Numeration and type synthesis of 3-DOF orthogonal translational parallel manipulators

Low-degree-of-freedom （Low-DOF） parallel manipulators （PMs） have drawn extensive interests, particularly in type synthesis in which two main formal approaches were established by using the reciprocal screw system theory and Lie group theory. This paper aims at numeration and type synthesis of orthogonal translational parallel manipulators （OTPMs） by resorting to an integration of the group- based method and graphical representation of the topology. For this purpose, the concept of Cartesian DOF-characteristic matrix, orig- inated from displacement subgroup and displacement submanifold, is proposed. A new approach based on the combination of the atlas of Cartesian DOF-characteristic matrix and the displacement group-theoretic method is addressed for both exhaustive classification and type synthesis of OTPMs. The proposed approach is prone to construct an orthogonal structure and is easy to realize the complete classification and exhaustive enumeration of this class of low-DOF PMs.     

少自由度并联机构研究进展

各种新型少自由度并联机构的理论和实验研究是近年来国内外机器人领域中十分重要的研究方向和前沿技术。与6自由度并联机构相比,其本质差异在于少自由度并联机构存在结构约束,使并联机构的分支中出现了约束力/矩。当机构运动受到约束,其末端运动呈现耦合。由于结构约束形式各异,使得少自由度并联机构在运动中表现出不同的运动特性。本文综合评述了少自由度并联机构机型、运动学、机构奇异、动力学、刚度研究进展,旨在为各种新型少自由度并联机构研究和相应理论体系的发展提供具有重要价值的信息。     

基于GS法球面4杆机构5精确点轨迹综合

提出了球面4杆机构5精确点轨迹综合代数消元方法. 基于球面空间转移矩阵建立了该问题的设计方程,使用Groebner基和Sylvester结式（GS法）相结合的代数方法进行求解,最终获得一元高次方程及其全部封闭解析解. 通过数值实例,并使用Solidworks软件对计算结果进行仿真,结果表明该方法的正确性. 该方法为进一步采用代数法对其他类型球面机构轨迹综合问题的研究提供了参考.      

Workspace Analysis of the 4RRR Planar Parallel Manipulator with Actuation Redundancy

<正>Introduction 3RRR non-redundant parallel mechanisms (PMs) have been extensively studied by scholars in recent years[1-4].However, the drawbacks of 3RRR PMs, such as having too many singularities and a lack of stiffness, dramatically hamper their use. In these situations, redundancy     

Polarimetric Synthetic Aperture Radar Image Classification by a Hybrid Method

Different methods proposed so far for accurate classification of land cover types in polarimetric synthetic aperture radar (SAR) image are data specific and no general method is available. A novel hybrid framework for this classification was developed in this work. A set of effective features derived from the coherence matrix of polarimetric SAR data was proposed. Constituents of the feature set are wavelet, texture, and nonlinear features. The proposed feature set has a strong discrimination power. A neural network was used as the classification engine in a unique way. By exploiting the speed of the conjugate gradient method and the convergence rate of the Levenberg-Marquardt method (near the optimal point), an overall speed up of the classification procedure was achieved. Principal component analysis (PCA) was used to shrink the dimension of the feature vector without sacrificing much of the classification accuracy. The proposed approach is compared with the maximum likelihood estimator (MLE) based on the complex Wishart distribution and the results show the superiority of the proposed method, with the average classification accuracy by the proposed method (95.4%) higher than that of the MLE (93.77%). Use of PCA to reduce the dimensionality of the feature vector helps reduce the memory requirements and computational cost, thereby enhancing the speed of the process.     

基于决策分类的分块差别矩阵及其求核算法

属性约简是粗糙集理论进行数据挖掘的基本途径, 相关算法主要基于核。 核的差别矩阵表示及相关求核计算具有重要意义, 但已有的差别矩阵及其求核算法还具有时空局限性。对此, 依据差别矩阵的稀疏性与大规模性, 提出基于决策分类的分块差别矩阵及其求核算法, 直接地将决策分类信息融入形式结构与问题求解。 首先, 基于决策分类来定义分块差别矩阵, 设计其计算算法; 其次, 基于分块差别矩阵, 确定核的内涵与算法; 最后, 进行实例分析与实验验证, 说明所建方法的有效性。基于决策分类的分块差别矩阵有效地实施了信息提取与维度降低, 相关的求核算法较好地减少了差别矩阵求核算法的时空复杂性。     

基于模糊C均值聚类改进的最大似然分类法

基于参数密度分布模型的最大似然分类法(MLC)是遥感影像经典分类方法之一,它具有清晰的参数解释能力、易于与先验知识融合和算法简单而易于实施等优点,但是由于遥感数据具有高度的模糊性和随机性,使得贝叶斯(Bayes)判别函数中的均值向量和协方差矩阵很难准确确定。因此首先利用模糊C均值聚类得到模糊划分矩阵,然后基于模糊划分矩阵计算出每一个聚类类别模糊均值和模糊协方差矩阵,并利用模糊均值和模糊协方差矩阵来代替贝叶斯判别函数中的均值向量和协方差矩阵从而建立一个新的判别函数,最后与传统的最大似然分类结果进行比较,结果表明改进后的最大似然分类法在总体精度、Kappa系数均优于传统的最大似然分类方法。     

古建筑彩绘梁整像素位移自适应搜索解算方法

通过在构件表面喷涂均匀散斑并拍摄变形前后的图片,采用数字图像相关法（DIC）可实现构件位移的非接触式测量. 针对古建筑木梁彩绘图案灰度不均,导致传统DIC在整像素位移解算时识别效果差、计算效率低的难题,提出修正的自适应十字模式搜索法（IARPS）进行整像素位移解算. 首先,预估第一个搜索点的搜索半径,在该半径内进行穷举搜索;然后引入自适应十字模式算法,通过小菱形搜索实现整像素位移的解算. 采用散斑图模拟位移及装饰有彩绘图案的木梁压弯实验,将IARPS与DIC中常用粗-细搜索算法进行对比,结果表明,IARPS方法能有效克服粗-细搜索算法局部计算不精确的缺陷,且IARPS的计算效率可提高71.6%,为将DIC应用于古建筑彩绘梁的非接触式位移测量提供了一种新的解算方法.     

框架结构损伤识别的两步法

直接将框架结构的损伤定义在梁柱构件上,提出了一种识别一般框架损伤参数的动力方法,该方法分两步进行：第1步,利用结构的前几阶动力模态,通过对代数特征值反问题中一定带宽矩阵的识别方法加以改造,识别框架楼层侧移刚度矩阵;第2步,应用线性归化方法,由所识别的结构刚度矩阵,识别框架梁柱的损伤,算例分析表明,这一方法是可行的。     

基于逆云模型的支持向量机多类分类方法

针对支持向量机在进行多类识别中存在的拒分问题,结合能够描述客观世界不确定性的模糊理论,提出利用逆云模型描述样本对各类逆云隶属度的多类分类方法.实验表明,该方法能够有效地消除样本拒分现象,提高识别率.     

规则空间模型理论基础的改进

规则空间模型通过Q阵确定不可观察的知识状态,并把它转化为可观察的理想项目反应模式;其次把被试观察反应模式划归为某个理想项目反应模式.该文指出Tatsuoka求理想项目反应模式全集是错误的,并提出几种确定理想项目反应模式全集的方法和几种新的分类方法,并用蒙特卡洛模拟比较这些分类方法与规则空间方法的优劣.     

一种改进的ASM人脸特征点定位方法

传统主动形状模型(active shape model, ASM)利用主成分分析(principal component analysis, PCA)获得形状,根据主成分并结合形状参数建立起统计模型,该方法不能有效更新图像特征空间,会导致模型匹配失败。为了克服上述缺点,提出一种改进的特征提取方法。首先采用增量主成分分析(incremental principal component analysis,IPCA)更新图像集合的特征空间,并采用一种新的模型匹配算法定位目标特征点。改进的新方法不断更新图像特征空间且有效地描述训练样本间的相似性或差异性,新的匹配算法能避免计算协方差矩阵的逆矩阵,能有效降低计算误差。实验结果表明,改进的方法有效提高了定位精度,并降低了匹配的像素偏移值。     

Large Displacement Analysis of Tapered Beam Structures

A Bernoulli-Euler beam mechanism for static analysis of large displacement,large rotation but small strain planar tapered beam structures is proposed using the Updated Lagrangian formulation and the moving coordinate method.The object beam is the tapered one whose profile is assumed to be varying linearly.From the governing differential equation of lateral deflection including second-order effects by beam-column theory,the geometric nonlinear tangent elemental stiffness matrix is derived.The nonlinear effect of the bending distortions on the axial action is considered to manifest itself as an axial change in length.The aforementioned stiffness matrix is amended,by developing the auxiliary stiffness of bowing effect.The moving coordinate method is employed for obtaining the large displacement total equilibrium equations,and the hinged-hinged moving coordinate system is constructed at the last updated configuration.The multiple load steps Newton-Raphson iteration is adopted for the solution of the nonlinear equations.The validity and efficiency of the proposed method are shown by solving various typical numerical examples.     

Type Synthesis of Fully-Decoupled 3R2T Parallel Mechanisms Based on Driven-Chain Principle

To avoid the existence of nonlinear and strong coupling in parallel mechanisms,it is necessary to address special care to the type synthesis of mechanisms,especially for the type synthesis of fully-decoupled parallel mechanisms. Based on the screw theory and the driven-chain principle,a methodology of structural synthesis for fully-decoupled three-rotational( 3R) and two-translational( 2T)parallel mechanisms was proposed by analyzing the characteristics of the input-output relations for fully-decoupled parallel mechanisms.Firstly,according to the desired kinematic characteristics of fullydecoupled parallel mechanisms,a method was presented by virtue of screw theory to synthesize the desired forms for both the direct and the inverse Jacobian matrices. Secondly,according to the feature of the direct and the inverse Jacobian matrices,the effective screws,the actuated screws and the mobile un-actuated screws of each leg were established based on the reciprocal screw theory and all possible topology structures fulfilling the requirements were obtained.Finally,the desired fully-decoupled parallel mechanisms could be synthesized by using the structural synthesis rule and structural synthesis of fully-decoupled 3R2 T parallel mechanisms could be obtained exploiting the abovementioned methodology. Furthermore,the Jacobian matrix of a synthesized 3R2 T parallel mechanism was deduced to demonstrate the decoupling feature of the parallel mechanism,which also validated the correctness of the methodology of the type synthesis for fully-decoupled 3R2 T parallel mechanisms.     

平面V形切口应力奇性指数分析

对于一般的V形切口结构,其切口尖端区域存在强的应力集中．基于切口尖端附近区域渐近应力场的假设,提出将线弹性理论控制方程转换成一组常微分方程特征值问题．然后采用插值矩阵法数值计算该常微分方程特征值问题,从而得到V形切口的各阶应力奇性指数．算例显示该方法是分析V形切口应力奇异指数的一个准确、有效的路径．     

平面六杆机构的非全参数综合

平面六杆机构用位移矩阵进行轨迹综合时,分别要列出28—70个非线性方程,求解困难。本文提出了选定少量参数的非全参数综合法,将六杆机构的综合转化为杆组或四杆机构的综合。简化了综合过程,方便实用。     

广义节点无网格法基本原理及其应用

借鉴流形方法思想,引入广义节点的概念,对传统的无网格法进行了改进,建立了可具有任意高阶多项式插值函数的广义节点无网格方法,在阐述这种方法基本原理的同时,针对线弹性力学问题给出了其计算列式.与传统无网格方法相比,这种方法更具有一般性,当选取0阶广义节点位移插值函数时便可得到传统的无网格法;可以通过提高广义节点位移插值函数的阶数降低完备基函数的次数,从而可减少支持域内节点的数目并保证计算精度.最后通过一端承受剪力悬臂梁和中间开口无穷板算例分析,论证了这种方法的合理性.     

基于动态时间弯曲距离的灰关联度量方法及其应用

传统灰关联度量对于长度不同的序列采用删除较长序列数据?均值?GM(1,1)模型预测等方法进行补齐,导致不确定性信息增加,造成不必要的信息损失? 将动态时间弯曲思想引入灰关联度量中,提出一种自适应序列长度的灰关联度?该方法无需补齐序列数据,利用序列间距离矩阵的最短路径作为相似判 定依据?在此基础上,进一步构建了相应的灰关联度量方法,有效解决了序列数据长度不一致问题?为了证明方法的有效性,将其应用于分类算法设计中,取得了较为优异的测试结果?     

Novel Fault Detection Optimization Algorithm for Single Event Effect system Based on Multi-information Entropy Fusion

Fault detection caused by single event effect（ SEE） in system was studied,and an improved fault detection algorithm by fusing multi-information entropy for detecting soft error was proposed based on multi-objective detection approach and classification management method. In the improved fault detection algorithm, the analysis model of posteriori information with corresponding multi-fault alternative detection points was formulated through correlation information matrix, and the maximum incremental information entropy was chosen as the classification principle for the optimal detection points. A system design example was given to prove the rationality and feasibility of this algorithm.This fault detection algorithm can achieve the purpose of fault detection and resource configuration with high efficiency.     

大增量有限元法及其在非线性分析中的应用

为克服位移法有限元法在计算效率方面的不足,基于一般逆矩阵理论,采用最优化理论,在不同坐标系内,即整体坐标系和局部坐标系内分阶段求解大增量有限元法控制方程,给出了用大增量有限元法求解单调荷载作用下弹性体系非线性分析的求解步骤。最后以非线性索膜结构为例,用该算法对其进行非线性分析,并将结果与用位移有限元法软件ANSYS得到的结果作比较分析。结果表明：大增量有限元法计算效率高,结果准确,可应用于弹性体系非线性分析中。