Dynamic Simulation and Test Verifcation of Hydraulic Automatic Tensioner for an Engine Timing Chain Drive System

As a fundamental component of an automobile engine’s timing chain drive system, the hydraulic automatic tensioner signifcantly enhances fuel economy while minimizing system vibrations and noise. However, there is a noticeable lack of research on automatic hydraulic tensioners. This study presents a comprehensive calculation approach for the principal parameters of a hydraulic automatic tensioner. An efective method, grounded in hydraulics and multibody dynamics, was introduced for estimating the dynamic response of such a tensioner. The simulation model developed for the hydraulic tensioner is characterized by its rapid dynamic response, consistent operation, and high accuracy. The dynamic behavior of the tensioner was analyzed under varying boundary conditions, using sinusoidal signal excitation. It was observed that the maximum damping force increases with a decreasing leakage gap. Conversely, an increase in oil temperature or air content leads to a decrease in the maximum damping force. The reaction forces derived from these calculations align well with experimental results. This calculation and simulation approach ofers considerable value for the design of innovative hydraulic tensioners. It not only streamlines the design phase, minimizes the number of trials, and reduces product costs, but also provides robust insights for evaluating the performance of hydraulic tensioners.

Hydrodynamic Response of A Fully Coupled TLP Hull-TTR System with Detailed Modeling of A Hydraulic Pneumatic Tensioner and Riser Joints

Tension Leg Platform(TLP)in deepwater oil and gas field development usually consists of a hull,tendons,and top tension risers(TTRs).To maintain its top tension,each TTR is connected with a tensioner system to the hull.Owing to the complicated configuration of the tensioners,the hull and TTRs form a strong coupled system.Traditionally,some simplified tensioner models are applied to analyze the TLP structures.There is a large discrepancy between their analysis results and the actual mechanism behaviors of a tensioner.It is very necessary to develop a more detailed tensioner model to consider the coupling effects between TLP and TTRs.In the present study,a fully coupled TLP hull-TTR system for hydrodynamic numerical simulation is established.A specific hydraulic pneumatic tensioner is modeled by considering 4 cylinders.The production TTR model is stacked up by specific riser joints.The simulation is also extended to analyze an array of TTRs.Different regular and irregular waves are considered.The behaviors of different cylinders are presented.The results show that it is important to consider the specific configurations of the tensioner and TTRs,which may lead to obviously different response behaviors,compared with those from a simplified model.

Design and Analysis of Typical Buoyancy Tank Riser Tensioner Systems

The method for design and analysis of a buoyancy tank riser tensioner system （BTRTS） was put forward in this paper, taking the free standing hybrid riser＇s top buoyancy tank as an example. The design procedure was discussed and was also illustrated in a flowchart, after a short description of the global arrangement, structure configuration, and the function of different types of buoyancy tanks （BT）. The objective of this paper is to describe a way of developing a BT with minimal hydro force, maximal net lift, and no redundancy of compartments. The method of determining the main dimensions of the BT, namely the length and the outer diameter, was outlined. A series of investigations was conducted for a West Africa FSHR BT design, and the effect of the ratio of the length to the outer diameter （L/D） on the hydrodynamics and the weight of the BT was discussed. The methodology of designing the internal structure of the BT was presented. The effects of the number of compartments and the dimension of the inner stem on the BT weight and strength were compared. The relationship between inner structure and the number one index of the BT as well as the riser＇s top tension factor （TTF） were illustrated for normal operating conditions and conditions with one or more compartments （or inner stem） damaged. A design instance was given in this paper, when L/D is 4-6, the BT weight and the drag force are compromised. When the BT is divided into 10 compartments, the riser TTF will reach the maximum value, and the ratio of the stem OD to shell OD is about 0.3. A global strength analysis method of the BT and the main load case matrix was also included in the paper, together with the local strength analysis of the buoyancy tank＇s pad-eye assembly.

Tensioner Vibration and Belt Slipping Behavior Investigation for Damped Serpentine Belt Drive Systems

A nonlinear rotational motion model for n-pulley damped serpentine belt drive systems （SBDSs） was developed.The effects of the belt deflection along the contact arc of pulleys on the belt span tensions were considered.The methods for calculating the tensioner arm vibration and belt slipping on pulleys were introduced.The effects of belt damping on rotational vibration of tensioner arm and belt slipping on pulleys were studied.Numerical solutions for a 3-pulley SBDS indicate that the belt slipping at the steady states should be controlled to avoid belt slipping at transient states.The slip factors tend to decrease when the belt damping increases,and the possibility of the belt slipping can be controlled through adjusting the wrap angles of pulleys and the preload of the tensioner when the design parameters of SBDS remain constant.

Neurophysiological, histological, and behavioral characterization of animal models of distraction spinal cord injury: a systematic review

Distraction spinal cord injury is caused by some degree of distraction or longitudinal tension on the spinal cord and commonly occurs in patients who undergo corrective operation for severe spinal deformity.With the increased degree and duration of distraction,spinal cord injuries become more serious in terms of their neurophysiology,histology,and behavior.Very few studies have been published on the specific characteristics of distraction spinal cord injury.In this study,we systematically review 22 related studies involving animal models of distraction spinal cord injury,focusing particularly on the neurophysiological,histological,and behavioral characteristics of this disease.In addition,we summarize the mechanisms underlying primary and secondary injuries caused by distraction spinal cord injury and clarify the effects of different degrees and durations of distraction on the primary injuries associated with spinal cord injury.We provide new concepts for the establishment of a model of distraction spinal cord injury and related basic research,and provide reference guidelines for the clinical diagnosis and treatment of this disease.

Versatile fluidity test model for cast superalloys and comparison between IN718 and IN939

A spiral fluidity test model of superalloys with 10 mm in height and 3 mm in thickness was designed to evaluate the fluidity of two distinct Ni-based superalloys IN718 and IN939.The factors influencing fluidity are ascertained through comparative analysis utilizing methodologies such as JMat Pro,differential scanning calorimetry and high-temperature confocal laser scanning microscopy.The results show that under identical testing conditions,the fluidity of the IN939 superalloy surpasses that of the IN718 superalloy.When subjected to the same temperature,the melt viscosity and surface tension of IN939 superalloy are considerably reduced relative to those of IN718 superalloy,which is beneficial to improving the melt fluidity.Furthermore,the liquidus temperature and solidification range for the IN939 superalloy are both smaller compared with those of the IN718 superalloy.This condition proves advantageous in delaying dendrite coherency,thereby improving fluidity.

Research on Anti-Fluctuation Control of Winding Tension System Based on Feedforward Compensation

In the fiber winding process,strong disturbance,uncertainty,strong coupling,and fiber friction complicate the winding constant tension control.In order to effectively reduce the influence of these problems on the tension output,this paper proposed a tension fluctuation rejection strategy based on feedforward compensation.In addition to the bias harmonic curve of the unknown state,the tension fluctuation also contains the influence of bounded noise.A tension fluctuation observer(TFO)is designed to cancel the uncertain periodic signal,in which the frequency generator is used to estimate the critical parameter information.Then,the fluctuation signal is reconstructed by a third-order auxiliary filter.The estimated signal feedforward compensates for the actual tension fluctuation.Furthermore,a time-varying parameters fractional-order PID controller(TPFOPID)is realized to attenuate the bounded noise in the fluctuation.Finally,TPFOPID is enhanced by TFO and applied to control a tension control system considering multi-source disturbances.The stability of the method is analyzed by using the Lyapunov theorem.Finally,numerical simulations verify that the proposed scheme improves the tracking ability and robustness of the system in response to tension fluctuations.

Adaptive RISE Control of Winding Tension with Active Disturbance Rejection

A winding system is a time-varying system that considers complex nonlinear characteristics,and how to control the stability of the winding tension during the winding process is the primary problem that has hindered development in this field in recent years.Many nonlinear factors affect the tension in the winding process,such as friction,structured uncertainties,unstructured uncertainties,and external interference.These terms severely restrict the tension tracking performance.Existing tension control strategies are mainly based on the composite control of the tension and speed loops,and previous studies involve complex decoupling operations.Owing to the large number of calculations required for this method,it is inconvenient for practical engineering applications.To simplify the tension generation mechanism and the influence of the nonlinear characteristics of the winding system,a simpler nonlinear dynamic model of the winding tension was established.An adaptive method was applied to update the feedback gain of the continuous robust integral of the sign of the error(RISE).Furthermore,an extended state observer was used to estimate modeling errors and external disturbances.The model disturbance term can be compensated for in the designed RISE controller.The asymptotic stability of the system was proven according to the Lyapunov stability theory.Finally,a comparative analysis of the proposed nonlinear controller and several other controllers was performed.The results indicated that the control of the winding tension was significantly enhanced.

Impact of ethanol on the flotation efficiency of imidazolium ionic liquids as collectors:Insights from dynamic surface tension and solvation analysis

To conduct extensive research on the application of ionic liquids as collectors in mineral flotation,ethanol(EtOH)was used as a solvent to dissolve hydrophobic ionic liquids(ILs)to simplify the reagent regime.Interesting phenomena were observed in which EtOH exerted different effects on the flotation efficiency of two ILs with similar structures.When EtOH was used to dissolve 1-dodecyl-3-methylimidazolium chloride(C12[mim]Cl)and as a collector for pure quartz flotation tests at a concentration of 1×10^(−5)mol·L^(−1),quartz recovery increased from 23.77%to 77.91%compared with ILs dissolved in water.However,quartz recovery of 1-dodecyl-3-methylim-idazolium hexafluorophosphate(C12[mim]PF6)decreased from 60.45%to 24.52%under the same conditions.The conditional experi-ments under 1×10^(−5)mol·L^(−1)ILs for EtOH concentration and under 2vol%EtOH for ILs concentration confirmed this difference.After being affected by EtOH,the mixed ore flotation tests of quartz and hematite showed a decrease in the hematite concentrate grade and re-covery for the C12[mim]Cl collector,whereas the hematite concentrate grade and recovery for the C12[mim]PF6 collector increased.On the basis of these differences and observations of flotation foam,two-phase bubble observation tests were carried out.The EtOH promoted the foam height of two ILs during aeration.It accelerated static froth defoaming after aeration stopped,and the foam of C12[mim]PF6 de-foaming especially quickly.In the discussion of flotation tests and foam observation,an attempt was made to explain the reasons and mechanisms behind the diverse phenomena using the dynamic surface tension effect and solvation effect results from EtOH.The solva-tion effect was verified through Fourier transform infrared(FT-IR),X-ray photoelectron spectroscopy(XPS),and Zeta potential tests.Al-though EtOH affects the adsorption of ILs on the ore surface during flotation negatively,it holds an positive value of inhibiting foam mer-ging during flotation aeration and accelerating the defoaming of static foam.And induce more robust secondary enrichment in the mixed ore flotation of the C12[mim]PF6 collector,facilitating effective mixed ore separation even under inhibitor-free conditions.

Atomistic evaluation of tension–compression asymmetry in nanoscale body-centered-cubic AlCrFeCoNi high-entropy alloy

The tension and compression of face-centered-cubic high-entropy alloy(HEA) nanowires are significantly asymmetric, but the tension–compression asymmetry in nanoscale body-centered-cubic(BCC) HEAs is still unclear. In this study,the tension–compression asymmetry of the BCC Al Cr Fe Co Ni HEA nanowire is investigated using molecular dynamics simulations. The results show a significant asymmetry in both the yield and flow stresses, with BCC HEA nanowire stronger under compression than under tension. The strength asymmetry originates from the completely different deformation mechanisms in tension and compression. In compression, atomic amorphization dominates plastic deformation and contributes to the strengthening, while in tension, deformation twinning prevails and weakens the HEA nanowire.The tension–compression asymmetry exhibits a clear trend of increasing with the increasing nanowire cross-sectional edge length and decreasing temperature. In particular, the compressive strengths along the [001] and [111] crystallographic orientations are stronger than the tensile counterparts, while the [110] crystallographic orientation shows the exactly opposite trend. The dependences of tension–compression asymmetry on the cross-sectional edge length, crystallographic orientation,and temperature are explained in terms of the deformation behavior of HEA nanowire as well as its variations caused by the change in these influential factors. These findings may deepen our understanding of the tension–compression asymmetry of the BCC HEA nanowires.

Geometry and formation mechanism of tension gashes and their implication on the hydrocarbon accumulation in the deep-seated strata of sedimentary basin:A case from Shunnan area of Tarim Basin

With the theoretical and technological developments related to cratonic strike-slip faults,the Shuntuoguole Low Uplift in the Tarim Basin has attracted considerable attention recently.Affected by multi-stage tectonic movements,the strike-slip faults have controlled the distribution of hydrocarbon resources owing to the special fault characteristics and fault-related structures.In contrast,the kinematics and formation mechanism of strike-slip faults in buried sedimentary basins are difficult to investigate,limiting the discussion of these faults and hydrocarbon accumulation.In this study,we identified the characteristics of massive sigmoidal tension gashes(STGs)that formed in the Shunnan area of the Tarim Basin.High-resolution three-dimensional seismic data and attribute analyses were used to investigate their geometric and kinematic characteristics.Then,the stress state of each point of the STGs was calculated using seismic curvature attributes.Finally,the formation mechanism of the STGs and their roles in controlling hydrocarbon migration and accumulation were discussed.The results suggest that:(1)the STGs developed in the Shunnan area have a wide distribution,with a tensile fault arranged in an enéchelon pattern,showing an S-shaped bending.These STGs formed in multiple stages,and differential rotation occurred along the direction of strike-slip stress during formation.(2)Near the principal displacement zone of the strike-slip faults,the stress value of the STGs was higher,gradually decreasing at both ends.The shallow layer deformation was greater than the deep layer deformation.(3)STGs are critical for connecting source rocks,migrating oil and gas,sealing horizontally,and developing efficient reservoirs.This study not only provides seismic evidence for the formation and evolution of super large STGs,but also provides certain guidance for oil and gas exploration in this area.

Eco-friendly calcium alginate microspheres enable enhanced profile control and oil displacement

Polymer microspheres(PMs),such as polyacrylamide,have been widely applied for enhanced oil recovery(EOR),yet with environmental concerns.Here,we report a microfluid displacement technology containing a bio-based eco-friendly material,i.e.,calcium alginate(CaAlg)microspheres for EOR.Two dominant mechanisms responsible for EOR over Ca Alg fluid have been verified,including the microscopic oil displacement efficacy augmented by regulating capillary force(determined by the joint action of interfacial tension and wettability between different phases)and macroscopic sweep volume increment through profile control and mobility ratio reduction.This comprehensive effectiveness can be further impacted when the CaAlg microsphere is embellished ulteriorly by using appropriate amount of sodium dodecyl sulfonate(SDS).The core flooding and nuclear magnetic resonance(NMR)tests demonstrate that CaAlg-SDS microsphere can balance the interphase property regulation(wettability alteration and IFT reduction)and rheology properties,enabling simultaneous profile control and oil displacement.Excessive introduction of SDS will have a negative impact on rheological properties,which is not favored for EOR.Our results show that the involvement of 4-m M SDS will provide the best behavior,with an EOR rate of 34.38%.This cost-effective and environmentally-friendly bio-microspherebased microfluidic displacement technology is expected to achieve“green”oil recovery in future oilfield exploitation.

Loads and Dynamic Response Characteristic on FPSO Under Internal Solitary Waves

According to the established prediction model of internal solitary wave loads on FPSO in the previous work,the lumped mass model and the movement equations of finite displacement in time domain,the dynamic response model of interaction between internal solitary waves and FPSO with mooring lines were established.Through calculations and analysis,time histories of dynamic loads of FPSO exerted by internal solitary waves,FPSO’s motion and dynamic tension of mooring line were obtained.The effects of the horizontal pretension of mooring line,the amplitude of internal solitary wave and layer fluid depth on dynamic response behavior of FPSO were mastered.It was shown that the internal solitary waves had significant influence on FPSO,such as the large magnitude horizontal drift and a sudden tension increment.With internal solitary wave of −170 m amplitude in the ocean with upper and lower layer fluid depth ratio being 60:550,the dynamic loads reached 991.132 kN(horizontal force),18067.3 kN(vertical force)and−5042.92 kN·m(pitching moment).Maximum of FPSO’s horizontal drift was 117.56 m.Tension increment of upstream mooring line approached 401.48 kN and that of backflow mooring line was−140 kN.Moreover,the loads remained nearly constant with different pretension but increased obviously with the changing amplitude and layer fluid depth ratio.Tension increments of mooring lines also changed little with the pretension but increased rapidly when amplitude and layer fluid depth ratio increased.However,FPSO’s motion increased quickly with not only the horizontal pretension but also the amplitude of internal solitary wave and layer fluid depth ratio.

Effects of Atmospheric Pressure on Developmental Characteristics and the Stability of Air Entraining Agent for Concrete

In order to ascertain the effects of atmospheric pressure on developmental characteristics and the stability of AEA(air-entraining agent)solution bubbles,AEA solution experiments and AEA solution bubble experiments were,respectively,conducted in Peking(50 m,101.2 kPa)and Lhasa(3,650 m,63.1 kPa).Surface tensions and inflection-point concentrations were tested based on AEA solutions,whilst developmental characteristics,thicknesses and elastic coefficients of liquid films were tested based on air bubbles of AEA solutions.The study involved three types of AEAs,which were TM-O,226A,and 226S.The experimental results show that initial sizes of TM-O,226A,and 226S are,respectively,increased by 43.5%,17.5%,and 3.8%.With the decrease of ambient pressure,the drainage rate and the drainage index of AEA solution bubbles increase.Interference experiments show that the liquid film thicknesses of all tested AEA solution bubbles are in micron scales.When the atmospheric pressure decreases from 101.2 to 63.1 kPa,the liquid film thicknesses of three types of AEA solutions decrease in various degrees;and film elasticities at critical thicknesses increase.Liquid film of 226S solution bubbles is the most stable,presenting as a minimum thickness variation.It should be noted that elastic coefficient of liquid film only represents the level at critical thickness,thus it can not be applied as the only evaluating indicator of bubble stability.For a type of AEA,factors affecting the stability of its bubbles under low atmospheric pressure include initial bubbles size,liquid film thickness,liquid film elasticity,ambient temperature,etc.

Mechanical behavior of rock under uniaxial tension:Insights from energy storage and dissipation

Many rock engineering projects show that the growth of tensile cracks is often an important cause of engineering disasters,and the mechanical behavior of rocks is essentially the transmission,storage,dissipation and release of energy.To investigate the tensile behavior of rock from the perspective of energy,uniaxial tension tests(UTTs)and uniaxial compression tests(UCTs)were carried out on three typical rocks(granite,sandstone and marble).Different unloading points were set before the peak stress to separate elastic energy and dissipated energy.The input energy density ut,elastic energy density ue,and dissipated energy density ud at each unloading point were calculated by integrating stress-strain curves.The results show that there is a strong linear relationship between the three energy parameters and the square of the unloading stress in UCT,but this linear relationship is weaker in UTT.The ue and ud increase linearly with the increase in ut in UCT and UTT.Based on the phenomenon that ue and ud increase linearly with ut,the applicability of W_(et)^(p) index in UTT was proved and the relative energy storage capacity and absolute energy distribution characteristics of three rocks in UCT and UTT were evaluated.The tensile behavior of marble and sandstone in UTT can be divided into two stages vaguely according to the energy distribution,but granite is not the case.In addition,based on dissipated energy,the damage evolution of three types of rocks in UCT and UTT was discussed.This study provides some new insights for understanding the tensile behavior of rock.

Bulging Distortion of Austenitic Stainless Steel Sheet on the Partially Penetrated Side of Non-Penetration Lap Laser Welding Joint

Non-penetration laser welding of lap joints in austenitic stainless steel sheets is commonly preferred in fields where the surface quality is of utmost importance.However,the application of non-penetration welded austenitic stainless steel parts is limited owing to the micro bulging distortion that occurs on the back surface of the partial penetration side.In this paper,non-penetration lap laser welding experiments,were conducted on galvanized and SUS304 austenitic stainless steel plates using a fiber laser,to investigate the mechanism of bulging distortion.A comparative experiment of DC01 galvanized steel-Q235 carbon steel lap laser welding was carried out,and the deflection and distortion profile of partially penetrated side of the sheets were measured using a noncontact laser interferometer.In addition,the cold-rolled SUS304 was subjected to heat holding at different temperatures and water quenching after bending to characterize its microstructure under tensile and compressive stress.The results show that,during the heating stage of the thermal cycle of laser lap welding,the partial penetration side of the SUS304 steel sheet generates compressive stress,which extrudes the material in the heat-affected zone to the outside of the back of the SUS304 steel sheet,thereby forming a bulge.The findings of these experiments can be of great value for controlling the distortion of the partial penetrated side of austenitic stainless steel sheet during laser non-penetration lap welding.

Membrane tension evolution and mechanical regulation of melittin-induced membrane poration

Membrane tension plays a crucial role in various fundamental cellular processes,with one notable example being the T cell-mediated elimination of tumor cells through perforin-induced membrane perforation by amplifying cellular force.However,the mechanisms governing the regulation of biomolecular activities at the cell interface by membrane tension remain elusive.In this study,we investigated the correlation between membrane tension and poration activity of melittin,a prototypical pore-forming peptide,using dynamic giant unilamellar vesicle leakage assays combined with flickering tension analysis,molecular dynamics simulations,and live cell assays.The results demonstrate that an increase in membrane tension enhances the activity of melittin,particularly near its critical pore-forming concentration.Moreover,peptide actions such as binding,insertion,and aggregation in the membrane further influence the evolution of membrane tension.Live cell experiments reveal that artificially enhancing membrane tension effectively enhances melittin’s ability to induce pore formation and disrupt membranes,resulting in up to a ten-fold increase in A549 cell mortality when exposed to a concentration of 2.0-μg·mL^(-1)melittin.Our findings elucidate the relationship between membrane tension and the mechanism of action as well as pore-forming efficiency of melittin,while providing a practical mechanical approach for regulating functional activity of molecules at the cell-membrane interface.

聚酯缆动力学行为计算方法研究

The dynamic stiffness of polyester rope presents a complex mechanical performance,and the search for an appropriate calculation method to simulate this property is important.Distorted simulation results eventually yield inaccurate line tension and vessel offset predictions,with the inaccuracy of vessel offset being particularly large.This paper proposes a flexible calculation method for the dynamic behavior of polyester rope based on the dynamic stiffness model.A real-time varying stiffness model of polyester rope is employed to simulate tension response through rope strain monitoring.Consequently,a simulation program is developed,and related case studies are conducted to explore the differences between the proposed method and analytical procedure of the DNV standard.Orcaflex is used to simulate the results of the latter procedure for comparison.Results show the convenience and straightforwardness of the procedure in the selection of an approximate dynamic stiffness model for polyester rope,which leads to an engineering-oriented approach.However,the proposed method is related to line property,which can directly reflect the dynamic behavior of polyester rope.Thus,a flexible calculation method may provide a reference for the simulation of the dynamic response of polyester mooring systems.

Near resonance vibration isolation on a levered-dual response(LEDAR)Coulomb-damped system by differential preloads/offsets in linear springs

The levered-dual response(LEDAR)Coulomb-damped system attains near resonant vibration isolation by differential preloads/offsets in linear springs.It takes the advantages of both the preloads/offsets in linear springs and the guiderail friction for realizing different levels of vibration isolation.The isolation capacities are investigated on the strategies with both the horizontal and vertical guiderails,with the horizontal rail only,and without guiderails.The compressive preloads generally result in the consumption of most of the initial excitation energy so as to overcome the potential threshold.The isolation onsets at the frequency ratio of 1∓0.095 on the left-hand side(LHS)and the right-hand side(RHS)of the lever are relative to the load plate connector.The observed near resonant isolation thus makes the LEDAR system a candidate for the isolation of the mechanical systems about resonance while opening a path for simultaneous harvesterisolation functions and passive functions at extreme frequencies.

Static-to-kinematic modeling and experimental validation of tendon-driven quasi continuum manipulators with nonconstant subsegment stiffness

Continuum robots with high flexibility and compliance have the capability to operate in confined and cluttered environments. To enhance the load capacity while maintaining robot dexterity, we propose a novel non-constant subsegment stiffness structure for tendon-driven quasi continuum robots(TDQCRs) comprising rigid-flexible coupling subsegments.Aiming at real-time control applications, we present a novel static-to-kinematic modeling approach to gain a comprehensive understanding of the TDQCR model. The analytical subsegment-based kinematics for the multisection manipulator is derived based on screw theory and product of exponentials formula, and the static model considering gravity loading,actuation loading, and robot constitutive laws is established. Additionally, the effect of tension attenuation caused by routing channel friction is considered in the robot statics, resulting in improved model accuracy. The root-mean-square error between the outputs of the static model and the experimental system is less than 1.63% of the arm length(0.5 m). By employing the proposed static model, a mapping of bending angles between the configuration space and the subsegment space is established. Furthermore, motion control experiments are conducted on our TDQCR system, and the results demonstrate the effectiveness of the static-to-kinematic model.