A cylindrical system of vector functions, the stiffness matrix method and the corresponding recursive algorithm are proposed to investigate the static response of transversely isotropic,layered magneto-electro-elastic...A cylindrical system of vector functions, the stiffness matrix method and the corresponding recursive algorithm are proposed to investigate the static response of transversely isotropic,layered magneto-electro-elastic（MEE） structures over a homogeneous half-space substrate subjected to circular surface loading. In terms of the system of vector functions, we expand the extended displacements and stresses, and deduce two sets of ordinary differential equations, which are related to the expansion coeficients. The solution to one of the two sets of these ordinary differential equations can be evaluated by using the stiffness matrix method and the corresponding recursive algorithm. These expansion coeficients are then integrated by adaptive Gaussian quadrature to obtain the displacements and stresses in the physical domain. Two types of surface loads, mechanical pressure and electric loading,are considered in the numerical examples. The calculated results show that the proposed technique is stable and effective in analyzing the layered half-space MEE structures under surface loading.展开更多
为实现对具有16个自由度仿人机器人的姿态控制,采用Kinect传感器对人体姿态的坐标数据进行采集,根据坐标信息利用Processing软件开发基于Simple Open NI库的上位机软件,建立人体关节模型,并利用空间向量法对仿人机器人的步态规划以及重...为实现对具有16个自由度仿人机器人的姿态控制,采用Kinect传感器对人体姿态的坐标数据进行采集,根据坐标信息利用Processing软件开发基于Simple Open NI库的上位机软件,建立人体关节模型,并利用空间向量法对仿人机器人的步态规划以及重心控制算法分析,解析各关节的转动角度,经由无线Wi Fi模块向仿人机器人发送指令以控制舵机的运动,最终实现对机器人的控制,搭建了基于Kinect传感器的测试平台。测试结果表明:仿人机器人上肢在运动范围内无死角,通过对重心的控制,下肢可实现简单的步行,符合预期效果。展开更多
基金supported by National Natural Science Foundation of China (Nos. U1333201, 11502123 and 11262012 )
文摘A cylindrical system of vector functions, the stiffness matrix method and the corresponding recursive algorithm are proposed to investigate the static response of transversely isotropic,layered magneto-electro-elastic（MEE） structures over a homogeneous half-space substrate subjected to circular surface loading. In terms of the system of vector functions, we expand the extended displacements and stresses, and deduce two sets of ordinary differential equations, which are related to the expansion coeficients. The solution to one of the two sets of these ordinary differential equations can be evaluated by using the stiffness matrix method and the corresponding recursive algorithm. These expansion coeficients are then integrated by adaptive Gaussian quadrature to obtain the displacements and stresses in the physical domain. Two types of surface loads, mechanical pressure and electric loading,are considered in the numerical examples. The calculated results show that the proposed technique is stable and effective in analyzing the layered half-space MEE structures under surface loading.
文摘为实现对具有16个自由度仿人机器人的姿态控制,采用Kinect传感器对人体姿态的坐标数据进行采集,根据坐标信息利用Processing软件开发基于Simple Open NI库的上位机软件,建立人体关节模型,并利用空间向量法对仿人机器人的步态规划以及重心控制算法分析,解析各关节的转动角度,经由无线Wi Fi模块向仿人机器人发送指令以控制舵机的运动,最终实现对机器人的控制,搭建了基于Kinect传感器的测试平台。测试结果表明:仿人机器人上肢在运动范围内无死角,通过对重心的控制,下肢可实现简单的步行,符合预期效果。
