Analysis and Experimental Study on the Friction Force at the Binding Point of Flexible Cable on Satellite

Mainly for the problem that the friction force generated by the existing process of bind-ing,fixing and fastening the flexible cable on the satellite is unknown,the friction force analysis and experimental research on the binding point of the flexible cable are carried out.The equivalent model of the cable bundle bound by nylon cable ties is established,the force on the binding point is analyzed,and the empirical formula for calculating the friction force at the binding point is estab-lished.The formula shows that the friction force is related to the cable bundle diameter,the number of winding cycles of silicone rubber tape,the width of nylon cable ties,and the binding force.The friction force tests of the cable diameter of 5.06 mm,8.02 mm,24.02 mm,38.04 mm under different winding turns of tape were carried out,which was compared with the theoretical calculation value.It is concluded that the calculation accuracy of the theoretical model is more than 95%,which can estimate the actual friction force value accurately.This provides a reference and basis for the theoretical and experimental research on the friction force of the flexible cable binding point on satellite.

Random vortex induced vibration response of suspended flexible cable to fluctuating wind

A popular dynamical model for the vortex induced vibration(VIV)of a suspended flexible cable consists of two coupled equations.The first equation is a partial differential equation governing the cable vibration.The second equation is a wake oscillator that models the lift coefficient acting on the cable.The incoming wind acting on the cable is usually assumed as the uniform wind with a constant velocity,which makes the VIV model be a deterministic one.In the real world,however,the wind velocity is randomly fluctuant and makes the VIV of a suspended flexible cable be treated as a random vibration.In the present paper,the deterministic VIV model of a suspended flexible cable is modified to a random one by introducing the fluctuating wind.Using the normal mode approach,the random VIV system is transformed into an infinite-dimensional modal vibration system.Depending on whether a modal frequency is close to the aeolian frequency or not,the corresponding modal vibration is characterized as a resonant vibration or a non-resonant vibration.By applying the stochastic averaging method of quasi Hamiltonian systems,the response of modal vibrations in the case of resonance or non-resonance can be analytically predicted.Then,the random VIV response of the whole cable can be approximately calculated by superimposing the response of the most influential modal vibrations.Some numerical simulation results confirm the obtained analytical results.It is found that the intensity of the resonant modal vibration is much higher than that of the non-resonant modal vibration.Thus,the analytical results of the resonant modal vibration can be used as a rough estimation for the whole response of a cable.

Cosserat Dynamic Modeling and Simulation of Mobile Cable on Satellite

Mainly for the problems that the configuration of the mobile cable on the satellite is very easy to change,the motion trajectory and dynamic characteristics of the cable can not be accu-rately predicted,which affects the laying quality seriously,the dynamic modeling and simulation of mobile cable on the satellite are carried out.On the basis of referring to the previous papers,the existing mathematical model is improved.The equations of the base vector of the cable section principal axis coordinate system with respect to the arc coordinate s,the distribution force of cable balance equation,the matrix expression of the base vector after the rotation motion transformation in the section principal axis coordinate system,the angular velocity of cable,the section elastic strain and velocity calculation equations are given,and the Cosserat dynamic modeling of the mobile cable is established.Finally,the dynamic simulation model of the mobile cable assembly of the kinematic mechanism is established,and the changes of the force and torque on the cable con-straint end are obtained,which provides a reference for the dynamic modeling and simulation of the mobile cable on satellite.

Optimal Stiffness for Flexible Connectors on A Mobile Offshore Base at Rough Sea States

This paper investigates a simplified method to determine the optimal stiffness of flexible connectors on a mobile offshore base(MOB) during the preliminary design stage. A three-module numerical model of an MOB was used as a case study. Numerous constraint forces and relative displacements for the connectors at rough sea states with different wave angles were utilized to determine the optimized stiffness of the flexible connectors. The range of optimal stiffnesses for the connectors was obtained based on the combination and intersection of the optimized stiffness results, and the implementation steps were elaborated in detail. The percentage reductions of the optimized and optimal stiffness of the flexible connector were determined to quantitatively evaluate the decreases of the constraint force and relative displacement of the connectors compared with those calculated by using the original range of the connector stiffnesses. The results indicate the accuracy and feasibility of this method for determining the optimal stiffness of the flexible connectors and demonstrate the rationality and practicability of the optimal stiffness results. The research ideas, calculation process, and solutions for the optimal stiffness of the flexible connectors of an MOB in this paper can provide valuable technical support for the design of the connectors in similar semisubmersible floating structures.

An Overview of Structural Design,Analysis and Common Monitoring Technologies for Floating Platform and Flexible Cable and Riser

Offshore oil and gas development plays an important part in the global energy sector.Offshore platforms and flexible pipes are the key equipments in the whole offshore oil and gas development system.Because of the randomness and uncertainty of wave and current loads in the ocean environment,the structural design and mechanical analysis of the marine equipment can be highly complicated.Therefore,this paper reviews the recent works of the theoretical model,numerical simulation,and experimental test in three research areas:hydrodynamic analysis of offshore platforms,structural mechanics analysis of flexible pipe and cable,and monitoring technology of offshore floating structures under marine loads.By analyzing their main research methods and key technical difficulties,this paper provides theoretical basis and technical support for the reliability engineering application of offshore platforms and flexible pipelines.Also,China is relatively backward in the design of marine floating platform,the design,analysis and testing of flexible pipeline and cable,as well as the marine equipment prototype monitoring technology research.Calling for breakthroughs at the earliest possible stage in the above fields,prime research should be focused on and strategic planning should be made to deal with“key areas and stranglehold problems”.It is of great significance for the development of China's deep-sea energy and resource development of independent technology and on time to achieve the“carbon peak”national strategic objectives.

Study on the Configuration of Towed Flexible Cables

Based on the fundamental equation of flexible cable dynamics for a towed system, an easily solved mathematical model is set up in this paper by means of appropriate simplification. Several regular patterns of spatial motion of towed flexible cables in water are obtained through numerical simulation with the finite difference method, and then modification and verification by trial results at sea. A technical support is provided for the towing ship to maneuver properly when a flexible cable is towed. Furthermore, the relations between two towed flexible cables, which are towed simultaneously by a ship, are investigated. The results show that the ship towing two flexible cables is safe under the suggested arrangement of two winches for the towing system, and the coiling/uncoiling sequences of the cables as well as the suggested way of maneuvering.

MEC-Assisted Flexible Transcoding Strategy for Adaptive Bitrate Video Streaming in Small Cell Networks

Adaptive bitrate video streaming(ABR)has become a critical technique for mobile video streaming to cope with time-varying network conditions and different user preferences.However,there are still many problems in achieving high-quality ABR video streaming over cellular networks.Mobile Edge Computing(MEC)is a promising paradigm to overcome the above problems by providing video transcoding capability and caching the ABR video streaming within the radio access network(RAN).In this paper,we propose a flexible transcoding strategy to provide viewers with low-latency video streaming services in the MEC networks under the limited storage,computing,and spectrum resources.According to the information collected from users,the MEC server acts as a controlling component to adjust the transcoding strategy flexibly based on optimizing the video caching placement strategy.Specifically,we cache the proper bitrate version of the video segments at the edge servers and select the appropriate bitrate version of the video segments to perform transcoding under jointly considering access control,resource allocation,and user preferences.We formulate this problem as a nonconvex optimization and mixed combinatorial problem.Moreover,the simulation results indicate that our proposed algorithm can ensure a low-latency viewing experience for users.

Flexible Large-Area Graphene Films of 50-600 nm Thickness with High Carrier Mobility

Bulk graphene nanofilms feature fast electronic and phonon transport in combination with strong light-matter interaction and thus have great potential for versatile applications,spanning from photonic,electronic,and optoelectronic devices to charge-stripping and electromagnetic shielding,etc.However,large-area flexible close-stacked graphene nanofilms with a wide thickness range have yet to be reported.Here,we report a polyacrylonitrile-assisted’substrate replacement’strategy to fabricate large-area free-standing graphene oxide/polyacrylonitrile nanofilms(lateral size~20 cm).Linear polyacrylonitrile chains-derived nanochannels promote the escape of gases and enable macro-assembled graphene nanofilms(nMAGs)of 50-600 nm thickness following heat treatment at 3,000℃.The uniform nMAGs exhibit 802-1,540 cm^(2)V-1s-1carrier mobility,4.3-4.7 ps carrier lifetime,and>1,581 W m^(-1)K^(-1)thermal conductivity(n MAG-assembled 10μm-thick films,mMAGs).nMAGs are highly flexible and show no structure damage even after 1.0×10^(5)cycles of folding-unfolding.Furthermore,n MAGs broaden the detection region of graphene/silicon heterojunction from near-infrared to mid-infrared and demonstrate higher absolute electromagnetic interference(EMI)shielding effectiveness than state-of-the-art EMI materials of the same thickness.These results are expected to lead to the broad applications of such bulk nanofilms,especially as micro/nanoelectronic and optoelectronic platforms.

DYNAMIC MODELING AND SIMULATION OF FLEXIBLE CABLE WITH LARGE SAG

Discrete model of flexible cable with large sag is established by using multiple rigid body-spherical hinge model, and dynamic equation of that discrete model is derived according to dynamics theory of multiple rigid body system. Displacement and velocity of system are revised to eliminate violation phenomenon of the differential-algebra equation in numerical simulation based of the theory of generalized inverse of matrices. Numerical simulation proves the validity of our method.

情境、权力与技术:乡村动员式治理的实践逻辑——基于江苏省T村空间治理实践的考察

在乡村软治理兴起的时代背景下,以互动协商为特色的动员式治理成为基层推进乡村振兴的常用方式。对乡村动员式治理作全过程的解构发现,情境、权力、技术是理解其发生逻辑与运行逻辑的关键要素。“弱压力—高风险—低配套”的制度情境与强阻力的生活情境共同构成了动员式治理的发生条件,国家与社会互嵌从组织基础、认同基础、社会基础层面提供了动员式治理的权力基础,价值、关系、资源、制度等动员工具的技术化配置塑造了动员式治理的运作风格。从本质上看,动员式治理的过程同样是国家基础性权力的持续再生产过程,其兼顾了科层有效性与社会有效性,是柔性转向情境下乡村治理机制的一种理性表达。

海洋复合管缆设计关键技术与挑战

海洋复合管缆是海洋资源开发的重要装备之一,广泛应用于海上油气开发、深海采矿、海上风电等。海洋复合管缆具有弯曲性能好、质量轻、强度高、耐腐蚀和耐高低温等优点,能满足海洋资源开发不断向深水进发的需求。然而,海洋复合管缆相较于传统均质管道结构设计更加复杂,力学特性和使用寿命的准确预测更加困难。结合相关规范对海洋复合管缆设计的常规方法进行介绍,并归纳总结海洋复合管缆设计中需要进一步考虑的结构优化技术、材料非线性问题、几何非线性问题和界面非线性问题(界面强度、界面疲劳、界面摩擦)等关键技术。研究结果可为海洋复合管缆的设计研究提供指导。

双层索系柔性光伏支架结构受力性能研究

目的研究双层索系柔性光伏支架结构在风荷载作用下的静力性能与动力响应。方法采用ABAQUS有限元软件开展双层索系柔性光伏支架结构的静力性能、动力特性、动力响应和风振系数分析,探究了跨度、横向连接系间距以及挠度限值等影响因素对支架结构受力性能的影响。结果结构的风振响应随着跨度的增加而增大;结构跨中挠度及上层索索力随横向连接系间距的增大而增大;增大上层索预应力可以减小结构的动力响应,而下层索预应力过大会导致结构的风振响应增大。结论通过研究给出了双层索系柔性光伏支架结构的风振系数取值范围以及上、下层索的初始预拉力设置建议,可以为其结构抗风设计提供参考。

多排大跨度光伏柔性索桁架结构设计的差异化

山地光伏电站建设的发展势头迅猛,光伏柔性索桁架结构应运而生。这种结构在原有单层悬索的柔性支架基础上增加了防风结构,能更好地适应复杂地形。但索桁架结构和受力更为复杂,目前缺少统一的设计规范,为研究光伏柔性索桁架两种典型结构的结构性能,采用有限元的方法对不同拱形矢高多排大跨度光伏柔性索桁架进行仿真分析,从结构模态、风振系数以及极限工况多角度开展研究。结果表明,增大防风索拱形的矢高,有利于抑制倒拱和正拱两种结构的风致振动;分析四种极限工况,矢高每增加100 mm,倒拱Z向位移平均减小率最小为10.07%,正拱最小为2.79%。同时倒拱结构的挠度变形和轴力等力学性能优于正拱结构,更具市场应用价值。

带辅助轮摆臂的履带式机器人越障能力分析

履带式移动机器人因具有良好的环境适应性被广泛应用于军事和安全领域。为了改善现有摆臂履带式机器人结构复杂、重量和体积较大等不足,进一步提高其越障能力,提出一种带辅助轮摆臂的履带式移动机器人,设计该机器人的几何模型,分析其越障机理,推导摆臂的正逆运动学方程,分别建立有/无滑移条件下机器人的运动学模型。采用柔性体有限段模型法建立履带的多体动力学仿真模型。通过履带滑转率、机器人主体质心高度,履带与地面接触力及摆轮受力的变化,综合分析该机器人越障时的动力性能。在越阶、爬坡和越沟壑不同工况下,提出的带辅助轮摆臂的履带式机器人表现出良好的越障性能。

柔性多关节移动机器人非线性控制轨迹的二次模糊逼近

针对柔性多关节移动机器人在非线性控制轨迹下控制精准度不高的问题,提出一种非线性控制下的模糊逼近方法。建立机器人动力学模型,根据动力学特性设置矢量参数,对误差扰动动态修正。将矢量参数作为初始输入值,采用加权平均和乘积推理法,使得矢量符合自适应规律,通过模糊逼近函数对控制器的输出值实行状态逼近,直至符合初始设定值;凭借李亚普诺夫函数对控制输出值二次实施稳定模糊逼近,完成非线性轨迹控制。以B样条曲线轨迹为例做控制实验,实验数据证明:该二次逼近控制方法在非线性轨迹下的控制精准度较高,控制器输出力矩稳定,实用性能较强。

基于5G的有线电视网络数字通信方案设计

随着第五代移动通信技术(5th-Generation Mobile Communication Technology,5G)的迅猛发展,有线电视网络数字通信技术逐渐受到业界的广泛关注。文章深入探索并设计一种基于5G的有线电视网络数字通信方案,介绍系统中5G基站的建设、有线电视网络的视频传输服务、5G网络信号优化策略。同时,开展实验验证设计方案的应用效果,结果表明基于5G的有线电视网络数字通信方案可以大幅度提升有线电视网络的通信速度和准确性。

一种柔性太阳电池阵电传输解决方案

柔性太阳电池阵由于其质量轻、收拢体积小、可重复展收等特点,具有极大的创新性和前瞻性,是目前和今后极具竞争力的太阳电池阵构型。针对目前柔性太阳电池阵收拢和折叠特性,传统电缆束和电连接器已经不再适用,急需寻找一种新型薄型结构电传输解决方案。提出了一种柔性电缆电传输方案,这种柔性电缆具有传输功率大、质量轻、收拢体积小、可折叠等特点,非常适合作为大面积、大功率的柔性太阳阵电传输的主方式,可为未来新型太阳电池阵的设计提供新方向、设计参考和技术支撑。

基于柔性传感器的绳驱动连续体机器人反馈控制

鉴于绳驱动连续体机器人独特的柔顺性使得其骨架变形难以通过传统的刚性传感器测量,另一方面,基于分段常曲率假设建立的运动学模型开环控制存在位置精度低的问题。本文以模块化设计的绳驱动连续体机器人为研究对象,利用了一种弹性磁电应变传感器并建立了多元回归模型实现机器人形状感知。通过一种运动空间映射方法实现了机器人柔性臂在三维空间内的闭环反馈控制。最终搭建了机器人样机平台并进行实验验证。结果有力地证明了基于柔性传感器的反馈控制方法的可行性和准确性。

单电机线驱动多指柔性外骨骼机械手设计

为使外骨骼机械手的作用更加柔顺、灵活、轻量和低成本,设计了一款基于柔索传递驱动的外骨骼手,整手有10条驱动线,只采用了1台伺服电机做动力源(单驱),通过传动结构和电磁线圈的通断产生的止停作用,使单一动力源的运动输出能合理分配给5根手指的驱动线,并实时控制每根手指上的两条驱动线,生成符合要求的行程运动,缩减了外骨骼手动力装置的体积和重量,降低了生产成本。

面向微小软排线装配的阵列触觉状态感知技术

针对微小软排线装配操作中器件体积小且存在视觉遮挡的问题,提出一种基于电容式阵列触觉传感器的机器人软排线装配状态感知技术。首先,对电容式三维触觉感知机理进行分析,并针对软排线装配的小尺寸空间感知需求,设计了一种基于垂直拓扑网状介质层的高灵敏阵列触觉传感器,实现微小软排线装配状态的高灵敏感知。其次,为突破布线复杂度与阵列扫描周期的限制,基于电容数字芯片拓展实现高动态三维阵列信息扫描系统的设计与微小软排线装配状态的高动态感知,并完成小型化电容式阵列触觉传感器的一体化制备。最后,搭建机器人软排线装配操作系统并实时采集和分析软排线装配过程中的阵列触觉信息特征,以验证所提出技术的准确性和有效性。