WRIST FORCE SENSOR'S DYNAMIC PERFORMANCE CALIBRATION BASED ON NEGATIVE STEP RESPONSE

Negative step response experimental method is used in wrist force sensor＇s dynamic performance calibration. The exciting manner of negative step response method is the same as wrist force sensor＇s load in working. This experimental method needn＇t special experiment equipments. Experiment＇s dynamic repeatability is good. So wrist force sensor＇s dynamic performance is suitable to be calibrated by negative step response method. A new correlation wavelet transfer method is studied. By wavelet transfer method, the signal is decomposed into two dimensional spaces of time-frequency. So the problem of negative step exciting energy concentrating in the low frequency band is solved. Correlation wavelet transfer doesn＇t require that wavelet primary function be orthogonal and needn＇t wavelet reconstruction. So analyzing efficiency is high. An experimental bench is designed and manufactured to load the wrist force sensor orthogonal excitation force/moment. A piezoelectric force sensor is used to setup soft trigger and calculate the value of negative step excitation. A wrist force sensor is calibrated. The pulse response function is calculated after negative step excitation and step response have been transformed to positive step excitation and step response. The pulse response function is transferred to frequency response function. The wrist force sensor＇s dynamic characteristics are identified by the frequency response function.

ENTROPY CONSISTENCY OF LARGE TIME STEP SCHEMES FOR ISENTROPIC EQUATIONS OF GAS DYNAMICS

In this paper, We show for isentropic equations of gas dynamics with adiabatic exponent gamma=3 that approximations of weak solutions generated by large time step Godunov's scheme or Glimm's scheme give entropy solution in the limit if Courant number is less than or equal to 1.

Analytical study of subcritical crack growth under mode I loading to estimate the roof durability in underground excavation

The long-term stability of the roof is particularly important in designing underground rock structures.To estimate the durability of roof strata in underground excavation,a computation scheme of subcritical crack growth is proposed in this study.By adopting the proposed method,the potential collapse location of strata is derivable in accordance with a static model,the durability of roof strata can be estimated,a dynamic time step control strategy is achieved to balance the accuracy and speed of computing,and the initial crack size of rock can be estimated.In addition to the above,a mechanical model of underground excavation with non-uniformly distributed loads and partially yielded foundation is presented as the prototypical case.A set of case studies is carried out that showcase a power correlation between applied stress and roof durability.The allowable applied tensile stress for a 100-year life cycle is about 76%of the tensile strength.By using the proposed subcritical crack growth computation scheme,the roof stability in an underground excavation can be identified not only from the spatial view but also from the temporal perspective.

Investigation into improving the efficiency and accuracy of CFD/DEM simulations

The Euler-Lagrange approach combined with a discrete element method has frequently been applied to elucidate the hydrodynamic behavior of dense fluid-solid flows in fluidized beds. In this work, the efficiency and accuracy of this model are investigated. Parameter studies are performed; in these studies, the stiffness coefficient, the fluid time step and the processor number are varied under conditions with different numbers of particles and different particle diameters. The obtained results are compared with measurements to derive the optimum parameters for CFD/DEM simulations. The results suggest that the application of higher stiffness coefficients slightly improves the simulation accuracy. However, the average computing time increases exponentially. At larger fluid time steps, the results show that the average computation time is independent of the applied fluid time step whereas the simulation accuracy decreases greatly with increasing the fluid time step. The use of smaller time steps leads to negligible improvements in the simulation accuracy but results in an exponential rise in the average computing time. The parallelization accelerates the DEM simulations if the critical number for the domain decomposition is not reached. Above this number, the performance is no longer proportional to the number of processors. The critical number for the domain decomposition depends on the number of particles. An increase in solid contents results in a shift of the critical decomposition number to higher numbers of CPUs.