With the linear interpolation method, an improved absorbing boundary condition（ABC）is introduced and derived, which is suitable for the alternating-direction-implicit finite- difference time-domain （ADI-FDTD） meth...With the linear interpolation method, an improved absorbing boundary condition（ABC）is introduced and derived, which is suitable for the alternating-direction-implicit finite- difference time-domain （ADI-FDTD） method. The reflection of the ABC caused by both the truncated error and the phase velocity error is analyzed. Based on the phase velocity estimation and the nonuniform cell, two methods are studied and then adopted to improve the performance of the ABC. A calculation case of a rectangular waveguide which is a typical dispersive transmission line is carried out using the ADI-FDTD method with the improved ABC for evaluation. According to the calculated case, the comparison is given between the reflection coefficients of the ABC with and without the velocity estimation and also the comparison between the reflection coefficients of the ABC with and without the nonuniform processing. The reflection variation of the ABC under different time steps is also analyzed and the acceptable worsening will not obscure the improvement on the absorption. Numerical results obviously show that efficient improvement on the absorbing performance of the ABC is achieved based on these methods for the ADI-FDTD.展开更多
A theorem for osculatory rational interpolation was shown to establish a new criterion of interpolation. On the basis of this conclusion a practical algorithm was presented to get a reduction model of the linear syste...A theorem for osculatory rational interpolation was shown to establish a new criterion of interpolation. On the basis of this conclusion a practical algorithm was presented to get a reduction model of the linear systems. Some numerical examples were given to explain the result in this paper.展开更多
The linear interpolation of linear system on a family of linear systems is introduced and discussed. Some results and examples on singly generated systems on a finite dimensional vector space are given.
An approach of three-dimensional seismic ray tracing is presented,which is derived from adopting two-dimensional linear traveltime interpolation（LTI）.By adjusting the forward process using the partition of grid inte...An approach of three-dimensional seismic ray tracing is presented,which is derived from adopting two-dimensional linear traveltime interpolation（LTI）.By adjusting the forward process using the partition of grid interface,and backward step by considering more directions,the new approach is suitable for the application of three-dimensional models.The calculation results show that,with the same accuracy,the improved 3-D method is much faster than the method of traditional LTI directly applied in the three-dimensional case.展开更多
Diffusion tensor imaging is a unique method to visualize white matter fibers three-dimensionally, non-invasively and in vivo, and therefore it is an important tool for observing and researching neural regeneration. Di...Diffusion tensor imaging is a unique method to visualize white matter fibers three-dimensionally, non-invasively and in vivo, and therefore it is an important tool for observing and researching neural regeneration. Different diffusion tensor imaging-based fiber tracking methods have been already investigated, but making the computing faster, fiber tracking longer and smoother and the details shown clearer are needed to be improved for clinical applications. This study proposed a new fiber tracking strategy based on tri-linear interpolation. We selected a patient with acute infarction of the right basal ganglia and designed experiments based on either the tri-linear interpolation algorithm or tensorline algorithm. Fiber tracking in the same regions of interest （genu of the corpus callosum） was performed separately. The validity of the tri-linear interpolation algorithm was verified by quan- titative analysis, and its feasibility in clinical diagnosis was confirmed by the contrast between tracking results and the disease condition of the patient as well as the actual brain anatomy. Statis- tical results showed that the maximum length and average length of the white matter fibers tracked by the tri-linear interpolation algorithm were significantly longer. The tracking images of the fibers indicated that this method can obtain smoother tracked fibers, more obvious orientation and clearer details. Tracking fiber abnormalities are in good agreement with the actual condition of patients, and tracking displayed fibers that passed though the corpus callosum, which was consistent with the anatomical structures of the brain. Therefore, the tri-linear interpolation algorithm can achieve a clear, anatomically correct and reliable tracking result.展开更多
The Ablowitz-Ladik equation is a very important model in nonlinear mathematical physics. In this paper, the hyper- bolic function solitary wave solutions, the trigonometric function periodic wave solutions, and the ra...The Ablowitz-Ladik equation is a very important model in nonlinear mathematical physics. In this paper, the hyper- bolic function solitary wave solutions, the trigonometric function periodic wave solutions, and the rational wave solutions with more arbitrary parameters of two-dimensional Ablowitz-Ladik equation are derived by using the （GI/G）-expansion method, and the effects of the parameters （including the coupling constant and other parameters） on the linear stability of the exact solutions are analysed and numerically simulated.展开更多
This paper analyzes and compares two time interpolators, i.e., time replica and time linear interpolator, for pilot aided channel estimation in orthogonal frequency division multiplexing (OFDM) systems. The mean squar...This paper analyzes and compares two time interpolators, i.e., time replica and time linear interpolator, for pilot aided channel estimation in orthogonal frequency division multiplexing (OFDM) systems. The mean square error (MSE) of two interpolators is theoretically derived for the general case. The equally spaced pilot arrangement is proposed as a special platform for these two time interpolators. Based on this proposed platform, the MSE of two time interpolators at the virtual pilot tones is derived analytically;moreover, the MSE of per channel estimator at the entire OFDM symbol based on per time interpolator is also derived. The effectiveness of the theoretical analysis is demonstrated by numerical simulation in both the time-invariant frequency-selective channel and the time varying frequency-selective channel.展开更多
A metal-semiconductor composite with the interracial shells is investigated theoretically for the large linear mag- netoresistance effect of high doping Ag2＋δ Se and Ag2＋δ te materials. The magnetoresistance （MR...A metal-semiconductor composite with the interracial shells is investigated theoretically for the large linear mag- netoresistance effect of high doping Ag2＋δ Se and Ag2＋δ te materials. The magnetoresistance （MR） of composites is a function of the magnetic field, temperature, the conductivities of two phases without magnetic field, and the thickness and conductivity of the interracial shells. The MR increases with the increase of the magnetic field and with the decrease of temperature, and no saturation is found even under the high magnetic field. Moreover, it is interestingly found that the interracial shell is an important factor for the MR of the composites. The MR increases with the thickness and the conductivity of the interfacial shells. Lastly, the theoretical results on the MR are compared with the experimental data. It is found that the value of the MR of the composite with the interfacial shell is larger than that without the interfacial shell.展开更多
Linear interpolation has been adapted in many signal and image processing applications due to its simple implementation and low computational cost. In standard linear interpolation the kernel is the second order B-spl...Linear interpolation has been adapted in many signal and image processing applications due to its simple implementation and low computational cost. In standard linear interpolation the kernel is the second order B-spline. In this work we show that the interpolation error can be remarkably diminished by using the time-shifted B-spline as an interpolation kernel. We verify by experimental tests that the optimal shift is. In VLSI and microprocessor circuits the shifted linear interpolation (SLI) algorithm can be effectively implemented by the z-transform filter. The interpolation error of the SLI filter is comparable to the more elaborate higher order cubic convolution interpolation.展开更多
Field D* algorithm is widely used in mobile robot navigation since it can plan and replan any-angle paths through non-uniform cost grids. However, it still suffers from inefficiency and sub-optimality. In this article...Field D* algorithm is widely used in mobile robot navigation since it can plan and replan any-angle paths through non-uniform cost grids. However, it still suffers from inefficiency and sub-optimality. In this article, a new linear interpolation-based planning and replanning algorithm, Update-Reducing Field D*, is proposed. It employs different approaches during initial planning and replanning respectively in order to reduce the number of updates of the rhs-values of vertices. Experiments have shown that Update-Reducing Field D* runs faster than Field D* and returns smoother and lower-cost paths.展开更多
This paper addresses the new algebraic test to check the aperiodic stability of two dimensional linear time invariant discrete systems. Initially, the two dimensional characteristics equations are converted into equiv...This paper addresses the new algebraic test to check the aperiodic stability of two dimensional linear time invariant discrete systems. Initially, the two dimensional characteristics equations are converted into equivalent one-dimensional equation. Further Fuller’s idea is applied on the equivalent one-dimensional characteristics equation. Then using the co-efficient of the characteristics equation, the routh table is formed to ascertain the aperiodic stability of the given two-dimensional linear discrete system. The illustrations were presented to show the applicability of the proposed technique.展开更多
This paper proposes a method to ascertain the stability of two dimensional linear time invariant discrete system within the shifted unit circle which is represented by the form of characteristic equation. Further an e...This paper proposes a method to ascertain the stability of two dimensional linear time invariant discrete system within the shifted unit circle which is represented by the form of characteristic equation. Further an equivalent single dimensional characteristic equation is formed from the two dimensional characteristic equation then the stability formulation in the left half of Z-plane, where the roots of characteristic equation f(Z) = 0 should lie within the shifted unit circle. The coefficient of the unit shifted characteristic equation is suitably arranged in the form of matrix and the inner determinants are evaluated using proposed Jury’s concept. The proposed stability technique is simple and direct. It reduces the computational cost. An illustrative example shows the applicability of the proposed scheme.展开更多
In general, the orientation interpolation of industrial robots has been done based on Euler angle system which can result in singular point （so-called Gimbal Lock）. However, quaternion interpolation has the advantag...In general, the orientation interpolation of industrial robots has been done based on Euler angle system which can result in singular point （so-called Gimbal Lock）. However, quaternion interpolation has the advantage of natural （specifically smooth） orientation interpolation without Gimbal Lock. This work presents the application of quatemion interpolation, specifically Spherical Linear IntERPolation （SLERP）, to the orientation control of the 6-axis articulated robot （RS2） using LabVIEW and RecurDyn. For the comparison of SLERP with linear Euler interpolation in the view of smooth movement （profile） of joint angles （torques）, the two methods are dynamically simulated on RS2 by using both LabVIEW and RecurDyn. Finally, our original work, specifically the implementation of SLERP and linear Euler interpolation on the actual robot, i.e. RS2, is done using LabVIEW motion control tool kit. The SLERP orientation control is shown to be effective in terms of smooth joint motion and torque when compared to a conventional （linear） Euler interpolation.展开更多
To study the energy storage and dissipation characteristics of deep rock under two-dimensional compression with constant confining pressure,the single cyclic loading-unloading two-dimensional compression tests were pe...To study the energy storage and dissipation characteristics of deep rock under two-dimensional compression with constant confining pressure,the single cyclic loading-unloading two-dimensional compression tests were performed on granite specimens with two height-to-width(H/W)ratios under five confining pressures.Three energy density parameters(input energy density,elastic energy density and dissipated energy density)in the axial and lateral directions of granite specimens under different confining pressures were calculated using the area integral method.The experimental results show that,for the specimens with a specific H/W ratio,these three energy density parameters in the axial and lateral directions increase nonlinearly with the confining pressure as quadratic polynomial functions.Under constant confining pressure compression,the linear energy storage law of granite specimens in the axial and lateral directions was founded.Using the linear energy storage law in different directions,the elastic energy density in various directions(axial elastic energy density,lateral elastic energy density and total elastic energy density)of granite under any specific confining pressures can be calculated.When the H/W ratio varies from 1:1 to 2:1,the lateral compression energy storage coefficient increases and the corresponding axial compression energy storage coefficient decreases,while the total compression energy storage coefficient is almost independent of the H/W ratio.展开更多
Modelling and simulation of projectile flight is at the core of ballistic computer software and is essential to the study of performance of rifles and projectiles in various engagement conditions.An effective and repr...Modelling and simulation of projectile flight is at the core of ballistic computer software and is essential to the study of performance of rifles and projectiles in various engagement conditions.An effective and representative numerical model of projectile flight requires a relatively good approximation of the aerodynamics.The aerodynamic coefficients of the projectile model should be described as a series of piecewise polynomial functions of the Mach number that ideally meet the following conditions:they are continuous,differentiable at least once,and have a relatively low degree.The paper provides the steps needed to generate such piecewise polynomial functions using readily available tools,and then compares Piecewise Cubic Hermite Interpolating Polynomial(PCHIP),cubic splines,and piecewise linear functions,and their variant,as potential curve fitting methods to approximate the aerodynamics of a generic small arms projectile.A key contribution of the paper is the application of PCHIP to the approximation of projectile aerodynamics,and its evaluation against a set of criteria.Finally,the paper provides a baseline assessment of the impact of the polynomial functions on flight trajectory predictions obtained with 6-degree-of-freedom simulations of a generic projectile.展开更多
A modified time domain interpolation method is proposed for orthogonal frequency division multiplexing(OFDM)systems to address the problem that time domain interpolation in the least square(LS)channel estimation metho...A modified time domain interpolation method is proposed for orthogonal frequency division multiplexing(OFDM)systems to address the problem that time domain interpolation in the least square(LS)channel estimation method based on comb-type pilots cannot choose the pilot spacing flexibly.Firstly,the estimated channel frequency response(CFR)at pilot positions in the frequency domain is obtained by LS channel estimation based on comb-type pilots,and the estimated channel impulse response(CIR)in the time domain is obtained by linear interpolation and inverse fast Fourier transform(IFFT).Secondly,the error of the estimated CIR obtained by linear interpolation is analyzed by theoretical deduction,and a method for correcting it is proposed.Finally,an estimated CFR at all subcarrier positions in the frequency domain is obtained by performing zero padding in the time domain and fast Fourier transform(FFT)on the modified CIR.The simulation results suggest that the proposed method gives similar performance to time domain interpolation,yet it does not need to meet the condition of time domain interpolation that the number of subcarriers must be an integral multiple of pilot spacing to use it.The proposed method allows for flexible pilot spacing,reducing the number of pilots and the consumption of subcarriers used for channel estimation.展开更多
A new seismic ray-tracing method is put forward based on parabolic travel-time interpolation(PTI) method, which is more accurate than the linear travel-time interpolation (LTI) method. Both PTI method and LTI method a...A new seismic ray-tracing method is put forward based on parabolic travel-time interpolation(PTI) method, which is more accurate than the linear travel-time interpolation (LTI) method. Both PTI method and LTI method are used to compute seismic travel-time and ray-path in a 2-D grid cell model. Firstly, some basic concepts are introduced. The calculations of travel-time and ray-path are carried out only at cell boundaries. So, the ray-path is always straight in the same cells with uniform velocity. Two steps are applied in PTI and LTI method, step 1 computes travel-time and step 2 traces ray-path. Then, the derivation of LTI formulas is described. Because of the presence of refraction wave in shot cell, the formula aiming at shot cell is also derived. Finally, PTI method is presented. The calculation of PTI method is more complex than that of LTI method, but the error is limited. The results of numerical model show that PTI method can trace ray-path more accurately and efficiently than LTI method does.展开更多
It is well-known that Hermite rational interpolation gives a better approximation than Hermite polynomial interpolation,especially for large sequences of interpolation points,but it is difficult to solve the problem o...It is well-known that Hermite rational interpolation gives a better approximation than Hermite polynomial interpolation,especially for large sequences of interpolation points,but it is difficult to solve the problem of convergence and control the occurrence of real poles.In this paper,we establish a family of linear Hermite barycentric rational interpolants r that has no real poles on any interval and in the case k=0,1,2,the function r^(k)(x)converges to f^(k)(x)at the rate of O(h^3d+3-k)as h→0 on any real interpolation interval,regardless of the distribution of the interpolation points.Also,the function r(x)is linear in data.展开更多
This paper presents a novel design method for discrete-time repetitive control systems （RCS） based on two-dimensional （2D） discrete-time model. Firstly, the 2D model of an RCS is established by considering both th...This paper presents a novel design method for discrete-time repetitive control systems （RCS） based on two-dimensional （2D） discrete-time model. Firstly, the 2D model of an RCS is established by considering both the control action and the learning action in RCS. Then, through constructing a 2D state feedback controller, the design problem of the RCS is converted to the design problem of a 2D system. Then, using 2D system theory and linear matrix inequality （LMI） method, stability criterion is derived for the system without and with uncertainties, respectively. Parameters of the system can be determined by solving the LMI of the stability criterion. Finally, numerical simulations validate the effectiveness of the proposed method.展开更多
In this paper we study the existence and stability of two-dimensional discrete gap breathers in a two-dimensional diatomic face-centered square lattice consisting of alternating light and heavy atoms, with on-site pot...In this paper we study the existence and stability of two-dimensional discrete gap breathers in a two-dimensional diatomic face-centered square lattice consisting of alternating light and heavy atoms, with on-site potential and coupling potential. This study is focused on two-dimensional breathers with their frequency in the gap that separates the acoustic and optical bands of the phonon spectrum. We demonstrate the possibility of the existence of two-dimensional gap breathers by using a numerical method. Six types of two-dimensional gap breathers are obtained, i.e., symmetric, mirror-symmetric and asymmetric, whether the center of the breather is on a light or a heavy atom. The difference between one-dimensional discrete gap breathers and two-dimensional discrete gap breathers is also discussed. We use Aubry＇s theory to analyze the stability of discrete gap breathers in the two-dimensional diatomic face-centered square lattice.展开更多
基金The National Natural Science Foundation of China(No.60702027)the Free Research Fund of the National Mobile Communications Research Laboratory of Southeast University (No.2008B07)the National Basic Research Program of China(973 Program)(No.2007CB310603)
文摘With the linear interpolation method, an improved absorbing boundary condition（ABC）is introduced and derived, which is suitable for the alternating-direction-implicit finite- difference time-domain （ADI-FDTD） method. The reflection of the ABC caused by both the truncated error and the phase velocity error is analyzed. Based on the phase velocity estimation and the nonuniform cell, two methods are studied and then adopted to improve the performance of the ABC. A calculation case of a rectangular waveguide which is a typical dispersive transmission line is carried out using the ADI-FDTD method with the improved ABC for evaluation. According to the calculated case, the comparison is given between the reflection coefficients of the ABC with and without the velocity estimation and also the comparison between the reflection coefficients of the ABC with and without the nonuniform processing. The reflection variation of the ABC under different time steps is also analyzed and the acceptable worsening will not obscure the improvement on the absorption. Numerical results obviously show that efficient improvement on the absorbing performance of the ABC is achieved based on these methods for the ADI-FDTD.
基金supported by the National Natural Science Foundation of China （Grant No.10271074）
文摘A theorem for osculatory rational interpolation was shown to establish a new criterion of interpolation. On the basis of this conclusion a practical algorithm was presented to get a reduction model of the linear systems. Some numerical examples were given to explain the result in this paper.
文摘The linear interpolation of linear system on a family of linear systems is introduced and discussed. Some results and examples on singly generated systems on a finite dimensional vector space are given.
基金Supported by the National Natural Science Foundation of China (69983005)
文摘An approach of three-dimensional seismic ray tracing is presented,which is derived from adopting two-dimensional linear traveltime interpolation（LTI）.By adjusting the forward process using the partition of grid interface,and backward step by considering more directions,the new approach is suitable for the application of three-dimensional models.The calculation results show that,with the same accuracy,the improved 3-D method is much faster than the method of traditional LTI directly applied in the three-dimensional case.
基金supported by the National Natural Science Foundation of China,No.60703045
文摘Diffusion tensor imaging is a unique method to visualize white matter fibers three-dimensionally, non-invasively and in vivo, and therefore it is an important tool for observing and researching neural regeneration. Different diffusion tensor imaging-based fiber tracking methods have been already investigated, but making the computing faster, fiber tracking longer and smoother and the details shown clearer are needed to be improved for clinical applications. This study proposed a new fiber tracking strategy based on tri-linear interpolation. We selected a patient with acute infarction of the right basal ganglia and designed experiments based on either the tri-linear interpolation algorithm or tensorline algorithm. Fiber tracking in the same regions of interest （genu of the corpus callosum） was performed separately. The validity of the tri-linear interpolation algorithm was verified by quan- titative analysis, and its feasibility in clinical diagnosis was confirmed by the contrast between tracking results and the disease condition of the patient as well as the actual brain anatomy. Statis- tical results showed that the maximum length and average length of the white matter fibers tracked by the tri-linear interpolation algorithm were significantly longer. The tracking images of the fibers indicated that this method can obtain smoother tracked fibers, more obvious orientation and clearer details. Tracking fiber abnormalities are in good agreement with the actual condition of patients, and tracking displayed fibers that passed though the corpus callosum, which was consistent with the anatomical structures of the brain. Therefore, the tri-linear interpolation algorithm can achieve a clear, anatomically correct and reliable tracking result.
基金Project supported by the Basic Science and the Front Technology Research Foundation of Henan Province,China(Grant Nos.092300410179 and122102210427)the Doctoral Scientific Research Foundation of Henan University of Science and Technology,China(Grant No.09001204)+1 种基金the Scientific Research Innovation Ability Cultivation Foundation of Henan University of Science and Technology,China(Grant No.011CX011)the Scientific Research Foundation of Henan University of Science and Technology(Grant No.2012QN011)
文摘The Ablowitz-Ladik equation is a very important model in nonlinear mathematical physics. In this paper, the hyper- bolic function solitary wave solutions, the trigonometric function periodic wave solutions, and the rational wave solutions with more arbitrary parameters of two-dimensional Ablowitz-Ladik equation are derived by using the （GI/G）-expansion method, and the effects of the parameters （including the coupling constant and other parameters） on the linear stability of the exact solutions are analysed and numerically simulated.
文摘This paper analyzes and compares two time interpolators, i.e., time replica and time linear interpolator, for pilot aided channel estimation in orthogonal frequency division multiplexing (OFDM) systems. The mean square error (MSE) of two interpolators is theoretically derived for the general case. The equally spaced pilot arrangement is proposed as a special platform for these two time interpolators. Based on this proposed platform, the MSE of two time interpolators at the virtual pilot tones is derived analytically;moreover, the MSE of per channel estimator at the entire OFDM symbol based on per time interpolator is also derived. The effectiveness of the theoretical analysis is demonstrated by numerical simulation in both the time-invariant frequency-selective channel and the time varying frequency-selective channel.
基金Supported by the China Postdoctoral Science Foundation under Grant No 2014MM551868the Science and Technology Development Guidance Program of Qingdao under Grant No KJZD-13-35-JCH
文摘A metal-semiconductor composite with the interracial shells is investigated theoretically for the large linear mag- netoresistance effect of high doping Ag2＋δ Se and Ag2＋δ te materials. The magnetoresistance （MR） of composites is a function of the magnetic field, temperature, the conductivities of two phases without magnetic field, and the thickness and conductivity of the interracial shells. The MR increases with the increase of the magnetic field and with the decrease of temperature, and no saturation is found even under the high magnetic field. Moreover, it is interestingly found that the interracial shell is an important factor for the MR of the composites. The MR increases with the thickness and the conductivity of the interfacial shells. Lastly, the theoretical results on the MR are compared with the experimental data. It is found that the value of the MR of the composite with the interfacial shell is larger than that without the interfacial shell.
文摘Linear interpolation has been adapted in many signal and image processing applications due to its simple implementation and low computational cost. In standard linear interpolation the kernel is the second order B-spline. In this work we show that the interpolation error can be remarkably diminished by using the time-shifted B-spline as an interpolation kernel. We verify by experimental tests that the optimal shift is. In VLSI and microprocessor circuits the shifted linear interpolation (SLI) algorithm can be effectively implemented by the z-transform filter. The interpolation error of the SLI filter is comparable to the more elaborate higher order cubic convolution interpolation.
文摘Field D* algorithm is widely used in mobile robot navigation since it can plan and replan any-angle paths through non-uniform cost grids. However, it still suffers from inefficiency and sub-optimality. In this article, a new linear interpolation-based planning and replanning algorithm, Update-Reducing Field D*, is proposed. It employs different approaches during initial planning and replanning respectively in order to reduce the number of updates of the rhs-values of vertices. Experiments have shown that Update-Reducing Field D* runs faster than Field D* and returns smoother and lower-cost paths.
文摘This paper addresses the new algebraic test to check the aperiodic stability of two dimensional linear time invariant discrete systems. Initially, the two dimensional characteristics equations are converted into equivalent one-dimensional equation. Further Fuller’s idea is applied on the equivalent one-dimensional characteristics equation. Then using the co-efficient of the characteristics equation, the routh table is formed to ascertain the aperiodic stability of the given two-dimensional linear discrete system. The illustrations were presented to show the applicability of the proposed technique.
文摘This paper proposes a method to ascertain the stability of two dimensional linear time invariant discrete system within the shifted unit circle which is represented by the form of characteristic equation. Further an equivalent single dimensional characteristic equation is formed from the two dimensional characteristic equation then the stability formulation in the left half of Z-plane, where the roots of characteristic equation f(Z) = 0 should lie within the shifted unit circle. The coefficient of the unit shifted characteristic equation is suitably arranged in the form of matrix and the inner determinants are evaluated using proposed Jury’s concept. The proposed stability technique is simple and direct. It reduces the computational cost. An illustrative example shows the applicability of the proposed scheme.
基金Project supported by the Second Stage of Brain Korea 21 Projectssupported by Basic Science Research Program through the National Research Foundation of Korea (NRF)funded by the Ministry of Education,Science and Technology (2011-0013902)
文摘In general, the orientation interpolation of industrial robots has been done based on Euler angle system which can result in singular point （so-called Gimbal Lock）. However, quaternion interpolation has the advantage of natural （specifically smooth） orientation interpolation without Gimbal Lock. This work presents the application of quatemion interpolation, specifically Spherical Linear IntERPolation （SLERP）, to the orientation control of the 6-axis articulated robot （RS2） using LabVIEW and RecurDyn. For the comparison of SLERP with linear Euler interpolation in the view of smooth movement （profile） of joint angles （torques）, the two methods are dynamically simulated on RS2 by using both LabVIEW and RecurDyn. Finally, our original work, specifically the implementation of SLERP and linear Euler interpolation on the actual robot, i.e. RS2, is done using LabVIEW motion control tool kit. The SLERP orientation control is shown to be effective in terms of smooth joint motion and torque when compared to a conventional （linear） Euler interpolation.
基金Projects(41877272,51974359)supported by the National Natural Science Foundation of China。
文摘To study the energy storage and dissipation characteristics of deep rock under two-dimensional compression with constant confining pressure,the single cyclic loading-unloading two-dimensional compression tests were performed on granite specimens with two height-to-width(H/W)ratios under five confining pressures.Three energy density parameters(input energy density,elastic energy density and dissipated energy density)in the axial and lateral directions of granite specimens under different confining pressures were calculated using the area integral method.The experimental results show that,for the specimens with a specific H/W ratio,these three energy density parameters in the axial and lateral directions increase nonlinearly with the confining pressure as quadratic polynomial functions.Under constant confining pressure compression,the linear energy storage law of granite specimens in the axial and lateral directions was founded.Using the linear energy storage law in different directions,the elastic energy density in various directions(axial elastic energy density,lateral elastic energy density and total elastic energy density)of granite under any specific confining pressures can be calculated.When the H/W ratio varies from 1:1 to 2:1,the lateral compression energy storage coefficient increases and the corresponding axial compression energy storage coefficient decreases,while the total compression energy storage coefficient is almost independent of the H/W ratio.
文摘Modelling and simulation of projectile flight is at the core of ballistic computer software and is essential to the study of performance of rifles and projectiles in various engagement conditions.An effective and representative numerical model of projectile flight requires a relatively good approximation of the aerodynamics.The aerodynamic coefficients of the projectile model should be described as a series of piecewise polynomial functions of the Mach number that ideally meet the following conditions:they are continuous,differentiable at least once,and have a relatively low degree.The paper provides the steps needed to generate such piecewise polynomial functions using readily available tools,and then compares Piecewise Cubic Hermite Interpolating Polynomial(PCHIP),cubic splines,and piecewise linear functions,and their variant,as potential curve fitting methods to approximate the aerodynamics of a generic small arms projectile.A key contribution of the paper is the application of PCHIP to the approximation of projectile aerodynamics,and its evaluation against a set of criteria.Finally,the paper provides a baseline assessment of the impact of the polynomial functions on flight trajectory predictions obtained with 6-degree-of-freedom simulations of a generic projectile.
基金The National Natural Science Foundation of China(No.51975117)。
文摘A modified time domain interpolation method is proposed for orthogonal frequency division multiplexing(OFDM)systems to address the problem that time domain interpolation in the least square(LS)channel estimation method based on comb-type pilots cannot choose the pilot spacing flexibly.Firstly,the estimated channel frequency response(CFR)at pilot positions in the frequency domain is obtained by LS channel estimation based on comb-type pilots,and the estimated channel impulse response(CIR)in the time domain is obtained by linear interpolation and inverse fast Fourier transform(IFFT).Secondly,the error of the estimated CIR obtained by linear interpolation is analyzed by theoretical deduction,and a method for correcting it is proposed.Finally,an estimated CFR at all subcarrier positions in the frequency domain is obtained by performing zero padding in the time domain and fast Fourier transform(FFT)on the modified CIR.The simulation results suggest that the proposed method gives similar performance to time domain interpolation,yet it does not need to meet the condition of time domain interpolation that the number of subcarriers must be an integral multiple of pilot spacing to use it.The proposed method allows for flexible pilot spacing,reducing the number of pilots and the consumption of subcarriers used for channel estimation.
文摘A new seismic ray-tracing method is put forward based on parabolic travel-time interpolation(PTI) method, which is more accurate than the linear travel-time interpolation (LTI) method. Both PTI method and LTI method are used to compute seismic travel-time and ray-path in a 2-D grid cell model. Firstly, some basic concepts are introduced. The calculations of travel-time and ray-path are carried out only at cell boundaries. So, the ray-path is always straight in the same cells with uniform velocity. Two steps are applied in PTI and LTI method, step 1 computes travel-time and step 2 traces ray-path. Then, the derivation of LTI formulas is described. Because of the presence of refraction wave in shot cell, the formula aiming at shot cell is also derived. Finally, PTI method is presented. The calculation of PTI method is more complex than that of LTI method, but the error is limited. The results of numerical model show that PTI method can trace ray-path more accurately and efficiently than LTI method does.
基金Supported by the National Natural Science Foundation of China(Grant No.11601224)the Science Foundation of Ministry of Education of China(Grant No.18YJC790069)+1 种基金the Natural Science Foundation of Jiangsu Higher Education Institutions of China(Grant No.18KJD110007)the National Statistical Science Research Project of China(Grant No.2018LY28)。
文摘It is well-known that Hermite rational interpolation gives a better approximation than Hermite polynomial interpolation,especially for large sequences of interpolation points,but it is difficult to solve the problem of convergence and control the occurrence of real poles.In this paper,we establish a family of linear Hermite barycentric rational interpolants r that has no real poles on any interval and in the case k=0,1,2,the function r^(k)(x)converges to f^(k)(x)at the rate of O(h^3d+3-k)as h→0 on any real interpolation interval,regardless of the distribution of the interpolation points.Also,the function r(x)is linear in data.
基金supported by National Natural Science Foundation of China (Nos. 60974045 and 60674016)the Research Foundation of Education Bureau of Hunan Province, China (No. 08C090)
文摘This paper presents a novel design method for discrete-time repetitive control systems （RCS） based on two-dimensional （2D） discrete-time model. Firstly, the 2D model of an RCS is established by considering both the control action and the learning action in RCS. Then, through constructing a 2D state feedback controller, the design problem of the RCS is converted to the design problem of a 2D system. Then, using 2D system theory and linear matrix inequality （LMI） method, stability criterion is derived for the system without and with uncertainties, respectively. Parameters of the system can be determined by solving the LMI of the stability criterion. Finally, numerical simulations validate the effectiveness of the proposed method.
基金Project supported by the National Natural Science Foundation of China (Grant No 10574011)the Foundation for Researching Group by Beijing Normal University
文摘In this paper we study the existence and stability of two-dimensional discrete gap breathers in a two-dimensional diatomic face-centered square lattice consisting of alternating light and heavy atoms, with on-site potential and coupling potential. This study is focused on two-dimensional breathers with their frequency in the gap that separates the acoustic and optical bands of the phonon spectrum. We demonstrate the possibility of the existence of two-dimensional gap breathers by using a numerical method. Six types of two-dimensional gap breathers are obtained, i.e., symmetric, mirror-symmetric and asymmetric, whether the center of the breather is on a light or a heavy atom. The difference between one-dimensional discrete gap breathers and two-dimensional discrete gap breathers is also discussed. We use Aubry＇s theory to analyze the stability of discrete gap breathers in the two-dimensional diatomic face-centered square lattice.
