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
A procedure is proposed whereby input and hysteretic energy spectra developed for single-degree-of-freedom （SDOF） systems are applied to multi-degree-of-freedom （MDOF） steel moment resisting frames. The proposed p...A procedure is proposed whereby input and hysteretic energy spectra developed for single-degree-of-freedom （SDOF） systems are applied to multi-degree-of-freedom （MDOF） steel moment resisting frames. The proposed procedure is verified using four frames, viz., frame with three-, five-, seven- and nine-stories, each of which is subjected to the fault- normal and fault-parallel components of three actual earthquakes. A very good estimate for the three- and five-story frames, and a reasonably acceptable estimate for the seven-, and nine-story frames, have been obtained. A method for distributing the hysteretic energy over the frame height is also proposed. This distribution scheme allows for the determination of the energy demand component of a proposed energy-based seismic design （EBSD） procedure for each story. To address the capacity component of EBSD, a story-wise optimization design procedure is developed by utilizing the energy dissipating capacity from plastic hinge formation/rotation for these moment frames. The proposed EBSD procedure is demonstrated in the design of a three-story one-bay steel moment frame.展开更多
Wi-Fi devices have limited battery life because of which conserving battery life is imperative. The 802.11 Wi-Fi standard provides power management feature that allows stations(STAs) to enter into sleep state to prese...Wi-Fi devices have limited battery life because of which conserving battery life is imperative. The 802.11 Wi-Fi standard provides power management feature that allows stations(STAs) to enter into sleep state to preserve energy without any frame losses. After the STA wakes up, it sends a null data or PS-Poll frame to retrieve frame(s) buffered by the access point(AP), if any during its sleep period. An attacker can launch a power save denial of service(PS-DoS) attack on the sleeping STA(s) by transmitting a spoofed null data or PS-Poll frame(s) to retrieve the buffered frame(s) of the sleeping STA(s) from the AP causing frame losses for the targeted STA(s). Current approaches to prevent or detect the PS-DoS attack require encryption,change in protocol or installation of proprietary hardware. These solutions suffer from expensive setup, maintenance, scalability and deployment issues. The PS-DoS attack does not differ in semantics or statistics under normal and attack circumstances.So signature and anomaly based intrusion detection system(IDS) are unfit to detect the PS-DoS attack. In this paper we propose a timed IDS based on real time discrete event system(RTDES) for detecting PS-DoS attack. The proposed DES based IDS overcomes the drawbacks of existing systems and detects the PS-DoS attack with high accuracy and detection rate. The correctness of the RTDES based IDS is proved by experimenting all possible attack scenarios.展开更多
There exist three problems in the calculation of lateral vibration of the train-track time-variant system athome and abroad and the method to solve them is presented. Spatially coupling vibration analysis model of tra...There exist three problems in the calculation of lateral vibration of the train-track time-variant system athome and abroad and the method to solve them is presented. Spatially coupling vibration analysis model of train-track time-variant system is put forward. Each vehicle is modeled as a multi-body system with 26 degrees of freedomand the action of coupler is also considered. The track structure is modeled as an assembly of track elements with 30degrees of freedom, then the spatially coupling vibration matrix equation of the train-track time-variant system is es-tablished on the basis of the principle of total potential energy with stationary value and the "set-in-right-position"rule. The track vertical geometric irregularity is considered as the excitation source of the vertical vibration of thesystem, and the hunting wave of car bogie frame is taken as the excitation source of lateral vibration of the system.The spatially coupling vibration matrix equation of the system is solved by Wilson-θ direct integration method. Theapproximation of the calculated results to the spot test results demonstrates the feasibility and effectiveness of thepresented analysis method. Finally, some other vibration responses of the system are also obtained.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.
文摘A procedure is proposed whereby input and hysteretic energy spectra developed for single-degree-of-freedom （SDOF） systems are applied to multi-degree-of-freedom （MDOF） steel moment resisting frames. The proposed procedure is verified using four frames, viz., frame with three-, five-, seven- and nine-stories, each of which is subjected to the fault- normal and fault-parallel components of three actual earthquakes. A very good estimate for the three- and five-story frames, and a reasonably acceptable estimate for the seven-, and nine-story frames, have been obtained. A method for distributing the hysteretic energy over the frame height is also proposed. This distribution scheme allows for the determination of the energy demand component of a proposed energy-based seismic design （EBSD） procedure for each story. To address the capacity component of EBSD, a story-wise optimization design procedure is developed by utilizing the energy dissipating capacity from plastic hinge formation/rotation for these moment frames. The proposed EBSD procedure is demonstrated in the design of a three-story one-bay steel moment frame.
基金supported by TATA Consultancy Servies(TCS)Research Fellowship Program,India
文摘Wi-Fi devices have limited battery life because of which conserving battery life is imperative. The 802.11 Wi-Fi standard provides power management feature that allows stations(STAs) to enter into sleep state to preserve energy without any frame losses. After the STA wakes up, it sends a null data or PS-Poll frame to retrieve frame(s) buffered by the access point(AP), if any during its sleep period. An attacker can launch a power save denial of service(PS-DoS) attack on the sleeping STA(s) by transmitting a spoofed null data or PS-Poll frame(s) to retrieve the buffered frame(s) of the sleeping STA(s) from the AP causing frame losses for the targeted STA(s). Current approaches to prevent or detect the PS-DoS attack require encryption,change in protocol or installation of proprietary hardware. These solutions suffer from expensive setup, maintenance, scalability and deployment issues. The PS-DoS attack does not differ in semantics or statistics under normal and attack circumstances.So signature and anomaly based intrusion detection system(IDS) are unfit to detect the PS-DoS attack. In this paper we propose a timed IDS based on real time discrete event system(RTDES) for detecting PS-DoS attack. The proposed DES based IDS overcomes the drawbacks of existing systems and detects the PS-DoS attack with high accuracy and detection rate. The correctness of the RTDES based IDS is proved by experimenting all possible attack scenarios.
基金Project (50078006) supported by the National Natural Science Foundation of China Project (2001G029) supported by the Foundation of the Science and Technology Section of the Railway Bureau
文摘There exist three problems in the calculation of lateral vibration of the train-track time-variant system athome and abroad and the method to solve them is presented. Spatially coupling vibration analysis model of train-track time-variant system is put forward. Each vehicle is modeled as a multi-body system with 26 degrees of freedomand the action of coupler is also considered. The track structure is modeled as an assembly of track elements with 30degrees of freedom, then the spatially coupling vibration matrix equation of the train-track time-variant system is es-tablished on the basis of the principle of total potential energy with stationary value and the "set-in-right-position"rule. The track vertical geometric irregularity is considered as the excitation source of the vertical vibration of thesystem, and the hunting wave of car bogie frame is taken as the excitation source of lateral vibration of the system.The spatially coupling vibration matrix equation of the system is solved by Wilson-θ direct integration method. Theapproximation of the calculated results to the spot test results demonstrates the feasibility and effectiveness of thepresented analysis method. Finally, some other vibration responses of the system are also obtained.
