平面柔性欠驱动机械臂的非线性动力学分析

研究了平面柔性欠驱动机械臂中被动关节对系统动态特性的影响 ,在动力学分析的基础上 ,提出了一种基于内共振原理的柔性欠驱动机械臂振动控制方法。在对系统的稳态周期运动进行分析研究的基础上 ,发现处于自由摆动状态的被动关节的平衡位置随系统结构的振动而发生漂移 ,并且被动关节平衡位置的漂移速度和方向与周期输入的振幅有关。提出利用结构柔性产生的振动实现被动关节位置控制的方法 ,通过平面二连杆柔性欠驱动机械臂进行了仿真计算     

Application of Autoscala to ionograms recorded by the VIPIR ionosonde

In November 2008, the ionosonde station at Boulder, Colorado, USA (40.0°N; 105.3°W) became the host of a new ionosonde (VIPIR, Vertical Incidence Pulsed Ionospheric Radar) developed and built by Scion Associates.     

A topside investigation over a mid-latitude digisonde station in Cyprus

We examine the systematic differences between topside electron density measurements recorded by different techniques over the low-middle latitude operating European station in Nicosia, Cyprus (geographical coordinates: 35.14^oN, 33.2^oE), (magnetic coordinates 31.86^oN, 111.83 ^oE). These techniques include space-based in-situ data by Langmuir probes on board.European Space Agency (ESA) Swarm satellites, radio occultation measurements on board low Earth orbit (LEO) satellites from the COSMIC/FORMOSAT-3 mission and ground-based extrapolated topside electron density profiles from manually scaled ionograms. The measurements are also compared with International Reference Ionosphere Model (IRI-2016) topside estimations and IRI-corrected NeQuick topside formulation (method proposed by Pezzopane and Pignalberi (2019)). The comparison of Swarm and COSMIC observations with digisonde and IRI estimations verifies that in the majority of cases digisonde underestimates while IRI overestimates Swarm observations but in general, IRI provides a better topside representation than the digisonde. For COSMIC and digisonde profiles matched at the F layer peak the digisonde systematically underestimates topside COSMIC electron density values and the relative difference between COSMIC and digisonde increases with altitude (above hmF2), while IRI overestimates the topside COSMIC electron density but after a certain altitude (~150 km above hmF2) this overestimation starts to decrease with altitude. The IRI-corrected NeQuick underestimates the majority of topside COSMIC electron density profiles and relative difference is lower up to approximately 100 km (above the hmF2) and then it increases. The overall performance of IRI-corrected NeQuick improves with respect to IRI and digisonde.     

Electron density profile calculation technique for Autoscala ionogram analysis

An electron density profile model with free parameters is introduced. Initially the parameters are calculated on the basis of the ionospheric characteristics automatically obtained from the ionograms by Autoscala and considering the helio-geophysical conditions. The technique used to adjust the free parameters to the particular ionograms recorded is presented.     

Parametric instability of twisted cross-ply laminated panels

The present paper deals with the study of the vibration, buckling and parametric instability characteristics of general laminated cross-ply pre-twisted cantilever flat and curved panels. The effects of angles of pre-twist, aspect ratio, static load factor, and the lamination parameters of the cross-ply twisted curved panels on the principal instability regions are studied using Bolotin?s approach. An eight-noded isoparametric quadratic shell element with five degrees of freedom per node is used to develop the finite element procedure. The first order shear deformation theory is used to model the twisted cross-ply curved panels considering the effects of transverse shear deformation and rotary inertia. The linear part of the strain is used to derive the elastic stiffness matrix and the non-linear part of the strain is used to derive the geometric stiffness matrix. The global matrices are obtained by assembling the corresponding element matrices using skyline technique. Subspace iteration method is used throughout to solve the eigenvalue problem. Reduced integration technique is adopted in order to avoid possible shear locking. Based on the parametric studies, it is found that the instability behavior of twisted cross-ply cantilever panels is greatly influenced by the geometry, material, angle of twist and lamination parameters. So, this can be used to advantage in tailoring during design of crossply twisted cantilever panels.     

Comparison of topside electron density computed by ionospheric models and plasma density observed by DMSP satellites

Electron density obtained by IRI (topside options NeQuick and IRI-Corr) and NeQuick models in their standard versions have been compared with plasma density values measured by F13 and F15 DMSP satellites for years of different solar activities. A statistical study of the differences between modeled and experimental data has been carried out to investigate each model performance.     

Solar and magnetic control on night-time enhancement in TEC near the crest of the Equatorial Ionization Anomaly

The ionospheric Total Electron Content (TECs), derived by dual frequency signals from the Global Positioning System (GPS) recorded near the Indian equatorial anomaly region, Bhopal (23.2°N, 77.4°E, Geomagnetic 14.2°N) were analyzed for the period of January, 2005 to February, 2008. The work deals with monthly, diurnal, solar and magnetic activity variations on night-time enhancement in TEC. From a total of 157 night-time enhancements, 75 occur during pre-midnight and 82 post-midnight hours. The occurrence of night-time enhancement in TEC is utmost during summer months, followed by equinox and winter months. The occurrence of night-time enhancement in TEC decreases with increase in solar and magnetic activities. We observed that peak size and half amplitude duration are positively correlated, while time of occurrence of night-time enhancement in TEC and time of peak enhancement are negatively correlated with solar activity. The peak size, half amplitude duration, time of peak enhancement and time of occurrence of night-time enhancement in TEC shows negative correlation with magnetic activity. The results have been compared with the earlier ones and discussed in terms of possible source mechanism responsible for the enhancement at anomaly crest region.     

Global empirical models of the density peak height and of the equivalent scale height for quiet conditions

Monthly average electron density profiles have been calculated from hourly electron density N(h) recorded in 26 digisonde stations distributed worldwide encompassing the time interval 1998–2006. The ionospheric electron density peak height of the F2 region, hmF2, and the effective scale height at the hmF2, Hm, deduced from average profiles have been analyzed to obtain the quiet-time behavior and have been analytically modeled by the spherical harmonic analysis (SH) technique using the modip latitude as the coordinate of the reference system. The coefficients of the SH models of hmF2 and Hm are bounded to the solar activity, and the temporal and seasonal variations are considered by Fourier expansion of the coefficients. The SH models provide a tool to predict hmF2 and Hm located anywhere in the range of latitudes between of 70°N and 70°S and at any time. The SH analytical model for hmF2 improves the fit to the observations by 10% in average compared to the IRI prediction, and it might improve the IRI prediction of hmF2 by more than 30% at high and low latitudes. The analytical model for Hm predicts the quiet behavior of the effective scale height with accuracy better than 15% in average which enables to obtain a good estimation of vertical profiles. These results could be useful to estimate information for the topside profile formulation.     

两体背向散射与两种荷共振

研究了准一维有限力程相互作用电子气在低温下的荷激发和交流电导。用Ｃｏｌｅｍ ａｎ 的玻色化方法实现电荷－自旋分离得到了荷激发谱，用Ｋｕｂｏ 公式计算了交流电导，结果表明，电子自旋和两本背向散射影响电导及荷激发谱随波矢的变化速率，特别是两体背向散射使荷激发共振区别于荷输运共振。     

Critical phenomenon,crisis and transition to spatiotemporal chaos in plasmas

In a driven/damped drift-wave system a steady wave induces nonlinear variation of the dispersion of a perturbation wave (PW). Competition between the nonlinear dispersion with self-nonlinearity of the PW results in rich wave dynamic behaviors. In particular, a steady wave at the negative tangency slope of a hysteresis becomes unstable due to a saddle instability. It is found that such saddle steady wave (SSW) plays an important role in the discontinuous transition from a spatially coherent state to spatiotemporal chaos (STC). The transition is caused by a crisis due to a collision of the PW attactor to an unstable orbit of the SSW. In the time evolution, it is a ‘pattern resonance’ of the realized wave with the virtual SSW that triggers the crisis. The transition also displays as a critical phenomenon in parameter space, which is related to the change in the symmetry property of the motion of master mode (k = 1) of the PW with respect to that of SSW. In the spatially coherent state the former is trapped by the SSW partial wave, while in the STC it can become free from the latter, its trajectory crosses two unstable orbits of the SSW frequently, causing very turbulent behavior. This revised version was published online in August 2006 with corrections to the Cover Date.