In general, the orientation interpolation of industrial robots has been done based on Euler angle system which can result in singular point （so-called Gimbal Lock）. However, quaternion interpolation has the advantag...In general, the orientation interpolation of industrial robots has been done based on Euler angle system which can result in singular point （so-called Gimbal Lock）. However, quaternion interpolation has the advantage of natural （specifically smooth） orientation interpolation without Gimbal Lock. This work presents the application of quatemion interpolation, specifically Spherical Linear IntERPolation （SLERP）, to the orientation control of the 6-axis articulated robot （RS2） using LabVIEW and RecurDyn. For the comparison of SLERP with linear Euler interpolation in the view of smooth movement （profile） of joint angles （torques）, the two methods are dynamically simulated on RS2 by using both LabVIEW and RecurDyn. Finally, our original work, specifically the implementation of SLERP and linear Euler interpolation on the actual robot, i.e. RS2, is done using LabVIEW motion control tool kit. The SLERP orientation control is shown to be effective in terms of smooth joint motion and torque when compared to a conventional （linear） Euler interpolation.展开更多
Modelling and simulation of projectile flight is at the core of ballistic computer software and is essential to the study of performance of rifles and projectiles in various engagement conditions.An effective and repr...Modelling and simulation of projectile flight is at the core of ballistic computer software and is essential to the study of performance of rifles and projectiles in various engagement conditions.An effective and representative numerical model of projectile flight requires a relatively good approximation of the aerodynamics.The aerodynamic coefficients of the projectile model should be described as a series of piecewise polynomial functions of the Mach number that ideally meet the following conditions:they are continuous,differentiable at least once,and have a relatively low degree.The paper provides the steps needed to generate such piecewise polynomial functions using readily available tools,and then compares Piecewise Cubic Hermite Interpolating Polynomial(PCHIP),cubic splines,and piecewise linear functions,and their variant,as potential curve fitting methods to approximate the aerodynamics of a generic small arms projectile.A key contribution of the paper is the application of PCHIP to the approximation of projectile aerodynamics,and its evaluation against a set of criteria.Finally,the paper provides a baseline assessment of the impact of the polynomial functions on flight trajectory predictions obtained with 6-degree-of-freedom simulations of a generic projectile.展开更多
A new seismic ray-tracing method is put forward based on parabolic travel-time interpolation(PTI) method, which is more accurate than the linear travel-time interpolation (LTI) method. Both PTI method and LTI method a...A new seismic ray-tracing method is put forward based on parabolic travel-time interpolation(PTI) method, which is more accurate than the linear travel-time interpolation (LTI) method. Both PTI method and LTI method are used to compute seismic travel-time and ray-path in a 2-D grid cell model. Firstly, some basic concepts are introduced. The calculations of travel-time and ray-path are carried out only at cell boundaries. So, the ray-path is always straight in the same cells with uniform velocity. Two steps are applied in PTI and LTI method, step 1 computes travel-time and step 2 traces ray-path. Then, the derivation of LTI formulas is described. Because of the presence of refraction wave in shot cell, the formula aiming at shot cell is also derived. Finally, PTI method is presented. The calculation of PTI method is more complex than that of LTI method, but the error is limited. The results of numerical model show that PTI method can trace ray-path more accurately and efficiently than LTI method does.展开更多
水质指标具有多元相关性、时序性和非线性的特点,为有效预测河流水质变化,针对水质数据存在缺失和异常的问题,提出基于灰色关联分析-门控循环单元(Grey Relational Analysis-Gated Recurrent Unit, GRA-GRU)的水质预测模型。以淮河流域...水质指标具有多元相关性、时序性和非线性的特点,为有效预测河流水质变化,针对水质数据存在缺失和异常的问题,提出基于灰色关联分析-门控循环单元(Grey Relational Analysis-Gated Recurrent Unit, GRA-GRU)的水质预测模型。以淮河流域水质数据为样本,使用线性插值修补缺失数据和剔除的异常数据。使用灰色关联分析计算不同水质指标间的相关性,选择高相关性的水质指标以确定输入变量,并使用门控循环单元(Gated Recurrent Unit, GRU)预测不同的水质指标。将GRA-GRU的预测结果与反向传播神经网络(Back Propagation Neural Network, BPNN)、循环神经网络(Recurrent Neural Network, RNN)、长短期记忆神经网络(Long Short Term Memory, LSTM)、GRU及灰色关联分析-长短期记忆神经网络(Grey Relational Analysis-Long Short Term Memory, GRA-LSTM)进行对比分析,结果显示GRA-GRU在不同水质指标预测上具有较好的适应性,可以有效降低预测误差。其中,与其他模型相比,GRA-GRU预测的化学需氧量在均方根误差上分别降低了3.617%、0.681%、0.478%、1.505%和0.471%。展开更多
基金Project supported by the Second Stage of Brain Korea 21 Projectssupported by Basic Science Research Program through the National Research Foundation of Korea (NRF)funded by the Ministry of Education,Science and Technology (2011-0013902)
文摘In general, the orientation interpolation of industrial robots has been done based on Euler angle system which can result in singular point （so-called Gimbal Lock）. However, quaternion interpolation has the advantage of natural （specifically smooth） orientation interpolation without Gimbal Lock. This work presents the application of quatemion interpolation, specifically Spherical Linear IntERPolation （SLERP）, to the orientation control of the 6-axis articulated robot （RS2） using LabVIEW and RecurDyn. For the comparison of SLERP with linear Euler interpolation in the view of smooth movement （profile） of joint angles （torques）, the two methods are dynamically simulated on RS2 by using both LabVIEW and RecurDyn. Finally, our original work, specifically the implementation of SLERP and linear Euler interpolation on the actual robot, i.e. RS2, is done using LabVIEW motion control tool kit. The SLERP orientation control is shown to be effective in terms of smooth joint motion and torque when compared to a conventional （linear） Euler interpolation.
文摘Modelling and simulation of projectile flight is at the core of ballistic computer software and is essential to the study of performance of rifles and projectiles in various engagement conditions.An effective and representative numerical model of projectile flight requires a relatively good approximation of the aerodynamics.The aerodynamic coefficients of the projectile model should be described as a series of piecewise polynomial functions of the Mach number that ideally meet the following conditions:they are continuous,differentiable at least once,and have a relatively low degree.The paper provides the steps needed to generate such piecewise polynomial functions using readily available tools,and then compares Piecewise Cubic Hermite Interpolating Polynomial(PCHIP),cubic splines,and piecewise linear functions,and their variant,as potential curve fitting methods to approximate the aerodynamics of a generic small arms projectile.A key contribution of the paper is the application of PCHIP to the approximation of projectile aerodynamics,and its evaluation against a set of criteria.Finally,the paper provides a baseline assessment of the impact of the polynomial functions on flight trajectory predictions obtained with 6-degree-of-freedom simulations of a generic projectile.
文摘A new seismic ray-tracing method is put forward based on parabolic travel-time interpolation(PTI) method, which is more accurate than the linear travel-time interpolation (LTI) method. Both PTI method and LTI method are used to compute seismic travel-time and ray-path in a 2-D grid cell model. Firstly, some basic concepts are introduced. The calculations of travel-time and ray-path are carried out only at cell boundaries. So, the ray-path is always straight in the same cells with uniform velocity. Two steps are applied in PTI and LTI method, step 1 computes travel-time and step 2 traces ray-path. Then, the derivation of LTI formulas is described. Because of the presence of refraction wave in shot cell, the formula aiming at shot cell is also derived. Finally, PTI method is presented. The calculation of PTI method is more complex than that of LTI method, but the error is limited. The results of numerical model show that PTI method can trace ray-path more accurately and efficiently than LTI method does.
文摘水质指标具有多元相关性、时序性和非线性的特点,为有效预测河流水质变化,针对水质数据存在缺失和异常的问题,提出基于灰色关联分析-门控循环单元(Grey Relational Analysis-Gated Recurrent Unit, GRA-GRU)的水质预测模型。以淮河流域水质数据为样本,使用线性插值修补缺失数据和剔除的异常数据。使用灰色关联分析计算不同水质指标间的相关性,选择高相关性的水质指标以确定输入变量,并使用门控循环单元(Gated Recurrent Unit, GRU)预测不同的水质指标。将GRA-GRU的预测结果与反向传播神经网络(Back Propagation Neural Network, BPNN)、循环神经网络(Recurrent Neural Network, RNN)、长短期记忆神经网络(Long Short Term Memory, LSTM)、GRU及灰色关联分析-长短期记忆神经网络(Grey Relational Analysis-Long Short Term Memory, GRA-LSTM)进行对比分析,结果显示GRA-GRU在不同水质指标预测上具有较好的适应性,可以有效降低预测误差。其中,与其他模型相比,GRA-GRU预测的化学需氧量在均方根误差上分别降低了3.617%、0.681%、0.478%、1.505%和0.471%。
