wave extrapolated and velocity imaging, which can be solved easily. Hence, the problem how to get the global optimum solution by using the nonlinearized optimum inverse method doesn′t bother us by using the method in this paper.展开更多
By using the characteristic properties of the anti-Hermitian generalized anti-Hamiltonian matrices, we prove some necessary and sufficient conditions of the solvability for algebra inverse eigenvalue problem of anti-H...By using the characteristic properties of the anti-Hermitian generalized anti-Hamiltonian matrices, we prove some necessary and sufficient conditions of the solvability for algebra inverse eigenvalue problem of anti-Hermitian generalized anti-Hamiltonian matrices, and obtain a general expression of the solution to this problem. By using the properties of the orthogonal projection matrix, we also obtain the expression of the solution to optimal approximate problem of an n× n complex matrix under spectral restriction.展开更多
In this paper, a novel calibration integral equation is derived for resolving double-sided, two-probe inverse heat conduction problem of surface heat flux estimation. In contrast to the conventional inverse heat condu...In this paper, a novel calibration integral equation is derived for resolving double-sided, two-probe inverse heat conduction problem of surface heat flux estimation. In contrast to the conventional inverse heat conduction techniques, this calibration approach does not require explicit input of the probe locations, thermophysical properties of the host material and temperature sensor parameters related to thermal contact resistance, sensor capacitance and conductive lead losses. All those parameters and properties are inherently contained in the calibration framework in terms of Volterra integral equation of the first kind. The Laplace transform technique is applied and the frequency domain manipulations of the heat equation are performed for deriving the calibration integral equation. Due to the ill-posed nature, regularization is required for the inverse heat conduction problem, a future-time method or singular value decomposition (SVD) can be used for stabilizing the ill-posed Volterra integral equation of the first kind.展开更多
通过自主搭建的石油焦颗粒堆积床导热性能测试实验装置开展了热态实验,探究了石油焦颗粒堆积床在不同粒度与升温速率下料层内外温度的变化规律。基于计算传热学原理,构建了圆柱管径向传热正问题模型,利用Levenberg-Marquardt算法反推导...通过自主搭建的石油焦颗粒堆积床导热性能测试实验装置开展了热态实验,探究了石油焦颗粒堆积床在不同粒度与升温速率下料层内外温度的变化规律。基于计算传热学原理,构建了圆柱管径向传热正问题模型,利用Levenberg-Marquardt算法反推导热系数,并与经典的等效导热系数模型(Bruggeman模型,Maxwell-Garnett模型,Kunii and Smith模型和Zehner-Bauer-Schlünder模型)进行了对比。结果表明,料层壁面与中心的温差随温度升高先增后减,随升温速率增大而增大,且随颗粒粒度减小而增加。基于导热反问题方法,获得了石油焦颗粒堆积床导热系数λ与温度T和等效粒径dp的数学关系式。引入等效粒度系数φ修正后的Kunii and Smith模型计算的导热系数及导热反问题求解的导热系数均与实验数据吻合度较高。研究成果可为罐式炉内石油焦堆积床传热行为的深入剖析提供重要的理论支撑。展开更多
基金Project(2013CB035504)supported by the National Basic Research Program of China
文摘An iterative method is introduced successfully to solve the inverse kinematics of a 6-DOF manipulator of a tunnel drilling rig based on dual quaternion, which is difficult to get the solution by Denavit-Hartenberg(D-H) based methods. By the intuitive expression of dual quaternion to the orientation of rigid body, the coordinate frames assigned to each joint are established all in the same orientation, which does not need to use the D-H procedure. The compact and simple form of kinematic equations, consisting of position equations and orientation equations, is also the consequence of dual quaternion calculations. The iterative process is basically of two steps which are related to solving the position equations and orientation equations correspondingly. First, assume an initial value of the iterative variable; then, the position equations can be solved because of the reduced number of unknown variables in the position equations and the orientation equations can be solved by applying the solution from the position equations, which obtains an updated value for the iterative variable; finally, repeat the procedure by using the updated iterative variable to the position equations till the prescribed accuracy is obtained. The method proposed has a clear geometric meaning, and the algorithm is simple and direct. Simulation for 100 poses of the end frame shows that the average running time of inverse kinematics calculation for each demanded pose of end-effector is 7.2 ms on an ordinary laptop, which is good enough for practical use. The iteration counts 2-4 cycles generally, which is a quick convergence. The method proposed here has been successfully used in the project of automating a hydraulic rig.
文摘A new theory for inverse problem of wave equation, that is, the union method for scattered wave extrapolation and velocity imaging, is proposed in this paper. This method is very different from the classical wave extrapolation for migration, because we relate directly the scattered wave extrapolation to velocity inversion. And also this method is different from any linearized inverse method of wave equation, because we needn′t use linearized approximation. Because of this, the method can be applied to strong scattering case effectively (i.e. the value of scattered wave is not small, which can not be neglected). This method, of course, is different from nonlinearized optimum inverse method, because in this paper, the nonlinear inverse problem is turned into two steps inverse problem, i.e. scattered wave extrapolated and velocity imaging, which can be solved easily. Hence, the problem how to get the global optimum solution by using the nonlinearized optimum inverse method doesn′t bother us by using the method in this paper.
基金Project(10171031) supported by the National Natural Science Foundation of China
文摘By using the characteristic properties of the anti-Hermitian generalized anti-Hamiltonian matrices, we prove some necessary and sufficient conditions of the solvability for algebra inverse eigenvalue problem of anti-Hermitian generalized anti-Hamiltonian matrices, and obtain a general expression of the solution to this problem. By using the properties of the orthogonal projection matrix, we also obtain the expression of the solution to optimal approximate problem of an n× n complex matrix under spectral restriction.
文摘In this paper, a novel calibration integral equation is derived for resolving double-sided, two-probe inverse heat conduction problem of surface heat flux estimation. In contrast to the conventional inverse heat conduction techniques, this calibration approach does not require explicit input of the probe locations, thermophysical properties of the host material and temperature sensor parameters related to thermal contact resistance, sensor capacitance and conductive lead losses. All those parameters and properties are inherently contained in the calibration framework in terms of Volterra integral equation of the first kind. The Laplace transform technique is applied and the frequency domain manipulations of the heat equation are performed for deriving the calibration integral equation. Due to the ill-posed nature, regularization is required for the inverse heat conduction problem, a future-time method or singular value decomposition (SVD) can be used for stabilizing the ill-posed Volterra integral equation of the first kind.
文摘通过自主搭建的石油焦颗粒堆积床导热性能测试实验装置开展了热态实验,探究了石油焦颗粒堆积床在不同粒度与升温速率下料层内外温度的变化规律。基于计算传热学原理,构建了圆柱管径向传热正问题模型,利用Levenberg-Marquardt算法反推导热系数,并与经典的等效导热系数模型(Bruggeman模型,Maxwell-Garnett模型,Kunii and Smith模型和Zehner-Bauer-Schlünder模型)进行了对比。结果表明,料层壁面与中心的温差随温度升高先增后减,随升温速率增大而增大,且随颗粒粒度减小而增加。基于导热反问题方法,获得了石油焦颗粒堆积床导热系数λ与温度T和等效粒径dp的数学关系式。引入等效粒度系数φ修正后的Kunii and Smith模型计算的导热系数及导热反问题求解的导热系数均与实验数据吻合度较高。研究成果可为罐式炉内石油焦堆积床传热行为的深入剖析提供重要的理论支撑。
