一种两自由度球面并联机构的建模与分析

基于空间位姿变换和三面角余弦定理,对一种具有两转动自由度的球面并联机构进行运动学建模与分析,从而确定驱动器和末端执行器之间的角度、角速度和角加速度关系。采用虚功原理和一阶影响系数矩阵建立该机构的动力学模型,并通过数值仿真,求解了机构的逆动力学,进而得到了驱动力矩的变化规律。结果表明,运动轨迹规划不当会导致驱动转矩2过大,甚至超出了伺服电机的最大转矩,因此需要对机构的运动规划进行进一步优化,提高其稳定性和可靠性。该研究对提高该机构的运动稳定性和运动控制提供了理论基础。     

蛇形移动输送机运动学仿真分析

介绍了一种新型的可以实现水平弯曲和垂直弯曲的多驱动的并且可以自主行走的带式输送机,该系统为典型的非完整、欠驱动系统,文中分析系统的运动学特性,建立了运动学方程,并运用理论分析的运动学模型进行了仿真分析,证明该输送机运动特性与带拖车移动机器人有相似的运动特性和运动规律。     

一种新型全姿态飞行仿真转台的运动学分析

针对三轴转台无法避免运动学奇异的缺陷,提出了一种四轴型全姿态飞行仿真转台,利用冗余自由度机构的特点,使机构始终保持提供三个自由度的运动.针对所提出的四轴转台的运动学正解问题,采用双欧拉法计算负载的姿态角,解决了全姿态欧拉角计算的奇异问题.针对四轴转台的运动学反解问题,采用基于伪逆的梯度投影法给出了带有性能指标优化的转轴角速度的最优解,然后用基于动态控制的方法获得转轴的角位置.提出的运动学反解算法能保证在获得期望姿态的同时,避免接近奇异位置和各轴的极限角位置.仿真结果表明,四轴型全姿态飞行仿真转台运动学性能明显优于三轴转台.     

带自锁功能的作动筒设计与仿真

针对某型导弹折叠翼,设计了一种带自锁和自解锁功能的作动筒。阐述了作动筒的工作原理,建立了弹翼展开角与作动筒工作力之间的关系,并借助动力学仿真软件ADAMS对整个系统进行了仿真分析。仿真结果表明,该种作动筒简化了折叠翼机构的设计工作,提高了系统可靠性,另外,在仿真分析中,将分离夹头作为柔性体考虑才能客观、准确地反映整个系统的运动。     

仿尺蠖步态的爬杆机器人的动态仿真研究

以仿尺蠖步态的爬杆机器人为研究对象,对其机械结构及行进步态进行了分析,并进一步利用ADAMS软件建立了该仿生机器人的虚拟样机,对该仿生机器人进行了动态模拟仿真实验。研究了在爬杆过程中仿生机器人头部与尾部的速度及位移随时间的变化关系,以及该仿生机器人对变直径工作杆的适应能力,同时分析了不同摩擦材料制成的自锁机构对机器人运动特性的影响。仿真结果表明：该仿生机器人对于直径在一定范围内变化的工作杆有着较好的适应能力,且自锁机构的静摩擦系数为影响该机器人运动特性的关键参数。     

探月工程3UPS-PU并联机构的动力学建模与分析

根据探月工程采样封装专项试验的要求,提出了一种3UPS-PU并联机构作为模拟着陆上升组合体在月球表面着陆姿态的实验平台。以此机构为研究对象,对其约束方程和位姿关系进行了分析,推导出驱动支链的杆长表达式和雅可比矩阵。在此基础上,利用虚功原理对该机构进行了动力学分析,建立了动力学模型。最后对典型工况进行MATLAB和ADAMS仿真验证,得到了驱动支链的杆长和驱动力变化规律,且仿真结果的误差非常小,验证了分析方法的正确性和可行性,解决了3UPS-PU并联机构运动学和动力学相关的一系列问题,同时该方法也适用于类似机构的研究与分析。     

Mecanum四轮全方位运动条件及布局结构选择

Mecanum四轮系统实现全方位运动的条件很大程度上取决于轮组布局结构.通过对Mecanum四轮全方位运动系统运动学分析,得到系统实现全方位运动的运动学条件及结构布局奈件,结合系统驱动性能的要求,从典型的6种四轮布局结构中选择出最优的结构形式.     

掘进机截割部刚柔耦合动力学建模与仿真研究

将大位移运动与小变形刚-柔耦合体动力学的建模理论应用于掘进机截割部的动态特性研究,利用ANSYS把截割部的截割主轴和截割套筒生成模态中性文件,导入ADAMS中建立刚柔耦合虚拟样机并进行运动学和动力学仿真,研究柔性体对截割部的影响。通过与刚性体模型仿真结果对比,揭示了工作装置中柔性体与刚性体耦合时的运动学、动力学特性。仿真结果表明柔性耦合模型更加符合实际情况。     

机构运动几何学的统一曲率理论

基于微分几何学方法导出了结构运动的瞬心线和瞬轴面及其不变量的表达式，并阐明了不变量的运动学意义，讨论了平面运动，球面运动和空间运动连杆上点的轨迹及空间运动连杆上直线的轨迹的不变量性质，建立了由平面到空间在形式上和内容上统一的机构运动几何学曲率理论。     

Mecanum三轮多向行走系统结构与运动原理

常规Mecanum轮一般用于组成四轮全方位系统。将三个完全相同的常规Mecnum轮放置在等边三角形的三个顶点，能构成一种具有实用价值的多向行走系统。该系统不需转向轮或转向机构，仪利用3个轮子旋转速度大小和旋向组合实现平面上一个绕车身中心的定轴旋转、三个沿车身三角形对角线的直线运动。并给出了该系统的结构图，分析了系统实现上述运动的运动学原理。     

Poincaré's Contributions to Relativistic Dynamics

In this paper I concentrate on the dynamic aspects of the special theory of relativity (in the non-Minkowski formalism), and not on the kinematic part of the story as is usually done. Following up the dynamic story leads to a new point of view as to Poincaré's important role in the development of special relativity. Much of Poincaré's dynamic work did not enter into Einstein's 1905 theory, since Einstein was mainly occupied with kinematics. However, the dynamic part is most fundamental in the development of the special theory of relativity after 1905. In this paper I consider the main developments of relativistic dynamics in which I demonstrate that much response to Poincaré's dynamic research can be found. I argue that Poincaré's dynamic work assisted in departing from Einstein's electrodynamic theory towards relativistic dynamics (independent of electrodynamics).     

Swiprosin-1 modulates actin dynamics by regulating the F-actin accessibility to cofilin

Membrane protrusions, like lamellipodia, and cell movement are dependent on actin dynamics, which are regulated by a variety of actin-binding proteins acting cooperatively to reorganize actin filaments. Here, we provide evidence that Swiprosin-1, a newly identified actin-binding protein, modulates lamellipodial dynamics by regulating the accessibility of F-actin to cofilin. Overexpression of Swiprosin-1 increased lamellipodia formation in B16F10 melanoma cells, whereas knockdown of Swiprosin-1 inhibited EGF-induced lamellipodia formation, and led to a loss of actin stress fibers at the leading edges of cells but not in the cell cortex. Swiprosin-1 strongly facilitated the formation of entangled or clustered F-actin, which remodeled the structural organization of actin filaments making them inaccessible to cofilin. EGF-induced phosphorylation of Swiprosin-1 at Ser183, a phosphorylation site newly identified using mass spectrometry, effectively inhibited clustering of actin filaments and permitted cofilin access to F-actin, resulting in actin depolymerization. Cells overexpressing a Swiprosin-1 phosphorylation-mimicking mutant or a phosphorylation-deficient mutant exhibited irregular membrane dynamics during the protrusion and retraction cycles of lamellipodia. Taken together, these findings suggest that dynamic exchange of Swiprosin-1 phosphorylation and dephosphorylation is a novel mechanism that regulates actin dynamics by modulating the pattern of cofilin activity at the leading edges of cells.     

Actin-based organelle movement

Evidence for actin-dependent organelle movement was first obtained from studies of cytoplasmic streaming in plants. These studies, together with cell-free organelle motility studies and biophysical analyses of muscle myosin, support a model whereby organelle-associated motor molecules utilize the energy of adenosine triphosphate binding and hydrolysis to drive movement along F-actin tracks Recent studies indicate that this mechanism for organelle movement may be responsible for organelle and vesicle movement during secretion, endocytosis and mitochondrial inheritance in a variety of eukaryotes.     

Modeling multivariate co integrated systems: Insights from non-linear dynamics

Johansen's test for co integration is applied to Litterman's original six-variable Bayesian vector auto regression (BVAR) model to obtain vector error correction mechanism (VECM) and Bayesian error correction (BECM) versions of the model. The Brock, Dechert, and Scheinkman (BDS) test for independence from the non-linear dynamics literature is then applied to the error structures of each estimated equation of the BECM and VECM models, plus two BVAR versions of the model. The results show that none of the models produce independent and identically distributed (IID) errors for all six equations. However, the BDS results suggest the elimination of the Bayesian prior from the BECM model, given that the univariate VECM errors are IID in five equations, compared to only two or three equations under the three Bayesian restricted models. These results combined with previous evidence regarding the superior forecasting performance of BECM over ECM models suggest future experimentation with less restrictive BVAR priors, BECM models corrected for heteroscedasticity, or hybrid specifications based on the nonlinear dynamics literature.     

轨道交通杂散电流对埋地燃气管道影响的实验研究

简述了轨道交通杂散电流的产生机理、测试方法及判定.利用自行设计的测试系统对上海地区平行于轨道交通的某埋地燃气管道进行了管地电位、管中电流测试,并借助轨道交通部门的测试电极进行了联合测试.结果表明,所测区域内燃气管道受到严重的杂散电流干扰,且杂散电流变化与轨道交通运行规律具有一致性.在轨道交通防腐系统的设计满足相应标准的前提下,泄漏的杂散电流仍对附近燃气管道产生严重影响.     

Actin-targeting natural products: structures, properties and mechanisms of action

Natural small-molecule inhibitors of actin cytoskeleton dynamics have long been recognized as valuable molecular probes for dissecting complex mechanisms of cellular function. More recently, their potential use as chemotherapeutic drugs has become a focus of scientific investigation. The primary focus of this review is the molecular mechanism by which different actin-targeting natural products function, with an emphasis on structural considerations of toxins for which high-resolution structural information of their interaction with actin is available. By comparing the molecular interactions made by different toxin families with actin, the structural themes of those that alter filament dynamics in similar ways can be understood. This provides a framework for novel synthetic-compound designs with tailored functional properties that could be applied in both research and clinical settings. Received 6 April 2006; received after revision 31 May 2006; accepted 19 June 2006     

A Comparison of the Forecasting Ability of Immediate Price Impact Models

As a consequence of recent technological advances and the proliferation of algorithmic and high‐frequency trading, the cost of trading in financial markets has irrevocably changed. One important change, known as price impact, relates to how trading affects prices. Price impact represents the largest cost associated with trading. Forecasting price impact is very important as it can provide estimates of trading profits after costs and also suggest optimal execution strategies. Although several models have recently been developed which may forecast the immediate price impact of individual trades, limited work has been done to compare their relative performance. We provide a comprehensive performance evaluation of these models and test for statistically significant outperformance amongst candidate models using out‐of‐sample forecasts. We find that normalizing price impact by its average value significantly enhances the performance of traditional non‐normalized models as the normalization factor captures some of the dynamics of price impact. Copyright © 2016 John Wiley & Sons, Ltd.