The two-rotational-degrees-of-freedom（2R） parallel mechanism（PM） with two continuous rotational axes（CRAs） has a simple kinematic model.It is therefore easy to implement trajectory planning,parameter calibration...The two-rotational-degrees-of-freedom（2R） parallel mechanism（PM） with two continuous rotational axes（CRAs） has a simple kinematic model.It is therefore easy to implement trajectory planning,parameter calibration,and motion control,which allows for a variety of application prospects.However,no systematic analysis on structural constraints of the 2R-PM with two CRAs has been performed,and there are only a few types of 2R-PM with two CRAs.Thus,a theory regarding the type synthesis of the 2R-PM with two CRAs is systematically established.First,combining the theories of reciprocal screw and space geometry,the spatial arrangement relationships of the constraint forces applied to the moving platform by the branches are explored,which give the 2R-PM two CRAs.The different distributions of the constraint forces in each branch are also studied.On the basis of the obtained structural constraints of branches,and considering the geometric relationships of constraint forces in each branch,the appropriate kinematic chains are constructed.Through the reasonable configuration of branch kinematic chains corresponding to every structural constraint,a series of new 2R-PMs with two CRAs are finally obtained.展开更多
A flexible beam with large overall rotating motion impacting with a rigid slope is studied in this paper. The tangential friction force caused by the oblique impact is analyzed. The tangential motion of the system is ...A flexible beam with large overall rotating motion impacting with a rigid slope is studied in this paper. The tangential friction force caused by the oblique impact is analyzed. The tangential motion of the system is divided into a stick state and a slip state. The contact constraint model and Coulomb friction model are used respectively to deal with the two states. Based on this hybrid modeling method, dynamic equations of the system, which include all states（before, during, and after the collision）are obtained. Simulation results of a concrete example are compared with the results obtained from two other models： a nontangential friction model and a modified Coulomb model. Differences in the results from the three models are discussed. The tangential friction force cannot be ignored when an oblique impact occurs. In addition, the results obtained from the model proposed in this paper are more consistent with real movement.展开更多
Optimization problems are often highly constrained and evolutionary algorithms（EAs）are effective methods to tackle this kind of problems. To further improve search efficiency and convergence rate of EAs, this paper ...Optimization problems are often highly constrained and evolutionary algorithms（EAs）are effective methods to tackle this kind of problems. To further improve search efficiency and convergence rate of EAs, this paper presents an adaptive double chain quantum genetic algorithm（ADCQGA） for solving constrained optimization problems. ADCQGA makes use of doubleindividuals to represent solutions that are classified as feasible and infeasible solutions. Fitness（or evaluation） functions are defined for both types of solutions. Based on the fitness function, three types of step evolution（SE） are defined and utilized for judging evolutionary individuals. An adaptive rotation is proposed and used to facilitate updating individuals in different solutions.To further improve the search capability and convergence rate, ADCQGA utilizes an adaptive evolution process（AEP）, adaptive mutation and replacement techniques. ADCQGA was first tested on a widely used benchmark function to illustrate the relationship between initial parameter values and the convergence rate/search capability. Then the proposed ADCQGA is successfully applied to solve other twelve benchmark functions and five well-known constrained engineering design problems. Multi-aircraft cooperative target allocation problem is a typical constrained optimization problem and requires efficient methods to tackle. Finally, ADCQGA is successfully applied to solving the target allocation problem.展开更多
Aiming at the low speed of traditional scale-invariant feature transform(SIFT) matching algorithm, an improved matching algorithm is proposed in this paper. Firstly, feature points are detected and the speed of featur...Aiming at the low speed of traditional scale-invariant feature transform(SIFT) matching algorithm, an improved matching algorithm is proposed in this paper. Firstly, feature points are detected and the speed of feature points matching is improved by adding epipolar constraint; then according to the matching feature points, the homography matrix is obtained by the least square method; finally, according to the homography matrix, the points in the left image can be mapped into the right image, and if the distance between the mapping point and the matching point in the right image is smaller than the threshold value, the pair of matching points is retained, otherwise discarded. Experimental results show that with the improved matching algorithm, the matching time is reduced by 73.3% and the matching points are entirely correct. In addition, the improved method is robust to rotation and translation.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51405425)Hebei Provincial Natural Science Foundation of China(Grant No.E2014203255)Independent Research Program Topics of Young Teachers in Yanshan University,China(Grant No.13LGA001)
文摘The two-rotational-degrees-of-freedom（2R） parallel mechanism（PM） with two continuous rotational axes（CRAs） has a simple kinematic model.It is therefore easy to implement trajectory planning,parameter calibration,and motion control,which allows for a variety of application prospects.However,no systematic analysis on structural constraints of the 2R-PM with two CRAs has been performed,and there are only a few types of 2R-PM with two CRAs.Thus,a theory regarding the type synthesis of the 2R-PM with two CRAs is systematically established.First,combining the theories of reciprocal screw and space geometry,the spatial arrangement relationships of the constraint forces applied to the moving platform by the branches are explored,which give the 2R-PM two CRAs.The different distributions of the constraint forces in each branch are also studied.On the basis of the obtained structural constraints of branches,and considering the geometric relationships of constraint forces in each branch,the appropriate kinematic chains are constructed.Through the reasonable configuration of branch kinematic chains corresponding to every structural constraint,a series of new 2R-PMs with two CRAs are finally obtained.
基金supported by the National Natural Science Foundation of China(Grants 11272155,11132007,and11502113)the 333 Project of Jiangsu Province in China(Grant BRA2011172)the Fundamental Research Funds for Central Universities(Grant 30920130112009)
文摘A flexible beam with large overall rotating motion impacting with a rigid slope is studied in this paper. The tangential friction force caused by the oblique impact is analyzed. The tangential motion of the system is divided into a stick state and a slip state. The contact constraint model and Coulomb friction model are used respectively to deal with the two states. Based on this hybrid modeling method, dynamic equations of the system, which include all states（before, during, and after the collision）are obtained. Simulation results of a concrete example are compared with the results obtained from two other models： a nontangential friction model and a modified Coulomb model. Differences in the results from the three models are discussed. The tangential friction force cannot be ignored when an oblique impact occurs. In addition, the results obtained from the model proposed in this paper are more consistent with real movement.
基金supported by the National Natural Science Foundation of China(No.61004089)supported by China Scholarship Council
文摘Optimization problems are often highly constrained and evolutionary algorithms（EAs）are effective methods to tackle this kind of problems. To further improve search efficiency and convergence rate of EAs, this paper presents an adaptive double chain quantum genetic algorithm（ADCQGA） for solving constrained optimization problems. ADCQGA makes use of doubleindividuals to represent solutions that are classified as feasible and infeasible solutions. Fitness（or evaluation） functions are defined for both types of solutions. Based on the fitness function, three types of step evolution（SE） are defined and utilized for judging evolutionary individuals. An adaptive rotation is proposed and used to facilitate updating individuals in different solutions.To further improve the search capability and convergence rate, ADCQGA utilizes an adaptive evolution process（AEP）, adaptive mutation and replacement techniques. ADCQGA was first tested on a widely used benchmark function to illustrate the relationship between initial parameter values and the convergence rate/search capability. Then the proposed ADCQGA is successfully applied to solve other twelve benchmark functions and five well-known constrained engineering design problems. Multi-aircraft cooperative target allocation problem is a typical constrained optimization problem and requires efficient methods to tackle. Finally, ADCQGA is successfully applied to solving the target allocation problem.
基金supported by the National Natural Science Foundation of China(Nos.60808020 and 61078041)the National Science and Technology Support(No.2014BAH03F01)+1 种基金the Tianjin Research Program of Application Foundation and Advanced Technology(No.10JCYBJC07200)the Technology Program of Tianjin Municipal Education Commission(No.20130324)
文摘Aiming at the low speed of traditional scale-invariant feature transform(SIFT) matching algorithm, an improved matching algorithm is proposed in this paper. Firstly, feature points are detected and the speed of feature points matching is improved by adding epipolar constraint; then according to the matching feature points, the homography matrix is obtained by the least square method; finally, according to the homography matrix, the points in the left image can be mapped into the right image, and if the distance between the mapping point and the matching point in the right image is smaller than the threshold value, the pair of matching points is retained, otherwise discarded. Experimental results show that with the improved matching algorithm, the matching time is reduced by 73.3% and the matching points are entirely correct. In addition, the improved method is robust to rotation and translation.
