Traditional two-dimensional(2D) complex resistivity forward modeling is based on Poisson's equation but spectral induced polarization(SIP) data are the coproducts of the induced polarization(IP) and the electro...Traditional two-dimensional(2D) complex resistivity forward modeling is based on Poisson's equation but spectral induced polarization(SIP) data are the coproducts of the induced polarization(IP) and the electromagnetic induction(EMI) effects.This is especially true under high frequencies,where the EMI effect can exceed the IP effect.2D inversion that only considers the IP effect reduces the reliability of the inversion data.In this paper,we derive differential equations using Maxwell's equations.With the introduction of the Cole-Cole model,we use the finite-element method to conduct2 D SIP forward modeling that considers the EMI and IP effects simultaneously.The data-space Occam method,in which different constraints to the model smoothness and parametric boundaries are introduced,is then used to simultaneously obtain the four parameters of the Cole-Cole model using multi-array electric field data.This approach not only improves the stability of the inversion but also significantly reduces the solution ambiguity.To improve the computational efficiency,message passing interface programming was used to accelerate the 2D SIP forward modeling and inversion.Synthetic datasets were tested using both serial and parallel algorithms,and the tests suggest that the proposed parallel algorithm is robust and efficient.展开更多
The level adjustment of cable-driven parallel mecha-nism is challenging due to the difficulty in obtaining an accurate mathematical model and the fact that different sources of un-certainties exist in the adjustment p...The level adjustment of cable-driven parallel mecha-nism is challenging due to the difficulty in obtaining an accurate mathematical model and the fact that different sources of un-certainties exist in the adjustment process.This paper presents a type-2 fuzzy neural network(T2FNN)based inverse control scheme for the level adjustment process.The T2FNN,whose consequent interval weights are trained by the iterative least squares estimation method,is used to approximate the inverse dynamics of the process and to handle uncertainties.Finally,the proposed control scheme and its counterpart type-1 fuzzy neural network based inverse control scheme--are compared and implemented for leveling the cable-driven parallel mechanism.展开更多
This paper presents a novel four degrees of freedom(DOF) parallel mechanism with the closed-loop limbs, which includes two translational(2 T) DOF and two rotational(2 R) DOF. By connecting the proposed parallel mechan...This paper presents a novel four degrees of freedom(DOF) parallel mechanism with the closed-loop limbs, which includes two translational(2 T) DOF and two rotational(2 R) DOF. By connecting the proposed parallel mechanism with the guide rail in series,the 5-DOF hybrid robot system is obtained, which can be applied for the composite material tape laying in aerospace industry. The analysis in this paper mainly focuses on the parallel module of the hybrid robot system. First, the freedom of the proposed parallel mechanism is calculated based on the screw theory. Then, according to the closed-loop vector equation, the inverse kinematics and Jacobian matrix of the parallel mechanism are carried out. Next, the workspace stiffness and dexterity analysis of the parallel mechanism are investigated based on the constraint equations, static stiffness matrix and Jacobian condition number. Finally, the correctness of the inverse kinematics and the high stiffness of the parallel mechanism are verified by the kinematics and stiffness simulation analysis, which lays a foundation for the automatic composite material tape laying.展开更多
针对并行双频发射机中的线性化问题,提出了一种基于二维预失真(2-D Digital Predistortion,2-D-DPD)技术的谐波抵消二维预失真(2-D Digital Predistortion of Harmonic Cancellation,HC-2-D-DPD)模型。传统的2-D-DPD技术能够有效抑制功...针对并行双频发射机中的线性化问题,提出了一种基于二维预失真(2-D Digital Predistortion,2-D-DPD)技术的谐波抵消二维预失真(2-D Digital Predistortion of Harmonic Cancellation,HC-2-D-DPD)模型。传统的2-D-DPD技术能够有效抑制功率放大器输入端产生的带内互调失真,但对功率放大器产生的谐波失真和频带间互调失真却无能为力。现有的谐波抑制方法依赖滤波器组或数字谐波抑制技术,这些方法要么增加了硬件资源,要么忽略了频带间互调失真。通过理论分析和实验验证,证明了新模型在相同模型复杂度下,显著提高了对不同频点的谐波抑制能力,其中二次谐波抑制效果提升约29 dB,三次谐波抑制效果提升约33 dB。此外,HC-2-D-DPD模型在二阶互调失真(Second Order Intermodulation Distortion,IMD2)、三阶互调失真(IMD3)和四阶互调失真(IMD4)的抵消性能上,分别比2-D-DPD模型提高了约6.29 dB、3.57 dB和5.17 dB。实验结果表明,HC-2-D-DPD模型对解决并行双频发射机中的谐波失真和频带间互调失真的频谱增生问题具有良好效果。展开更多
The singularity problem brings troubles to the design and application for the parallel mechanism.Currently,redun-dant actuation is one of the useful methods to solve this singularity problem.However,faced to the numer...The singularity problem brings troubles to the design and application for the parallel mechanism.Currently,redun-dant actuation is one of the useful methods to solve this singularity problem.However,faced to the numerous joints in a parallel mechanism,how to make a quantitative criterion of seeking the most efficient joints added actuators for letting the mechanism passes through singularity is a necessarily open issue.This paper focuses on a 2R1T 3-UPU(U for universal joint and P for prismatic joint)parallel mechanism(PM)with two rotational and one translational(2R1T)degrees of freedom(DOFs)and the ability of multiple remote centers of motion(M-RCM).The singularity analysis based on the indexes of motion/force transmissibility and constraint shows that this PM has transmission singular-ity,constraint singularity,mixed singularity and limb singularity.To solve these singular problems,the quantifiable redundancy transmission index(RTI)and the redundancy constraint index(RCI)are proposed for optimum seeking of redundant actuators for this PM.Then the appropriate redundant actuators are selected and the working scheme for redundant actuators near the corresponding singular configuration are given to help the PM passes through the singularity.This research proposes a quantitative criterion to optimum seeking of redundant actuators for the parallel mechanism to solve its singularity.展开更多
Current research on spherical parallel mechanisms(SPMs)mainly focus on surgical robots,exoskeleton robots,entertainment equipment,and other fields.However,compared with the SPM,the structure types and research content...Current research on spherical parallel mechanisms(SPMs)mainly focus on surgical robots,exoskeleton robots,entertainment equipment,and other fields.However,compared with the SPM,the structure types and research contents of the SPM are not abundant enough.In this paper,a novel two-degree-of-freedom(2DOF)SPM with symmetrical structure is proposed and analyzed.First,the models of forward kinematics and inverse kinematics are established based on D-H parameters,and the Jacobian matrix of the mechanism is obtained and verified.Second,the workspace of the mechanism is obtained according to inverse kinematics and link interference conditions.Next,rotational characteristics analysis shows that the end effector can achieve continuous rotation about an axis located in the mid-plane and passing through the rotation center of the mechanism.Moreover,the rotational characteristics of the mechanism are proved,and motion planning is carried out.A numerical example is given to verify the kinematics analysis and motion planning.Finally,some variant mechanisms can be synthesized.This work lays the foundation for the motion control and practical application of this 2DOF SPM.展开更多
The sea surface height data volume of the future wide-swath two-dimensional(2D)altimetric satellite is thousands of times greater than that of nadir altimetric satellites.The time complexity of the 2D altimetry mappin...The sea surface height data volume of the future wide-swath two-dimensional(2D)altimetric satellite is thousands of times greater than that of nadir altimetric satellites.The time complexity of the 2D altimetry mapping reaches O(n3).It is challenging to map the global grid products of future 2D altimetric satellites.In this study,to improve the efficiency of global data mapping,a new algorithm called parallel-dynamic interpolation(PA-DI)was designed.Through the use of 2D data segmentation and fine-grained data mosaic methods,the parallel along-track DI processes were accelerated,and a fast and efficient spatial-temporal high-resolution and low-error enhanced mapping method was obtained.As determined from a comparison of the single-threaded DI with the PA-DI,the new algorithm optimized the time complexity from O(n3)to O(n3/KL),which improved the mapping efficiency and achieved the expected results.According to the test results of the observing system simulation experiments,the PA-DI algorithm may provide an efficient and reliable method for future wide-swath 2D altimetric satellite mapping.展开更多
As a typical representative of the NP-complete problem, the traveling salesman problem(TSP) is widely utilized in computer networks, logistics distribution, and other fields. In this paper, a discrete lion swarm optim...As a typical representative of the NP-complete problem, the traveling salesman problem(TSP) is widely utilized in computer networks, logistics distribution, and other fields. In this paper, a discrete lion swarm optimization(DLSO) algorithm is proposed to solve the TSP. Firstly, we introduce discrete coding and order crossover operators in DLSO. Secondly, we use the complete 2-opt(C2-opt) algorithm to enhance the local search ability.Then in order to enhance the efficiency of the algorithm, a parallel discrete lion swarm optimization(PDLSO) algorithm is proposed.The PDLSO has multiple populations, and each sub-population independently runs the DLSO algorithm in parallel. We use the ring topology to transfer information between sub-populations. Experiments on some benchmarks TSP problems show that the DLSO algorithm has a better accuracy than other algorithms, and the PDLSO algorithm can effectively shorten the running time.展开更多
The authors developed a 3-D numerical injection model on parallel TOUGH2-FLAC3 D based on the site-specific stratigraphic information in Ordos Basin to simulate the Shenhua CO_2 geological storage( CGS)demonstration p...The authors developed a 3-D numerical injection model on parallel TOUGH2-FLAC3 D based on the site-specific stratigraphic information in Ordos Basin to simulate the Shenhua CO_2 geological storage( CGS)demonstration project injection process for three years and forecast CO_2 migration and layers displacement after injection for seven years. The results suggested that CO_2 migration did not stop after three years of consecutive injection,but migration rate was slowing down with time. As a result,displacement near injection well increased with injection and decreased slowly after injection. The maximum displacement of surface center occurred near the end of injection,which was only 1. 24 cm. According to the displacement result,it is safe to continue injecting for this project.展开更多
Magnetotelluric sounding method based on the difference of the rock’s resistivity is an exploration method about doing research in earth’s resistivity and phase using the native electromagnetic field. The paper adop...Magnetotelluric sounding method based on the difference of the rock’s resistivity is an exploration method about doing research in earth’s resistivity and phase using the native electromagnetic field. The paper adopts 2D finite element method as the magnetotelluric forward method and calculates the total field by primary field (also named background field) plus secondary field. We can?get more accurate forward result through the finite element method and we can get the result effected by the dense degree of grid slightly by the total field. But the method is not effective?enough when the model is divided into relative big grid. When the frequency changes, program solves relevant equation separately. According to the feature of the algorithm, we apply MPI parallel method in the algorithm. Every process solves relevant equation. The account of frequency?that a process needs to solve in parallel computation is less than the account that the process?needs to solve in serial algorithm. We can see that the forward result is the same with the serial algorithm and proves the correctness of algorithm. We do statistics about the efficiency of the parallel algorithm. When the account of processes is from 2 to 8, the speedup is from 1.63 to 2.64. It proves the effectiveness of the parallel algorithm.展开更多
The author establishes in this paper the following results: (1) In a quasiconstant curvature manifold M a parallel tensor of type is constant multiple of the metric tensor. (2) On a quasi_constant curvature manifo...The author establishes in this paper the following results: (1) In a quasiconstant curvature manifold M a parallel tensor of type is constant multiple of the metric tensor. (2) On a quasi_constant curvature manifold there is no nonzero parallel 2_form. Unless the Ricci principal curvature corresponding to the generator of M is equal to zero.展开更多
We put forward a multicore parallel plan for 2D-FFT and implement it on TMS320C6678 DSP after we research thecharacteristics of different multicore DSP programming models and two-dimension FFT (2D-FFT). We bring the...We put forward a multicore parallel plan for 2D-FFT and implement it on TMS320C6678 DSP after we research thecharacteristics of different multicore DSP programming models and two-dimension FFT (2D-FFT). We bring the parallelcomputing capability of multicore DSP into full play and improve working efficiency of 2D-FFT. It has hugely referential valuein implementing image processing arithmetic based on 2D-FFT.展开更多
基金jointly sponsored by the National Natural Science Foundation of China(Grant No.41374078)the Geological Survey Projects of the Ministry of Land and Resources of China(Grant Nos.12120113086100 and 12120113101300)Beijing Higher Education Young Elite Teacher Project
摘要Traditional two-dimensional(2D) complex resistivity forward modeling is based on Poisson's equation but spectral induced polarization(SIP) data are the coproducts of the induced polarization(IP) and the electromagnetic induction(EMI) effects.This is especially true under high frequencies,where the EMI effect can exceed the IP effect.2D inversion that only considers the IP effect reduces the reliability of the inversion data.In this paper,we derive differential equations using Maxwell's equations.With the introduction of the Cole-Cole model,we use the finite-element method to conduct2 D SIP forward modeling that considers the EMI and IP effects simultaneously.The data-space Occam method,in which different constraints to the model smoothness and parametric boundaries are introduced,is then used to simultaneously obtain the four parameters of the Cole-Cole model using multi-array electric field data.This approach not only improves the stability of the inversion but also significantly reduces the solution ambiguity.To improve the computational efficiency,message passing interface programming was used to accelerate the 2D SIP forward modeling and inversion.Synthetic datasets were tested using both serial and parallel algorithms,and the tests suggest that the proposed parallel algorithm is robust and efficient.
基金Supported by National High Technology Research and Development Program of China(863 Program)(2007AA04Z239)National Natural Science Foundation of China(60621001,60975060)
摘要The level adjustment of cable-driven parallel mecha-nism is challenging due to the difficulty in obtaining an accurate mathematical model and the fact that different sources of un-certainties exist in the adjustment process.This paper presents a type-2 fuzzy neural network(T2FNN)based inverse control scheme for the level adjustment process.The T2FNN,whose consequent interval weights are trained by the iterative least squares estimation method,is used to approximate the inverse dynamics of the process and to handle uncertainties.Finally,the proposed control scheme and its counterpart type-1 fuzzy neural network based inverse control scheme--are compared and implemented for leveling the cable-driven parallel mechanism.
基金by Fundamental Research Funds for the Central Universities(No.2018JBZ007).
摘要This paper presents a novel four degrees of freedom(DOF) parallel mechanism with the closed-loop limbs, which includes two translational(2 T) DOF and two rotational(2 R) DOF. By connecting the proposed parallel mechanism with the guide rail in series,the 5-DOF hybrid robot system is obtained, which can be applied for the composite material tape laying in aerospace industry. The analysis in this paper mainly focuses on the parallel module of the hybrid robot system. First, the freedom of the proposed parallel mechanism is calculated based on the screw theory. Then, according to the closed-loop vector equation, the inverse kinematics and Jacobian matrix of the parallel mechanism are carried out. Next, the workspace stiffness and dexterity analysis of the parallel mechanism are investigated based on the constraint equations, static stiffness matrix and Jacobian condition number. Finally, the correctness of the inverse kinematics and the high stiffness of the parallel mechanism are verified by the kinematics and stiffness simulation analysis, which lays a foundation for the automatic composite material tape laying.
摘要针对并行双频发射机中的线性化问题,提出了一种基于二维预失真(2-D Digital Predistortion,2-D-DPD)技术的谐波抵消二维预失真(2-D Digital Predistortion of Harmonic Cancellation,HC-2-D-DPD)模型。传统的2-D-DPD技术能够有效抑制功率放大器输入端产生的带内互调失真,但对功率放大器产生的谐波失真和频带间互调失真却无能为力。现有的谐波抑制方法依赖滤波器组或数字谐波抑制技术,这些方法要么增加了硬件资源,要么忽略了频带间互调失真。通过理论分析和实验验证,证明了新模型在相同模型复杂度下,显著提高了对不同频点的谐波抑制能力,其中二次谐波抑制效果提升约29 dB,三次谐波抑制效果提升约33 dB。此外,HC-2-D-DPD模型在二阶互调失真(Second Order Intermodulation Distortion,IMD2)、三阶互调失真(IMD3)和四阶互调失真(IMD4)的抵消性能上,分别比2-D-DPD模型提高了约6.29 dB、3.57 dB和5.17 dB。实验结果表明,HC-2-D-DPD模型对解决并行双频发射机中的谐波失真和频带间互调失真的频谱增生问题具有良好效果。
基金Supported by National Natural Science Foundation of China(Grant No.51775474)Hebei Provincial Natural Science Foundation of China(Grant No.E2020203197).
摘要The singularity problem brings troubles to the design and application for the parallel mechanism.Currently,redun-dant actuation is one of the useful methods to solve this singularity problem.However,faced to the numerous joints in a parallel mechanism,how to make a quantitative criterion of seeking the most efficient joints added actuators for letting the mechanism passes through singularity is a necessarily open issue.This paper focuses on a 2R1T 3-UPU(U for universal joint and P for prismatic joint)parallel mechanism(PM)with two rotational and one translational(2R1T)degrees of freedom(DOFs)and the ability of multiple remote centers of motion(M-RCM).The singularity analysis based on the indexes of motion/force transmissibility and constraint shows that this PM has transmission singular-ity,constraint singularity,mixed singularity and limb singularity.To solve these singular problems,the quantifiable redundancy transmission index(RTI)and the redundancy constraint index(RCI)are proposed for optimum seeking of redundant actuators for this PM.Then the appropriate redundant actuators are selected and the working scheme for redundant actuators near the corresponding singular configuration are given to help the PM passes through the singularity.This research proposes a quantitative criterion to optimum seeking of redundant actuators for the parallel mechanism to solve its singularity.
基金Supported by National Natural Science Foundation of China(Grant No.51775474)。
摘要Current research on spherical parallel mechanisms(SPMs)mainly focus on surgical robots,exoskeleton robots,entertainment equipment,and other fields.However,compared with the SPM,the structure types and research contents of the SPM are not abundant enough.In this paper,a novel two-degree-of-freedom(2DOF)SPM with symmetrical structure is proposed and analyzed.First,the models of forward kinematics and inverse kinematics are established based on D-H parameters,and the Jacobian matrix of the mechanism is obtained and verified.Second,the workspace of the mechanism is obtained according to inverse kinematics and link interference conditions.Next,rotational characteristics analysis shows that the end effector can achieve continuous rotation about an axis located in the mid-plane and passing through the rotation center of the mechanism.Moreover,the rotational characteristics of the mechanism are proved,and motion planning is carried out.A numerical example is given to verify the kinematics analysis and motion planning.Finally,some variant mechanisms can be synthesized.This work lays the foundation for the motion control and practical application of this 2DOF SPM.
基金This research was funded by the Key Research and Development Program of Shandong Province(No.2019GH Z023)the National Natural Science Foundation of China(Nos.41906155,42030406)+1 种基金the Fundamental Research Funds for the Central Universities(No.201762005)the National Key Scientific Instrument and Equipment Development Projects of National Natural Science Foundation of China(No.41527901).
摘要The sea surface height data volume of the future wide-swath two-dimensional(2D)altimetric satellite is thousands of times greater than that of nadir altimetric satellites.The time complexity of the 2D altimetry mapping reaches O(n3).It is challenging to map the global grid products of future 2D altimetric satellites.In this study,to improve the efficiency of global data mapping,a new algorithm called parallel-dynamic interpolation(PA-DI)was designed.Through the use of 2D data segmentation and fine-grained data mosaic methods,the parallel along-track DI processes were accelerated,and a fast and efficient spatial-temporal high-resolution and low-error enhanced mapping method was obtained.As determined from a comparison of the single-threaded DI with the PA-DI,the new algorithm optimized the time complexity from O(n3)to O(n3/KL),which improved the mapping efficiency and achieved the expected results.According to the test results of the observing system simulation experiments,the PA-DI algorithm may provide an efficient and reliable method for future wide-swath 2D altimetric satellite mapping.
基金supported by the National Natural Science Foundation of China(61771293)the Key Project of Shangdong Province(2019JZZY010111)。
摘要As a typical representative of the NP-complete problem, the traveling salesman problem(TSP) is widely utilized in computer networks, logistics distribution, and other fields. In this paper, a discrete lion swarm optimization(DLSO) algorithm is proposed to solve the TSP. Firstly, we introduce discrete coding and order crossover operators in DLSO. Secondly, we use the complete 2-opt(C2-opt) algorithm to enhance the local search ability.Then in order to enhance the efficiency of the algorithm, a parallel discrete lion swarm optimization(PDLSO) algorithm is proposed.The PDLSO has multiple populations, and each sub-population independently runs the DLSO algorithm in parallel. We use the ring topology to transfer information between sub-populations. Experiments on some benchmarks TSP problems show that the DLSO algorithm has a better accuracy than other algorithms, and the PDLSO algorithm can effectively shorten the running time.
基金Supported by projects of National Natural Science Foundation of China(Nos.41372239,41772238,41602243)
摘要The authors developed a 3-D numerical injection model on parallel TOUGH2-FLAC3 D based on the site-specific stratigraphic information in Ordos Basin to simulate the Shenhua CO_2 geological storage( CGS)demonstration project injection process for three years and forecast CO_2 migration and layers displacement after injection for seven years. The results suggested that CO_2 migration did not stop after three years of consecutive injection,but migration rate was slowing down with time. As a result,displacement near injection well increased with injection and decreased slowly after injection. The maximum displacement of surface center occurred near the end of injection,which was only 1. 24 cm. According to the displacement result,it is safe to continue injecting for this project.
摘要Magnetotelluric sounding method based on the difference of the rock’s resistivity is an exploration method about doing research in earth’s resistivity and phase using the native electromagnetic field. The paper adopts 2D finite element method as the magnetotelluric forward method and calculates the total field by primary field (also named background field) plus secondary field. We can?get more accurate forward result through the finite element method and we can get the result effected by the dense degree of grid slightly by the total field. But the method is not effective?enough when the model is divided into relative big grid. When the frequency changes, program solves relevant equation separately. According to the feature of the algorithm, we apply MPI parallel method in the algorithm. Every process solves relevant equation. The account of frequency?that a process needs to solve in parallel computation is less than the account that the process?needs to solve in serial algorithm. We can see that the forward result is the same with the serial algorithm and proves the correctness of algorithm. We do statistics about the efficiency of the parallel algorithm. When the account of processes is from 2 to 8, the speedup is from 1.63 to 2.64. It proves the effectiveness of the parallel algorithm.
摘要The author establishes in this paper the following results: (1) In a quasiconstant curvature manifold M a parallel tensor of type is constant multiple of the metric tensor. (2) On a quasi_constant curvature manifold there is no nonzero parallel 2_form. Unless the Ricci principal curvature corresponding to the generator of M is equal to zero.
摘要We put forward a multicore parallel plan for 2D-FFT and implement it on TMS320C6678 DSP after we research thecharacteristics of different multicore DSP programming models and two-dimension FFT (2D-FFT). We bring the parallelcomputing capability of multicore DSP into full play and improve working efficiency of 2D-FFT. It has hugely referential valuein implementing image processing arithmetic based on 2D-FFT.