Using fracture-based continuum modeling of coupled geomechanical-hydrological processes for numerical simulation of hydraulic fracturing

This paper describes numerical simulation of hydraulic fracturing using fracture-based continuum modeling(FBCM)of coupled geomechanical-hydrological processes to evaluate a technique for high-density fracturing and fracture caging.The simulations are innovative because of modeling discrete fractures explicitly in continuum analysis.A key advantage of FBCM is that fracture initiation and propagation are modeled explicitly without changing the domain grid(i.e.no re-meshing).Further,multiple realizations of a preexisting fracture distribution can be analyzed using the same domain grid.The simulated hydraulic fracturing technique consists of pressurizing multiple wells simultaneously:initially without permeating fluids into the rock,to seed fractures uniformly and at high density in the wall rock of the wells;followed by fluid injection to propagate the seeded fracture density hydraulically.FBCM combines the ease of continuum modeling with the potential accuracy of modeling discrete fractures and fracturing explicitly.Fractures are modeled as piecewise planar based on intersections with domain elements;fracture geometry stored as continuum properties is used to calculate parameters needed to model individual fractures;and rock behavior is modeled through tensorial aggregation of the behavior of discrete fractures and unfractured rock.Simulations are presented for previously unfractured rock and for rock with preexisting fractures of horizontal,shallow-dipping,steeply dipping,or vertical orientation.Simulations of a single-well model are used to determine the pattern and spacing for a multiple-well design.The results illustrate high-density fracturing and fracture caging through simultaneous fluid injection in multiple wells:for previously unfractured rock or rock with preexisting shallow-dipping or horizontal fractures,and in situ vertical compressive stress greater than horizontal.If preexisting fractures are steeply dipping or vertical,and considering the same in situ stress condition,well pressurization without fluid permeation appears to be the only practical way to induce new fractures and contain fracturing within the target domain.

Nonlinear wave dispersion in monoatomic chains with lumped and distributed masses:discrete and continuum models

The main objective of this paper is to investigate the influence of inertia of nonlinear springs on the dispersion behavior of discrete monoatomic chains with lumped and distributed masses.The developed model can represent the wave propagation problem in a non-homogeneous material consisting of heavy inclusions embedded in a matrix.The inclusions are idealized by lumped masses,and the matrix between adjacent inclusions is modeled by a nonlinear spring with distributed masses.Additionally,the model is capable of depicting the wave propagation in bi-material bars,wherein the first material is represented by a rigid particle and the second one is represented by a nonlinear spring with distributed masses.The discrete model of the nonlinear monoatomic chain with lumped and distributed masses is first considered,and a closed-form expression of the dispersion relation is obtained by the second-order Lindstedt-Poincare method(LPM).Next,a continuum model for the nonlinear monoatomic chain is derived directly from its discrete lattice model by a suitable continualization technique.The subsequent use of the second-order method of multiple scales(MMS)facilitates the derivation of the corresponding nonlinear dispersion relation in a closed form.The novelties of the present study consist of(i)considering the inertia of nonlinear springs on the dispersion behavior of the discrete mass-spring chains;(ii)developing the second-order LPM for the wave propagation in the discrete chains;and(iii)deriving a continuum model for the nonlinear monoatomic chains with lumped and distributed masses.Finally,a parametric study is conducted to examine the effects of the design parameters and the distributed spring mass on the nonlinear dispersion relations and phase velocities obtained from both the discrete and continuum models.These parameters include the ratio of the spring mass to the lumped mass,the nonlinear stiffness coefficient of the spring,and the wave amplitude.

Static-to-kinematic modeling and experimental validation of tendon-driven quasi continuum manipulators with nonconstant subsegment stiffness

Continuum robots with high flexibility and compliance have the capability to operate in confined and cluttered environments. To enhance the load capacity while maintaining robot dexterity, we propose a novel non-constant subsegment stiffness structure for tendon-driven quasi continuum robots(TDQCRs) comprising rigid-flexible coupling subsegments.Aiming at real-time control applications, we present a novel static-to-kinematic modeling approach to gain a comprehensive understanding of the TDQCR model. The analytical subsegment-based kinematics for the multisection manipulator is derived based on screw theory and product of exponentials formula, and the static model considering gravity loading,actuation loading, and robot constitutive laws is established. Additionally, the effect of tension attenuation caused by routing channel friction is considered in the robot statics, resulting in improved model accuracy. The root-mean-square error between the outputs of the static model and the experimental system is less than 1.63% of the arm length(0.5 m). By employing the proposed static model, a mapping of bending angles between the configuration space and the subsegment space is established. Furthermore, motion control experiments are conducted on our TDQCR system, and the results demonstrate the effectiveness of the static-to-kinematic model.

General Kinetostatic Modeling and Deformation Analysis of a Two-Module Rod-Driven Continuum Robot with Friction Considered

Continuum robots actuated by flexible rods have large potential applications,such as detection and operation tasks in confined environments,since the push and pull actuation of flexible rods withstand tension and compressive force,and increase the structure's rigidity.In this paper,a generalized kinetostatics model for multi-module and multi-segment continuum robots considering the effect of friction based on the Cosserat rod theory is established.Then,the model is applied to a two-module rod-driven continuum robot with winding ropes to analyze its deformation and load characteristics.Four different in-plane configurations under the external load term as S1,S2,C1,and C2 are defined.Taking a bending plane as an example,the tip deformation along thex-axis of these shapes is simulated and compared,which shows that the load capacity of C1 and C2 is generally larger than that of S1 and S2.Furthermore,the deformation experiments and simulations show that the maximum error ratio without external loads relative to the total length is no more than 3%,and it is no more than 4.7%under the external load.The established kinetostatics model is proven sufficient to accurately analyze the rod-driven continuum robot with the consideration of internal friction.

Variable Curvature Modeling Method of Soft Continuum Robots with Constraints

The inherent compliance of continuum robots holds great promise in the fields of soft manipulation and safe human–robot interaction.This compliance reduces the risk of damage to the manipulated object and its surroundings.However,continuum robots possess theoretically infinite degrees of freedom,and this high flexibility usually leads to complex deformations when subjected to external forces and positional constraints.Describing these complex deformations is the main challenge in modeling continuum robots.In this study,we investigated a novel variable curvature modeling method for continuum robots,considering external forces and positional constraints.The robot configuration curve is described using the developed mechanical model,and then the robot is fitted to the curve.A ten-section continuum robot prototype with a length of 1 m was developed in order to validate the model.The feasibility and accuracy of the model were verified by the ability of the robot to reach target points and track complex trajectories with a load.This work was able to serve as a new perspective for the design analysis and motion control of continuum robots.

Modeling continuous traffic flow with the average velocity effect of multiple vehicles ahead on gyroidal roads

In the future connected vehicle environment,the information of multiple vehicles ahead can be readily collected in real-time,such as the velocity or headway,which provides more opportunities for information exchange and cooperative control.Meanwhile,gyroidal roads are one of the fundamental road patterns prevalent in mountainous areas.To effectively control the system,it is therefore significant to explore the evolution mechanism of traffic flow on gyroidal roads under a connected vehicle environment.In this paper,we present a new continuum model with the average velocity of multiple vehicles ahead on gyroidal roads.The stability criterion and KdV-Burger equation are deduced via linear and nonlinear stability analysis,respectively.Solving the above KdV-Burger equation yields the density wave solution,which explores the formation and propagation property of traffic jams near the neutral stability curve.Simulation examples verify that the model can reproduce complex phenomena,such as shock waves and rarefaction waves.The analysis of the local cluster effect shows that the number of vehicles ahead and the radius information,and the slope information of gyroidal roads can exert a great influence on traffic jams.The effect of the first and second terms are positive,while the last term is negative.

基于连续介质损伤力学的钛合金耐压球壳极限强度分析

本文在连续介质损伤力学理论框架下,以深海载人装备耐压球壳结构为研究对象,开展Bonora损伤模型适用性研究。首先,设计TA31钛合金加载卸载试验,依据试验结果,分析Bonora模型参数对材料应力应变响应的影响规律;随后,提出一种模型参数校准方法,依据试验数据确定TA31钛合金的模型参数;最后,将Bonora模型通过VUMAT子程序的形式嵌入到有限元软件中,开展钛合金球壳结构的极限强度分析,并与传统方法进行对比。研究结果表明,在耐压球壳极限强度分析中,引入Bonora模型可以准确模拟耐压球壳结构的失效模式和破坏压力。该模型在材料本构关系中考虑了屈服强度、抗拉强度以及最大塑性应变的影响,结构失效的物理意义更加明确,对材料性能的优化与提升具有指导意义。

植物根系吸水模型研究进展

根系是植物获取水分的主要器官,它直接影响整个植株的输水量以及生命活动。在水资源短缺的状况下,了解根系生长过程中的需水特性并提高农业中水资源的利用率,一直是节水灌溉技术中研究创新的热点。因此,在研究过程中需要对植物根系的吸水量进行精确估算,建立根系吸水模型是定量化研究植物根系吸水特性的重要方法。概述根系吸水的原理及其主要影响因素,对不同研究方法下的根系吸水模型进行分类研究,并阐述其适用范围及优缺点,同时介绍了水盐共同胁迫下的根系吸水模型。最后对目前的根系吸水模型进行分析,提出了今后的研究方向。研究成果为构建水稻根系三维动态吸水模型提供了基础。

径向井辅助前置液酸压裂缝扩展数值模拟

基于扩展有限元及双尺度连续模型理论建立径向井辅助前置液酸压裂缝扩展模型,引入偏离系数作为量化评价指标,分析各因素对裂缝形态的影响,并利用灰色关联分析方法明确主控因素。结果表明:径向井对前置液酸压裂缝扩展具有显著引导作用,裂缝优先沿径向井方向起裂并扩展一定距离,而后逐渐偏向最大水平主应力方向;径向井方位角、水平地应力差和地层弹性模量越小,径向井长度越长,偏离系数越小,径向井引导效果越好,其中水平地应力差为主控因素;当径向井方位角为15°时,前置液酸压裂缝沿着径向井方向扩展14.32 m后偏向最大水平主应力方向,径向井的引导效果最好,偏离系数为0.005。

气固鼓泡床结构双流体传热模型及其模拟验证

介尺度结构显著影响非均匀气固复杂系统内的流动传递反应特性。构建了结构双流体传热模型用于模拟复杂气固系统内的流动传热过程,按照流动控制机制将鼓泡床系统划分成由气体主导的气泡相和颗粒主导的乳化相两个相互渗透的连续流体,进而确立考虑介尺度结构影响的控制方程及本构关系,其中相间曳力、乳化相黏度、相间传热系数及各相热导率均采用合理的经验关联式进行封闭。利用双流体传热模型与显式解析壁面流动和传热边界层方法相结合,对安装加热管的鼓泡床系统进行了模拟。结果表明:结构双流体传热模型可成功预测鼓泡床系统内固含率的轴向分布及床层壁面传热系数的变化规律;模拟结果与实验数据吻合较好,密相区壁面传热系数模拟值与实验值的相对误差小于10%,稀相区壁面传热系数的模拟值与实验值在同一量级,表明结构双流体传热模型可准确刻画鼓泡床系统内气固两相的流动传热特性。

高能X射线光谱分析工具——SasalPy

等离子体模型是天文学家解析高能天体观测数据的重要工具,发展精确便利的等离子体模型有助于研究者高效的进行高能X射线光谱分析工作.在现有的SASAL等离子体模型的基础上进一步提出一种新的基于Python语言的高能X射线光谱分析工具包SasalPy,并从理论框架、功能性和差异性方面阐述SasalPy的可靠性和精确性.线辐射和连续辐射计算结果表明,原子参数如跃迁速率、碰撞强度等会对合成光谱产生明显地影响.以Capella星冕的体微分发射度为基础开展了三个温度的光谱合成应用,并通过与其他等离子体模型辐射损失结果的对比,说明SasalPy在X射线能段比较精确可靠.

线性化改进物质点法的颗粒流仿真

作为一种新近发展出的无网格法,物质点法综合了基于网格方法的准确性与计算效率,以及无网格法对多种极端情境的适应性,因此该方法对采取连续介质模型的颗粒流数值计算等大变形问题十分有效。为提高物质点法对于颗粒流的计算效率,本文对物质点法进行了线性化改进并基于改进算法给出了若干算例。以物质点法的背景网格的结构化特点以及Courant-Friedrichs-Lewy(CFL)条件为基础,改进了自然坐标系到整体坐标系的求解过程,并使用改进的物质点法对颗粒流的颗粒堆坍塌、筒仓排出以及曲面上颗粒流对半球体的碰撞等算例进行了计算。在计算精度损失较小的情况下,提高了物质点法求解颗粒流问题的效率,验证了此改进方法的有效性与稳定性。

柔性连续体机器人建模与控制综述

柔性连续体机器人是一类受生物仿生结构启发而诞生的新型机器人,该型机器人由弹性材料组成,能够产生连续变形并进行大幅度形变,具有结构柔顺性强、灵活性高等优点。连续体机器人能够弥补传统刚体机器人应对复杂环境能力不足的缺点,因而被广泛应用于工业、灾难搜救、设备检修、航空航天与医疗等领域,成为新一代机器人发展的热点。本文主要整理了近年来关于连续体机器人的研究成果,从连续体机器人研究背景、建模方法、控制方案3个方面进行综述,展开介绍了连续体体机器人结构与设计驱动方式和连续体机器人在实际中的应用;针对连续体机器人的建模方法,从运动学与动力学建模层面进行介绍,分析了连续体机器人的主要控制方案,阐述了连续体机器人在控制设计中需要注意的问题;最后从系统集成化与开放化、智能化人机交互、多模态信息融合等方面对柔性连续体机器人的发展方向进行了展望。

Motivation in Foreign Language Learning: Applying the Time Continuum Model of Motivation in FLL

The research is: by using Wdolkowski's Time Continuum Model throughout a lesson plan enables the teacher to increase students'motivation and help them move closer to success in a learning environment. This research supports the theory that instruction is a network of interactions between the teacher and learner that promotes a successful learning experience. It identifies a three-part learning sequence-a beginning, middle and an end. Each part has two of six key motivational factors that when applied correctly by the teacher will maximize the success and continued motivation of the learner.

乡土语言英译译者行为研究——以《暂坐》英译为考察中心

乡土语言作为窥探中国本土文化的一面镜子,其英译对推动中国文化走向世界具有重要意义。在译者行为批评视域下,对《暂坐》中的方言以及包括成语、谚语和歇后语在内的俗语等乡土语言的英译进行分析。研究发现,译者韩斌和刘浚在其英译过程中出于自身翻译观采取“推拉”策略,并受到出版社的影响,在努力保证原文信息准确性的前提下,为使译文更加地道易懂,译者行为表现出“求真为本,务实为用(上)”的特征,整体英译质量较高。

A review on the application of modified continuum models in modeling and simulation of nanostructures

Analysis of the mechanical behavior of nanos- tructures has been very challenging. Surface energy and non- local elasticity of materials have been incorporated into the traditional continuum analysis to create modified continuum mechanics models. This paper reviews recent advancements in the applications of such modified continuum models in nanostructures such as nanotubes, nanowires, nanobeams, graphenes, and nanoplates. A variety of models for these nanostructures under static and dynamic loadings are men- tioned and reviewed. Applications of surface energy and nonlocal elasticity in analysis of piezoelectric nanomateri- als are also mentioned. This paper provides a comprehensive introduction of the development of this area and inspires fur- ther applications of modified continuum models in modeling nanomaterials and nanostructures.

Aero-engine Blade Fatigue Analysis Based on Nonlinear Continuum Damage Model Using Neural Networks

Fatigue life and reliability of aero-engine blade are always of important significance to flight safety.The establishment of damage model is one of the key factors in blade fatigue research.Conventional linear Miner＇s sum method is not suitable for aero-engine because of its low accuracy.A back propagation neutral network（BPNN） based on the combination of Levenberg-Marquardt（LM） and finite element method（FEM） is used to describe process of nonlinear damage accumulation behavior in material and predict fatigue life of the blade.Fatigue tests of standard specimen made from TC4 are carried out to obtain material fatigue parameters and S-N curve.A nonlinear continuum damage model（CDM）,based on the BPNN with one hidden layer and ten neurons,is built to investigate the nonlinear damage accumulation behavior,in which the results from the tests are used as training set.Comparing with linear models and previous nonlinear models,BPNN has the lowest calculation error in full load range.It has significant accuracy when the load is below 500 MPa.Especially,when the load is 350 MPa,the calculation error of the BPNN is only 0.4%.The accurate model of the blade is built by using 3D coordinate measurement technology.The loading cycle in fatigue analysis is defined from takeoff to cruise in 10 min,and the load history is obtained from finite element analysis（FEA）.Then the fatigue life of the compressor blade is predicted by using the BPNN model.The final fatigue life of the aero-engine blade is 6.55 104 cycles（10 916 h） based on the BPNN model,which is effective for the virtual design of aero-engine blade.

Seepage simulation of high concrete-faced rockfill dams based on generalized equivalent continuum model

This research focused on the three-dimensional(3 D) seepage field simulation of a high concrete-faced rockfill dam(CFRD) under complex hydraulic conditions. A generalized equivalent continuum model of fractured rock mass was used for equivalent continuous seepage field analysis based on the improved node virtual flow method. Using a high CFRD as an example, the generalized equivalent continuum range was determined, and a finite element model was established based on the terrain and geological conditions, as well as structural face characteristics of the dam area. The equivalent seepage coefficients of different material zones or positions in the dam foundation were calculated with the Snow model or inverse analysis. Then, the 3 D seepage field in the dam area was calculated under the normal water storage conditions, and the corresponding water head distribution, seepage flow, seepage gradient, and seepage characteristics in the dam area were analyzed. The results show that the generalized equivalent continuum model can effectively simulate overall seepage patterns of the CFRD under complex hydraulic conditions and provide a reference for seepage analysis of similar CFRDs.

Damage evolution model of strain hardening cementitious composites under the uniaxial stress state

The deformation and damage behaviors of strain hardening cementitious composites （SHCC） under the uniaxial stress state were investigated in this paper. Two ductile failure-based constitutive models were introduced to describe the uniaxial tension and compression properties of SHCC only using a few parameters. The computation method of model parameters was developed to ease the simulation procedures. Damage evolution of the SHCC was simulated by the formulation of continuum damage mechanics subsequently. The results show that the proposed models fit the stress-strain curves reasonably well, and the damage variables show different growth rules under uniaxial tension and compression. It is concluded that the proposed method can not only simply simulate the constitutive behavior of SHCC with the reasonable accuracy but also capture the characteristic of material degradation.

Equivalent continuum modeling of beam-like truss structures with flexible joints

The paper investigated the equivalent continuum modeling of beam-like repetitive truss structures considering the flexibility of joints,which models the contact between the truss member and joint by spring-damper with six directional stiffnesses and dampings.Firstly,a two-node hybrid joint-beam element was derived for modeling the truss member with flexible end joints,and a condensed model for the repeating element with flexible joints was obtained.Then,the energy equivalence method was adopted to equivalently model the truss structure with flexible joints and material damping as a spatial viscoelastic anisotropic beam model.Afterwards,the equations of motion for the equivalent beam model were derived and solved analytically in the frequency domain.In the numerical studies,the correctness of the presented method was verified by comparisons of the natural frequencies and frequency responses evaluated by the equivalent beam model with the results of the finite element method model.