Effects of turning gait parameters on energy consumption and stability of a six-legged walking robot

Minimization of energy consumption plays a key role in the locomotion of a multi-legged robot used for various purposes. Turning gaits are the most general and important factors for omni-directional walking of a six-legged robot. This paper presents an analysis on energy consumption of a six-legged robot during its turning motion over a flat terrain. An energy consumption model is developed for statically stable wave gaits in order to minimize dissipating energy for optimal feet forces distributions. The effects of gait parameters, namely angular velocity, angular stroke and duty factors are studied on energy consumption, as the six-legged robot walks along a circular path of constant radius with wave gait. The variations of average power consumption and energy consumption per unit weight per unit traveled length with the angular velocity and angular stroke are compared for the turning gaits of a robot with four different duty factors. Computer simulations show that wave gait with a low duty factor is more energy-efficient compared to that with a high duty factor at the highest possible angular velocity. A stability analysis based on normalized energy stability margin is performed for turning motion of the robot with four duty factors for different angular strokes.     

A note on stabilization of locally damped wave equations with time delay

In this paper, we consider the wave equation with internal distributed time delay and local damping in a bounded and smooth domain Ω⊂Rⁿ. When the local damping acts on a neighborhood of a suitable part of the boundary of Ω, we show that an exponential stability result holds if the coefficient of the delay term is sufficiently small.     

横波预测技术在延川南地区储层预测中的应用

在延川南地区,通过开展测井横波模拟研究,获得测井的横波速度;采用叠前弹性参数反演技术计算纵、横波阻抗;利用砂泥岩在纵横波阻抗交汇图上的差异进行石盒子组砂岩储层预测,利用煤层与围岩在密度和阻抗方面的差异预测煤层的分布空间。通过横波资料可以有效地获得其它弹性参数,提高叠前反演的可靠性,降低叠后储层预测的多解性,提高储层预测精度。     

Diffraction field of tightly focused laser beams and its influence to laser accelerator

In this paper, we have studied the dynamic characteristics of relativistic electron injected into stationary intense vacuum laser fields. We found the dynamic trajectories can basically be classified as three categories, namely Inelastic Scattering (IS), Capture and Acceleration Scenario (CAS) and Penetrate into Axial Region and Move (PARM) trajectory. The physical mechanism as to the three kinds of electrons have been examined. In particular, the PARM trajectory which we presented in this paper is different from the CAS and IS trajectory which we had already found in our previous work. We will show the PARM stems from the strong diffraction effect of a tightly focused laser field. In addition, the initial condition for the three kinds of electrons to emerge were detailed investigated. It has been found that there are four factors which chiefly decide the appearance of the three kinds of dynamics trajectories, namely the laser beam width w₀ and intensity a₀, the electrons incident angle θ and initial transversal momentum p_ti. The implication of the PARM electrons to the planned vacuum laser accelerators is illustrated.     

Nonlinear wave theory in reliability analysis of offshore structures

The reliability analysis of offshore structures under wave and wind actions is considered using second order random wave theory. To represent non-Gaussian properties of the resulting wave kinematics, the Hermite moment transformation is used. Further, the so-called sample-specific linearization method developed already (to be used in conjunction with the directional simulation method and the linear wave theory) will be extended to take into account both (1) non-Gaussianity of wave/wind load due to nonlinear load processes and also (2) the non-Gaussianity of wave kinematics due to the nonlinear wave theory. This allows an out-crossing approach to be used to assess the structural probability of failure and the involving out-crossing rate (which is not generally available for non-Gaussian processes) is required to be estimated. Using the proposed procedure, simple structures are analyzed in one- and multi-dimensional cases and the results for structural probability of failure are compared with those obtained using simple linear wave theory. Outcomes show that the use of nonlinear wave theory may affect the results considerably.     

并联补偿装置运行中的异常现象及对策

就并联补偿装置运行中较易发生的异常现象和合闸涌流引起的过电压、并联补偿装置切除时开关重燃引起的过电压以及系统高次谐波和投入空载变压器对并联补偿装置的影响和危害,进行了详细的分析,提出了有针对性的解决办法.     

Using Finite-Element Method to Simulate Wave Transformations in Surf Zone

In this study, a finite element method proposed by Hsu et al. in 2003 is extended to develop a numerical model for the simulation of wave transformation in the surf zone. The governing equation is the elliptic mild-slope equation including the energy dissipation of wave breaking. At the open boundaries with varying depth, the reflected waves caused by shoaling are adopted to the radiation boundary conditions. The rationality of the present numerical model is examined through the cases of offshore parallel breakwater problems. The results of calculation are in good agreement with experimental results.     

Damping Effect on Waves Propagating Past a Submerged Horizontal Plate and a Vertical Porous Wall

A set of analytical solutions for waves propagating past a combined submerged horizontal plate and vertical porous wall breakwater system is presented. The wave damping effect caused by the horizontal plate induced flow constriction is considered in the analysis. The velocity potentials in each fluid domain are derived based on the linear wave theory and the unknown coefficients are determined from the matching conditions using three sets of orthogonal eigenfunctions. Reflection and transmission coefficients are presented to evaluate the performance of the breakwater system. The analytical solutions in terms of the reflection and transmission coefficients as well as the hydrodynamic force on the vertical porous wall are found in good agreement with published laboratory measurements. In comparison with the solutions without taking into account the wave damping effect, the present analytical solutions significantly improve the accuracy of the wave predictions, especially for the reflected waves.     

远距离炸点爆轰过程记录方法

根据炸点距离远的特点和爆轰特点，介绍了适用于远距离条件下测量的原理、方法及系统的构成。分析炸点爆轰过程的辐射光谱特性，检验系统中所用光电探测器的性能，结果表明能够满足实时记录炸点爆轰过程辐射波形和爆炸时刻的需要，同时分析讨论了测量系统的另外几项性能指标。     

临界总原理在非线性波动方程中的应用

研究了带有Dirichlet边界条件的波动方程，并利用临界总原理证明了其解的多重性，从而推广了参考文献[3]的结果。