Dynamic Interaction Analysis of Coupled Axial-Torsional-Lateral Mechanical Vibrations in Rotary Drilling Systems

Maintaining the integrity and longevity of structures is essential in many industries,such as aerospace,nuclear,and petroleum.To achieve the cost-effectiveness of large-scale systems in petroleum drilling,a strong emphasis on structural durability and monitoring is required.This study focuses on the mechanical vibrations that occur in rotary drilling systems,which have a substantial impact on the structural integrity of drilling equipment.The study specifically investigates axial,torsional,and lateral vibrations,which might lead to negative consequences such as bit-bounce,chaotic whirling,and high-frequency stick-slip.These events not only hinder the efficiency of drilling but also lead to exhaustion and harm to the system’s components since they are difficult to be detected and controlled in real time.The study investigates the dynamic interactions of these vibrations,specifically in their high-frequency modes,usingfield data obtained from measurement while drilling.Thefindings have demonstrated the effect of strong coupling between the high-frequency modes of these vibrations on drilling sys-tem performance.The obtained results highlight the importance of considering the interconnected impacts of these vibrations when designing and implementing robust control systems.Therefore,integrating these compo-nents can increase the durability of drill bits and drill strings,as well as improve the ability to monitor and detect damage.Moreover,by exploiting thesefindings,the assessment of structural resilience in rotary drilling systems can be enhanced.Furthermore,the study demonstrates the capacity of structural health monitoring to improve the quality,dependability,and efficiency of rotary drilling systems in the petroleum industry.

Multimodal Sentiment Analysis Based on a Cross-Modal Multihead Attention Mechanism

Multimodal sentiment analysis aims to understand people’s emotions and opinions from diverse data.Concate-nating or multiplying various modalities is a traditional multi-modal sentiment analysis fusion method.This fusion method does not utilize the correlation information between modalities.To solve this problem,this paper proposes amodel based on amulti-head attention mechanism.First,after preprocessing the original data.Then,the feature representation is converted into a sequence of word vectors and positional encoding is introduced to better understand the semantic and sequential information in the input sequence.Next,the input coding sequence is fed into the transformer model for further processing and learning.At the transformer layer,a cross-modal attention consisting of a pair of multi-head attention modules is employed to reflect the correlation between modalities.Finally,the processed results are input into the feedforward neural network to obtain the emotional output through the classification layer.Through the above processing flow,the model can capture semantic information and contextual relationships and achieve good results in various natural language processing tasks.Our model was tested on the CMU Multimodal Opinion Sentiment and Emotion Intensity(CMU-MOSEI)and Multimodal EmotionLines Dataset(MELD),achieving an accuracy of 82.04% and F1 parameters reached 80.59% on the former dataset.

Insights into the dwarfing mechanism of pear(Pyrus betulaefolia) based on anatomical and structural analysis using X-ray scanning

The lack of a suitable rootstock to control scion growth has limited the development of high-density plantations in pear production, which is partly attributed to poor understanding of the dwarfing mechanism. In the present study, the rootstock of the dwarf-type pear (Pyrus betulaefolia)PY-9’ was identified and used as the material for anatomical analysis.PY-9’ grew to half the tree height of the normal cultivar Zhengdu’, along with fewer internodes and shorter length. Significant differences in growth rate betweenPY-9’ andZhengdu’ were detected at approximately 30 days after full bloom, which corresponded with the time of the greatest difference in water potential between the dwarf and normal cultivar.PY-9’ showed a higher photosynthetic rate thanZhengdu’. Anatomical analysis showed thatPY-9’ had higher area ratios of both phloem and xylem and more developed vascular tissues thanZhengdu’. The three-dimensional reconstructed skeleton of the xylem from X-ray computed tomography scanning revealed greater intervessel connectivity inZhengdu’ than inPY-9’, which could contribute to the more vigorous growth ofZhengdu’. This study thus provides the first comparison of the microstructural properties of xylem elements between a dwarfing-type and vigorous-type pear rootstock, providing new insights into the dwarfing mechanism in pear and facilitating breeding of dwarf pear rootstocks to increase crop productivity.

Configuration Synthesis and Grasping Performance Analysis of Multi-Loop Coupling Capture Mechanism for Launch and Recovery of Torpedo-Shaped Autonomous Underwater Vehicle

Research of capture mechanisms with strong capture adaptability and stable grasp is important to solve the problem of launch and recovery of torpedo-shaped autonomous underwater vehicles(AUVs).A multi-loop coupling capture mechanism with strong adaptability and high retraction rate has been proposed for the launch and recovery of torpedo-shaped AUVs with different morphological features.Firstly,the principle of capturing motion retraction is described based on the appearance characteristics of torpedo-shaped AUVs,and the configuration synthesis of the capture mechanism is carried out using the method of constrained chain synthesis.Secondly,the screw theory is employed to analyze the degree of freedom(DoF)of the capture mechanism.Then,the 3D model of the capture mechanism is established,and the kinematics and dynamics simulations are carried out.Combined with the capture orientation requirements of the capture mechanism,the statics and vibration characteristics analyses are carried out.Furthermore,considering the capture process and the underwater working environment,the motion characteristics and hydraulics characteristics of the capture mechanism are analyzed.Finally,a principle prototype is developed and the torpedo-shaped AUVs capture experiment is completed.The work provides technical reserves for the research and development of AUV capture special equipment.

Mechanism of imipenem-induced mental disorder: A meta-analysis

BACKGROUND Imipenem is a highly effective carbapenem antibiotic,which is widely used in the treatment of many serious bacterial infections.At the same time,it can also cause some adverse reactions,mental abnormalities are the most concerned central nervous system adverse reactions.Different patients respond differently to imipenem,and the effect of imipenem on psychiatric disorders is unclear.Therefore,meta-analysis summarizing the results of multiple previous studies can provide stronger evidence support for clinical guidelines to guide clinical rational use of imipenem to minimize risks.After reviewing the literature published between 2003 and 2017,seven controlled trials with a total of 550 patients were included,with 273 and 277 patients in the control and experimental groups,respectively.The sample size of the study ranged from a minimum of 30 cases to a maximum of 61 cases.Patients in the experimental group were treated with imipenem while the control group was treated with conventional drugs.Meta-analysis showed that the incidence of mental disorders in the experimental group was higher than that in the control group(odds ratio=3.66,95%confidence interval:1.11-12.11,P=0.030);however,there was no significant difference in the incidence of adverse reactions between the two groups(odds ratio=0.05,95%confidence interval:0.00 to 0.10,P=0.060).Funnel diagrams showed that the scattered points of each study were symmetrical and distributed in an inverted funnel shape;therefore,there was no publication bias.CONCLUSION Imipenem can cause mental disorders in patients.However,the low quality of the included literature may have affected the final results.Therefore,it is necessary to conduct a high-quality randomized controlled study with multiple samples to further confirm the mechanism of imipenem-induced mental disorders and provide effective guidance for clinical treatment.

DYNAMICS ANALYSIS OF 2-DOF SPHERICAL PARALLEL MECHANISM

The analytical formulations of the velocity and the acceleration of a 2-DOF spherical parallel mechanism are derived by the screw theory. Based on building its dynamics model by the principle of virtual work and reciprocal product of the screw, the equation of the motor moment is obtained. Through the transformation of dynamics model, the configuration space method of the dynamics equation and the corresponding coefficients are presented. Finally, the result of an example shows that the inertia moment and the gravity play a more important role than the coriolis and centrifugal moment, and the former is ten times of the latter in the magnitude. So, the latter can be neglected only when the velocity of mechanism is very slow.

Current development and future prospects of multi-target assignment problem:A bibliometric analysis review

The multi-target assignment(MTA)problem,a crucial challenge in command control,mission planning,and a fundamental research focus in military operations,has garnered significant attention over the years.Extensively studied across various domains such as land,sea,air,space,and electronics,the MTA problem has led to the emergence of numerous models and algorithms.To delve deeper into this field,this paper starts by conducting a bibliometric analysis on 463 Scopus database papers using CiteSpace software.The analysis includes examining keyword clustering,co-occurrence,and burst,with visual representations of the results.Following this,the paper provides an overview of current classification and modeling techniques for addressing the MTA problem,distinguishing between static multi-target assignment(SMTA)and dynamic multi-target assignment(DMTA).Subsequently,existing solution algorithms for the MTA problem are reviewed,generally falling into three categories:exact algorithms,heuristic algorithms,and machine learning algorithms.Finally,a development framework is proposed based on the"HIGH"model(high-speed,integrated,great,harmonious)to guide future research and intelligent weapon system development concerning the MTA problem.This framework emphasizes application scenarios,modeling mechanisms,solution algorithms,and system efficiency to offer a roadmap for future exploration in this area.

Analysis of mechanical strengths of extreme line casing joint considering geometric, material, and contact nonlinearities

To address the challenges associated with difficult casing running,limited annular space,and poor cementing quality in the completion of ultra-deep wells,the extreme line casing offers an effective solution over conventional casings.However,due to its smaller size,the joint strength of extreme line casing is reduced,which may cause failure when running in the hole.To address this issue,this study focuses on the CST-ZTΦ139.7 mm×7.72 mm extreme line casing and employs the elastic-plastic mechanics to establish a comprehensive analysis of the casing joint,taking into account the influence of geometric and material nonlinearities.A finite element model is developed to analyze the forces and deformations of the extreme line casing joint under axial tension and external collapse load.The model investigates the stress distribution of each thread tooth subjected to various tensile forces and external pressures.Additionally,the tensile strength and crushing strength of the extreme line casing joint are determined through both analytical and experimental approaches.The findings reveal that,under axial tensile load,the bearing surface of each thread tooth experiences uneven stress,with relatively high equivalent stress at the root of each thread tooth.The end thread teeth are valuable spots for failure.It is observed that the critical fracture axial load of thread decreases linearly with the increase of thread tooth sequence.Under external pressure,the circumferential stress is highest at the small end of the external thread,leading to yield deformation.The tensile strength of the joint obtained from the finite element model exhibits a relative error of less than 7%compared to the analytical and experimental values,proving the reliability of the finite element model.The tensile strength of the joint is 3091.9 k N.Moreover,in terms of anti-collapse capability,the joints demonstrate higher resistance to collapse compared to the casing body,which is consistent with the test results where the pipe body experiences collapse and failure while the joints remain intact during the experiment.The failure load of the casing body under external collapse pressure is 87.4 MPa.The present study provides a basic understanding of the mechanical strengths of extreme line casing joint.

INVERSE KINEMATIC AND DYNAMIC ANALYSIS OF A 3-DOF PARALLEL MECHANISM

According to the structure character of the passive sub-chain of the 3TPS-TPparallel mechanism, the kinematic constraint equations of the movable platform are established,based on which the closed-form inverse kinematics formula of the parallel mechanism are presented.Through parting the spherical joints of the active sub-chains and using the force and momentequilibrium of both the active sub-chains and passive sub-chain, the constraint forces acting on theparted joints are determined. Subsequently, the analytic expressions of the actuator driving forcesare derived by means of the force equilibrium of the upper links of active sub-chains.

Biological Jumping Mechanism Analysis and Modeling for Frog Robot

This paper presents a mechanical model of jumping robot based on the biological mechanism analysis of frog. By biological observation and kinematic analysis the frog jump is divided into take-offphase, aerial phase and landing phase. We find the similar trajectories of hindlimb joints during jump, the important effect of foot during take-off and the role of forelimb in supporting the body. Based on the observation, the frog jump is simplified and a mechanical model is put forward. The robot leg is represented by a 4-bar spring/linkage mechanism model, which has three Degrees of Freedom （DOF） at hip joint and one DOF （passive） at tarsometatarsal joint on the foot. The shoulder and elbow joints each has one DOF for the balancing function of arm. The ground reaction force of the model is analyzed and compared with that of frog during take-off. The results show that the model has the same advantages of low likelihood of premature lift-off and high efficiency as the frog. Analysis results and the model can be employed to develop and control a robot capable of mimicking the jumping behavior of frog.

FORCE ANALYSIS CONSIDERING MANUFACTURE ERROR OF PIN-HOLE-OUTPUT MECHANISM IN CYCLOID DRIVE

Based on the analysis of the pin-hole-output mechanism in the cycloid drive,a more accurate force analysis method is provided, in which the manufacture error is considered, bywhich the contact force between pin and pin-hole can be calculated more accurately in the wholedriving process.

PERFORMANCE ANALYSIS AND KINEMATIC DESIGN OF PURE TRANSLATIONAL PARALLEL MECHANISM WITH VERTICAL GUIDE-WAYS

Performance analysis and kinematic design of the 3-PUU pure translational parallel mechanism with vertical guide-ways are investigated. Two novel performance indices, the critical slider stroke and the main section area of workspace, are defined; The expressions of two other indices, i.e. the global dexterity and global force transfer ratio are revised based on the main section of workspace. Using these indices, performance changes versus the varieties of dimensional parameters of mechanism are investigated in detail and the graphic descriptions of change tendencies of the performance indices are illustrated. By means of these obtained graphic descriptions, kinematic parameters for the 3-PUU pure translational parallel mechanism with better characteristics can be directly acquired.

Stiffness Analysis of Corrugated Flexure Beam Used in Compliant Mechanisms

Conventional flexible joints generally have limited range of motion and high stress concentration. To overcome these shortcomings, corrugated flexure beam（CF beam） is designed because of its large flexibility obtained from longer overall length on the same span. The successful design of compliant mechanisms using CF beam requires manipulation of the stiffnesses as the design variables. Empirical equations of the CF beam stiffness components, except of the torsional stiffness, are obtained by curve-fitting method. The application ranges of all the parameters in each empirical equation are also discussed. The ratio of off-axis to axial stiffness is considered as a key characteristic of an effective compliant joint. And parameter study shows that the radius of semi-circular segment and the length of straight segment contribute most to the ratio. At last, CF beam is used to design translational and rotational flexible joints, which also verifies the validity of the empirical equations. CF beam with large flexibility is presented, and empirical equations of its stiffness are proposed to facilitate the design of flexible joint with large range of motion.

Reliability analysis of supporting pressure in tunnels based on three-dimensional failure mechanism

Based on nonlinear failure criterion,a three-dimensional failure mechanism of the possible collapse of deep tunnel is presented with limit analysis theory.Support pressure is taken into consideration in the virtual work equation performed under the upper bound theorem.It is necessary to point out that the properties of surrounding rock mass plays a vital role in the shape of collapsing rock mass.The first order reliability method and Monte Carlo simulation method are then employed to analyze the stability of presented mechanism.Different rock parameters are considered random variables to value the corresponding reliability index with an increasing applied support pressure.The reliability indexes calculated by two methods are in good agreement.Sensitivity analysis was performed and the influence of coefficient variation of rock parameters was discussed.It is shown that the tensile strength plays a much more important role in reliability index than dimensionless parameter,and that small changes occurring in the coefficient of variation would make great influence of reliability index.Thus,significant attention should be paid to the properties of surrounding rock mass and the applied support pressure to maintain the stability of tunnel can be determined for a given reliability index.

Comparison and analysis of two Coulomb friction models on the dynamic behavior of slider-crank mechanism with a revolute clearance joint

The objective of this study is to investigate the effects of the Coulomb dry friction model versus the modified Coulomb friction model on the dynamic behavior of the slider-crank mechanism with a revolute clearance joint. The normal and tangential forces acting on the contact points between the journal and the bearing are described by using a Hertzian-based contact force model and the Coulomb friction models, respectively.The dynamic equations of the mechanism are derived based on the Lagrange equations of the first kind and the Baumgarte stabilization method. The frictional force is solved via the linear complementarity problem(LCP) algorithm and the trial-and-error algorithm.Finally, three numerical examples are given to show the influence of the two Coulomb friction models on the dynamic behavior of the mechanism. Numerical results show that due to the stick friction, the slider-crank mechanism may exhibit stick-slip motion and can balance at some special positions, while the mechanism with ideal joints cannot.

Mechanical mechanism analysis of tension type anchor based on shear displacement method

Based on the fact that the shear stress along anchorage segment is neither linearly nor uniformly distributed, the load transfer mechanism of the tension type anchor was studied and the mechanical characteristic of anchorage segment was analyzed. Shear stress?strain relationship of soil surrounding anchorage body was simplified into three-folding-lines model consisting of elastic phase, elasto-plastic phase and residual phase considering its softening characteristic. Meanwhile, shear displacement method that has been extensively used in the analysis of pile foundation was introduced. Based on elasto-plastic theory, the distributions of displacement, shear stress and axial force along the anchorage segment of tension type anchor were obtained, and the formula for calculating the elastic limit load was also developed accordingly. Finally, an example was given to discuss the variation of stress and displacement in the anchorage segment with the loads exerted on the anchor, and a program was worked out to calculate the anchor maximum bearing capacity. The influence of some parameters on the anchor bearing capacity was discussed, and effective anchorage length was obtained simultaneously. The results show that the shear stress first increases and then decreases and finally trends to the residual strength with increase of distance from bottom of the anchorage body, the displacement increases all the time with the increase of distance from bottom of the anchorage body, and the increase of velocity gradually becomes greater.

FORWARD KINEMATICS ANALYSIS FOR A NOVEL 5-DOF PARALLEL MECHANISM USING TETRAHEDRON CONFIGURATIONS

Forward kinematics analysis of a novel 5-DOF parallel mechanism using tetrahedron configurations is presented. Such mechanism is suitable to many tasks requiring less than 6 DOFs. It consists of a movable platform connected to the base by five identical 6-DOF active limbs plus one active limb with its DOF being exactly the same as the specified DOF of the movable platform, which leads to its legs＇ topology 4-UPS/UPU. Based on the tetmhedron geometry, both closed-form solution with an extra sensor and numerical method using iterative algorithm are employed to obtain the forward kinematics solutions of the mechanism. Compared with the conventional methods, the proposed closed-form solution has the advantages in automatically avoiding unnecessary complex roots and getting a unique solution for the forward kinematics. Finally, an example shows that the proposed numerical algorithm is so effective that it enables a real-time forward kinematics solution to be achieved and the initial value can be chosen easily.

MECHANISM DESIGN AND MOTION ANALYSIS OF A SPHERICAL MOBILE ROBOT

A new spherical mobile robot BHQ-1 is designed. The spherical robot is driven by two internally mounted motors that induce the ball to move straight and turn around on a fiat surface. A dynamic model of the robot is developed with Lagrange method and factors affecting the driving torque of two motors are analyzed. The relationship between the turning radius of the robot and the length of two links is discussed in order to optimize its mechanism design. Simulation and experimental results demonstrate the good controllability and motion performance of BHQ-1.

Error Analysis of Three Degree-of-Freedom Changeable Parallel Measuring Mechanism

A three degree-of-freedom (DOF) planar changeable parallel mechanism is designed by means of control of different drive parameters. This mechanism possesses the characteristics of two kinds of parallel mechanism. Based on its topologic structure, a coordinate system for position analysis is set-up and the forward kinematic solutions are analyzed. It was found that the parallel mechanism is partially decoupled. The relationship between original errors and position-stance error of moving platform is built according to the complete differential-coefficient theory. Then we present a special example with theory values and errors to evaluate the error model, and numerical error solutions are gained. The investigations concentrating on mechanism errors and actuator errors show that the mechanism errors have more influences on the position-stance of the moving platform. It is demonstrated that improving manufacturing and assembly techniques can greatly reduce the moving platform error. The small change in position-stance error in different kinematic positions proves that the error-compensation of software can improve considerably the precision of parallel mechanism.

Micro Model of Carbon Fiber/Cyanate Ester Composites and Analysis of Machining Damage Mechanism

Machining damage occurs on the surface of carbon fiber reinforced polymer (CFRP) composites during processing. In the current simulation model of CFRP, the initial defects on the carbon fiber and the periodic random distribution of the reinforcement phase in the matrix are not considered in detail, which makes the characteristics of the cutting model significantly different from the actual processing conditions. In this paper, a novel three-phase model of carbon fiber/cyanate ester composites is proposed to simulate the machining damage of the composites. The periodic random distribution of the carbon fiber reinforced phase in the matrix was realized using a double perturbation algorithm. To achieve the stochastic distribution of the strength of a single carbon fiber, a novel method that combines the Weibull intensity distribution theory with the Monte Carlo method is presented. The mechanical properties of the cyanate matrix were characterized by fitting the stress-strain curves, and the cohesive zone model was employed to simulate the interface. Based on the model, the machining damage mechanism of the composites was revealed using finite element simulations and by conducting a theoretical analysis. Furthermore, the milling surfaces of the composites were observed using a scanning electron microscope, to verify the accuracy of the simulation results. In this study, the simulations and theoretical analysis of the carbon fiber/cyanate ester composite processing were carried out based on a novel three-phase model, which revealed the material failure and machining damage mechanism more accurately.