After the analysis of the beauty contained in motion vision, the paper had pointed out that motion vision was the link for spectators relating and communicating with aesthetic objects and decided landscape space const...After the analysis of the beauty contained in motion vision, the paper had pointed out that motion vision was the link for spectators relating and communicating with aesthetic objects and decided landscape space construction sequence. It further analyzed the relations between architectural space and visual perception which could be divided into inner experience and external experience. By taking landscape space construction of Sichuan Olympic Sports School for example, based on the analysis of design principles and objective of landscape space, the paper had focused on the discussion of landscape concept in terms of motion vision. In the perspective of two-dimensional vision, landscape effects of White Pigeon Square and Bright Eyes Square had been introduced. In the perspective of three-dimensional vision, landscape effects of the Olympic Rings waterscape and the Olympic Rings gallery had been illustrated. Finally, based on the integration between landscapes and architectures under visual perception, the coordination between campus architectures and landscape construction in Olympic Sports School had been analyzed.展开更多
In imaging on moving target, it is easy to get space- variant blurred image. In order to recover the image and gain recognizable target, an approach to recover the space-variant blurred image is presented based on ima...In imaging on moving target, it is easy to get space- variant blurred image. In order to recover the image and gain recognizable target, an approach to recover the space-variant blurred image is presented based on image segmentation. Be- cause of motion blur＇s convolution process, the pixels of observed image＇s target and background will be displaced and piled up to produce two superposition regions. As a result, the neighbor- ing pixels in the superposition regions will have similar grey level change. According to the pixel＇s motion-blur character, the target＇s blurred edge of superposition region could be detected. Canny operator can be recurred to detect the target edge which parallels the motion blur direction. Then in the segmentation process, the whole target image which has the character of integral convolution between motion blur and real target image can be obtained. At last, the target image is restored by deconvolution algorithms with adding zeros. The restoration result indicates that the approach can effectively solve the kind of problem of space-variant motion blurred image restoration.展开更多
The optimal control problem of nonholonomic motion planning of space manipulator was discussed. Utilizing the method of wavelet analysis, the discrete orthogonal wavelets were introduced to solve the optimal control p...The optimal control problem of nonholonomic motion planning of space manipulator was discussed. Utilizing the method of wavelet analysis, the discrete orthogonal wavelets were introduced to solve the optimal control problem, the classical Fourier basic functions were replaced by the wavelet expansion approximation. A numerical algorithm of optimal control was proposed based an wavelet analysis. The numerical simulation shows, the method is effective for nonholonomic motion planning of space manipulator.展开更多
In this article, the properties of the homothetic motions in three-dimensional Lorentz space are investigated. Also, some geometric results between velocity and acceleration vectors of a point in a spatial motion are ...In this article, the properties of the homothetic motions in three-dimensional Lorentz space are investigated. Also, some geometric results between velocity and acceleration vectors of a point in a spatial motion are obtained.展开更多
On the assumption that seismic source is simplified as linear rupture fault with finite length, this paper qualitatively studies the seismic source effects on space correlation of strong ground motion. Based on expand...On the assumption that seismic source is simplified as linear rupture fault with finite length, this paper qualitatively studies the seismic source effects on space correlation of strong ground motion. Based on expanding expression of Fourier spectrum of strong ground motion with space coordinate variables, this paper also gives a expression of describing correlation of strong ground motion field. According to far-field condition, the theoretical formula of the expression can be obtained. Furthermore, this paper presents a theoretical formula of estimation the radius of strong ground motion field, which depends on expansion condition of Fourier spectrum of strong ground motion, with space variables. At last, taking one earthquake as an example, this paper gives three-dimension patterns of radius of the field with epicenter distance and azimuth as well as frequency.展开更多
This paper reports that a cloud of laser-cooled ^40Ca^＋ is successfully trapped and manipulated in the home-built linear ion trap constructed for quantum information processing （QIP）. The frequency of the secular m...This paper reports that a cloud of laser-cooled ^40Ca^＋ is successfully trapped and manipulated in the home-built linear ion trap constructed for quantum information processing （QIP）. The frequency of the secular motion and the space charge density of the ion cloud are measured, which help knowing the characteristic of the trapping potential and are the prerequisite of QIP with the trapped ions.展开更多
This paper presents a novel hybrid task priority-based motion planning algorithm of a space robot. The satellite attitude control task is defined as the primary task, while the leastsquares-based non-strict task prior...This paper presents a novel hybrid task priority-based motion planning algorithm of a space robot. The satellite attitude control task is defined as the primary task, while the leastsquares-based non-strict task priority solution of the end-effector plus the multi-constraint task is viewed as the secondary task. Furthermore, a null-space task compensation strategy in the joint space is proposed to derive the combination of non-strict and strict task-priority motion planning,and this novel combination is termed hybrid task priority control. Thus, the secondary task is implemented in the primary task＇s null-space. Besides, the transition of the state of multiple constraints between activeness and inactiveness will only influence the end-effector task without any effect on the primary task. A set of numerical experiments made in a real-time simulation system under Linux/RTAI shows the validity and feasibility of the proposed methodology.展开更多
The equation governing the motion of a quantum particle is considered in nonrelativistic non-commutative phase space. For this aim, we first study new Poisson brackets in non-commutative phase space and obtain the mod...The equation governing the motion of a quantum particle is considered in nonrelativistic non-commutative phase space. For this aim, we first study new Poisson brackets in non-commutative phase space and obtain the modified equations of motion. Next, using novel transformations, we solve the equation of motion and report the exact analytical solutions.展开更多
The circum Pacific tectonic system that contains of convergent, divergent and transform boundaries, is the most active region of volcanoes and earthquakes in the world, and involves many important theoretical question...The circum Pacific tectonic system that contains of convergent, divergent and transform boundaries, is the most active region of volcanoes and earthquakes in the world, and involves many important theoretical questions in geosciences. The relative motion and deformation of Pacific plate is still an active subject of research. In this note, we analyze the deformation of Pacific plate and obtain reliable results of the relative motion rates at the circum Pacific boundaries based on space geodetic data, which reveals the present day motion characteristics of Pacific plate.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
A simulated annealing particle swarm optimization(PSO)algorithm is utilized in this paper to plan the motion of space manipulators with minimized base disturbance,not only its attitude but also its position.Since spac...A simulated annealing particle swarm optimization(PSO)algorithm is utilized in this paper to plan the motion of space manipulators with minimized base disturbance,not only its attitude but also its position.Since space manipulators must meet the Law of Momentum Conservation,any motion of manipulators will disturb the spacecraft which is free-float in the space environment.This paper tries to limit this effect to the minimum.First,this paper establishes the mathematical model for space manipulators by generalized Jacobian matrix(GJM) and analyzes its inverse kinematics by Theory of Screws.Second,a polynomial function of seventh degree is used to parameterize the joint motion and quaternion representation is also used to represent attitude of spacecraft.Moreover,this paper designs a proper objective function and depicts this algorithm detailedly and clearly.Finally,the results of numerical simulation are verified by the proposed algorithm.展开更多
The motion planning problem of a free flying space robot (FFSR) is investigated and from the attitude disturbance characteristics of a multi arm FFSR, a new method based on the fixed attitude restricted (FAR) Gene...The motion planning problem of a free flying space robot (FFSR) is investigated and from the attitude disturbance characteristics of a multi arm FFSR, a new method based on the fixed attitude restricted (FAR) Generalized Jacobian Matrix of a multi arm FFSR is proposed to enable the coordinated motion of all the other arms while one arm is tracing a given path so that there is no disturbance on the body, and the problem of attitude disturbance with an operating multi arm FFSR is thereby better resolved. The simulation run with a dual arm FFSR system verifies the effectiveness of this algorithm.展开更多
Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversati...Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversation with the Lagrangian approach, the dynamic equation of a robot is established. Based on the above results, the free-floating dual-arm space robot system is modeled with RBF neural networks, the GL matrix and its product operator. With all uncertain inertial system parameters, an adaptive RBF neural network control scheme is developed for coordinated motion between the base attitude and the arm joints. The proposed scheme does not need linear parameterization of the dynamic equation of the system and any accurate prior-knowledge of the actual inertial parameters. Also it does not need to train the neural network offline so that it would present real-time and online applications. A planar free-floating dual-arm space robot is simulated to show feasibility of the proposed scheme.展开更多
We examine 14 plates of the globular cluster M3 (NGC 5272) taken with the 40 cm refractor at the Sheshan station of Shanghai Astronomical Observatory. The plates span over a period of about 77 years. The positions and...We examine 14 plates of the globular cluster M3 (NGC 5272) taken with the 40 cm refractor at the Sheshan station of Shanghai Astronomical Observatory. The plates span over a period of about 77 years. The positions and absolute proper motions of eight stars in the Hipparcos Catalogue and of 49 stars in the Tycho-2 Catalogue are used as the reference frame. The astrometric reduction is made with the central overlapping principle. The absolute proper motions of 534 stars in a region of about 100' × 100' around the cluster are measured. With the new proper motion data the membership probabilities of the stars are determined. The average absolute proper motion obtained for the cluster is -0.06±0.30 mas yr-1 in R.A. and -2.6±0.30 mas yr-1 in Decl. By combining this result with the known distance and radial velocity of the cluster, we also obtained the Galactic orbit of M3 for a chosen three-component Galactic potential.展开更多
Motion accuracy of space manipulators has direct effects on the ability of the systems to perform specified tasks. However, some design variables are inherently interval parameters due to uncertainties in geometric st...Motion accuracy of space manipulators has direct effects on the ability of the systems to perform specified tasks. However, some design variables are inherently interval parameters due to uncertainties in geometric structures, material properties, and so on. This paper presents Chebyshev inclusion function(CIF) for approximating the dynamic responses function of parametrically excited systems. Motion accuracy reliability(MAR) of space manipulators was evaluated based on mechanism reliability analysis methods and interval uncertainty model. To illustrate the accuracy of the proposed method, a two-link manipulator with interval parameters was demonstrated. The results showed that the proposed method required much fewer samples to obtain more accurate reliability compared with the traditional Monte Carlo simulation(MCS). Finally, the sensitivity analysis was performed to facilitate the optimization design by using global sensitivity analysis.展开更多
Chinese scientists paid great attention to the study about space life science in 1996-1997.Several biomedical experiments in this field were completed in Chinese recoverable satellites or in a Russian biosatellite. Th...Chinese scientists paid great attention to the study about space life science in 1996-1997.Several biomedical experiments in this field were completed in Chinese recoverable satellites or in a Russian biosatellite. The effect of microgravity and space radiation on Chinese silkworm eggs, plants, seeds and tomato DNA mutation was investigated in space. Head down bed rest of human body was applied to simulate weightlessness to study cardiovascular function, electrogastrogram,thermoregulation on the ground. Space motion sickness was also studied by means of swinging, optokinetic stimulation on the ground.展开更多
文摘After the analysis of the beauty contained in motion vision, the paper had pointed out that motion vision was the link for spectators relating and communicating with aesthetic objects and decided landscape space construction sequence. It further analyzed the relations between architectural space and visual perception which could be divided into inner experience and external experience. By taking landscape space construction of Sichuan Olympic Sports School for example, based on the analysis of design principles and objective of landscape space, the paper had focused on the discussion of landscape concept in terms of motion vision. In the perspective of two-dimensional vision, landscape effects of White Pigeon Square and Bright Eyes Square had been introduced. In the perspective of three-dimensional vision, landscape effects of the Olympic Rings waterscape and the Olympic Rings gallery had been illustrated. Finally, based on the integration between landscapes and architectures under visual perception, the coordination between campus architectures and landscape construction in Olympic Sports School had been analyzed.
文摘In imaging on moving target, it is easy to get space- variant blurred image. In order to recover the image and gain recognizable target, an approach to recover the space-variant blurred image is presented based on image segmentation. Be- cause of motion blur＇s convolution process, the pixels of observed image＇s target and background will be displaced and piled up to produce two superposition regions. As a result, the neighbor- ing pixels in the superposition regions will have similar grey level change. According to the pixel＇s motion-blur character, the target＇s blurred edge of superposition region could be detected. Canny operator can be recurred to detect the target edge which parallels the motion blur direction. Then in the segmentation process, the whole target image which has the character of integral convolution between motion blur and real target image can be obtained. At last, the target image is restored by deconvolution algorithms with adding zeros. The restoration result indicates that the approach can effectively solve the kind of problem of space-variant motion blurred image restoration.
文摘The optimal control problem of nonholonomic motion planning of space manipulator was discussed. Utilizing the method of wavelet analysis, the discrete orthogonal wavelets were introduced to solve the optimal control problem, the classical Fourier basic functions were replaced by the wavelet expansion approximation. A numerical algorithm of optimal control was proposed based an wavelet analysis. The numerical simulation shows, the method is effective for nonholonomic motion planning of space manipulator.
文摘In this article, the properties of the homothetic motions in three-dimensional Lorentz space are investigated. Also, some geometric results between velocity and acceleration vectors of a point in a spatial motion are obtained.
文摘On the assumption that seismic source is simplified as linear rupture fault with finite length, this paper qualitatively studies the seismic source effects on space correlation of strong ground motion. Based on expanding expression of Fourier spectrum of strong ground motion with space coordinate variables, this paper also gives a expression of describing correlation of strong ground motion field. According to far-field condition, the theoretical formula of the expression can be obtained. Furthermore, this paper presents a theoretical formula of estimation the radius of strong ground motion field, which depends on expansion condition of Fourier spectrum of strong ground motion, with space variables. At last, taking one earthquake as an example, this paper gives three-dimension patterns of radius of the field with epicenter distance and azimuth as well as frequency.
基金Project supported by the National Natural Science Foundation of China (Grant Nos. 10774161,10774163 and 10974225)by National Fundamental Research Program of China (Grant No. 2006CB921203)
文摘This paper reports that a cloud of laser-cooled ^40Ca^＋ is successfully trapped and manipulated in the home-built linear ion trap constructed for quantum information processing （QIP）. The frequency of the secular motion and the space charge density of the ion cloud are measured, which help knowing the characteristic of the trapping potential and are the prerequisite of QIP with the trapped ions.
基金supported in part by the National Program on Key Basic Research Project (No. 2013CB733103)the Program for New Century Excellent Talents in University (No. NCET-10-0058)
文摘This paper presents a novel hybrid task priority-based motion planning algorithm of a space robot. The satellite attitude control task is defined as the primary task, while the leastsquares-based non-strict task priority solution of the end-effector plus the multi-constraint task is viewed as the secondary task. Furthermore, a null-space task compensation strategy in the joint space is proposed to derive the combination of non-strict and strict task-priority motion planning,and this novel combination is termed hybrid task priority control. Thus, the secondary task is implemented in the primary task＇s null-space. Besides, the transition of the state of multiple constraints between activeness and inactiveness will only influence the end-effector task without any effect on the primary task. A set of numerical experiments made in a real-time simulation system under Linux/RTAI shows the validity and feasibility of the proposed methodology.
基金Supported by the China Scholarship Councilthe Hanjiang Scholar Project of Shaanxi University of Technology
文摘The equation governing the motion of a quantum particle is considered in nonrelativistic non-commutative phase space. For this aim, we first study new Poisson brackets in non-commutative phase space and obtain the modified equations of motion. Next, using novel transformations, we solve the equation of motion and report the exact analytical solutions.
文摘The circum Pacific tectonic system that contains of convergent, divergent and transform boundaries, is the most active region of volcanoes and earthquakes in the world, and involves many important theoretical questions in geosciences. The relative motion and deformation of Pacific plate is still an active subject of research. In this note, we analyze the deformation of Pacific plate and obtain reliable results of the relative motion rates at the circum Pacific boundaries based on space geodetic data, which reveals the present day motion characteristics of Pacific plate.
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.
文摘A simulated annealing particle swarm optimization(PSO)algorithm is utilized in this paper to plan the motion of space manipulators with minimized base disturbance,not only its attitude but also its position.Since space manipulators must meet the Law of Momentum Conservation,any motion of manipulators will disturb the spacecraft which is free-float in the space environment.This paper tries to limit this effect to the minimum.First,this paper establishes the mathematical model for space manipulators by generalized Jacobian matrix(GJM) and analyzes its inverse kinematics by Theory of Screws.Second,a polynomial function of seventh degree is used to parameterize the joint motion and quaternion representation is also used to represent attitude of spacecraft.Moreover,this paper designs a proper objective function and depicts this algorithm detailedly and clearly.Finally,the results of numerical simulation are verified by the proposed algorithm.
文摘The motion planning problem of a free flying space robot (FFSR) is investigated and from the attitude disturbance characteristics of a multi arm FFSR, a new method based on the fixed attitude restricted (FAR) Generalized Jacobian Matrix of a multi arm FFSR is proposed to enable the coordinated motion of all the other arms while one arm is tracing a given path so that there is no disturbance on the body, and the problem of attitude disturbance with an operating multi arm FFSR is thereby better resolved. The simulation run with a dual arm FFSR system verifies the effectiveness of this algorithm.
基金the National Natural Science Foundation of China (Nos. 10672040 and10372022)the Natural Science Foundation of Fujian Province of China (No. E0410008)
文摘Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversation with the Lagrangian approach, the dynamic equation of a robot is established. Based on the above results, the free-floating dual-arm space robot system is modeled with RBF neural networks, the GL matrix and its product operator. With all uncertain inertial system parameters, an adaptive RBF neural network control scheme is developed for coordinated motion between the base attitude and the arm joints. The proposed scheme does not need linear parameterization of the dynamic equation of the system and any accurate prior-knowledge of the actual inertial parameters. Also it does not need to train the neural network offline so that it would present real-time and online applications. A planar free-floating dual-arm space robot is simulated to show feasibility of the proposed scheme.
基金NKBRSF19990754 and National Natural Sciences Foundation under grant 19833010．
文摘We examine 14 plates of the globular cluster M3 (NGC 5272) taken with the 40 cm refractor at the Sheshan station of Shanghai Astronomical Observatory. The plates span over a period of about 77 years. The positions and absolute proper motions of eight stars in the Hipparcos Catalogue and of 49 stars in the Tycho-2 Catalogue are used as the reference frame. The astrometric reduction is made with the central overlapping principle. The absolute proper motions of 534 stars in a region of about 100' × 100' around the cluster are measured. With the new proper motion data the membership probabilities of the stars are determined. The average absolute proper motion obtained for the cluster is -0.06±0.30 mas yr-1 in R.A. and -2.6±0.30 mas yr-1 in Decl. By combining this result with the known distance and radial velocity of the cluster, we also obtained the Galactic orbit of M3 for a chosen three-component Galactic potential.
基金Sponsored by the National Natural Science Foundation of China(Grant No.51675026)
文摘Motion accuracy of space manipulators has direct effects on the ability of the systems to perform specified tasks. However, some design variables are inherently interval parameters due to uncertainties in geometric structures, material properties, and so on. This paper presents Chebyshev inclusion function(CIF) for approximating the dynamic responses function of parametrically excited systems. Motion accuracy reliability(MAR) of space manipulators was evaluated based on mechanism reliability analysis methods and interval uncertainty model. To illustrate the accuracy of the proposed method, a two-link manipulator with interval parameters was demonstrated. The results showed that the proposed method required much fewer samples to obtain more accurate reliability compared with the traditional Monte Carlo simulation(MCS). Finally, the sensitivity analysis was performed to facilitate the optimization design by using global sensitivity analysis.
文摘Chinese scientists paid great attention to the study about space life science in 1996-1997.Several biomedical experiments in this field were completed in Chinese recoverable satellites or in a Russian biosatellite. The effect of microgravity and space radiation on Chinese silkworm eggs, plants, seeds and tomato DNA mutation was investigated in space. Head down bed rest of human body was applied to simulate weightlessness to study cardiovascular function, electrogastrogram,thermoregulation on the ground. Space motion sickness was also studied by means of swinging, optokinetic stimulation on the ground.
