The workpiece frames relative to each robot base frame should be known in advance for the proper operation of twin-robot nondestructive testing system. However, when two robots are separated from the workpieces, the t...The workpiece frames relative to each robot base frame should be known in advance for the proper operation of twin-robot nondestructive testing system. However, when two robots are separated from the workpieces, the twin robots cannot reach the same point to complete the process of workpiece frame positioning. Thus, a new method is proposed to solve the problem of coincidence between workpiece frames. Transformation between two robot base frames is initiated by measuring the coordinate values of three non-collinear calibration points. The relationship between the workpiece frame and that of the slave robot base frame is then determined according to the known transformation of two robot base frames, as well as the relationship between the workpiece frame and that of the master robot base frame. Only one robot is required to actually measure the coordinate values of the calibration points on the workpiece. This requirement is beneficial when one of the robots cannot reach and measure the calibration points. The coordinate values of the calibration points are derived by driving the robot hand to the points and recording the values of top center point（TCP） coordinates. The translation and rotation matrices relate either the two robot base frames or the workpiece and master robot. The coordinated are solved using the measured values of the calibration points according to the Cartesian transformation principle. An optimal method is developed based on exponential mapping of Lie algebra to ensure that the rotation matrix is orthogonal. Experimental results show that this method involves fewer steps, offers significant advantages in terms of operation and time-saving. A method used to synchronize workpiece frames in twin-robot system automatically is presented.展开更多
A double system of exponents with piecewise continuous complex-valued coefficients are considered. Under definite conditions on the coefficients the frame property of this system in Lebesgue spaces of functions is inv...A double system of exponents with piecewise continuous complex-valued coefficients are considered. Under definite conditions on the coefficients the frame property of this system in Lebesgue spaces of functions is investigated. Such systems arise in the spectral problems for discontinuous differential operators.展开更多
This paper presents the results of a parametric study of self-centering seismic retrofit schemes for reinforced concrete (RC) frame buildings. The self-centering retrofit system features flag-shaped hysteresis and min...This paper presents the results of a parametric study of self-centering seismic retrofit schemes for reinforced concrete (RC) frame buildings. The self-centering retrofit system features flag-shaped hysteresis and minimal residual deformation. For comparison purpose,an alternate seismic retrofit scheme that uses a bilinear-hysteresis retrofit system such as buckling-restrained braces (BRB) is also considered in this paper. The parametric study was carried out in a single-degree-of-freedom (SDOF) system framework since a multi-story building structure may be idealized as an equivalent SDOF system and investigation of the performance of this equivalent SDOF system can provide insight into the seismic response of the multi-story building. A peak-oriented hysteresis model which can consider the strength and stiffness degradation is used to describe the hysteretic behavior of RC structures. The parametric study involves two key parameters -the strength ratio and elastic stiffness ratio between the seismic retrofit system and the original RC frame. An ensemble of 172 earthquake ground motion records scaled to the design basis earthquake in California with a probability of exceedance of 10% in 50 years was constructed for the simulation-based parametric study. The effectiveness of the two seismic retrofit schemes considered in this study is evaluated in terms of peak displacement ratio,peak acceleration ratio,energy dissipation demand ratio and residual displacement ratio between the SDOF systems with and without retrofit. It is found from this parametric study that RC structures retrofitted with the self-centering retrofit scheme (SCRS) can achieve a seismic performance level comparable to the bilinear-hysteresis retrofit scheme (BHRS) in terms of peak displacement and energy dissipation demand ratio while having negligible residual displacement after earthquake.展开更多
The prevention of common pig diseases depends on the experience of veterinarian greatly due to complexity of piggery pestilence. The expert system for the prophylaxis and treatment of common pig diseases is able to ma...The prevention of common pig diseases depends on the experience of veterinarian greatly due to complexity of piggery pestilence. The expert system for the prophylaxis and treatment of common pig diseases is able to make the complex task more effective. The construction and im- plementation of this expert system is based on the bottleneck problems of the traditional expert system knowledge acquisition and the frame descrip- tion of symptoms of common pig diseases, used the knowledge project method and technology, and combined the uncertainty inference and dispel- ling strategy of matching conflict and technology of multimedia. This expert system is used to imitate expert thinking and supplement or substitute for veterinary experts to guide the prophylaxis and treatment of common pig diseases. The overall structure, knowledge expression, inference mecha- nism and system realization would be expounded emphatically.展开更多
This paper presents the generalized principles of least action of variable mass nonholonomic nonconservative system in noninertial reference frame, proves the equivalence between Holder form and Suslov form, and then ...This paper presents the generalized principles of least action of variable mass nonholonomic nonconservative system in noninertial reference frame, proves the equivalence between Holder form and Suslov form, and then obtains differential equations of motion of variable mass nonholonomic nonconservative system in noninertial reference frame.展开更多
The new variational principle of Gauss's form of nonlinear nonholonomic nonpotential system relative to non-inertial reference frame is established by constructing generalized inertial potentials. Naether's th...The new variational principle of Gauss's form of nonlinear nonholonomic nonpotential system relative to non-inertial reference frame is established by constructing generalized inertial potentials. Naether's theorem and Naether's inverse theorem of the system above is presented and proved. Finally, one example is given to illustrate the application.展开更多
基金Supported by International S&T Cooperation Program of China(Grant No.2012DFA70260)High-end CNC Machine and Basic Manufacturing Equipment of Chinese Key National Science and Technology(Grant No.2011ZX04014-081)
文摘The workpiece frames relative to each robot base frame should be known in advance for the proper operation of twin-robot nondestructive testing system. However, when two robots are separated from the workpieces, the twin robots cannot reach the same point to complete the process of workpiece frame positioning. Thus, a new method is proposed to solve the problem of coincidence between workpiece frames. Transformation between two robot base frames is initiated by measuring the coordinate values of three non-collinear calibration points. The relationship between the workpiece frame and that of the slave robot base frame is then determined according to the known transformation of two robot base frames, as well as the relationship between the workpiece frame and that of the master robot base frame. Only one robot is required to actually measure the coordinate values of the calibration points on the workpiece. This requirement is beneficial when one of the robots cannot reach and measure the calibration points. The coordinate values of the calibration points are derived by driving the robot hand to the points and recording the values of top center point（TCP） coordinates. The translation and rotation matrices relate either the two robot base frames or the workpiece and master robot. The coordinated are solved using the measured values of the calibration points according to the Cartesian transformation principle. An optimal method is developed based on exponential mapping of Lie algebra to ensure that the rotation matrix is orthogonal. Experimental results show that this method involves fewer steps, offers significant advantages in terms of operation and time-saving. A method used to synchronize workpiece frames in twin-robot system automatically is presented.
文摘A double system of exponents with piecewise continuous complex-valued coefficients are considered. Under definite conditions on the coefficients the frame property of this system in Lebesgue spaces of functions is investigated. Such systems arise in the spectral problems for discontinuous differential operators.
基金Univeristy of Maryland,Start-up Grant to the First Author
文摘This paper presents the results of a parametric study of self-centering seismic retrofit schemes for reinforced concrete (RC) frame buildings. The self-centering retrofit system features flag-shaped hysteresis and minimal residual deformation. For comparison purpose,an alternate seismic retrofit scheme that uses a bilinear-hysteresis retrofit system such as buckling-restrained braces (BRB) is also considered in this paper. The parametric study was carried out in a single-degree-of-freedom (SDOF) system framework since a multi-story building structure may be idealized as an equivalent SDOF system and investigation of the performance of this equivalent SDOF system can provide insight into the seismic response of the multi-story building. A peak-oriented hysteresis model which can consider the strength and stiffness degradation is used to describe the hysteretic behavior of RC structures. The parametric study involves two key parameters -the strength ratio and elastic stiffness ratio between the seismic retrofit system and the original RC frame. An ensemble of 172 earthquake ground motion records scaled to the design basis earthquake in California with a probability of exceedance of 10% in 50 years was constructed for the simulation-based parametric study. The effectiveness of the two seismic retrofit schemes considered in this study is evaluated in terms of peak displacement ratio,peak acceleration ratio,energy dissipation demand ratio and residual displacement ratio between the SDOF systems with and without retrofit. It is found from this parametric study that RC structures retrofitted with the self-centering retrofit scheme (SCRS) can achieve a seismic performance level comparable to the bilinear-hysteresis retrofit scheme (BHRS) in terms of peak displacement and energy dissipation demand ratio while having negligible residual displacement after earthquake.
基金supported by the Youth Foundation of Jilin University
文摘The prevention of common pig diseases depends on the experience of veterinarian greatly due to complexity of piggery pestilence. The expert system for the prophylaxis and treatment of common pig diseases is able to make the complex task more effective. The construction and im- plementation of this expert system is based on the bottleneck problems of the traditional expert system knowledge acquisition and the frame descrip- tion of symptoms of common pig diseases, used the knowledge project method and technology, and combined the uncertainty inference and dispel- ling strategy of matching conflict and technology of multimedia. This expert system is used to imitate expert thinking and supplement or substitute for veterinary experts to guide the prophylaxis and treatment of common pig diseases. The overall structure, knowledge expression, inference mecha- nism and system realization would be expounded emphatically.
文摘This paper presents the generalized principles of least action of variable mass nonholonomic nonconservative system in noninertial reference frame, proves the equivalence between Holder form and Suslov form, and then obtains differential equations of motion of variable mass nonholonomic nonconservative system in noninertial reference frame.
文摘The new variational principle of Gauss's form of nonlinear nonholonomic nonpotential system relative to non-inertial reference frame is established by constructing generalized inertial potentials. Naether's theorem and Naether's inverse theorem of the system above is presented and proved. Finally, one example is given to illustrate the application.
