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Evalution of Application of p-y Curve Method in Offshore Engineering Foundation 被引量:2
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作者 Jin Weiliang, Zhu Yuming and Li Linpu Associate Professor, Dr. -Eng., Zhejiang University, Hangzhou Engineer, Metallurgical Building Design and Research Institute, Beijing Associate Professor, Dalian University of Technology, Dalian 《China Ocean Engineering》 SCIE EI 1993年第4期451-466,共16页
Based on the Mohr-Coulomb failure principle and Rankine's theory, the laterally loaded pile ultimate resistance formulas of sand and soft clay proposed by Reese and Matlock respectively are discussed in this paper... Based on the Mohr-Coulomb failure principle and Rankine's theory, the laterally loaded pile ultimate resistance formulas of sand and soft clay proposed by Reese and Matlock respectively are discussed in this paper. The authors put forward the modified ultimate resistance formulas on the basis of which the ultimate resistance formula is developed for horizontally loaded pile in multi-layer soil in consideration of the effect of the overburden soil pressure on the calculation of soil layer. It is significant to the correct application of the ultimate resistance formulas in API and ZCS Rules into offshore engineering. 展开更多
关键词 PILE multi-layer soil p-y curve method overburden soil pressure ultimate resistance
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Improved Nonlinear Equation Method for Numerical Prediction of Jominy End-Quench Curves 被引量:7
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作者 SONG Yue-peng LIU Guo-quan +2 位作者 LIU Sheng-xin LIU Jian-tao FENG Cheng-ming 《Journal of Iron and Steel Research International》 SCIE EI CAS CSCD 2007年第1期37-41,共5页
Without considering the effects of alloying interaction on the Jominy end-quench curves, the prediction resuits obtained by YU Bai-hai's nonlinear equation method for multi-alloying steels were different from those e... Without considering the effects of alloying interaction on the Jominy end-quench curves, the prediction resuits obtained by YU Bai-hai's nonlinear equation method for multi-alloying steels were different from those experimental ones reported in literature. Some alloying elements have marked influence on Jominy end-quench curves of steels. An improved mathematical model for simulating the Jominy end-quench curves is proposed by introducing a parameter named alloying interactions equivalent (Le). With the improved model, the Jominy end-quench curves of steels so obtained agree very well with the experimental ones. 展开更多
关键词 Jominy end-quench curve nonlinear equation method alloying interaction parameter computer simulation
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The Testing Strength Curves of Lightweight Aggregate Concrete by Rebound Method and Ultrasonic-rebound Combined Method 被引量:3
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作者 荣辉 《Journal of Wuhan University of Technology(Materials Science)》 SCIE EI CAS 2011年第5期1010-1017,共8页
The strength curves of lightweight aggregate concrete (LWAC) were tested based on detecting LWAC with density of 1 400-1 900 kg/m3 and LWAC with strength grade of LC15-LC50 by rebound method and ultrasonic-rebound c... The strength curves of lightweight aggregate concrete (LWAC) were tested based on detecting LWAC with density of 1 400-1 900 kg/m3 and LWAC with strength grade of LC15-LC50 by rebound method and ultrasonic-rebound combined method.The results show that the common measured strength curves tested by above two methods can not satisfy the required accuracy of LWAC strength test.In addition,specified compressive strength curves of testing LWAC by rebound method and ultrasonic-rebound combined method are obtained,respectively. 展开更多
关键词 lightweight aggregate concrete compressive strength rebound method testing-strength curve ultrasonic-rebound combined method
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Experimental p-y curves for liquefied soils from centrifuge tests 被引量:2
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作者 Suresh R.Dash Subhamoy Bhattacharya 《Earthquake Engineering and Engineering Vibration》 SCIE EI CSCD 2021年第4期863-876,共14页
The present study aims to obtain p-y curves(Winkler spring properties for lateral pile-soil interaction)for liquefied soil from 12 comprehensive centrifuge test cases where pile groups were embedded in liquefiable soi... The present study aims to obtain p-y curves(Winkler spring properties for lateral pile-soil interaction)for liquefied soil from 12 comprehensive centrifuge test cases where pile groups were embedded in liquefiable soil.The p-y curve for fully liquefied soil is back-calculated from the dynamic centrifuge test data using a numerical procedure from the recorded soil response and strain records from the instrumented pile.The p-y curves were obtained for two ground conditions:(a)lateral spreading of liquefied soil,and(b)liquefied soil in level ground.These ground conditions are simulated in the model by having collapsing and non-collapsing intermittent boundaries,which are modelled as quay walls.The p-y curves back-calculated from the centrifuge tests are compared with representative reduced API p-y curves for liquefied soils(known as p-multiplier).The response of p-y curves at full liquefaction is presented and critical observations of lateral pile-soil interaction are discussed.Based on the results of these model tests,guidance for the construction of p-y curves for use in engineering practice is also provided. 展开更多
关键词 LIQUEFACTION pile foundation p-y curve centrifuge test
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A High-Accuracy Curve Boundary Recognition Method Based on the Lattice Boltzmann Method and Immersed Moving Boundary Method
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作者 Jie-Di Weng Yong-Zheng Jiang +2 位作者 Long-Chao Chen Xu Zhang Guan-Yong Zhang 《Computer Modeling in Engineering & Sciences》 SCIE EI 2024年第9期2533-2557,共25页
Applying numerical simulation technology to investigate fluid-solid interaction involving complex curved bound-aries is vital in aircraft design,ocean,and construction engineering.However,current methods such as Latti... Applying numerical simulation technology to investigate fluid-solid interaction involving complex curved bound-aries is vital in aircraft design,ocean,and construction engineering.However,current methods such as Lattice Boltzmann(LBM)and the immersion boundary method based on solid ratio(IMB)have limitations in identifying custom curved boundaries.Meanwhile,IBM based on velocity correction(IBM-VC)suffers from inaccuracies and numerical instability.Therefore,this study introduces a high-accuracy curve boundary recognition method(IMB-CB),which identifies boundary nodes by moving the search box,and corrects the weighting function in LBM by calculating the solid ratio of the boundary nodes,achieving accurate recognition of custom curve boundaries.In addition,curve boundary image and dot methods are utilized to verify IMB-CB.The findings revealed that IMB-CB can accurately identify the boundary,showing an error of less than 1.8%with 500 lattices.Also,the flow in the custom curve boundary and aerodynamic characteristics of the NACA0012 airfoil are calculated and compared to IBM-VC.Results showed that IMB-CB yields lower lift and drag coefficient errors than IBM-VC,with a 1.45%drag coefficient error.In addition,the characteristic curve of IMB-CB is very stable,whereas that of IBM-VC is not.For the moving boundary problem,LBM-IMB-CB with discrete element method(DEM)is capable of accurately simulating the physical phenomena of multi-moving particle flow in complex curved pipelines.This research proposes a new curve boundary recognition method,which can significantly promote the stability and accuracy of fluid-solid interaction simulations and thus has huge applications in engineering. 展开更多
关键词 Fluid-solid interaction curve boundary recognition method Lattice Boltzmann method immersed moving boundary method
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Dynamic p-y curves for vertical and batter pile groups in liquefied sand 被引量:2
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作者 Zhang Jian Li Yurun +1 位作者 Rong Xian Liang Yan 《Earthquake Engineering and Engineering Vibration》 SCIE EI CSCD 2022年第3期605-616,共12页
In this study,centrifuge model tests of vertical and batter pile groups in liquefied sand were conducted on a centrifuge shaking table.The dynamic p-y curves for these pile groups before and during sand liquefaction w... In this study,centrifuge model tests of vertical and batter pile groups in liquefied sand were conducted on a centrifuge shaking table.The dynamic p-y curves for these pile groups before and during sand liquefaction were obtained from calculations based on test data.The results confirm that liquefaction contributes to a reduction in the energy consumption of pile foundations,with the degradation effect being more pronounced for batter pile groups.At shallow depths,the difference in the backbone gradients of the p-y curves after liquefaction for vertical and batter pile groups indicates that the lateral stiffness of a batter pile group is greater than that of a vertical pile group.As shaking intensity increases,the lateral stiffness of a vertical pile group increases with depth during the late stage of sand liquefaction.However,the lateral stiffness of a batter pile group during liquefaction does not vary with depth.The results of this study provide a reference for the seismic design of vertical and batter pile groups in liquefied soil. 展开更多
关键词 soil liquefaction pile-soil interaction p-y curve centrifuge shaking table
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An efficient method for tracing planar implicit curves 被引量:2
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作者 YU Zheng-sheng CAI Yao-zhi +2 位作者 OH Min-jae KIM Tae-wan PENG Qun-sheng 《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 SCIE EI CAS CSCD 2006年第7期1115-1123,共9页
This paper presents a method for tracing a planar implicit curve f(x, y)=0 on a rectangular region based on continuation scheme. First, according to the starting track-point and the starting track-direction of the c... This paper presents a method for tracing a planar implicit curve f(x, y)=0 on a rectangular region based on continuation scheme. First, according to the starting track-point and the starting track-direction of the curve, make a new fimction F(x, y)=0 where the same curve withf(x, y)=0 is defined. Then we trace the curve between the two domains where F(x, y)〉0 and F(x, y)〈0 alternately, according to the two rules presented in this paper. Equal step size or adaptive step size can be used, when we trace the curve. An irregular planar implicit curve (such as the curve with large curvatures at some points on the curve), can be plotted if an adaptive step size is used. Moreover, this paper presents a scheme to search for the multiple points on the curve. Our method has the following advantages: (1) it can plot Co planar implicit curves; (2) it can plot the planar implicit curves with multiple points; (3) by the help of using the two rules, our method does not need to compute the tangent vector at the points on the curve, and directly searches for the direction of the tracing curve; (4) the tracing procedure costs only one of two evaluations of function f(x, y)=0 per moving step, while most existing similar methods cost more evaluations of the function. 展开更多
关键词 Planar implicit curve curve tracing Continuation method Geometric modeling
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Beyond p-y method:A review of artificial intelligence approaches for predicting lateral capacity of drilled shafts in clayey soils
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作者 M.E.Al-Atroush A.E.Aboelela Ezz El-Din Hemdan 《Journal of Rock Mechanics and Geotechnical Engineering》 SCIE CSCD 2024年第9期3812-3840,共29页
In 2023,pivotal advancements in artificial intelligence(AI)have significantly experienced.With that in mind,traditional methodologies,notably the p-y approach,have struggled to accurately model the complex,nonlinear s... In 2023,pivotal advancements in artificial intelligence(AI)have significantly experienced.With that in mind,traditional methodologies,notably the p-y approach,have struggled to accurately model the complex,nonlinear soil-structure interactions of laterally loaded large-diameter drilled shafts.This study undertakes a rigorous evaluation of machine learning(ML)and deep learning(DL)techniques,offering a comprehensive review of their application in addressing this geotechnical challenge.A thorough review and comparative analysis have been carried out to investigate various AI models such as artificial neural networks(ANNs),relevance vector machines(RVMs),and least squares support vector machines(LSSVMs).It was found that despite ML approaches outperforming classic methods in predicting the lateral behavior of piles,their‘black box'nature and reliance only on a data-driven approach made their results showcase statistical robustness rather than clear geotechnical insights,a fact underscored by the mathematical equations derived from these studies.Furthermore,the research identified a gap in the availability of drilled shaft datasets,limiting the extendibility of current findings to large-diameter piles.An extensive dataset,compiled from a series of lateral loading tests on free-head drilled shaft with varying properties and geometries,was introduced to bridge this gap.The paper concluded with a direction for future research,proposes the integration of physics-informed neural networks(PINNs),combining data-driven models with fundamental geotechnical principles to improve both the interpretability and predictive accuracy of AI applications in geotechnical engineering,marking a novel contribution to the field. 展开更多
关键词 Laterally loaded drilled shaft load transfer and failure mechanisms Physics-informed neural networks(PINNs) p-y curves Artificial intelligence(AI) DATASET
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Research into Applicability of Wöhler Curve Method for Low-Cycle Fatigue of Metallic Materials
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作者 Xiangqiao Yan 《Journal of Harbin Institute of Technology(New Series)》 CAS 2024年第2期22-37,共16页
Recently,a description on a practicability of the Wöhler Curve Method for low-cycle fatigue of metals was given by the author.By the description and the low cycle fatigue test data of 16 MnR steel,it is important... Recently,a description on a practicability of the Wöhler Curve Method for low-cycle fatigue of metals was given by the author.By the description and the low cycle fatigue test data of 16 MnR steel,it is important to show that,for low cycle fatigue of metals,such a way that a stress-based intensity parameter calculated by the linear-elastic analysis is taken to be a stress intensity parameter,S,to establish a relationship between the stress intensity parameter,S,and the fatigue life,N,is practicable.In this paper,many metallic materials from the literature are given to show that the Wöhler Curve Method is well suitable for low-cycle fatigue analysis of metals. 展开更多
关键词 low cycle fatigue Wöhler curve method coffin-manson curve method METALS
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An analytical p-y curve method based on compressive soil pressure model in sand soil 被引量:1
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作者 JIANG Jie FU Chen-zhi +2 位作者 WANG Shun-wei CHEN Chao-qi OU Xiao-duo 《Journal of Central South University》 SCIE EI CAS CSCD 2022年第6期1987-2004,共18页
With the high-quality development of urban buildings,higher requirements are come up with for lateral bearing capacity of laterally loaded piles.Consequently,a more accurate analysis to predict the lateral response of... With the high-quality development of urban buildings,higher requirements are come up with for lateral bearing capacity of laterally loaded piles.Consequently,a more accurate analysis to predict the lateral response of the pile within an allowable displacement is an important issue.However,the current p-y curve methods cannot fully take into account the pile-soil interaction,which will lead to a large calculation difference.In this paper,a new analytical p-y curve is established and a finite difference method for determining the lateral response of pile is proposed,which can consider the separation effect of pile-soil interface and the coefficient of circumferential friction resistance.In particular,an analytical expression is developed to determine the compressive soil pressure by dividing the compressive soil pressure into two parts:initial compressive soil pressure and increment of compressive soil pressure.In addition,the relationship between compressive soil pressure and horizontal displacement of the pile is established based on the reasonable assumption.The correctness of the proposed method is verified through four examples.Based on the verified method,a parametric analysis is also conducted to investigate the influences of factors on lateral response of the pile,including internal friction angle,pile length and elastic modulus of pile. 展开更多
关键词 laterally loaded piles compressive soil pressure model separation effect of pile-soil interface coefficient of circumferential friction resistance analytical p-y curve finite difference method
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Identification method of shoulder torque of screw-on curve of premium threaded connections for OCTG
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作者 PENG Zhiniu WANG Minghua 《Baosteel Technical Research》 CAS 2024年第3期29-32,共4页
The meaning of each part of the screw-on curve,the definition of shoulder torque,and the common characteristics of the screw-on curve are introduced.Moreover,the principle and shortcomings of the commonly used method ... The meaning of each part of the screw-on curve,the definition of shoulder torque,and the common characteristics of the screw-on curve are introduced.Moreover,the principle and shortcomings of the commonly used method of curve curvature radius are discussed.A new method of sealing surface deformation is proposed based on the requirements of shoulder torque recognition.The calculation method and principle of PW value are elucidated and the advantages of this method are summarized.The proposed method considers the difference value of tightening torque and calculates the elastic deformation of the sealing surface,accurately reflecting the state of the thread compound and the correlation between torque change and elastic deformation of the sealing surface after compression. 展开更多
关键词 screw-on shoulder torque identification method smooth torque curve
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Using Pearson’s System of Curves to Approximate the Distributions of the Difference between Two Correlated Estimates of Signal-to-Noise Ratios: The Cases of Bivariate Normal and Bivariate Lognormal Distributions
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作者 Mohamed M. Shoukri 《Open Journal of Statistics》 2024年第3期207-227,共21页
Background: The signal-to-noise ratio (SNR) is recognized as an index of measurements reproducibility. We derive the maximum likelihood estimators of SNR and discuss confidence interval construction on the difference ... Background: The signal-to-noise ratio (SNR) is recognized as an index of measurements reproducibility. We derive the maximum likelihood estimators of SNR and discuss confidence interval construction on the difference between two correlated SNRs when the readings are from bivariate normal and bivariate lognormal distribution. We use the Pearsons system of curves to approximate the difference between the two estimates and use the bootstrap methods to validate the approximate distributions of the statistic of interest. Methods: The paper uses the delta method to find the first four central moments, and hence the skewness and kurtosis which are important in the determination of the parameters of the Pearsons distribution. Results: The approach is illustrated in two examples;one from veterinary microbiology and food safety data and the other on data from clinical medicine. We derived the four central moments of the target statistics, together with the bootstrap method to evaluate the parameters of Pearsons distribution. The fitted Pearsons curves of Types I and II were recommended based on the available data. The R-codes are also provided to be readily used by the readers. 展开更多
关键词 Signal-to-Noise Ratio Bivariate Distributions Bootstrap methods Delta method Pearson System of curves
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Examination of Potential Energy Curves of CFCl by Multi-reference Configuration Interaction Method
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作者 孙二平 刘启鑫 +3 位作者 任廷琦 单石敏 徐海峰 闫冰 《Chinese Physics Letters》 SCIE CAS CSCD 2015年第12期43-46,共4页
We give a detailed examination of potential energy curves of the singlet and triplet states of CFC1 correlated with the lowest three dissociation limits. The calculations are carried out at the internally contracted m... We give a detailed examination of potential energy curves of the singlet and triplet states of CFC1 correlated with the lowest three dissociation limits. The calculations are carried out at the internally contracted multi- reference configuration interaction/cc-pV(T+d)Z level with the other two geometric parameters fixed at the state equilibrium conformation. The vertical transition energy, the oscillator strength, the main configuration and the electron transition are also investigated at the same level. 展开更多
关键词 Examination of Potential Energy curves of CFCl by Multi-reference Configuration Interaction method CL LENGTH CFC
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WEIGHTED LEAST SQUARE METHOD FOR S-N CURVE FITTING 被引量:7
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作者 吉凤贤 姚卫星 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI 2004年第1期53-57,共5页
An S-N curve fitting approach is proposed based on the weighted least square method, and the weights are inversely proportional to the length of mean confidence intervals of experimental data sets. The assumption coin... An S-N curve fitting approach is proposed based on the weighted least square method, and the weights are inversely proportional to the length of mean confidence intervals of experimental data sets. The assumption coincides with the physical characteristics of the fatigue life scatter. Two examples demonstrate the method. It is shown that the method has better accuracy and reasonableness compared with the usual least square method. 展开更多
关键词 fatigue test S-N curve weighted least square method confidence interval
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A New Curve Fitting Method for Forming Limit Experimental Data 被引量:4
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作者 Jieshi CHEN Xianbin ZHOU 《Journal of Materials Science & Technology》 SCIE EI CAS CSCD 2005年第4期521-525,共5页
The forming limit curve (FLC) can be obtained by means of curve fitting the limit strain points of different strain paths. The theory of percent regression analysis is applied to the curve fitting of forming limit e... The forming limit curve (FLC) can be obtained by means of curve fitting the limit strain points of different strain paths. The theory of percent regression analysis is applied to the curve fitting of forming limit experimental data.Forecast intervals of FLC percentiles can be calculated. Thus reliability and confidence level can be considered. The theoretical method to get the limits of limit strain points distributing region is presented, and the FLC position can be adjusted according to practical requirement. Method for establishing FLC with high reliability using small samples is presented at the same time. This method can make full use of the current experimental data and the previous data.Compared with the traditional method that can only use current experimental data, fewer specimens are required in the present method to obtain the same precision and the result is more accurate with the same number of specimens. 展开更多
关键词 Forming limit curve Regression analysis Reliability analysis Small samples method
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Efficient Construction of B-Spline Curves with Minimal Internal Energy 被引量:6
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作者 Gang Xu Yufan Zhu +3 位作者 Lishan Deng Guozhao Wang Bojian Li Kin-chuen Hui 《Computers, Materials & Continua》 SCIE EI 2019年第3期879-892,共14页
In this paper,we propose an efficient method to construct energy-minimizing B-spline curves by using discrete mask method.The linear relations between control points are firstly derived for different energy-minimizati... In this paper,we propose an efficient method to construct energy-minimizing B-spline curves by using discrete mask method.The linear relations between control points are firstly derived for different energy-minimization problems,then the construction of B-spline curve with minimal internal energy can be addressed by solving a sparse linear system.The existence and uniqueness of the solution for the linear system are also proved.Experimental results show the efficiency of the proposed approach,and its application in 1 G blending curve construction is also presented. 展开更多
关键词 Minimal energy B-spline curves geometric construction discrete mask method sparse linear system.
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Thermal Modal Analysis of Doubly Curved Shell Based on Rayleigh⁃Ritz Method 被引量:4
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作者 ZHANG Yongfeng ZHU Ziyuan WANG Gang 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI CSCD 2022年第1期58-65,共8页
The doubly curved shell(DCS)is a common structure in the engineering field.In a thermal environment,the vibration characteristics of the DCS will be affected by the thermal effect.The research on the vibration charact... The doubly curved shell(DCS)is a common structure in the engineering field.In a thermal environment,the vibration characteristics of the DCS will be affected by the thermal effect.The research on the vibration characteristics of DCS in thermal environment is relatively limited.In this paper,the thermal strain and the change of Young’s modulus caused by the changing of temperature are studied,and the DCS energy equation is established systematically.The displacement tolerance function of the DCS is constructed by the spectral geometry method,and the natural frequencies and mode shapes of the DCS with different structural parameters,such as thicknesses,ratios of R_(a)/R_(b) and a/b,at different temperatures are solved by the Rayleigh-Ritz method.The results show that the natural frequency of the DCS decreases with the increasing temperature,R_(a)/R_(b) and a/b ratios,and increases with the increasing thickness. 展开更多
关键词 doubly curved shell thermal environment Rayleigh-Ritz method natural frequencies
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A new slope optimization design based on limit curve method 被引量:4
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作者 FANG Hong-wei CHEN Yohchia DENG Xiao-wei 《Journal of Central South University》 SCIE EI CAS CSCD 2019年第7期1856-1862,共7页
A new method is proposed for slope optimization design based on the limit curve method, where the slope is in the limit equilibrium state when the limit slope curve determined by the slip-line field theory and the slo... A new method is proposed for slope optimization design based on the limit curve method, where the slope is in the limit equilibrium state when the limit slope curve determined by the slip-line field theory and the slope intersect at the toe of the slope. Compared with the strength reduction (SR) method, finite element limit analysis method, and the SR method based on Davis algorithm, the new method is suitable for determining the slope stability and limit slope angle (LSA). The optimal slope shape is determined based on a series of slope heights and LSA values, which increases the LSA by 2.45°-11.14° and reduces an invalid overburden amount of rocks by 9.15%, compared with the space mechanics theory. The proposed method gives the objective quantification index of instability criterion, and results in a significant engineering economy. 展开更多
关键词 slope optimization design limit state limit curve method limit slope angle
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Structural Stress-Fatigue Life Curve Improvement of Spot Welding Based on Quasi‑Newton Method 被引量:2
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作者 Yahang Qin Shoune Xiao +3 位作者 Liantao Lu Bing Yang Xiangjie Li Guangwu Yang 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2020年第2期140-151,共12页
ΔF-N curves are usually used to predict the fatigue life of spot welding in engineering,but they are time-consuming and laborious and not universal.For the purpose of predicting the fatigue life of spot welding accur... ΔF-N curves are usually used to predict the fatigue life of spot welding in engineering,but they are time-consuming and laborious and not universal.For the purpose of predicting the fatigue life of spot welding accurately and efficiently,tensile-shear fatigue tests were conducted to obtain the fatigue life of spot-welded specimens with different sheet thicknesses combinations.These specimens were simulated by using the finite element method,and the structural stress was theoretically calculated.In the double logarithmic coordinate system,the structural stress-fatigue life(S-N)curve of spot welding was fitted by the least-squares method,based on the quasi-Newton method.The square of the correlation coefficient of the S-N curve was taken as the optimization objective,with the correction coefficients of force,bending moment,spot welding diameter,and sheet thickness as the variables.During the optimization process,three different ways were utilized to get three optimized spot welding S-N curves,which are suitable for different situations.The results show that the fitting effect of the S-N curve is improved,the data points are more compact,and the optimization effect is significant.These S-N curves can be used to predict the fatigue life,which provide the basis for practical engineering application. 展开更多
关键词 Spot welding Structural stress S-N curve Quasi-Newton method Correction coefficient
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A transition method based on Bezier curve for trajectory planning in cartesian space 被引量:1
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作者 张少林 Jing Fengshui Wang Shuo 《High Technology Letters》 EI CAS 2017年第2期141-148,共8页
In order to smooth the trajectory of a robot and reduce dwell time,a transition curve is introduced between two adjacent curves in three-dimensional space.G2 continuity is guaranteed to transit smoothly.To minimize th... In order to smooth the trajectory of a robot and reduce dwell time,a transition curve is introduced between two adjacent curves in three-dimensional space.G2 continuity is guaranteed to transit smoothly.To minimize the amount of calculation,cubic and quartic Bezier curves are both analyzed.Furthermore,the contour curve is characterized by a transition parameter which defines the distance to the corner of the deviation.How to define the transition points for different curves is presented.A general move command interface is defined for receiving the curve limitations and transition parameters.Then,how to calculate the control points of the cubic and quartic Bezier curves is analyzed and given.Different situations are discussed separately,including transition between two lines,transition between a line and a circle,and transition between two circles.Finally,the experiments are carried out on a six degree of freedom(DOF) industrial robot to validate the proposed method.Results of single transition and multiple transitions are presented.The trajectories in the joint space are also analyzed.The results indicate that the method achieves G2 continuity within the transition constraint and has good efficiency and adaptability. 展开更多
关键词 transition method Bezier curve G2 continuity transition constraint
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