Target motion modes have a close relationship with the relative orientation of missile-totarget in three-dimensional highly maneuvering target interception. From the perspective of relationship between the sensor coor...Target motion modes have a close relationship with the relative orientation of missile-totarget in three-dimensional highly maneuvering target interception. From the perspective of relationship between the sensor coordinate system and the target body coordinate system, a basic model of sensor is stated and the definition of relative angular velocity between the two coordinate systems is introduced firstly. Then, the three-dimensional analytic expressions of relative angular velocity for different motion modes are derived and simplified by analyzing the influences of target centroid motion, rotation around centroid and relative motion. Finally, the relationships of the relative angular velocity directions and values with motion modes are discussed. Simulation results validate the rationality of the theoretical analysis. It is demonstrated that there are significant differences of the relative orientation in different motion modes which include luxuriant information about motion modes. The conclusions are significant for the research of motion mode identification,maneuver detection, maneuvering target tracking and interception using target signatures.展开更多
Clearances in joints of a mechanical multibody system can induce impulsive forces, leading to vibrations that compromise the system’s reliability, stability, and lifespan. Through dynamic analysis, designers can inve...Clearances in joints of a mechanical multibody system can induce impulsive forces, leading to vibrations that compromise the system’s reliability, stability, and lifespan. Through dynamic analysis, designers can investigate the effects of the clearances on the dynamics of the multibody system. A revolute joint with clearance exhibits three motions which are;free-flight, impact and continuous contact motion modes. Therefore, a multibody system with n-number of revolute clearance joints will exhibit 3n motion modes which are a combination of the three motions in each joint. This study investigates experimentally the nine motion modes in a mechanical system with two revolute clearance joints. A slider crank mechanism has been used as the demonstrative example. We observed that the experimental curve exhibits a greater impact compared to the simulation curve. In conclusion, this experimental investigation offers valuable insights into the dynamics of planar mechanical systems with multiple clearance revolute joints. Utilizing a slider-crank mechanism for data acquisition, the study successfully confirmed seven out of nine motion modes previously identified in numerical research. The missing modes are attributed to inherent complexities in real-world systems, such as journal-bearing misalignment.展开更多
The dispersion equation of the Scholte wave was reviewed using the homogeneous elastic half-space covered by a liquid layer,and the range of the Scholte wave propagation velocity was examined using the dispersion equa...The dispersion equation of the Scholte wave was reviewed using the homogeneous elastic half-space covered by a liquid layer,and the range of the Scholte wave propagation velocity was examined using the dispersion equation.The displacement expressions of the Scholte waves in liquid and solid were derived.Additionally,the mode of motion of Scholte waves in liquid and solid and their variation with depth was studied.The following results were obtained:The dispersion equation shows that the propagation velocity of the fundamental Scholte wave was greater than the P-wave in liquid and less than that of the Scholte wave in homogeneous elastic half-space.In contrast,the velocity of higher-order Scholte waves was greater than that of P waves in liquid and S-waves in solid.Only the fundamental Scholte wave has no cutoff frequency.The Scholte wave at the liquid surface moved only vertically,while the particles inside the liquid medium moved elliptically.The amplitude variation with depth in the solid medium caused the particle motion to change from a retrograde ellipse to a prograde ellipse.The above results imply the study of Scholte waves in the ocean and oceanic crust and help estimate ocean depths.展开更多
Trapped-ion systems are one of the leading platforms for quantum information processing, where a key challenge is to scale up system size while maintaining high-fidelity two-qubit operations. A promising approach is t...Trapped-ion systems are one of the leading platforms for quantum information processing, where a key challenge is to scale up system size while maintaining high-fidelity two-qubit operations. A promising approach is to build high-performance modules interconnected via strong coupling. In particular, axial motional modes offer a practical mechanism to couple the ions in a chain, enabling the preparation of Greenberger–Horne–Zeilinger states with up to 24 ions using global operations, as well as high-fidelity two-qubit gates(96.6%–98.0%) in fully connected five-ion chains. Here, we demonstrate two-qubit quantum logic gates in a 5-ion^(40)Ca^(+)chain using axial modes, achieving fidelities exceeding 99% for adjacent pairs and over 98% for arbitrary pairs by carefully tackling dominant error sources. Our results are beneficial to the development of scalable ion-trap quantum processors,quantum simulation and quantum-enhanced metrology.展开更多
The lateral dynamic flight stability of a hovering model insect （dronefly） was studied using the method of computational fluid dynamics to compute the stability derivatives and the techniques of eigenvalue and eigen...The lateral dynamic flight stability of a hovering model insect （dronefly） was studied using the method of computational fluid dynamics to compute the stability derivatives and the techniques of eigenvalue and eigenvector analysis for solving the equations of motion. The main results are as following. （i） Three natural modes of motion were identified： one unstable slow divergence mode （mode 1）, one stable slow oscillatory mode （mode 2）, and one stable fast subsidence mode （mode 3）. Modes 1 and 2 mainly consist of a rotation about the horizontal longitudinal axis （x-axis） and a side translation; mode 3 mainly consists of a rotation about the x-axis and a rotation about the vertical axis. （ii） Approximate analytical expressions of the eigenvalues are derived, which give physical insight into the genesis of the natural modes of motion. （iii） For the unstable divergence mode, td, the time for initial disturbances to double, is about 9 times the wingbeat period （the longitudinal motion of the model insect was shown to be also unstable and td of the longitudinal unstable mode is about 14 times the wingbeat period）. Thus, although the flight is not dynamically stable, the instability does not grow very fast and the insect has enough time to control its wing motion to suppress the disturbances.展开更多
An integrated dynamic model of China＇s deep ocean mining system is developed and the fast simulation analysis of its longitudinal reciprocating motion operation processes is achieved. The seafloor tracked miner is bu...An integrated dynamic model of China＇s deep ocean mining system is developed and the fast simulation analysis of its longitudinal reciprocating motion operation processes is achieved. The seafloor tracked miner is built as a three-dimensional single-body model with six-degree-of-freedom. The track-terrain interaction is modeled by partitioning the track-terrain interface into a certain number of mesh elements with three mutually perpendicular forces, including the normal force, the longitudinal shear force and the lateral shear force, acting on the center point of each mesh element. The hydrodynamic force of the miner is considered and applied. By considering the operational safety and collection efficiency, two new mining paths for the miner on the seafloor are proposed, which can be simulated with the established single-body dynamic model of the miner. The pipeline subsystem is built as a three-dimensional multi-body discrete element model, which is divided into rigid elements linked by flexible connectors. The flexible connector without mass is represented by six spring-damper elements. The external hydrodynamic forces of the ocean current from the longitudinal and lateral directions are both considered and modeled based on the Morison formula and applied to the mass center of each corresponding discrete rigid element. The mining ship is simplified and represented by a general kinematic point, whose heave motion induced by the ocean waves and the longitudinal and lateral towing motions are considered and applied. By integrating the single-body dynamic model of the miner and the multi-body discrete element dynamic model of the pipeline, and defining the kinematic equations of the mining ship, the integrated dynamic model of the total deep ocean mining system is formed. The longitudinal reciprocating motion operation modes of the total mining system, which combine the active straight-line and turning motions of the miner and the ship, and the passive towed motions of the pipeline, are proposed and simulated with the developed 3D dynamic model. Some critical simulation results are obtained and analyzed, such as the motion trajectories of key subsystems, the velocities of the buoyancy modules and the interaction forces between subsystems, which in a way can provide important theoretical basis and useful technical reference for the practical deep ocean mining system analysis, operation and control.展开更多
Previous studies revealed that the error of pole coordinate prediction will significantly increase for a prediction period longer than 100 days, and this is mainly caused by short period oscillations. Empirical mode d...Previous studies revealed that the error of pole coordinate prediction will significantly increase for a prediction period longer than 100 days, and this is mainly caused by short period oscillations. Empirical mode decomposition （EMD）, which is increasingly popular and has advantages over classical wavelet decomposition, can be used to remove short period variations from observed time series of pole co- ordinates. A hybrid model combing EMD and extreme learning machine （ELM）, where high frequency signals are removed and processed time series is then modeled and predicted, is summarized in this paper. The prediction performance of the hybrid model is compared with that of the ELM-only method created from original time series. The results show that the proposed hybrid model outperforms the pure ELM method for both short-term and long-term prediction of pole coordinates. The improvement of prediction accuracy up to 360 days in the future is found to be 24.91% and 26.79% on average in terms of mean absolute error （MAE） for the xp and yp components of pole coordinates, respectively.展开更多
The control problem of coordinated motion of a free-floating space rigid manipulator with external disturbance is discussed. By combining linear momentum conversion and the Lagrangian approach, the full-control dynami...The control problem of coordinated motion of a free-floating space rigid manipulator with external disturbance is discussed. By combining linear momentum conversion and the Lagrangian approach, the full-control dynamic equation and the Jacobian relation of a free-floating space rigid manipulator are established and then inverted to the state equation for control design. Based on the terminal sliding mode control （SMC） technique, a mathematical expression of the terminal sliding surface is proposed. The terminal SMC scheme is then developed for coordinated motion between the base＇s attitude and the end-effector of the free-floating space manipulator with external disturbance. This proposed control scheme not only guarantees the existence of the sliding phase of the closed-loop system, but also ensures that the output tracking error converges to zero in finite time. In addition, because the initial system state is always at the terminal sliding surface, the control scheme can eliminate reaching phase of the SMC and guarantee global robustness and stability of the closed-loop system. A planar free-floating space rigid manipulator is simulated to verify the feasibility of the proposed control scheme.展开更多
Using monthly mean sea ice velocity data obtained from the International Arctic Buoy Programme （IABP） for the period of 1979–1998 and the monthly mean NCEP/NCAR re-analysis dataset （1960–2002）, we investigated t...Using monthly mean sea ice velocity data obtained from the International Arctic Buoy Programme （IABP） for the period of 1979–1998 and the monthly mean NCEP/NCAR re-analysis dataset （1960–2002）, we investigated the spatiotemporal evolution of the leading sea ice motion mode （based on a complex correlation matrix constructed of normalized sea ice motion velocity） and their association with sea level pressure （SLP） and the predominant modes of surface wind field variability. The results indicate that the leading winter sea ice motion mode’s spatial evolution is characterized by two alternating and distinct sea ice modes, or their linear combination. One mode （M1） shows a nearly closed cyclonic or anti-cyclonic circulation anomaly in the Arctic Basin and its marginal seas, resembling to a large extent the response of sea ice motion to the Arctic Oscillation （AO）, as many previous studies have revealed. The other mode （M2） displays a coherent cyclonic or anti-cyclonic circulation anomaly with its center close to the Laptev Sea, which has not been identified in previous observational studies. In fact, M1 and M2 respectively reflect the responses of sea ice motion to two predominant modes of winter surface wind variability north of 70 ？ N, which well correspond, with slight differences, to the first two modes of EOF analysis of winter monthly mean SLP north of 70 ？ N. These slight differences in SLP anomalies lead to a difference of M2 from the response of sea ice motion to the dipole anomaly. Although the AO significantly influences sea ice motion, it is not crucial for the existence of M1. The new sea ice motion mode （M2） has the largest variance and clearly differs from the response of winter monthly mean sea ice motion to the dipole anomaly in SLP fields, and corresponding SLP anomalies also show differences compared to the dipole anomaly. This study indicates that in the Arctic Basin and its marginal seas, slight differences in SLP anomaly patterns can force distinctly different sea ice motion anomalies.展开更多
In order to damp the heave motion of surface effect ships(SESs),a sliding mode controller with a disturbance observer was designed.At first,a disturbance observer was proposed to estimate the unknown time-varying dist...In order to damp the heave motion of surface effect ships(SESs),a sliding mode controller with a disturbance observer was designed.At first,a disturbance observer was proposed to estimate the unknown time-varying disturbance acting on SESs due to waves.Then,based on the disturbance,a slide mode controller was designed to minimize the magnitude of SES's heave motion position.It was theoretically proved that the designed sliding mode controller with the disturbance observer could guarantee the stability of the closed-loop heave motion control system of SESs.Simulations on a Norwegian Navy's SES were carried out and the simulation results illustrated the effectiveness of the proposed controller with the disturbance observer.展开更多
With the consideration of rotation between canopy and payload of parafoil system, a four-degree-of-freedom（4-DOF） longitudinal static model was used to solve parafoil state variables in straight steady flight. The a...With the consideration of rotation between canopy and payload of parafoil system, a four-degree-of-freedom（4-DOF） longitudinal static model was used to solve parafoil state variables in straight steady flight. The aerodynamic solution of parafoil system was a combination of vortex lattice method（VLM） and engineering estimation method. Based on small disturbance assumption,a 6-DOF linear model that considers canopy additional mass was established with benchmark state calculated by 4-DOF static model. Modal analysis of a dynamic model was used to calculate the stability parameters. This method, which is based on a small disturbance linear model and modal analysis, is high-efficiency to the study of parafoil stability. It is well suited for rapid stability analysis in the preliminary stage of parafoil design. Using this method, this paper shows that longitudinal and lateral stability will both decrease when a steady climbing angle increases. This explains the wavy track of the parafoil observed during climbing.展开更多
Corresponding to the sliding and the overturning failure,the elementary motion modes of caisson breakwater include the horizontal-rotational oscillation coupled motion,the horizontal sliding-rotational oscillation cou...Corresponding to the sliding and the overturning failure,the elementary motion modes of caisson breakwater include the horizontal-rotational oscillation coupled motion,the horizontal sliding-rotational oscillation coupled motion,the horizontal vibrating-uplift rocking coupled motion,and the horizontal sliding-uplift rocking coupled motion.The motion mode of a caisson will transform from one to another depending on the wave forces and the motion behaviors of the caisson.The numerical models of four motion modes of caisson are developed,and the numerical simulation procedure for joint motion process of various modes of caisson breakwater under wave excitation is presented and tested by a physical model experiment.It is concluded that the simulation procedure is reliable and can be applied to the dynamic stability analysis of caisson breakwaters.展开更多
The dynamic flight stability of a model dronefly in hovering and upward flight is studied.The method of computational fluid dynamics is used to compute the stability derivatives and the techniques of eigenvalue and ei...The dynamic flight stability of a model dronefly in hovering and upward flight is studied.The method of computational fluid dynamics is used to compute the stability derivatives and the techniques of eigenvalue and eigenvector used to solve the equations of motion.The major finding is as following.Hovering flight of the model dronefly is unstable because of the existence of an unstable longitudinal and an unstable lateral natural mode of motion.Upward flight of the insect is also unstable,and the instability increases as the upward flight speed increases.Inertial force generated by the upward flight velocity coupled with the disturbance in pitching angular velocity is responsible for the enhancement of the instability.展开更多
This article describes an experimental prototype flying fish II and builds a dynamic model that is a novel type of autonomous underwater vehicle(AUV)under the condition of negative buoyancy vehicle(NBV) without large ...This article describes an experimental prototype flying fish II and builds a dynamic model that is a novel type of autonomous underwater vehicle(AUV)under the condition of negative buoyancy vehicle(NBV) without large buoyancy mechanism.Compared with the AUV Remus 100,the flying fish II can cruise with double speeds within the same range and dimensions.The static stability and motion modes of flying fish II in the longitudinal plane are analyzed through the linear system theory.The flying fish II has static stability in the longitudinal plane and the motion mode is related to metacentric height.展开更多
In this paper, response spectral characteristics of one-, two-, and three-lobe sinusoidal acceleration pulses are investigated, and some of their basic properties are derived. Furthermore, the empirical mode decomposi...In this paper, response spectral characteristics of one-, two-, and three-lobe sinusoidal acceleration pulses are investigated, and some of their basic properties are derived. Furthermore, the empirical mode decomposition （EMD） method is utilized as an adaptive filter to decompose the near-fault pulse-like ground motions, which were recorded during the September 20, 1999, Chi-Chi earthquake. These ground motions contain distinct velocity pulses, and were decomposed into high-frequency （HF） and low-frequency （LF） components, from which the corresponding HF acceleration pulse （if existing） and LF acceleration pulse could be easily identified and detected. Finally, the identified acceleration pulses are modeled by simplified sinusoidal approximations, whose dynamic behaviors are compared to those of the original acceleration pulses as well as to those of the original HF and LF acceleration components in the context of elastic response spectra. It was demonstrated that it is just the acceleration pulses contained in the near-fault pulse-like ground motion that fundamentally dominate the special impulsive dynamic behaviors of such motion in an engineering sense. The motion thus has a greater potential to cause severe damage than the far-field ground motions, i.e. they impose high base shear demands on engineering structures as well as placing very high deformation demands on long-period structures.展开更多
A fast mode decision algorithm is proposed in this paper to accelerate the process of transcoding videos into H.264with arbitrary rate spatial resolution down-scaling. The proposed algorithm consists of three steps. F...A fast mode decision algorithm is proposed in this paper to accelerate the process of transcoding videos into H.264with arbitrary rate spatial resolution down-scaling. The proposed algorithm consists of three steps. First, an early-stop technique is introduced to determine the 16× 16-mode blocks, which take up about 70% of all the macroblocks; then, a bottom-up merging process is performed to determine the mode of rest non-early-stopped blocks; and then, we adopt half-pixel motion estimation to further refine the acquired predictive motion vectors. In order to obtain the predictive motion vectors for early-stop and merging processes, we propose a motion vector composition scheme, which can reuse the information in the input pre-encoded videos to handle the spatial resolution down-scaling. Experimental results showed that our algorithm is about four times faster than the Cascaded-Decoder-Encoder method and has negligible PSNR drop and little bit rate increase.展开更多
A rigid flexible coupling physical model which can represent a flexible spacecraft is investigated in this paper. By applying the mechanics theory in a non-inertial coordinate system,the rigid flexible coupling dynami...A rigid flexible coupling physical model which can represent a flexible spacecraft is investigated in this paper. By applying the mechanics theory in a non-inertial coordinate system,the rigid flexible coupling dynamic model with dynamic stiffening is established via the subsystemmodeling framework. It is clearly elucidated for the first time that,dynamic stiffening is produced by the coupling effect of the centrifugal inertial load distributed on the beamand the transverse vibration deformation of the beam. The modeling approach in this paper successfully avoids problems which are caused by other popular modeling methods nowadays： the derivation process is too complex by using only one dynamic principle; a clearly theoretical explanation for dynamic stiffening can＇t be provided. First,the continuous dynamic models of the flexible beamand the central rigid body are established via structural dynamics and angular momentumtheory respectively. Then,based on the conclusions of orthogonalization about the normal constrained modes,the finite dimensional dynamic model suitable for controller design is obtained. The numerical simulation validations showthat： dynamic stiffening is successfully incorporated into the dynamic characteristics of the first-order model established in this paper,which can indicate the dynamic responses of the rigid flexible coupling system with large overall motion accurately,and has a clear modeling mechanism,concise expressions and a good convergence.展开更多
We investigate the preparation and the control of entangled states in a system with the two-mode coherent fields interacting with a moving two-level atom via the two-photon transition. We discuss entanglement properti...We investigate the preparation and the control of entangled states in a system with the two-mode coherent fields interacting with a moving two-level atom via the two-photon transition. We discuss entanglement properties between the two-mode coherent fields and a moving two-level atom by using the quantum reduced entropy, and those between the two-mode coherent fields by using the quantum relative entropy. In addition, we examine the influences of the atomic motion and field-mode structure parameter p on the quantum entanglement of the system. Our results show that the period and the duration of the prepared maximal atom-field entangled states and the frequency of maximal two-mode field entangled states can be controlled, and that a sustained entangled state of the two-mode field, which is independent of atomic motion and the evolution time, can be obtained, by choosing appropriately the parameters of atomic motion, field-mode structure, initial state and interaction time of the system.展开更多
基金supported by the Specialized Research Fund for the Doctoral Program of China Higher Education (No. 20134307110012)the National Natural Science Foundation of China (No. 61101186)
文摘Target motion modes have a close relationship with the relative orientation of missile-totarget in three-dimensional highly maneuvering target interception. From the perspective of relationship between the sensor coordinate system and the target body coordinate system, a basic model of sensor is stated and the definition of relative angular velocity between the two coordinate systems is introduced firstly. Then, the three-dimensional analytic expressions of relative angular velocity for different motion modes are derived and simplified by analyzing the influences of target centroid motion, rotation around centroid and relative motion. Finally, the relationships of the relative angular velocity directions and values with motion modes are discussed. Simulation results validate the rationality of the theoretical analysis. It is demonstrated that there are significant differences of the relative orientation in different motion modes which include luxuriant information about motion modes. The conclusions are significant for the research of motion mode identification,maneuver detection, maneuvering target tracking and interception using target signatures.
文摘Clearances in joints of a mechanical multibody system can induce impulsive forces, leading to vibrations that compromise the system’s reliability, stability, and lifespan. Through dynamic analysis, designers can investigate the effects of the clearances on the dynamics of the multibody system. A revolute joint with clearance exhibits three motions which are;free-flight, impact and continuous contact motion modes. Therefore, a multibody system with n-number of revolute clearance joints will exhibit 3n motion modes which are a combination of the three motions in each joint. This study investigates experimentally the nine motion modes in a mechanical system with two revolute clearance joints. A slider crank mechanism has been used as the demonstrative example. We observed that the experimental curve exhibits a greater impact compared to the simulation curve. In conclusion, this experimental investigation offers valuable insights into the dynamics of planar mechanical systems with multiple clearance revolute joints. Utilizing a slider-crank mechanism for data acquisition, the study successfully confirmed seven out of nine motion modes previously identified in numerical research. The missing modes are attributed to inherent complexities in real-world systems, such as journal-bearing misalignment.
基金supported by the National Natural Science Fondation of China(Nos.42174074,41674055,41704053)the Earthquake Science Spark Program of Hebei Province(No.DZ20200827053)+1 种基金Fundamental Research Funds for the Central Universities(No.ZY20215117)the Hebei Key Laboratory of Earthquake Dynamics(No.FZ212105).
文摘The dispersion equation of the Scholte wave was reviewed using the homogeneous elastic half-space covered by a liquid layer,and the range of the Scholte wave propagation velocity was examined using the dispersion equation.The displacement expressions of the Scholte waves in liquid and solid were derived.Additionally,the mode of motion of Scholte waves in liquid and solid and their variation with depth was studied.The following results were obtained:The dispersion equation shows that the propagation velocity of the fundamental Scholte wave was greater than the P-wave in liquid and less than that of the Scholte wave in homogeneous elastic half-space.In contrast,the velocity of higher-order Scholte waves was greater than that of P waves in liquid and S-waves in solid.Only the fundamental Scholte wave has no cutoff frequency.The Scholte wave at the liquid surface moved only vertically,while the particles inside the liquid medium moved elliptically.The amplitude variation with depth in the solid medium caused the particle motion to change from a retrograde ellipse to a prograde ellipse.The above results imply the study of Scholte waves in the ocean and oceanic crust and help estimate ocean depths.
基金supported by the Innovation Program for Quantum Science and Technology (Grant No.2021ZD0301603)the National Natural Science Foundation of China (Grant No.92165206)。
文摘Trapped-ion systems are one of the leading platforms for quantum information processing, where a key challenge is to scale up system size while maintaining high-fidelity two-qubit operations. A promising approach is to build high-performance modules interconnected via strong coupling. In particular, axial motional modes offer a practical mechanism to couple the ions in a chain, enabling the preparation of Greenberger–Horne–Zeilinger states with up to 24 ions using global operations, as well as high-fidelity two-qubit gates(96.6%–98.0%) in fully connected five-ion chains. Here, we demonstrate two-qubit quantum logic gates in a 5-ion^(40)Ca^(+)chain using axial modes, achieving fidelities exceeding 99% for adjacent pairs and over 98% for arbitrary pairs by carefully tackling dominant error sources. Our results are beneficial to the development of scalable ion-trap quantum processors,quantum simulation and quantum-enhanced metrology.
基金supported by the National Natural Science Foundation of China(10732030)the 111 Project(B07009)
文摘The lateral dynamic flight stability of a hovering model insect （dronefly） was studied using the method of computational fluid dynamics to compute the stability derivatives and the techniques of eigenvalue and eigenvector analysis for solving the equations of motion. The main results are as following. （i） Three natural modes of motion were identified： one unstable slow divergence mode （mode 1）, one stable slow oscillatory mode （mode 2）, and one stable fast subsidence mode （mode 3）. Modes 1 and 2 mainly consist of a rotation about the horizontal longitudinal axis （x-axis） and a side translation; mode 3 mainly consists of a rotation about the x-axis and a rotation about the vertical axis. （ii） Approximate analytical expressions of the eigenvalues are derived, which give physical insight into the genesis of the natural modes of motion. （iii） For the unstable divergence mode, td, the time for initial disturbances to double, is about 9 times the wingbeat period （the longitudinal motion of the model insect was shown to be also unstable and td of the longitudinal unstable mode is about 14 times the wingbeat period）. Thus, although the flight is not dynamically stable, the instability does not grow very fast and the insect has enough time to control its wing motion to suppress the disturbances.
基金supported by the National Natural Science Foundation of China(Grant No.51105386)the National Deep-Sea Technology Project of Development and Research(Grant No.DYXM-115-04-02-01)the Fundamental Research Funds for the Central Universities(Grant No.2011QNZT058)
文摘An integrated dynamic model of China＇s deep ocean mining system is developed and the fast simulation analysis of its longitudinal reciprocating motion operation processes is achieved. The seafloor tracked miner is built as a three-dimensional single-body model with six-degree-of-freedom. The track-terrain interaction is modeled by partitioning the track-terrain interface into a certain number of mesh elements with three mutually perpendicular forces, including the normal force, the longitudinal shear force and the lateral shear force, acting on the center point of each mesh element. The hydrodynamic force of the miner is considered and applied. By considering the operational safety and collection efficiency, two new mining paths for the miner on the seafloor are proposed, which can be simulated with the established single-body dynamic model of the miner. The pipeline subsystem is built as a three-dimensional multi-body discrete element model, which is divided into rigid elements linked by flexible connectors. The flexible connector without mass is represented by six spring-damper elements. The external hydrodynamic forces of the ocean current from the longitudinal and lateral directions are both considered and modeled based on the Morison formula and applied to the mass center of each corresponding discrete rigid element. The mining ship is simplified and represented by a general kinematic point, whose heave motion induced by the ocean waves and the longitudinal and lateral towing motions are considered and applied. By integrating the single-body dynamic model of the miner and the multi-body discrete element dynamic model of the pipeline, and defining the kinematic equations of the mining ship, the integrated dynamic model of the total deep ocean mining system is formed. The longitudinal reciprocating motion operation modes of the total mining system, which combine the active straight-line and turning motions of the miner and the ship, and the passive towed motions of the pipeline, are proposed and simulated with the developed 3D dynamic model. Some critical simulation results are obtained and analyzed, such as the motion trajectories of key subsystems, the velocities of the buoyancy modules and the interaction forces between subsystems, which in a way can provide important theoretical basis and useful technical reference for the practical deep ocean mining system analysis, operation and control.
基金supported by Chinese Academy of Sciences(No.201491)“Light of West China” Program(201491)
文摘Previous studies revealed that the error of pole coordinate prediction will significantly increase for a prediction period longer than 100 days, and this is mainly caused by short period oscillations. Empirical mode decomposition （EMD）, which is increasingly popular and has advantages over classical wavelet decomposition, can be used to remove short period variations from observed time series of pole co- ordinates. A hybrid model combing EMD and extreme learning machine （ELM）, where high frequency signals are removed and processed time series is then modeled and predicted, is summarized in this paper. The prediction performance of the hybrid model is compared with that of the ELM-only method created from original time series. The results show that the proposed hybrid model outperforms the pure ELM method for both short-term and long-term prediction of pole coordinates. The improvement of prediction accuracy up to 360 days in the future is found to be 24.91% and 26.79% on average in terms of mean absolute error （MAE） for the xp and yp components of pole coordinates, respectively.
基金the National Natural Science Foundation of China(Nos.10672040 and 10372022)the Natural Science Foundation of Fujian Province,China(No.E0410008)
文摘The control problem of coordinated motion of a free-floating space rigid manipulator with external disturbance is discussed. By combining linear momentum conversion and the Lagrangian approach, the full-control dynamic equation and the Jacobian relation of a free-floating space rigid manipulator are established and then inverted to the state equation for control design. Based on the terminal sliding mode control （SMC） technique, a mathematical expression of the terminal sliding surface is proposed. The terminal SMC scheme is then developed for coordinated motion between the base＇s attitude and the end-effector of the free-floating space manipulator with external disturbance. This proposed control scheme not only guarantees the existence of the sliding phase of the closed-loop system, but also ensures that the output tracking error converges to zero in finite time. In addition, because the initial system state is always at the terminal sliding surface, the control scheme can eliminate reaching phase of the SMC and guarantee global robustness and stability of the closed-loop system. A planar free-floating space rigid manipulator is simulated to verify the feasibility of the proposed control scheme.
基金supported by Interactionsof the External Forcing in the Northern Mid-high Latitudes with Atmospheric Circulations (GYHY200906017)the Coordinated Observation and Prediction of Earth System(COPES) project (GYHY200706005)the National Natural Science Foundation of China (Grant No. 40875052),and the Alaska Ocean Observing System (AOOS)
文摘Using monthly mean sea ice velocity data obtained from the International Arctic Buoy Programme （IABP） for the period of 1979–1998 and the monthly mean NCEP/NCAR re-analysis dataset （1960–2002）, we investigated the spatiotemporal evolution of the leading sea ice motion mode （based on a complex correlation matrix constructed of normalized sea ice motion velocity） and their association with sea level pressure （SLP） and the predominant modes of surface wind field variability. The results indicate that the leading winter sea ice motion mode’s spatial evolution is characterized by two alternating and distinct sea ice modes, or their linear combination. One mode （M1） shows a nearly closed cyclonic or anti-cyclonic circulation anomaly in the Arctic Basin and its marginal seas, resembling to a large extent the response of sea ice motion to the Arctic Oscillation （AO）, as many previous studies have revealed. The other mode （M2） displays a coherent cyclonic or anti-cyclonic circulation anomaly with its center close to the Laptev Sea, which has not been identified in previous observational studies. In fact, M1 and M2 respectively reflect the responses of sea ice motion to two predominant modes of winter surface wind variability north of 70 ？ N, which well correspond, with slight differences, to the first two modes of EOF analysis of winter monthly mean SLP north of 70 ？ N. These slight differences in SLP anomalies lead to a difference of M2 from the response of sea ice motion to the dipole anomaly. Although the AO significantly influences sea ice motion, it is not crucial for the existence of M1. The new sea ice motion mode （M2） has the largest variance and clearly differs from the response of winter monthly mean sea ice motion to the dipole anomaly in SLP fields, and corresponding SLP anomalies also show differences compared to the dipole anomaly. This study indicates that in the Arctic Basin and its marginal seas, slight differences in SLP anomaly patterns can force distinctly different sea ice motion anomalies.
基金National Natural Science Foundations of China(Nos.51579026,51079013)Program for Excellent Talents in Universities of Liaoning Province,China(No.LR2015007)+1 种基金Project of Resource and Social Security of Ministry of Human Province,ChinaFundamental Research Funds for the Central Universities,China(No.3132016020)
文摘In order to damp the heave motion of surface effect ships(SESs),a sliding mode controller with a disturbance observer was designed.At first,a disturbance observer was proposed to estimate the unknown time-varying disturbance acting on SESs due to waves.Then,based on the disturbance,a slide mode controller was designed to minimize the magnitude of SES's heave motion position.It was theoretically proved that the designed sliding mode controller with the disturbance observer could guarantee the stability of the closed-loop heave motion control system of SESs.Simulations on a Norwegian Navy's SES were carried out and the simulation results illustrated the effectiveness of the proposed controller with the disturbance observer.
文摘With the consideration of rotation between canopy and payload of parafoil system, a four-degree-of-freedom（4-DOF） longitudinal static model was used to solve parafoil state variables in straight steady flight. The aerodynamic solution of parafoil system was a combination of vortex lattice method（VLM） and engineering estimation method. Based on small disturbance assumption,a 6-DOF linear model that considers canopy additional mass was established with benchmark state calculated by 4-DOF static model. Modal analysis of a dynamic model was used to calculate the stability parameters. This method, which is based on a small disturbance linear model and modal analysis, is high-efficiency to the study of parafoil stability. It is well suited for rapid stability analysis in the preliminary stage of parafoil design. Using this method, this paper shows that longitudinal and lateral stability will both decrease when a steady climbing angle increases. This explains the wavy track of the parafoil observed during climbing.
基金supported by the National Natural Science Foundation of China(Grant No.50979069)the Science and Technology Project of West China Traffic Construction(Grant No.200632800003-06)
文摘Corresponding to the sliding and the overturning failure,the elementary motion modes of caisson breakwater include the horizontal-rotational oscillation coupled motion,the horizontal sliding-rotational oscillation coupled motion,the horizontal vibrating-uplift rocking coupled motion,and the horizontal sliding-uplift rocking coupled motion.The motion mode of a caisson will transform from one to another depending on the wave forces and the motion behaviors of the caisson.The numerical models of four motion modes of caisson are developed,and the numerical simulation procedure for joint motion process of various modes of caisson breakwater under wave excitation is presented and tested by a physical model experiment.It is concluded that the simulation procedure is reliable and can be applied to the dynamic stability analysis of caisson breakwaters.
基金supported by the National Natural Science Foundation of China(11232002)
文摘The dynamic flight stability of a model dronefly in hovering and upward flight is studied.The method of computational fluid dynamics is used to compute the stability derivatives and the techniques of eigenvalue and eigenvector used to solve the equations of motion.The major finding is as following.Hovering flight of the model dronefly is unstable because of the existence of an unstable longitudinal and an unstable lateral natural mode of motion.Upward flight of the insect is also unstable,and the instability increases as the upward flight speed increases.Inertial force generated by the upward flight velocity coupled with the disturbance in pitching angular velocity is responsible for the enhancement of the instability.
基金the China Postdoctoral Science Foundation(No.20100480588)the National High Technology Research and Development Program(863)of China(No.2007AA09Z215)the Program of Key Laboratories of Shanghai Jiaotong University(No.GKZD010043)
文摘This article describes an experimental prototype flying fish II and builds a dynamic model that is a novel type of autonomous underwater vehicle(AUV)under the condition of negative buoyancy vehicle(NBV) without large buoyancy mechanism.Compared with the AUV Remus 100,the flying fish II can cruise with double speeds within the same range and dimensions.The static stability and motion modes of flying fish II in the longitudinal plane are analyzed through the linear system theory.The flying fish II has static stability in the longitudinal plane and the motion mode is related to metacentric height.
基金Natural Science Foundation of China Under Grant No. 50278090
文摘In this paper, response spectral characteristics of one-, two-, and three-lobe sinusoidal acceleration pulses are investigated, and some of their basic properties are derived. Furthermore, the empirical mode decomposition （EMD） method is utilized as an adaptive filter to decompose the near-fault pulse-like ground motions, which were recorded during the September 20, 1999, Chi-Chi earthquake. These ground motions contain distinct velocity pulses, and were decomposed into high-frequency （HF） and low-frequency （LF） components, from which the corresponding HF acceleration pulse （if existing） and LF acceleration pulse could be easily identified and detected. Finally, the identified acceleration pulses are modeled by simplified sinusoidal approximations, whose dynamic behaviors are compared to those of the original acceleration pulses as well as to those of the original HF and LF acceleration components in the context of elastic response spectra. It was demonstrated that it is just the acceleration pulses contained in the near-fault pulse-like ground motion that fundamentally dominate the special impulsive dynamic behaviors of such motion in an engineering sense. The motion thus has a greater potential to cause severe damage than the far-field ground motions, i.e. they impose high base shear demands on engineering structures as well as placing very high deformation demands on long-period structures.
基金Project supported by the National Natural Science Foundation of China (No. 60573176)the Key Technologies R & D Program of Zhejiang Province (Nos. 2005C23047 and 2004C11052), China
文摘A fast mode decision algorithm is proposed in this paper to accelerate the process of transcoding videos into H.264with arbitrary rate spatial resolution down-scaling. The proposed algorithm consists of three steps. First, an early-stop technique is introduced to determine the 16× 16-mode blocks, which take up about 70% of all the macroblocks; then, a bottom-up merging process is performed to determine the mode of rest non-early-stopped blocks; and then, we adopt half-pixel motion estimation to further refine the acquired predictive motion vectors. In order to obtain the predictive motion vectors for early-stop and merging processes, we propose a motion vector composition scheme, which can reuse the information in the input pre-encoded videos to handle the spatial resolution down-scaling. Experimental results showed that our algorithm is about four times faster than the Cascaded-Decoder-Encoder method and has negligible PSNR drop and little bit rate increase.
文摘A rigid flexible coupling physical model which can represent a flexible spacecraft is investigated in this paper. By applying the mechanics theory in a non-inertial coordinate system,the rigid flexible coupling dynamic model with dynamic stiffening is established via the subsystemmodeling framework. It is clearly elucidated for the first time that,dynamic stiffening is produced by the coupling effect of the centrifugal inertial load distributed on the beamand the transverse vibration deformation of the beam. The modeling approach in this paper successfully avoids problems which are caused by other popular modeling methods nowadays： the derivation process is too complex by using only one dynamic principle; a clearly theoretical explanation for dynamic stiffening can＇t be provided. First,the continuous dynamic models of the flexible beamand the central rigid body are established via structural dynamics and angular momentumtheory respectively. Then,based on the conclusions of orthogonalization about the normal constrained modes,the finite dimensional dynamic model suitable for controller design is obtained. The numerical simulation validations showthat： dynamic stiffening is successfully incorporated into the dynamic characteristics of the first-order model established in this paper,which can indicate the dynamic responses of the rigid flexible coupling system with large overall motion accurately,and has a clear modeling mechanism,concise expressions and a good convergence.
基金Project supported by the National Natural Science Foundation of China （Grant No 19874020）, the Natural Science Foundation of Hunan Province, China （Grant No 05JJ30004）, and the Scientific Research Fund of Hunan Provincial Education Department, China（Grant No 03c543）.
文摘We investigate the preparation and the control of entangled states in a system with the two-mode coherent fields interacting with a moving two-level atom via the two-photon transition. We discuss entanglement properties between the two-mode coherent fields and a moving two-level atom by using the quantum reduced entropy, and those between the two-mode coherent fields by using the quantum relative entropy. In addition, we examine the influences of the atomic motion and field-mode structure parameter p on the quantum entanglement of the system. Our results show that the period and the duration of the prepared maximal atom-field entangled states and the frequency of maximal two-mode field entangled states can be controlled, and that a sustained entangled state of the two-mode field, which is independent of atomic motion and the evolution time, can be obtained, by choosing appropriately the parameters of atomic motion, field-mode structure, initial state and interaction time of the system.
