In the smoothed particle hydrodynamics (SPH) method, a meshless interpolation scheme is needed for the unknown function in order to discretize the governing equation.A particle approximation method has so far been use...In the smoothed particle hydrodynamics (SPH) method, a meshless interpolation scheme is needed for the unknown function in order to discretize the governing equation.A particle approximation method has so far been used for this purpose.Traditional particle interpolation (TPI) is simple and easy to do, but its low accuracy has become an obstacle to its wider application.This can be seen in the cases of particle disorder arrangements and derivative calculations.There are many different methods to improve accuracy, with the moving least square (MLS) method one of the most important meshless interpolation methods.Unfortunately, it requires complex matrix computing and so is quite time-consuming.The authors developed a simpler scheme, called higher-order particle interpolation (HPI).This scheme can get more accurate derivatives than the MLS method, and its function value and derivatives can be obtained simultaneously.Although this scheme was developed for the SPH method, it has been found useful for other meshless methods.展开更多
In this paper, the nonconforming mortar finite element with a class of meshes is studied without considering the global regularity condition or quasi-uniformly assumption. Meanwhile, the superclose result coincides wi...In this paper, the nonconforming mortar finite element with a class of meshes is studied without considering the global regularity condition or quasi-uniformly assumption. Meanwhile, the superclose result coincides with conventional methods is obtained by means of integral identities techniques.展开更多
文摘该文提出一种将机器人的位置和姿态拆分开,分别进行标定的机器人位姿标定方法。采用空间精度控制网格标定机器人定位误差,粒子群优化算法(particle swarm optimization,PSO)优化神经网络标定机器人定姿误差。该方法以指数积公式(product of exponentials,POE)为基础建立机器人正向运动学模型,用映射法建立空间网格,用三坐标测量臂测量机器人位姿,用空间网格精度标定定位误差,用PSO优化的神经网络标定定姿误差。其优点在于既标定机器人工具中心点(TCP)的定位误差,又标定机器人工具坐标系的姿态误差,使得机器人定位、定姿误差都得到补偿。实验结果表明机器人的定位、定姿均方根误差减小接近一个数量级。
基金Supported by the National Natural Science Foundation of China under Grant No.10572041,50779008Doctoral Fund of Ministry of Education of China under Grant No.20060217009
文摘In the smoothed particle hydrodynamics (SPH) method, a meshless interpolation scheme is needed for the unknown function in order to discretize the governing equation.A particle approximation method has so far been used for this purpose.Traditional particle interpolation (TPI) is simple and easy to do, but its low accuracy has become an obstacle to its wider application.This can be seen in the cases of particle disorder arrangements and derivative calculations.There are many different methods to improve accuracy, with the moving least square (MLS) method one of the most important meshless interpolation methods.Unfortunately, it requires complex matrix computing and so is quite time-consuming.The authors developed a simpler scheme, called higher-order particle interpolation (HPI).This scheme can get more accurate derivatives than the MLS method, and its function value and derivatives can be obtained simultaneously.Although this scheme was developed for the SPH method, it has been found useful for other meshless methods.
基金Foundation item: Supported by the NSF of China(10371113)Supported by the Foundation of Overseas Scholar of China(2001(119))Supported by the project of Creative Engineering of Province of China(2002(219))
文摘In this paper, the nonconforming mortar finite element with a class of meshes is studied without considering the global regularity condition or quasi-uniformly assumption. Meanwhile, the superclose result coincides with conventional methods is obtained by means of integral identities techniques.
