Kinematics and dynamics analysis of a 3-7R parallel decoupling mechanism

One kind of movable-pair analysis method is adopted to analyze the configuration of a 3-7R （revolute-pair） parallel decoupling mechanism, and the mechanism＇s characteristics are summarized. The mechanism has three orthogonal distributional branch-chains, and all movable pairs are rotational joints. The movable platform of the mechanism has x, y, z translational decoupling directions. Furthermore, in order to verify the mechanism＇s decoupling characteristics, the mechanism＇s kinematics analysis is solved, and the mechanism＇s direct/inverse kinematics model, input/output velocities and accelerations are deduced, which confirm its decoupling movement characteristics. Finally, one kind of mechanism link decomposed-integrated approach is adopted, and the mechanism＇s dynamics model is completed with the Lagrange method, which also proves its decoupling force characteristics. All of these works provide significant theory for the further study of the mechanism＇s control strategy, design, path planning etc.

Elastic responses of underground circular arches considering dynamic soil-structure interaction:A theoretical analysis

Due to the wide applications of arches in underground protective structures, dynamic analysis of circular arches including soil-structure interactions is important. In this paper, an exact solution of the forced vibration of circular arches subjected to subsurface denotation forces is obtained. The dynamic soil-structure interaction is considered with the introduction of an interfacial damping between the structure element and the surrounding soil into the equa- tion of motion. By neglecting the influences of shear, rotary inertia and tangential forces and assuming the arch incompressible, the equations of motion of the buried arches were set up. Analytical solutions of the dynamic responses of the protective arches were deduced by means of modal super- position. Arches with different opening angles, acoustic impedances and rise-span ratios were analyzed to discuss their influences on an arch. The theoretical analysis suggests blast loads for elastic designs and predicts the potential failure modes for buried protective arches.

Dynamics and adaptive control of a dual-arm space robot with closed-loop constraints and uncertain inertial parameters

A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane＇s equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov＇s method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.

The effect of aneurismal-wall mechanical properties on patient-specific hemodynamic simulations:two clinical case reports

Hemodynamic factors such as the wall shear stress play an important role in the pathogenesis and treatment of cerebral aneurysms. In present study, we apply computational fluid-structure interaction analyses on cerebral aneurysms with two different constitutive relations for aneurismal wall in order to investigate the effect of the aneurismal wall mechanical properties on the simulation results. We carry out these analyses by using two patient-specific models of cerebral aneurysms of different sizes located in different branches of the circle of Willis. The models are constructed from 3D rotational angiography image data and blood flow dynamics is studied under physiologically representative waveform of inflow. From the patient models analyzed in this investigation, we find that the deformations of cerebral aneurysms are very small. But due to the nonlinear character of the Navier-Stokes equations, these small deformations could have significant influences on the flow characteristics. In addition, we find that the aneurismal-wall mechanical properties have great effects on the deformation distribution of the aneurysm, which also affects the wall shear stress distribution and flow patterns. Therefore, how to define a proper constitutive relation for aneurismal wall should be considered carefully in the hemodynamic simulation.

From molecular dynamics to lattice Boltzmann:a new approach for pore-scale modeling of multi-phase flow

Most current lattice Boltzmann （LBM） models suffer from the deficiency that their parameters have to be obtained by fitting experimental results. In this paper, we propose a new method that integrates the molecular dynamics （MD） simulation and LBM to avoid such defect. The basic idea is to first construct a molecular model based on the actual components of the rock-fluid system, then to compute the interaction force between the rock and the fluid of different densities through the MD simulation. This calculated rock-fluid interaction force, combined with the fluid-fluid force determined from the equation of state, is then used in LBM modeling. Without parameter fitting, this study presents a new systematic approach for pore-scale modeling of multi-phase flow. We have validated this ap- proach by simulating a two-phase separation process and gas-liquid-solid three-phase contact angle. Based on an actual X-ray CT image of a reservoir core, we applied our workflow to calculate the absolute permeability of the core, vapor-liquid H20 relative permeability, and capillary pressure curves.

A hybrid Lagrangian-Eulerian numerical model for sea-ice dynamics

A hybrid Lagrangian - Eulerian （HLE） method is developed for sea ice dynamics, which combines the high computational efficiency of finite difference method （FDM） with the high numerical accuracy of smoothed particle hydrodynamics （SPH）. In this HLE model, the sea ice cover is represented by a group of Lagrangian ice particles with their own thicknesses and concentrations. These ice variables are interpolated to the Eularian gird nodes using the Gaussian interpolation function. The FDM is used to determine the ice velocities at Eulerian grid nodes, and the velocities of Lagrangian ice particles are interpolated from these grid velocities with the Gaussian function also. The thicknesses and concentrations of ice particles are determined based on their new locations. With the HLE numerical model, the ice ridging process in a rectangular basin is simulated, and the simulated results are validated with the analytical solution. This method is also applied to the simulation of sea ice dynamics in a vortex wind field. At last, this HLE model is applied to the Bohai Sea, and the simulated concentration, thickness and velocity match the satellite images and the field observed data well.

Roll System and Stock's Multi-parameter Coupling Dynamic Modeling Based on the Shape Control of Steel Strip

The existence of rolling deformation area in the rolling mill system is the main characteristic which dis- tinguishes the other machinery. In order to analyze the dynamic property of roll system＇s flexural deformation, it is necessary to consider the transverse periodic movement of stock in the rolling deformation area which is caused by the flexural deformation movement of roll system simul- taneously. Therefore, the displacement field of roll system and flow of metal in the deformation area is described by kinematic analysis in the dynamic system. Through intro- ducing the lateral displacement function of metal in the deformation area, the dynamic variation of per unit width rolling force can be determined at the same time. Then the coupling law caused by the co-effect of rigid movement and flexural deformation of the system structural elements is determined. Furthermore, a multi-parameter coupling dynamic model of the roll system and stock is established by the principle of virtual work. More explicitly, the cou- pled motion modal analysis was made for the roll system. Meanwhile, the analytical solutions for the flexural defor- mation movement＇s mode shape functions of rolls are discussed. In addition, the dynamic characteristic of the lateral flow of metal in the rolling deformation area has been analyzed at the same time. The establishment ofdynamic lateral displacement function of metal in the deformation area makes the foundation for analyzing the coupling law between roll system and rolling deformation area, and provides a theoretical basis for the realization of the dynamic shape control of steel strip.

A kind of noise-induced transition to noisy chaos in stochastically perturbed dynamical system

We investigate a kind of noise-induced transition to noisy chaos in dynamical systems. Due to similar phenomenological structures of stable hyperbolic attractors excited by various physical realizations from a given stationary random process, a specific Poincar6 map is established for stochastically perturbed quasi-Hamiltonian system. Based on this kind of map, various point sets in the Poincar6＇s cross-section and dynamical transitions can be analyzed. Results from the customary Duffing oscillator show that, the point sets in the Poincare＇s global cross-section will be highly compressed in one direction, and extend slowly along the deterministic period-doubling bifurcation trail in another direction when the strength of the harmonic excitation is fixed while the strength of the stochastic excitation is slowly increased. This kind of transition is called the noise-induced point-overspreading route to noisy chaos.

A fractional differential constitutive model for dynamic stress intensity factors of an anti-plane crack in viscoelastic materials

Fractional differential constitutive relationships are introduced to depict the history of dynamic stress inten- sity factors （DSIFs） for a semi-infinite crack in infinite viscoelastic material subjected to anti-plane shear impact load. The basic equations which govern the anti-plane deformation behavior are converted to a fractional wave-like equation. By utilizing Laplace and Fourier integral transforms, the fractional wave-like equation is cast into an ordinary differential equation （ODE）. The unknown function in the solution of ODE is obtained by applying Fourier transform directly to the boundary conditions of fractional wave-like equation in Laplace domain instead of solving dual integral equations. Analytical solutions of DSIFs in Laplace domain are derived by Wiener-Hopf technique and the numerical solutions of DSIFs in time domain are obtained by Talbot algorithm. The effects of four parameters α, β, b1, b2 of the fractional dif- ferential constitutive model on DSIFs are discussed. The numerical results show that the present fractional differential constitutive model can well describe the behavior of DSIFs of anti-plane fracture in viscoelastic materials, and the model is also compatible with solutions of DSIFs of anti-plane fracture in elastic materials.

EFFECT OF DYNAMIC STRAIN AGING ON LOW CYCLE FATIGUE BEHAVIOUR OF 18-8 AUSTENITIC STAINLESS STEEL

Studies were made of the symmetric tensile-compressive low cycle fatigue behaviour and the influence of dynamic strain aging(DSA)pre-treatment of 18-8 austenitic stainless steel. Within the testing amplitude range of strain.±0.5 % to±1.5 %,the three processes of cyclic hardening,cyclic saturation and cyclic softening were observed.In the same amplitude of strain,the peak stress of the samples pre-treated by DSA is higher than that of solid-solu- tion and cold working pre-treatment,but no remarkable differences of the fatigue lives of them were found.TEM observation shows that the uniform and stable dislocation networks with high density form after DSA pre-treatment,which increases the cyclic peak stress.The cyclic softening results from the low dislocation density and elongated cell structure with low energy.

Numerical investigation on the aerodynamic characteristics of high-speed train under turbulent crosswind

Increasing velocity combined with decreasing mass of modern highspeed trains poses a question about the influence of strong crosswinds on its aerodynamics. Strong crosswinds may affect the running stability of high speed trains via the amplified aerodynamic forces and moments. In this study, a simulation of turbulent crosswind flows over the leading and end cars of ICE2 highspeed train was performed at different yaw angles in static and moving ground case scenarios. Since the train aerodynamic problems are closely associated with the flows occurring around train, the flow around the train was considered as incompressible and was obtained by solving the incom pressible form of the unsteady Reynoldsaveraged Navier Stokes （RANS） equations combined with the realizable kepsilon turbulence model. Important aerodynamic coef ficients such as the side force and rolling moment coeffi cients were calculated for yaw angles ranging from 30° to 60° and compared with the results obtained from wind tunnel test. The dependence of the flow structure on yaw angle was also presented. The nature of the flow field and its structure depicted by contours of velocity magnitude and streamline patterns along the train＇s crosssection were presented for different yaw angles. In addition, the pressure coefficient around the circumference of the train at dif ferent locations along its length was computed for yaw angles of 30° and 60°, The computed aerodynamic coef ficient outcomes using the realizable kepsilon turbulencemodel were in good agreement with the wind tunnel data. Both the side force coefficient and rolling moment coeffi cients increase steadily with yaw angle till about 50° before starting to exhibit an asymptotic behavior. Contours of velocity magnitude were also computed at different cross sections of the train along its length for different yaw angles. The result showed that magnitude of rotating vortex in the lee ward side increased with increasing yaw angle, which leads to the creation of a lowpressure region in the lee ward side of the train causing high side force and roll moment. Generally, this study shows that unsteady CFD RANS methods combined with an appropriate turbulence model can present an important means of assessing the crucial aerodynamic forces and moments of a highspeed train under strong crosswind conditions.

MODELING THE STRESS-STRAIN CURVES UNDER DYNAMIC RECRYSTALLIZATION

An analytical model for dynamic recrystallization (DRX) is studied based on the relative grain size model proposed by Sakai and Jonas, and the characteristic flow behaviors under DRX are analyzed and simulated. Introducing the variation of dynamic grain size and the heterogeneous distribution of disolo- cation densities densities under DRX,a simple method for modeling and simulating DRX processes is developed by using Laplace transformation theory. The results derived from the present model agree well with the experimental results in literatures. This simulation can reproduce a number of features in DRX flow behaviors, for example,single and multiple peak flow behaviors followed by a steady state flow, the transition between them, and so on.

Obtaining vehicle parameters from bridge dynamic response:a combined semi-analytical and particle filtering approach

Dynamic load imposed on the bridge by mov- ing vehicle depends on several bridge-vehicle parameters with various uncertainties. In the present paper, particle filter technique based on conditional probability has been used to identify vehicle mass, suspension stiffness, and damping including tyre parameters from simulated bridge accelerations at different locations. A closed-form expres- sion is derived to generate independent response samples for the idealized bridge-vehicle coupled system consider- ing spatially non-homogeneous pavement unevenness. Thereafter, it is interfaced with the iterative process of particle filtering algorithm. The generated response sam- ples are contaminated by adding artificial noise in order to reflect field condition. The mean acceleration time history is utilized in particle filtering technique. The vehicle- imposed dynamic load is reconstructed with the identified parameters and compared with the simulated results. The present identification technique is examined in the presence of different levels of artificial noise with bridge response simulated at different locations. The effect of vehicle velocity, bridge surface roughness, and choice of prior probability density parameters on the efficiency of the method is discussed.

Population dynamics of Acartia pacifica (Copepoda:Calanoida):the importance of benthic-pelagic coupling

The seasonal occurrence of Acartia pacifica （ Copepoda： Calanoida） and their resting eggs in the sediment of Xiamen Bay were documented between October 2002 and September 2003. The numher of viable eggs in the sediment increased from January to May with the increase in the numher of planktonic females. When the population ofA. pacifica disappeared from the water cohinm, the number of eggs in the sediment began to decrease and reached a low value due to lack of input. The peak of nauplii abundance occurred when the hatching potential of eggs from the sediment was high under the natural environment from February to June. The hatching of resting eggs of A. pacifica was essentially temperature-dependent after suspension, while photoperied regimes had no significant effect on the hatching. The mean density of subitaneeus eggs was 1. 122 0 g/cm^3 with a standard deviation （SD） of 0. 000 2 g/cm^3. The mean density of diapause eggs was 1. 151 2 g/cm^3 with a SD of 0.000 1 g/cm^3. The sinking rates of subitaneons eggs ranged from 19.55 to 26.17 m/d, while those of diapause eggs ranged from 30.29 to 31.28 m/d. The comparison of the egg deposition time and egg hatching time suggested that in most cases virtually all subitaneous eggs of A. pacifica would settle to the bottom before their hatching even though the eggs have high potential to hatch. The evidence was provided that the seasonal dynamics of A. pacifica is accompanied by benthic-pelagic coupling.

Study on the Factors to Influence Dynamic Heat - moisture Comfort of Summer Clothing Fabrics

In this paper, the factors to influence the dynamic heat - moisture comfort of summer clothing fabrics have been studied. It is pointed out that, when the wind speed outside is high, or the air permeability is very good, the sweat of human body will evaporate mainly through turbulent diffusion. Because of the rapid sweat evaporation, human body will feel cold, and then, the difference in temperature and humidity of the micro - climatic section will be very slight. On the contrary, when the wind speed outside is slow or the air permeability is unsatisfactory, the sweat of human body will evaporate mainly through molecular diffusion, and in this case, the humidity of the micro - climatic section will be depended on the hygroscopicity of the fabric, that’ s to say, the better the hygroscopicity, the lower the humidity. It is difficult for pure wool fabric to loss heat because of its giving out much heat during the course of moisture - absorption in the initial stages of sweating. For pure polyester fabric,

Assessing dynamic modulus properties for typical asphalt mixtures in Jiangsu

To investigate the validity of two dynamic modulus predictive models（ Witczak 1-37 A viscosity-based model and Witczak 1-40 D shear modulus-based model） in the context of Jiangsu, and evaluate the effect of different mixture design variables（ aggregate gradations, binder type, and volumetric properties） on dynamic modulus E＊, asphalt mixtures commonly used in the local surface layer, including Sup-13 and AC-13, are prepared in the laboratory and their dynamic modulus E＊values are predicted based on the above mentioned models. The corresponding asphalt tests, including viscosity and dynamic shear modulus tests, are also carried out to obtain the prediction model parameters. The test results showthat binder type and asphalt content have a significant impact on dynamic modulus.There is a good correlation between the E＊values based on above two predictive models and the measured E＊, while a relatively lower bias can be expected from Witczak 1-37 A model. The test results can be used for the calibration of dynamic modulus with higher accuracy.

Longitudinal dynamics and energy analysis for heavy haul trains

Whole trip longitudinal dynamics and energy analysis of heavy haul trains are required by operators and manufacturers to enable optimisation of train controls and rolling stock components. A new technology named train dynamics and energy analyser/train simulator （TDEAS） has been developed by the State Key Laboratory of Traction Power in China to perform detailed whole trip longitudinal train dynamics and energy analyses. Facilitated by a controller user interface and a graphic user interface, the TDEAS can also be used as a train driving simulator. This paper elaborates the modelling of three primary parts in the TDEAS, namely wagon connection systems, air brake systems and train energy components. TDEAS uses advanced wedge-spring draft gear models that can simulate a wider spectrum of friction draft gear behaviour. An effective and efficient air brake model that can simulate air brake systems in various train configurations has been integrated. In addition, TDEAS simulates the train energy on the basis of a detailed longitudinal train dynamics simulation, which enables a further perspective of the train energy composition and the overall energy consumption. To demonstrate the validity of the TDEAS, a case study was carried out on a 120-km-long Chinese railway. The results show that the employment of electric locomotives with regenerative braking could bring considerable energy benefits. Nearly 40 % of the locomotive energy usage could be collected from the dynamic brake system. Most of tractive energy was dissipated by propulsion resistance that accounted for 42.48 % of the total energy. Only a small amount of tractive energy was dissipated by curving resistance, air brake and draft gear systems.

Optimization of the carrier tracking loop for GPS high dynamic receivers

A carrier tracking loop which can adjust the loop parameters adaptively is proposed for high dynamic application. Three modules, called the α-β-γT filter model, adaptive loop structure mod- el and adaptive loop bandwidth model respectively, are added in the presented tracking loop com- pared with the traditional carrier tracking loop based on the second-order frequency lock loop （FLL） assisting third-order phase lock loop （PLL） loop filter. And the optimization methods for the track- ing bandwidth and the carrier loop order are analyzed. The real-time estimation methods of the dy- namic parameters, the velocity, acceleration and jerk along the line of sight （LOS） between the sat- ellite and the receiver＇ s antenna, and the measurement parameters are discussed based on the pres- ented α-β-γ filter algorithm. A method is introduced to improve the filter＇ s dynamic response to meet high dynamic application by self-adjusted α-β-γ filter coefficient used in the tracking loop. The performance of three cases with different carrier tracking loop is compared by simulation.

Dynamic recrystallization behavior of 35CrMo structural steel

The dynamic recrystallization behavior of 35CrMo steel was studied with compression test in the temperature range of 1 223 1 423 K and the strain rate range of 0.01 10.00 s -1 . The initiation and evolution of dynamic recrystallization were investigated with microstructure analysis and then the critical strain ε c for dynamic recrystallization initiation, the strain for maximum softening rate ε * and the steady strain ε s were obtained to be 2.92×10 -3 Z 0.1381 , 1.60×10 -3 Z 0.178 0 and 3.26×10 -2 × Z 0.097 2 respectively by analysis of work hardening rate strain θ ε curves, where Z is the Zener Hollomon parameter. The dynamic recrystallization fraction was determined using recrystallization theory, and the effects of initial grain size, strain rate and deformated temperature on the dynamic recrystallization kinetics were investigated. The results show: X DRX =1- exp(-3.23( ε-ε cε s-ε c ) 2.28 ), the dynamic recrystallization fraction is slightly delayed due to the somewhat larger initial grain size and markedly delayed with the decrease of temperature. On the other hand, it is significantly accelerated with the increase of the strain rate. Finally, the relationships between the initiation time, ending time of dynamic recrystallization and the deformed temperature were analyzed in detail.

Nonlinear dynamic response of beam and its application in nanomechanical resonator

Nonlinear dynamic response of nanomechanical resonator is of very important characteristics in its application. Two categories of the tension-dominant and curvaturedominant nonlinearities are analyzed. The dynamic nonlinearity of four beam structures of nanomechanical resonator is quantitatively studied via a dimensional analysis approach. The dimensional analysis shows that for the nanomechanical resonator of tension-dominant nonlinearity, its dynamic nonlinearity decreases monotonically with increasing axial loading and increases monotonically with the increasing aspect ratio of length to thickness; the dynamic nonlinearity can only result in the hardening effects. However, for the nanomechanical resonator of the curvature-dominant nonlinearity, its dynamic nonlinearity is only dependent on axial loading. Compared with the tension-dominant nonlinearity, the curvature-dominant nonlinearity increases monotonically with increasing axial loading; its dynamic nonlinearity