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A novel adaptive object impedance control strategy is presented for dual-arm cooperative humanoid manipulators. A general impedance scheme comprising internal impedance control and object impedance control is adopted, which aims at conferring a compliant behavior both in end-effector level and object lever. The adaptation law for the stiffness and damping of object impedance is derived from Lyapunov...
Two-impulse fuel-optimal rendezvous under J2 perturbation with constrained transfer time is studied in this paper. First, the mathematic model of two-body Lambert transfer of spacecraft is established. Then, J2 perturbed Lambert's problem is solved Based on analytical orbit theory via error iteration method. Furthermore, the procedure of the improved genetic algorithm for this problem is proposed,...
In this paper, considering perturbation, we derive the analytical solution of a satellite orbit disturbed by atmospheric drag. The model of atmosphere density considering perturbation and atmosphere drag is first developed. Then the Gaussian equations of satellite motion are simplified, the atmospheric drag is expanded to triangular functions of orbit angular elements and the disturbances are separated...
Due to high risk of unstable supply from fossil energy and growing concern with the preservation of the environment, well-developed Jiangsu province in China is hungering for alternative energy resources to catalyze stupendous economic growth. Assessing the technically available potential of solar energy spatially and temporally over the whole province might be able to improve the unfavorable situation...
In this paper, we study how to choose the combination coefficient of the combined field integral equation (CFIE) by comparing the iteration steps in solving the relevant matrix equation using the conjugate gradient iterative method. The tentative principle to choose the CFIE combination coefficient is given in terms of the calculations of two typical models, a cylinder and a NASA almond, with different...
The adsorption of two dyes, namely, cationic red X-GRL and cationic brilliant blue RL onto natural attapulgite were studied, and adsorption mechanism was focused on from the view point of kinetics. Kinetic analysis showed that the adsorption processes of two cationic dyes on natural attapulgite obey the pseudo second-order model. The adsorption capacity of dyes was raised with temperature, but the...
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