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This paper addresses the orientation-singularity and orientationability analyses of a special class of the Stewart–Gough parallel manipulators whose moving and base platforms are two similar semi-symmetrical hexagons. Employing a unit quaternion to represent the orientation of the moving platform, an analytical expression representing the singularity locus of this class of parallel manipulators in a six-dimensional Cartesian space is obtained. It shows that for a given orientation, the position-singularity locus is a cubic polynomial expression in the moving platform position parameters, and for a given position, the orientation-singularity locus is an analytical expression but not a polynomial directly with respect to the mobile platform orientation parameters. Further inspection shows that for the special class of parallel manipulators, there must exist a nonsingular orientation void in the orientation space around the orientation origin for each position in the position-workspace. Therefore, a new performance index referred to as orientationability is introduced to describe the orientation capability of the special class of manipulators at a given position. A discretization algorithm is proposed for the computation of the orientationability of the special class of manipulators. Moreover, effects of the design parameters and position parameters on the orientationability are investigated in details. Based on the orientationability performance index, another novel performance index referred to as practical orientationability is presented which represents the practical orientation capability of the manipulator at a given position. The practical orientationability not only can satisfy all the kinematic demands and constraints of such class of manipulators, but also can guarantee that the manipulator is nonsingular. 相似文献
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A broadband 8‐antenna multiple‐input and multiple‐output (MIMO) system working for 5G new radio N77 (3.3‐4.2 GHz) in mobile terminals is proposed. In particular, each antenna element/unit consists of a monopole‐type meandered branch and an inverted U‐shaped self‐isolated antenna branch; and the antenna unit is fed by the meandered branch. The antenna unit has two resonances generated separately by each branch of the antenna unit. Since the monopole couples strongly with the self‐isolated antenna element that has the inherent self‐isolation characteristics, quite good isolation for the broadband 8‐antenna MIMO system can be obtained. The results such as antenna efficiency, radiation patterns, envelope correlation coefficient, and channel capacity are also presented. 相似文献
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无线电信号的模拟调制参数测量在无线电检测定位、通信发射机测试校准,民用船舶的导航通信等领域都有广泛应 用。设计实现了一种基于超外差结构的无线电信号模拟调制参数的测量系统,以STM32F4 系列单片机作为控制核心,包括 的主要硬件电路模块有本振信号源、混频器、LC无源滤波器、锁相环、低噪声放大器、包络检波电路、鉴频电路等。系统可自 动识别普通调幅波、调频波、未调制的单频载波等模拟调制类型,完成无线电信号解调输出的同时自动测量出载波频率、调制 信号频率、调幅指数、调频指数等主要调制参数。实测结果表明,系统对调制类型识别正确,调幅或调频信号的解调波形信噪 比高、无明显失真,载波频率测量的相对误差小于10-5,主要调制参数测量的相对误差均小于5%。 相似文献
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Huaying Ren Huan Wang Li Lin Miao Tang Shuli Zhao Bing Deng Manish Kumar Priydarshi Jincan Zhang Hailin Peng Zhongfan Liu 《Nano Research》2017,10(4):1189-1199
In the chemical vapor deposition growth of large-area graphene polycrystalline thin films,the coalescence of randomly oriented graphene domains results in a high density of uncertain grain boundaries (GBs).The structures and properties of various GBs are highly dependent on the misorientation angles between the graphene domains,which can significantly affect the performance of the graphene films and impede their industrial applications.Graphene bicrystals with a specific type of GB can be synthesized via the controllable growth of graphene domains with a predefined lattice orientation.Although the bicrystal has been widely investigated for traditional bulk materials,no successful synthesis strategy has been presented for growing two-dimensional graphene bicrystals.In this study, we demonstrate a simple approach for growing well-aligned large-domain graphene bicrystals with a confined tilt angle of 30° on a facilely recrystallized single-crystal Cu (100) substrate.Control of the density of the GBs with a misorientation angle of 30° was realized via the controllable rapid growth of subcentimeter graphene domains with the assistance of a cooperative catalytic surface-passivation treatment.The large-area production of graphene bicrystals consisting of the sole specific GBs with a tunable density provides a new material platform for fundamental studies and practical applications. 相似文献
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Wang Xing Li Jianfeng Wang Liming Jia Xiujie Hong Minghui Ren Yuan Ma Mingliang 《Clean Technologies and Environmental Policy》2021,23(5):1403-1414
Clean Technologies and Environmental Policy - Steel parts are a kind of high recovery value product for which de-rusting is the primary step in the recycling process. Laser cleaning is a popular... 相似文献
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Cao Dongyang Malakooti Sadeq Kulkarni Vijay N. Ren Yao Lu Hongbing 《Mechanics of Time-Dependent Materials》2021,25(3):353-363
Mechanics of Time-Dependent Materials - Debonding at the core–skin interphase region is one of the primary failure modes in core sandwich composites under shear loads. As a result, the... 相似文献
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