Contact detumbling toward a nutating target through deformable effectors and prescribed performance controller

Detumbling operation toward a rotating target with nutation is meaningful for debris removal but challenging. In this study, a deformable end-effector is first designed based on the requirements for contacting the nutating target. A dual-arm robotic system installed with the deformable end-effectors is modeled and the movement of the end-tips is analyzed. The complex operation of the contact toward a nutating target places strict requirements on control accuracy and controller robustness. Thus, an improvement of the tracking error transformation is proposed and an adaptive sliding mode controller with prescribed performance is designed to guarantee the fast and precise motion of the effector during the contact detumbling.Finally, by employing the proposed effector and the controller,numerical simulations are carried out to verify the effectiveness and efficiency of the contact detumbling toward a nutating target.

Modeling and Calculation of Impact Friction Caused by Corner Contact in Gear Transmission

Corner contact in gear pair causes vibration and noise,which has attracted many attentions.However,teeth errors and deformation make it difficulty to determine the point situated at corner contact and study the mechanism of teeth impact friction in the current researches.Based on the mechanism of corner contact,the process of corner contact is divided into two stages of impact and scratch,and the calculation model including gear equivalent error-combined deformation is established along the line of action.According to the distributive law,gear equivalent error is synthesized by base pitch error,normal backlash and tooth profile modification on the line of action.The combined tooth compliance of the first point lying in corner contact before the normal path is inversed along the line of action,on basis of the theory of engagement and the curve of tooth synthetic complianceload-history.Combined secondarily the equivalent error with the combined deflection,the position standard of the point situated at corner contact is probed.Then the impact positions and forces,from the beginning to the end during corner contact before the normal path,are calculated accurately.Due to the above results,the lash model during corner contact is founded,and the impact force and frictional coefficient are quantified.A numerical example is performed and the averaged impact friction coefficient based on the presented calculation method is validated.This research obtains the results which could be referenced to understand the complex mechanism of teeth impact friction and quantitative calculation of the friction force and coefficient,and to gear exact design for tribology.

Integrated guidance and control design for missile with terminal impact angle constraint based on sliding mode control

Aimed at the guidance requirements of some missiles which attack targets with terminal impact angle at the terminal point,a new integrated guidance and control design scheme based on variable structure control approach for missile with terminal impact angle constraint is proposed.First,a mathematical model of an integrated guidance and control model in pitch plane is established,and then nonlinear transformation is employed to transform the mathematical model into a standard form suitable for sliding mode control method design.A sufficient condition for the existence of linear sliding surface is given in terms of linear matrix inequalities（LMIs）,based on which the corresponding reaching motion controller is also developed.To verify the effectiveness of the proposed integrated design scheme,the numerical simulation of missile is made.The simulation results demonstrate that the proposed guidance and control law can guide missile to hit the target with desired impact angle and desired flight attitude angle simultaneously.

Partition method for impact dynamics of flexible multibody systems based on contact constraint

The impact dynamics of a flexible multibody system is investigated. By using a partition method, the system is divided into two parts, the local impact region and the region away from the impact. The two parts are connected by specific boundary conditions, and the system after partition is equivalent to the original system. According to the rigid-flexible coupling dynamic theory of multibody system, system＇s rigid-flexible coupling dynamic equations without impact are derived. A local impulse method for establishing the initial impact conditions is proposed. It satisfies the compatibility con- ditions for contact constraints and the actual physical situation of the impact process of flexible bodies. Based on the contact constraint method, system＇s impact dynamic equa- tions are derived in a differential-algebraic form. The contact/separation criterion and the algorithm are given. An impact dynamic simulation is given. The results show that system＇s dynamic behaviors including the energy, the deformations, the displacements, and the impact force during the impact process change dramatically. The impact makes great effects on the global dynamics of the system during and after impact.

Impact angle control over composite guidance law based on feedback linearization and finite time control

The impact angle control over guidance(IACG) law against stationary targets is proposed by using feedback linearization control(FLC) and finite time control(FTC). First, this paper transforms the kinematics equation of guidance systems into the feedbackable linearization model, in which the guidance law is obtained without considering the impact angle via FLC. For the purpose of the line of sight(LOS) angle and its rate converging to the desired values, the second-order LOS angle is considered as a double-integral system. Then, this paper utilizes FTC to design a controller which can guarantee the states of the double-integral system converging to the desired values. Numerical simulation illustrates the performance of the IACG, in contrast to the existing guidance law.

A CONTACT SEARCHING ALGORITHM FOR CONTACT-IMPACT PROBLEMS

A new contact searching algorithm for contact-impact systems is proposed in this paper.In terms of the cell structure and the linked-list,this algo- rithm solves the problem of sorting and searching contacts in three dimensions by transforming it to a retrieving process from two one-dimensional arrays,and binary searching is no longer required.Using this algorithm, the cost of contact searching is reduced to the order of O(N)instead of O(Nlog_2N)for traditional ones,where N is the node number in the system.Moreover,this algorithm can handle contact systems with arbitrary mesh layouts.Due to the simplicity of this algorithm it can be easily implemented in a dynamic explicit finite element program.Our numerical experi- mental result shows that this algorithm is reliable arid efficient for contact searching of three dimensional systems.

Sliding mode control and Lyapunov based guidance law with impact time constraints

This paper analyses the issue of impact time control of super-cavitation weapons impact fixed targets which mainly refer to the ships or submarines who lost power, but still have combat capability. Control over impact time constraints of guidance law(ITCG) is derived by using sliding mode control(SMC) and Lyapunov stability theorem. The expected impact time is realized by using the notion of attack process and estimated time-to-go to design sliding mode surface(SMS). ITCG contains equivalent and discontinuous guidance laws, once state variables arrive at SMS,the equivalent guidance law keeps the state variables on SMS,then the discontinuous guidance law enforces state variables to move and reach SMS. The singularity problem of ITCG is also analyzed. Theoretical analysis and numerical simulation results are given to test the effectiveness of ITCG designed in this paper.

Impact dynamics analysis of free-floating space manipulator capturing satellite on orbit and robust adaptive compound control algorithm design for suppressing motion

The impact dynamics, impact effect, and post-impact unstable motion sup- pression of free-floating space manipulator capturing a satellite on orbit are analyzed. Firstly, the dynamics equation of free-floating space manipulator is derived using the sec- ond Lagrangian equation. Combining the momentum conservation principle, the impact dynamics and effect between the space manipulator end-effector and satellite of the cap- ture process are analyzed with the momentum impulse method. Focusing on the unstable motion of space manipulator due to the above impact effect, a robust adaptive compound control algorithm is designed to suppress the above unstable motion. There is no need to control the free-floating base position to save the jet fuel. Finally, the simulation is proposed to show the impact effect and verify the validity of the control algorithm.

Acute histopathological responses and long-term behavioral outcomes in mice with graded controlled cortical impact injury

While animal models of controlled cortical impact often display short-term motor dysfunction after injury, histological examinations do not show severe cortical damage. Thus, this model requires further improvement. Mice were subjected to injury at three severities using a Pin-Point^(TM)-controlled cortical impact device to establish secondary brain injury mouse models. Twenty-four hours after injury, hematoxylin-eosin staining, Fluoro-Jade B histofluorescence, and immunohistochemistry were performed for brain slices. Compared to the uninjured side, we observed differences of histopathological findings, neuronal degeneration, and glial cell number in the CA2 and CA3 regions of the hippocampus on the injured side. The Morris water maze task and beam-walking test verified long-term(14–28 days) spatial learning/memory and motor balance. To conclude, the histopathological responses were positively correlated with the degree of damage,as were the long-term behavioral manifestations after controlled cortical impact. All animal procedures were approved by the Institutional Animal Care and Use Committee at Shanghai Jiao Tong University School of Medicine.

An efficient formulation based on the Lagrangian method for contact–impact analysis of flexible multi-body system

In this paper,an efficien formulation based on the Lagrangian method is presented to investigate the contact–impact problems of f exible multi-body systems.Generally,the penalty method and the Hertz contact law are the most commonly used methods in engineering applications.However,these methods are highly dependent on various non-physical parameters,which have great effects on the simulation results.Moreover,a tremendous number of degrees of freedom in the contact–impact problems will influenc thenumericalefficien ysignificantl.Withtheconsideration of these two problems,a formulation combining the component mode synthesis method and the Lagrangian method is presented to investigate the contact–impact problems in fl xible multi-body system numerically.Meanwhile,the finit element meshing laws of the contact bodies will be studied preliminarily.A numerical example with experimental verificatio will certify the reliability of the presented formulationincontact–impactanalysis.Furthermore,aseries of numerical investigations explain how great the influenc of the finit element meshing has on the simulation results.Finally the limitations of the element size in different regions are summarized to satisfy both the accuracy and efficien y.

Fuzzy sliding mode control guidance law with terminal impact angle and acceleration constraints

In this paper, a novel fuzzy sliding mode control（FSMC） guidance law with terminal constraints of miss distance, impact angle and acceleration is presented for a constant speed missile against the stationary or slowly moving target. The proposed guidance law combines the sliding mode control algorithm with a fuzzy logic control scheme for the lag-free system and the first-order lag system. Through using Lyapunov stability theory, we prove the sliding surface converges to zero in finite time. Furthermore, considering the uncertain information and system disturbances, the guidance gains are on-line optimized by fuzzy logic technique. Numerical simulations are performed to demonstrate the performance of the FSMC guidance law and the results illustrate the validity and effectiveness of the proposed guidance law.

Prediction and control of rock burst of coal seam contacting gas in deep mining

By analyzing the characteristics and the production mechanism of rock burstthat goes with abnormal gas emission in deep coal seams,the essential method of eliminatingabnormal gas emission by eliminating the occurrence of rock burst or depressingthe magnitude of rock burst was considered.The No.237 working face was selected asthe typical working face contacting gas in deep mining;aimed at this working face,a systemof rock burst prediction and control for coal seam contacting gas in deep mining wasestablished.This system includes three parts:① regional prediction of rock burst hazardbefore mining,② local prediction of rock burst hazard during mining,and ③ rock burstcontrol.

Water Hyacinth Control by Glyphosate Herbicide and Its Impact on Water Quality

The aim of this study was to evaluate the herbicide glyphosate under aquatic environment conditions, in a controlled and closed experimental field, in the management of water hyacinth (Eichhornia crassipes) in reservoirs. Twenty reservoirs (polyethylene water tanks) with storage capacity of 1000 liters were used, without water flow and without evapotranspired water replacement (worst case), being 04 for each treatment. The adult plants were placed in the water tanks to provide 90% surface occupation of the reservoir. Five treatments with four repetitions were considered, being: 1) Reservoir colonized by water hyacinth without control;2) Reservoir colonized by water hyacinth, controlled by glyphosate;3) Reservoir colonized by water hyacinth, controlled by freezing;4) Reservoir without water hyacinth and glyphosate application and 5) Reservoir without water hyacinth and no glyphosate application. The glyphosate herbicide was used at the highest recommended dose, 7.0 L·ha-1 or 3360 g of acid equivalent per ha, applied using carbon dioxide precision equipment (backpack sprayer), providing a flow rate of 200 L·ha-1. The water samples were collected at the time of application, 6, 12, 18 and 24 hours after application and also at 2, 4, 8, 16, 32 and 64 days after application, in the morning, always at the same time, also between 8 and 9 h. The method used for determination of residues was by high performance liquid chromatography (HPLC) and mass spectrometry with a mass selective detector. Low concentrations of glyphosate and aminomethylphosphonic acid (AMPA) were found in both reservoirs that received application of the product. The half-life of glyphosate in water to the reservoirs with water hyacinth was 11 days and in the reservoirs without water hyacinth was 21 days. The results show a low potential of environmental impact of glyphosate use in the control of water hyacinth in reservoirs.

The efficiency of direct integration methods in elastic contact-impact problems

A comparison of direct integration methods is madeand their efficiency is investigated for impact problems.New-mark,Wilson-θ,Central Difference and Houbolt Methodsare used as direct integration methods.Impact analysisincludes that of elastic and large deformation based uponupdated Lagrangian including buckling check.The resultsshow that the direct integration methods give differentresults in different contact-impact cases.

ELASTIC-PLASTIC FINITE ELEMENT ANALYSIS OF THREE-DIMENSIONAL CONTACT-IMPACT AT RAIL JOINT

Using the finite element code ANSYS/LS-DYNA, a dynamic finite element modelwith an elastic-linear-kinematic-hardening plastic material is established to analyzeelastic-plastic stresses in the railhead in the impact process of wheel and rail occurring at thegap of rail joint. The model is based on the discrete elastic support condition of the rails, whichis suitable for the actual situation of wheel/track rolling contact. In the analysis the influencesof axle load, yield stress and tangent modulus of rail material on the stresses and strains areinvestigated in detail. The distribution of stresses and strains in the jointed railhead are given.It is found that the axle load, yield stress and tangent modulus of rail material greatly affect thestresses and strains in the railhead during impacting. The study provides a reliable method anduseful datum for the further research on fatigue and wear of railhead and improving the rail jointmode.

A hybrid proportional navigation based two-stage impact time control guidance law

To improve applicability and adaptability of the impact time control guidance(ITCG) in practical engineering, a twostage ITCG law with simple but effective structure is proposed based on the hybrid proportional navigation, namely, the pureproportional-navigation and the retro-proportional-navigation.For the case with the impact time error less than zero, the first stage of the guided trajectory is driven by the retro-proportionalnavigation and the second one is driven by the pure-proportionalnavigation. When the impact time error is greater than zero, both of the stages are generated by the pure-proportional-navigation but using different navigation gains. It is demonstrated by twoand three-dimensional numerical simulations that the proposed guidance law at least has comparable results to existing proportional-navigation-based ITCG laws and is shown to be advantageous in certain circumstances in that the proposed guidance law alleviates its dependence on the time-to-go estimation, consumes less control energy, and adapts itself to more boundary conditions and constraints. The results of this research are expected to be supplementary to the current research literature.

Impacts of Different Weeding Methods on Weeds Control in Tobacco Fields in Anshun City

[Objective] The paper was to explore weed control measures in tobacco fields in Anshun City. [Method] Different treatments on weed control were conducted in tobacco fields in Anshun City, Guizhou Province, from 2017 to 2019. [Result] Various treatments had no negative effect on tobacco plant growth in the field, and had different degrees of control effects on five dominant weeds, including Digitaria sanguinalis, Setaria viridis, Fagopyrum dibotrys, Commelina communis and Chenopodium album. White mulching film and 50% butralin·clomazone EC 160 m L/667 m^(2) + white mulching film had the worst performance, which had extremely significant or significant differences with other treatments. There was no sig-nificant difference among most treatments, and the overall effects were comprehensive(multi-factor) treatment > double factor treatment > single factor treatment. [Conclusion] Combination control is recommended in practical tobacco production.

Contact-impact formulation for multi-body systems using component mode synthesis

The efficiency and accuracy are two most concerned issues in the modeling and simulation of multi-body systems involving contact and impact. This paper proposed a formulation based on the component mode synthesis method for planar contact problems of flexible multi-body systems. A flexible body is divided into two parts： a contact zone and an un-contact zone. For the un-contact zone, by using the fixed-interface substructure method as reference, a few low-order modal coordinates are used to replace the nodal coordinates of the nodes, and meanwhile, the nodal coordinates of the local impact region are kept unchanged, therefore the total degrees of freedom （DOFs） are greatly cut down and the computational cost of the simulation is significantly reduced. By using additional constraint method, the impact constraint equations and kinematic constraint equations are derived, and the Lagrange equations of the first kind of flexible multi-body system are obtained. The impact of an elastic beam with a fixed half disk is simulated to verify the efficiency and accuracy of this method.

Reduced projection augmented Lagrange bi-conjugate gradient method for contact and impact problems

Based on the numerical governing formulation and non-linear complementary conditions of contact and impact problems, a reduced projection augmented Lagrange bi- conjugate gradient method is proposed for contact and impact problems by translating non-linear complementary conditions into equivalent formulation of non-linear program- ming. For contact-impact problems, a larger time-step can be adopted arriving at numer- ical convergence compared with penalty method. By establishment of the impact-contact formulations which are equivalent with original non-linear complementary conditions, a reduced projection augmented Lagrange bi-conjugate gradient method is deduced to im- prove precision and efficiency of numerical solutions. A numerical example shows that the algorithm we suggested is valid and exact.

ENERGY ABSORPTION CONTROL CHARACTERISTICS OF AL THIN-WALLED TUBES UNDER IMPACT LOAD

An experimental investigation was carried out to study the energy absorption characteristics of thin-walled square tubes subjected to dynamic crushing by impact loading to develop the optimum structural members. Here, the controller is introduced to improve and control the absorbed energy of thin-walled square tubes in this paper. When the controller were used, the experimental results of crushing of square tubes controlled by the controller＇s elements showed a good candidate for a controllable energy absorption capability in impact crushing.