A semi-analytical approach for stiffness modeling of PKM by considering compliance of machine frame with complex geometry

Stiffness modeling is one of the most significant issues in the design of parallel kinematic machine （PKM）. This paper presents a semi-analytical approach that enables the stiffness of PKM with complex machine frame geometry to be estimated effectively. This approach can be implemented by three steps： （i） decomposition of the entire system into two sub-systems associated with the parallel mechanism and the machine frame respectively; （ii） stiffness modeling of each sub-system using the analytical approach and the finite element analysis; and （iii） generation of the stiffness model of the entire system by means of linear superposition. In the modeling process of each sub-system, the virtual work principle and overall deflection Jacobian are employed with special attention to the bending rigidity of the constrained passive limb and the interface stiffness of the machine frame. The stiffness distribution of a 5-DOF hybrid robot named TriVariant-B is investigated as an example to illustrate the effectiveness of this approach. The contributions of component rigidities to that of the system are evaluated using global indices. It shows that the results achieved by this approach have a good match to those obtained through finite element analysis and experiments.     

Surface pollen distribution patterns in Beibu Gulf and corresponding sediment dynamics environment

The Beibu Gulf is a semi-enclosed gulf in the northwest of the South China Sea.We palynologically analyzed 306 surface sediment samples from the eastern Beibu Gulf to improve bioclimatic interpretation of fossil pollen records there.Surface pollen assemblages could be classified into five pollen regions based on the distributions of total,arboreal,herbaceous and fern pollen concentrations.Four high-concentration and three low-concentration subregions could be distinguished within these regions.The distribution patterns of surface pollen assemblages were consistent with those of grain sizes of surface sediments.Sediments from regions with high pollen concentrations were very fine and fine silts (>7.0,<0.008 mm),whereas those with low pollen concentrations were fine sand (<3.5,>0.088 mm).Sedimentary heterogeneity of surface pollen assemblages was closely related to pollen source,transportation and sedimentation controlled by ocean currents,tides and waves,and oceanic bottom topography.Fern spores exhibited higher percentages along the east margins of the region,while arboreal types like Pinus increased in concentration towards the center.Herbaceous pollen appeared in high percentages around seacoasts near their source areas.Dacrydium and mangrove pollen were distributed near their source regions at low percentages.We discuss the sediment dynamic environments in the eastern Beibu Gulf based on surface pollen distributions.The estuary region is an important access to the sea basin and a depositional site for terrestrial pollen grains.Coastal regions can accumulate pollen due to the back-and-forth movements of tides there.Although ocean currents on a gulf scale tend to spread pollen grains,the interaction of multiple currents could lead to pollen accumulation and deposition.Low surface pollen concentrations in the northeast shallow-water regions of the eastern Beibu Gulf could be attributed to repeated washing and sediment floatation caused by severe wave activities during the summer.Strong tides in Qiongzhou Strait frequently wash the seabed and disadvantage pollen deposition,leading to low surface pollen concentrations there.     

OFDM技术与MIMO-OFDM技术及其性能比较

正交频分复用(OFDM)是一种特殊的多载波传输方案,具有良好的频带利用率,减少了保护带宽。多输入多输出(MIMO)系统是指在发射端和接收端分别设置多副发射天线和接收天线。采用MIMO技术可以提高信道容量和信道可靠性,降低误码率。MIMO-OFDM技术是MIMO与OFDM技术结合形成的一种技术,该技术是在OFDM系统中采用阵列天线实现空间分集,提高了信号质量。本文阐述了OFDM和MIMO-OFDM技术基本原理,并对其性能进行了比较。     

Hydrothermal synthesized porous Co(OH)2 nanoflake film for supercapacitor application

Porous Co(OH)2 film directly grown on nickel foam is prepared by a facile hydrothermal method.The as-prepared Co(OH)2 film possesses a structure consisting of randomly porous nanoflakes with thicknesses of 20-30 nm.The capacitive behavior of the Co(OH)2 film is investigated by cyclic voltammograms and galvanostatic charge-discharge tests in 2 mol/L KOH.The porous Co(OH)2 film exhibits a high discharge capacitance of 935 F g-1 at a current density of 2 A g-1 and excellent rate capability.The specific capacitance keeps a capacitance of 589 F g-1 when the current density increases to 40 A g-1.The specific capacitance of 82.6% is maintained after 1500 cycles at 2 A g-1.     

可靠性地理国情动态监测的理论与关键技术探讨

地理国情是一个国家的社会性质、政治、经济、文化等方面的空间化、可视化的国情信息.可靠的地理国情关系到国家重大决策的正确性.地理国情监测是中国2011年制定的一个新的国家发展方向,迫切需要提出相应的技术支撑体系.本文分析了可靠性地理国情动态监测的基本概念,提出了地理国情动态监测的总体研究框架,探讨了可靠性地理国情动态监测的可靠性分析与质量控制、时空动态建模等理论和方法,研究了空天地一体化的地理国情监测体系构建、可靠性非空间信息的空间化表达、可靠性地理国情动态变化检测、地理国情时空数据动态更新与一致性维护、地理国情动态监测数据的可靠性综合分析、地理国情动态监测的可靠性空间数据挖掘、地理国情监测辅助决策建模、可靠性地理国情监测的云计算框架、地理国情可视化技术、地理国情监测中的GNSS和手持终端技术、可靠性地理国情总动态评估技术等关键技术,并总结了地理国情动态监测需要解决的核心问题.     

The orbital characters of low-energy electronic structure in iron-chalcogenide superconductor KxFe2-ySe2

The newly discovered iron-chalcogenide superconductorKxFe2ySe2exhibits a distinct electronic structure from other iron-based superconductors.Exploiting polarization-dependent angle-resolved photoemission spectroscopy,we have determined the orbital characters of band structure in aKxFe2ySe2superconductor.To a large extent,we find thatKxFe2ySe2superconductor shares similar orbital characters with other iron-based superconductors,but with its own characteristics.For example,we have resolved two highly degenerate electron cylinders around the zone corner in the s and p geometries,respectively,indicating negligible interactions between them.Moreover,in contrast to the band calculation results,the small electron pocket around Z is found to be mainly consisted of the d z 2 orbital.The determined orbital characters would help to construct a realistic model forKxFe2ySe2.     

一种可实现两平动自由度并联机构运动学标定方法

针对一种两平动自由度并联机构，提出了一种识别几何参数误差的方法，能有效补偿机构的动平台位姿耦合误差．忽略两组平行杆的相对杆长误差，将机构简化成仅含转动副的5杆铰接机构，建立了含有8个几何参数误差模型，即4个杆长误差和4个主动关节铰点坐标误差．研究表明，并联拓扑结构使动平台沿两个正交轴的位置误差和姿态误差具有强耦合性．给出标定坐标系原点，通过仅检测动平台沿标定坐标系任一单轴的位置误差，识别出系统的几何误差全集．计算机仿真和实验结果表明，通过这种方法，可使机构的动平台定位精度达到0．05mm．