MODELING, VALIDATION AND OPTIMAL DESIGN OF THE CLAMPING FORCE CONTROL VALVE USED IN CONTINUOUSLY VARIABLE TRANSMISSION

Associated dynamic performance of the clamping force control valve used in continuously variable transmission （CVT） is optimized. Firstly, the structure and working principle of the valve are analyzed, and then a dynamic model is set up by means of mechanism analysis. For the purpose of checking the validity of the modeling method, a prototype workpiece of the valve is manufactured for comparison test, and its simulation result follows the experimental result quite well. An associated performance index is founded considering the response time, overshoot and saving energy, and five structural parameters are selected to adjust for deriving the optimal associated performance index. The optimization problem is solved by the genetic algorithm （GA） with necessary constraints. Finally, the properties of the optimized valve are compared with those of the prototype workpiece, and the results prove that the dynamic performance indexes of the optimized valve are much better than those of the prototype workpiece.

FORCE OPTIMIZATION OF GRASPING BY ROBOTIC HANDS

It is important for robotic hands to obtain optimal grasping performance inthe meanwhile balancing external forces and maintaining grasp stability. The problem of forceoptimization of grasping is solved in the space of joint torques. A measure of grasping performanceis presented to protect joint actuators from working in heavy payloads. The joint torques arecalculated for the optimal performance under the frictional constraints and the physical limits ofmotor outputs. By formulating the grasping forces into the explicit function of joint torques, thefrictional constraints imposed on the grasping forces are transformed into the constraints on jointtorques. Without further simplification, the nonlinear frictional constraints can be simply handledin the process of optimization. Two numerical examples demonstrate the simplicity and effectivenessof the approach.

Minimum Normal Force Principle Based Quantitive Optimization of Clamping Forces for Thin Walled Part

Based on the stability criteria of workpiece-fixture system, quantitative optimization of clamping forces during precise machining process for thin walled part is studied considering the contact condition between wokpiece and locator, the contact mechanical model is achieved, which is further been used to calculate the entire passive forces acting on the statically undetermined workpiece by means of the force screw theory as well as minimum norm force principle. Furthermore, a new methodology to optimize clamping forces is put forward, on the criteria of keeping the stability of workpiece during cutting process. By this way, the intensity of clamping forces is decreased dramatically, which will be most beneficial for improving the machining quality of thin-walled parts. Finally, a case study is used to support and validate the proposed model.

Comparison of Constant and Time-variant Optimal Forcing Approaches in El Nio Simulations by Using the Zebiak–Cane Model

Model errors offset by constant and time-variant optimal forcing vector approaches （termed COF and OFV, respectively） are analyzed within the framework of E1 Nifio simulations. Applying the COF and OFV approaches to the well-known Zebiak-Cane model, we re-simulate the 1997 and 2004 E1 Nifio events, both of which were poorly degraded by a certain amount of model error when the initial anomalies were generated by coupling the observed wind forcing to an ocean com- ponent. It is found that the Zebiak-Cane model with the COF approach roughly reproduced the 1997 E1 Nifio, but the 2004 E1 Nifio simulated by this approach defied an ENSO classification, i.e., it was hardly distinguishable as CP-E1 Nifio or EP-E1 Nifio. In hoth E1 Nifio simulations, substituting the COF with the OFV improved the fit between the simulations and obser- vations because the OFV better manages the time-variant errors in the model. Furthermore, the OFV approach effectively corrected the modeled E1 Nifio events even when the observational data （and hence the computational time） were reduced. Such a cost-effective offset of model errors suggests a role for the OFV approach in complicated CGCMs.

Six-Element Yagi Array Designs Using Central Force Optimization with Pseudo Random Negative Gravity

A six-element Yagi-Uda array is optimally designed using Central Force Optimization (CFO) with a small amount of pseudo randomly injected negative gravity. CFO is a simple, deterministic metaheuristic analogizing gravitational kinematics (motion of masses under the influence of gravity). It has been very effective in addressing a wide range of antenna and other problems and normally employs only positive gravity. With positive gravity the six element CFO-designed Yagi array described here exhibits excellent performance with respect to the objectives of impedance bandwidth and forward gain. This paper addresses the question of what happens when a small amount of negative gravity is injected into the CFO algorithm. Does doing so have any effect, beneficial, negative or neutral? In this particular case negative gravity improves CFO’s exploration and creates a region of optimality containing many designs that perform about as well as or better than the array discovered with only positive gravity. Without some negative gravity these array configurations are overlooked. This Yagi-Uda array design example suggests that antennas optimized or designed using deterministic CFO may well benefit by including a small amount of negative gravity, and that the negative gravity approach merits further study.

Theory and application of numerical simulation method of capillary force enhanced oil production

A kind of second-order implicit upwind fractional step finite difference methods are presented for the numerical simulation of coupled systems for enhanced （chemical） oil production with capillary force in the porous media. Some techniques, e.g., the calculus of variations, the energy analysis method, the commutativity of the products of difference operators, the decomposition of high-order difference operators, and the theory of a priori estimate, are introduced. An optimal order error estimate in the l2 norm is derived. The method is successfully used in the numerical simulation of the enhanced oil production in actual oilfields. The simulation results are satisfactory and interesting.

Central Force Optimization with Gravity <0, Elitism, and Dynamic Threshold Optimization: An Antenna Application, 6-Element Yagi-Uda Arrays

This paper investigates the effect of adding three extensions to Central Force Optimization when it is used as the Global Search and Optimization method for the design and optimization of 6-elementYagi-Uda arrays. Those extensions are Negative Gravity, Elitism, and Dynamic Threshold Optimization. The basic CFO heuristic does not include any of these, but adding them substantially improves the algorithm’s performance. This paper extends the work reported in a previous paper that considered only negative gravity and which showed a significant performance improvement over a range of optimized arrays. Still better results are obtained by adding to the mix Elitism and DTO. An overall improvement in best fitness of 19.16% is achieved by doing so. While the work reported here was limited to the design/optimization of 6- element Yagis, the reasonable inference based on these data is that any antenna design/optimization problem, indeed any Global Search and Optimization problem, antenna or not, utilizing Central Force Optimization as the Global Search and Optimization engine will benefit by including all three extensions, probably substantially.

The Topology Optimization of Oil Cylinder Mounting

The method of the structural topology optimization is often used to design machine in the early stage of the mechanical design.And the mechanical structures use the topology design to produce a new still and lightweight part with the different loading.A new structure is created through overlapping these new optimized structure.

A biomechanical case study on the optimal orthodontic force on the maxillary canine tooth based on finite element analysis

Excessive forces may cause root resorption and insufficient forces would introduce no effect in orthodontics. The objective of this study was to investigate the optimal orthodontic forces on a maxillary canine, using hydrostatic stress and logarithmic strain of the periodontal ligament（PDL） as indicators. Finite element models of a maxillary canine and surrounding tissues were developed. Distal translation/tipping forces, labial translation/tipping forces, and extrusion forces ranging from 0 to 300 g（100 g=0.98 N） were applied to the canine, as well as the force moment around the canine long axis ranging from 0 to 300 g·mm. The stress/strain of the PDL was quantified by nonlinear finite element analysis, and an absolute stress range between 0.47 k Pa（capillary pressure） and 12.8 k Pa（80% of human systolic blood pressure） was considered to be optimal, whereas an absolute strain exceeding 0.24%（80% of peak strain during canine maximal moving velocity） was considered optimal strain. The stress/strain distributions within the PDL were acquired for various canine movements, and the optimal orthodontic forces were calculated. As a result the optimal tipping forces（40–44 g for distal-direction and 28–32 g for labial-direction） were smaller than the translation forces（130–137 g for distal-direction and 110–124 g for labial-direction）. In addition, the optimal forces for labialdirection motion（110–124 g for translation and 28–32 g for tipping） were smaller than those for distal-direction motion（130–137 g for translation and 40–44 g for tipping）. Compared with previous results, the force interval was smaller than before and was therefore more conducive to the guidance of clinical treatment. The finite element analysis results provide new insights into orthodontic biomechanics and could help to optimize orthodontic treatment plans.

CHARACTERISTCS OF FLUID FILM IN OPTIMIZED SPIRAL GROOVE MECHANICAL SEAL

In order to investigate the sealing performance variation resulted from the thermal deformation of the end faces, the equations to calculate the fluid film pressure distribution, the bearing force and the leakage rate are derived, for the fluid film both in parallel gap and in wedgy gap. The geometrical parameters of the sealing members are optimized by means of heat transfer analysis and complex method. The analysis results indicate that the shallow spiral grooves can generate hydrodynamic pressure while the rotating ring rotates and the bearing force of the fluid film in spiral groove end faces is much larger than that in the flat end faces. The deformation increases the bearing force of the fluid film in flat end faces, but it decreases the hydrodynamic pressure of the fluid film in spiral groove end faces. The gap dimensions which determine the characteristics of the fluid film is obtained by coupling analysis of the frictional heat and the thermal deformation in consideration of the equilibrium condition of the bearing force and the closing force. For different gap dimensions, the relation- ship between the closing force and the leakage rate is also investigated, based on which the leakage rate can be controlled by adjusting the closing force.

Digital Model of Human Lower Extremity Musculoskeletal System Based on CT & MRI

A new method to reconstruct a comparatively complete muscle model of the human lower limb from CT and MRI data is presented. Topological structure of more than fourteen muscles is built and coordinates of origin and insertion points are given. Based on this model, straight-line model and centroid-line muscle model are acquired. Muscle force prediction is discussed according to the model reconstructed, and a multi-objective optimization method is put forward for evaluating muscle forces of the human lower extremity.

The role of constant optimal forcing in correcting forecast models

In this paper,the role of constant optimal forcing(COF) in correcting forecast models was numerically studied using the well-known Lorenz 63 model.The results show that when we only consider model error caused by parameter error,which also changes with the development of state variables in a numerical model,the impact of such model error on forecast uncertainties can be offset by superimposing COF on the tendency equations in the numerical model.The COF can also offset the impact of model error caused by stochastic processes.In reality,the forecast results of numerical models are simultaneously influenced by parameter uncertainty and stochastic process as well as their interactions.Our results indicate that COF is also able to significantly offset the impact of such hybrid model error on forecast results.In summary,although the variation in the model error due to physical process is time-dependent,the superimposition of COF on the numerical model is an effective approach to reducing the influence of model error on forecast results.Therefore,the COF method may be an effective approach to correcting numerical models and thus improving the forecast capability of models.

Grasping Force Optimization Algorithm of Soft Multi-fingered Hand Based on Safety Margin Detection

The classical gradient flow optimization algorithm requires a valid initial point before starting the recursive algorithm,and the existing methods can’t guarantee that the initial values fully satisfy the friction cone constraints of contact point in the optimization process of gradient flow algorithm.In order to improve safety margin and prevent the finger from slipping at contact point,we present an iterative method of safe initial values with safety margin detection and develop a gradient flow optimization algorithm based on the safe initial values.Firstly,the safety margin is defined which more intuitively reflects the margin of the grasping forces at contact point.The resulting safe initial values can be achieved by the detection of desired safety margin at each iteration.Secondly,the safe initial values are usually not optimal,even with the valid initial values,and it can’t always ensure that the finger contact force always satisfies the friction cone constraints during the optimization.It is an effective way to eliminate the unreliable initial values in the optimization and obtain a safer initial values by increasing the safety margin.By transforming the safe initial values into an initial point of the gradient flow algorithm,the final optimized values of grasping forces can be generated efficiently by gradient flow iteration.Grasp examples of the soft multi-fingered hand indicate the effectiveness of the general solution of the force optimization algorithm based on safety margin detection.The method eliminates the shortcomings of the gradient flow optimization process caused by the initial value problem and provides a more accurate and reliable force optimization result for multi-fingered dexterous manipulation.

Soft-landing control for a six-legged mobile repetitive lander

The primary mode of extraterrestrial exploration is a robotic system comprising a lander and a rover.However,the lander is immovable,and the rover has a restrictive detection area because of the difficulties of reaching complex terrains,such as those with deep craters.In this study,a six-legged mobile repetitive lander with landing and walking functions is designed to solve these problems.First,a six-legged mobile repetitive lander and its structure are introduced.Then,a soft-landing method based on compliance control and optimal force control is addressed to control the landing process.Finally,the experiments are conducted to validate the soft-landing method and its performances.Results show that the soft-landing method for the six-legged mobile repetitive lander can successfully control the joint torques and solve the soft-landing problem on complex terrains,such as those with steps and slopes.