A nonlinear lateral-torsional coupled vibration model of a planetary gear system was established by taking transmission errors,time varying meshing stiffness and multiple gear backlashes into account.The bifurcation d...A nonlinear lateral-torsional coupled vibration model of a planetary gear system was established by taking transmission errors,time varying meshing stiffness and multiple gear backlashes into account.The bifurcation diagram of the system's motion state with rotational speed of sun gear was conducted through four steps.As a bifurcation parameter,the effect of rotational speed on the bifurcation properties of the system was assessed.The study results reveal that periodic motion is the main motion state of planetary gear train in low speed region when ns<2 350 r/min,but chaos motion state is dominant in high speed region when ns>2 350 r/min,The way of periodic motion to chaos is doubling bifurcation.There are two kinds of unstable modes and nine unstable regions in the speed region when 1 000 r/min<ns<3 000 r/min.展开更多
The bifurcation dynamics of shallow arch which possesses initial deflection under periodic excitation for the case of 1:2 internal resonance is studied in this paper. The whole parametric plane is divided into several...The bifurcation dynamics of shallow arch which possesses initial deflection under periodic excitation for the case of 1:2 internal resonance is studied in this paper. The whole parametric plane is divided into several different regions according to lire types of motions; then the distribution of steady state motions of shallow arch on the plane of physical parameters is obtained. Combining with numerical method, the dynamics of the system in different regions, especially in the Hopf bifurcation region, is studied in detail. The rule of the mode interaction and the route to chaos of the system is also analysed at the end.展开更多
In this paper, we propose a scheme for generating an arbitrary three-dimensional pure state of vibrational motion of a trapped ion. Our scheme is based on a sequence of laser pulses, which are tuned to the appropriate...In this paper, we propose a scheme for generating an arbitrary three-dimensional pure state of vibrational motion of a trapped ion. Our scheme is based on a sequence of laser pulses, which are tuned to the appropriate vibrational sidebands with respect to the appropriate electronic transition.展开更多
Incorporating rate and state friction laws, stability of linearly stable （i.e., with stiffness greater than the critical value） spring-slider systems subjected to triggering perturbations was analyzed under variable...Incorporating rate and state friction laws, stability of linearly stable （i.e., with stiffness greater than the critical value） spring-slider systems subjected to triggering perturbations was analyzed under variable normal stress condition, and comparison was made between our results and that of fixed normal stress cases revealed in previous studies. For systems associated with the slip law, the critical mag- nitude of rate steps for triggering unstable slips are found to have a similar pattern to the fixed normal stress case, and the critical velocity steps scale with a/（b - a） when k = kcr for both cases. The rate-step boundaries for the variable normal stress cases are revealed to be lower than the fixed normal stress case by 7 %-16 % for a relatively large ct = 0.56 with （b - a）/a ranging from 0.25 to 1, indicating easier triggering under the variable normal stress condition with rate steps. The difference between fixed and variable normal stress cases decreases when the α value is smaller. In the same slip- law-type systems, critical displacements to trigger instability are revealed to be little affected by the variable normal stress condition. When k 〉 kcr（V,）, a spring-slider system with the slowness law is much more stable than with the slip law,suggesting that the slowness law fits experimental data better when a single state variable is adopted. In stick-slip motions, the variable normal stress case has larger stress drops than the constant normal stress case. The variable normal stress has little effect on the range of slip velocity in systems associated with the slowness law, whereas systems associated with the slip law have a slowest slip velocity immensely smaller than the fixed normal stress case, by ~ 10 orders of magnitude.展开更多
In order to achieve the functional requirements of multi-moving state, a new autonomous underwater vehicle(AUV) provided with the functions such as the submarine vectorial thrust, landing on the sea bottom, wheel driv...In order to achieve the functional requirements of multi-moving state, a new autonomous underwater vehicle(AUV) provided with the functions such as the submarine vectorial thrust, landing on the sea bottom, wheel driving on the ground and crawling on the ground was designed. Then five new theories and methods were proposed about the motion mechanism of the AUV such as vectorial thruster technology, design of a new wheel propeller, kinematics and dynamics, navigation control and the ambient flow field in complex sea conditions, which can all conquer conventional technique shortages and predict the multi-moving state performance under wave disturbance. The theoretical research can realize the results such as a vectorial transmission shaft with the characteristics of spatial deflexion and continual circumgyratetion, parameterized design of the new wheel propeller with preferable open-water performance and intensity characteristics satisfying multi-moving state requirements, motion computation and kinetic analysis of AUV's arbitrary postures under wave disturbance, a second-order sliding mode controller with double-loop structure based on dynamic boundary layer that ensures AUV's trajectory high-precision tracking performance under wave disturbance, fast and exact prediction of the ambient flow field characteristics and the interaction mechanism between AUV hull and wheel propellers. The elaborate data obtained from the theoretical research can provide an important theoretical guidance and technical support for the manufacture of experimental prototype.展开更多
Effective Hamiltonians in periodically driven systems have received widespread attention for realization of novel quantum phases, non-equilibrium phase transition, and Majorana mode. Recently, the study of effective H...Effective Hamiltonians in periodically driven systems have received widespread attention for realization of novel quantum phases, non-equilibrium phase transition, and Majorana mode. Recently, the study of effective Hamiltonian using various methods has gained great interest. We consider a vector differential equation of motion to derive the effective Hamiltonian for any periodically driven two-level system, and the dynamics of the spin vector are an evolution under the Bloch sphere. Here, we investigate the properties of this equation and show that a sudden change of the effective Hamiltonian is expected. Furthermore, we present several exact relations, whose expressions are independent of the different starting points. Moreover, we deduce the effective Hamiltonian from the high-frequency limit, which approximately equals the results in previous studies. Our results show that the vector differential equation of motion is not affected by a convergence problem, and thus, can be used to numerically investigate the effective models in any periodic modulating system. Finally, we anticipate that the proposed method can be applied to experimental platforms that require time-periodic modulation, such as ultracold atoms and optical lattices.展开更多
Due to the particularity of its location algorithm,there are some unique difficulties and features regarding the test of target motion states of multilateration(MLAT)system for airport surface surveillance.This paper ...Due to the particularity of its location algorithm,there are some unique difficulties and features regarding the test of target motion states of multilateration(MLAT)system for airport surface surveillance.This paper proposed a test method applicable for the airport surface surveillance MLAT system,which can effectively determine whether the target is static or moving at a certain speed.Via a normalized test statistic designed in the sliding data window,the proposed method not only eliminates the impact of geometry Dilution of precision(GDOP)effectively,but also transforms the test of different motion states into the test of different probability density functions.Meanwhile,by adjusting the size of the sliding window,it can fulfill different test performance requirements.The method was developed through strict theoretical extrapolation and performance analysis,and simulations results verified its correctness and effectiveness.展开更多
We report on electromagnetically induced transparency cooling of ^(40)Ca^(+)to sympathetically cool the threedimensional secular modes of motion in a ^(40)Ca^(+)–^(27)Al^(+)two-ion pair near the ground state.We obser...We report on electromagnetically induced transparency cooling of ^(40)Ca^(+)to sympathetically cool the threedimensional secular modes of motion in a ^(40)Ca^(+)–^(27)Al^(+)two-ion pair near the ground state.We observe simultaneous ground state cooling across all radial modes and axial modes of a ^(40)Ca^(+)–^(27)Al^(+)ion pair,occupying a broader cooling range in frequency space over 3 MHz.The cooling time is observed to be less than 1 ms.The mean phonon number and heating rates of all motional modes are measured.This study is not only an important step for reducing the secular motion time-dilation shift uncertainty and uptime ratio of ^(27)Al^(+)optical clock,but also essential for high-fidelity quantum simulations and quantum information processors using trapped ions.展开更多
An assembly robot needs to be capable of executing an assembly task robustly under various uncertainties.To attain this goal,we use a task sequence tree model originally proposed for manual assembly.This model regards...An assembly robot needs to be capable of executing an assembly task robustly under various uncertainties.To attain this goal,we use a task sequence tree model originally proposed for manual assembly.This model regards an assembly task under uncertainties as a transformation of the contact state concept.The concept may contain several contact states with probabilities but these are transformed through a series of task elements into the contact state concept having only the goal state at the end.The transformed contact state concept can be classified according to the terminal condition of each task element.Thus,the whole assembly task can be designed as a tree-shaped contingent strategy called a task sequence tree.This paper proposes a systematic approach for reconfiguring a task sequence tree model for application to a robotic assembly task.In addition,by taking a 2D peg-in-hole insertion task to be performed by a robot equipped with a force sensor as an example,we confirm that the proposed approach can provide a robust motion strategy for the task and that the robot can actually execute the task robustly under bounded uncertainty according to the strategy.展开更多
An active perception methodology is proposed to locally predict the observability condition in a reasonable horizon and suggest an observability-constrained motion direction for the next step to ensure an accurate and...An active perception methodology is proposed to locally predict the observability condition in a reasonable horizon and suggest an observability-constrained motion direction for the next step to ensure an accurate and consistent state estimation performance of vision-based navigation systems. The methodology leverages an efficient EOG-based observability analysis and a motion primitive-based path sampling technique to realize the local observability prediction with a real-time performance. The observability conditions of potential motion trajectories are evaluated,and an informed motion direction is selected to ensure the observability efficiency for the state estimation system. The proposed approach is specialized to a representative optimizationbased monocular vision-based state estimation formulation and demonstrated through simulation and experiments to evaluate the ability of estimation degradation prediction and efficacy of motion direction suggestion.展开更多
We study the spatiotemporal Bloch states of a high-frequency driven two-component Bose–Einstein condensate(BEC)with spin–orbit coupling(SOC) in an optical lattice. By adopting the rotating-wave approximation(RWA) an...We study the spatiotemporal Bloch states of a high-frequency driven two-component Bose–Einstein condensate(BEC)with spin–orbit coupling(SOC) in an optical lattice. By adopting the rotating-wave approximation(RWA) and applying an exact trial-solution to the corresponding quasistationary system, we establish a different method for tuning SOC via external field such that the existence conditions of the exact particular solutions are fitted. Several novel features related to the exact states are demonstrated; for example, SOC leads to spin–motion entanglement for the spatiotemporal Bloch states, SOC increases the population imbalance of the two-component BEC, and SOC can be applied to manipulate the stable atomic flow which is conducive to control quantum transport of the BEC for different application purposes.展开更多
A methodology is proposed to enable real-time evaluation of the observability of local motions,and generate a local observability cost map to enable informed local motion planning in order to avoid potential degradati...A methodology is proposed to enable real-time evaluation of the observability of local motions,and generate a local observability cost map to enable informed local motion planning in order to avoid potential degradation or degeneracy in state estimator performance.The proposed approach leverages efficient numerical techniques in nonlinear observability analysis and motion primitive-based planning technique to realize the local observability prediction with real-time performance.The degradation of the state estimation performance can be readily predicted with the local observability evaluation result.The proposed approach is specialized to a representative optimization-based monocular visual-inertial state estimation formulation and evaluated through simulation and experiments.The experimental results demonstrated the ability of the proposed methodology to correctly anticipate the potential state estimation degradation.展开更多
基金Project(50775108) supported by the National Natural Science Foundation of China
文摘A nonlinear lateral-torsional coupled vibration model of a planetary gear system was established by taking transmission errors,time varying meshing stiffness and multiple gear backlashes into account.The bifurcation diagram of the system's motion state with rotational speed of sun gear was conducted through four steps.As a bifurcation parameter,the effect of rotational speed on the bifurcation properties of the system was assessed.The study results reveal that periodic motion is the main motion state of planetary gear train in low speed region when ns<2 350 r/min,but chaos motion state is dominant in high speed region when ns>2 350 r/min,The way of periodic motion to chaos is doubling bifurcation.There are two kinds of unstable modes and nine unstable regions in the speed region when 1 000 r/min<ns<3 000 r/min.
文摘The bifurcation dynamics of shallow arch which possesses initial deflection under periodic excitation for the case of 1:2 internal resonance is studied in this paper. The whole parametric plane is divided into several different regions according to lire types of motions; then the distribution of steady state motions of shallow arch on the plane of physical parameters is obtained. Combining with numerical method, the dynamics of the system in different regions, especially in the Hopf bifurcation region, is studied in detail. The rule of the mode interaction and the route to chaos of the system is also analysed at the end.
基金Supported by Key Program of National Natural Science Foundation of China under Grant No. 60931002National Natural Science Foundation of China under Grant No.10704001+3 种基金Anhui Provincial Natural Science Foundation under Grant No. 070412060the Major Program of the Education Department of Anhui Province under Grant No. KJ2010ZD08the Key Program of the Education Department of Anhui Province under Grant No. KJ2010A287the Personal Development Foundation of Anhui Province under Grant No. 2009Z022
文摘In this paper, we propose a scheme for generating an arbitrary three-dimensional pure state of vibrational motion of a trapped ion. Our scheme is based on a sequence of laser pulses, which are tuned to the appropriate vibrational sidebands with respect to the appropriate electronic transition.
基金supported by the National Natural Science Foundation of China under Grant Nos.40574080 and 41274186
文摘Incorporating rate and state friction laws, stability of linearly stable （i.e., with stiffness greater than the critical value） spring-slider systems subjected to triggering perturbations was analyzed under variable normal stress condition, and comparison was made between our results and that of fixed normal stress cases revealed in previous studies. For systems associated with the slip law, the critical mag- nitude of rate steps for triggering unstable slips are found to have a similar pattern to the fixed normal stress case, and the critical velocity steps scale with a/（b - a） when k = kcr for both cases. The rate-step boundaries for the variable normal stress cases are revealed to be lower than the fixed normal stress case by 7 %-16 % for a relatively large ct = 0.56 with （b - a）/a ranging from 0.25 to 1, indicating easier triggering under the variable normal stress condition with rate steps. The difference between fixed and variable normal stress cases decreases when the α value is smaller. In the same slip- law-type systems, critical displacements to trigger instability are revealed to be little affected by the variable normal stress condition. When k 〉 kcr（V,）, a spring-slider system with the slowness law is much more stable than with the slip law,suggesting that the slowness law fits experimental data better when a single state variable is adopted. In stick-slip motions, the variable normal stress case has larger stress drops than the constant normal stress case. The variable normal stress has little effect on the range of slip velocity in systems associated with the slowness law, whereas systems associated with the slip law have a slowest slip velocity immensely smaller than the fixed normal stress case, by ~ 10 orders of magnitude.
基金Project(51505491)supported by the National Natural Science Foundation of ChinaProject(ZR2014EEP019)supported by the Natural Science Foundation of Shandong Province,China
文摘In order to achieve the functional requirements of multi-moving state, a new autonomous underwater vehicle(AUV) provided with the functions such as the submarine vectorial thrust, landing on the sea bottom, wheel driving on the ground and crawling on the ground was designed. Then five new theories and methods were proposed about the motion mechanism of the AUV such as vectorial thruster technology, design of a new wheel propeller, kinematics and dynamics, navigation control and the ambient flow field in complex sea conditions, which can all conquer conventional technique shortages and predict the multi-moving state performance under wave disturbance. The theoretical research can realize the results such as a vectorial transmission shaft with the characteristics of spatial deflexion and continual circumgyratetion, parameterized design of the new wheel propeller with preferable open-water performance and intensity characteristics satisfying multi-moving state requirements, motion computation and kinetic analysis of AUV's arbitrary postures under wave disturbance, a second-order sliding mode controller with double-loop structure based on dynamic boundary layer that ensures AUV's trajectory high-precision tracking performance under wave disturbance, fast and exact prediction of the ambient flow field characteristics and the interaction mechanism between AUV hull and wheel propellers. The elaborate data obtained from the theoretical research can provide an important theoretical guidance and technical support for the manufacture of experimental prototype.
基金supported by the National Natural Science Foundation of China (Grant No. 11774328)。
文摘Effective Hamiltonians in periodically driven systems have received widespread attention for realization of novel quantum phases, non-equilibrium phase transition, and Majorana mode. Recently, the study of effective Hamiltonian using various methods has gained great interest. We consider a vector differential equation of motion to derive the effective Hamiltonian for any periodically driven two-level system, and the dynamics of the spin vector are an evolution under the Bloch sphere. Here, we investigate the properties of this equation and show that a sudden change of the effective Hamiltonian is expected. Furthermore, we present several exact relations, whose expressions are independent of the different starting points. Moreover, we deduce the effective Hamiltonian from the high-frequency limit, which approximately equals the results in previous studies. Our results show that the vector differential equation of motion is not affected by a convergence problem, and thus, can be used to numerically investigate the effective models in any periodic modulating system. Finally, we anticipate that the proposed method can be applied to experimental platforms that require time-periodic modulation, such as ultracold atoms and optical lattices.
基金supported by the National Science and Technology Pillar Program of China (No.2011BAH24B06)the National Nature Science Foundation of China+1 种基金Chinese Civil Aviation Jointly Funded Foundation Project (No.U1433129)the Sichuan Provincial Department of Education Foundation(No.13ZB0287)
文摘Due to the particularity of its location algorithm,there are some unique difficulties and features regarding the test of target motion states of multilateration(MLAT)system for airport surface surveillance.This paper proposed a test method applicable for the airport surface surveillance MLAT system,which can effectively determine whether the target is static or moving at a certain speed.Via a normalized test statistic designed in the sliding data window,the proposed method not only eliminates the impact of geometry Dilution of precision(GDOP)effectively,but also transforms the test of different motion states into the test of different probability density functions.Meanwhile,by adjusting the size of the sliding window,it can fulfill different test performance requirements.The method was developed through strict theoretical extrapolation and performance analysis,and simulations results verified its correctness and effectiveness.
基金the National Key R&D Program of China(Grant No.2017YFA0304401)the Technical Innovation Program of Hubei Province(Grant No.2018AAA045)the National Natural Science Foundation of China(Grant No.11904387)。
文摘We report on electromagnetically induced transparency cooling of ^(40)Ca^(+)to sympathetically cool the threedimensional secular modes of motion in a ^(40)Ca^(+)–^(27)Al^(+)two-ion pair near the ground state.We observe simultaneous ground state cooling across all radial modes and axial modes of a ^(40)Ca^(+)–^(27)Al^(+)ion pair,occupying a broader cooling range in frequency space over 3 MHz.The cooling time is observed to be less than 1 ms.The mean phonon number and heating rates of all motional modes are measured.This study is not only an important step for reducing the secular motion time-dilation shift uncertainty and uptime ratio of ^(27)Al^(+)optical clock,but also essential for high-fidelity quantum simulations and quantum information processors using trapped ions.
基金Project (No.19GS0208) supported by the Grant-in-Aid for Creative Scientific Research 2007–2011 funded by the Ministry of Education,Culture,Sports,Science and Technology,Japan
文摘An assembly robot needs to be capable of executing an assembly task robustly under various uncertainties.To attain this goal,we use a task sequence tree model originally proposed for manual assembly.This model regards an assembly task under uncertainties as a transformation of the contact state concept.The concept may contain several contact states with probabilities but these are transformed through a series of task elements into the contact state concept having only the goal state at the end.The transformed contact state concept can be classified according to the terminal condition of each task element.Thus,the whole assembly task can be designed as a tree-shaped contingent strategy called a task sequence tree.This paper proposes a systematic approach for reconfiguring a task sequence tree model for application to a robotic assembly task.In addition,by taking a 2D peg-in-hole insertion task to be performed by a robot equipped with a force sensor as an example,we confirm that the proposed approach can provide a robust motion strategy for the task and that the robot can actually execute the task robustly under bounded uncertainty according to the strategy.
文摘An active perception methodology is proposed to locally predict the observability condition in a reasonable horizon and suggest an observability-constrained motion direction for the next step to ensure an accurate and consistent state estimation performance of vision-based navigation systems. The methodology leverages an efficient EOG-based observability analysis and a motion primitive-based path sampling technique to realize the local observability prediction with a real-time performance. The observability conditions of potential motion trajectories are evaluated,and an informed motion direction is selected to ensure the observability efficiency for the state estimation system. The proposed approach is specialized to a representative optimizationbased monocular vision-based state estimation formulation and demonstrated through simulation and experiments to evaluate the ability of estimation degradation prediction and efficacy of motion direction suggestion.
基金Project supported by the National Natural Science Foundation of China(Grant No.11475060)
文摘We study the spatiotemporal Bloch states of a high-frequency driven two-component Bose–Einstein condensate(BEC)with spin–orbit coupling(SOC) in an optical lattice. By adopting the rotating-wave approximation(RWA) and applying an exact trial-solution to the corresponding quasistationary system, we establish a different method for tuning SOC via external field such that the existence conditions of the exact particular solutions are fitted. Several novel features related to the exact states are demonstrated; for example, SOC leads to spin–motion entanglement for the spatiotemporal Bloch states, SOC increases the population imbalance of the two-component BEC, and SOC can be applied to manipulate the stable atomic flow which is conducive to control quantum transport of the BEC for different application purposes.
文摘A methodology is proposed to enable real-time evaluation of the observability of local motions,and generate a local observability cost map to enable informed local motion planning in order to avoid potential degradation or degeneracy in state estimator performance.The proposed approach leverages efficient numerical techniques in nonlinear observability analysis and motion primitive-based planning technique to realize the local observability prediction with real-time performance.The degradation of the state estimation performance can be readily predicted with the local observability evaluation result.The proposed approach is specialized to a representative optimization-based monocular visual-inertial state estimation formulation and evaluated through simulation and experiments.The experimental results demonstrated the ability of the proposed methodology to correctly anticipate the potential state estimation degradation.
