足式机器人SLIP模型向上跳跃台阶的运动控制

由于存在地势起伏,台阶对足式机器人运动稳定性会带来较大挑战.弹簧负载倒立摆模型(SLIP)作为研究足式机器人的优良模板,能否完成向上跳跃台阶的动作与其腿部摆角,起跳位置和跳跃高度都有密切的关系.由于调整模型腿部摆角规律容易引发运动失效,故本文在算法中引入虚拟弹簧腿,根据虚拟弹簧腿的运行规律确定合理起跳位置,根据起跳位置来控制系统跳跃高度进而完成跳跃台阶的动作.最后利用仿真软件进行多组仿真,结果表明本文算法对起跳区间划分合理,对起跳高度控制精准,能够实现SLIP模型跳跃台阶前后的稳定运动.

Revealing the role of pyramidal slip in the high ductility of Mg-Li alloy

The high ductility of Mg-Li alloy has been mainly ascribed to a high activity of pyramidal<c+a>slip to accommodate plastic strain.In the present study,however,a quantitative analysis reveals that Li-addition can only slightly stimulate the activation of pyramidal<c+a>slip under compression along the normal direction of a hot-rolled Mg-4.5 wt.%Li plate,with a relative activity of approximately 18%.Although the limited activity of pyramidal<c+a>slip alone cannot accommodate a large plastic strain,it effectively reduces the number of{10.11}−{10.12}double twins,which are believed to be favorable sites for crack initiation.The evidently reduced activity of double twins leads to a lower cracking tendency,and therefore improves ductility.

Coseismic deformation and fault slip distribution of the 2023 M_(W)7.8 and M_(W)7.6 earthquakes in Türkiye

On February 6,2023,a devastating earthquake with a moment magnitude of M_(W)7.8 struck the town of Pazarcik in south-central Türkiye,followed by another powerful earthquake with a moment magnitude of M_(W)7.6 that struck the nearby city of Elbistan 9 h later.To study the characteristics of surface deformation caused by this event and the influence of fault rupture,this study calculated the static coseismic deformation of 56 stations and dynamic displacement waveforms of 15 stations using data from the Turkish national fixed global navigation satellite system(GNSS)network.A maximum static coseismic displacement of 0.38 m for the M_(W)7.8 Kahramanmaras earthquake was observed at station ANTE,36 km from the epicenter,and a maximum dynamic coseismic displacement of 4.4 m for the M_(W)7.6 Elbistan earthquake was observed at station EKZ1,5 km from the epicenter.The rupture-slip distributions of the two earthquakes were inverted using GNSS coseismic deformation as a constraint.The results showed that the Kahramanmaras earthquake rupture segment was distinct and exposed on the ground,resulting in significant rupture slip along the Amanos and Pazarcik fault segments of the East Anatolian Fault.The maximum slip in the Pazarcik fault segment was 10.7 m,and rupture occurred at depths of 0–15 km.In the Cardak fault region,the Elbistan earthquake caused significant ruptures at depths of 0–12 km,with the largest amount of slip reaching 11.6 m.The Coulomb stress change caused by the Kahramanmaras earthquake rupture along the Cardak fault segment was approximately 2 bars,and the area of increased Coulomb stress corresponded to the subsequent rupture region of the M_(W)7.6 earthquake.Thus,it is likely that the M_(W)7.8 earthquake triggered or promoted the M_(W)7.6 earthquake.Based on the cumulative stress impact of the M_(W)7.8 and M_(W)7.6 events,the southwestern segment of the East Anatolian Fault,specifically the Amanos fault segment,experienced a Coulomb rupture stress change exceeding 2 bars,warranting further attention to assess its future seismic hazard risk.

Three-dimensional mixed convection stagnation-point fow past a vertical surface with second-order slip velocity

This study is concerned with the three-dimensional(3D)stagnation-point for the mixed convection flow past a vertical surface considering the first-order and secondorder velocity slips.To the authors’knowledge,this is the first study presenting this very interesting analysis.Nonlinear partial differential equations for the flow problem are transformed into nonlinear ordinary differential equations(ODEs)by using appropriate similarity transformation.These ODEs with the corresponding boundary conditions are numerically solved by utilizing the bvp4c solver in MATLAB programming language.The effects of the governing parameters on the non-dimensional velocity profiles,temperature profiles,skin friction coefficients,and the local Nusselt number are presented in detail through a series of graphs and tables.Interestingly,it is reported that the reduced skin friction coefficient decreases for the assisting flow situation and increases for the opposing flow situation.The numerical computations of the present work are compared with those from other research available in specific situations,and an excellent consensus is observed.Another exciting feature for this work is the existence of dual solutions.An important remark is that the dual solutions exist for both assisting and opposing flows.A linear stability analysis is performed showing that one solution is stable and the other solution is not stable.We notice that the mixed convection and velocity slip parameters have strong effects on the flow characteristics.These effects are depicted in graphs and discussed in this paper.The obtained results show that the first-order and second-order slip parameters have a considerable effect on the flow,as well as on the heat transfer characteristics.

Loading direction dependence of asymmetric response of pyramidal slip in rolled AZ31 magnesium alloy

Textured magnesium alloys usually exhibit anisotropic mechanical behavior due to the asymmetric activation of different twinning and slipping modes.This work focuses on the pyramidal slip responses of rolled AZ31 magnesium alloy under two loading conditions,compressive and tensile loading along the normal direction.Under the condition where the compressive loading direction is closely parallel to the c-axis of the unit cell,tensile twinning and basal slips are prohibited, dislocations then active and tend to accumulate at grain boundaries and form dislocation walls.Meanwhile,these dislocations exhibit zigzag morphologies,which result from the cross-slip from {10■1} first-order pyramidal plane to {11■2} second-order pyramidal plane,then back to {10■1} first-order pyramidal plane.Under the condition where tensile twins are prevalent,{10■1} first-order and {11■2} second-order pyramidal dislocations are favorable to be activated.Both types of dislocations behave climb-like dissociations onto the basal plane,forming zigzag dislocations.

联合slipBERI与D-InSAR技术的青海省玛多县地震形变场提取与模拟

针对2021年5月22日青海玛多县Ms7.4地震震区形变信息、形变特征以及滑动断裂特性的提取与模拟等问题,获取了玛多县地震区的Sentinel-1A影像,采用双轨差分干涉法,并优化各项参数,提取出同震形变场,利用slipBERI(slip from bayesian regularized inversion)方法对断层的几何参数及形变场进行反演和模拟。结果表明:玛多地震同震形变场的形状近似于一个椭圆,断层整体呈西北-东南走向,其上部为沉降区,下部为隆升区,最大视线向(line of sight,LOS)形变分别为0.65 m和0.81 m。地震形变场的运动主要以东西方向的水平运动为主,并伴有明显的左旋走滑,断层上下方相对视线向运动可达1.50 m,表明此次地震的地表破裂有明显的错位移动。通过分析形变信息和地表破裂特征,可以判断该破裂带位于巴颜喀拉块体,为昆仑山口-江口断裂,反演结果与观测结果相符,这表明观测结果较可靠。

Underlying slip/twinning activities of Mg-xGd alloys investigated by modified lattice rotation analysis

The inconsistencies regarding the fundamental correlation between Gd content and slip(twinning)activities of Mg alloys appeal further investigations.However,the traditional slip dislocations analysis by TEM is time-consuming,and that by SEM/EBSD cannot recognize the partial slip modes.These urge a more efficient and comprehensive approach to easily distinguish all potential slip modes occurred concurrently in alloy matrix.Here we report a modified lattice rotation analysis that can distinguish all slip systems and provide statistical results for slip activities in Mg alloy matrix.Using this method,the high ductility of Mg-Gd alloy ascribed to the enhanced non-basal slips,cross-slip,and postponed twinning activities by Gd addition is quantitatively clarified.

Effects of temperature on critical resolved shear stresses of slip and twining in Mg single crystal via experimental and crystal plasticity modeling

Magnesium(Mg)single crystal specimens with three different orientations were prepared and tested from room temperature to 733 K in order to systematically evaluate effects of temperature on the critical resolved shear stress(CRSS)of slips and twinning in Mg single crystals.The duplex non-basal slip took place in the temperature range from 613 to 733 K when the single crystal samples were stretched along the<0110>direction.In contrast,the single basal slip and prismatic slip were mainly activated in the temperature range from RT to 733 K when the tensile directions were inclined at an angle of 45°with the basal and the prismatic plane,respectively.Viscoplastic self-consistent(VPSC)crystal modeling simulations with genetic algorithm code(GA-code)were carried out to obtain the best fitted CRSSs of major deformation modes,such as basal slip,prismatic slip,pyramidalⅡ,{1012}tensile twinning and{1011}compressive twinning when duplex slips accommodated deformation.Additionally,CRSSs of the basal and the prismatic slip were derived using the Schmid factor(SF)criterion when the single slip mainly accommodated deformation.From the CRSSs of major deformation modes obtained by the VPSC simulations and the SF calculations,the CRSSs for basal slip and{1012}tensile twinning were found to show a weak temperature dependence,whereas those for prismatic,slip and{1011}compressive twinning exhibited a strong temperature dependence.From the comparison of previous results,VPSC-GA modeling was proved to be an effective method to obtain the CRSSs of various deformation modes of Mg and its alloys.

Stability Scrutinization of Agrawal Axisymmetric Flow of Nanofluid through a Permeable Moving Disk Due to Renewable Solar Radiation with Smoluchowski Temperature and Maxwell Velocity Slip Boundary Conditions

The utilization of solar energy is essential to all living things since the beginning of time.In addition to being a constant source of energy,solar energy(SE)can also be used to generate heat and electricity.Recent technology enables to convert the solar energy into electricity by using thermal solar heat.Solar energy is perhaps the most easily accessible and plentiful source of sustainable energy.Copper-based nanofluid has been considered as a method to improve solar collector performance by absorbing incoming solar energy directly.The goal of this research is to explore theoretically the Agrawal axisymmetric flow induced by Cu-water nanofluid over a moving permeable disk caused by solar energy.Moreover,the impacts of Maxwell velocity and Smoluchowski temperature slip are incorporated to discuss the fine points of nanofluid flow and characteristics of heat transfer.The primary partial differential equations are transformed to similarity equations by employing similarity variables and then utilizing bvp4c to resolve the set of equations numerically.The current numerical approach can produce double solutions by providing suitable initial guesses.In addition,the results revealed that the impact of solar collector efficiency enhances significantly due to nanoparticle volume fraction.The suction parameter delays the boundary layer separation.Moreover,stability analysis is performed and is found that the upper solution is stable and physically trustworthy while the lower one is unstable.

The June 2022 Khost earthquake in southeastern Afghanistan:A complicated shallow slip event revealed with InSAR

On June 22,2022,the Mw6.2 earthquake in southeastern Afghanistan caused a severe disaster.We used the Sentinel-1A ascending and descending track images of the European Space Agency and interferometric synthetic aperture radar(In SAR)to obtain the coseismic surface deformation field of the earthquake,which showed that the earthquake caused complex ruptures of multiple faults and various types.Using the dislocation model of the elastic half-space,we determined the focal parameters and slip distribution on the fault plane of this event.The results reveal that:(1)the seismogenic fault of this event is an unknown fault on the northeastern edge of the Katawaz microblock;(2)The slip on the fault plane is mainly in the range of 0—8 km along the dip,with maximum slips about 2 m at a depth of 2 km,which projected on the surface is 69.44°E,32.96°N.This event suggests that,similar to the Chaman,Ghazaband and other large faults,the faults inside the microblock also play an important role in adjusting for the collision stress between India and Europe.

Experimental study on the slip evolution of planar fractures subjected to cyclic normal stress

The frictional rupture mechanisms of rock discontinuities considering the dynamic load disturbance still remain unclear.This paper investigates the transitional behaviors of slip events happened on a planar granite fracture under cyclic normal stress with diferent oscillation amplitudes.The experimental results show that the activations of fast slips always correlate with unloading of normal stress.Besides,the intensive normal stress oscillation can weaken the shear strength which is recoverable when the normal stress return to constant.The rupture patterns are quantifed by stress drop,slip length and slip velocity.With the efect of small oscillation amplitudes,the slip events show chaotic shapes,compared to the regular and predictable style under constant normal stress.When the amplitude is large enough,the big and small slip events emerge alternately,showing a compound slip style.Large amplitude of the cyclic normal stress also widens the interval diferences of the slip events.This work provides experimental supports for a convincible link between the dynamic stress disturbance and the slip behavior of rock fractures.

Wall slip behavior of cemented paste backfill slurry during pipeline based on noncontact experimental detection

Wall slip is a microscopic phenomenon of cemented paste backfill(CPB)slurry near the pipe wall,which has an important influence on the form of slurry pipe transport flow and velocity distribution.Directly probing the wall slip characteristics using conventional experimental methods is difficult.Therefore,this paper established a noncontact experimental platform for monitoring the microscopic slip layer of CPB pipeline transport independently based on particle image velocimetry(PIV)and analyzed the effects of slurry temperature,pipe diameter,solid concentration,and slurry flow on the wall slip velocity of the CPB slurry,which refined the theory of the effect of wall slip characteristics on pipeline transport.The results showed that the CPB slurry had an extensive slip layer at the pipe wall with significant wall slip.High slurry temperature improved the degree of particle Brownian motion within the slurry and enhanced the wall slip effect.Increasing the pipe diameter was not conducive to the formation of the slurry slip layer and led to a transition in the CPB slurry flow pattern.The increase in the solid concentration raised the interlayer shear effect of CPB slurry flow and the slip velocity.The slip velocity value increased from 0.025 to 0.056 m·s^(-1)when the solid content improved from 55wt%to 65wt%.When slurry flow increased,the CPB slurry flocculation structure changed,which affected the slip velocity,and the best effect of slip layer resistance reduction was achieved when the transported flow rate was 1.01 m^(3)·h^(-1).The results had important theoretical significance for improving the stability and economy of the CPB slurry in the pipeline.

On the strengthening and slip activity of Mg-3Al-1Zn alloy with pre-induced{1012¯}twins

{1012¯}twins were introduced into the magnesium(Mg)plate AZ31 via pre-rolling along its transverse direction.The plates,both with and without the pre-induced{1012¯}twins,were subjected to uniaxial tension along different directions.Using crystal plasticity modeling,we found that the strengthening effect of the pre-induced{1012¯}twins on the macroscopic flow stress primarily arised from the increased slip resistance caused by the boundaries,rather than the orientation hardening due to the twinning reorientation(although the latter did make its contribution in some specific loading directions).Besides,the pre-existing{1012¯}twins were found,by both experiments and simulation,to promote the activity of prismatic and pyramidal<c+a>in the parent matrix of the material.Further analysis showed that the enhanced non-basal slip activity is related to the{1012¯}twin boundaries’low micro Hall-Petch slope ratios of non-basal slips to basal slip.With the critical resolved shear stress(CRSS)obtained from crystal plasticity modeling and the orientation data from EBSD,a probability-based slip transfer model was proposed.The model predicts higher slip transfer probabilities and thus lower strain concentration tendencies at{1012¯}twin boundaries than that at grain boundaries,which agrees with the experimental observation that the strain localization was primarily associated with the latter.The present findings are helpful scientifically,in deepening our understanding of how the pre-induced{1012¯}twins affect the strength and slip activity of Mg alloys,and technologically,in guiding the design of the pre-strain protocol of Mg alloys.

Slip boundary effect on the critical Reynolds number of subcritical transition in channel flow

In this letter,the effect of slip boundary on the origin of subcritical transition in two-dimensional chan-nel flows is studied numerically and theoretically.It is shown that both the positive and the negative slip lengths will increase the critical Reynolds number of localized wave packet and hence postpone the transition.By applying a variable transformation and expanding the variables about a small slip length,it is illustrated that the slip boundary effect only exists in the second and higher order modulations of the no-slip solution,and hence explains the power law found in simulations,i.e.the relative increment of the critical Reynolds number due to the slip boundary is proportional to the square of the slip length.

Knot-inspired optical sensors for slip detection and friction measurement in dexterous robotic manipulation

Friction plays a critical role in dexterous robotic manipulation.However,realizing friction sensing remains a challenge due to the difficulty in designing sensing structures to decouple multi-axial forces.Inspired by the topological mechanics of knots,we construct optical fiber knot(OFN)sensors for slip detection and friction measurement.By introducing localized self-contacts along the fiber,the knot structure enables anisotropic responses to normal and frictional forces.By employing OFNs and a change point detection algorithm,we demonstrate adaptive robotic grasping of slipping cups.We further develop a robotic finger that can measure tri-axial forces via a centrosymmetric architecture composed of five OFNs.Such a tactile finger allows a robotic hand to manipulate human tools dexterously.This work could provide a straightforward and cost-effective strategy for promoting adaptive grasping,dexterous manipulation,and human-robot interaction with tactile sensing.

Buoyancy Effects in the Peristaltic Flow of a Prandtl-Eyring Nanofluid with Slip Boundaries

The interaction of nanoparticles with a peristaltic flow is analyzed considering a Prandtl-Eyring fluid under various conditions,such as the presence of a heat source/sink and slip effects in channels with a curvature.This problem has extensive background links with various fields in medical science such as chemotherapy and more in general nanotechnology.A similarity transformation is used to turn the original balance equations into a set of ordinary differential equations,which are then integrated numerically.The investigation reveals that nanofluids have valuable thermal capabilitises.

Photo-responsive droplet manipulation slippery lubricant-infused porous surface with ultra-high durability

Photo-responsive slippery lubricant-infused porous surface(SLIPS) for droplet manipulation is flexible, noncontact and non-destructive in droplet manipulation, which has promising applications in flexible robotics, microfluidics,biomedicine, and chemical analysis. However, the repeated manipulations for droplets of SLIPSs are quite limited in the works reported so far, the poor durability of droplet manipulation severely limits the practical application of the surfaces. In this paper, an Fe3O4-doped polydimethylsiloxane(PDMS)-based SLIPS is proposed and implemented to achieve ultra-high repeated droplet manipulation numbers under near-infrared ray(NIR) laser irradiation. Firstly, a micron columnar array structure with micro-pits on the top side, as well as, a wall structure out of the array is designed on SLIPS to reserve the lubricant. Secondly, the prototype of the SLIPS is fabricated by a 3-step ultraviolet(UV) lithography, and subsequently immersed in silicone oil for more than 96 h to obtain the ultra-high durability slippery lubricant-infused porous surface(UD-SLIPS). With a power of 25 m W–85 m W NIR laser, the repeated manipulation of microdroplets(≤ 5 μL) in the scale of 1 cm can exceed more than 3000 times which is far beyond that in previous reports. Finally, the droplet manipulation performance of this photo-responsive UD-SLIPS and the influence of infusion time on durability are investigated. The mechanism of the PDMS swelling effect is found to be the key factor in improving the droplet manipulation durability of SLIPS. The findings of this work would be of great significance for the development of highly durable photo-responsive functional surfaces for droplet manipulation.

Simulation of Gas-Water Two-Phase Flow in Tight Gas Reservoirs Considering the Gas Slip Effect

A mathematical model for the gas-water two-phase flow in tight gas reservoirs is elaborated.The model can account for the gas slip effect,stress sensitivity,and high-speed non-Darcy factors.The related equations are solved in the framework of a finite element method.The results are validated against those obtained by using the commercial software CMG(Computer Modeling Group software for advanced recovery process simulation).It is shown that the proposed method is reliable.It can capture the fracture rejection characteristics of tight gas reservoirs better than the CMG.A sensitivity analysis of various control factors(initial water saturation,reservoir parameters,and fracturing parameters)affecting the production in tight gas wells is conducted accordingly.Finally,a series of theoretical arguments are provided for a rational and effective development/exploitation of tight sandstone gas reservoirs.

Transient postseismic slip and aftershock triggering:A case study of the 2008 M_W7.9 Wenchuan Earthquake,China

In this study,we investigate how a stress variation generated by a fault that experiences transient postseismic slip(TPS)affects the rate of aftershocks.First,we show that the postseismic slip from Rubin-Ampuero model is a TPS that can occur on the main fault with a velocity-weakening frictional motion,that the resultant slip function is similar to the generalized Jeffreys-Lomnitz creep law,and that the TPS can be explained by a continuous creep process undergoing reloading.Second,we obtain an approximate solution based on the Helmstetter-Shaw seismicity model relating the rate of aftershocks to such TPS.For the Wenchuan sequence,we perform a numerical fitting of the cumulative number of aftershocks using the Modified Omori Law(MOL),the Dieterich model,and the specific TPS model.The fitting curves indicate that the data can be better explained by the TPS model with a B/A ratio of approximately 1.12,where A and B are the parameters in the rate-and state-dependent friction law respectively.Moreover,the p and c that appear in the MOL can be interpreted by the B/A and the critical slip distance,respectively.Because the B/A ratio in the current model is always larger than 1,the model could become a possible candidate to explain aftershock rate commonly decay as a power law with a p-value larger than 1.Finally,the influence of the background seismicity rate r on parameters is studied;the results show that except for the apparent aftershock duration,other parameters are insensitive to r.

Paleostress Reconstruction from 3D Seismic Data and Slip Tendency in the Northern Slope Area of the Bongor Basin, Southwestern Chad

Paleostress plays a significant role in controlling the formation, accumulation, and distribution of reservoirs, and this could be an important factor in controlling the production of hydrocarbons from the unconventional reservoirs. In this study, we will use 3D seismic reflection data to perform the slip-tendency-based stress inversion to determine the stress field in the basement of the northern slope area in the Bongor Basin. The dataset for this technique is easily available in the oil and gas companies. The stress inversion results from the basement of the northern slope area of Bongor basin show that the maximum principal stress axis (σ1) is oriented vertically, the intermediate principal stress axis (σ2) is oriented N18° and the minimum principal stress axis (σ3) is oriented N105°, and σ2/σ1 = 0.60 and σ3/σ1 = 0.29. The findings of this paper provide significant information to understand the fault reactivation at the critical stage of hydrocarbon accumulation and the regional tectonic evolution.