In this paper,we develop a multi-scalar auxiliary variables(MSAV)scheme for the Cahn-Hilliard Magnetohydrodynamics system by introducing two scalar auxiliary variables(SAV).This scheme is linear,fully decoupled and un...In this paper,we develop a multi-scalar auxiliary variables(MSAV)scheme for the Cahn-Hilliard Magnetohydrodynamics system by introducing two scalar auxiliary variables(SAV).This scheme is linear,fully decoupled and unconditionally stable in energy.Subsequently,we provide a detailed implementation procedure for full decoupling.Thus,at each time step,only a series of linear differential equations with constant coefficients need to be solved.To validate the effectiveness of our approach,we conduct an error analysis for this first-order scheme.Finally,some numerical experiments are provided to verify the energy dissipation of the system and the convergence of the proposed approach.展开更多
Semantic communication(SemCom)aims to achieve high-fidelity information delivery under low communication consumption by only guaranteeing semantic accuracy.Nevertheless,semantic communication still suffers from unexpe...Semantic communication(SemCom)aims to achieve high-fidelity information delivery under low communication consumption by only guaranteeing semantic accuracy.Nevertheless,semantic communication still suffers from unexpected channel volatility and thus developing a re-transmission mechanism(e.g.,hybrid automatic repeat request[HARQ])becomes indispensable.In that regard,instead of discarding previously transmitted information,the incremental knowledge-based HARQ(IK-HARQ)is deemed as a more effective mechanism that could sufficiently utilize the information semantics.However,considering the possible existence of semantic ambiguity in image transmission,a simple bit-level cyclic redundancy check(CRC)might compromise the performance of IK-HARQ.Therefore,there emerges a strong incentive to revolutionize the CRC mechanism,thus more effectively reaping the benefits of both SemCom and HARQ.In this paper,built on top of swin transformer-based joint source-channel coding(JSCC)and IK-HARQ,we propose a semantic image transmission framework SC-TDA-HARQ.In particular,different from the conventional CRC,we introduce a topological data analysis(TDA)-based error detection method,which capably digs out the inner topological and geometric information of images,to capture semantic information and determine the necessity for re-transmission.Extensive numerical results validate the effectiveness and efficiency of the proposed SC-TDA-HARQ framework,especially under the limited bandwidth condition,and manifest the superiority of TDA-based error detection method in image transmission.展开更多
This paper introduces a novel approach for parameter sensitivity evaluation and efficient slope reliability analysis based on quantile-based first-order second-moment method(QFOSM).The core principles of the QFOSM are...This paper introduces a novel approach for parameter sensitivity evaluation and efficient slope reliability analysis based on quantile-based first-order second-moment method(QFOSM).The core principles of the QFOSM are elucidated geometrically from the perspective of expanding ellipsoids.Based on this geometric interpretation,the QFOSM is further extended to estimate sensitivity indices and assess the significance of various uncertain parameters involved in the slope system.The proposed method has the advantage of computational simplicity,akin to the conventional first-order second-moment method(FOSM),while providing estimation accuracy close to that of the first-order reliability method(FORM).Its performance is demonstrated with a numerical example and three slope examples.The results show that the proposed method can efficiently estimate the slope reliability and simultaneously evaluate the sensitivity of the uncertain parameters.The proposed method does not involve complex optimization or iteration required by the FORM.It can provide a valuable complement to the existing approximate reliability analysis methods,offering rapid sensitivity evaluation and slope reliability analysis.展开更多
Long-term responses of floating structures pose a great concern in their design phase. Existing approaches for addressing long-term extreme responses are extremely cumbersome for adoption. This work aims to develop an...Long-term responses of floating structures pose a great concern in their design phase. Existing approaches for addressing long-term extreme responses are extremely cumbersome for adoption. This work aims to develop an approach for the long-term extreme-response analysis of floating structures. A modified gradient-based retrieval algorithm in conjunction with the inverse first-order reliability method(IFORM) is proposed to enable the use of convolution models in long-term extreme analysis of structures with an analytical formula of response amplitude operator(RAO). The proposed algorithm ensures convergence stability and iteration accuracy and exhibits a higher computational efficiency than the traditional backtracking method. However, when the RAO of general offshore structures cannot be analytically expressed, the convolutional integration method fails to function properly. A numerical discretization approach is further proposed for offshore structures in the case when the analytical expression of the RAO is not feasible. Through iterative discretization of environmental contours(ECs) and RAOs, a detailed procedure is proposed to calculate the long-term response extremes of offshore structures. The validity and accuracy of the proposed approach are tested using a floating offshore wind turbine as a numerical example. The long-term extreme heave responses of various return periods are calculated via the IFORM in conjunction with a numerical discretization approach. The environmental data corresponding to N-year structural responses are located inside the ECs, which indicates that the selection of design points directly along the ECs yields conservative design results.展开更多
Chinese non-English majors are a large group of English learners.In the process of English pronunciation acquisition,issues such as incomplete phonological knowledge,transfer of mother tongue,and overgeneralization,le...Chinese non-English majors are a large group of English learners.In the process of English pronunciation acquisition,issues such as incomplete phonological knowledge,transfer of mother tongue,and overgeneralization,lead to confusion of phonemes and stress,misunderstanding of syllable structure,and errors of assimilation,drop,and epenthesis.The accuracy of English pronunciation can only be improved by knowing both English and Chinese phonological systems,strengthening the teaching of English phonological knowledge,and adopting various phonological training activities.展开更多
In this paper, we consider the initial-boundary value problem of two-dimensional first-order linear hyperbolic equation with variable coefficients. By using the upwind difference method to discretize the spatial deriv...In this paper, we consider the initial-boundary value problem of two-dimensional first-order linear hyperbolic equation with variable coefficients. By using the upwind difference method to discretize the spatial derivative term and the forward and backward Euler method to discretize the time derivative term, the explicit and implicit upwind difference schemes are obtained respectively. It is proved that the explicit upwind scheme is conditionally stable and the implicit upwind scheme is unconditionally stable. Then the convergence of the schemes is derived. Numerical examples verify the results of theoretical analysis.展开更多
Based on error analysis, the influence of error sources on strapdown inertial navigation systems is discussed. And the maximum permissible component tolerances are established. In order to achieve the desired accuracy...Based on error analysis, the influence of error sources on strapdown inertial navigation systems is discussed. And the maximum permissible component tolerances are established. In order to achieve the desired accuracy (defined by circular error probability), the types of appropriate sensors are chosen. The inertial measurement unit (IMU) is composed of those sensors. It is necessary to calibrate the sensors to obtain their error model coefficients of IMU. After calibration tests, the accuracy is calculated by uniform design method and it is proved that the accuracy of IMU is satisfied for the desired goal.展开更多
This work illustrates the application of the 1<sup>st</sup>-CASAM to a paradigm heat transport model which admits exact closed-form solutions. The closed-form expressions obtained in this work for the sens...This work illustrates the application of the 1<sup>st</sup>-CASAM to a paradigm heat transport model which admits exact closed-form solutions. The closed-form expressions obtained in this work for the sensitivities of the temperature distributions within the model to the model’s parameters, internal interfaces and external boundaries can be used to benchmark commercial and production software packages for simulating heat transport. The 1<sup>st</sup>-CASAM highlights the novel finding that response sensitivities to the imprecisely known domain boundaries and interfaces can arise both from the definition of the system’s response as well as from the equations, interfaces and boundary conditions that characterize the model and its imprecisely known domain. By enabling, in premiere, the exact computations of sensitivities to interface and boundary parameters and conditions, the 1<sup>st</sup>-CASAM enables the quantification of the effects of manufacturing tolerances on the responses of physical and engineering systems.展开更多
In order to monitor the working state of piston motor and measure its instantaneous rotation speed accurately, the measuring principle and method of instantaneous rotation speed based on industrial personal computer a...In order to monitor the working state of piston motor and measure its instantaneous rotation speed accurately, the measuring principle and method of instantaneous rotation speed based on industrial personal computer and data acquisition card are introduced, and the major error source, influence mechanism and processing method of data quantization error are dis- cussed. By means of hybrid programming approach of LabVIEW and MATLAB, the instantaneous rotation speed measurement system for the piston motor in variable speed hydraulic system is designed. The simulation and experimental results show that the designed instantaneous speed measurement system is feasible. Furthermore, the sampling frequency has an important influ- ence on the instantaneous rotation speed measurement of piston motor and higher sampling frequency can lower quantization er- ror and improve measurement accuracy.展开更多
Contrast Analysis (CA), Interlanguage(IL),cognitive approach are considered as three aspects closely related to Error Analysis (EA).Originated from CA, EA takes IL as its linguistic basis and cognitive approach as its...Contrast Analysis (CA), Interlanguage(IL),cognitive approach are considered as three aspects closely related to Error Analysis (EA).Originated from CA, EA takes IL as its linguistic basis and cognitive approach as its psychological support.Comparing with CA, EA pays more attention to the learner himself rather than the linguistic forms, and error is therefore shifted from what should be avoided to the crucial approach to the exploration of the learner’s cognitive process.展开更多
As a field in applied linguistics, error analysis is not only an instrument for language acquisition research but also an auxiliary tool for language teaching. It plays a significant role both in exploring the learnin...As a field in applied linguistics, error analysis is not only an instrument for language acquisition research but also an auxiliary tool for language teaching. It plays a significant role both in exploring the learning rules and improving the teaching of foreign languages. With this information, teachers could adjust their teaching plan and make their teaching more effective. In this paper I present some common errors that my students make in their learning process. Based on these, a further elaboration on how to correct errors, including the attitudes to them, the integrative principles, the concrete methods and techniques for error correction is discussed as well.展开更多
It is natural for language learner to make errors in the process of second language acquisition.But different linguists hold different views on the nature of errors and the methods of dealing with learner' s error...It is natural for language learner to make errors in the process of second language acquisition.But different linguists hold different views on the nature of errors and the methods of dealing with learner' s errors.Three main Western theories on errors are Contrastive Analysis,Error Analysis and the Interlanguage Theory.This paper first examines three most influential error theories,and then probes into their enlightenment on second language teaching.展开更多
This paper presents a novel approach to identify and correct the gross errors in the microelectromechanical system （MEMS） gyroscope used in ground vehicles by means of time series analysis. According to the characte...This paper presents a novel approach to identify and correct the gross errors in the microelectromechanical system （MEMS） gyroscope used in ground vehicles by means of time series analysis. According to the characteristics of autocorrelation function （ACF） and partial autocorrelation function （PACF）, an autoregressive integrated moving average （ARIMA） model is roughly constructed. The rough model is optimized by combining with Akaike＇s information criterion （A/C）, and the parameters are estimated based on the least squares algorithm. After validation testing, the model is utilized to forecast the next output on the basis of the previous measurement. When the difference between the measurement and its prediction exceeds the defined threshold, the measurement is identified as a gross error and remedied by its prediction. A case study on the yaw rate is performed to illustrate the developed algorithm. Experimental results demonstrate that the proposed approach can effectively distinguish gross errors and make some reasonable remedies.展开更多
English is considered as a foreign language instead of a second language in China,but language learning has a lot in common.As a non-English major college teacher,this thesis is intended to have an analysis of the com...English is considered as a foreign language instead of a second language in China,but language learning has a lot in common.As a non-English major college teacher,this thesis is intended to have an analysis of the common errors made by non-English major college students and try to detect their possible sources which mirrors the strategies that learners use to acquire a language,and make an present some suggestions on how to avoid certain kinds of errors for the attempt to language learners.展开更多
Parallel kinematic machines （PKMs） have the advantages of a compact structure,high stiffness,a low moving inertia,and a high load/weight ratio.PKMs have been intensively studied since the 1980s,and are still attract...Parallel kinematic machines （PKMs） have the advantages of a compact structure,high stiffness,a low moving inertia,and a high load/weight ratio.PKMs have been intensively studied since the 1980s,and are still attracting much attention.Compared with extensive researches focus on their type/dimensional synthesis,kinematic/dynamic analyses,the error modeling and separation issues in PKMs are not studied adequately,which is one of the most important obstacles in its commercial applications widely.Taking a 3-PRS parallel manipulator as an example,this paper presents a separation method of source errors for 3-DOF parallel manipulator into the compensable and non-compensable errors effectively.The kinematic analysis of 3-PRS parallel manipulator leads to its six-dimension Jacobian matrix,which can be mapped into the Jacobian matrix of actuations and constraints,and then the compensable and non-compensable errors can be separated accordingly.The compensable errors can be compensated by the kinematic calibration,while the non-compensable errors may be adjusted by the manufacturing and assembling process.Followed by the influence of the latter,i.e.,the non-compensable errors,on the pose error of the moving platform through the sensitivity analysis with the aid of the Monte-Carlo method,meanwhile,the configurations of the manipulator are sought as the pose errors of the moving platform approaching their maximum.The compensable and non-compensable errors in limited-DOF parallel manipulators can be separated effectively by means of the Jacobian matrix of actuations and constraints,providing designers with an informative guideline to taking proper measures for enhancing the pose accuracy via component tolerancing and/or kinematic calibration,which can lay the foundation for the error distinguishment and compensation.展开更多
基金Research Project Supported by Shanxi Scholarship Council of China(2021-029)International Cooperation Base and Platform Project of Shanxi Province(202104041101019)Basic Research Plan of Shanxi Province(202203021211129)。
文摘In this paper,we develop a multi-scalar auxiliary variables(MSAV)scheme for the Cahn-Hilliard Magnetohydrodynamics system by introducing two scalar auxiliary variables(SAV).This scheme is linear,fully decoupled and unconditionally stable in energy.Subsequently,we provide a detailed implementation procedure for full decoupling.Thus,at each time step,only a series of linear differential equations with constant coefficients need to be solved.To validate the effectiveness of our approach,we conduct an error analysis for this first-order scheme.Finally,some numerical experiments are provided to verify the energy dissipation of the system and the convergence of the proposed approach.
基金supported in part by the National Key Research and Development Program of China under Grant 2024YFE0200600in part by the National Natural Science Foundation of China under Grant 62071425+3 种基金in part by the Zhejiang Key Research and Development Plan under Grant 2022C01093in part by the Zhejiang Provincial Natural Science Foundation of China under Grant LR23F010005in part by the National Key Laboratory of Wireless Communications Foundation under Grant 2023KP01601in part by the Big Data and Intelligent Computing Key Lab of CQUPT under Grant BDIC-2023-B-001.
文摘Semantic communication(SemCom)aims to achieve high-fidelity information delivery under low communication consumption by only guaranteeing semantic accuracy.Nevertheless,semantic communication still suffers from unexpected channel volatility and thus developing a re-transmission mechanism(e.g.,hybrid automatic repeat request[HARQ])becomes indispensable.In that regard,instead of discarding previously transmitted information,the incremental knowledge-based HARQ(IK-HARQ)is deemed as a more effective mechanism that could sufficiently utilize the information semantics.However,considering the possible existence of semantic ambiguity in image transmission,a simple bit-level cyclic redundancy check(CRC)might compromise the performance of IK-HARQ.Therefore,there emerges a strong incentive to revolutionize the CRC mechanism,thus more effectively reaping the benefits of both SemCom and HARQ.In this paper,built on top of swin transformer-based joint source-channel coding(JSCC)and IK-HARQ,we propose a semantic image transmission framework SC-TDA-HARQ.In particular,different from the conventional CRC,we introduce a topological data analysis(TDA)-based error detection method,which capably digs out the inner topological and geometric information of images,to capture semantic information and determine the necessity for re-transmission.Extensive numerical results validate the effectiveness and efficiency of the proposed SC-TDA-HARQ framework,especially under the limited bandwidth condition,and manifest the superiority of TDA-based error detection method in image transmission.
基金supported by the National Natural Science Foundation of China(Grant Nos.52109144,52025094 and 52222905).
文摘This paper introduces a novel approach for parameter sensitivity evaluation and efficient slope reliability analysis based on quantile-based first-order second-moment method(QFOSM).The core principles of the QFOSM are elucidated geometrically from the perspective of expanding ellipsoids.Based on this geometric interpretation,the QFOSM is further extended to estimate sensitivity indices and assess the significance of various uncertain parameters involved in the slope system.The proposed method has the advantage of computational simplicity,akin to the conventional first-order second-moment method(FOSM),while providing estimation accuracy close to that of the first-order reliability method(FORM).Its performance is demonstrated with a numerical example and three slope examples.The results show that the proposed method can efficiently estimate the slope reliability and simultaneously evaluate the sensitivity of the uncertain parameters.The proposed method does not involve complex optimization or iteration required by the FORM.It can provide a valuable complement to the existing approximate reliability analysis methods,offering rapid sensitivity evaluation and slope reliability analysis.
基金Supported by the National Natural Science Foundation of China (Grant Nos.52088102 and 51879287)National Key Research and Development Program of China (Grant No.2022YFB2602301)。
文摘Long-term responses of floating structures pose a great concern in their design phase. Existing approaches for addressing long-term extreme responses are extremely cumbersome for adoption. This work aims to develop an approach for the long-term extreme-response analysis of floating structures. A modified gradient-based retrieval algorithm in conjunction with the inverse first-order reliability method(IFORM) is proposed to enable the use of convolution models in long-term extreme analysis of structures with an analytical formula of response amplitude operator(RAO). The proposed algorithm ensures convergence stability and iteration accuracy and exhibits a higher computational efficiency than the traditional backtracking method. However, when the RAO of general offshore structures cannot be analytically expressed, the convolutional integration method fails to function properly. A numerical discretization approach is further proposed for offshore structures in the case when the analytical expression of the RAO is not feasible. Through iterative discretization of environmental contours(ECs) and RAOs, a detailed procedure is proposed to calculate the long-term response extremes of offshore structures. The validity and accuracy of the proposed approach are tested using a floating offshore wind turbine as a numerical example. The long-term extreme heave responses of various return periods are calculated via the IFORM in conjunction with a numerical discretization approach. The environmental data corresponding to N-year structural responses are located inside the ECs, which indicates that the selection of design points directly along the ECs yields conservative design results.
文摘Chinese non-English majors are a large group of English learners.In the process of English pronunciation acquisition,issues such as incomplete phonological knowledge,transfer of mother tongue,and overgeneralization,lead to confusion of phonemes and stress,misunderstanding of syllable structure,and errors of assimilation,drop,and epenthesis.The accuracy of English pronunciation can only be improved by knowing both English and Chinese phonological systems,strengthening the teaching of English phonological knowledge,and adopting various phonological training activities.
文摘In this paper, we consider the initial-boundary value problem of two-dimensional first-order linear hyperbolic equation with variable coefficients. By using the upwind difference method to discretize the spatial derivative term and the forward and backward Euler method to discretize the time derivative term, the explicit and implicit upwind difference schemes are obtained respectively. It is proved that the explicit upwind scheme is conditionally stable and the implicit upwind scheme is unconditionally stable. Then the convergence of the schemes is derived. Numerical examples verify the results of theoretical analysis.
文摘Based on error analysis, the influence of error sources on strapdown inertial navigation systems is discussed. And the maximum permissible component tolerances are established. In order to achieve the desired accuracy (defined by circular error probability), the types of appropriate sensors are chosen. The inertial measurement unit (IMU) is composed of those sensors. It is necessary to calibrate the sensors to obtain their error model coefficients of IMU. After calibration tests, the accuracy is calculated by uniform design method and it is proved that the accuracy of IMU is satisfied for the desired goal.
文摘This work illustrates the application of the 1<sup>st</sup>-CASAM to a paradigm heat transport model which admits exact closed-form solutions. The closed-form expressions obtained in this work for the sensitivities of the temperature distributions within the model to the model’s parameters, internal interfaces and external boundaries can be used to benchmark commercial and production software packages for simulating heat transport. The 1<sup>st</sup>-CASAM highlights the novel finding that response sensitivities to the imprecisely known domain boundaries and interfaces can arise both from the definition of the system’s response as well as from the equations, interfaces and boundary conditions that characterize the model and its imprecisely known domain. By enabling, in premiere, the exact computations of sensitivities to interface and boundary parameters and conditions, the 1<sup>st</sup>-CASAM enables the quantification of the effects of manufacturing tolerances on the responses of physical and engineering systems.
基金National Natural Science Foundation of China(No.51275375,No.51509006)Shaanxi Provincial Natural Science Basic Research Plan(No.2014JQ7246)+1 种基金The Science and Technology of Hubei Province(No.B2015115)Doctoral Research Foundation of Hubei University of Automotive Technology(No.BK201403)
文摘In order to monitor the working state of piston motor and measure its instantaneous rotation speed accurately, the measuring principle and method of instantaneous rotation speed based on industrial personal computer and data acquisition card are introduced, and the major error source, influence mechanism and processing method of data quantization error are dis- cussed. By means of hybrid programming approach of LabVIEW and MATLAB, the instantaneous rotation speed measurement system for the piston motor in variable speed hydraulic system is designed. The simulation and experimental results show that the designed instantaneous speed measurement system is feasible. Furthermore, the sampling frequency has an important influ- ence on the instantaneous rotation speed measurement of piston motor and higher sampling frequency can lower quantization er- ror and improve measurement accuracy.
文摘Contrast Analysis (CA), Interlanguage(IL),cognitive approach are considered as three aspects closely related to Error Analysis (EA).Originated from CA, EA takes IL as its linguistic basis and cognitive approach as its psychological support.Comparing with CA, EA pays more attention to the learner himself rather than the linguistic forms, and error is therefore shifted from what should be avoided to the crucial approach to the exploration of the learner’s cognitive process.
文摘As a field in applied linguistics, error analysis is not only an instrument for language acquisition research but also an auxiliary tool for language teaching. It plays a significant role both in exploring the learning rules and improving the teaching of foreign languages. With this information, teachers could adjust their teaching plan and make their teaching more effective. In this paper I present some common errors that my students make in their learning process. Based on these, a further elaboration on how to correct errors, including the attitudes to them, the integrative principles, the concrete methods and techniques for error correction is discussed as well.
文摘It is natural for language learner to make errors in the process of second language acquisition.But different linguists hold different views on the nature of errors and the methods of dealing with learner' s errors.Three main Western theories on errors are Contrastive Analysis,Error Analysis and the Interlanguage Theory.This paper first examines three most influential error theories,and then probes into their enlightenment on second language teaching.
基金The National Natural Science Foundation of China(No.61273236)the Natural Science Foundation of Jiangsu Province(No.BK2010239)the Ph.D.Programs Foundation of Ministry of Education of China(No.200802861061)
文摘This paper presents a novel approach to identify and correct the gross errors in the microelectromechanical system （MEMS） gyroscope used in ground vehicles by means of time series analysis. According to the characteristics of autocorrelation function （ACF） and partial autocorrelation function （PACF）, an autoregressive integrated moving average （ARIMA） model is roughly constructed. The rough model is optimized by combining with Akaike＇s information criterion （A/C）, and the parameters are estimated based on the least squares algorithm. After validation testing, the model is utilized to forecast the next output on the basis of the previous measurement. When the difference between the measurement and its prediction exceeds the defined threshold, the measurement is identified as a gross error and remedied by its prediction. A case study on the yaw rate is performed to illustrate the developed algorithm. Experimental results demonstrate that the proposed approach can effectively distinguish gross errors and make some reasonable remedies.
文摘English is considered as a foreign language instead of a second language in China,but language learning has a lot in common.As a non-English major college teacher,this thesis is intended to have an analysis of the common errors made by non-English major college students and try to detect their possible sources which mirrors the strategies that learners use to acquire a language,and make an present some suggestions on how to avoid certain kinds of errors for the attempt to language learners.
基金supported by Tianjin Research Program of Application Foundation and Advanced Technology of China (Grant No.11JCZDJC22700)National Natural Science Foundation of China (GrantNo. 51075295,Grant No. 50675151)+1 种基金National High-tech Research and Development Program of China (863 Program,Grant No.2007AA042001)PhD Programs Foundation of Ministry of Education of China (Grant No. 20060056018)
文摘Parallel kinematic machines （PKMs） have the advantages of a compact structure,high stiffness,a low moving inertia,and a high load/weight ratio.PKMs have been intensively studied since the 1980s,and are still attracting much attention.Compared with extensive researches focus on their type/dimensional synthesis,kinematic/dynamic analyses,the error modeling and separation issues in PKMs are not studied adequately,which is one of the most important obstacles in its commercial applications widely.Taking a 3-PRS parallel manipulator as an example,this paper presents a separation method of source errors for 3-DOF parallel manipulator into the compensable and non-compensable errors effectively.The kinematic analysis of 3-PRS parallel manipulator leads to its six-dimension Jacobian matrix,which can be mapped into the Jacobian matrix of actuations and constraints,and then the compensable and non-compensable errors can be separated accordingly.The compensable errors can be compensated by the kinematic calibration,while the non-compensable errors may be adjusted by the manufacturing and assembling process.Followed by the influence of the latter,i.e.,the non-compensable errors,on the pose error of the moving platform through the sensitivity analysis with the aid of the Monte-Carlo method,meanwhile,the configurations of the manipulator are sought as the pose errors of the moving platform approaching their maximum.The compensable and non-compensable errors in limited-DOF parallel manipulators can be separated effectively by means of the Jacobian matrix of actuations and constraints,providing designers with an informative guideline to taking proper measures for enhancing the pose accuracy via component tolerancing and/or kinematic calibration,which can lay the foundation for the error distinguishment and compensation.
