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
High intensity focused ultrasound(HIFU)therapy is an effective method in clinical treatment of tumors,in order to explore the bio-heat conduction mechanism of in multi-layer media by concave spherical transducer,tempe...High intensity focused ultrasound(HIFU)therapy is an effective method in clinical treatment of tumors,in order to explore the bio-heat conduction mechanism of in multi-layer media by concave spherical transducer,temperature field induced by this kind of transducer in multi-layer media will be simulated through solving Pennes equation with finite difference method,and the influence of initial sound pressure,absorption coefficient,and thickness of different layers of biological tissue as well as thermal conductivity parameter on sound focus and temperature distribution will be analyzed,respectively.The results show that the temperature in focus area increases faster while the initial sound pressure and thermal conductivity increase.The absorption coefficient is smaller,the ultrasound intensity in the focus area is bigger,and the size of the focus area is increasing.When the thicknesses of different layers of tissue change,the focus position changes slightly,but the sound intensity of the focus area will change obviously.The temperature in focus area will rise quickly before reaching a threshold,and then the temperature will keep in the threshold range.展开更多
In order to consider the influence of steel pole on the measurement of wind speed sensors and determinate the installation position of wind speed sensors, the flow field around wind speed sensors was investigated. Bas...In order to consider the influence of steel pole on the measurement of wind speed sensors and determinate the installation position of wind speed sensors, the flow field around wind speed sensors was investigated. Based on the three-dimensional steady Reynolds-averaged Navier-Stokes equations and k-ε double equations turbulent model, the field flow around the wind speed sensor and the steel pole along a high-speed railway was simulated on an unstructured grid. The grid-independent validation was conducted and the accuracy of the present numerical simulation method was validated by experiments and simulations carried out by previous researchers. Results show that the steel pole has a significant influence on the measurement results of wind speed sensors. As the distance between two wind speed sensors is varied from 0.3 to 1.0 m, the impact angles are less than ±20°, it is proposed that the distance between two wind speed sensors is 0.8 m at least, and the interval between wind speed sensors and the steel pole is more than 1.0 m with the sensors located on the upstream side.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.
基金Project(11174077)supported by the National Natural Science Foundation of ChinaProject(11JJ3079)supported by the Hunan Provincial Natural Science Foundation of ChinaProjects(12C0237,11C0844)supported by the Science Research Program of Education Department of Hunan Province,China
文摘High intensity focused ultrasound(HIFU)therapy is an effective method in clinical treatment of tumors,in order to explore the bio-heat conduction mechanism of in multi-layer media by concave spherical transducer,temperature field induced by this kind of transducer in multi-layer media will be simulated through solving Pennes equation with finite difference method,and the influence of initial sound pressure,absorption coefficient,and thickness of different layers of biological tissue as well as thermal conductivity parameter on sound focus and temperature distribution will be analyzed,respectively.The results show that the temperature in focus area increases faster while the initial sound pressure and thermal conductivity increase.The absorption coefficient is smaller,the ultrasound intensity in the focus area is bigger,and the size of the focus area is increasing.When the thicknesses of different layers of tissue change,the focus position changes slightly,but the sound intensity of the focus area will change obviously.The temperature in focus area will rise quickly before reaching a threshold,and then the temperature will keep in the threshold range.
基金Projects(U1334205,51205418)supported by the National Natural Science Foundation of ChinaProject(2014T002-A)supported by the Science and Technology Research Program of China Railway CorporationProject(132014)supported by the Fok Ying Tong Education Foundation of China
文摘In order to consider the influence of steel pole on the measurement of wind speed sensors and determinate the installation position of wind speed sensors, the flow field around wind speed sensors was investigated. Based on the three-dimensional steady Reynolds-averaged Navier-Stokes equations and k-ε double equations turbulent model, the field flow around the wind speed sensor and the steel pole along a high-speed railway was simulated on an unstructured grid. The grid-independent validation was conducted and the accuracy of the present numerical simulation method was validated by experiments and simulations carried out by previous researchers. Results show that the steel pole has a significant influence on the measurement results of wind speed sensors. As the distance between two wind speed sensors is varied from 0.3 to 1.0 m, the impact angles are less than ±20°, it is proposed that the distance between two wind speed sensors is 0.8 m at least, and the interval between wind speed sensors and the steel pole is more than 1.0 m with the sensors located on the upstream side.
