Serial-parallel manipulators are of great interest to academic community in recent years,especially those composed of classical parallel mechanisms.There have been many studies around 2(3RPS)and 2(3SPR)S-PMs,but unfor...Serial-parallel manipulators are of great interest to academic community in recent years,especially those composed of classical parallel mechanisms.There have been many studies around 2(3RPS)and 2(3SPR)S-PMs,but unfortunately their inverse kinematics have not yet been resolved.This paper discovers that the unknown kinematic parameters of middle platform are responsible for the unresolvable of inverse kinematics,meanwhile the unknown kinematic parameters of middle platform also have huge coupling relationships.Therefore,to break through this challenges,the huge coupling relationships are decoupled layer by layer,the kinematic parameters of middle platform are solved by combining Sylvester's elimination method,and the inverse displacements of 2(3RPS)and 2(3SPR)S-PMs are obtained subsequently.This paper not only solves the inverse kinematics of classical 2(3RPS)and 2(3SPR)S-PMs,but also reveals the essence of the inverse kinematics of general(3-DOF)+(3-DOF)6-DOF S-PMs and proposes a corresponding solution.展开更多
ZosterophyUum longa sp. nov. is reported from the Lower Devonian Pingyipu Formation, Jiangyou District, northern Sichuan of China. This new plant has vertically elongate sporangia differing from all known species of Z...ZosterophyUum longa sp. nov. is reported from the Lower Devonian Pingyipu Formation, Jiangyou District, northern Sichuan of China. This new plant has vertically elongate sporangia differing from all known species of Zosterophyllum, demonstrating morphological variations in Zosterophyllophytina. New materials of Zosterophyllum yunnanicum from the Lower Devonian Xujiachong Formation, Qujing District, eastern Yunnan of China show that fertile axes of this species are anisotomous or pseudomonopodial or K-shaped in branching. Sometimes fertile lateral axes are very short and bear an axillary axis at the dividing point. Distinct thickening occurs along the whole margin of a sporangium, with sporangial lobes undeveloped. The evolution of ZosterophyUum is tentatively discussed. A biostratigraphic method of Gerrienne and Streel is introduced and applied to dating of the Lower Devonian Xujiachong Formation, which is considered as of the late Pragian-early Emsian.展开更多
SP3 （simplified P3） theory is widely used in LWR （light water reactor） analyses to partly capture the transport effect, especially for pin-by-pin core analysis with pin size homogenization. In this paper, a SP3 co...SP3 （simplified P3） theory is widely used in LWR （light water reactor） analyses to partly capture the transport effect, especially for pin-by-pin core analysis with pin size homogenization. In this paper, a SP3 code named STELLA is developed and verified at SNERDI （Shanghai Nuclear Engineering Research and Design Institute）. For SP3 method, neutron transport equation can be transformed into two coupled equations in the same mathematical form as diffusion equation. In this work, SANM （semi-analytic nodal method） is used to solve diffusion-like equation, due to its easy to handle multi-group problem. Whole core nodal boundary net current coupling is used to improve convergence stability in SANM, instead of solving two-node problem. CMFD （coarse-mesh finite difference） acceleration method is employed for 0-th SP3 equation, which represents the neutron balance relationship. Three benchmarks are used to verify the SP3 code, STELLA. The first one is a self-defined one dimensional problem, which demonstrates SP3 method is extremely accurate, due to no academic approximation in one dimensional for SP3. The second one is a two dimensional one-group problem cited from Larsen＇s paper, which is usually used to verify and prove the SP3 code correct and accurate. And the third one is modified from 2D C5G7-MOX benchmark, whose numerical results indicate that STELLA is accurate and efficient in pin size level, compared to diffusion model.展开更多
In high seismicity areas, it is important to consider kinematic effects to properly design pile foundations.Kinematic effects are due to the interaction between pile and soil deformations induced by seismic waves. One...In high seismicity areas, it is important to consider kinematic effects to properly design pile foundations.Kinematic effects are due to the interaction between pile and soil deformations induced by seismic waves. One of the effect is the arise of significant strains in weak soils that induce bending moments on piles. These moments can be significant in presence of a high stiffness contrast in a soil deposit. The single pile kinematic interaction problem is generally solved with beam on dynamic Winkler foundation approaches(BDWF) or using continuous models. In this work, a new boundary element method(BEM)based computer code(KIN SP) is presented where the kinematic analysis is preceded by a free-field response analysis. The analysis results of this method, in terms of bending moments at the pile-head and at the interface of a two-layered soil, are influenced by many factors including the soil-pile interface discretization. A parametric study is presented with the aim to suggest the minimum number of boundary elements to guarantee the accuracy of a BEM solution, for typical pile-soil relative stiffness values as a function of the pile diameter, the location of the interface of a two-layered soil and of the stiffness contrast. KIN SP results have been compared with simplified solutions in literature and with those obtained using a quasi-three-dimensional(3D) finite element code.展开更多
The RPS method,which integrates the real numerical solution, the perturbation solution and the shooting solution reasonably,can obtain the complex solution of a slab waveguide with small gain/loss regions without sear...The RPS method,which integrates the real numerical solution, the perturbation solution and the shooting solution reasonably,can obtain the complex solution of a slab waveguide with small gain/loss regions without searching the root in the entire complex plan.A revision to the RPS method is presented so that it can deal with the waveguide including large gain/loss regions.The application indicated that the simulation results are precise.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.52275033)National Natural Science Youth Foundation of China(Grant No.52205033)Hebei Provincial Natural Science Foundation of China(Grant No.E2021203019)。
文摘Serial-parallel manipulators are of great interest to academic community in recent years,especially those composed of classical parallel mechanisms.There have been many studies around 2(3RPS)and 2(3SPR)S-PMs,but unfortunately their inverse kinematics have not yet been resolved.This paper discovers that the unknown kinematic parameters of middle platform are responsible for the unresolvable of inverse kinematics,meanwhile the unknown kinematic parameters of middle platform also have huge coupling relationships.Therefore,to break through this challenges,the huge coupling relationships are decoupled layer by layer,the kinematic parameters of middle platform are solved by combining Sylvester's elimination method,and the inverse displacements of 2(3RPS)and 2(3SPR)S-PMs are obtained subsequently.This paper not only solves the inverse kinematics of classical 2(3RPS)and 2(3SPR)S-PMs,but also reveals the essence of the inverse kinematics of general(3-DOF)+(3-DOF)6-DOF S-PMs and proposes a corresponding solution.
基金Acknowledgements This study is supported by the National Natural Science Foundation of China （grants 40302001 and 40232019） a foundation for the Author of National Excellent Doctoral Dissertation of China （200429）.
文摘ZosterophyUum longa sp. nov. is reported from the Lower Devonian Pingyipu Formation, Jiangyou District, northern Sichuan of China. This new plant has vertically elongate sporangia differing from all known species of Zosterophyllum, demonstrating morphological variations in Zosterophyllophytina. New materials of Zosterophyllum yunnanicum from the Lower Devonian Xujiachong Formation, Qujing District, eastern Yunnan of China show that fertile axes of this species are anisotomous or pseudomonopodial or K-shaped in branching. Sometimes fertile lateral axes are very short and bear an axillary axis at the dividing point. Distinct thickening occurs along the whole margin of a sporangium, with sporangial lobes undeveloped. The evolution of ZosterophyUum is tentatively discussed. A biostratigraphic method of Gerrienne and Streel is introduced and applied to dating of the Lower Devonian Xujiachong Formation, which is considered as of the late Pragian-early Emsian.
文摘SP3 （simplified P3） theory is widely used in LWR （light water reactor） analyses to partly capture the transport effect, especially for pin-by-pin core analysis with pin size homogenization. In this paper, a SP3 code named STELLA is developed and verified at SNERDI （Shanghai Nuclear Engineering Research and Design Institute）. For SP3 method, neutron transport equation can be transformed into two coupled equations in the same mathematical form as diffusion equation. In this work, SANM （semi-analytic nodal method） is used to solve diffusion-like equation, due to its easy to handle multi-group problem. Whole core nodal boundary net current coupling is used to improve convergence stability in SANM, instead of solving two-node problem. CMFD （coarse-mesh finite difference） acceleration method is employed for 0-th SP3 equation, which represents the neutron balance relationship. Three benchmarks are used to verify the SP3 code, STELLA. The first one is a self-defined one dimensional problem, which demonstrates SP3 method is extremely accurate, due to no academic approximation in one dimensional for SP3. The second one is a two dimensional one-group problem cited from Larsen＇s paper, which is usually used to verify and prove the SP3 code correct and accurate. And the third one is modified from 2D C5G7-MOX benchmark, whose numerical results indicate that STELLA is accurate and efficient in pin size level, compared to diffusion model.
文摘In high seismicity areas, it is important to consider kinematic effects to properly design pile foundations.Kinematic effects are due to the interaction between pile and soil deformations induced by seismic waves. One of the effect is the arise of significant strains in weak soils that induce bending moments on piles. These moments can be significant in presence of a high stiffness contrast in a soil deposit. The single pile kinematic interaction problem is generally solved with beam on dynamic Winkler foundation approaches(BDWF) or using continuous models. In this work, a new boundary element method(BEM)based computer code(KIN SP) is presented where the kinematic analysis is preceded by a free-field response analysis. The analysis results of this method, in terms of bending moments at the pile-head and at the interface of a two-layered soil, are influenced by many factors including the soil-pile interface discretization. A parametric study is presented with the aim to suggest the minimum number of boundary elements to guarantee the accuracy of a BEM solution, for typical pile-soil relative stiffness values as a function of the pile diameter, the location of the interface of a two-layered soil and of the stiffness contrast. KIN SP results have been compared with simplified solutions in literature and with those obtained using a quasi-three-dimensional(3D) finite element code.
文摘The RPS method,which integrates the real numerical solution, the perturbation solution and the shooting solution reasonably,can obtain the complex solution of a slab waveguide with small gain/loss regions without searching the root in the entire complex plan.A revision to the RPS method is presented so that it can deal with the waveguide including large gain/loss regions.The application indicated that the simulation results are precise.
