Twenty-five years of natural coordinates

In the early eighties, the author and co-workers created and further developed the natural coordinates to describe the motion of 2-D and 3-D multibody systems. Natural coordinates do not need angles or angular parameters to define orientation, leading to constant inertia matrices and to the simplest form of the constraint equations. Natural coordinates are composed by the Cartesian coordinates of some points and the Cartesian components of some unit vectors distributed on the different bodies of the system. The points and vectors can be located in the joints, being shared by contiguous bodies, decreasing or even eliminating the need to set joint constraints and reducing the total number of variables. However, other authors prefer not to share variables in order to get even simpler equations and to keep a bigger decoupling of equations, which is preferable in some cases. In this paper the history of natural coordinates is reviewed, as well as the main contributions coming from other research groups. In the second part of the paper some application areas in which natural coordinates can be particularly advantageous are examined. Commemorative Contribution.     

基于CH365型接口和MCX314As型运动控制器的PCI总线运动控制卡设计

以CH365型PCI总线接口和MCX314As型运动控制器为核心硬件,自主研发了基于运动控制器的PCI总线运动控制卡,该控制卡能够实现4轴位置、速度和S曲线的加减速控制,具有直线、圆弧、位模式插补功能及自动原位搜寻功能,同时具有4路信号输入和8路通用输出.     

Elasticity of Space-Time: Basis of Newton’s 2nd Law of Motion

In this paper we derive Newton’s 2nd Law of Motion from the constitutive equation of elasticity of a space-time continuum in four dimensions. This we do by introducing a four-dimensional material continuum with a Minkowskian metric, in analogy with Einstein’s general theory of relativity. The four-continuum is deformable in both space and time. The physics of the deformation is embedded in a variational principle, which is a form-invariant extension of its classical mechanical counterpart in three dimensions, but with the acceleration term absent. General dynamic equations of elasticity in four dimensions are thereby derived. When the constraint of temporal inextensibility (universal time) is introduced, these equations yield readily the dynamic equations of elasticity in three dimensions. The presence of the inertia term in these equations, is a direct consequence of the temporal curvature induced by the deformation of the four-continuum. Newton’s law of motion for rigid bodies follows when the additional constraint of spatial inextensibility is introduced.     

Lyapunov analysis of the approximate motion equations of flexible structures

In this paper, the effectiveness of the approximate motion equations of a flexible structure, obtained by the RitzKantorovich method, is analysed by using Lyapunov functions. The analysis, which is restricted to the case of a single flexible beam for the sake of simplicity, is carried out under the assumption that a partial dissipation is present, affecting only the first degrees of freedom of the system. By means of suitable Lyapunov functions, an overbounding estimate of the quadratic approximation error is determined as a decreasing function of the approximation order. The analysis is completed by considering the two ‘extreme’ cases: the theoretical absence of dissipation and the presence of structural dissipation, affecting all the infinite degrees of freedom.     

Perceptually Grounded Language Learning: Part 2—DETE: A Neural/Procedural Model

In Part 1 of this two-part series, we introduced Katamic memory—a neural network architecture capable of robust sequence learning and recognition. In Part 2, we introduce the Blobs World taskjdomain for language learning and describe the DETE language learning system, which is composed of over 50 Katamic memory modules. DETE currently learns small subsets of English and Spanish via association with perceptual! motor inputs. In addition to Kaiamic memory, DETE employs several other novel features: (1) use of feature planes, to encode visual shapes, spatial relationships and the motions of objects, (2) phase-locking of neural firing, in order to represent focus of atention and to bind objects across multiple feature planes, and (3) a method for encoding temporal relationships, so that DETE can learn utterances involving the immediate past and future. We compare DETE to related models and discuss the implications of this approach for language-learning research.     

基于专家系统的机器人高层规划

本文介绍一个基于专家系统的机器人高层规划系统,阐述几个潜在应用子系统,并应用专家系统方法进行多机器人协调避碰运动规划。本系统具有良好的规划性能。     

如何辨别电影画原底片的优劣

本文提供一个简便实用的质量鉴定方法,用于在制作发行拷贝前,辨别电影画原底片的优劣。     

压缩机环状阀工作过程冲击应力的有限元分析研究

针对压缩机环状阀结构和运动特点,利用ANSYS分析软件对其冲击应力进行有限元分析,得出阀片质量和阀片倾侧运动对环状阀工作过程冲击应力的影响。为压缩机环状阀的结构修改和优化设计提供了必要的基础。     

基于PC的开放式数控系统及其在玻璃雕刻机中的应用

论述了基于PC的开放式数控系统,重点对NC嵌入PC型开放式数控系统应用平台和应用软件的编制进行了研究,解决了构建NC嵌入PC型开放式数控系统的关键问题,并介绍了一个基于PC DMC1000运动控制卡的开放式数控玻璃雕刻机系统的开发实例。     

旋风燃烧器冷态模型内颗粒运动轨迹计算

在冷态模型流场内，考虑气流对粉煤颗粒的气动阻力，建立其运动微分方程式。通过计算，得到九种粒径的颗粒在流场中的运动轨迹、停留时间、着膜位置和气－固相相对速度与该燃烧器几何参数和气动参数的关系，为燃烧器的深入研究提出了建议。