In the past,arms used in the fields of industry and robotics have been designed not to vibrate by increasing their mass and stiffness.The weight of arms has tended to be reduced to improve speed of operation,and decre...In the past,arms used in the fields of industry and robotics have been designed not to vibrate by increasing their mass and stiffness.The weight of arms has tended to be reduced to improve speed of operation,and decrease the cost of their production.Since the weight saving makes the arms lose their stiffness and therefore vibrate more easily,the vibration suppression control is needed for realizing the above purpose.Incidentally,the use of various smart materials in actuators has grown.In particular,a shape memory alloy(SMA)is applied widely and has several advantages:light weight,large displacement by temperature change,and large force to mass ratio.However,the SMA actuators possess hysteresis nonlinearity between their own temperature and displacement obtained by the temperature.The hysteretic behavior of the SMA actuators affects their control performance.In previous research,an operator-based control system including a hysteresis compensator has been proposed.The vibration of a flexible arm is dealt with as the controlled object;one end of the arm is clamped and the other end is free.The effectiveness of the hysteresis compensator has been confirmed by simulations and experiments.Nevertheless,the feedback signal of the previous designed system has increased exponentially.It is difficult to use the system in the long-term because of the phenomenon.Additionally,the SMA actuator generates and radiates heat because electric current passing through the SMA actuator provides heat,and strain on the SMA actuator is generated.With long-time use of the SMA actuator,the environmental temperature around the SMA actuator varies through radiation of the heat.There exists a risk that the ambient temperature change dealt with as disturbance affects the temperature and strain of the SMA actuator.In this research,a design method of the operator-based control system is proposed considering the long-term use of the system.In the method,the hysteresis characteristics of the SMA actuator and the temperature change around the actua展开更多
Let M be a real hypersurface of a complex space form with almost contact metric structure (φ,ξ,η,g). In this paper, we prove that if the structure Jacobi operator Rξ=(·,ξ) ξ is φ▽ξξ-parallel and Rξ com...Let M be a real hypersurface of a complex space form with almost contact metric structure (φ,ξ,η,g). In this paper, we prove that if the structure Jacobi operator Rξ=(·,ξ) ξ is φ▽ξξ-parallel and Rξ commute with the shape operator, then M is a Hopf hypersurface. Further, if Rξ is φ▽ξξ-parallel and Rξ commute with the Ricci tensor, then M is also a Hopf hypersurface provided that TrRξ is constant.展开更多
In the present paper, the shape-preserving properties and the monotonicity for convex functions of Stancu operator are given. Moreover, the simultaneous approximation problems of this operator are also considered.
What is the suitable Laplace operator on vector fields for the Navier-Stokes equation on a Riemannian manifold?In this note,by considering Nash embedding,we will try to elucidate different aspects of different Laplace...What is the suitable Laplace operator on vector fields for the Navier-Stokes equation on a Riemannian manifold?In this note,by considering Nash embedding,we will try to elucidate different aspects of different Laplace operators such as de Rham-Hodge Laplacian as well as Ebin-Marsden’s Laplacian.A probabilistic representation formula for Navier-Stokes equations on a general compact Riemannian manifold is obtained when de Rham-Hodge Laplacian is involved.展开更多
文摘In the past,arms used in the fields of industry and robotics have been designed not to vibrate by increasing their mass and stiffness.The weight of arms has tended to be reduced to improve speed of operation,and decrease the cost of their production.Since the weight saving makes the arms lose their stiffness and therefore vibrate more easily,the vibration suppression control is needed for realizing the above purpose.Incidentally,the use of various smart materials in actuators has grown.In particular,a shape memory alloy(SMA)is applied widely and has several advantages:light weight,large displacement by temperature change,and large force to mass ratio.However,the SMA actuators possess hysteresis nonlinearity between their own temperature and displacement obtained by the temperature.The hysteretic behavior of the SMA actuators affects their control performance.In previous research,an operator-based control system including a hysteresis compensator has been proposed.The vibration of a flexible arm is dealt with as the controlled object;one end of the arm is clamped and the other end is free.The effectiveness of the hysteresis compensator has been confirmed by simulations and experiments.Nevertheless,the feedback signal of the previous designed system has increased exponentially.It is difficult to use the system in the long-term because of the phenomenon.Additionally,the SMA actuator generates and radiates heat because electric current passing through the SMA actuator provides heat,and strain on the SMA actuator is generated.With long-time use of the SMA actuator,the environmental temperature around the SMA actuator varies through radiation of the heat.There exists a risk that the ambient temperature change dealt with as disturbance affects the temperature and strain of the SMA actuator.In this research,a design method of the operator-based control system is proposed considering the long-term use of the system.In the method,the hysteresis characteristics of the SMA actuator and the temperature change around the actua
文摘Let M be a real hypersurface of a complex space form with almost contact metric structure (φ,ξ,η,g). In this paper, we prove that if the structure Jacobi operator Rξ=(·,ξ) ξ is φ▽ξξ-parallel and Rξ commute with the shape operator, then M is a Hopf hypersurface. Further, if Rξ is φ▽ξξ-parallel and Rξ commute with the Ricci tensor, then M is also a Hopf hypersurface provided that TrRξ is constant.
文摘In the present paper, the shape-preserving properties and the monotonicity for convex functions of Stancu operator are given. Moreover, the simultaneous approximation problems of this operator are also considered.
基金Supported by the Natural Science Foundation of Chongqing(No.cstc2019jcyj-msxmX0172)the Scientific and Technological Research Program of Chongqing Municipal Education Commission(No.KJQN201901128)the Scientific Research Starting Foundation of Chongqing University of Technology(No.2017ZD52)。
文摘What is the suitable Laplace operator on vector fields for the Navier-Stokes equation on a Riemannian manifold?In this note,by considering Nash embedding,we will try to elucidate different aspects of different Laplace operators such as de Rham-Hodge Laplacian as well as Ebin-Marsden’s Laplacian.A probabilistic representation formula for Navier-Stokes equations on a general compact Riemannian manifold is obtained when de Rham-Hodge Laplacian is involved.
