The mass configuration of the buoyancy-driven underwater glider is decomposed and defined. The coupling between the glider body and its internal masses is addressed using the energy law. A glider motion model is estab...The mass configuration of the buoyancy-driven underwater glider is decomposed and defined. The coupling between the glider body and its internal masses is addressed using the energy law. A glider motion model is established, and the corresponding simulation program is derived using MATLAB. The characteristics of the glider motion are explored using this program. The simula- tion results show that the basic characteristic of a buoyancy-driven underwater glider is the periodic alternation of downward and upward motions. The glider's spiral motion can be applied to missions in restricted regions. The glider's horizontal velocity, gliding depth and its motion radius in spiral motion can be changed to meet different application purposes by using different glider parameter designs. The simulation also shows that the model is appropriate and the program has strong simulation functions.展开更多
This article addresses the issues of falling into local optima and insufficient exploration capability in the Arithmetic Optimization Algorithm (AOA), proposing an improved Arithmetic Optimization Algorithm with a mul...This article addresses the issues of falling into local optima and insufficient exploration capability in the Arithmetic Optimization Algorithm (AOA), proposing an improved Arithmetic Optimization Algorithm with a multi-strategy mechanism (BSFAOA). This algorithm introduces three strategies within the standard AOA framework: an adaptive balance factor SMOA based on sine functions, a search strategy combining Spiral Search and Brownian Motion, and a hybrid perturbation strategy based on Whale Fall Mechanism and Polynomial Differential Learning. The BSFAOA algorithm is analyzed in depth on the well-known 23 benchmark functions, CEC2019 test functions, and four real optimization problems. The experimental results demonstrate that the BSFAOA algorithm can better balance the exploration and exploitation capabilities, significantly enhancing the stability, convergence mode, and search efficiency of the AOA algorithm.展开更多
In the field of pipeline inner wall inspection,the snake robot demonstrates significant advantages over other inspection methods.While a simple traveling wave or meandering motion will suffice for inspecting the inner...In the field of pipeline inner wall inspection,the snake robot demonstrates significant advantages over other inspection methods.While a simple traveling wave or meandering motion will suffice for inspecting the inner wall of small-diameter pipes,comprehensively and meticulously inspecting the inner wall of large-diameter pipes requires the snake robot to adopt a helical gait that closely adheres to the inner wall.Our review of existing literature indicates that most research and development on the helical gait of snake robots has focused on the outer surface of cylinders,with very few studies dedicated to developing a helical gait specifically for the inspection of the inner wall of pipes.Therefore,in this study,we propose a helical gait that is suitable for the inner wall of pipes and meets the requirements of gas pipeline engineering.The helical gait is designed using the backbone curve method.First,we create a mathematical model for a circular helix curve with constant curvature and torsion,ensuring it is applicable to a snake robot prototype in a laboratory environment.Subsequently.we calculate the joint angles required for two conical spiral curves with variable curvature and torsion,establish a new model,and define the physical significance of the specific parameters.To ensure the feasibility of the proposed gait,we conduct experiments involving meandering and traveling wave motions to verify the communication and control between the host computer and the snake robot.Building upon this foundation,we further validate the mathematical model of the complex helical motion gait through simulation experiments.Our findings provide a theoretical basis for realizing helical movement with a real snake robot.展开更多
According to some fundamental hypotheses compatible with microphysics theory in allusion to property of graviton shot by the spiral galaxy, we set up a motion trace equation of graviton in the three-dimensional space,...According to some fundamental hypotheses compatible with microphysics theory in allusion to property of graviton shot by the spiral galaxy, we set up a motion trace equation of graviton in the three-dimensional space, concluding method for measuring the velocity of graviton. This theory reveals formation mechanism of symmetric rotating arm image of the spiral galaxy. The rotating arm image conforms to Archimedes spiral. Under the condition of using dynamic constraints, the image that astrolabe is in thin-disk structure is naturally obtained. And then, we also deduce the law that astrolabe thickness h is inversely proportional to the square root of the distance rxy between astrolabe and galaxy center, according with actual crossrange galaxy observation image excellently. This article, by utilizing several typical galaxy observation images with completely different appearances and shapes, verifies the motion trace law of graviton in three-dimensional space. And the theoretical simulation data meet observation image data very well. As per the discovery in the simulation of three-dimensional theoretical model, changes of parameters in theoretical model will exert a great influence on the shape of galaxy. This theory owns exclusively important meaning, not only to astrophysics, but also to reconstruction and development of relativity theory and the whole basic physics theory, as well as breaking through the current dilemma in studying graviton property.展开更多
By using the equations describing typhoons in the atmosphere, the steady three-dimensional stream fieldand the corresponding pressure and temperature fields are obtained. The three-dimensional velocity fields construc...By using the equations describing typhoons in the atmosphere, the steady three-dimensional stream fieldand the corresponding pressure and temperature fields are obtained. The three-dimensional velocity fields construct anonlinear autonomuos system in the physical space. It is shown that the center of typhoon is a local minimum pressurewith positive vertical vorticity and horizontal convergence in lower levels and a local maximum pressure with negativevertical vorticity and horizontal divergence in the upper levels. Because there exits two saddle-focus points in the autnomous system, there exist the spiral patterns, in which the winds blow spirally in and out of the center in the lowerand upper levels in the Northern Hemisphere and cause the ascending motion near the center and dascending motionnear the edge, respectively . All these are in fair conformity with the observations. It implies that the rotation of earthand the viscosity of air play an important role in the spiral structure of typhoons.展开更多
文摘The mass configuration of the buoyancy-driven underwater glider is decomposed and defined. The coupling between the glider body and its internal masses is addressed using the energy law. A glider motion model is established, and the corresponding simulation program is derived using MATLAB. The characteristics of the glider motion are explored using this program. The simula- tion results show that the basic characteristic of a buoyancy-driven underwater glider is the periodic alternation of downward and upward motions. The glider's spiral motion can be applied to missions in restricted regions. The glider's horizontal velocity, gliding depth and its motion radius in spiral motion can be changed to meet different application purposes by using different glider parameter designs. The simulation also shows that the model is appropriate and the program has strong simulation functions.
文摘This article addresses the issues of falling into local optima and insufficient exploration capability in the Arithmetic Optimization Algorithm (AOA), proposing an improved Arithmetic Optimization Algorithm with a multi-strategy mechanism (BSFAOA). This algorithm introduces three strategies within the standard AOA framework: an adaptive balance factor SMOA based on sine functions, a search strategy combining Spiral Search and Brownian Motion, and a hybrid perturbation strategy based on Whale Fall Mechanism and Polynomial Differential Learning. The BSFAOA algorithm is analyzed in depth on the well-known 23 benchmark functions, CEC2019 test functions, and four real optimization problems. The experimental results demonstrate that the BSFAOA algorithm can better balance the exploration and exploitation capabilities, significantly enhancing the stability, convergence mode, and search efficiency of the AOA algorithm.
基金supported by the BUCEA Post Graduate Innovation Project,China(PG2023096).
文摘In the field of pipeline inner wall inspection,the snake robot demonstrates significant advantages over other inspection methods.While a simple traveling wave or meandering motion will suffice for inspecting the inner wall of small-diameter pipes,comprehensively and meticulously inspecting the inner wall of large-diameter pipes requires the snake robot to adopt a helical gait that closely adheres to the inner wall.Our review of existing literature indicates that most research and development on the helical gait of snake robots has focused on the outer surface of cylinders,with very few studies dedicated to developing a helical gait specifically for the inspection of the inner wall of pipes.Therefore,in this study,we propose a helical gait that is suitable for the inner wall of pipes and meets the requirements of gas pipeline engineering.The helical gait is designed using the backbone curve method.First,we create a mathematical model for a circular helix curve with constant curvature and torsion,ensuring it is applicable to a snake robot prototype in a laboratory environment.Subsequently.we calculate the joint angles required for two conical spiral curves with variable curvature and torsion,establish a new model,and define the physical significance of the specific parameters.To ensure the feasibility of the proposed gait,we conduct experiments involving meandering and traveling wave motions to verify the communication and control between the host computer and the snake robot.Building upon this foundation,we further validate the mathematical model of the complex helical motion gait through simulation experiments.Our findings provide a theoretical basis for realizing helical movement with a real snake robot.
文摘According to some fundamental hypotheses compatible with microphysics theory in allusion to property of graviton shot by the spiral galaxy, we set up a motion trace equation of graviton in the three-dimensional space, concluding method for measuring the velocity of graviton. This theory reveals formation mechanism of symmetric rotating arm image of the spiral galaxy. The rotating arm image conforms to Archimedes spiral. Under the condition of using dynamic constraints, the image that astrolabe is in thin-disk structure is naturally obtained. And then, we also deduce the law that astrolabe thickness h is inversely proportional to the square root of the distance rxy between astrolabe and galaxy center, according with actual crossrange galaxy observation image excellently. This article, by utilizing several typical galaxy observation images with completely different appearances and shapes, verifies the motion trace law of graviton in three-dimensional space. And the theoretical simulation data meet observation image data very well. As per the discovery in the simulation of three-dimensional theoretical model, changes of parameters in theoretical model will exert a great influence on the shape of galaxy. This theory owns exclusively important meaning, not only to astrophysics, but also to reconstruction and development of relativity theory and the whole basic physics theory, as well as breaking through the current dilemma in studying graviton property.
文摘By using the equations describing typhoons in the atmosphere, the steady three-dimensional stream fieldand the corresponding pressure and temperature fields are obtained. The three-dimensional velocity fields construct anonlinear autonomuos system in the physical space. It is shown that the center of typhoon is a local minimum pressurewith positive vertical vorticity and horizontal convergence in lower levels and a local maximum pressure with negativevertical vorticity and horizontal divergence in the upper levels. Because there exits two saddle-focus points in the autnomous system, there exist the spiral patterns, in which the winds blow spirally in and out of the center in the lowerand upper levels in the Northern Hemisphere and cause the ascending motion near the center and dascending motionnear the edge, respectively . All these are in fair conformity with the observations. It implies that the rotation of earthand the viscosity of air play an important role in the spiral structure of typhoons.
