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A step-by-step Chebyshev space-time spectral method for force vibration of functionally graded structures
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作者 Haizhou Liu Yixin Huang Yang Zhao 《Acta Mechanica Sinica》 2025年第4期142-155,共14页
This paper proposes a new step-by-step Chebyshev space-time spectral method to analyze the force vibration of functionally graded material structures.Although traditional space-time spectral methods can reduce the acc... This paper proposes a new step-by-step Chebyshev space-time spectral method to analyze the force vibration of functionally graded material structures.Although traditional space-time spectral methods can reduce the accuracy mismatch between tem-poral low-order finite difference and spatial high-order discre tization,the ir time collocation points must increase dramatically to solve highly oscillatory solutions of structural vibration,which results in a surge in computing time and a decrease in accuracy.To address this problem,we introduced the step-by-step idea in the space-time spectral method.The Chebyshev polynomials and Lagrange's equation were applied to derive discrete spatial goverming equations,and a matrix projection method was used to map the calculation results of prev ious steps as the initial conditions of the subsequent steps.A series of numerical experiments were carried out.The results of the proposed method were compared with those obtained by traditional space-time spectral methods,which showed that higher accuracy could be achieved in a shorter computation time than the latter in highly oscillatory cases. 展开更多
关键词 Functionally graded materials space-time spectral method Step-by-step approach Forced vibration
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THE SPACE-TIME FINITE ELEMENT METHOD FOR PARABOLIC PROBLEMS 被引量:5
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作者 LI Hong(李宏) +1 位作者 LIU Ru-xun(刘儒勋) 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI 2001年第6期687-700,共14页
Adaptive space-time finite element method, continuous in space but discontinuous in time for semi-linear parabolic problems is discussed. The approach is based on a combination of finite element and finite difference ... Adaptive space-time finite element method, continuous in space but discontinuous in time for semi-linear parabolic problems is discussed. The approach is based on a combination of finite element and finite difference techniques. The existence and uniqueness of the weak solution are proved without any assumptions on choice of the spacetime meshes. Basic error estimates in L-infinity (L-2) norm, that is maximum-norm in time, L-2-norm in space are obtained. The numerical results are given in the last part and the analysis between theoretic and experimental results are obtained. 展开更多
关键词 semi-linear parabolic equations space-time finite element method existence and uniquess error estimate
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THE QUASI-BOUNDARY VALUE METHOD FOR IDENTIFYING THE INITIAL VALUE OF THE SPACE-TIME FRACTIONAL DIFFUSION EQUATION 被引量:4
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作者 Fan YANG Yan ZHANG +1 位作者 Xiao LIU Xiaoxiao LI 《Acta Mathematica Scientia》 SCIE CSCD 2020年第3期641-658,共18页
In this article,we consider to solve the inverse initial value problem for an inhomogeneous space-time fractional diffusion equation.This problem is ill-posed and the quasi-boundary value method is proposed to deal wi... In this article,we consider to solve the inverse initial value problem for an inhomogeneous space-time fractional diffusion equation.This problem is ill-posed and the quasi-boundary value method is proposed to deal with this inverse problem and obtain the series expression of the regularized solution for the inverse initial value problem.We prove the error estimates between the regularization solution and the exact solution by using an a priori regularization parameter and an a posteriori regularization parameter choice rule.Some numerical results in one-dimensional case and two-dimensional case show that our method is efficient and stable. 展开更多
关键词 space-time fractional diffusion equation Ill-posed problem quasi-boundary value method identifying the initial value
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The Space-Time Meshless Methods for the Solution of One-Dimensional Klein-Gordon Equations 被引量:2
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作者 ZHANG Zhiqiang WANG Fuzhang ZHANG Juan 《Wuhan University Journal of Natural Sciences》 CAS CSCD 2022年第4期313-320,共8页
A simple direct space-time meshless scheme,based on the radial or non-radial basis function,is proposed for the onedimensional Klein-Gordon equations.Since these equations are time-dependent,it is worthwhile to presen... A simple direct space-time meshless scheme,based on the radial or non-radial basis function,is proposed for the onedimensional Klein-Gordon equations.Since these equations are time-dependent,it is worthwhile to present two schemes for the basis functions from radial and non-radial aspects.The first scheme is fulfilled by considering time variable as normal space variable,to construct an"isotropic"space-time radial basis function.The other scheme considered a realistic relationship between space variable and time variable which is not radial.The timedependent variable is treated regularly during the whole solution process and the Klein-Gordon equations can be solved in a direct way.Numerical results show that the proposed meshless schemes are simple,accurate,stable,easy-to-program and efficient for the Klein-Gordon equations. 展开更多
关键词 radial basis functions meshless method space-time
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Revisiting the space-time gradient method:A time-clocking perspective, high order difference time discretization and comparison with the harmonic balance method 被引量:1
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作者 Boqian WANG Dingxi WANG +1 位作者 Mohammad RAHMATI Xiuquan HUANG 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2022年第11期45-58,共14页
This paper revisits the Space-Time Gradient(STG) method which was developed for efficient analysis of unsteady flows due to rotor–stator interaction and presents the method from an alternative time-clocking perspecti... This paper revisits the Space-Time Gradient(STG) method which was developed for efficient analysis of unsteady flows due to rotor–stator interaction and presents the method from an alternative time-clocking perspective. The STG method requires reordering of blade passages according to their relative clocking positions with respect to blades of an adjacent blade row. As the space-clocking is linked to an equivalent time-clocking, the passage reordering can be performed according to the alternative time-clocking. With the time-clocking perspective, unsteady flow solutions from different passages of the same blade row are mapped to flow solutions of the same passage at different time instants or phase angles. Accordingly, the time derivative of the unsteady flow equation is discretized in time directly, which is more natural than transforming the time derivative to a spatial one as with the original STG method. To improve the solution accuracy, a ninth order difference scheme has been investigated for discretizing the time derivative. To achieve a stable solution for the high order scheme, the implicit solution method of Lower-Upper Symmetric GaussSeidel/Gauss-Seidel(LU-SGS/GS) has been employed. The NASA Stage 35 and its blade-countreduced variant are used to demonstrate the validity of the time-clocking based passage reordering and the advantages of the high order difference scheme for the STG method. Results from an existing harmonic balance flow solver are also provided to contrast the two methods in terms of solution stability and computational cost. 展开更多
关键词 Harmonic balance method High order difference scheme Passage reordering space-time gradient method Unsteady flows
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Mixed time discontinuous space-time finite element method for convection diffusion equations 被引量:1
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作者 刘洋 李宏 何斯日古楞 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI 2008年第12期1579-1586,共8页
A mixed time discontinuous space-time finite element scheme for secondorder convection diffusion problems is constructed and analyzed. Order of the equation is lowered by the mixed finite element method. The low order... A mixed time discontinuous space-time finite element scheme for secondorder convection diffusion problems is constructed and analyzed. Order of the equation is lowered by the mixed finite element method. The low order equation is discretized with a space-time finite element method, continuous in space but discontinuous in time. Stability, existence, uniqueness and convergence of the approximate solutions are proved. Numerical results are presented to illustrate efficiency of the proposed method. 展开更多
关键词 convection diffusion equations mixed finite element method time discontinuous space-time finite element method CONVERGENCE
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H^1 space-time discontinuous finite element method for convection-diffusion equations
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作者 何斯日古楞 李宏 刘洋 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI 2013年第3期371-384,共14页
An H1 space-time discontinuous Galerkin (STDG) scheme for convection- diffusion equations in one spatial dimension is constructed and analyzed. This method is formulated by combining the H1 Galerkin method and the s... An H1 space-time discontinuous Galerkin (STDG) scheme for convection- diffusion equations in one spatial dimension is constructed and analyzed. This method is formulated by combining the H1 Galerkin method and the space-time discontinuous finite element method that is discontinuous in time and continuous in space. The existence and the uniqueness of the approximate solution are proved. The convergence of the scheme is analyzed by using the techniques in the finite difference and finite element methods. An optimal a-priori error estimate in the L∞ (H1) norm is derived. The numerical exper- iments are presented to verify the theoretical results. 展开更多
关键词 convection-diffusion equation H1 method space-time discontinuous finiteelement method error estimate
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An Eigenspace Method for Detecting Space-Time Disease Clusters with Unknown Population-Data
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作者 Sami Ullah Nurul Hidayah Mohd Nor +3 位作者 Hanita Daud Nooraini Zainuddin Hadi Fanaee-T Alamgir Khalil 《Computers, Materials & Continua》 SCIE EI 2022年第1期1945-1953,共9页
Space-time disease cluster detection assists in conducting disease surveillance and implementing control strategies.The state-of-the-art method for this kind of problem is the Space-time Scan Statistics(SaTScan)which ... Space-time disease cluster detection assists in conducting disease surveillance and implementing control strategies.The state-of-the-art method for this kind of problem is the Space-time Scan Statistics(SaTScan)which has limitations for non-traditional/non-clinical data sources due to its parametric model assumptions such as Poisson orGaussian counts.Addressing this problem,an Eigenspace-based method called Multi-EigenSpot has recently been proposed as a nonparametric solution.However,it is based on the population counts data which are not always available in the least developed countries.In addition,the population counts are difficult to approximate for some surveillance data such as emergency department visits and over-the-counter drug sales,where the catchment area for each hospital/pharmacy is undefined.We extend the population-based Multi-EigenSpot method to approximate the potential disease clusters from the observed/reported disease counts only with no need for the population counts.The proposed adaptation uses an estimator of expected disease count that does not depend on the population counts.The proposed method was evaluated on the real-world dataset and the results were compared with the population-based methods:Multi-EigenSpot and SaTScan.The result shows that the proposed adaptation is effective in approximating the important outputs of the population-based methods. 展开更多
关键词 space-time disease clusters Eigenspace method nontraditional data sources nonparametric methods
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SPACE-TIME FINITE ELEMENT METHOD FOR SCHRDINGER EQUATION AND ITS CONSERVATION
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作者 汤琼 陈传淼 刘罗华 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI 2006年第3期335-340,共6页
Energy conservation of nonlinear Schrodinger ordinary differential equation was proved through using continuous finite element methods of ordinary differential equation; Energy integration conservation was proved thro... Energy conservation of nonlinear Schrodinger ordinary differential equation was proved through using continuous finite element methods of ordinary differential equation; Energy integration conservation was proved through using space-time continuous fully discrete finite element methods and the electron nearly conservation with higher order error was obtained through using time discontinuous only space continuous finite element methods of nonlinear Schrodinger partial equation. The numerical results are in accordance with the theory. 展开更多
关键词 nonlinear SchrSdinger equation space-time finite element method energy integration CONSERVATION
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SPACE-TIME DISCONTINUOUS GALERKIN METHOD FOR MAXWELL EQUATIONS IN DISPERSIVE MEDIA
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作者 汪波 谢资清 张智民 《Acta Mathematica Scientia》 SCIE CSCD 2014年第5期1357-1376,共20页
In this paper, a unified model for time-dependent Maxwell equations in dispersive media is considered. The space-time DG method developed in [29] is applied to solve the un-derlying problem. Unconditional L2-stability... In this paper, a unified model for time-dependent Maxwell equations in dispersive media is considered. The space-time DG method developed in [29] is applied to solve the un-derlying problem. Unconditional L2-stability and error estimate of order O?τr+1+hk+1/2? are obtained when polynomials of degree at most r and k are used for the temporal dis-cretization and spatial discretization respectively. 2-D and 3-D numerical examples are given to validate the theoretical results. Moreover, numerical results show an ultra-convergence of order 2r+1 in temporal variable t. 展开更多
关键词 Maxwell equations dispersive media space-time DG method L2-stability L2-error estimate
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A Space-Time Interior Penalty Discontinuous Galerkin Method for the Wave Equation
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作者 Poorvi Shukla J.J.W.van der Vegt 《Communications on Applied Mathematics and Computation》 2022年第3期904-944,共41页
A new higher-order accurate space-time discontinuous Galerkin(DG)method using the interior penalty flux and discontinuous basis functions,both in space and in time,is pre-sented and fully analyzed for the second-order... A new higher-order accurate space-time discontinuous Galerkin(DG)method using the interior penalty flux and discontinuous basis functions,both in space and in time,is pre-sented and fully analyzed for the second-order scalar wave equation.Special attention is given to the definition of the numerical fluxes since they are crucial for the stability and accuracy of the space-time DG method.The theoretical analysis shows that the DG discre-tization is stable and converges in a DG-norm on general unstructured and locally refined meshes,including local refinement in time.The space-time interior penalty DG discre-tization does not have a CFL-type restriction for stability.Optimal order of accuracy is obtained in the DG-norm if the mesh size h and the time stepΔt satisfy h≅CΔt,with C a positive constant.The optimal order of accuracy of the space-time DG discretization in the DG-norm is confirmed by calculations on several model problems.These calculations also show that for pth-order tensor product basis functions the convergence rate in the L∞and L2-norms is order p+1 for polynomial orders p=1 and p=3 and order p for polynomial order p=2. 展开更多
关键词 Wave equation space-time methods Discontinuous Galerkin methods Interior penalty method A priori error analysis
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PRECONDITIONED METHODS FOR SPACE-TIME ADAPTIVE PROCESSING
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作者 Zhang Zenghui Hu Weidong Yu Wenxian 《Journal of Electronics(China)》 2008年第4期465-470,共6页
This paper introduces the preconditioned methods for Space-Time Adaptive Processing(STAP).Using the Block-Toeplitz-Toeplitz-Block(BTTB)structure of the clutter-plus-noise covari-ance matrix,a Block-Circulant-Circulant... This paper introduces the preconditioned methods for Space-Time Adaptive Processing(STAP).Using the Block-Toeplitz-Toeplitz-Block(BTTB)structure of the clutter-plus-noise covari-ance matrix,a Block-Circulant-Circulant-Block(BCCB)preconditioner is constructed.Based on thepreconditioner,a Preconditioned Multistage Wiener Filter(PMWF)which can be implemented by thePreconditioned Conjugate Gradient(PCG)method is proposed.Simulation results show that thePMWF has faster convergence rate and lower processing rank compared with the MWF. 展开更多
关键词 Conjugate gradient method Multistage Wiener filter PRECONDITIONER space-time Adaptive Processing (STAP)
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A Novel Staggered Semi-implicit Space-Time Discontinuous Galerkin Method for the Incompressible Navier-Stokes Equations
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作者 F.L.Romeo M.Dumbser M.Tavelli 《Communications on Applied Mathematics and Computation》 2021年第4期607-647,共41页
A new high-order accurate staggered semi-implicit space-time discontinuous Galerkin(DG)method is presented for the simulation of viscous incompressible flows on unstructured triangular grids in two space dimensions.Th... A new high-order accurate staggered semi-implicit space-time discontinuous Galerkin(DG)method is presented for the simulation of viscous incompressible flows on unstructured triangular grids in two space dimensions.The staggered DG scheme defines the discrete pressure on the primal triangular mesh,while the discrete velocity is defined on a staggered edge-based dual quadrilateral mesh.In this paper,a new pair of equal-order-interpolation velocity-pressure finite elements is proposed.On the primary triangular mesh(the pressure elements),the basis functions are piecewise polynomials of degree N and are allowed to jump on the boundaries of each triangle.On the dual mesh instead(the velocity elements),the basis functions consist in the union of piecewise polynomials of degree N on the two subtriangles that compose each quadrilateral and are allowed to jump only on the dual element boundaries,while they are continuous inside.In other words,the basis functions on the dual mesh arc built by continuous finite elements on the subtriangles.This choice allows the construction of an efficient,quadrature-free and memory saving algorithm.In our coupled space-time pressure correction formulation for the incompressible Navier-Stokes equations,the arbitrary high order of accuracy in time is achieved through tire use of time-dependent test and basis functions,in combination with simple and efficient Picard iterations.Several numerical tests on classical benchmarks confirm that the proposed method outperforms existing staggered semi-implicit space-time DG schemes,not only from a computer memory point of view,but also concerning the computational time. 展开更多
关键词 Incompressible Navier-Stokes equations Semi-implicit space-time discontinuous Galerkin schemes Staggered unstructured meshes space-time pressure correction method High-order accuracy in space and time
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利用MarchingCubes算法的塔身垂直度激光雷达检验方法
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作者 周命端 覃钰涵 +4 位作者 孟庆龙 徐翔 刘明华 宋峤 王俊杰 《测绘科学》 北大核心 2025年第3期123-131,共9页
鉴于移动立方体算法在医学成像、计算机图形学、工程建模等领域被广泛应用,顾及激光雷达检验法具有诸多优点,提出了一种新的利用MarchingCubes算法的塔身垂直度激光雷达检验方法。实验选取施工现场某型号塔式起重机塔身进行测试,采用激... 鉴于移动立方体算法在医学成像、计算机图形学、工程建模等领域被广泛应用,顾及激光雷达检验法具有诸多优点,提出了一种新的利用MarchingCubes算法的塔身垂直度激光雷达检验方法。实验选取施工现场某型号塔式起重机塔身进行测试,采用激光雷达扫描采集塔身标准节原始点云数据,经预处理后获取塔身标准节有效高精度点云数据;给出塔身标准节横向切段立方体点云分割策略,利用MarchingCubes算法提取塔身标准节横向切段立方体点云轮廓线,并求解其体中心点坐标;运用最小二乘法拟合体中心点所在空间直线,计算其方向向量,并在站心空间坐标系下分别与x轴和z轴进行向量运算,获得塔身轴心线倾斜方位角、倾斜角和塔身垂直度。结果表明:采用本文方法设计5种策略方案获得的塔身垂直度中数值为1.80‰,与传统的经纬仪检验法结果为3.02‰基本吻合。本文为塔身垂直度无损检验提供一种高精度激光雷达算法。 展开更多
关键词 激光雷达检验法 经纬仪检验法 移动立方体算法 点云数据 塔身垂直度
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Method of Growth in Finding the Test Cube of Industrial Robots
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作者 陆际联 赵占芳 张强 《Journal of Beijing Institute of Technology》 EI CAS 2001年第2期197-203,共7页
In order to find the test cube for industrial robots as specified by ISO 9283, a seed cube is grown up in an irregular working space of the robot, provided that the corners of the cube do not exceed the boundary of t... In order to find the test cube for industrial robots as specified by ISO 9283, a seed cube is grown up in an irregular working space of the robot, provided that the corners of the cube do not exceed the boundary of the working space. All possible cubes are searched, and the cube with the maximum volume is selected. The calculation examples show that the method of growth can be used for a variety of industrial robots. The method of growth can determine the test cube and test points of irregular working space according to ISO 9283, and can avoid blindness and randomness in the selection of test points. 展开更多
关键词 robot performance test test cube method of growth
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A VERTICAL LAYERED SPACE-TIME CODE AND ITS CLOSED-FORM BLIND SYMBOL DETECTION 被引量:1
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作者 Zhao Zheng Yin Qinye Zhang Hong Feng Aigang (Institute of Information Engineering, Xi’an .Jiaotong University, Xi’an 710049) 《Journal of Electronics(China)》 2003年第2期102-109,共8页
Vertical layered space-time codes have demonstrated the enormous potential to accommodate rapid flow data. Thus far, vertical layered space-time codes assumed that perfect estimates of current channel fading condition... Vertical layered space-time codes have demonstrated the enormous potential to accommodate rapid flow data. Thus far, vertical layered space-time codes assumed that perfect estimates of current channel fading conditions are available at the receiver. However, increasing the number of transmit antennas increases the required training interval and reduces the available time in which data may be transmitted before the fading coefficients change. In this paper, a vertical layered space-time code is proposed. By applying the subspace method to the layered space-time code, the symbols can be detected without training symbols and channel estimates at the transmitter or the receiver. Monte Carlo simulations show that performance can approach that of the detection method with the knowledge of the channel. 展开更多
关键词 Layered space-time code Array signal processing Subspace method Blind symbol detection
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Elementary Particles Result from Space-Time Quantization 被引量:2
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作者 A. Meessen 《Journal of Modern Physics》 2021年第11期1573-1605,共33页
We justify and extend the standard model of elementary particle physics by generalizing the theory of relativity and quantum mechanics. The usual assumption that space and time are continuous implies, indeed, that it ... We justify and extend the standard model of elementary particle physics by generalizing the theory of relativity and quantum mechanics. The usual assumption that space and time are continuous implies, indeed, that it should be possible to measure arbitrarily small intervals of space and time, but we ignore if that is true or not. It is thus more realistic to consider an extremely small “quantum of length” of yet unknown value <em>a</em>. It is only required to be a universal constant for all inertial frames, like<em> c</em> and <em>h</em>. This yields a logically consistent theory and accounts for elementary particles by means of four new quantum numbers. They define “particle states” in terms of modulations of wave functions at the smallest possible scale in space-time. The resulting classification of elementary particles accounts also for dark matter. Antiparticles are redefined, without needing negative energy states and recently observed “anomalies” can be explained. 展开更多
关键词 Standard Model Elementary Particles space-time Quantization Dark Matter B Mesons DM Detection X 17 Ice cube Muon Anomaly Do Decay Matter-Antimatter Asymmetry QUANTUM-GRAVITY Big Bang
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Field and reverse field solitons in waveoperator nonlinear Schrödinger equation with space-time reverse: Modulation instability
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作者 H I Abdel-Gawad 《Communications in Theoretical Physics》 SCIE CAS CSCD 2023年第6期39-50,共12页
The wave-operator nonlinear Schrödinger equation was introduced in the literature.Further,nonlocal space-time reverse complex field equations were also recently introduced.Studies in this area were focused on emp... The wave-operator nonlinear Schrödinger equation was introduced in the literature.Further,nonlocal space-time reverse complex field equations were also recently introduced.Studies in this area were focused on employing the inverse scattering method and Darboux transformation.Here,we present an approach to find the solutions of the wave-operator nonlinear Schrödinger equation with space and time reverse(W-O-NLSE-STR).It is based on implementing the unified method together with introducing a conventional formulation of the solutions.Indeed,a field and a reverse field may be generated.So,for deriving the solutions of W-O-NLSE-STR,it is evident to distinguish two cases(when the field and its reverse are interactive or not-interactive).In the non-interactive and interactive cases,exact and approximate solutions are obtained.In both cases,the solutions are evaluated numerically and they are displayed graphically.It is observed that the field exhibits solitons propagating essentially(or mainly)on the negative space variable,while those of the reverse field propagate on the other side(or vice versa).These results are completely novel,and we think that it is an essential behavior that characterizes a complex field system with STR.On the other hand,they may exhibit right and left cable patterns(or vice versa).It is found that the solutions of the field and its reverse exhibit self-phase modulation by solitary waves.In the interactive case,the pulses of the field and its reverse propagate in the whole space.The analysis of modulation stability shows that,when the field is stable,its reverse is unstable or both are stable.This holds whenever the polarization of the medium is selfdefocusing. 展开更多
关键词 wave-operator nonlinear Schrödinger equation space-time reverse unified method
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APPLICATION OF THE METHOD OF THE RECIPROCAL THEOREM TO FINDING DISPLACEMENT SOLUTIONS OF CUBES
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作者 付宝连 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI 1989年第4期309-320,共12页
In this paper the method of reciprocal theorem is extended to find solutions of three-D problems of elasticity.First we give the basic solution of the cube with six surfaces fixed as the basic system and then using th... In this paper the method of reciprocal theorem is extended to find solutions of three-D problems of elasticity.First we give the basic solution of the cube with six surfaces fixed as the basic system and then using the reciprocal theorem between the basic system acted on by unit concentrated loads and the actual system with prescribed surface displacements, we find displacement solution of the actual system. 展开更多
关键词 cube OO CO APPLICATION OF THE method OF THE RECIPROCAL THEOREM TO FINDING DISPLACEMENT SOLUTIONS OF cubeS
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Analytical approximate solution for nonlinear space-time fractional Klein Gordon equation
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作者 Khaled A. Gepreel Mohamed S. Mohameda 《Chinese Physics B》 SCIE EI CAS CSCD 2013年第1期33-38,共6页
The fractional derivatives in the sense of Caputo and the homotopy analysis method are used to construct an approximate solution for the nonlinear space-time fractional derivatives Klein-Gordon equation. The numerical... The fractional derivatives in the sense of Caputo and the homotopy analysis method are used to construct an approximate solution for the nonlinear space-time fractional derivatives Klein-Gordon equation. The numerical results show that the approaches are easy to implement and accurate when applied to the nonlinear space-time fractional derivatives Klein- Gordon equation. This method introduces a promising tool for solving many space-time fractional partial differential equations. This method is efficient and powerful in solving wide classes of nonlinear evolution fractional order equations. 展开更多
关键词 homotopy analysis method nonlinear space-time fractional Klein-Gordon equation Caputo derivative
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