Effect of Zn addition on microstructure and mechanical properties of cast Mg-Gd-Y-Zr alloys

The effects of Zn addition on the microstructure and mechanical properties of Mg.10Gd.3Y.0.6Zr(wt.%)alloys in the as-cast,solution-treated,and peak-aged conditions were investigated.Experimental results reveal that the microstructure of the as-cast alloy without Zn consists ofα-Mg and Mg24(Gd,Y)5 phases,and the alloy with 0.5 wt.%Zn consists ofα-Mg,(Mg,Zn)3(Gd,Y)and Mg24(Gd,Y,Zn)5 phases.With the addition of Zn increasing to 1 wt.%,the Mg24(Gd,Y,Zn)5 phase disappears and some needle-like stacking faults distribute along the grain boundaries.Moreover,the 18R long-period stacking ordered(LPSO)phase is observed in the as-cast alloy with 2 wt.%Zn.After solution treatment,the Mg24(Gd,Y)5 and Mg24(Gd,Y,Zn)5 eutectic phases are completely dissolved,and the(Mg,Zn)3(Gd,Y)phase,needle-like stacking faults and 18R LPSO phase all transform into 14H LPSO phase.Both the suitable volume fraction of 14H LPSO phases and the fine ellipsoidal-shapedβ′phases make the peak-aged alloy with 0.5 wt.%Zn exhibit excellent comprehensive mechanical properties and the UTS,YS and elongation are 338 MPa,201 MPa and 6.8%,respectively.

Morphological Measurement and Analysis of Gymnarchus Niloticus

Gyrnnarchus niloticus swims by undulations of a long-based dorsal fin, while its body axis is in many cases held straight during swimming. This paper provides a brief relevant introduction to Gyrnnarchus niloticus, which belongs to the African freshwater electric eels but can inspire our bionic interests in propulsion besides its abilities in electric sensing. A special larva of Gyrnnarchus niloticus was morphologically measured by photographing it with a piece of scale-calibrated paper as the background. Then we analyzed the data by a CFD-aided approach. Detailed flow patterns around the larva and a NACA0012 hydrofoil were respectively calculated and visualized at the Reynolds number of 7350 or so. The results show that the profile of Gyrnnarchus niloticus is well streamlined.

Nonlinear trajectory tracking control of a new autonomous underwater vehicle in complex sea conditions

Autonomous underwater vehicles (AUVs) navigating in complex sea conditions usually require a strong control system to keep the fastness and stability. The nonlinear trajectory tracking control system of a new AUV in complex sea conditions was presented. According to the theory of submarines,the six-DOF kinematic and dynamic models were decomposed into two mutually non-coupled vertical and horizontal plane subsystems. Then,different sliding mode control algorithms were used to study the trajectory tracking control. Because the yaw angle and yaw angle rate rather than the displacement of the new AUV can be measured directly on the horizontal plane,the sliding mode control algorithm combining cross track error method and line of sight method was used to fulfill its high-precision trajectory tracking control in the complex sea conditions. As the vertical displacement of the new AUV can be measured,in order to achieve the tracking of time-varying depth signal,a stable sliding mode controller was designed based on the single-input multi-state system,which took into account the characteristic of the hydroplane and the amplitude and rate constraints of the hydroplane angle. Moreover,the application of dynamic boundary layer can improve the robustness and control accuracy of the system. The computational results show that the designed sliding mode control systems of the horizontal and vertical planes can ensure the trajectory tracking performance and accuracy of the new AUV in complex sea conditions. The impacts of currents and waves on the sliding mode controller of the new AUV were analyzed qualitatively and quantitatively by comparing the trajectory tracking performance of the new AUV in different sea conditions,which provides an effective theoretical guidance and technical support for the control system design of the new AUV in real complex environment.

Comparison of two types of twin-rotor piston engine mechanisms

A novel twin-rotor piston engine （TRPE） mechanism with high volumetric output and power density was introduced. This new engine comprises an energy conversion system and a differential velocity drive mechanism （DVDM）. Two special geared four-bar mechanisms, DVDM-1 and DVDM-2, were utilized and compared. Based on the closed loop vector method, a mathematical model for position, velocity, and acceleration of the two mechanisms was established. Numerical examples illustrate that the kinematic characteristics were presented. Expression of the displacement and compression ratio of the two engine mechanisms were derived and compared. It is concluded that both DVDM-1 and DVDM-2 adopted in the proposed TRPE with six vane pistons create thirty-six power strokes per revolution of the output shaft, and the summation of two angles covered by each rocker is always 2x/N as the output shaft rotates an angle of x/N. In DVDM-1, the span angle of a vane piston should be designed to be 10.2°, and the compression ratio should be equal to 10; in DVDM-2, the span angle of a vane piston should be designed to be 10.6°, and the compression ratio should be equal to 4.3.

Kinematic Control of Free Rigid Bodies Using Dual Quaternions

This paper proposes a new type of control laws for free rigid bodies. The start point is the dual quaternion and its characteristics. The logarithm of a dual quaternion is defined, based on which kinematic control laws can be developed. Global exponential convergence is achieved using logarithmic feedback via a generalized proportional control law, and an appropriate Lyapunov function is constructed to prove the stability. Both the regulation and tracking problems are tackled. Omnidirectional control is discussed as a case study. As the control laws can handle the interconnection between the rotation and translation of a rigid body, they are shown to be more applicable than the conventional method.

Design and Analysis of a New AUV's Sliding Control System Based on Dynamic Boundary Layer

The new AUV driven by multi-vectored thrusters not only has unique kinematic characteristics during the actual cruise but also exists uncertain factors such as hydrodynamic coefficients perturbation and unknown interference of tail fluid, which bring difficult to the stability of the AUV＇s control system. In order to solve the nonlinear term and unmodeled dynamics existing in the new AUV＇s attitude control and the disturbances caused by the external marine environment, a second-order sliding mode controller with double-loop structure that considering the dynamic characteristics of the rudder actuators is designed, which improves the robustness of the system and avoids the control failure caused by the problem that the design theory of the sliding mode controller does not match with the actual application conditions. In order to avoid the loss of the sliding mode caused by the amplitude and rate constraints of the rudder actuator in the new AUV＇s attitude control, the dynamic boundary layer method is used to adjust the sliding boundary layer thickness so as to obtain the best anti-chattering effects. Then the impacts of system parameters, rudder actuator＇s constraints and boundary layer on the sliding mode controller are computed and analyzed to verify the effectiveness and robustness of the sliding mode controller based on dynamic boundary layer. The computational results show that the original divergent second-order sliding mode controller can still effectively implement the AUV＇s attitude control through dynamically adjusting the sliding boundary layer thickness. The dynamic boundary layer method ensures the stability of the system and does not exceed the amplitude constraint of the rudder actuator, which provides a theoretical guidance and technical support for the control system design of the new AUV in real complex sea conditions.

Tactical intention recognition of aerial target based on XGBoost decision tree

In order to improve the accuracy of target intent recognition,a recognition method based on XGBoost(eXtreme Gradient Boosting)decision tree is proposed.This paper adopts relevant data and program of python to calculate the probability of tactical intention.Then the sequence intention probability is obtained by applying Dempster-Shafer rule of combination.To verify the accuracy of recognition results,we compare the experimental results of this paper with the results in the literatures.The experiment shows that the probability of tactical intention recognition through this method is improved,so this method is feasible.

Numerical computation and analysis of unsteady viscous flow around autonomous underwater vehicle with propellers based on sliding mesh

The flexible transmission shaft and wheel propeller are combined as the kinetic source equipment, which realizes the nmlti-motion modes of the autonomous underwater vehicle （AUV） such as vectored thruster and wheeled movement. In order to study the interactional principle between the hull and the wheel propellers while the AUV navigating in water, the computational fluid dynamics （CFD） method is used to simulate numerically the unsteady viscous flow around AUV with propellers by using the Reynolds-averaged Navier-Stokes （RANS） equations, shear-stress transport （SST） k-w model and pressure with splitting of operators （PISO） algorithm based on sliding mesh. The hydrodynamic parameters of AUV with propellers such as resistance, pressure and velocity are got, which reflect well the real ambient flow field of AUV with propellers. Then, the semi-implicit method for pressure-linked equations （SIMPLE） algorithm is used to compute the steady viscous flow field of AUV hull and propellers, respectively. The computational results agree well with the experimental data, which shows that the numerical method has good accuracy in the prediction of hydrodynamic performance. The interaction between AUV hull and wheel propellers is predicted qualitatively and quantitatively by comparing the hydrodynamic parameters such as resistance, pressure and velocity with those from integral computation and partial computation of the viscous flow around AUV with propellers, which provides an effective reference to the shady on noise and vibration of AUV hull and propellers in real environment. It also provides technical support for the design of new AUVs.

Robust simultaneous tracking and stabilization of wheeled mobile robots not satisfying nonholonomic constraint

A robust unified controller was proposed for wheeled mobile robots that do not satisfy the ideal rolling without slipping constraint.Practical trajectory tracking and posture stabilization were achieved in a unified framework.The design procedure was based on the transverse function method and Lyapunov redesign technique.The Lie group was also introduced in the design.The left-invariance property of the nominal model was firstly explored with respect to the standard group operation of the Lie group SE(2).Then,a bounded transverse function was constructed,by which a corresponding smooth embedded submanifold was defined.With the aid of the group operation,a smooth control law was designed,which fulfills practical tracking/stabilization of the nominal system.An additional component was finally constructed to robustify the nominal control law with respect to the slipping disturbance by using the Lyapunov redesign technique.The design procedure can be easily extended to the robot system suffered from general unknown but bounded disturbances.Simulations were provided to demonstrate the effectiveness of the robust unified controller.

Relationship between subsurface damage and surface roughness of ground optical materials

A theoretical model of relationship between subsurface damage and surface roughness was established to realize rapid and non-destructive measurement of subsurface damage of ground optical materials.Postulated condition of the model was that subsurface damage depth and peak-to-valley surface roughness are equal to depth of radial and lateral cracks in brittle surface induced by small-radius(radius≤200 μm)spherical indenter,respectively.And contribution of elastic stress field to the radial cracks propagation was also considered in the loading cycle.Subsurface damage depth of ground BK7 glasses was measured by magnetorheological finishing spot technique to validate theoretical ratio of subsurface damage to surface roughness.The results show that the ratio is directly proportional to load of abrasive grains and hardness of optical materials,while inversely proportional to granularity of abrasive grains and fracture toughness of optical materials.Moreover,the influence of the load and fracture toughness on the ratio is more significant than the granularity and hardness,respectively.The measured ratios of 80 grit and 120 grit fixed abrasive grinding of BK7 glasses are 5.8 and 5.4,respectively.

Nonlinear Dynamic Characteristics of the Vectored Thruster AUV in Complex Sea Conditions

The mobility of the vectored thruster AUV in different environment is the important premise of control system design. The new type of autonomous underwater vehicle (AUV) equipped with rudders and vectored thrusters which are combined to control the course is studied. Firstly, Euler angles representation and quaternion method are applied to establish six-DOF kinematic model respectively, then Newton second law and Lagrangian approach are used to deduce the vectored thruster AUV’s nonlinear dynamic equations with six degrees of freedom (DOF) respectively in complex sea conditions based on the random wave theory according to the structural and kinetic characteristics of the vectored thruster AUV in this paper. The kinematic models and dynamic models based on different theories have the same expression and conclusion, which shows that the kinematic models and dynamic models of the vectored thruster AUV are accurate. The Runge-Kutta arithmetic is used to solve the dynamic equations, which not only can simulate the motions such as cruise and hover but also can describe the vehicle’s low-frequency and high-frequency motion. The results of computation show that the mobility of the vectored thruster AUV in interference-free environment and the integrated signals including low-frequency motion signal and high-frequency motion signal in environmental disturbance accord with practical situation, which not only solve the problem of especial singularities when the pitch angle θ = ±90° but also clears up the difficulties of computation and display of the coupled nonlinear motion equations in complex sea conditions. Moreover, the high maneuverability of the vectored thruster AUV equipped with rudders and vectored thrusters is validated, which lays a foundation for the control system design.

CFD Validation of the Optimal Arrangement of the Propulsive Dorsal Fin of Gymnarchus niloticus

Gymnarchus niloticus, a typical freshwater fish, swims by undulations of a long-based dorsal fin aided by the two pectoral fins, while commonly it holds its body rigid and straight. The long flexible dorsal fin is the main propulsor of G niloticus; it has also considerable influence on the streamline profile. This paper proposes a CFD approach to validate that the natural arrangement of the propulsive dorsal fin is optimal. Using morphological data and a smoothness-keeping algorithm, the dorsal fin is ‘virtually＇ moved forward and backward with several displacements from the natural location. For each case, we reconstruct geometry, generate CFD grids, and calculate the pressure, viscous and total drag coefficients respectively. The results show that the pressure and total drag coefficients increase whether the dorsal fin is displaced forward or backward, and that greater displacement from its original position leads to greater pressure and total drag coefficients. This suggests that the natural position of the dorsal fin is significant for maintaining the fish＇s streamline profile and reducing drag.

Research on modeling of nonlinear vibration isolation system based on Bouce Wen model

A feedforword neural network of multi-layer topologies for systems with hysteretic nonlinearity is constructed based on Bouce Wen differential model. It not only reflects the hysteresis force characteristics of the Bouce Wen model, but also determines its corresponding parameters. The simulation results show that restoring forceedisplacement curve hysteresis loop is very close to the real curve. The model trained can accurately predict the time response of system. The model is checked under the noise level. The result shows that the model has higher modeling precision, good generalization capability and a certain anti-interference ability.

Analysis of underwater decoupling properties of a locally resonant acoustic metamaterial coating

This paper presents a semi-analytical solution for the vibration and sound radiation of a semi-infinite plate covered by a decoupling layer consisting of locally resonant acoustic metamaterial. Formulations are derived based on a combination use of effective medium theory and the theory of elasticity for the decoupling material. Theoretical results show good agree- ments between the method developed in this paper and the conventional finite element method （FEM）, but the method of this paper is more efficient than FEM. Numerical results also show that system with acoustic metamaterial decoupling layer exhibits significant noise reduction performance at the local resonance frequency of the acoustic metamaterial, and such performance can be ascribed to the vibration suppression of the base plate. It is demonstrated that the effective density of acoustic metamaterial decoupling layer has a great influence on the mechanical impedance of the system. Furthermore, the resonance frequency of locally resonant structure can be effectively predicted by a simple model, and it can be significantly affected by the material properties of the locally resonant structure.

Numerical computation and analysis of high-speed autonomous underwater vehicle (AUV) moving in head sea based on dynamic mesh

Autonomous underwater vehicles （AUVs） navigating on the sea surface are usually required to complete the communication tasks in complex sea conditions. The movement forms and flow field characteristics of a multi-moving state AUV navigating in head sea at high speed were studied. The mathematical model on longitudinal motion of the high-speed AUV in head sea was established with considering the hydrodynamic lift based on strip theory, which was solved to get the heave and pitch of the AUV by Gaussian elimination method. Based on this, computational fluid dynamics （CFD） method was used to establish the mathematical model of the unsteady viscous flow around the AUV with considering free surface effort by using the Reynolds-averaged Navier-Stokes （RANS） equations, shear-stress transport （SST） k-w model and volume of fluid （VOF） model. The three-dimensional numerical wave in the computational field was realized through defining the unsteady inlet boundary condition. The motion forms of the AUV navigating in head sea at high speed were carried out by the program source code of user-defined function （UDF） based on dynamic mesh. The hydrodynamic parameters of the AUV such as drag, lift, pitch torque, velocity, pressure and wave profile were got, which reflect well the real ambient flow field of the AUV navigating in head sea at high speed. The computational wave profile agrees well with the experimental phenomenon of a wave-piercing surface vehicle. The force law of the AUV under the impacts of waves was analyzed qualitatively and quantitatively, which provides an effective theoretical guidance and technical support for the dynamics research and shape design of the AUV in real complex environnaent.

Magnetorheological finishing of low-gradient curved surfaces based on four-axis linkage technique

Based on the distribution characteristic of magnetic field along the polish wheel,the four-axis linkage technique is advanced to replace a standard five-axis one to figure low-gradient optical surfaces with a raster tool-path in magnetorheological finishing(MRF).After introducing the fundaments of such simplification,the figuring reachability of a four-axis system for the low-gradient optics was theoretically analyzed.Further validation including magnetic field intensity and influence function characteristic was performed to establish its application.To demonstrate the correctness,feasibility and applicability of such technique,a K4 spherical part was figured by two iterations of MRF with surface form error improved to 0.219λPV and 0.027λRMS.Meanwhile,the surface roughness was also improved a lot in MRF process.These theoretical analyses and experimental results both indicate that high form accuracy and excellent surface quality can be obtained by using the four-axis linkage technique in the process of figuring low-gradient optical elements,and the four-axis linkage system undoubtedly is much more easy to control and much more economical.

Mathematical modeling and analytical solution for stretching force of automatic feed mechanism

Load of an automatic feed mechanism is composed of the stretching force of feed belt at the entrance to lower flexible guidance and the friction force between feed belt and flexible guidance. A mathematical model for computing the load was presented. An optimization problem was formulated to determine the attitude of the flexible guidance based on the principle that the potential energy stored in the system was the minimum at the equilibrium. Then the friction force was obtained according to the attitude of guide leaves and the moving velocity of the feed belt and the friction factor. Consequently, the load of the automatic feed mechanism can be calculated. Finally, an example was given to compute the load when the horizontal and elevating firing angles of the automation were respectively 45° and 30°. The computing result can be a criterion to determine the designing parameters of automat.

Predicting configuration performance of modular product family using principal component analysis and support vector machine

A novel configuration performance prediction approach with combination of principal component analysis(PCA) and support vector machine(SVM) was proposed.This method can estimate the performance parameter values of a newly configured product through soft computing technique instead of practical test experiments,which helps to evaluate whether or not the product variant can satisfy the customers' individual requirements.The PCA technique was used to reduce and orthogonalize the module parameters that affect the product performance.Then,these extracted features were used as new input variables in SVM model to mine knowledge from the limited existing product data.The performance values of a newly configured product can be predicted by means of the trained SVM models.This PCA-SVM method can ensure that the performance prediction is executed rapidly and accurately,even under the small sample conditions.The applicability of the proposed method was verified on a family of plate electrostatic precipitators.

Critical weight on bit of double-driven bottomhole assembly during vertical and fast drilling

It is difficult to determine the optimal weight on bit (WOB) of the double-driven bottomhole assembly (DD-BHA, with double stabilizers and a bent housing positive displacement motor (PDM)) which is employed during vertical and fast drilling. High WOB leads to well deviation out of control, and low WOB leads to low rate of penetration (ROP). So considering the rock physical properties, the anisotropy index function of polycrystalline diamond compact (PDC) bit was derived with the structure and cutting performance parameters of the bit, and the effect of natural hole deviation tendencies on the performance of DD-BHA resisting deviation was represented. The concept of elliptic deformation ratio was used to characterize the performance of DD-BHA resisting deviation. Eventually, a model calculating the critical WOB was established. By comparing the model predictions with the measured hole angle changes in the field, the results show that the model predictions are accurate with error less than 5.8%, which can meet the operational requirements in the projects. Furthermore, the model was adopted to justify and guide the operating conditions and parameters during drilling, which shows that the optimum WOB predicted by the model can not only control deviation but also improve ROP effectively. The model is independent on the formation characteristics of blocks, so it can be expanded widely to other oilfields.

A novel algorithm for SLAM in dynamic environments using landscape theory of aggregation

To tackle the problem of simultaneous localization and mapping(SLAM) in dynamic environments, a novel algorithm using landscape theory of aggregation is presented. By exploiting the coherent explanation how actors form alignments in a game provided by the landscape theory of aggregation, the algorithm is able to explicitly deal with the ever-changing relationship between the static objects and the moving objects without any prior models of the moving objects. The effectiveness of the method has been validated by experiments in two representative dynamic environments: the campus road and the urban road.