Force Feedback Coupling with Dynamics for Physical Simulation of Product Assembly and Operation Performance

Most existing force feedback methods are still difficult to meet the requirements of real-time force calculation in virtual assembly and operation with complex objects. In addition, there is often an assumption that the controlled objects are completely flee and the target object is only completely fixed or flee, thus, the dynamics of the kinematic chain where the controlled objects are located are neglected during the physical simulation of the product manipulation with force feedback interaction. This paper proposes a physical simulation method of product assembly and operation manipulation based on statistically learned contact force prediction model and the coupling of force feedback and dynamics. In the proposed method, based on hidden Markov model （HMM） and local weighting learning （LWL）, contact force prediction model is constructed, which can estimate the contact force in real time during interaction. Based on computational load balance model, the computing resources are dynamically assigned and the dynamics integral step is optimized. In addition, smoothing process is performed to the force feedback on the synchronization points. Consequently, we can solve the coupling and synchronization problems of high-frequency feedback force servo. low-frequency dynamics solver servo and scene rendering servo, and realize highly stable and accurate force feedback in the physical simulation of product assembly and operation manipulation. This research proposes a physical simulation method of product assembly and operation manipulation.

Surface Electromechanical Coupling on DLC Film with Conductive Atomic Force Microscope

Diamond-like carbon (DLC) film composed of microscopically insulation but microscopically a mixture of conducting (sp2) and insulating (sp3) phases was discussed on the local modification with a conductive atomic force microscope (C-APM). Especially, a topographic change was observed when a direct current (DC) bias-voltage was applied to the DLC film. Experimental results show that a nanoscale pit on DLC surface was formed when applying a positive 25 V on DLC film. According to the interacting force between CoCr-coated microelectronic scanning probe (MESP) tip and DLC surface, as well as the Sondheimer oscillation theory, the 'scalewing effect' of the pit was explained. Electromechanical coupling on DLC film suggested that the depth of pits increased with an increase of load applied to surface when the cantilever-deflected signal was less than a certain threshold voltage.

Unified Equation of Fundamental Forces’ Coupling Values, and the Existence of Subsequent, Fifth and Other, Forces

This paper provides an equation to entangle all known fundamental forces by employing their coupling constants, i.e., strong (αs), electromagnetic (α), weak (αw), and gravitational (αg) interaction coupling values. The constant coupling formulation is further indicative of many other fundamental forces with significantly weaker coupling values. As an example, the fifth fundamental force, Kashi’s Force, is found to have a coupling constant of 10-1446, which is significantly smaller than the smallest known fundamental force, gravitational force, with an approximate coupling constant value of 10-38. Additionally, the paper finds the sum of all fundamental forces based on the equation proposed is equal to 0.118065, which is within the range of effective world value of the strong coupling constant αs(M2z).

Coupling Research on the Process of Transfer of Surplus Labor Forces and Scaling-up of Farmland

On the basis of giving an overview of efficiency research on transformation of land from fragmentation to scale economy, by using the concept of coupling in physics, this paper expounds the behavior basis of transfer of surplus rural labor forces in China and transformation of land from fragmentation to scaling up, and analyzes behaviors of all parties and equilibrium outcomes in the three stages concerning the transformation of agricultural land from fragmentation to scaling up as follows. At the first stage of coupling, after multitudinous rural surplus labor forces emerge, the farmers begin to go to city seeking jobs. In this period, the amalgamation of land management has not occurred and the single farmer's land has not yet concentrated. The total land area of single farmer has not yet increased and the total amount of farmers has not yet decreased. At the second stage of coupling, driven by living standards and income, multitudinous rural surplus labor forces begin to live in the city permanently in fact, and the scale management of rural land begins to arise. Foreign funded enterprises begin to enter agriculture, and the industrialization management of agriculture is equipped with the most fundamental conditions due to the occurrence of scaling up of land. At the third stage of coupling, the transfer of rural surplus labor forces basically ends. The property rights of agricultural land or the management forms also, in a large measure, concentrate. The obstacles to agricultural scaling-up management are solved fundamentally, and the income gap between urban areas and rural areas is narrowed. Urban-rural population migration is no longer the main form of China's population migration. This stage has not yet been realized in China and it is the future state of villages. Finally, through the two cases researched by the predecessors, we verify the research results of the preceding two stages, which provides reliable reference for transformation of China's agricultural land management, and policy formulation of transfer of surplus labor forces.

Forced Response of Fluid-Spacecraft Coupling System and Force and Moment of Fluid Acting on Container

In this paper, forced response of fluid-spacecraft coupling system and force and moment of acting on rect-angular container are studied. Firsily, the interrelation between the generaized coordinates of fluid velocity potential function and surface wave-height function is derived for liearized eqqations describing motion of contained fluid.The drnamical equations of coupling system is obtained by Lagrangian formulation. These equations provides some in-sights of fluid-spacecraft coupling characteristics.It is not in the sense of the whole modal mass that the fluid sloshing of corresponding order is excited by the vibration of the spacecratt.Then, the force and moment of the fiuid on the container are derived and discussed in detal. Latly, numerical simulation and conclusions are given.

DISTRIBUTED OPTIC－FIBER FORCE SENSOR BASED ON MODE COUPLING EFFECTS IN HIGH－BIREFRINGENT FIBER

An optic-fiber sensor system for measuring distributed forces is presented. The sensor system chooses high-birefringent fiber as sensing e-iement. Based on coupling effects of polarization modes in high-birefringent fiber, the distribution of the force points along the sensing fiber can be measured by detecting mode couplings in the fiber which are caused by external force disturbance. The location and magnitude of the measured forces are determined by a heterodyne interferometry and the technique of optic path scanning. The spatial resolution of the sensor system is better than 0. 15m for a 50m testing fiber.

Edge Effects and Coupling Effects in Atomic Force Microscope Images

The AFM images were obtained by an atomic force microscope (AFM) and transformed from the deformation of AFM micro cantilever probe. However, due to the surface topography and surface forces applied on the AFM tip of sample, the deformation of AFM probe results in obvious edge effects and coupling effects in the AFM images.The deformation of AFM probe was analyzed,the mechanism of the edge effects and the coupling effects was investigated, and their results in the AFM images were studied. It is demonstrated by the theoretical analysis and AFM experiments that the edge effects make lateral force images more clear than the topography images,also make extraction of frictional force from lateral force images more complex and difficult. While the coupling effects make the comparison between topography images and lateral force images more advantage to acquire precise topography information by AFM.

Application of the Modified Force-Coupling Method of Tracing the Trajectories of Spherical Bubbles with Solid-Like and Slip Surfaces

The force-coupling method (FCM) developed by Maxey and Patel (2001) was modified and applied to trace the trajectories of spherical bubbles with solid-like and slip surfaces. Careful comparison was made to the experimental results of Takemura et al. (2000, 2002a, 2002b). First, the result obtained by use of the original version of the FCM was compared to the experimental results. It was found that the original FCM was not feasible for tracing spherical bubble trajectories. Then, a correction was made to the FCM calculation of the bubble velocity by renormalization in terms of the bubble Reynolds number, which could very well trace the trajectory of the bubble with a solid-like, no-slip surface, but not that of a bubble with a slip surface. Finally, a substantial correction was made to the monopole term of the FCM, which could trace the trajectory of a bubble with a solid-like or slip surface very well even for the Reynolds number up to 20.

A vertical coupling dynamic analysis method and engineering application of vehicle–track–substructure based on forced vibration

Purpose–This study aims to propose a vertical coupling dynamic analysis method of vehicle–track–substructure based on forced vibration and use this method to analyze the influence on the dynamic response of track and vehicle caused by local fastener failure.Design/methodology/approach–The track and substructure are decomposed into the rail subsystem and substructure subsystem,in which the rail subsystem is composed of two layers of nodes corresponding to the upper rail and the lower fastener.The rail is treated as a continuous beam with elastic discrete point supports,and spring-damping elements are used to simulate the constraints between rail and fastener.Forced displacement and forced velocity are used to deal with the effect of the substructure on the rail system,while the external load is used to deal with the reverse effect.The fastener failure is simulated with the methods that cancel the forced vibration transmission,namely take no account of the substructure–rail interaction at that position.Findings–The dynamic characteristics of the infrastructure with local diseases can be accurately calculated by using the proposed method.Local fastener failure will slightly affect the vibration of substructure and carbody,but it will significantly intensify the vibration response between wheel and rail.The maximum vertical displacement and the maximum vertical vibration acceleration of rail is 2.94 times and 2.97 times the normal value,respectively,under the train speed of 350 km$h
1.At the same time,the maximum wheel–rail force and wheel load reduction rate increase by 22.0 and 50.2%,respectively,from the normal value.Originality/value–This method can better reveal the local vibration conditions of the rail and easily simulate the influence of various defects on the dynamic response of the coupling system.

Evaluation and Driving Force Analysis of Cultivated Land Quality in Black Soil Region of Northeast China

Cultivated land is an important natural resource to ensure food,ecological and economic security.The cultivated land quality evaluation(CQE)is greatly significant for protecting and managing cultivated land.In this study,320 counties in the black soil region of Northeast China(BSRNC)represent the research units used to construct the CQE system measuring the soil properties(SP),cultivated land productivity(CLP),ecological environment(EE)and social economy(SE).The total of 19 factors were selected to calculate the integrated fertility index(IFI)and divided into grades.Simultaneously,we used the coupling coordination degree model to comprehensively analyze the spatial pattern of the cultivated land quality(CLQ)in the BSRNC,and use the structural equation model(SEM)to analyze the driving mechanism.The results show the following:1)The CLQ of 262 counties in the BSRNC is in a state of coupling and coordination,and the coupling and coordination degree presents a spatial distribution pattern of‘high in the southwest and northeast,low in the northwest and southeast’.The coordinated development degree of 271 counties is between 0.4 and 0.6,which is in a transitional state between coordination and disorder.2)The CLQ in the BSRNC is generally good,with an average grade of 3.High-quality cultivated land accounts for 58.45%of all counties,middle-and upper-quality cultivated land accounts for 27.05%,and poor-quality cultivated land accounts for 14.49%.3)The SEM analysis shows that the SP,CLP,EE,and SE all influence the CLQ.Among them,the SP has the largest driving force on the CLQ,while the SE has the smallest driving force on it.The results confirm that the main factors affecting the evaluation results are crop productivity level,normalized difference vegetation index,ratio vegetation index,difference vegetation index,and organic carbon content.When implementing protection measures in counties with a low CLQ,considering a balanced coordination of multiple systems and reasonably controlling the quality degradation are important.This study provides the current situation and driving factors of the CLQ in the BSRNC and will play an important role in black soil governance and utilization.

A Time-Domain Coupled Model for Nonlinear Wave Forces on A Fixed Box-Shaped Ship in A Harbor

A 2-D time-domain numerical coupled model is developed to obtain an efficient method for nonlinear wave forces on a fixed box-shaped ship in a harbor. The domain is divided into an inner domain and an outer domain. The inner domain is the area beneath the ship and the flow is described by the simplified Euler equations. The other area is the outer domain and the flow is defined by the higher-order Boussinesq equations in order to consider the nonlinearity of the wave motions. Along the interface boundaries between the inner domain and the outer domain, the volume flux is assumed to be continuous and the wave pressures are equal. Relevant physical experiment is conducted to validate the present model. It is shown that the numerical results agree with the experimental data. Compared with the coupled model with the flow in the inner domain governed by the Laplace equation, the present coupled model is more efficient and its solution procedure is more simple, which is particularly useful for the study on the effect of the nonlinear wave forces on a fixed box-shaped ship in a large harbor.

Study on damage-stress loss coupling model of rock and prestressed anchor cable in dry-wet environment

The loss of anchoring force is one of the problems to be solved urgently.The anchorage loss is a key factor causing the failure of anchoring engineering,so it is crucial to study the time-dependent variation of anchoring force.Alternating dry and wet(D-W)conditions have a significant effect on deformation of rock.The anchoring system is composed of anchoring components and rock mass,and thus rock deformation has a significant impact on the loss of anchoring force.Quantifying rock deformation under the effects of D-W cycles is a prerequisite to understanding the factors that influence loss of anchoring force in anchor bolts.In this study,we designed an anchoring device that enabled real-time monitoring of the variation in strain during D-W periods and rock testing.Nuclear magnetic resonance(NMR)measurements showed that under D-W conditions,the increment in porosity was smaller for prestressed rock than unstressed rock.The trends of prestress loss and strain variation are consistent,which can be divided into three characteristic intervals:rapid attenuation stage,slow attenuation stage and relatively stable stage.At the same stress level,the rate of stress loss and strain for the soaking specimen was the highest,while that of the dried specimen was the lowest.In the same D-W cycling conditions,the greater the prestress,the smaller the strain loss rate of the rock,especially under soaking conditions.The characteristics of pore structure and physical mechanical parameters indicated that prestress could effectively suppress damage caused by erosion related to D-W cycles.The study reveals the fluctuation behavior of rock strain and prestress loss under D-W conditions,providing a reference for effectively controlling anchoring loss and ideas for inventing new anchoring components.

Nonlocal effect on resonant radiation force exerted on semiconductor coupled quantum well nanostructures

Based on the microscopic nonlocal optical response theory, the resonant radiation force exerted on a semiconductorcoupled quantum well nanostructure(CQWN), induced by the nonlocal interaction between lasers and electrons in conduction bands, is investigated for two different polarized states. The numerical results show that the spatial nonlocality of optical response can cause a radiation shift(blue-shift) for the spectrum of the resonant radiation force, which is dependent on the CQWN width ratio, the barrier height, and polarized states sensitively. It is also confirmed that the resonant radiation force is steerable by the incident and polarized directions of incident light. This work may provide an advantageous method for detecting internal quantum properties of nanostructures, and open novel and raising possibilities for optical manipulation of nano-objects using laser-induced radiation force.

FORCES AND MOMENTS OF THE LIQUID FINITE AMPLITUDE SLOSHING IN A LIQUID-SOLID COUPLED SYSTEM

Nonlinear coupling dynamics between a spring-mass system and a finite amplitude sloshing system with liquid in a cylindrical tank is investigated. Based on a group of nonlinear coupling equations of six degrees of freedoms, analytical formulae of forces and moments of the liquid large amplitude sloshing were obtained. Nonlinearity of the forces and moments of the sloshing was induced by integrating on final configuration of liquid sloshing and the nonlinear terms in the liquid pressure formula. The symmetry between the formula of Ox and Oy direction proves that the derivation is correct. According to the coupled mechanism, the formulae are available in other liquid-solid coupled systems. Simulations and corresponding experimental results arecompared. It is shown that the forces and moments formulae by integrating on the final sloshing configuration are more reasonable. The omitted high-dimensional modal bases and high-order nonlinear terms and the complexity of sloshing damping are main sources of errors.

Occasional Forces and Displacements of Longitudinally Coupled Ballastless Jointless Turnout on Bridges

For the longitudinally coupled baUastless turnout on Leida bridge on Wuhan-Guangzhou passenger dedicated line （PDL） in China, a turnout （cross over）-track slab-bridge deck-pier integrated finite element model was established, in which two No. 18 jointless turnouts with movable frogs in form of crossover, longitudinally coupled ballastless track, bridges and piers were regarded as one system. Based on this model, the additional forces and displacement regularities of turnouts, track slab, bridges and piers under occasional loading were analyzed, and the effect of occasional loading position was researched. The results show that slab breaking is more influential on the longitudinal force and deformation of the whole system than rail breaking, that slab breaking on one line could deteriorate both the slab force on another line and the forces exerted on the piers and fastener components, and that a great slab force at the left end of the continuous bridge expansion joint should be particularly avoided in design.

Numerical analysis of flow-thermal coupling in micro-plasma welding pool of thin-wall part

The formed characteristics of thin-wall part is studied when it is in the process of MPAW. Finite element method is used to sinmlate the temperature field coupling flow field in the welding of thin-wall part. It is found that because of the obvious effect of heat accumution in cross-section, where the distribution of temperature field area presents trapezoidal inverted approximately in the molten pool and the non-molten pool area presents level. The surface tension, the electromagnetic force and buoyancy are considered for analyzing the effects on the fluid flow of welding-pool. It can be obtained that the surface tension is the main driving force in the welding pool, which is far greater than electromagnetic force and buoyancy.

Dynamic analysis of spatial parallel manipulator with rigid and flexible couplings

The dynamics of spatial parallel manipulator with rigid and flexible links is explored. Firstly, a spatial beam element model for finite element analysis is established. Then, the differential equation of motion of beam element is derived based on finite element method. The kinematic constraints of parallel manipulator with rigid and flexible links are obtained by analyzing the motive parameters of moving platform and the relationships of movements of kinematic chains, and the overall kinetic equation of the parallel mechanism with rigid and flexible links is derived by assembling the differential equations of motion of components. On the basis of abovementioned analyses, the dynamic mechanical analysis of the spatial parallel manipulator with rigid and flexible links is conducted. After obtaining the method for force analysis and expressions for the calculation of dynamic stress of flexible components, the dynamic analysis and simulation of spatial parallel manipulator with rigid and flexible links is performed. The result shows that because of the elastic deformation of flexible components in the parallel mechanism with rigid and flexible links, the force on each component in the mechanism fluctuates sharply, and the change of normal stress at the root of drive components is also remarkable. This study provides references for further studies on the dynamic characteristics of parallel mechanisms with rigid and flexible links and for the optimization of the design of the mechanism.

Turning traction force of tracked mining vehicle based on rheological property of deep-sea sediment

Based on main physical and mechanical properties of deep-sea sediment from C-C poly-metallic nodule mining area in the Pacific Ocean, the best sediment simulant was successfully prepared by mixing bentonite with a certain content of water. Compression-shear coupling rheological constitutive model of the sediment simulant was established by endochronic theory and the coupling rheological parameters were obtained by compressive and compression-shear creep tests. A new calculation formula of turning traction force of the tracked mining vehicle was first derived based on the coupling rheological model and consideration of pushing resistance and sinkage of the tracked mining vehicle. Effects of the turning velocity, crawler spacing and contacting length of crawler with deep-sea sediment on the turning traction force were analyzed. Research results can provide theoretical foundation for operation safety and optimal design of the tracked mining vehicle.

MULTI-FIELD COUPLING BEHAVIOR OF SIMPLY-SUPPORTED CONDUCTIVE PLATE UNDER THE CONDITION OF A TRANSVERSE STRONG IMPULSIVE MAGNETIC FIELD

In order to study the multi-field coupling mechanical behavior of the simply-supported conductive rectangular thin plate under the condition of an externally lateral strong impulsive magnetic field, that is the dynamic buckling phenomenon of the thin plates in the effect of the magnetic volume forces produced by the interaction between the eddy current and the magnetic fields, a FEM analysis program is developed to characterize the phenomena of magnetoelastic buckling and instability of the plates. The critical values of magnetic field for the three different initial vibrating modes are obtained, with a detailed discussion made on the effects of the lengththickness ratio a/h of the plate and the length-width ratio a/b as well as the impulse parameter on the critical value BOcr of the applied magnetic field.

Investigation of a mutual interaction force at different pressure amplitudes in sulfuric acid

This paper investiages the secondary Bjerknes force for two oscillating bubbles in various pressure amplitudes in a concentration of 95% sulfuric acid. The equilibrium radii of the bubbles are assumed to be smaller than 10 μm at a frequency of 37 kHz in various strong driving acoustical fields around 2.0 bars （1 bar=10^5 Pa）. The secondary Bjerknes force is investigated in uncoupled and coupled states between the bubbles, with regard to the quasi-adiabatic model for the bubble interior. It finds that the value of the secondary Bjerknes force depends on the driven pressure of sulfuric acid and its amount would be increased by liquid pressure amplitude enhancement. The results show that the repulsion area of the interaction force would be increased by increasing the driven pressure because of nonlinear oscillation of bubbles.