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Analytical model for predicting time-dependent lateral deformation of geosynthetics-reinforced soil walls with modular block facing 被引量:1
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作者 Luqiang Ding Chengzhi Xiao Feilong Cui 《Journal of Rock Mechanics and Geotechnical Engineering》 SCIE CSCD 2024年第2期711-725,共15页
To date,few models are available in the literature to consider the creep behavior of geosynthetics when predicting the lateral deformation(d)of geosynthetics-reinforced soil(GRS)retaining walls.In this study,a general... To date,few models are available in the literature to consider the creep behavior of geosynthetics when predicting the lateral deformation(d)of geosynthetics-reinforced soil(GRS)retaining walls.In this study,a general hyperbolic creep model was first introduced to describe the long-term deformation of geosynthetics,which is a function of elapsed time and two empirical parameters a and b.The conventional creep tests with three different tensile loads(Pr)were conducted on two uniaxial geogrids to determine their creep behavior,as well as the a-Pr and b-Pr relationships.The test results show that increasing Pr accelerates the development of creep deformation for both geogrids.Meanwhile,a and b respectively show exponential and negatively linear relationships with Pr,which were confirmed by abundant experimental data available in other studies.Based on the above creep model and relationships,an accurate and reliable analytical model was then proposed for predicting the time-dependent d of GRS walls with modular block facing,which was further validated using a relevant numerical investigation from the previous literature.Performance evaluation and comparison of the proposed model with six available prediction models were performed.Then a parametric study was carried out to evaluate the effects of wall height,vertical spacing of geogrids,unit weight and internal friction angle of backfills,and factor of safety against pullout on d at the end of construction and 5 years afterwards.The findings show that the creep effect not only promotes d but also raises the elevation of the maximum d along the wall height.Finally,the limitations and application prospects of the proposed model were discussed and analyzed. 展开更多
关键词 GEOSYNTHETICS Creep behavior Geosynthetics-reinforced soil(GRS)walls Lateral deformation Analytical model
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Extension of analytical model of solid-state phase transformation 被引量:1
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作者 姜伊辉 刘峰 宋韶杰 《Transactions of Nonferrous Metals Society of China》 SCIE EI CAS CSCD 2012年第5期1176-1181,共6页
Departing from an analytical phase transformation model, a new analytical approach to deduce transformed fraction for non-isothermal phase transformation was developed. In the new approach, the effect of the initial t... Departing from an analytical phase transformation model, a new analytical approach to deduce transformed fraction for non-isothermal phase transformation was developed. In the new approach, the effect of the initial transformation temperature and the accurate "temperature integral" approximations are incorporated to obtain an extended analytical model. Numerical approach demonstrated that the extended analytical model prediction for transformed fraction and transformation rate is in good agreement with the exact numerical calculation. The new model can describe more precisely the kinetic behavior than the original analytical model, especially for transformation with relatively high initial transformation temperature. The kinetic parameters obtained from the new model are more accurate and reasonable than those from the original analytical model. 展开更多
关键词 non-isothermal transformation analytical model initial transformation temperature APPROXIMATION
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A Novel Interconnect Crosstalk Parallel RLC Analyzable Model Based on the 65nm CMOS Process
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作者 朱樟明 钱利波 杨银堂 《Journal of Semiconductors》 EI CAS CSCD 北大核心 2008年第3期423-427,共5页
Based on the 65nm CMOS process,a novel parallel RLC coupling interconnect analytical model is presented synthetically considering parasitical capacitive and parasitical inductive effects. Applying function approximati... Based on the 65nm CMOS process,a novel parallel RLC coupling interconnect analytical model is presented synthetically considering parasitical capacitive and parasitical inductive effects. Applying function approximation and model order-reduction to the model, we derive a closed-form and time-domain waveform for the far-end crosstalk of a victim line under ramp input transition. For various interconnect coupling sizes, the proposed RLC coupling analytical model enables the estimation of the crosstalk voltage within 2.50% error compared with Hspice simulation in a 65nm CMOS process. This model can be used in computer-aided-design of nanometer SOCs. 展开更多
关键词 nanometer CMOS interconnect coupling crosstalk parallel RLC analytical model parameter extraction function approximation
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Analytical model for power dissipation in cell membranes in suspensions exposed to electric fields
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作者 覃玉荣 江悦华 赖声礼 《Journal of Southeast University(English Edition)》 EI CAS 2005年第2期145-148,共4页
Due to interaction among cells, it is too complex to build an exactanalytical model for the power dissipation within the cell membrane in suspensions exposed toexternal fields. An approximate equivalence method is pro... Due to interaction among cells, it is too complex to build an exactanalytical model for the power dissipation within the cell membrane in suspensions exposed toexternal fields. An approximate equivalence method is proposed to resolve this problem. Based on theeffective medium theory, the transmembrane voltage on cells in suspensions was investigated by theequivalence principle. Then the electric field in the cell membrane was determined. Finally,analytical solutions for the power dissipation within the cell membrane in suspensions exposed toexternal fields were derived according to the Joule principle. The equations show that theconductive power dissipation is predominant within the cell membrane in suspensions exposed todirect current or lower frequencies, and dielectric power dissipation prevails at high frequenciesexceeding the relaxation frequency of the exposed membrane. 展开更多
关键词 power dissipation analytical model cell suspension external electricfields
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An Analytical Model of Electron Mobility for Strained-Si Channel nMOSFETs 被引量:1
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作者 李小健 谭耀华 田立林 《Journal of Semiconductors》 EI CAS CSCD 北大核心 2008年第5期863-868,共6页
An analytical model of electron mobility for strained-silicon channel nMOSFETs is proposed in this paper. The model deals directly with the strain tensor,and thus is independent of the manufacturing process. It is sui... An analytical model of electron mobility for strained-silicon channel nMOSFETs is proposed in this paper. The model deals directly with the strain tensor,and thus is independent of the manufacturing process. It is suitable for (100〉/ 〈110) channel nMOSFETs under biaxial or (100〉/〈 110 ) uniaxial stress and can be implemented in conventional device simulation tools . 展开更多
关键词 STRAINED-SI electron mobility analytical model NMOSFET uniaxial stress/strain
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Semi analytical modeling of springback in arc bending and effect of forming load 被引量:8
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作者 S.K.PANTHI N.RAMAKRISHNAN 《Transactions of Nonferrous Metals Society of China》 SCIE EI CAS CSCD 2011年第10期2276-2284,共9页
The analytical model for springback in arc bending of sheet metal can serve as an excellent design support.The amount of springback is considerably influenced by the geometrical and the material parameters associated ... The analytical model for springback in arc bending of sheet metal can serve as an excellent design support.The amount of springback is considerably influenced by the geometrical and the material parameters associated with the sheet metal.In addition,the applied load during the bending also has a significant influence.Although a number of numerical techniques have been used for this purpose,only few analytical models that can provide insight into the phenomenon are available.A phenomenological model for predicting the springback in arc bending was proposed based on strain as well as deformation energy based approaches.The results of the analytical model were compared with the published experimental as well as FE results of the authors,and the agreement was found to be satisfactory. 展开更多
关键词 SPRINGBACK sheet metal bending finite element simulation analytical modeling
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Efficient Mass Transport and Electrochemistry Coupling Scheme for Reliable Multiphysics Modeling of Planar Solid Oxide Fuel Cell Stack
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作者 李昂 林子敬 《Chinese Journal of Chemical Physics》 SCIE CAS CSCD 2017年第2期139-146,I0001,共9页
A multiphysics model for a production scale planar solid oxide fuel cell (SOFC) stack is important for the SOFC technology, but usually requires an unpractical amount of computing resource. The major cause for the h... A multiphysics model for a production scale planar solid oxide fuel cell (SOFC) stack is important for the SOFC technology, but usually requires an unpractical amount of computing resource. The major cause for the huge computing resource requirement is identified as the need to solve the cathode O2 transport and the associated electrochemistry. To overcome the technical obstacle, an analytical model for solving the O2 transport and its coupling with the electrochemistry is derived. The analytical model is used to greatly reduce the numerical mesh complexity of a multiphysics model. Numerical test shows that the analytical approximation is highly accurate and stable. A multiphysics numerical modeling tool taking advantage of the analytical solution is then developed through Fluent@. The numerical efficiency and stability of this modeling tool are further demonstrated by simulating a 30- cell stack with a production scale cell size. Detailed information about the stack performance is revealed and briefly discussed. The multiphysics modeling tool can be used to guide the stack design and select the operating parameters. 展开更多
关键词 Simulation Mesh setting Analytical model Computational efficiency Numerical stability
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Transport model for shale gas well leakage through the surrounding fractured zones of a longwall mine 被引量:5
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作者 Kayode M.Ajayi Steven J.Schatzel 《International Journal of Mining Science and Technology》 SCIE EI CSCD 2020年第5期635-641,共7页
The environmental risks associated with casing deformation in unconventional(shale)gas wells positioned in abutment pillars of longwall mines is a concern to many in the mining and gas well industry.With the recent in... The environmental risks associated with casing deformation in unconventional(shale)gas wells positioned in abutment pillars of longwall mines is a concern to many in the mining and gas well industry.With the recent interest in shale exploration and the proximity to longwall mining in Southwestern Pennsylvania,the risk to mine workers could be catastrophic as fractures in surrounding strata create pathways for transport of leaked gases.Hence,this research by the National Institute for Occupational Safety and Health(NIOSH)presents an analytical model of the gas transport through fractures in a low permeable stratum.The derived equations are used to conduct parametric studies of specific transport conditions to understand the influence of stratum geology,fracture lengths,and the leaked gas properties on subsurface transport.The results indicated that the prediction that the subsurface gas flux decreases with an increase in fracture length is specifically for a non-gassy stratum.The sub-transport trend could be significantly impacted by the stratum gas generation rate within specific fracture lengths,which emphasized the importance of the stratum geology.These findings provide new insights for improved understanding of subsurface gas transport to ensure mine safety. 展开更多
关键词 Subsurface gas transport Longwall mining Shale gas well Analytical modeling Environmental risk Shale gas casing failure
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AN ANALYTICAL SOLUTION FOR THE MODEL OF DRUG DISTRIBUTION AND ABSORPTION IN SMALL INTESTINE 被引量:4
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作者 Xu Mingyu (Department of Mathematics,Shandong University,Jinan,250100,China) 《Acta Mechanica Sinica》 SCIE EI CAS CSCD 1990年第4期316-323,共8页
According to the physiological and anatomical characteristics of small intestine,neglecting the effect of its motility on the distribution and absorption of drug and nutrient,Y.Miyamoto et al.proposed a model of two-d... According to the physiological and anatomical characteristics of small intestine,neglecting the effect of its motility on the distribution and absorption of drug and nutrient,Y.Miyamoto et al.proposed a model of two-dimensional laminar flow in a circular porous tube with permeable wall and calculated the concentration profile of drugby numerical analysis.In this paper,we give a steady-state analytical solution of the above model including deactivationterm.The obtained results are in agreement with the results of their numerical analysis. Moreover the analytical solution presented in this paper reveals the relation among the physiological parameters of the model and describes the basic absorption rule of drug and nutrient through the intestinal wall and hence pro- vides a theoretical basis for determining the permeability and reflection coefficient through in situ experiments. 展开更多
关键词 drug and nutrient distribution and absorption in small intestine model and analytical solution
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Fluid solid coupling model based on endochronic damage for roller compacted concrete dam 被引量:4
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作者 顾冲时 魏博文 +1 位作者 徐镇凯 刘大文 《Journal of Central South University》 SCIE EI CAS 2013年第11期3247-3255,共9页
According to the characteristics of thin-layer rolling and pouting construction technology and the complicated mechanical behavior of the roller compacted concrete dam (RCCD) construction interface, a constitutive m... According to the characteristics of thin-layer rolling and pouting construction technology and the complicated mechanical behavior of the roller compacted concrete dam (RCCD) construction interface, a constitutive model of endochronic damage was established based on the endochronic theory and damage mechanics. The proposed model abandons the traditional concept of elastic-plastic yield surface and can better reflect the real behavior of rolled control concrete. Basic equations were proposed for the fluid-solid coupling analysis, and the relationships among the corresponding key physical parameters were also put forward. One three-dimensional finite element method (FEM) program was obtained by studying the FEM type of the seepage-stress coupling intersection of the RCCD. The method was applied to an actual project, and the results show that the fluid-solid interaction influences dam deformation and dam abutment stability, which is in accordance with practice. Therefore, this model provides a new method for revealing the mechanical behavior of RCCD under the coupling field. 展开更多
关键词 roller compacted concrete dam endochronic damage fluid-solid coupling analytical model
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A new analytical model for thermal stresses in multi-phase materials and lifetime prediction methods 被引量:3
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作者 Ladislav Ceniga 《Acta Mechanica Sinica》 SCIE EI CAS CSCD 2008年第2期189-206,共18页
Based on the fundamental equations of the mechanics of solid continuum, the paper employs an analytical model for determination of elastic thermal stresses in isotropic continuum represented by periodically distribute... Based on the fundamental equations of the mechanics of solid continuum, the paper employs an analytical model for determination of elastic thermal stresses in isotropic continuum represented by periodically distributed spherical particles with different distributions in an infinite matrix, imaginarily divided into identical cells with dimensions equal to inter-particle distances, containing a central spherical particle with or without a spherical envelope on the particle surface. Consequently, the multi-particle-(envelope)- matrix system, as a model system regarding the analytical modelling, is applicable to four types of multi-phase materials. As functions of the particle volume fraction v, the inter-particle distances dl, d2, d3 along three mutually per- pendicular axes, and the particle and envelope radii, R1 and R2, respectively, the thermal stresses within the cell, are originated during a cooling process as a consequence of the difference in thermal expansion coefficients of phases rep- resented by the matrix, envelope and particle. Analytical-(experimental)-computational lifetime prediction methods for multi-phase materials are proposed, which can be used in engineering with appropriate values of parameters of real multi-phase materials. 展开更多
关键词 Thermal stress Multi-phase material Lifetime prediction Analytical modelling
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Quasi-two-dimensional threshold voltage model for junctionless cylindrical surrounding gate metal-oxide-semiconductor field-effect transistor with dual-material gate 被引量:3
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作者 李聪 庄奕琪 +1 位作者 张丽 靳刚 《Chinese Physics B》 SCIE EI CAS CSCD 2014年第1期494-499,共6页
Based on the quasi-two-dimensional (2D) solution of Poisson's equation in two continuous channel regions, an an- alytical threshold voltage model for short-channel junctionless dual-material cylindrical surrounding... Based on the quasi-two-dimensional (2D) solution of Poisson's equation in two continuous channel regions, an an- alytical threshold voltage model for short-channel junctionless dual-material cylindrical surrounding-gate (JLDMCSG) metal-oxide-semiconductor field-effect transistor (MOSFET) is developed. Using the derived model, channel potential dis- tribu6o~, h~riz~atal electrical ~eld distributign, a~d threshold v~ltage roll-off of ~LDMCSG MOSFET are in,instigated. Compared with junctionless single-material CSG (JLSGCSG) MOSFET~ JLDMCSG MOSFET can effectively suppress short-channel effects and simultaneously improve carrier transport efficiency. It is also revealed that threshold voltage roll- off of JLDMCSG can be significantly reduced by adopting both a small oxide thickness and a small silicon channel radius. The model is verified by comparing its calculated results with that obtained from three-dimensional (3D) numerical device simulator ISE. 展开更多
关键词 junctionless device surrounding-gate MOSFET dual-material gate analytical model
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Simple analytical model for depth-averaged velocity in meandering compound channels 被引量:3
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作者 Yuqi SHAN Chao LIU Maokang LUO 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI CSCD 2015年第6期707-718,共12页
A simple but applicable analytical model is presented to predict the lat- eral distribution of the depth-averaged velocity in meandering compound channels. The governing equation with curvilinear coordinates is derive... A simple but applicable analytical model is presented to predict the lat- eral distribution of the depth-averaged velocity in meandering compound channels. The governing equation with curvilinear coordinates is derived from the momentum equation and the flow continuity equation under the condition of quasi-uniform flow. A series of experiments are conducted in a large-scale meandering compound channel. Based on the experimental data, a magnitude analysis is carried out for the governing equation, and two lower-order shear stress terms are ignored. Four groups of experimental data from different sources are used to verify the predictive capability of this model, and good predictions are obtained. Finally, the determination of the velocity parameter and the limitation of this model are discussed. 展开更多
关键词 meandering compound channel simple analytical model lateral distribu-tion method physical experiment depth-averaged velocity
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Development of fatigue analytical model of automotive dynamic parts made of semi-solid aluminum alloys 被引量:2
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作者 Kh.A.RAGAB A.BOUAICHA M.BOUAZARA 《Transactions of Nonferrous Metals Society of China》 SCIE EI CAS CSCD 2018年第6期1226-1232,共7页
Automotive suspension control arm is used to join the steering knuckle to the vehicle frame. Its main function is to provide stability under fatigue stresses of loading and unloading in accelerating and braking. Conve... Automotive suspension control arm is used to join the steering knuckle to the vehicle frame. Its main function is to provide stability under fatigue stresses of loading and unloading in accelerating and braking. Conventionally, these parts were made of steel; however, fuel consumption and emission of polluting gases are strongly dependent on car weight. Recently, there is a try to develop and design much lighter and better fatigue resistant metal of semisolid A357 aluminum alloys. This work aims at a better understanding of identifying the fatigue strain-hardening parameters used for determining fatigue characteristics of aluminum suspension control arm using analytical and mathematical modeling. The most judicious method is to perform the fatigue tests on standardized test pieces and then plot two Wohler curves, mainly number of cycles as a function of the stress and as a function of the deformation. From these curves and following a certain mathematical and analytical methods, certain curves are plotted and then all of these coefficients are drawn. The new calculated parameters showed a clear improvement of the fatigue curve towards the experimental curve performed on the samples of aluminum alloy A357 compared with the same analytical curve for the same alloy. 展开更多
关键词 FATIGUE aluminum SEMISOLID analytical modeling qualitative analysis
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Investigation and Comparison of Two Models in Galvanic Coupling Intra-body Communications 被引量:3
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作者 PUN Siohang GAO Yueming +3 位作者 WONG Kuokkit MAK Pengun VAI Mangi DU min 《China Communications》 SCIE CSCD 2010年第4期35-40,共6页
Intra-body communication (IBC) is a new,emerging,short-range and human body based communication methodology.It is a technique to network various devices on human body,by utilizing the conducting properties of human ti... Intra-body communication (IBC) is a new,emerging,short-range and human body based communication methodology.It is a technique to network various devices on human body,by utilizing the conducting properties of human tissues,suitable for currently fast developing Body area network (BAN)/Body sensor network (BSN).IBC is believed to have advantages in power consumption,electromagnetic radiation,interference from external electromagnetic noise,security,and restriction in spectrum resource.In this article,the authors develop two models,which are analytical and empirical approaches,for comparing the performance and accuracy of IBC on a human limb.Through in vivo experiment of five volunteers,both models basically match with the experimental result with equivalent circuit model superior than electromagnetic model in term of maximum error. 展开更多
关键词 Intra-body Communication Analytical model Empirical circuit model
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A capture probability analytic model for the electromagnetic launched anti-torpedo torpedo 被引量:2
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作者 Bao-qi Wu Xiao-cun Guan +1 位作者 Shao-hua Guan Jing-bin Shi 《Defence Technology(防务技术)》 SCIE EI CAS CSCD 2022年第2期261-270,共10页
With the unique characteristics,electromagnetic launch technology is applicable to launch shipborne anti-torpedo torpedo(ATT).This paper aims to establish an analytic model to pre-evaluate the capture probability of t... With the unique characteristics,electromagnetic launch technology is applicable to launch shipborne anti-torpedo torpedo(ATT).This paper aims to establish an analytic model to pre-evaluate the capture probability of the electromagnetic launched ATT.The mathematics model of the multi-stage coilgun and the trajectory of the ATT is established for analysis.The influence factors of the capture probability are analyzed respectively,including the entry point dispersion of the ATT and the position dispersion of the incoming torpedo.Adopting the advanced angle interception mode,the ATT search model is obtained according to the positional relationship,and the course error is synthetically calculated according to the differentiation of implicit function.A geometric method to calculate the integral boundaries of the probability density function is proposed,based on the relative motion of the ATT and the incoming target.To verify the proposed integral model,the digital simulation and comparison is conducted.The results reveal that the variation trends and the calculation value of the proposed analytic model are coincident with the statistic results from Monte Carlo method.And implications of the results regarding the analytic model are discussed. 展开更多
关键词 Electromagnetic launch Anti-torpedo torpedo Analytic model Dispersion variance Integral boundary
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Modeling approaches to pressure balance dynamic system in shield tunneling 被引量:2
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作者 李守巨 于申 屈福政 《Journal of Central South University》 SCIE EI CAS 2014年第3期1206-1216,共11页
In order to deal with modeling problem of a pressure balance system with time-delay, nonlinear, time-varying and uncertain characteristics, an intelligent modeling procedure is proposed, which is based on artificial n... In order to deal with modeling problem of a pressure balance system with time-delay, nonlinear, time-varying and uncertain characteristics, an intelligent modeling procedure is proposed, which is based on artificial neural network(ANN) and input-output data of the system during shield tunneling and can overcome the precision problem in mechanistic modeling(MM) approach. The computational results show that the training algorithm with Gauss-Newton optimization has fast convergent speed. The experimental investigation indicates that, compared with mechanistic modeling approach, intelligent modeling procedure can obviously increase the precision in both soil pressure fitting and forecasting period. The effectiveness and accuracy of proposed intelligent modeling procedure are verified in laboratory tests. 展开更多
关键词 intelligent modeling neural network pressure balance system excavation chamber analytically modeling approach
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Analytical modeling of complex contact behavior between rock mass and lining structure 被引量:3
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作者 Dingli Zhang Tong Xu +3 位作者 Huangcheng Fang Qian Fang Liqiang Cao Ming Wen 《Journal of Rock Mechanics and Geotechnical Engineering》 SCIE CSCD 2022年第3期813-824,共12页
Based on the nondestructive test data of operating railway tunnels in China, this paper summarizes the basic characteristics of the complex contact behavior between the rock mass and lining structure. The contact mode... Based on the nondestructive test data of operating railway tunnels in China, this paper summarizes the basic characteristics of the complex contact behavior between the rock mass and lining structure. The contact modes are classified into dense contact, local non-contact, and loose contact. Subsequently, the corresponding mechanical model for each contact mode is developed according to its mechanical characteristics using the complex variable method. In the proposed mechanical model, a special algorithm is introduced to detect whether the local non-contact zone is re-contacted. Besides, a novel conformal mapping method is also proposed to accurately calculate the mechanical response of the concrete lining. Finally, the accuracy of the proposed method is verified by comparing it with the finite element method(FEM). Several parameter investigations are conducted to analyze the effects of different contact modes on the rock-lining interaction. The results show that:(i) the height of the local noncontact area does not have a significant effect on the contact stress distribution if no re-contact occurs;(ii) backfill grouting can reduce the local stress concentration caused by poor contact modes;and(iii) reducing the friction coefficient of the interface can lead to a more uniform distribution of internal forces in the concrete lining. 展开更多
关键词 Loose contact Local non-contact Tunnel lining Complex variable method Analytical mechanical model
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Subdomain Model for Predicting Armature Reaction Field of Dual-Stator Consequent-Pole PM Machines Accounting for Tooth-Tips 被引量:5
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作者 Minchen Zhu Lijian Wu +1 位作者 Youtong Fang Thierry Lubin 《CES Transactions on Electrical Machines and Systems》 CSCD 2019年第2期143-150,共8页
This paper presents an exact analytical subdomain model of dual-stator consequent-pole permanent-magnet(DSCPPM)machines accounting for tooth-tips,which can accurately predict the armature reaction field distribution i... This paper presents an exact analytical subdomain model of dual-stator consequent-pole permanent-magnet(DSCPPM)machines accounting for tooth-tips,which can accurately predict the armature reaction field distribution in DSCPPM machines.In the proposed subdomain model,the field domain is composed of four types of sub-regions,viz.magnets,outer/inner air gaps,slots and slot openings.The analytical expressions of vector potential in each sub-region are determined by boundary and interface conditions.In comparison to the analytically predicted results,the corresponding flux density field distributions computed by finite element(FE)method are analyzed,which confirms the excellent accuracy of the developed subdomain model. 展开更多
关键词 Analytical model rmature reaction consequent-pole dual-stator permanent-magnet machines subdomain model.
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ANALYTICAL MODEL ALGORITHM FOR DYNAMICS OF ROBOTIC MANIPULATORS 被引量:6
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作者 Xu Liju Fan ShouwenChengdu University of Science and TechnologyChen YongSouthwest Jiaotong University 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 1995年第2期168-171,共4页
A simple analytical model method for dynamics of robotic manipulators is proposed.Problem of deriving model matrix elements is transformed into problem of solving for driving forceand driving torque under specified co... A simple analytical model method for dynamics of robotic manipulators is proposed.Problem of deriving model matrix elements is transformed into problem of solving for driving forceand driving torque under specified condition by recursive dynamic equations. Expressions of reaction force in arbitrary joint in numeric-symbolic form are also derived. The properties of modelmatrices are given. Corresponding software which can recognize and manipulate symbols is developed and can be used to generate model and real-time code of robotic dynamics. 展开更多
关键词 Robotic manipulator Analytical model
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