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| 1 | Inverse Kinematics Analysis of a 7-DOF Space Manipulator for Trajectory Design显示文摘To solve the inverse kinematics problem for redundant degrees of freedom(DOFs)manipulators has been and still continues to be quite challenging in the field of robotics.Aiming at trajectory planning for a 7-DOF space manipulator system,joint rotation trajectories are obtained from predetermined motion trajectories and poses of the end effector in Cartesian space based on the proposed generalized inverse kinematics method.A minimum norm method is employed to choose the best trajectory among available trajectories.Numerical simulations with the7-DOF manipulator show that the proposed method can achieve the planned trajectory and pose under the circumstances of minimum angular velocities.Moreover,trajectory results from the proposed kinematics model and inverse kinematics method has the advantages of simple modelling,low computation cost,easy to solve and plan trajectory conveniently.The smooth and continuous joint rotation functions obtained from the proposed method are suitable for practical engineering applications. | Pengfei Xin Jili Rong Yongtai Yang Dalin Xiang | 2017 | Journal of Beijing Institute of Technology2017，26，3： | 5 |
| 2 | Entropy and its application in turbulence modeling显示文摘The entropy concept was introduced into the turbulence modeling strategy in the present work.First,the turbulent boundary-layer was described from the point of energy dissipation.Based on the theoretical analysis and direct numerical simulations,the relationship between the entropy increment and viscosity dissipation was systematically investigated.Then,an entropy function fswas proposed to distinguish the turbulent boundary-layer from the external flow.This function is universal,independent of the inflow conditions or any specific turbulence model.With this function,a new version of delayed-detached-eddy simulation method SDES was constructed and verified with the supersonic boundary-layer flow and the cavity-ramped flow.Initial results showed that this method could successfully avoid the modeled stress depletion problem inherited from the original DES method. | Rui Zhao Jili Rong Xinliang Li | 2014 | Chinese Science Bulletin2014，59，31： | 4 |
| 3 | Preparation and properties of ZnO nano-whiskers显示文摘By a novel controlled combustion synthesis method, a large amount of ZnO nano-whiskers with different morphologies like nanotetrapods, long-leg nanotetrapod and multipods, were prepared without any catalysts and additives in open air at high temperature. Their morphologies, structures and optical properties were in-vestigated by using SEM, XRD and PL spectrum. The possible growth mechanisms on the ZnO nano-whiskers were proposed in this paper. | SHI XiaoLing CAO MaoSheng ZHAO YuNa SONG WeiLi RONG JiLi | 2008 | Science China(Technological Sciences)2008，51，9： | 1 |
| 4 | Experimental and numerical investigation of the dynamic response of structures subjected to underwater explosion显示文摘 | Li Jian Rong Jili | 2012 | European Journal of Mechanics-B/Fluids2012，32，： | 1 |
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