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论数学发散思维能力的培养 被引量:7
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作者 龙敏信 冯继平 《云南师范大学学报(自然科学版)》 2000年第1期49-52,共4页
数学发散思维是创造性思维的重要成分,本文论述了培养数学发散思维的重要性,数学发散思维的特点。
关键词 发散思维 数学教育 创造性思维 能力培养
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南亚高压强度年代际变化及其与热带副热带海温关系 被引量:6
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作者 彭丽霞 朱伟军 +3 位作者 李忠贤 倪东鸿 陈海山 潘林林 《热带气象学报》 CSCD 北大核心 2016年第2期145-154,共10页
采用1948—2012年NCEE/NCAR月平均再分析资料和CAM3.0大气环流模式,探讨了南亚高压(SAH)强度年代际变化及其与热带、副热带海温的关系。(1)SAH呈显著年代际变化,以1970年代末期为界,之前强度偏弱;之后强度增强、面积扩大、东西扩展,冬... 采用1948—2012年NCEE/NCAR月平均再分析资料和CAM3.0大气环流模式,探讨了南亚高压(SAH)强度年代际变化及其与热带、副热带海温的关系。(1)SAH呈显著年代际变化,以1970年代末期为界,之前强度偏弱;之后强度增强、面积扩大、东西扩展,冬季西侧扩展程度大于东侧,夏季则相反。(2)与SAH强度年代际变化相对应,1970年代末期以后,热带、副热带辐散风分量表现为显著的两个上升区和三个下沉区。两个上升区一个位于东太平洋,另一个随季节变化位置有所改变,冬季位于印度洋,夏季位于南海-西太平洋海域;三个主要下沉区分别位于非洲中北部、亚洲东部和中太平洋地区。(3)与SAH强度年代际变化相对应,夏季低层涡旋风分量在南海-西太平洋地区表现为异常气旋性环流,冬季低层涡旋风分量在印度洋表现为异常气旋性环流,而在赤道中太平洋则呈现异常反气旋性环流。(4)数值试验表明:SAH年代际变化与热带、副热带海温关系密切,冬季印度洋海温起作用较大,夏季则是南海-西太平洋海温起作用较大,另外东太平洋海温也起了一定作用。 展开更多
关键词 南亚高压 年代际 辐散风 涡旋风 海温
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基于运动发散分量的四足机器人步态规划 被引量:6
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作者 刘明敏 曲道奎 +3 位作者 徐方 邹风山 贾凯 宋吉来 《浙江大学学报(工学版)》 EI CAS CSCD 北大核心 2021年第2期244-250,409,共8页
为了使四足机器人在出现较大的轨迹跟踪误差时仍然可以稳定运动,提出基于运动发散分量(DCM)的在线步态规划方法.将四足机器人抽象成三维线性倒立摆模型(LIPM),根据离线规划的落脚点,应用DCM方法论递推出保持DCM有界的参考轨迹;在满足步... 为了使四足机器人在出现较大的轨迹跟踪误差时仍然可以稳定运动,提出基于运动发散分量(DCM)的在线步态规划方法.将四足机器人抽象成三维线性倒立摆模型(LIPM),根据离线规划的落脚点,应用DCM方法论递推出保持DCM有界的参考轨迹;在满足步幅约束、零力矩点(ZMP)约束的条件下,步态规划运用宽松初始状态模型预测控制在线优化出可快速收敛到参考轨迹上的落脚点以及期望状态轨迹;全身运动控制器通过构建二次规划优化出满足运动约束、动力学约束、摩擦力约束等条件下跟踪期望状态轨迹的力矩.通过仿真验证以上算法,仿真结果表明:与经典模型预测控制相比,宽松初始状态模型预测控制可以承受较大的轨迹跟踪误差,四足机器人可以在出现较大的轨迹跟踪误差时以troting步态稳定运动并尽快收敛到离线规划的轨迹上. 展开更多
关键词 四足机器人 步态规划 运动发散分量(DCM) 线性倒立摆模型(LIPM) 零力矩点(ZMP)
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THE INTERDECADAL VARIATION OF THE SOUTH ASIAN HIGH AND ITS ASSOCIATION WITH THE SEA SURFACE TEMPERATURE OF TROPICAL AND SUBTROPICAL REGIONS 被引量:2
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作者 PENG Li-xia ZHU Wei-jun +4 位作者 LI Zhong-xian NI Dong-hong CHEN Hai-shan PAN Lin-lin LIU Yu-bao 《Journal of Tropical Meteorology》 SCIE 2018年第1期111-122,共12页
This study aims to explore the interdecadal variation of South Asian High(SAH) and its relationship with SST(sea surface temperature) of the tropical and subtropical regions by using the NCEP/NCAR monthly reanalysis d... This study aims to explore the interdecadal variation of South Asian High(SAH) and its relationship with SST(sea surface temperature) of the tropical and subtropical regions by using the NCEP/NCAR monthly reanalysis data from 1948 to 2012, based on the NCAR CAM 3.0 general circulation model. The results show that: 1) the intensity of SAH represents a remarkable interdecadal variation characteristic, the intensity of SAH experienced from weak to strong at the late 1970 s, and after the late 1970 s, its strength is enhanced and the area is expanded in the east-west direction.The expansion degree is greater westward than eastward, while it is opposite in summer. 2) Corresponding to the interdecadal variation of SAH intensity, after the late 1970 s, the divergent component of wind field has two ascending and three descending areas. Of the two ascending areas, one is located in the East Pacific, the other location varies with the season from the Indian Ocean in winter to the South China Sea and West Pacific in summer. Three descending areas are located in the north-central Africa, the East Asia and the Middle Pacific region respectively. 3) Corresponding to the interdecadal variation of SAH intensity, the rotational component of wind field at the lower level is an anomalous cyclone over the South China Sea and West Pacific in summer, while in winter, it is an anomalous cyclone over the Indian Ocean, and an anomalous anticyclone over the equatorial Middle Pacific. 4) Numerical simulations show that the interdecadal variation of SAH is closely related to the SST of the tropical and subtropical regions. The SST of Indian Ocean plays an important role in winter, while in summer, the SST of the South China Sea and West Pacific plays an important role, and the SST of the East Pacific also plays a certain role. 展开更多
关键词 South Asian high interdecadal variation divergent component rotational component SST
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Water Vapor Transport around the Tibetan Plateau and Its Effect on Summer Rainfall over the Yangtze River Valley
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作者 李驰钦 左群杰 +1 位作者 徐祥德 高守亭 《Journal of Meteorological Research》 SCIE CSCD 2016年第4期472-482,共11页
The water vapor transport around the Tibetan Plateau(TP) and its effect on the rainfall in the Yangtze River valley(YRV) in summer are investigated by decomposing the moisture transport into rotational and diverge... The water vapor transport around the Tibetan Plateau(TP) and its effect on the rainfall in the Yangtze River valley(YRV) in summer are investigated by decomposing the moisture transport into rotational and divergent components.Based on the ERA-Interim and PREC/L(Precipitation Reconstruction over Land) data from 1985 to 2014,the vertically integrated features of the two components are examined.The results show that the divergent part dominates the western TP while the rotational part dominates the rest of the TP,implying that moisture may be mostly locally gathered in the western TP but could be advected to/from elsewhere over the rest of the TP.The divergent and rotational moisture fluxes exhibit great temporal variability along the southern periphery of the TP,showing sensitivity of water vapor to the steep topography there.Correlation analysis reveals that it is over the southeastern corner of the TP and to its south that a significant correlation between rotational zonal moisture transport and summer rainfall in the YRV appears,suggesting that the southeastern corner of the TP may serve as a moisture transport bridge between the South Asian(Indian) monsoon and the East Asian monsoon.Further composite analysis indicates that anomalous eastward(westward) zonal water vapor transport from the South Asian monsoon via the southeastern corner of the TP favors more(less) precipitation in the YRV in summer. 展开更多
关键词 moisture transport Tibetan Plateau rotational component divergent component Yangtze River valley rainfall
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基于运动发散分量动力学的双足机器人行走策略研究 被引量:2
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作者 董胜 袁朝辉 +1 位作者 张建锐 马尚君 《西北工业大学学报》 EI CAS CSCD 北大核心 2019年第6期1285-1293,共9页
基于线性倒立摆(LIP)模型,将双足机器人的多步行走等效成三维倒立摆的多次摆动,在运动发散分量(DCM)概念的基础上,研究了以质心(COM)和DCM表示的动力学方程。设计了2种DCM闭环控制器:一步DCM终值不变抗扰动控制器和实时DCM轨迹跟踪闭环... 基于线性倒立摆(LIP)模型,将双足机器人的多步行走等效成三维倒立摆的多次摆动,在运动发散分量(DCM)概念的基础上,研究了以质心(COM)和DCM表示的动力学方程。设计了2种DCM闭环控制器:一步DCM终值不变抗扰动控制器和实时DCM轨迹跟踪闭环控制器。2种控制器都可以有效地抑制扰动,使实际机器人的DCM不发散,并使用其规划出了双足行走过程中的COM轨迹。依据COM轨迹和双腿末端轨迹推导了求解双足机器人逆运动学的数值方法,整体上完成了双足行走过程中从输入脚印到输出关节角度的整套求解问题,使双足步态规划的方法体系化。最后,结合一个普适机器人模型,针对文中的算法在MATLAB平台上进行了仿真,仿真结果验证了该新方法的有效性。 展开更多
关键词 双足机器人 线性倒立摆 运动发散分量 步态规划 逆运动学
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