针对多星定位系统对地面静态目标的无源定位误差分析问题,运用Fisher信息矩阵、Taylor级数、矩阵理论和统计理论,综合考虑时差、频差、卫星位置误差以及卫星速度误差,推导了到达时间差(time difference of arrival,TDOA)/到达频率差(fre...针对多星定位系统对地面静态目标的无源定位误差分析问题,运用Fisher信息矩阵、Taylor级数、矩阵理论和统计理论,综合考虑时差、频差、卫星位置误差以及卫星速度误差,推导了到达时间差(time difference of arrival,TDOA)/到达频率差(frequency difference of arrival,FDOA)联合定位误差克拉美·罗界(Cramer-Rao lower bound,CRLB)的简单表达式,以及三星单独TDOA定位误差的CRLB,进而给出了避免TDOA定位盲区的良好卫星构型设计的充分条件.理论分析与仿真结果表明:在单独TDOA定位场景下良好的构型能完全消除定位盲区,定位精度随主星-星下点连线与主星-副星连线的夹角逼近90°而逐渐提高;通过引入FDOA与TDOA联合定位也能有效避免定位盲区,提高定位精度.展开更多
The adjacency matrix operations,which connect with configuration transformation correspondingly,can be used for analysis of configuration transformation of metamorphic mechanisms and the corresponding algorithm can ea...The adjacency matrix operations,which connect with configuration transformation correspondingly,can be used for analysis of configuration transformation of metamorphic mechanisms and the corresponding algorithm can easily be simulated by computer.But the adjacency matrix based on monochrome topological graph is not suitable for the topological representation of mechanisms with multiple joints.The method of adjacency matrix operations has its own limitations for analysis of configuration transformation of metamorphic mechanisms because it can only be used in the topological representation of mechanisms with single joints.In order to overcome the drawback of the adjacency matrix,a kind of new matrix named as extended adjacency matrix is proposed to express topological structures of all mechanisms.The extended adjacency matrix is not only suitable for the topological representation of mechanisms with single joints,but also can be used in that of mechanisms with multiple joints.On this basis,a method of matrix operations based on the extended adjacency matrix is proposed to analyze the configuration transformation of metamorphic mechanisms.The method is not only suitable for configuration analysis of metamorphic mechanisms with single joints as well as metamorphic mechanisms with multiple joints.The method is evaluated by calculating two examples representing metamorphic mechanisms with single joint and multiple joints respectively.It can be concluded that the method is effective and correct for analysis of configuration transformation of all metamorphic mechanisms.The proposed method is simple and easy to be achieved by computer programming.It provides a basis for structural synthesis of all metamorphic mechanisms.展开更多
An optimal configuration method of a multi-energy microgrid system based on the deep joint generation of sourceload-temperature scenarios is proposed to improve the multienergy complementation and the reliability of e...An optimal configuration method of a multi-energy microgrid system based on the deep joint generation of sourceload-temperature scenarios is proposed to improve the multienergy complementation and the reliability of energy supply in extreme scenarios.First,based on the historical meteorological data,the typical meteorological clusters and extreme temperature types are obtained.Then,to reflect the uncertainty of energy consumption and renewable energy output in different weather types,a deep joint generation model using a radiation-electric load-temperature scenario based on a denoising variational autoencoder is established for each weather module.At the same time,to cover the potential high energy consumption scenarios with extreme temperatures,the extreme scenarios with fewer data samples are expanded.Then,the scenarios are reduced by clustering analysis.The normal days of different typical scenarios and extreme temperature scenarios are determined,and the cooling and heating loads are determined by temperature.Finally,the optimal configuration of a multi-energy microgrid system is carried out.Experiments show that the optimal configuration based on the extreme scenarios and typical scenarios can improve the power supply reliability of the system.The proposed method can accurately capture the complementary potential of energy sources.And the economy of the system configuration is improved by 14.56%.展开更多
Some quadruped robots developed recently show better dynamic performance and environmental adaptability than ever, and have been preliminarily applied in the field of emergency disposal, military reconnaissance and in...Some quadruped robots developed recently show better dynamic performance and environmental adaptability than ever, and have been preliminarily applied in the field of emergency disposal, military reconnaissance and infrastructure construction. The development route, mechanisms design, control methods and mobile manipulating approaches of the quadruped robots are surveyed in this article. Firstly, the development route of the quadruped robot is combed, as the references of the forecast of the future work on quadruped robots. Then the bionic structure and the motion control method of the quadruped robot is summarized, the advantages and disadvantages are analyzed in aspects of gait switching, terrain adaption and disturbance resistance. Subsequently, aiming at the mobile manipulation of the quadruped robot, the representative leg-arm collaborative robots and the multi-task-oriented Whole-body Control (WBC) methods are introduced. Finally, the summary and future work of the quadruped robots is given.展开更多
The flat clinching process is attracting a growing attention in the joining field of lightweight materials because it avoids the geometric protrusion that appears in the conventional clinching process. In this paper, ...The flat clinching process is attracting a growing attention in the joining field of lightweight materials because it avoids the geometric protrusion that appears in the conventional clinching process. In this paper, the effects of sheet thickness and material on the mechanical properties of the clinched joint were studied. Al1060 and Al2024 sheets with 2 mm thickness were employed to develop the clinched joint by using different material configurations, and Al1060 sheets with 2.5- and 1.5-mm thicknesses were used to produce the clinched joint by using different thickness configurations. The clinched joints using various sheet configurations were sectioned, and dimensional analysis was conducted. Cross-tensile and shearing tests were carried out to analyze the mechanical properties of the clinched joint, including tensile strength, shearing strength, and absorbed energy. In addition, the failure modes of the clinched joints were discussed. Results indicated that the clinched joint with a stiff top sheet had increased static strength regardless of the test type. The clinched joint with a thick top sheet demonstrated lower static strength than the joint with a thick bottom sheet in the cross-tensile test. However, this result was reversed in the shearing tests. The flat clinching process has a great potential in joining dissimilar and various thickness materials.展开更多
文摘针对多星定位系统对地面静态目标的无源定位误差分析问题,运用Fisher信息矩阵、Taylor级数、矩阵理论和统计理论,综合考虑时差、频差、卫星位置误差以及卫星速度误差,推导了到达时间差(time difference of arrival,TDOA)/到达频率差(frequency difference of arrival,FDOA)联合定位误差克拉美·罗界(Cramer-Rao lower bound,CRLB)的简单表达式,以及三星单独TDOA定位误差的CRLB,进而给出了避免TDOA定位盲区的良好卫星构型设计的充分条件.理论分析与仿真结果表明:在单独TDOA定位场景下良好的构型能完全消除定位盲区,定位精度随主星-星下点连线与主星-副星连线的夹角逼近90°而逐渐提高;通过引入FDOA与TDOA联合定位也能有效避免定位盲区,提高定位精度.
基金supported by National Natural Science Foundation of China (Grant No. 51075039, Grant No. 50705010)Beijing Municipal Natural Science Foundation of China (Grant No. 3082014, Grant No.3053017)Fundamental Research Funds for the Central Universities of China (Grant No. 2009CZ08)
文摘The adjacency matrix operations,which connect with configuration transformation correspondingly,can be used for analysis of configuration transformation of metamorphic mechanisms and the corresponding algorithm can easily be simulated by computer.But the adjacency matrix based on monochrome topological graph is not suitable for the topological representation of mechanisms with multiple joints.The method of adjacency matrix operations has its own limitations for analysis of configuration transformation of metamorphic mechanisms because it can only be used in the topological representation of mechanisms with single joints.In order to overcome the drawback of the adjacency matrix,a kind of new matrix named as extended adjacency matrix is proposed to express topological structures of all mechanisms.The extended adjacency matrix is not only suitable for the topological representation of mechanisms with single joints,but also can be used in that of mechanisms with multiple joints.On this basis,a method of matrix operations based on the extended adjacency matrix is proposed to analyze the configuration transformation of metamorphic mechanisms.The method is not only suitable for configuration analysis of metamorphic mechanisms with single joints as well as metamorphic mechanisms with multiple joints.The method is evaluated by calculating two examples representing metamorphic mechanisms with single joint and multiple joints respectively.It can be concluded that the method is effective and correct for analysis of configuration transformation of all metamorphic mechanisms.The proposed method is simple and easy to be achieved by computer programming.It provides a basis for structural synthesis of all metamorphic mechanisms.
基金supported by National Key Research and Development Program of China(2019YFB1505400)Jilin Science and Technology Development Program(20160411003XH)Jilin Industrial Technology Research and Development Program(2019C058-8).
文摘An optimal configuration method of a multi-energy microgrid system based on the deep joint generation of sourceload-temperature scenarios is proposed to improve the multienergy complementation and the reliability of energy supply in extreme scenarios.First,based on the historical meteorological data,the typical meteorological clusters and extreme temperature types are obtained.Then,to reflect the uncertainty of energy consumption and renewable energy output in different weather types,a deep joint generation model using a radiation-electric load-temperature scenario based on a denoising variational autoencoder is established for each weather module.At the same time,to cover the potential high energy consumption scenarios with extreme temperatures,the extreme scenarios with fewer data samples are expanded.Then,the scenarios are reduced by clustering analysis.The normal days of different typical scenarios and extreme temperature scenarios are determined,and the cooling and heating loads are determined by temperature.Finally,the optimal configuration of a multi-energy microgrid system is carried out.Experiments show that the optimal configuration based on the extreme scenarios and typical scenarios can improve the power supply reliability of the system.The proposed method can accurately capture the complementary potential of energy sources.And the economy of the system configuration is improved by 14.56%.
基金the National Natural Science Founda-tion of China(Grant No.91948201,Grant No.62073191,Grant No.61973135)the Shandong Key R&D Program(No.2019JZZY020317)the Fundamental Research Funds of Shandong University(Grant No.2019GN017).
文摘Some quadruped robots developed recently show better dynamic performance and environmental adaptability than ever, and have been preliminarily applied in the field of emergency disposal, military reconnaissance and infrastructure construction. The development route, mechanisms design, control methods and mobile manipulating approaches of the quadruped robots are surveyed in this article. Firstly, the development route of the quadruped robot is combed, as the references of the forecast of the future work on quadruped robots. Then the bionic structure and the motion control method of the quadruped robot is summarized, the advantages and disadvantages are analyzed in aspects of gait switching, terrain adaption and disturbance resistance. Subsequently, aiming at the mobile manipulation of the quadruped robot, the representative leg-arm collaborative robots and the multi-task-oriented Whole-body Control (WBC) methods are introduced. Finally, the summary and future work of the quadruped robots is given.
基金This research work was supported by the National Natural Science Foundation of China(Grant No.51805416)the Young Elite Scientists Sponsorship Program by CAST,the Natural Science Foundation of Hunan Province,China(Grant No.2020JJ5716)+2 种基金the Natural Science Basic Research Plan in Shaanxi Province of China(Grant No.2019JQ-372)the Research Fund of State Key Laboratory of High Performance Complex Manufacturing(Grant No.ZZYJKT2019-01)the Huxiang High-Level Talent Gathering Project of Hunan Province,China(Grant No.2019RS1002).
文摘The flat clinching process is attracting a growing attention in the joining field of lightweight materials because it avoids the geometric protrusion that appears in the conventional clinching process. In this paper, the effects of sheet thickness and material on the mechanical properties of the clinched joint were studied. Al1060 and Al2024 sheets with 2 mm thickness were employed to develop the clinched joint by using different material configurations, and Al1060 sheets with 2.5- and 1.5-mm thicknesses were used to produce the clinched joint by using different thickness configurations. The clinched joints using various sheet configurations were sectioned, and dimensional analysis was conducted. Cross-tensile and shearing tests were carried out to analyze the mechanical properties of the clinched joint, including tensile strength, shearing strength, and absorbed energy. In addition, the failure modes of the clinched joints were discussed. Results indicated that the clinched joint with a stiff top sheet had increased static strength regardless of the test type. The clinched joint with a thick top sheet demonstrated lower static strength than the joint with a thick bottom sheet in the cross-tensile test. However, this result was reversed in the shearing tests. The flat clinching process has a great potential in joining dissimilar and various thickness materials.
