仿人机器人路径规划研究

针舛仿人机器人机械连杆控制结构的动力学、运动学等特点,建立了25自由度仿人机器人家谱树彤结构,提供了连杆数据列表,分析了步态规划约束、步行倒立摆、奇异位姿控制、落地步态方向控制等特性,构建了行走步态模型,并采用链接图法对环境空间建模,引入种群规模自调整遗传算法实现路径规划。潋仿人机器人NAO为实验平台,采用链接图法进行全局建模,实验表明,改进的遗传算法在仿人机器人路径规划中具有更快的收敛速度与更好的适应性。     

60Co集装箱检测车悬臂振动分析

在分析振动对集装箱检测车系统性能影响的基础上 ,提出了 6 0 Co集装箱检测车悬臂的振动指标。为了验证悬臂结构的强度和刚度条件 ,采用动力学分析软件 AL GOR计算了 6 0 Co集装箱检测车悬臂的静态变形、振形和固有频率。悬臂在启动加速过程中振动最大 ,通过给悬臂施加一个与启动加速度相当的惯性力的方法 ,非常简单地模拟了启动加速过程 ,数值计算结果与实际测试结果较吻合 ,说明了该有限元模型能够正确分析出悬臂结构的力学特性     

新型钢-砼组合简支桁梁桥自振频率研究

建立了钢-砼组合简支桁梁桥振动性能的力学分析模型,并推导了基于自由界面模态综合法计算结构自振频率的基本原理和公式,以西平铁路80m钢-砼组合桁梁桥的实桥模型为基础,应用有限元软件Midas建立了钢-砼组合桁梁桥模型并对其进行了模态分析,通过脉动试验的自振频率测试结果和有限元分析结果验证了自由界面模态综合法计算桥梁自振频率的准确性和高效性,采用有限元数值计算的方法研究了桥面宽度、腹杆和横撑刚度、槽型梁及上弦杆截面尺寸对钢-砼组合桁梁桥自振频率的影响.     

机器人步态算法仿真研究

以仿人机器人双足步行为研究重点,实现了线性倒立摆步行规划和正逆运动学算法。推导出机器人机械结构对线性倒立摆步行参数的约束条件,并采用遗传算法探索参数空间以得到可行、稳定、快速的步行模式。最后,在该仿真平台上验证了步态生成算法的有效性。     

某航空发动机高压压气机盘的振动特性分析

基于含预应力结构模态分析的有限元理论,对某典型航空发动机压气机盘进行振动特性分析。根据初始设计参数,在通用有限元软件中建立起盘的三维有限元模型。首先计算了盘在不旋转时的频率和振型,然后计算了盘在常用转速下存在预应力时的频率和振型,并分析了离心负荷对盘固有振动特性的影响。最后分析了盘的行波振动特性,计算了节径振动的行波频率,考虑盘外缘叶片受到的周期性气体力对盘的激振影响,画出共振特性曲线,为后续结构分析和排故提供依据;同时发现盘的驻波临界转速高于盘的最大工作转速,表明该盘不会发生驻波共振,对保证该发动机的可靠工作具有重要意义。     

基于二阶锥方法的仿人机器人稳定性控制

步行环境复杂,外力干扰等因素都会影响仿人机器人的步行稳定性.为了提高仿人机器人的稳定性,在7连杆仿人机器人模型的基础上,提出了用二阶锥方法控制仿人机器人运动的稳定性.首先介绍了二阶锥规划的原理;其次利用摩擦力、ZMP和运动能量3个约束条件构建二阶锥,从而进行求解;最后通过仿真实验证明,该方法与LMS和微粒群在多方面对比有明显优势,提高了仿人机器人运动的稳定性.     

简支梁桥有载频率研究

为研究简支梁桥的自振特性及车-桥系统的有载频率,首先进行了简支梁自振频率的理论分析,然后采用有限元方法建立了简支梁计算模型,将结果与实测值进行对比,优选出合适的有限元计算方法.将车辆简化为集中质量块,建立了质量块-简支梁系统有限元计算模型.通过软件计算分析,得到桥梁结构的振动模态和不同车辆位置下的有载频率.将有限元分析...     

刚架桥动力特性测试分析与研究

桥梁结构的动力特性能够很好地表现桥梁的健康状况和损伤状态,分别通过环境随机激振技术和定点跳车激振方法对一座刚架桥的动力特性进行了测试,给出了利用随机振动理论和响应传递函数识别结构的频率、振型和阻尼比的方法,并对两种测试方法进行了比较.通过ANSYS建立空间有限元模型,对桥梁结构的无载和有载动力特性进行了仿真分析.实测与理论分析表明:按本方案测试获得的试验结果较为理想,环境激励测试能获得更多阶的振型和自振频率;而跳车激振方法只能很好地激发结构的基本弯曲振动模态.通过试验研究结果验证了有限元动力分析模型的正确性,可为同类桥梁的测试和分析提供参考.     

整体叶盘结构模态特性分析及应力分布规律

为了研究整体叶盘结构的模态特性及应力分布规律,基于有限元分析方法建立了整体叶盘结构有限元仿真模型,对自由状态及离心力载荷下的整体叶盘进行模态及振动特性分析;并探究实心与空心整体叶盘的应力分布差异及不同叶片间隙的整体叶盘应力分布规律。为了验证仿真结果的准确性,基于多点激励单点响应方法开展了整体叶盘结构模型的模态试验,并在多功能转子实验台上开展不同转速下应力测试试验。结果表明,该结构模态频率的仿真结果与试验测试结果误差在4%以内,验证了所建立的有限元仿真模型的正确性;应力测试试验验证了其不同转速下的应力分布规律;离心力载荷对整体叶盘二节径振动下固有频率影响最为显著;空心叶盘较实心叶盘应力集中现象更为突出,且叶片根部应力值会随着叶片间隙的增大而有明显提高。     

简支梁桥的振动测试与动力特性分析

以某座钢筋混凝土梁桥为例,在简要介绍该桥梁概况及桥梁振动测试试验过程的基础上,结合试验结果建立了符合测试桥梁当前状态的有限元模型,通过测试桥梁实测结果和有限元模拟计算结果的比较,较为详细地分析了该钢筋混凝土梁桥的动力特性。结果表明:桥梁实测、计算频率和振型基本吻合;建立合适有限元模型可作为测试桥梁今后的动力特性变化的参考,对桥梁评价和养护有一定的指导意义。     

Markedness and its Interpretation in Language Use

Language markedness is a common phenomenon in languages, and is reflected from hearing, vision and sense, i.e. the variation in the three aspects such as phonology, morphology and semantics. This paper focuses on the interpretation of markedness in language use following the three perspectives, i.e. pragmatic interpretation, psychological interpretation and cognitive interpretation, with an aim to define the function of markedness.     

Features of Women's language

Language is a means of verbal communication. People use language to communicate with each other. In the society, no two speakers are exactly alike in the way of speaking. Some differences are due to age, gender, statue and personality. Above all, gender is one of the obvious reasons. The writer of this paper tries to describe the features of women＇s language from these perspectives： pronunciation, intonation, diction, subjects, grammar and discourse. From the discussion of the features of women＇s language, more attention should be paid to language use in social context. What＇s more, the linguistic phenomena in a speaking community can be understood more thoroughly.     

An Analysis of Catherine＇s Character——Wuthering Heights

Wuthering Heights, Emily Bronte＇s only novel, was published in December of 1847 under the pseudonym Ellis Bell. The book did not gain immediate success, but it is now thought one of the finest novels in the English language. Catherine is the key character of this masterpiece, because everybody and everything center on her though she had a short life. We can understand this masterpiece better if we know Catherine well.     

Lower Paleozoic oil relationships within Williston Basin, Canada

The Williston Basin is a significant petroleum province, containing oil production zones that include the Middle Cambrian to Lower Ordovician, Upper Ordovician, Middle Devonian, Upper Devonian and Mississippian and within the Jurassic and Cretaceous. The oils of the Williston Basin exhibit a wide range of geochemical characteristics defined as "oil families", although the geochemical signature of the Cambrian Deadwood Formation and Lower Ordovician Winnipeg reservoired oils does not match any "oil family". Despite their close stratigraphic proximity, it is evident that the oils of the Lower Palaeozoic within the Williston Basin are distinct. This suggests the presence of a new "oil family" within the Williston Basin. Diagnostic geochemical signatures occur in the gasoline range chromatograms, within saturate fraction gas chromatograms and biomarker fingerprints. However, some of the established criteria and cross-plots that are currently used to segregate oils into distinct genetic families within the basin do not always meet with success, particularly when applied to the Lower Palaeozoic oils of the Deadwood and Winnipeg Formation.     

低渗透非均质砂岩油藏启动压力梯度研究

理论推导与室内实验相结合,建立了低渗透非均质砂岩油藏启动压力梯度确定方法。首先借助油藏流场与电场相似的原理,推导了非均质砂岩油藏启动压力梯度计算公式。其次基于稳定流实验方法,建立了非均质砂岩油藏启动压力梯度测试方法。结果表明:低渗透非均质砂岩油藏的启动压力梯度确定遵循两个等效原则。平面非均质油藏的启动压力梯度等于各级渗透率段的启动压力梯度关于长度的加权平均;纵向非均质油藏的启动压力梯度等于各渗透率层的启动压力梯度关于渗透率与渗流面积乘积的加权平均。研究成果可用于有效指导低渗透非均质砂岩油藏的合理井距确定,促进该类油藏的高效开发。     

On Tragic Consciousness In The Works By Ernest Hemingway

As an American modern novelist who were famous in the literary world, Hemingway was not a person who always followed the trend but a sharp observer. At the same time, he was a tragedy maestro, he paid great attention on existence, fate and end-result. The dramatis personae's tragedy of his works was an extreme limit by all means tragedy on the meaning of fearless challenge that failed. The beauty of tragedy was not produced on the destruction of life, but now this kind of value was in the impact activity. They performed for the reader about the tragedy on challenging for the limit and the death.     

Achieving Unusual States of Matter Under High Pressure

正The periodicity of the elements and the non-reactivity of the inner-shell electrons are two related principles of chemistry,rooted in the atomic shell structure.Within compounds,Group I elements,for example,invariably assume the+1 oxidation state,and their chemical properties differ completely from those of the p-block elements.These general rules govern our understanding of chemical structures and reactions.Using first principles calcula-     

Exchange-Correlation and Electronic Excitation Energies from Pairing Matrix Fluctuations

We have developed an adiabatic connection to formulate the ground-state exchange-correlation energy in terms of pairing matrix linear fluctuations.This formulation of the exchange-correlation energy opens a new channel for density functional approximations based on the many-body perturbation theory.We illustrate the potential of such approaches with an approximation based on the particle-particle Random Phase Approximation(pp-RPA).This re-     

Density Functional Theory for the Response of Periodic Systems to Electric Fields Based on the Vector Potential Approach

正The electronic and nuclear(structural/vibrational)response of 1D-3D nanoscale systems to electric fields gives rise to a host of optical,mechanical,spectral,etc.properties that are of high theoretical and applied interest.Due to the computational difficulty of treating such large systems it is convenient to model them as infinite and periodic(at least,in first approximation).The fundamental theoretical/computational problem in doing so is that     

Call for Papers

<正>"The Journal of Shanghai Normal University:Mathematics"is published by Shanghai Normal University as regular issues of The Journal of Shanghai Normal University each year from 2014 in English.The editors-in-chief of the issues are professors Yuhao Cong and Maoan Han.The Journal of Shanghai Normal University was started in 1958 with