Geometric Approach in Solving Inverse Kinematics of PUMA Robots

A geometric approach for deriving a consistent joint solution of a six-point PUMA1 robot is presented. The approach calls for the definition of various possible arm configurations based on the link coordinate systems and human arm geometry. These arm configurations are then expressed in an exact mathematical way to allow the construction of arm configuration indicators and their corresponding decision equations. The arm configuration indicators are prespecified by a user for finding the joint solution. These indicators enable one to find a solution from the possible four solutions for the first three joints, a solution from the possible two solutions for the last three joints. The solution is calculated in two stages. First a position vector pointing from the shoulder to the wrist is derived. This is used to derive the solution of the first three joints by looking at the projection of the position vector onto the xi-1-yi-1(i = 1,2,3) plane. The last three joints are solved using the calculated joint solution from the first three joints, the orientation matrices, and the projection of the link coordinate frames onto the xi-1-yi-1 (i = 4,5,6) plane. From the geometry, one can easily find the arm solution consistently. A computer simulation study conducted on a VAX-11/780 computer demonstrated the validity of the arm solution.     

计算三维边界层分离流动的一种双向推进有限元格式

 本文提出一种适用于兰维边界层正、逆向问题的有限元格式。格式采用了对壁面法向进行Galerkin加权,沿壁面进行子域加权并作双向推进的弱解形式。它不仅可节约内存,同时还可通过与等参元素的结合应用给出CFL条件的显式表述,保证了问题的快速求解。进行逆模态计算时,以位移厚度作约束条件,通过Lagrange乘子直接引入边界层方程的有限元类比中进行整体求解。算例表明该格式模拟三维边界层流动是经济有效的。     

Corotating Interaction Regions at High Latitudes

Ulysses observed a stable strong CIR from early 1992 through 1994 during its first journey into the southern hemisphere. After the rapid latitude scan in early 1995, Ulysses observed a weaker CIR from early 1996 to mid-1997 in the northern hemisphere as it traveled back to the ecliptic at the orbit of Jupiter. These two CIRs are the observational basis of the investigation into the latitudinal structure of CIRs. The first CIR was caused by an extension of the northern coronal hole into the southern hemisphere during declining solar activity, whereas the second CIR near solar minimum activity was caused by small warps in the streamer belt. The latitudinal structure is described through the presentation of three 26-day periods during the southern CIR. The first at ∼24°S shows the full plasma interaction region including fast and slow wind streams, the compressed shocked flows with embedded stream interface and heliospheric current sheet (HCS), and the forward and reverse shocks with associated accelerated ions and electrons. The second at 40°S exhibits only the reverse shock, accelerated particles, and the 26-day modulation of cosmic rays. The third at 60°S shows only the accelerated particles and modulated cosmic rays. The possible mechanisms for the access of the accelerated particles and the CIR-modulated cosmic rays to high latitudes above the plasma interaction region are presented. They include direct magnetic field connection across latitude due to stochastic field line weaving or to systematic weaving caused by solar differential rotation combined with non-radial expansion of the fast wind. Another possible mechanism is particle diffusion across the average magnetic field, which includes stochastic field line weaving. A constraint on connection to a distant portion of the CIR is energy loss in the solar wind, which is substantial for the relatively slow-moving accelerated ions. Finally, the weaker northern CIR is compared with the southern CIR. It is weak because the inclination of the streamer belt and HCS decreased as Ulysses traveled to lower latitudes so that the spacecraft remained at about the maximum latitudinal extent of the HCS. This revised version was published online in August 2006 with corrections to the Cover Date.     

无隙锥形旋流器燃烧室中流场的分叉现象

本文概述了用实验方法验证的在无隙锥形旋流器燃烧室中发生的流场的分叉现象及其特性 ,并初步介绍了出现分叉现象的成因 ,从而揭示了这种燃烧室燃烧火焰脉动的根源。     

Origin, Injection, and Acceleration of CIR Particles: Theory Report of Working Group 7

On the basis of the observational picture established in the report of Mason, von Steiger et al. (1999) the status of theoretical models on origin, injection, and acceleration of particles associated with Corotating Interaction Regions (CIRs) is reviewed. This includes diffusive or first-order Fermi acceleration at oblique shocks, adiabatic deceleration in the solar wind, stochastic acceleration in Alfvén waves and oblique propagating magnetosonic waves, and shock surfing as possible injection mechanism to discriminate pickup ions from solar wind ions. This revised version was published online in August 2006 with corrections to the Cover Date.     

The Upgraded CARISMA Magnetometer Array in the THEMIS Era

This review describes the infrastructure and capabilities of the expanded and upgraded Canadian Array for Realtime InvestigationS of Magnetic Activity (CARISMA) magnetometer array in the era of the THEMIS mission. Formerly operated as the Canadian Auroral Network for the OPEN Program Unified Study (CANOPUS) magnetometer array until 2003, CARISMA capabilities have been extended with the deployment of additional fluxgate magnetometer stations (to a total of 28), the upgrading of the fluxgate magnetometer cadence to a standard data product of 1 sample/s (raw sampled 8 samples/s data stream available on request), and the deployment of a new network of 8 pairs of induction coils (100 samples per second). CARISMA data, GPS-timed and backed up at remote field stations, is collected using Very Small Aperture Terminal (VSAT) satellite internet in real-time providing a real-time monitor for magnetic activity on a continent-wide scale. Operating under the magnetic footprint of the THEMIS probes, data from 5 CARISMA stations at 29–30 samples/s also forms part of the formal THEMIS ground-based observatory (GBO) data-stream. In addition to technical details, in this review we also outline some of the scientific capabilities of the CARISMA array for addressing all three of the scientific objectives of the THEMIS mission, namely: 1. Onset and evolution of the macroscale substorm instability, 2. Production of storm-time MeV electrons, and 3. Control of the solar wind-magnetosphere coupling by the bow shock, magnetosheath, and magnetopause. We further discuss some of the compelling questions related to these three THEMIS mission science objectives which can be addressed with CARISMA.     

First measurements of cosmic-ray nuclei at high energy with CREAM

The balloon-borne cosmic-ray experiment CREAM-I (Cosmic-Ray Energetics And Mass) recently completed a successful 42-day flight during the 2004–2005 NASA/NSF/NSBF Antarctic expedition. CREAM-I combines an imaging calorimeter with charge detectors and a precision transition radiation detector (TRD). The TRD component of CREAM-I is targeted at measuring the energy of cosmic-ray particles with charges greater than Z ∼ 3. A central science goal of this effort is the determination of the ratio of secondary to primary nuclei at high energy. This measurement is crucial for the reconstruction of the propagation history of cosmic rays, and consequently for the determination of their source spectra. First scientific results from this instrument are presented.     

Search for primordial antiparticles with BESS

The Balloon-borne Experiment with a Superconducting Spectrometer (BESS) has been carried out to search for primordial antiparticles in cosmic rays. In ten flights from 1993 to 2004, it measured the cosmic-ray antiproton spectrum in the energy range 0.1–4.2 GeV at various solar activity conditions. It also searched for antideuterons and antihelium nuclei, and it made precise measurement of cosmic-ray particle spectra. The BESS program has been extended to long duration balloon (LDB) flights in Antarctica (BESS-Polar) with the goal of achieving unprecedented sensitivity in the search for primordial antiparticles. This report describes recent results from BESS and progress of the BESS-Polar program.     

Search for antihelium: Progress with BESS

In this paper, we report searches for antihelium in cosmic rays using two recently flown magnetic rigidity spectrometers. BESS-TeV had extended rigidity with an MDR of 1.4 TV and had a flight duration of one day. BESS-Polar was optimized for collecting power. It was flown for 8.5 days and had an MDR of 240 GV. The former flight allows us to explore a previously unexplored rigidity band and the latter flight yields a factor of three improvement in the overall BESS limit. No antihelium candidate was found in the rigidity ranges of 1–500 GV, and 0.6–20 GV, among 7 × 10⁴ events taken with BESS-TeV, and 8 × 10⁶ events taken with BESS-Polar, respectively.     

Cosmic ray H/H ratio measured from BESS in 2000 during solar maximum

The Balloon-borne Experiment with a Superconducting Spectrometer (BESS) was flown from Lynn Lake, Manitoba, Canada in August, 2000, during the maximum solar modulation period, with an average residual atmospheric overburden of 4.3 g/cm². Precise spectral measurements of cosmic ray hydrogen isotopes from 0.178 GeV/n to 1.334 GeV/n were made during the 28.7 h of flight. This paper presents the measured energy spectra and their ratio, ²H/¹H. The results are also compared with previous measurements and theoretical predictions.