An optimal measurement pose number searching method was designed to improve the pose selection method.Several optimal robot measurement configurations were added to an initial pre-selected optimal configuration set to...An optimal measurement pose number searching method was designed to improve the pose selection method.Several optimal robot measurement configurations were added to an initial pre-selected optimal configuration set to establish a new configuration set for robot calibration one by one.The root mean squares (RMS) of the errors of each end-effector poses after being calibrated by these configuration sets were calculated.The optimal number of the configuration set corresponding to the least RMS of pose error was then obtained.Calibration based on those poses selected by this algorithm can get higher end-effector accuracy,meanwhile consumes less time.An optimal pose set including optimal 25 measurement configurations is found during the simulation.Tracking errors after calibration by using these poses are 1.54,1.61 and 0.86 mm,and better than those before calibration which are 7.79,7.62 and 8.29 mm,even better than those calibrated by the random method which are 2.22,2.35 and 1.69 mm in directions X,Y and Z,respectively.展开更多
In order to guarantee safety and stability during physical human-robot-interaction(p HRI) in the occasion of service or industrial operation, a serial integrated rotary joint with the characteristics of passive and ac...In order to guarantee safety and stability during physical human-robot-interaction(p HRI) in the occasion of service or industrial operation, a serial integrated rotary joint with the characteristics of passive and active compliance is proposed. Passive compliance is achieved by a designed elastic element, such that the compliant joint may minimize large force which occurs during accidental impacts and, further, may offer more accurate and stable force control and a capacity for energy storage. Meanwhile, the modeling of the compliant joint is comprehensively analyzed, including the effect of the motor model on the overall control system. In order to realize the active compliance, a new method of impedance control is proposed. On the basis of PD control, a more compliant impedance controller is introduced. Experimental results show that the serial integrated rotary joint can provide more effective safety compliance during physical interaction, which has also been well applied in our designed massage robot and rehabilitation robot.展开更多
In order to overcome the shortcoming of the classical Hungarian algorithm that it can only solve the problems where the total cost is the sum of that of each job, an improved Hungarian algorithm is proposed and used t...In order to overcome the shortcoming of the classical Hungarian algorithm that it can only solve the problems where the total cost is the sum of that of each job, an improved Hungarian algorithm is proposed and used to solve the assignment problem of serial-parallel systems. First of all, by replacing parallel jobs with virtual jobs, the proposed algorithm converts the serial-parallel system into a pure serial system, where the classical Hungarian algorithm can be used to generate a temporal assignment plan via optimization. Afterwards, the assignment plan is validated by checking whether the virtual jobs can be realized by real jobs through local searching. If the assignment plan is not valid, the converted system will be adapted by adjusting the parameters of virtual jobs, and then be optimized again. Through iterative searching, the valid optimal assignment plan can eventually be obtained.To evaluate the proposed algorithm, the valid optimal assignment plan is applied to labor allocation of a manufacturing system which is a typical serial-parallel system.展开更多
To increase launching frequency and decrease drag force of underwater projectiles,a serial multiprojectiles structure based on the principle of supercavitation is proposed in this paper.The drag reduction and supercav...To increase launching frequency and decrease drag force of underwater projectiles,a serial multiprojectiles structure based on the principle of supercavitation is proposed in this paper.The drag reduction and supercavitation characteristics of the underwater serial multi-projectiles are studied with computational fluid dynamics(CFD)and machine learning.Firstly,the numerical simulation model for the underwater supercavitating projectile is established and verified by experimental data.Then the evolution of the supercavitation for the serial multi-projectiles is described.In addition,the effects of different cavitation numbers and different distances between projectiles are investigated to demonstrate the supercavitation and drag reduction performance.Finally,the artificial neural network(ANN)model is established to predict the evolution of drag coefficient based on the data obtained by CFD,and the results predicted by ANN are in good agreement with the data obtained by CFD.The finding provides a useful guidance for the research of drag reduction characteristics of underwater serial projectiles.展开更多
In this paper,the character of viral clones from early and late passages after serial passages of Trichoplusia in single nuclear polyhedrosis virus in a Tn SB1-4 cell line is described.It demonstrated that no signific...In this paper,the character of viral clones from early and late passages after serial passages of Trichoplusia in single nuclear polyhedrosis virus in a Tn SB1-4 cell line is described.It demonstrated that no significant difference was observed in the infectivity of the cell culture supernatants of various passages to the cell line.The number of polyhedra produced in a cell and infechvity of polyhedra to T.ni larvae declined strikingly with the increase of passages.The polyhedra without vinons begun to increase from passage to passage.The result of restriction enzyme digestion showed that the DNA restriction fragments of the clones were different from wild virus DNA,although they came from a homogeneous viral DNA.The mutation of viral DNA resulted in the increase of noninfectious polyhedra without vinous and in the increase of the number of polyhedra produced in cell line as wen as virulence of the polyhydrosis inclusion bodys to T.ni larvae after prolonged passages of Tn SNPV in the cell culture.展开更多
为研究不同容量风力机尾流的相互作用情况,该文通过致动线模型(actuator line model,ALM)耦合大涡模拟(large eddy simulation,LES)的方法对串列布置两台容量不一的水平轴风力机在不同流向间距下的尾流场进行数值模拟,分析尾流场速度分...为研究不同容量风力机尾流的相互作用情况,该文通过致动线模型(actuator line model,ALM)耦合大涡模拟(large eddy simulation,LES)的方法对串列布置两台容量不一的水平轴风力机在不同流向间距下的尾流场进行数值模拟,分析尾流场速度分布、涡量分布、频谱特性以及尾涡演变情况。结果表明,随着下游风力机的容量和几何尺寸的增加,尾流区速度波动越大,上下游风力机尾流掺混强度增强,掺混后的涡结构向上偏转程度加剧,使垂向尾流发展更加均匀,湍动能也较大;随着流向间距的增加,下游风力机的尾流受上游风力机轮毂中心涡的卷吸作用减弱,受下叶尖涡和塔筒脱落涡的裹挟输运作用增加。总体来讲,大小容量不同的风力机的尾流掺混能在一定程度上加速尾流的恢复,但是需要一定的发展空间来使其克服下游风力机产生的进一步速度亏损的影响,该文中的发展空间为6~8D。展开更多
基金Project(2008AA04Z203) supported by the National High Technology Research and Development Program of China
文摘An optimal measurement pose number searching method was designed to improve the pose selection method.Several optimal robot measurement configurations were added to an initial pre-selected optimal configuration set to establish a new configuration set for robot calibration one by one.The root mean squares (RMS) of the errors of each end-effector poses after being calibrated by these configuration sets were calculated.The optimal number of the configuration set corresponding to the least RMS of pose error was then obtained.Calibration based on those poses selected by this algorithm can get higher end-effector accuracy,meanwhile consumes less time.An optimal pose set including optimal 25 measurement configurations is found during the simulation.Tracking errors after calibration by using these poses are 1.54,1.61 and 0.86 mm,and better than those before calibration which are 7.79,7.62 and 8.29 mm,even better than those calibrated by the random method which are 2.22,2.35 and 1.69 mm in directions X,Y and Z,respectively.
基金Project(81473694)supported by the National Natural Science Foundation of ChinaProject(2016A1027)supported by the major Project of Zhongshan City,ChinaProject(2016FZFC007)supported by the Intelligent Equipment and Technology of Automation Research and Development Platform,China
文摘In order to guarantee safety and stability during physical human-robot-interaction(p HRI) in the occasion of service or industrial operation, a serial integrated rotary joint with the characteristics of passive and active compliance is proposed. Passive compliance is achieved by a designed elastic element, such that the compliant joint may minimize large force which occurs during accidental impacts and, further, may offer more accurate and stable force control and a capacity for energy storage. Meanwhile, the modeling of the compliant joint is comprehensively analyzed, including the effect of the motor model on the overall control system. In order to realize the active compliance, a new method of impedance control is proposed. On the basis of PD control, a more compliant impedance controller is introduced. Experimental results show that the serial integrated rotary joint can provide more effective safety compliance during physical interaction, which has also been well applied in our designed massage robot and rehabilitation robot.
文摘In order to overcome the shortcoming of the classical Hungarian algorithm that it can only solve the problems where the total cost is the sum of that of each job, an improved Hungarian algorithm is proposed and used to solve the assignment problem of serial-parallel systems. First of all, by replacing parallel jobs with virtual jobs, the proposed algorithm converts the serial-parallel system into a pure serial system, where the classical Hungarian algorithm can be used to generate a temporal assignment plan via optimization. Afterwards, the assignment plan is validated by checking whether the virtual jobs can be realized by real jobs through local searching. If the assignment plan is not valid, the converted system will be adapted by adjusting the parameters of virtual jobs, and then be optimized again. Through iterative searching, the valid optimal assignment plan can eventually be obtained.To evaluate the proposed algorithm, the valid optimal assignment plan is applied to labor allocation of a manufacturing system which is a typical serial-parallel system.
基金supported by the National Natural Science Foun-dation of China(Grant No.11972194,12072160).
文摘To increase launching frequency and decrease drag force of underwater projectiles,a serial multiprojectiles structure based on the principle of supercavitation is proposed in this paper.The drag reduction and supercavitation characteristics of the underwater serial multi-projectiles are studied with computational fluid dynamics(CFD)and machine learning.Firstly,the numerical simulation model for the underwater supercavitating projectile is established and verified by experimental data.Then the evolution of the supercavitation for the serial multi-projectiles is described.In addition,the effects of different cavitation numbers and different distances between projectiles are investigated to demonstrate the supercavitation and drag reduction performance.Finally,the artificial neural network(ANN)model is established to predict the evolution of drag coefficient based on the data obtained by CFD,and the results predicted by ANN are in good agreement with the data obtained by CFD.The finding provides a useful guidance for the research of drag reduction characteristics of underwater serial projectiles.
文摘In this paper,the character of viral clones from early and late passages after serial passages of Trichoplusia in single nuclear polyhedrosis virus in a Tn SB1-4 cell line is described.It demonstrated that no significant difference was observed in the infectivity of the cell culture supernatants of various passages to the cell line.The number of polyhedra produced in a cell and infechvity of polyhedra to T.ni larvae declined strikingly with the increase of passages.The polyhedra without vinons begun to increase from passage to passage.The result of restriction enzyme digestion showed that the DNA restriction fragments of the clones were different from wild virus DNA,although they came from a homogeneous viral DNA.The mutation of viral DNA resulted in the increase of noninfectious polyhedra without vinous and in the increase of the number of polyhedra produced in cell line as wen as virulence of the polyhydrosis inclusion bodys to T.ni larvae after prolonged passages of Tn SNPV in the cell culture.
文摘为研究不同容量风力机尾流的相互作用情况,该文通过致动线模型(actuator line model,ALM)耦合大涡模拟(large eddy simulation,LES)的方法对串列布置两台容量不一的水平轴风力机在不同流向间距下的尾流场进行数值模拟,分析尾流场速度分布、涡量分布、频谱特性以及尾涡演变情况。结果表明,随着下游风力机的容量和几何尺寸的增加,尾流区速度波动越大,上下游风力机尾流掺混强度增强,掺混后的涡结构向上偏转程度加剧,使垂向尾流发展更加均匀,湍动能也较大;随着流向间距的增加,下游风力机的尾流受上游风力机轮毂中心涡的卷吸作用减弱,受下叶尖涡和塔筒脱落涡的裹挟输运作用增加。总体来讲,大小容量不同的风力机的尾流掺混能在一定程度上加速尾流的恢复,但是需要一定的发展空间来使其克服下游风力机产生的进一步速度亏损的影响,该文中的发展空间为6~8D。
