Mechanism parameters optimization of bionic frog jumping robot based on velocity directional manipulability measure

以速度方向可操作度作为跳跃性能的评价指标,从机构设计角度寻求改善仿蛙跳跃机器人跳跃性能的方法.在仿蛙跳跃机器人机构模型的基础上,建立了起跳阶段的运动学方程,得到机器人从关节空间到质心运动空间的速度映射关系,结合速度方向可操作度,利用优化算法对仿蛙跳跃机器人的机构参数进行优化,使机器人的跳跃性能达到最佳.优化结果表明,运用速度方向可操作度理论,对跳跃机器人机构参数进行优化研究是有效可行的.     

The effects of the solar magnetic polarity and the solar wind velocity on Bz-component of the interplanetary magnetic field

We have studied the effect of both solar magnetic polarity and the solar wind velocity on the Bz-component of the interplanetary magnetic field, IMFBz, for the minimum activity of the solar cycles 21, 22, 23 and 24. We made a statistical study of IMFBz in the first section which is considered as an extension of Lyatsky et al. (2003). They made a statistical study of IMFBz for two periods of minimum solar activity 22 and 23 related to 1985–1987 and 1995–1997 when the solar magnetic field had opposite polarity. Our results seem to be consistent with the results obtained by Lyatsky et al. (2003). We found that there is a dependence of IMFBz on the IMFBx and the solar magnetic polarity for the minimum periods of the selected four solar cycles. In addition, we found that there is a dependence of IMFBz on the solar wind velocity.     

某型飞机纵向平衡速度的调整

通过对影响飞机纵向平衡速度的结构特性和气动原理的分析,指出了飞机纵向平衡速度调整中存在的问题,给出了不同飞机有效调整纵向平衡速度的方法。     

飞机机身近区电磁散射建模研究

采用物理光学法和一致性几何绕射理论，分析机身各 球面波照射下的近场电磁散射特性几何绕射并建立其雷达散射截面（ＲＣＳ）数学模型，同时对于复杂机身的前部，采用面元油、即采用双三次Ｂ样条技术对机外形进行拟合，然后再用一致性几何绕射理论进行计算。种方法具有一定的可信度。     

计算风工程中几个关键影响因素的分析与建议

通过近几年进行建筑计算风工程的实践与体会,并参考国内外的一些文献,本文给出了合理选取建筑数值风洞大小、最好采用SSTk-ω或BSL雷诺应力湍流物理模型及在建筑模型中的不同区域应按不同的网格尺度要求划分网格的建议;在CFX5软件平台中,对复杂的建筑体型,可选用非结构化网格和四面体单元,对流项的插值格式宜采用接近二阶的混合格式。还选取一立方体建筑模型,通过数值模拟、现场实测和风洞实验结果的比较对建议进行了验证。最后通过未受扰动数值风洞中入口边界条件的保持,给出了适用于我国建筑工程中A、B、C、D四类地面粗糙度类别的入口湍流边界条件,可参考采用。     

尾涡数值模拟的曲涡元技术

连接涡线端点形成涡段并计算其对空间任意点的影响系数是尾迹分析的基本环节,称为涡元技术。本文推出圆弧涡元与其应用程序,并引进抛物拱弧涡元,以代替传统的直涡元。提供的曲涡元程序可方便地用于尾迹分析,算例表明曲涡元在提高精度减少计算量方面的先进性。     

温度对液体中超声速度的影响

本文导出了超声波速度同液体压缩系数及密度关系，研究了压缩系数及密度与温度的关系，进而研究了温度对声速及声时的影响，用实验测量了不同的液体成份下的声时同温度的关系，从而提出了进行液体成份分析所必需的参量，对用超声波分析液体成份提供了理论依据，对提高产品质量及实现工业在线检测有一定的实用价值。     

A DORIS determination of the absolute velocities of the Sorsdal and Mellor glaciers in Antarctica

The Lambert–Amery System is the largest glacier–ice shelf system in East Antarctica, draining a significant portion of the ice sheet. Variation in ice sheet discharge from Antarctica or Greenland has an impact on the rate of change in global mean sea level; which is a manifestation of climate change. In conjunction with a measure of ice thickness change, ice sheet discharge can be monitored by determining the absolute velocities of these glaciers.     

Optimization Based on Convergence Velocity and Reliability for Hydraulic Servo System

This article presents an optimal hybrid fuzzy proportion integral derivative (HFPID) controller based on combination of proportion integral derivative (PID) and fuzzy controllers, by which the parameters could be evaluated by global optimization either in convergence velocity or in convergence reliability. Focusing on the nonlinear factors of hydraulic servo system, this article takes advantage of PID and fuzzy logic controller integrated with scaling factors to acquire precise tracking performances. To further improve the performances, it provides new developed optimization with rapid convergence to attain reliable approach probability. Focusing on the performance indictors of evolutionary algorithm, this article presents a new technique to predict reliability of the optimization algorithm. Statistics authenticates the effectiveness and robustness of the optimization. Further, many simulation and experimental results indicate that the optimal HFPID could acquire perfect immunity against parametric uncertainties with external disturbance.     

A FINITE ELEMENT SOLVER FOR NAVIER-STOKES EQUATIONS VIA VORTICITY AND VELOCITY

INTRODUCTIONThe stationary incompressible Navier- Stokesequations in the primitive variables( velocity uand pressure p)- vΔu + u . u + p =f . u =0u =g　inΩinΩonΓ( 1 )whereΩ is a set of R2 ,Γ its boundary,v thekinematic viscosity of the fluid,f a field of givenbody forces,and g a given field defined onΓ sa-tisfying the global conservation property∫Γg . n =0 ( 2 )n denotes the unit outer normal vector toΓ.The vorticity- velocity system of Eq.( 1 ) ,byintroducing the vorticityω…