INVERSE KINEMATIC AND DYNAMIC ANALYSIS OF A 3-DOF PARALLEL MECHANISM

According to the structure character of the passive sub-chain of the 3TPS-TPparallel mechanism, the kinematic constraint equations of the movable platform are established,based on which the closed-form inverse kinematics formula of the parallel mechanism are presented.Through parting the spherical joints of the active sub-chains and using the force and momentequilibrium of both the active sub-chains and passive sub-chain, the constraint forces acting on theparted joints are determined. Subsequently, the analytic expressions of the actuator driving forcesare derived by means of the force equilibrium of the upper links of active sub-chains.

Discrete Element with Flexible Connector for Dynamic Analysis of 3-D Beam Structures

Combined multi-body dynamics with structural dynamics, a new discrete element with flexible connector, which is applicable for 3-D beam structures, is developed in this paper. Both the generalized elastic coefficient matrix of the flexible connector and the mass matrix of discrete element may be off-diagonal in a general case. The zero-length rigid element is introduced to simulate the node at which multiple elements are jointed together. It may also be effective when the axes of adjacent elements are not in the same line. The examples for eigenvalue calculation show that the model is successful. It can be extended to the geometric nonlinear response analysis.

3-D fracture network dynamic simulation based on error analysis in rock mass of dam foundation

Accurate 3-D fracture network model for rock mass in dam foundation is of vital importance for stability,grouting and seepage analysis of dam foundation.With the aim of reducing deviation between fracture network model and measured data,a 3-D fracture network dynamic modeling method based on error analysis was proposed.Firstly,errors of four fracture volume density estimation methods(proposed by ODA,KULATILAKE,MAULDON,and SONG)and that of four fracture size estimation methods(proposed by EINSTEIN,SONG and TONON)were respectively compared,and the optimal methods were determined.Additionally,error index representing the deviation between fracture network model and measured data was established with integrated use of fractal dimension and relative absolute error(RAE).On this basis,the downhill simplex method was used to build the dynamic modeling method,which takes the minimum of error index as objective function and dynamically adjusts the fracture density and size parameters to correct the error index.Finally,the 3-D fracture network model could be obtained which meets the requirements.The proposed method was applied for 3-D fractures simulation in Miao Wei hydropower project in China for feasibility verification and the error index reduced from 2.618 to 0.337.

Dynamic analysis of double racks gear 3D roll forming machine

3 D roll-forming for high strength steel sheets is a new technology at present.Double racks gear 3D roll forming machine developed by our research group can be used to perform variable cross section roll forming for high strength steel.In the paper,a dynamic model of 8-DOF double rack gear 3D roll-forming machine is established by the method of Lagrange equation.The expression of the angle acceleration of the system response is obtained by solving the dynamic equations.Through an actual engineering example,the dynamical characters of the 3D roll forming machine are revealed.The results can support the design of 3D roll forming machine.Meanwhile,the research will play an active role in the development of control system.

THE ANALYSIS OF DYNAMIC STRESS INTENSITY FACTOR FOR SEMI-CIRCULAR SURFACE CRACK USING TIME-DOMAIN BEM FORMULATION

The time-domain BEM was developed to analyze the dynamic stress intensity factor ( DSIF) of 3-D elastodynamic crack problems. To simulate the stress singularity along the front of a crack, eight-node isoparametric singular elements were used, and the DSIF for a semi-circular surface crack was firstly calculated based on displacement equation using the time-domain BEM formulation. The new scheme to determine the time step was brought forward. By the dynamic analysis program of time-domain BEM compiled by its, several numerical examples are presented, which demonstrate the unconditional stability and high accuracy of time-domain BEM applied to 3-D elastodynamic crack problems.

Sparse flight spotlight mode 3-D imaging of spaceborne SAR based on sparse spectrum and principal component analysis

The spaceborne synthetic aperture radar(SAR)sparse flight 3-D imaging technology through multiple observations of the cross-track direction is designed to form the cross-track equivalent aperture,and achieve the third dimensionality recognition.In this paper,combined with the actual triple star orbits,a sparse flight spaceborne SAR 3-D imaging method based on the sparse spectrum of interferometry and the principal component analysis(PCA)is presented.Firstly,interferometric processing is utilized to reach an effective sparse representation of radar images in the frequency domain.Secondly,as a method with simple principle and fast calculation,the PCA is introduced to extract the main features of the image spectrum according to its principal characteristics.Finally,the 3-D image can be obtained by inverse transformation of the reconstructed spectrum by the PCA.The simulation results of 4.84 km equivalent cross-track aperture and corresponding 1.78 m cross-track resolution verify the effective suppression of this method on high-frequency sidelobe noise introduced by sparse flight with a sparsity of 49%and random noise introduced by the receiver.Meanwhile,due to the influence of orbit distribution of the actual triple star orbits,the simulation results of the sparse flight with the 7-bit Barker code orbits are given as a comparison and reference to illuminate the significance of orbit distribution for this reconstruction results.This method has prospects for sparse flight 3-D imaging in high latitude areas for its short revisit period.

Dynamics and Stability of Blind Grasping of a 3-Dimensional Object under Non-holonomic Constraints

A mathematical model expressing the motion of a pair of multi-DOF robot fingers with hemi-spherical ends, grasping a 3-D rigid object with parallel fiat surfaces, is derived, together with non-holonomic constraints. By referring to the fact that humans grasp an object in the form of precision prehension, dynamically and stably by opposable forces, between the thumb and another finger （index or middle finger）, a simple control signal constructed from finger-thumb opposition is proposed, and shown to realize stable grasping in a dynamic sense without using object information or external sensing （this is called ＂blind grasp＂ in this paper）. The stability of grasping with force/torque balance under non-holonomic constraints is analyzed on the basis of a new concept named ＂stability on a manifold＂. Preliminary simulation results are shown to verify the validity of the theoretical results.

A TENSOR ANALYSIS METHOD FOR ESTIMATING 3-D MOTION PARAMETERS

By using the center projection image sequence to estimate 3-D motion parameters,one needs to know the corresponding relationship between the feature of motion object in spaceand the projection coordinate on image plane.In order to avoid using the relationship of featurecorrespondence,the tensor analysis method in the affine transformation system is presented,andthe simulation data of experimental results are given.

Characteristics of an Axial-flux Permanent Magnet Synchronous Machine with Contra-rotating Rotors under Unbalanced Load Condition from 3-D Finite Element Analysis

During recent years,the axial-flus PMSM with contra-rotating rotors has become a hot topic in academic research due to its high efficiency and simple structure.However,its back-EMF may be distorted under the condition of different angular positions.This paper investigates characteristics of the novel motor used for contra-propeller driving.Considering the torque ripple and current oscillation under unbalanced load condition,this paper analyzes the distorted back-EMF of the machine when its two rotors get different angular positions during rotating.The analysis results are validated by transient-magnetic 3-D FEA method,which the 3-D FEA software is used to model this motor and transient simulations are carried out to obtain its magnetic characteristic and main performances.A main focus is put on the back-EMF characteristic with different angular positions between the two rotors.Furthermore,the characteristic of torque production under unbalanced load is investigated.Finally,a prototype motor is fabricated to validate the analyses of this paper.

Probabilistic analysis on fault tolerance of 3-Dimensional mesh networks

The probability model is used to analyze the fault tolerance of mesh. To simplify its analysis, it is as-sumed that the failure probability of each node is independent. A 3-D mesh is partitioned into smaller submeshes,and then the probability with which each submesh satisfies the defined condition is computed. If each submesh satis-fies the condition, then the whole mesh is connected. Consequently, the probability that a 3-D mesh is connected iscomputed assuming each node has a failure probability. Mathematical methods are used to derive a relationship be-tween network node failure probability and network connectivity probability. The calculated results show that the 3-D mesh networks can remain connected with very high probability in practice. It is formally proved that when thenetwork node failure probability is boutded by 0.45 %, the 3-D mesh networks of more than three hundred thousandnodes remain connected with probability larger than 99 %. The theoretical results show that the method is a power-ful technique to calculate the lower bound of the connectivity probability of mesh networks.

Dynamic response analysis of liquefiable ground due to sinusoidal waves of different frequencies of shield construction

Vibration induced by shield construction can lead to liquefaction of saturated sand.Based on FLAC3D software,a numerical model of tunnel excavation is established and sinusoidal velocity loads with different frequencies are applied to the excavation face.The pattern of the excess pore pressure ratio with frequency,as well as the dynamic response of soil mass under different frequency loads before excavation,is analyzed.When the velocity sinusoidal wave acts on the excavation surface of the shield tunnel with a single sand layer,soil liquefaction occurs.However,the ranges and locations of soil liquefaction are different at different frequencies,which proves that the vibration frequency influences the liquefaction location of the stratum.For sand-clay composite strata with liquefiable layers,the influence of frequency on the liquefaction range is different from that of a single stratum.In the frequency range of 5-30 Hz,the liquefaction area and surface subsidence decrease with an increase in vibration frequency.The research results in this study can be used as a reference in engineering practice for tunneling liquefiable strata with a shield tunneling machine.

Analysis of Dynamic Variations of Crustal Density in the Longmenshan Area before the Wenchuan M_S8.0 Earthquake

Based on the repeated gravity observation data from 1996 to 2007 from the Longmenshan gravity network, which has been dealt with by adjustment processing, the benchmark interference removal and impact of elevation changes removal, and by using the 3-D inversion method to reflect underground density, we analyze the characteristics of Longmenshan regional dynamic crustal density at depths of 25km, 20km and 15kin. The results show that in the Wenchuan earthquake preparation process, the regional density field showed marked characteristics both in time and space distribution. From the point of time process, the density change trend in the ten years before the earthquake presents a periodic change pattern： steady phase, dramatic stage, slow reducing phase and slow increase phase. The degree of density changes is from large to small, which means that earthquake gestation has reached the final stage. From the point of space distribution, density change distribution has a tendency of ＂dispersion--relative concentration＂, this shows that before the earthquake, the entropy of the underground density field was decreased. In addition, dramatic density changes often occur in the Longmenshan fault zone and western Sichuan plateau. Also, with the increase of depth, the trend of density change is more and more obvious. Through comparative analysis, the influence of density change on gravity is much bigger than that from height change.

In-situ three-dimensional visualization of dynamic tension deformation in ferrite stainless steels

An improved three-dimensional （3-D） experimental visualization methodology is presented tor evaluating the fracture mechanisms of ferritic stainless steels by in-situ tensile testing with an environmental scanning electron microscope （ESEM）. The samples were machined with a radial notched shape and a sloped surface. Both planar surface deformation and sloping surface deformation-induced microvoids were observed during dynamic tension experiments, where a greater amount of information could be obtained from the sloping surface. The results showed that microvoids formed at the grain boundaries of highly elongated large grains. The microvoids nucleated in the severely deformed regions grew nearly parallel to the tensile axis, predominantly along the grain boundaries. The microvoids nucleated at the interface of particles and the matrix did not propagate due to the high plasticity of the matrix. The large microvoids propagated and showed a zigzag shape along the grain boundaries,seemingly a consequence of the fracture of the slip bands caused by dislocation pile-ups. The final failure took place due to the reduction of the load-beating area.

金佛山混凝土面板堆石坝地震反应3-D分析

基于等效线性模型,采用三维非线性动力有限元法对拟建金佛山混凝土面板堆石坝进行了地震动力反应分析,重点研究了坝体在地震荷载作用下的加速度反应、动应力反应、地震永久变形的规律和分布。计算结果表明:坝顶附近加速度反应较大,应采取相应的抗震工程措施;坝体动应力反应较小;坝体残余变形不大;大坝整体抗震性能较好,满足给定地震下的抗震安全性要求。

SAR tomography imaging via higher-order spectrum analysis

To deal with the non-Caussian noise in standard 2-D SAR images, the deramped signal in imaging plane, and the possible symmetric distribution of complex noise, the fourth-order cumulant of complex process is introduced into SAR tomography. With the estimated AR parameters of ARMA model of noise through Yule-Walker equation, the signal series of height is pre-filtered. Then, through ESPRIT, the spectrum is obtained and the aperture in height direction is synthesized. Finally, the SAR tomography imaging of scene is achieved. The results of processing on signal with non-Gaussian noise demonstrate the robustness of the proposed method. The tomography imaging of the scenes shows that the higher-order spectrum analysis is feasible in the application.

Dune dynamics in the southern edge of Dunhuang Oasis and implications for the oasis protection

The survival of Dunhuang Oasis is largely determined by the evolution of sand dunes in the southern edge of the oasis, mainly composed of shield dunes and mega pyramid dunes, which occupy twothirds and one-third of the area, respectively. However, few studies have focused on dynamics of these dunes, especially in terms of quantification. So the theoretical basis of sand-control engineering is relatively limited. Here we present the characteristics of dune dynamics of a shield dune and mega pyramid dune in the southern edge of Dunhuang Oasis during April 2014-April 2016 based on measurement data of a 3-D laser scanner. Results indicate that the volume of the shield dune decreased during the monitoring period of two years, and the gravity centers of the monitored shield dune moved windward, indicating that sand was transported toward the oasis. Conversely, the dune volume of the mega pyramid dune increased and the gravity center presented no prominent movement, indicating that the megapyramid dune was relatively stable and its migration toward the oasis was not notable. Thus, compared with mega pyramid dunes, shield dunes in the southern edge of Dunhuang Oasis are identified as a more significant sand source endangering the protection of the oasis, and sand-control engineering should mainly focus on these shield dunes.

Numerical and Dimensional Analysis for Prediction of Line Heating Residual Deformations

Line heating process is a very complex phenomenon as a variety of factors affects the amount of residual deformations. Numerical thermal and mechanical analysis of line heating for prediction of residual deformation is time consuming. In the present work dimensional analysis has been presented to obtain a new relationship between input parameters and resulting residual deformations during line heating process. The temperature distribution and residual deformations for 6 mm, 8 mm, 10 mm and 12 mm thick steel plates were numerically estimated and compared with experimental and published results. Extensive data generated through a validated FE model were used to find co-relationship between the input parameters and the resulting residual deformation by multiple regression analysis. The results obtained from the deformation equations developed in this work compared well with those of the FE analysis with a drop in the computation time in the order of 100 (computational time required for FE analysis is around 7 200 second to 9 000 seconds and where the time required for getting the residual deformation by developed equations is only 60 to 90 seconds).

Dynamic phase transition of ferroelectric nanotube described by a spin-1/2 transverse Ising model

The dynamic phase transition properties for ferroelectric nanotube under a spin-1/2 transverse Ising model are studied under the effective field theory(EFT)with correlations.The temperature effects on the pseudo-spin systems are unveiled in three-dimensional(3-D)and two-dimensional(2-D)phase diagrams.Moreover,the dynamic behaviors of exchange interactions on the 3-D and 2-D phase transitions under high temperature are exhibited.The results present that it is hard to obtain pure ferroelectric phase under high temperature;that is,the vibration of orderly pseudo-spins cannot be eliminated completely.

Thermo-mechanical and Experimental Analysis of Double Pass Line Heating

The present investigation deals with process analysis of oxy-acetylene flame assisted double pass line heating for varying plate thickness, oxy-acetylene flame as the heat source for multi pass line heating to achieve 3-D bending of plates with varying thicknesses was studied. The oxy-acetylene flame was modeled as the moving heat source in the FEM analysis. The transient thermal histories were predicted taking into account the temperature dependent thermo-mechanical properties. A comparative study between single pass and double pass line heating residual deformation was also carried out. The temperature distribution and residual detbrmations predicted by the numerical model developed in the present work compared fairly well with those of the experimental ones.

Hamiltonian Analysis of 3-Dimensional Connection Dynamics in Bondi-like Coordinates

The Hamiltonian analysis for a 3-dimensional connection dynamics of o（1, 2）, spanned by {L-＋, L-2, L＋2） instead of {Lol, L02, L12}, is first conducted in a Bondi-like coordinate system. The symmetry of the system is clearly presented. A null coframe with 3 independent variables and 9 connection coefficients are treated as basic configuration variables. All constraints and their consistency conditions, the solutions of Lagrange multipliers as well as the equations of motion are presented. There is no physical degree of freedom in the system. The Bafiados-Teitelboim-Zanelli （BTZ） spaeetime is discussed as an example to check the analysis. Unlike the ADM formalism, where only non-degenerate geometries on slices are dealt with and the Ashtekar formalism, where non-degenerate geometries on slices are mainly concerned though the degenerate geometries may be studied as well, in the present formalism the geometries on the slices are always degenerate though the geometries for the spacetime are not degenerate.