Research on the Structural Rigidity Characteristics of a Reconfigurable TBM Thrust Mechanism

To improve the adaptability of TBMs in diverse geological environments,this paper proposes a reconfigurable Type-V thrust mechanism(V-TM)with rearrangeable working states,in which structural stiffness can be automatically altered during operation.Therefore,millions of configurations can be obtained,and thousands of instances of working status per configuration can be set respectively.Nonetheless,the complexity of configurations and diversity of working states contributes to further complications for the structural stiffness algorithm.This results in challenges such as difficulty calculating the payload compliance index and the environment adaptability index.To solve this problem,we use the configuration matrix to describe the relationship between propelling jacks under reconfiguration and adopt pattern vectors to describe the working state of each hydraulic cylinder.Then,both the dynamic compatible equation between propeller forces of the hydraulic cylinders and driving forces,and the kinematic harmonizing equation between the hydraulic cylinder displacements and their deformations are established.Next,we derive the stiffness analytical equation using Hooke’s law and the Jacobian Matrix.The proposed approach provides an effective algorithm to support structural rigidity analysis,and lays a solid theoretical foundation for calculating the performance indexes of the V-TM.We then analyze the rigidity characteristics of typical configurations under different working states,and obtain the main factors affecting structural stiffness of the V-TM.The results show the deviation degree of structural parameters in hydraulic cylinders within the same group,and the working status of propelling jacks.Finally,our constructive conclusions contribute valuable information for matching and optimization by drawing on the factors that affect the structural rigidity of the V-TM.

带柔性部件飞行器刚性耦合系数矩阵优化算法

针对目前飞行器刚性耦合系数矩阵算法中按照单元节点规律排列的质量矩阵数据处理难度大,运算维度高的问题,本文提出一种非离散化方法的刚性耦合系数矩阵优化算法,利用在三维模型中可以直接获取的柔性部件质量特性,替代高维度的质量矩阵参与计算,避免了模型离散化误差,在简化刚性耦合系数计算流程的同时,具有提高计算结果准确度的效果,增强了工程设计中的便利性.

Norea矮塔斜拉桥索力优化

为确定柬埔寨Norea三跨双塔单索面混凝土矮塔斜拉桥的最优成桥索力,基于有限元模型,分别采用刚性支撑连续梁法、最小弯曲能法、影响矩阵法对成桥索力进行了分析和优化。结果表明:三种优化方法中以影响矩阵法得到的索力值效果最好,将最终优化索力值与原设计值对比,分析了斜拉桥的内力、位移以及应力变化,在恒荷载或恒荷载+附加荷载组合作用下,优化后的索力分布更加均匀,结构整体的弯矩、位移以及应力均有所减小,矮塔斜拉桥整体受力和线形更加理想。

基于分叉传递矩阵法的多跨连续刚构桥桥墩有效长度系数

桥墩的有效长度系数对桥墩的稳定性和强度十分重要。为解决桥墩的稳定性问题,本文建立了一种便于采用传递矩阵法求解的新颖力学模型,并基于该方法计算了多跨连续刚构桥的有效长度系数。首先,建立n跨刚构桥的一般力学模型,并利用传递矩阵法推导了其在考虑自重荷载情况下的平面内稳定特征方程,进而求得弹性屈曲载荷和有效长度系数,并将其与有限元法得到的结果进行对比,从而验证所提理论和方法的正确性。其次,研究了用碳纤维增强聚合物和超高性能混凝土加固桥墩时,桥墩有效长度系数的变化规律。最后,探讨了边跨与中跨之比、桥面梁刚度以及桥墩刚度对桥墩有效长度系数的影响。结果表明,增强整体结构刚度比增强局部刚度对提高稳定性更有效,桥梁边跨和中跨跨度对有效长度系数的影响较大。同时,还观察到碳纤维增强聚合物加固高度改变时,桥墩有效长度系数变化曲线产生了独特的双峰效应。

Materials and extracellular matrix rigidity highlighted in tissue damages and diseases:Implication for biomaterials design and therapeutic targets

Rigidity(or stiffness)of materials and extracellular matrix has proven to be one of the most significant extracellular physicochemical cues that can control diverse cell behaviors,such as contractility,motility,and spreading,and the resultant pathophysiological phenomena.Many 2D materials engineered with tunable rigidity have enabled researchers to elucidate the roles of matrix biophysical cues in diverse cellular events,including migration,lineage specification,and mechanical memory.Moreover,the recent findings accumulated under 3D environments with viscoelastic and remodeling properties pointed to the importance of dynamically changing rigidity in cell fate control,tissue repair,and disease progression.Thus,here we aim to highlight the works related with material/matrix-rigidity-mediated cell and tissue behaviors,with a brief outlook into the studies on the effects of material/matrix rigidity on cell behaviors in 2D systems,further discussion of the events and considerations in tissue-mimicking 3D conditions,and then examination of the in vivo findings that concern material/matrix rigidity.The current discussion will help understand the material/matrix-rigidity-mediated biological phenomena and further leverage the concepts to find therapeutic targets and to design implantable materials for the treatment of damaged and diseased tissues.

基于空间变换矩阵编程的变电工程GIM图元合规化研究

针对国内电网信息模型(Grid Information Model,GIM)建模软件众多,数据来源广泛,施工图设计过程中普遍存在图元属性不合规,导致工程模型无法与建筑信息模型(Building Information Modeling,BIM)平台兼容的问题。基于空间变换矩阵的相关理论,利用GIM标准基本图元在三维空间中的刚体特性,通过计算机编程实现变电工程GIM模型文件标准基本图元合规化,对数据来源广泛的变电站GIM文件进行快速图元合规化处理,进而提高变电工程三维设计的效率和成品质量。

Automatic Generation of Optimally Rigid Formations Using Decentralized Methods

In this paper, decentralized methods of optimally rigid graphs generation for formation control are researched. The notion of optimally rigid graph is first defined in this paper to describe a special kind of rigid graphs. The optimally rigid graphs can be used to decrease the topology complexity of graphs while maintaining their shapes. To minimize the communication complexity of formations, we study the theory of optimally rigid formation generation. First, four important propositions are presented to demonstrate the feasibility of using a decentralized method to generate optimally rigid graphs. Then, a formation algorithm for multi-agent systems based on these propositions is proposed. At last, some simulation examples are given to show the efficiency of the proposed algorithm.

Stiffness identification of four-point-elastic-support rigid plate

As the stiffness of the elastic support varies with the physical-chemical erosion and mechanical friction, model catastrophe of a single degree-of-freedom(DOF) isolation system may occur. A 3-DOF four-point-elastic-support rigid plate(FERP) structure is presented to describe the catastrophic isolation system. Based on the newly-established structure, theoretical derivation for stiffness matrix calculation by free response(SMCby FR) and the method of stiffness identification by stiffness matrix disassembly(SIby SMD)are proposed. By integrating the SMCby FR and the SIby SMD and defining the stiffness assurance criterion(SAC), the procedures for stiffness identification of a FERP structure(SIFERP) are summarized. Then, a numerical example is adopted for the SIFERP validation, in which the simulated tested free response data are generated by the numerical methods, and operation for filtering noise is conducted to imitate the practical application. Results in the numerical example demonstrate the feasibility and accuracy of the developed SIFERP for stiffness identification.

Discrete time transfer matrix method for dynamics of multibody system with flexible beams moving in space

In this paper, by defining new state vectors and developing new transfer matrices of various elements mov- ing in space, the discrete time transfer matrix method of multi-rigid-flexible-body system is expanded to study the dynamics of multibody system with flexible beams moving in space. Formulations and numerical example of a rigid- flexible-body three pendulums system moving in space are given to validate the method. Using the new method to study the dynamics of multi-rigid-flexible-body system mov- ing in space, the global dynamics equations of system are not needed, the orders of involved matrices of the system are very low and the computational speed is high, irrespec- tive of the size of the system. The new method is simple, straightforward, practical, and provides a powerful tool for multi-rigid-flexible-body system dynamics.

广义 Rigid环(英文)

本文定义并研究了广义 Rigid环 。

多特征提取与匹配矩阵驱动的点云配准

针对三维点云配准时容易受到噪声、奇异值等不利因素影响的问题,提出一种多特征提取与匹配矩阵驱动的点云配准方法。利用多特征提取模块提取稳健的关键点和关键点的局部几何特征;分别计算出关键点的特征匹配矩阵和空间匹配矩阵,并对二者进行融合,提高正确匹配点对的概率;在前两方法的驱动下,利用加权奇异值分解计算点云间的刚体变换矩阵,降低噪声和奇异值等因素对配准的影响。实验结果表明,所提方法与现有的点云配准方法相比,具有更高的配准精度和较强的鲁棒性。

STUDY ON AUTOMATIC BALANCE TECHNOLOGY FOR THE RIGID ROTOR

The theory and application of automatic balance technology for the rigid rotor is re- searched. New analysis about the mechanical model of vibratory system is done in view of feature of automatic balance, and the result is that the accurate model of system can be gained by compensa- tion method and the traditional principle error of balance machines both for soft and hard bearing can be overcome. The automatic balance testing theory for sofi and hard bearing machines is pro- posed. The automatic balance system has been developed and the function and technical key is also introduced in detail.

硬质复合材料的静电测试方法及性能探究

结合纺织品静电测试方法标准,采用保护袋设计,研究硬质复合材料(RC)的静电性能和测试方法。以聚乙烯膜为参考,改变试验材料、保护袋填充物和摩擦时间,设计正交试验并进行极差分析和矩阵分析。极差分析表明,在同样填充物的保护袋条件下,试验材料是影响静电性能的主要因素,摩擦时间是次要因素;矩阵分析表明,试验材料对静电性能的影响远大于摩擦时间。试验所用静电性能测试和分析方法可拓展至其他RC,为RC的全方位研究提供了参考。

考虑任务分配的无人机信息交互拓扑生成

无人机(UAV)持久编队信息交互拓扑的优化是保证UAV编队结构稳定性和任务执行时效性的重要基础。现有的编队生成算法针对距离因素进行权重赋值和拓扑生成,由于未考虑任务分配因素,可能会引起整体任务执行时间过长甚至任务失败的问题,对UAV的能量也造成了不必要的损耗。以任务消息传输时间和能量损耗为关键优化目标,在保证UAV编队结构稳定的前提下,提出考虑任务分配因素的信息交互拓扑生成算法,优先连接承载实时性要求较高通信任务的关键汇聚链路,对剩余链路通过引入惩罚项,在权重上进一步将任务消息传输量因素考虑在内,生成最终的信息交互拓扑。使用OMNet++进行仿真验证,相比于只考虑距离因素的信息交互拓扑生成算法,所提算法在20架UAVs编队场景下,消息传输时间方面最高降低57.3%,最低降低28.1%,关键任务消息的到达时延降低了45.2%~51.6%,而任务执行过程单UAV的能量损耗总体减少了17.5%,平均每个节点减少损耗16.1%。

一种新型商用车驾驶室多轴道路虚拟试验研究

为了提高商用车驾驶室多轴道路模拟试验台的控制精度,精确复现路谱采集信号,提出了一种基于运动学与动力学分析的驾驶室多轴道路虚拟试验台控制策略。依据机构学原理描述了试验台的结构,并进行了运动学分析和计算,利用位姿反解算法及含雅可比矩阵正解算法进行了闭环反馈的自由度解耦。实测驾驶室相关参数并与ADAMS软件相结合建立了驾驶室、部分车架及试验台的刚柔耦合多体动力学模型,创建Femfat-lab、MATLAB/Simulink和ADAMS软件接口进行自适应联合仿真计算,实现了试验台的自由度解耦控制。将多轴虚拟试验台与实车试验内部响应信号相结合,选择信噪比较高的信号为目标信号进行迭代分析,获取实车位置等效位移激励。选取典型的比利时路面载荷谱作为模型输入条件,从而重现与道路试验相结合的真实路谱。研究结果表明,与室内道路模拟试验台架及常规虚拟迭代结果相比,驾驶室采用多轴虚拟试验台的迭代次数明显减少,得到的时域、频域响应信号与目标信号的变化趋势相吻合,且各通道相对误差均方根值(RMS)均小于设定值,迭代精度高,从而验证了所提方法的可行性,为后续驾驶室疲劳寿命预测提供了可靠的载荷谱。

仿鸡脖子刚柔耦合结构的仿生机理及大变形建模

观察表明,禽类颈部普遍具有刚柔耦合的特点,在运动过程中,可以辅助身体运动,使得头部产生大变形.在机器人、航空航天等领域普遍需要具有大变形、变刚度等特征的结构实现相关功能.受禽类脖子结构的启发,提出了一种仿鸡脖子刚柔耦合结构,阐明仿鸡脖子的仿生机理并建立大变形模型.首先,从鸡颈部的生物解剖出发,发现仿鸡脖子结构势必具有多自由度刚柔耦合的特征,因此,根据鸡脖子骨骼的构型构造出单节仿生标准单元,根据肌肉的连接方式厘清节间弹性连接,建立起仿鸡脖子刚柔耦合结构的力学模型;然后,通过定义连接矩阵描述节间弹性元件的分布和作用,由此得到任意运动下的标准单元的力平衡方程;最后,选取了几种具有代表性的工况,通过有限元分析验证理论建模方法的准确性并展示结构的非线性变刚度特征;在4种典型平面弯曲工况下得到不同变形与发力肌肉群的对应关系.文章提出的仿鸡脖子刚柔耦合结构建模具有仿生机理清晰、适合大变形计算及结构具有非线性刚度特征等特点,也解释了禽类颈部变形机理.

旋转四元数表达约定判别方法及应用探讨

在航空航天和机器人领域,使用四元数表达刚体旋转时,存在Hamilton和喷气推进实验室(jet propulsion laboratory,JPL)两种表达约定,直接导致基于四元数的推导出现混乱和不严谨,并在工程实践中引入错误.通过分析两种表达约定的由来,对比两种表达的内在异同,尤其是处理连续旋转时与姿态矩阵的同形性,提出了两种四元数约定的判别和转换使用方法,并通过实验进行了验证分析.基于两种四元数的历史、实际应用范围、运算效率以及相似性,建议在使用四元数时明确所采用约定,并逐渐舍弃四元数的JPL约定.

Recent Advances in Pure-Organic Host-Guest Room-Temperature Phosphorescence Systems Toward Bioimaging

Organic room-temperature phosphorescence(RTP)materials have garnered considerable attention in the fields of biosensing,optoelectronic devices,and anticounterfeiting because of their substantial Stokes shifts,tunable emission wavelengths,and prolonged lifetimes.These materials offer remarkable advantages for biological imaging applications by effectively reducing environmental autofluorescence and enhancing imaging resolution.Recently,host-guest systems have been employed as efficient approaches to fabricate pure-organic RTP materials for bioimaging,providing benefits such as controllable preparation and flexible modulation.Consequently,an increasing number of corresponding studies are being reported;however,a comprehensive systematic review is still lacking.Therefore,we summarize recent advances in the development of pureorganic RTP materials using host-guest systems with regard to bioimaging,including rigid matrices and sensitization.The challenge and potential of RTP for biological imaging are also proposed to promote the biomedical applications of organic RTP materials with excellent optical properties.

基于NX与MATLAB的运动台刚柔耦合模型的建模与仿真

为了进一步加强控制策略与机械结构的结合,达到提升控制水平,优化机械设计的目的,建立4自由度运动台的NX Simcenter Motion刚柔耦合模型,添加驱动力与传感器,将变量输出至MATLAB,在MATLAB中的Simulink模块中搭建计算仿真运动控制模型,计算后得到位移及误差数据。分别计算刚体模型、刚柔耦合模型的结果并分析。通过仿真计算及结果对比,可以得出结论:刚柔耦合模型与刚体模型相比,更接近轨迹规划;与实际结构相比,可以在设计初期没有实体结构的情况下进行测试。

大跨度连续刚构桥健康监测加速度传感器优化布置研究

本文以一座145m+2×260m+145m的大跨度连续刚构桥为背景,首先介绍了传感器优化配置算法、评估准则和安放位置的选择方法;其次,建立了该连续刚构桥的三维有限元模型,进行了环境振动试验,得到了桥梁的基本动力特性;再次,基于MAC矩阵和F isher信息阵标准为理论基础的传感器优化布点算法,对桥梁健康监测加速度传感器布点方案进行了研究;最后结合该桥的实际情况,提出了加速度传感器优化布置方案。实时健康监测表明:基于本文的传感器布置方法实时监测能够获得该桥梁前10阶振型,可满足桥梁长期监测的需要。