The dynamics for multi-link spatial flexible manipulator arms is investigated. The system considered here is an N-flexible-link manipulator driven by N DC-motors through N revolute flexiblejoints. The flexibility of e...The dynamics for multi-link spatial flexible manipulator arms is investigated. The system considered here is an N-flexible-link manipulator driven by N DC-motors through N revolute flexiblejoints. The flexibility of each flexible joint is modeled as a linearly elastic torsional spring, and the mass of the joint is also considered. For the flexibility of the link, all of the stretching deformation, bending deformation and the torsional deformation are included. The complete governing equations of motion of the system are derived via the Lagrange equations. The nonlinear description of the deformation field of the flexible link is adopted in the dynamic modeling, and thus the dynamic stiffening effects are captured. Based on this model, a general-purpose software package for dynamic simulation of multi-link spatial flexible manipulator arms is developed. Several illustrative examples are given to validate the algorithm presented in this paper and to indicate that not only dynamic stiffening effects but also the flexibility of the structure has significant influence on the dynamic performance of the manipulator.展开更多
How to query Linked Data effectively is a challenge due to its heterogeneous datasets.There are three types of heterogeneities,i.e.,different structures representing entities,different predicates with the same meaning...How to query Linked Data effectively is a challenge due to its heterogeneous datasets.There are three types of heterogeneities,i.e.,different structures representing entities,different predicates with the same meaning and different literal formats used in objects.Approaches based on ontology mapping or Information Retrieval(IR) cannot deal with all types of heterogeneities.Facing these limitations,we propose a hierarchical multi-hop language model(HMPM).It discriminates among three types of predicates,descriptive predicates,out-associated predicates and in-associated predicates,and generates multi-hop models for them respectively.All predicates' similarities between the query and entity are organized into a hierarchy,with predicate types on the first level and predicates of this type on the second level.All candidates are ranked in ascending order.We evaluated HMPM in three datasets,DBpedia,Linked MDB and Yago.The results of experiments show that the effectiveness and generality of HMPM outperform the existing approaches.展开更多
The commodity transportation capacity between all origin-destination （ OD ） pairs over the multimodal multi-commodities freight transportation network （MMFTN） is determined. A multi-ob- jectives mathematical model...The commodity transportation capacity between all origin-destination （ OD ） pairs over the multimodal multi-commodities freight transportation network （MMFTN） is determined. A multi-ob- jectives mathematical model is formulated for determining the OD capacity over the MMFTN accord- ing to a transporting capacity matrix that increased from the reference matrixes. The corresponding incremental factor for estimating the capacity matrix is obtained via the maximal likelihood estima- tion method that samples data of differences between the estimated commodity volumes and carrying capacities of the critical links. The proposed formulations are tested by an experimental highway and railroad freight transportation network in an existing literature. The relevant results of OD capacities are displayed and applicability of the algorithm is certified.展开更多
基金supported by the National Natural Science Foundations of China (10772085,11272155 and 11132007)333 Project of Jiangsu Province,China(BRA2011172)NUST Research Funding,China(2011YBXM32)
文摘The dynamics for multi-link spatial flexible manipulator arms is investigated. The system considered here is an N-flexible-link manipulator driven by N DC-motors through N revolute flexiblejoints. The flexibility of each flexible joint is modeled as a linearly elastic torsional spring, and the mass of the joint is also considered. For the flexibility of the link, all of the stretching deformation, bending deformation and the torsional deformation are included. The complete governing equations of motion of the system are derived via the Lagrange equations. The nonlinear description of the deformation field of the flexible link is adopted in the dynamic modeling, and thus the dynamic stiffening effects are captured. Based on this model, a general-purpose software package for dynamic simulation of multi-link spatial flexible manipulator arms is developed. Several illustrative examples are given to validate the algorithm presented in this paper and to indicate that not only dynamic stiffening effects but also the flexibility of the structure has significant influence on the dynamic performance of the manipulator.
文摘How to query Linked Data effectively is a challenge due to its heterogeneous datasets.There are three types of heterogeneities,i.e.,different structures representing entities,different predicates with the same meaning and different literal formats used in objects.Approaches based on ontology mapping or Information Retrieval(IR) cannot deal with all types of heterogeneities.Facing these limitations,we propose a hierarchical multi-hop language model(HMPM).It discriminates among three types of predicates,descriptive predicates,out-associated predicates and in-associated predicates,and generates multi-hop models for them respectively.All predicates' similarities between the query and entity are organized into a hierarchy,with predicate types on the first level and predicates of this type on the second level.All candidates are ranked in ascending order.We evaluated HMPM in three datasets,DBpedia,Linked MDB and Yago.The results of experiments show that the effectiveness and generality of HMPM outperform the existing approaches.
文摘The commodity transportation capacity between all origin-destination （ OD ） pairs over the multimodal multi-commodities freight transportation network （MMFTN） is determined. A multi-ob- jectives mathematical model is formulated for determining the OD capacity over the MMFTN accord- ing to a transporting capacity matrix that increased from the reference matrixes. The corresponding incremental factor for estimating the capacity matrix is obtained via the maximal likelihood estima- tion method that samples data of differences between the estimated commodity volumes and carrying capacities of the critical links. The proposed formulations are tested by an experimental highway and railroad freight transportation network in an existing literature. The relevant results of OD capacities are displayed and applicability of the algorithm is certified.
