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
This paper presents a class of Cn- continuous B- type spline curves with some paramet- ric factors.The length of their local support is equal to4.Taking the different values of the parametric factors,the curves can ...This paper presents a class of Cn- continuous B- type spline curves with some paramet- ric factors.The length of their local support is equal to4.Taking the different values of the parametric factors,the curves can become free- type curves or interpolate a set of given points even mix the both cases.When the parametric factors satisfy the certain conditions,the degrees of the curves can be decreased as low as possible.Besides,when all the parametric factors tend to zero,the curves globally approximate to the control polygon.展开更多
The aim of the present investigation was to research the distribution characteristics of copper in water and sediment of the Liao River, China. The concentrations of copper in water and sediment showed significant dif...The aim of the present investigation was to research the distribution characteristics of copper in water and sediment of the Liao River, China. The concentrations of copper in water and sediment showed significant difference at different sampling stations. The distribution characteristics of copper in water and sediment were obtained by using discrete and continuous numerical characteristics. The results indicated that the average concentrations of copper in water and sediment decreased slightly after its accumulation. While the deviations of the concentrations of copper in water and sediment from the expectation increased significantly after its accumulation. The skewness distributions of the concentrations of copper in water and sediment did not change much before and after its accumulation. The kurtosis distributions of the concentrations of copper in water and sediment decreased significantly after its accumulation. Therefore, the precise distribution characteristics of copper in water and sediment were obtained through the combination of the discrete and continuous numerical characteristics. .展开更多
Based on the test data in dynamic water and static water, the main factors, which influence the fine sediment flocculation, are analyzed with a gray model method of correlation theory. It is shown that the main influe...Based on the test data in dynamic water and static water, the main factors, which influence the fine sediment flocculation, are analyzed with a gray model method of correlation theory. It is shown that the main influencing factors are water temperature, settling time, salinity, grain size, sediment concentration and current velocity according to the correlation coefficients. Among them, the salinity and the sediment grain size are critical type influencing factors (CrTIF); the settling time, the sediment concentration and the velocity are continuous type influencing factors (CoTIF); and the water temperature has the characteristics of both. When the critical values of CrTIF are reached or exceeded, the fine sediments will be flocculated, but values of CrTIF will not influence the settlement strength of floes. The influence of CoTIF is continuous. The values of the CoTIF will not only influence the occurrence of flocculation but also the settlement strength of the floes.展开更多
In this paper, a three dimensional matrix valued rational interpolant (TGMRI) is first constructed by making use of the generalized inverse of matrices. The interpolants are of the Thiele type branched continued fra...In this paper, a three dimensional matrix valued rational interpolant (TGMRI) is first constructed by making use of the generalized inverse of matrices. The interpolants are of the Thiele type branched continued fraction form, with matrix numerator and scalar denominator. Some properties of TGMRI are given. An efficient recursive algorithm is proposed. The results in the paper can be extend to n variable.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.
文摘This paper presents a class of Cn- continuous B- type spline curves with some paramet- ric factors.The length of their local support is equal to4.Taking the different values of the parametric factors,the curves can become free- type curves or interpolate a set of given points even mix the both cases.When the parametric factors satisfy the certain conditions,the degrees of the curves can be decreased as low as possible.Besides,when all the parametric factors tend to zero,the curves globally approximate to the control polygon.
文摘The aim of the present investigation was to research the distribution characteristics of copper in water and sediment of the Liao River, China. The concentrations of copper in water and sediment showed significant difference at different sampling stations. The distribution characteristics of copper in water and sediment were obtained by using discrete and continuous numerical characteristics. The results indicated that the average concentrations of copper in water and sediment decreased slightly after its accumulation. While the deviations of the concentrations of copper in water and sediment from the expectation increased significantly after its accumulation. The skewness distributions of the concentrations of copper in water and sediment did not change much before and after its accumulation. The kurtosis distributions of the concentrations of copper in water and sediment decreased significantly after its accumulation. Therefore, the precise distribution characteristics of copper in water and sediment were obtained through the combination of the discrete and continuous numerical characteristics. .
基金The study was supported by the National Natural Science Foundation of China under contract No. 49976023 the Natural Science Foundation of Zhejiang Province under contract No. N29985.
文摘Based on the test data in dynamic water and static water, the main factors, which influence the fine sediment flocculation, are analyzed with a gray model method of correlation theory. It is shown that the main influencing factors are water temperature, settling time, salinity, grain size, sediment concentration and current velocity according to the correlation coefficients. Among them, the salinity and the sediment grain size are critical type influencing factors (CrTIF); the settling time, the sediment concentration and the velocity are continuous type influencing factors (CoTIF); and the water temperature has the characteristics of both. When the critical values of CrTIF are reached or exceeded, the fine sediments will be flocculated, but values of CrTIF will not influence the settlement strength of floes. The influence of CoTIF is continuous. The values of the CoTIF will not only influence the occurrence of flocculation but also the settlement strength of the floes.
文摘In this paper, a three dimensional matrix valued rational interpolant (TGMRI) is first constructed by making use of the generalized inverse of matrices. The interpolants are of the Thiele type branched continued fraction form, with matrix numerator and scalar denominator. Some properties of TGMRI are given. An efficient recursive algorithm is proposed. The results in the paper can be extend to n variable.
