Dynamic Behaviour of a Mobile Robot Vehicle with a Two Caster and Two Driving Wheel Configuration

The actual trajectory covered by a mobile robot in motion differs from the trajectory planned on the basis of the kinematic characteristics of its directional control system. This difference is essentially related to the behaviour of wheel-road contact, the influence of dynamic loads and the presence of caster wheels.

This paper presents a mathematical model (“ DDPP) which simulates the motion of a generic mobile robot vehicle with a propulsion and directional control system based on two independent driving wheels and two caster wheels.

The differential equations of motion have been obtained by applying modified equations of Lagrange.

The role played by the dynamic loads, the wheel-road contact features and the caster wheels is discussed hereof.     

A summary of the formation and seasonal progression of the Northeast Water Polynya

A summary of the seasonal development of the Northeast Water Polynya ice cover characteristics is presented. This is based primarily on satellite remote sensing observations, with some in situ measurements, including both new and published data.     

The Dead Sea hydrography from 1992 to 2000

The modern hydrological regime of the Dead Sea is strongly affected by anthropogenic activity. The natural fresh water budget has changed mainly due to the drastic reduction of runoff. Since 1977, the surface level of the Dead Sea has been lowered by an average rate of about 60 cm/year and for the period from 1998 to 2000, the lowering rate has reached about 100 cm/year. As a result of the runoff reduction, the upper layer salinity of the Dead Sea has increased and the gravitational stability of the water body was diminished. Eventually, during the winter of 1978–1979, the lake waters overturned, bringing to an end the long-term stable meromictic¹ hydrological regime. The lake entered a new phase in which its hydrological regime switches between holomictic and meromictic regimes, depending on the size of the runoff into the lake (i.e. the amount of precipitation in the lake's watershed). The first holomictic period, 1979–1980, lasted for 2 months only. It was succeeded by a 4-year meromictic period (1980–1983). The second holomictic period lasted for 9 years (1983–1991). The rainy winter of 1991–1992 resulted in an almost 2-m sea level rise. The upper layer with a relatively low salinity was restored and a new meromictic period persisted for 4 years, until winter 1995–1996. During the last meromictic period, the hydrological regime of the Dead Sea was characterized by following long-term trends: the depth of the summer thermocline increased from 12–15 to 25–30 m; the quasi-salinity of the upper layer, initially of about 164 kg/m³, increased rapidly at a rate of about 16–18 kg/m³/year; the quasi-salinity of the deep water, initially of about 235 kg/m³, decreased slowly at a rate of about 0.08–0.10 kg/m³/year (for the sake of comparison, a quasi salinity of 235 kg/m³ is the equivalent of 280‰ “usual” salinity); and the winter minimal temperature of the upper layer, initially of about 16 °C, increased rapidly at a rate of about 2 °C/year. In November 1995, the latest meromictic period of the Dead Sea came to an end. During the present holomictic period, 1996–2000, the hydrological regime of the Dead Sea is also characterized by long-term trends: the quasi-salinity of the entire Dead Sea increased at a rate of about 0.5 kg/m³/year, with practically no decrease during the winters; the temperature of the deep water mass increased with a rate of about 0.25 °C/year; and the period of vertical convection of the entire water column, initially about 3 months, increased at a rate of about 1 week/year. Moreover, we observed that the temperature and salinity of the bottom layer in the deepest part of the Dead Sea raised by about 0.5–0.6 °C and 0.15–0.25 kg/m³ during each holomictic summer.     

洛仑兹变换的一种新推导

首先根据光速不变原理和物理相对性原理得到了同一个事件在两个惯性系中的时空坐标所满足的球面波阵面方程和线性变换式,再由两个球面与坐标轴交点坐标以及球面方程确定了变换式中的系数,从而得到了洛仑兹变换的一种新推导.     

Dynamic Properties of Motorcycle and Scooter Tires: Measurement and Comparison

Summary Results of an experimental research program dealing with motorcycle and scooter tires are presented. Experimental tests were carried out by means of a rotating disk test machine, which is particularly suited to test tires in the presence of large camber angles. First, the capabilities of the rotating disk machine are discussed and results are compared with the ones obtained by means of other test machines. Then the properties of several motorcycle and scooter tires are presented and compared. The advantage of presenting results in terms of camber and sideslip stiffness is highlighted. The effect of tire working conditions (inflation pressure, load and temperature) is analyzed. Finally the measurement of tire torques is discussed and some results dealing with self-aligning, twisting and rolling resistance torques are presented.     

The Force-Angle Measure of Tipover Stability Margin for Mobile Manipulators

Mobile manipulators operating in field environments will be required to apply large forces, or manipulate large loads, and to perform such tasks on uneven terrain which may cause the system to approach, or reach, a dangerous tipover instability. To avoid tipover in an automatic system, or to provide a human operator with an indication of proximity to tipover, it is necessary to define a measure of available stability margin. This work presents a new tipover stability measure (the Force-Angle stability measure) which has a simple geometric interpretation, is easily computed, and is sensitive to changes in Center of Mass height. The proposed metric is applicable to systems subject to inertial and external forces, operating over even or uneven terrains. Requirements for computation and implementation of the measure are described, and several different categories of application of the measure are presented along with useful normalizations. Performance of the Force-Angle measure is demonstrated and compared with that of other stability margin measures using a forestry vehicle simulation. Results show the importance of considering both center-of-mass height and system heaviness, and confirm the effectiveness of the Force-Angle measure in monitoring the tipover stability margin.     

Atmospheric CO2 measurements and error analysis on seasonal air–sea CO2 fluxes in the Bay of Biscay

Atmospheric molar fraction of CO₂ (xCO₂^atm) measurements obtained on board of ships of opportunity are used to parameterize the seasonal cycle of atmospheric xCO₂ (xCO₂^atm) in three regions of the eastern North Atlantic (Galician and French offshore and Bay of Biscay). Three selection criteria are established to eliminate spurious values and identify xCO₂^atm data representative of atmospheric background values. The filtered data set is fitted to seasonal curve, consisting of an annual trend plus a seasonal cycle. Although the fitted curves are consistent with the seasonal evolution of xCO₂^atm data series from land meteorological stations, only ship-board measurements can report the presence of winter xCO₂^atm minimum on Bay of Biscay. Weekly air–sea CO₂ flux differences (mmol C·m^− 2 day^− 1) produced by the several options of xCO₂^atm usually used (ship-board measurements, data from land meteorological stations and annually averaged values) were calculated in Bay of Biscay throughout 2003. Flux error using fitted seasonal curve relative to on board measurements was minimal, whereas land stations and annual means yielded random (− 0.2 ± 0.3 mmol C·m^− 2·day^− 1) and systematic (− 0.1 ± 0.4 mmol C·m^− 2 day^− 1), respectively. The effect of different available sources of sea level pressure, wind speed and transfer velocity were also evaluated. Wind speed and transfer velocity parameters are found as the most critical choice in the estimate of CO₂ fluxes reaching a flux uncertainty of 7 mmol C·m^− 2·day^− 1 during springtime. The atmospheric pressure shows a notable relative effect during summertime although its influence is quantitatively slight on annual scale (0.3 ± 0.2 mmol C·m^− 2·day^− 1). All results confirms the role of the Bay of Biscay as CO₂ sink for the 2003 with an annual mean CO₂ flux around − 5 ± 5 mmol C m^− 2 day^− 1.     

基于LabVIEW的数据库访问技术

在开发测试系统的过程中,为对大量测试数据进行分析、处理和保存,探讨在LabVIEW环境下实现对数据库的访问技术,结合开发实例侧重介绍利用LabSQL数据库访问方法。     

Geometric modelling of bulbous bows with the use of non-uniform rational B-spline surfaces

Nowadays, bulbous bow forms have become a common design feature in most conventional ship designs. The design of a bulbous bow is usually attempted with the use of certain form parameters that are imposed using the designer's experience or regression values that provide the optimum parameters based on experimental tests or computational fluid dynamics (CFD) calculations. In this article, the geometric modelling of a bulbous bow form that complies with a series of parameters is presented. First, a wire model was constructed with cubic B-spline curves that hold certain form parameters that the designer wants to impose. Second, a B-spline surface that fits these splines was mathematically constructed. A review of the influence of the design parameters used on the bulbous bow properties was made. This method could be used prior to numerical optimization of a bulbous bow because different variations of the design can be easily generated. These variations can be tested numerically using CFD software. A practical application example of the method is shown.     

不可展曲面近似展开的保形映射法

提出了以保形作为基本展开原则,对不可展曲面进行近似展开的保形映射法.以船体帆型板为例,给出了整张板的展开方法及顺序,并通过对船厂实船板保形映射展开后所得到的各项数据进行分析,来阐明该方法的正确性.