OPTIMAL CONTROL OF REDUNDANT ROBOTS WITH LOCAL DEGREES OF FREEDOM

SupportedbytheNationalNaturalScienceFoundationofChinaRedundantrobotsprovideflexibilityinavarietyoftasks.Methedsusedtodevelopthere-dundancycontrolarewellknown[1~4J-Inthesemethods,kinematicflexibilityisensuredwhiledynamicperformanceisbeingimproved.Itisverydifficult,however,toimplementoptimalredundancycontrolthatsimultaneouslyincludesbothkinematicsanddynamics(dual-optimiza-tion)forrobotmechanismsthathavebeenpreviouslydeveloped.Inthefollowingsections,aredundantrobotmechanismhavinglocaldegreesof…     

WEIGHTED COMPACT SCHEME FOR SHOCK CAPTURING

INTRODUCTIONRecently compact schemes have been widelyused in the simulation of complex flows,espe-cially in the directnumerical simulation of turbu-lent flows[1～ 2 ] . Standard finite differenceschemes have explicit forms and need to be atleastone pointwider than the desired approxima-tion order. It is also difficult to find suitable andstable boundary closure for high order schemes.Compared to the standard finite difference ap-proximations,the compact schemes can achievehigher order acc…     

Damage characteristics and constitutive modeling of the 2D C/Si C composite: Part I – Experiment and analysis

This paper reports an experimental investigation on the macroscopic mechanical behaviors and damage mechanisms of the plain-woven(2D) C/Si C composite under in-plane on- and offaxis loading conditions. Specimens with 15, 30, and 45 off-axis angles were prepared and tested under monotonic and incremental cyclic tension and compression loads. The obtained results were compared with those of uniaxial tension, compression, and shear specimens. The relationships between the damage modes and the stress state were analyzed based on scanning electronic microscopy(SEM) observations and acoustic emission(AE) data. The test results reveal the remarkable axial anisotropy and unilateral behavior of the material. The off-axis tension test results show that the material is fiber-dominant and the evolution rate of damage and inelastic strain is accelerated under the corresponding combined biaxial tension and shear loads. Due to the damage impediment effect of compression stress, compression specimens show higher mechanical properties and lower damage evolution rates than tension specimens with the same off-axis angle. Under cyclic tension–compression loadings, both on-axis and off-axis specimens exhibit progressive damage deactivation behaviors in the compression range, but with different deactivation rates.     

Thermal Polymerization of Cyanate Ester-Benzoxazine：Study of a Functional Model Compound

A novel benzoxazine (BOZ) monomer is synthesized by a pot method with solvent-free to blend with cyanate ester (CE). A soluble intermediate is obtained after being cured for 20 h at 80 ℃. The two model compound and the blends are analyzed with the infrared radiation (IR)， nuclear magnetic resonance (NMR) spectroscopy， and differential scanning calorimetry (DSC). The results show that an intermediate of the iminocarbonate and BOZ structures is formed by the ring-open BOZ reacting with the cyanate groups and ring-unopened BOZ. Moreover， rearrangement and ring-opening occur in the postcure of the intermediate to form the alkyl isocyanurate structure with polybenzoxazine.     

Recent progress of machine learning in flow modeling and active flow control

In terms of multiple temporal and spatial scales, massive data from experiments, flow field measurements, and high-fidelity numerical simulations have greatly promoted the rapid development of fluid mechanics. Machine Learning(ML) provides a wealth of analysis methods to extract potential information from a large amount of data for in-depth understanding of the underlying flow mechanism or for further applications. Furthermore, machine learning algorithms can enhance flow information and automat...     

Third-order unconditional positivity-preserving schemes for reactive flows keeping both mass and mole balance

In this paper, the previously proposed second-order process-based modified Patankar Runge-Kutta schemes are extended to the third order of accuracy. Owing to the process-based implicit handling of reactive source terms, the mass conservation, mole balance and energy conservation are kept simultaneously while the positivity for the density and pressure is preserved unconditionally even with stiff reaction networks. It is proved that the first-order truncation terms for the Patankar coefficients m...     

OGSRN: Optical-guided super-resolution network for SAR image

Although Convolutional Neural Networks(CNNs) have significantly improved the development of image Super-Resolution(SR) technology in recent years, the existing SR methods for SAR image with large scale factors have rarely been studied due to technical difficulty. A more efficient method is to obtain comprehensive information to guide the SAR image reconstruction.Indeed, the co-registered High-Resolution(HR) optical image has been successfully applied to enhance the quality of SAR image due to it...