Ground substrates classification and adaptive walking through interaction dynamics for legged robots

Adaptive locomotion in different types of surfaces is of critical importance for legged robots.The knowledge of various ground substrates,especially some geological properties,plays an essential role in ensuring the legged robots'safety.In this paper,the interaction between the robots and the environments is investigated through interaction dynamics with the closed-loop system model,the compliant contact model,and the friction model,which unveil the influence of environment's geological characteristics for legged robots'locomotion.The proposed method to classify substrates is based on the interaction dynamics and the sensory-motor coordination.The foot contact forces,joint position errors,and joint motor currents,which reflect body dynamics,are measured as the sensing variables.We train and classify the features extracted from the raw data with a multilevel weighted k-Nearest Neighbor(kNN) algorithm.According to the interaction dynamics,the strategy of adaptive walking is developed by adjusting the touchdown angles and foot trajectories while lifting up and dropping down the foot.Experiments are conducted on five different substrates with quadruped robot FROG-I.The comparison with other classification methods and adaptive walking between different substrates demonstrate the effectiveness of our approach.

Population Interaction Dynamics Analysis of an Algae-Fish System

In this paper, before the implementation of ecological laboratory experiments, the population interaction dynamics of an algae-fish system were studied mathematically and numerically. The purpose of this study was to explore how filter-feeding fish population affects the growth dynamics of the algae population. Mathematically theoretical works have been pursuing the investigation of some key conditions for stability of the equilibrium and existence of Hopf bifurcation. Numerical simulation works have been parsing the discovery of the growth dynamics of the algae population in view of population interaction dynamics, which in turn could prove the feasibility of the theoretical derivation and reveal the relationship between filter-feeding fish abundance and algal biomass in fish-drift algae communiyua. Furthermore, it was successful to show that the filter-feeding fish population may be a crucial factor in controlling the proliferation of the algae population, which could also directly grasp the evolution of community dynamics. All these results were expected to be useful in the study of community dynamics and laboratory elimination experiment of the algae population.

Online Healthcare Community Interaction Dynamics

With the increasing dilemma of the rapid global demand for healthcare services(often in the presence of limited resources),how to creatively allocate and use healthcare resources across a widespread population has become a salient issue.Online healthcare communities(OHCs)are regarded as a potential ICT-based partial solution.In contrast to traditional healthcare,online doctor-patient interaction is unlimited in terms of time and space limitations while an OHC is exposed to the whole community.These characteristics are key to achieving synergistic doctor-patient interaction and community development in the longer term.In order to explore the nature of doctor-patient interaction dynamics in an OHC,we systematically investigate doctor-patient interaction dynamics from the dual perspectives of doctor and patient.Our doctor-patient interaction dual-cycle model has been built based on six doctor-patient interaction processes(i.e.,searching,choosing,knowledge sharing,providing,receiving and balancing).According to our dual-cycle model,four key managerial issues in OHC(information asymmetry,incentive mechanisms,service delivery processes and interaction mechanisms)have been identified as examples.Discussion and directions for future research,with challenges as well as opportunities,have been elaborated.A broad view with fruitful research potential is ensured and new theories and methods ultimately provide implications for effectively and efficiently allocating scarce healthcare resources to a broader population.

Interaction Dynamics in AEC Global Teamwork

Architecture, engineering, and construction (AEC) global project teamwork is communication intensive and relies heavily on synchronous and asynchronous information and collaboration technologies (ICT). We explore in this paper how an asynchronous ICT, called ThinkTank, reshaped the work practice of design-construction global teams, and how the interaction with this ICT reshaped the purpose and benefits of its use. ThinkTank is a web-based asynchronous collaboration and discussion forum. We introduce the influence diffusion model (IDM) that formalizes the process of identifying the influence of people, messages, and terms mathematically. Discovering who the influence leaders in project teams are can be beneficial and critical from a corporate management perspective, since they can guide or motivate the team towards successful actions and outcomes. We present the ThinkTank-IDM integrated system and its validation with a testbed of 53 AEC global team project archived in ThinkTank over 8 years.

An efficient method for train-track-substructure dynamic interaction analysis by implicit-explicit integration and multi-time-step solution

In this work,a method is put forward to obtain the dynamic solution efficiently and accurately for a large-scale train-track-substructure(TTS)system.It is called implicit-explicit integration and multi-time-step solution method(abbreviated as mI-nE-MTS method).The TTS system is divided into train-track subsystem and substruc-ture subsystem.Considering that the root cause of low effi-ciency of obtaining TTS solution lies in solving the alge-braic equation of the substructures,the high-efficient Zhai method,an explicit integration scheme,can be introduced to avoid matrix inversion process.The train-track system is solved by implicitly Park method.Moreover,it is known that the requirement of time step size differs for different sub-systems,integration methods and structural frequency response characteristics.A multi-time-step solution is pro-posed,in which time step size for the train-track subsystem and the substructure subsystem can be arbitrarily chosen once satisfying stability and precision demand,namely the time spent for m implicit integral steps is equal to n explicit integral steps,i.e.,mI=nE as mentioned above.The numeri-cal examples show the accuracy,efficiency,and engineering practicality of the proposed method.

Modal interactions in primary and subharmonic resonant dynamics of imperfect microplates with geometric nonlinearities

This paper analyses the modal interactions in the nonlinear, size-dependent dynamics of geometrically imperfect microplates. Based on the modified couple stress theory,the equations of motion for the in-plane and out-of-plane motions are obtained employing the von Kármán plate theory as well as Kirchhoff＇s hypotheses by means of the Lagrange equations. The equations of motions are solved using the pseudo-arclength continuation technique and direct timeintegration method. The system parameters are tuned to the values associated with modal interactions, and then nonlinear resonant responses and energy transfer are analysed.Nonlinear motion characteristics are shown in the form of frequency-response and force-response curves, time histories, phase-plane portraits, and fast Fourier transforms.

Structural Characteristics and Formation Dynamics: A Review of the Main Sedimentary Basins in the Continent of China

The formation and evolution of basins in the China continent are closely related to the collages of many blocks and orogenic belts. Based on a large amount of the geological, geophysical, petroleum exploration data and a large number of published research results, the basement constitutions and evolutions of tectonic-sedimentary of sedimentary basins, the main border fault belts and the orogenesis of their peripheries of the basins are analyzed. Especially, the main typical basins in the eight divisions in the continent of China are analyzed in detail, including the Tarim, Ordos, Sichuan, Songliao, Bohai Bay, Junggar, Qiadam and Qiangtang basins. The main five stages of superimposed evolutions processes of basins revealed, which accompanied with the tectonic processes of the Paleo-Asian Ocean, Tethyan and Western Pacific domains. They contained the formations of main Cratons （1850-800 Ma）, developments of marine basins （800-386 Ma）, developments of Marine- continental transition basins and super mantle plumes （386-252 Ma）, amalgamation of China Continent and developments of continental basins （252-205 Ma） and development of the foreland basins in the western and extensional faulted basin in the eastern of China （205~0 Ma）. Therefore, large scale marine sedimentary basins existed in the relatively stable continental blocks of the Proterozoic, developed during the Neoproterozoic to Paleozoic, with the property of the intracontinental cratons and peripheral foreland basins, the multistage superimposing and late reformations of basins. The continental basins developed on the weak or preexisting divisional basements, or the remnant and reformed marine basins in the Meso-Cenozoic, are mainly the continental margins, back-arc basins, retroarc foreland basins, intracontinental rifts and pull-apart basins. The styles and intensity deformation containing the faults, folds and the structural architecture of regional unconformities of the basins, responded to the openings, subductions, closures of oceans, the continent-continent collisions and reactivation of orogenies near the basins in different periods. The evolutions of the Tianshan-Mongol-Hinggan, Kunlun-Qilian-Qinling-Dabie-Sulu, Jiangshao-Shiwandashan, Helanshan-Longmengshan, Taihang-Wuling orogenic belts, the Tibet Plateau and the Altun and Tan- Lu Fault belts have importantly influenced on the tectonic-sedimentary developments, mineralization and hydrocarbon reservoir conditions of their adjacent basins in different times. The evolutions of basins also rely on the deep structures of lithosphere and the rheological properties of the mantle. The mosaic and mirroring geological structures of the deep lithosphere reflect the pre-existed divisions and hot mantle upwelling, constrain to the origins and transforms dynamics of the basins. The leading edges of the basin tectonic dynamics will focus on the basin and mountain coupling, reconstruction of the paleotectonic-paleogeography, establishing relationship between the structural deformations of shallow surface to the deep lithosphere or asthenosphere, as well as the restoring proto-basin and depicting residual basin of the Paleozoic basin, the effects of multiple stages of volcanism and paleo- earthquake events in China.

Influence of railway wheel tread damage on wheel-rail impact loads and the durability of wheelsets

Dynamic wheel-rail contact forces induced by a severe form of wheel tread damage have been measured by a wheel impact load detector during full-scale field tests at different vehicle speeds.Based on laser scanning,the measured three-dimensional damage geometry is employed in simulations of dynamic vehicle-track interaction to calibrate and verify a simulation model.The relation between the magnitude of the impact load and various operational parameters,such as vehicle speed,lateral position of wheel-rail contact,track stiffness and position of impact within a sleeper bay,is investigated.The calibrated model is later employed in simulations featuring other forms of tread damage;their effects on impact load and subsequent fatigue impact on bearings,wheel webs and subsurface initiated rolling contact fatigue of the wheel tread are assessed.The results quantify the effects of wheel tread defects and are valuable in a shift towards condition-based maintenance of running gear,and for general assessment of the severity of different types of railway wheel tread damage.

The dynamics of three coupled dipolar Bose Einstein condensates

The dynamics of the three coupled dipolar Bose–Einstein condensates containing N bosons is investigated within a mean-field semiclassical picture based on the coherent-state method. Varieties of periodic solutions （configured as vortex, single depleted well, and dimerlike states） are obtained analytically when the fixed points are identified on the N=constant. The system dynamics are studied via numeric integration of trimer motion equations, thus revealing macroscopic effects of population inversion and self-trapping with different initial states. In particular, the trajectory of the oscillations of the populations in each well shows how the dynamics of the condensates are effected by the presence of dipole–dipole interaction and gauge field.

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.

Dynamic interaction nursing intervention on functional rehabilitation and self-care ability of patients after aneurysm surgery

BACKGROUND Nursing practices based on the dynamic interaction model have been shown to be superior to generic nursing practices.However,whether this model is effective in patients recovering from intracranial aneurysm surgery is not well studied.AIM To investigate the effect of nursing based on a dynamic interaction model on functional rehabilitation of patients after aneurysm surgery.METHODS A total of 86 cases in our hospital with intracranial aneurysm from April 2019 to April 2021,were selected and divided into the study group and the control group,with 43 patients in each group.The control group received routine nursing,and the research group received nursing intervention based on a dynamic interaction model.The daily living ability(activities of daily living,ADL),cognitive function(Simple Intelligent Mental State Scale,MMSE),quality of life(Generic Quality of Life Inventory-74,GQOL-74),self-care ability(Exercise of Self-Care Agency scale),incidence of complications,and nursing satisfaction were recorded before and after intervention.RESULTS Before intervention,ADL(52.09±6.44),MMSE(18.03±4.11),and GQOL-74(53.68±4.34)scores in the study group were not significantly different from those in the control group(ADL:50.97±7.32,MMSE:17.59±3.82,GQOL-74:55.06±3.98)(P>0.05).After intervention,ADL(86.12±5.07),MMSE(26.64±2.66),and GQOL-74(83.13±5.67)scores in the study group were higher than those in the control group(ADL:79.81±6.35,MMSE:24.51±3.00,and GQOL-74:77.96±6.27)(P<0.05).Before intervention,self-concept(17.46±4.44),self-care skills(25.22±4.20),self-care knowledge(22.35±4.74),and self-care responsibility(15.06±3.29)scores in the study group was similar to those in the control group(self-concept:16.89±5.53,self-care skills:24.59±4.46,self-care knowledge:21.80±3.61,and self-care responsibility:14.83±3.11)(P>0.05).After the intervention,self-concept(26.01±3.18),self-care skills(37.68±6.05),self-care knowledge(45.56±5.83),and self-care responsibility(22.01±3.77)scores in the study group were higher than those in the control group(self-concept:22.97±3.46,self-care skills:33.02±5.65,selfcare skills knowledge:36.81±5.54,and self-care responsibility:17.97±3.56 points)(P<0.05).The incidence of complications in the study group(4.65%)was lower than that in the control group(18.60%)(P<0.05).Nursing satisfaction in the study group(95.35%)was higher than that in the control group(81.40%)(P<0.05).CONCLUSION Nursing intervention based on a dynamic interaction model can improve postoperative cognitive function,daily living ability,self-care ability,quality of life,and patient satisfaction,while reducing the risk of complications.

Dynamic interaction of twin vertically overlapping lined tunnels in an elastic half space subjected to incident plane waves

The scattering of plane harmonic P and SV waves by a pair of vertically overlapping lined tunnels buried in an elastic half space is solved using a semi-analytic indirect boundary integration equation method. Then the effect of the distance between the two tunnels, the stiffness and density of the lining material, and the incident frequency on the seismic response of the tunnels is investigated. Numerical results demonstrate that the dynamic interaction between the twin tunnels cannot be ignored and the lower tunnel has a significant shielding effect on the upper tunnel for high-frequency incident waves, resulting in great decrease of the dynamic hoop stress in the upper tunnel; for the low-frequency incident waves, in contrast, the lower tunnel can lead to amplification effect on the upper tunnel. It also reveals that the frequency-spectrum characteristics of dynamic stress of the lower tunnel are significantly different from those of the upper tunnel. In addition, for incident P waves in low-frequency region, the soft lining tunnels have significant amplification effect on the surface displacement amplitude, which is slightly larger than that of the corresponding single tunnel.

Seismic response of tall building considering soil-pile-structure interaction

The seismic behavior of tall buildings can he greatly affected by non-linear soil-pile interaction during strong earthquakes.In this study a 20-storey building is examined as a typical structure supported on a pile foundation for different conditions:(1) rigid base,i.e.no deformation in the foundation:(2) linear soil-pile system;and (3) nonlinear soil-pile system. The effects of pile foundation displacements on the behavior of tall building are investigated,and compared with the behavior of buildings supported on shallow foundation.With a model of non-reflective boundary between the near field and far field, Novak's method of soil-pile interaction is improved.The computation method for vibration of pile foundations and DYNAN computer program are introduced comprehensively.A series of dynamic experiments have been done on full-scale piles, including single pile and group,linear vibration and nonlinear vibration,to verify the validity of boundary zone model.

Dynamic soil-tunnel interaction in layered half-space for incident P-and SV-waves

The dynamic soil-tunnel interaction is studied by the model of a rigid tunnel embedded in layered half-space, which is simplified as a single soil layer on elastic bedrock to the excitation of P- and SV-waves. The indirect boundary element method is used, combined with the Green＇ s function of distributed loads acting on inclined lines. It is shown that the dynamic characteristics of soil-tunnel interaction in layered half-space are different much from that in homoge- neous half-space, and that the mechanism of soil-tunnel interaction is also different much from that of soil-founda- tion-superstructure interaction. For oblique incidence, the tunnel response for in-plane incident SV-waves is com- pletely different from that for incident SH-waves, while the tunnel response for vertically incident SV-wave is very similar to that of vertically incident SH-wave.

Dynamic interaction numerical models in the time domain based on the high performance scaled boundary finite element method

Consideration of structure-foundation-soil dynamic interaction is a basic requirement in the evaluation of the seismic safety of nuclear power facilities. An efficient and accurate dynamic interaction numerical model in the time domain has become an important topic of current research. In this study, the scaled boundary finite element method （SBFEM） is improved for use as an effective numerical approach with good application prospects. This method has several advantages, including dimensionality reduction, accuracy of the radial analytical solution, and unlike other boundary element methods, it does not require a fundamental solution. This study focuses on establishing a high performance scaled boundary finite element interaction analysis model in the time domain based on the acceleration unit-impulse response matrix, in which several new solution techniques, such as a dimensionless method to solve the interaction force, are applied to improve the numerical stability of the actual soil parameters and reduce the amount of calculation. Finally, the feasibility of the time domain methods are illustrated by the response of the nuclear power structure and the accuracy of the algorithms are dynamically verified by comparison with the refinement of a large-scale viscoelastic soil model.

On dynamic analysis method for large-scale train-track-substructure interaction

Train–track–substructure dynamic interaction is an extension of the vehicle–track coupled dynamics.It contributes to evaluate dynamic interaction and performance between train–track system and its substructures.For the first time,this work devotes to presenting engineering practical methods for modeling and solving such large-scale train–track–substructure interaction systems from a unified viewpoint.In this study,a train consists of several multi-rigid-body vehicles,and the track is modeled by various finite elements.The track length needs only satisfy the length of a train plus boundary length at two sides,despite how long the train moves on the track.The substructures and their interaction matrices to the upper track are established as independent modules,with no need for additionally building the track structures above substructures,and accordingly saving computational cost.Track–substructure local coordinates are defined to assist the confirming of the overlapped portions between the train–track system and the substructural system to effectively combine the cyclic calculation and iterative solution procedures.The advancement of this model lies in its convenience,efficiency and accuracy in continuously considering the vibration participation of multi-types of substructures against the moving of a train on the track.Numerical examples have shown the effectiveness of this method;besides,influence of substructures on train–track dynamic behaviors is illustrated accompanied by clarifying excitation difference of different track irregularity spectrums.

Comparative study on wheel-rail dynamic interactions of side-frame cross-bracing bogie and sub-frame radial bogie

Improving freight axle load is the most effective method to improve railway freight capability; based on the imported technologies of railway freight bogie, the 27 t axle load side-frame cross-bracing bogie and sub-frame radial bogie are developed in China. In order to analyze and compare dynamic interactions of the two newly developed heavy-haul freight bogies, we establish a vehi- cle-track coupling dynamic model and use numerical calculation methods for computer simulation. The dynamic performances of the two bogies are simulated separately at various conditions. The results show that at the dipped joint and straight line running conditions, the wheel-rail dynamic interactions of both bogies are basically the same, but at the curve negotiation condition, the wear and the lateral force of the side-frame cross-bracing bogie are much higher than that of the sub-frame radial bogie, and the advantages become more obvious when the curve radius is smaller. The results also indicate that the sub- frame radial bogie has better low-wheel-rail interaction characteristics.

Mesoscale Dynamics and Its Application in Torrential Rainfall Systems in China

Progress over the past decade in understanding moisture-driven dynamics and torrential rain storms in China is reviewed in this paper. First, advances in incorporating moisture effects more realistically into theory are described, including the development of a new parameter, generalized moist potential vorticity（GMPV） and an improved moist ageostrophic Q vector（Qum）. Advances in vorticity dynamics are also described, including the adoption of a ＂parcel dynamic＂ approach to investigate the development of the vertical vorticity of an air parcel; a novel theory of slantwise vorticity development, proposed because vorticity develops easily near steep isentropic surfaces; and the development of the convective vorticity vector（CVV）as an effective new tool. The significant progress in both frontal dynamics and wave dynamics is also summarized, including the geostrophic adjustment of initial unbalanced flow and the dual role of boundary layer friction in frontogenesis, as well as the interaction between topography and fronts, which indicate that topographic perturbations alter both frontogenesis and frontal structure. For atmospheric vortices, mixed wave/vortex dynamics has been extended to explain the propagation of spiral rainbands and the development of dynamical instability in tropical cyclones. Finally, we review wave and basic flow interaction in torrential rainfall, for which it was necessary to extend existing theory from large-scale flows to mesoscale fields, enriching our knowledge of mesoscale atmospheric dynamics.

Multi-scale calculation of settling speed of coarse particles by accelerated Stokesian dynamics without adjustable parameter

The calculation of settling speed of coarse particles is firstly addressed, with accelerated Stokesian dynamics without adjustable parameters, in which far field force acting on the particle instead of particle velocity is chosen as dependent variables to consider inter-particle hydrodynamic interactions. The sedimentation of a simple cubic array of spherical particles is simulated and compared to the results available to verify and validate the numerical code and computational scheme. The improved method keeps the same computational cost of the order O（NlogN） as usual accelerated Stokesian dynamics does. Then, more realistic random suspension sedimentation is investigated with the help of Mont Carlo method. The computational results agree well with experimental fitting. Finally, the sedimentation of finer cohesive particle, which is often observed in estuary environment, is presented as a further application in coastal engineering.

Free energy calculation of single molecular interaction using Jarzynski's identity method:the case of HIV-1 protease inhibitor system

Jarzynski＇ identity （JI） method was suggested a promising tool for reconstructing free energy landscape of biomolecular interactions in numerical simulations and ex- periments. However, JI method has not yet been well tested in complex systems such as ligand-receptor molecular pairs. In this paper, we applied a huge number of steered molec- ular dynamics （SMD） simulations to dissociate the protease of human immunodeficiency type I virus （HIV-1 protease） and its inhibitors. We showed that because of intrinsic com- plexity of the ligand-receptor system, the energy barrier pre- dicted by JI method at high pulling rates is much higher than experimental results. However, with a slower pulling rate and fewer switch times of simulations, the predictions of JI method can approach to the experiments. These results sug- gested that the JI method is more appropriate for reconstruct- ing free energy landscape using the data taken from experi- ments, since the pulling rates used in experiments are often much slower than those in SMD simulations. Furthermore, we showed that a higher loading stiffness can produce higher precision of calculation of energy landscape because it yields a lower mean value and narrower bandwidth of work distri- bution in SMD simulations.