Forward Dynamics Analysis of the 6-PUS Mechanism Based on Platform-Legs Composite Simulation

The dynamics analysis plays an important role for the control, simulation and optimization of the parallel manipulators. Normally, the Stewart type manipulators have a platform and several legs. The inverse dynamics can be solved efficiently by taking the advantage of such structural characteristics. However, for the forward dynamics analysis, this structural decomposition still faces challenges from both modeling and computation. In this paper, an efficient approach is proposed for the forward dynamics of the 6-PUS manipulator based on the platform-legs composite simulation. By composite method, the dynamics modeling of the parallel manipulator is separated into the forward dynamics of the platform and the kineto-statics of the legs. The global simulation model can be constructed by connecting the predefined platform model and leg models according to the manipulator＇s topology. Thus, the global simulation can be decomposed into the independent calculations of purely algebraic equations and ordinary differential equations （ODEs）, the computational cost can be reduced and the stability of the simulation can be improved. For the purpose of solving the manipulator＇s forward dynamics accurately, the algebraic-loop problem is discussed and a closed form algorithm is proposed. A numerical example of the 6-PUS manipulator is given to demonstrate the effectiveness of the proposed approach. The example results show that the modeling efficiency can be improved and the simulation stability can be ensured for decomposing the system equations into purely algebraic equations and ODEs.

A Time-Domain Numerical Simulation for Free Motion Responses of Two Ships Advancing in Head Waves

The constant panel method within the framework of potential flow theory in the time domain is developed for solving the hydrodynamic interactions between two parallel ships with forward speed.When solving problems within a time domain framework,the free water surface needs to simultaneously satisfy both the kinematic and dynamic boundary conditions of the free water surface.This provides conditions for adding artificial damping layers.Using the Runge−Kutta method to solve equations related to time.An upwind differential scheme is used in the present method to deal with the convection terms on the free surface to prevent waves upstream.Through the comparison with the available experimental data and other numerical methods,the present method is proved to have good mesh convergence,and satisfactory results can be obtained.The constant panel method is applied to calculate the hydrodynamic interaction responses of two parallel ships advancing in head waves.Numerical simulations are conducted on the effects of forward speed,different longitudinal and lateral distances on the motion response of two modified Wigley ships in head waves.Then further investigations are conducted on the effects of different ship types on the motion response.

An agent-based simulation with NetLogo platform to evaluate forward osmosis process(PRO Mode)

Forward osmosis(FO), as an emerging technology, is influenced by different factors such as operating conditions,module characteristics, and membrane properties. The general aim of this study was to develop a suitable(flexible,comprehensive, and convenient to use) computational tool which is able to simulate osmosis through an asymmetric membrane oriented in pressure retarded osmosis(PRO) mode in a wide variety of scenarios. For this purpose, an agent-based model was created in NetLogo platform, which is an easy-to-use application environment with graphical visualization abilities and well suited for modeling a complex system evolving over time. The simulation results were validated with empirical data obtained from literature and a great agreement was observed. The effect of various parameters on process performance was investigated in terms of temperature,cross-flow velocity, length of the module, pure water permeability coefficient, and structural parameter of the membrane. Results demonstrated that the increase in all parameters, except structural parameter of the membrane and the length of module led to the increase of average water flux. Moreover, nine different draw solutes were selected in order to assess the influence of net bulk osmotic pressure difference between the draw solution(DS) and feed solution(FS)(known as the driving force of FO process) on water flux. Based on the findings of this paper, the performance of FO process(PRO mode) can be efficiently evaluated using the NetL ogo platform.

Finite difference time domain method forward simulation of complex geoelectricity ground penetrating radar model

The ground penetrating radar(GPR) forward simulation all aims at the singular and regular models, such as sandwich model, round cavity, square cavity, and so on, which are comparably simple. But as to the forward of curl interface underground or “v” figure complex model, it is difficult to realize. So it is important to forward the complex geoelectricity model. This paper takes two Maxwell’s vorticity equations as departure point, makes use of the principles of Yee’s space grid model theory and the basic principle finite difference time domain method, and deduces a GPR forward system of equation of two dimensional spaces. The Mur super absorbed boundary condition is adopted to solve the super strong reflection on the interceptive boundary when there is the forward simulation. And a self-made program is used to process forward simulation to two typical geoelectricity model.

Different human-simulated characteristics of the driver models in the forward simulation of hybrid electric vehicles

Based on the control theories of PID, fuzzy logic and expert PID, the driver models are built and applied in the forward simulation for hybrid electric vehicles （HEV）. The impact to the vehicle speed tracking and the fuel economy is compared among the different driver models. The different human-simulated characteristics of the driver models are emphatically analyzed. The analysis results indicate that the driver models based on PID, simple fuzzy logic and expert PID are corresponding to the handling characteristics of different drives. The driver models of different human-simulated characteristics bring the handling divergence of drivers with different driving level and habit to the HEV forward simulation, and that is significant to the all-around verification and validation of the control strategy for HEV. System simulation results of different driver models validate the impact of driver models to the dynamic and fuel economy performance of HEV.

Forward simulation of array laterolog resistivity in anisotropic formation and its application

A scaling-down experiment system of array laterolog resistivity was developed, and a corresponding formation model was built by 3 D finite element numerical method to study the effect of different factors on the logging response quantitatively. The error between the experimental and numerical results was less than 5%, validating the reliability of the numerical simulation method. The single factor analysis of the formation relative dip, resistivity anisotropy and drilling fluid invasion was carried out by numerical simulation method, and the results show that:(1) The increase of relative dip can lead to the increase of formation resistivity, but the increasing value is relatively small, and the values of five array resistivity curves will reverse when the relative dip angle reaches a certain degree.(2) The increase of anisotropy coefficient λ can also cause the formation resistivity to rise, and the resistivity will increase by about 10% when λ increases from 1.0 to 1.5 in vertical wells.(3) Drilling fluid invasion has a more significant effect on the logging response than the former two factors. The order of the five curves will change due to drilling fluid invasion in anisotropic formation and the change rule is contrary to resistivity anisotropy. Taking the logging data of the Yingxi oilfield in the Qaidam Basin as an example, an anisotropic formation model considering drilling fluid invasion was built, and the numerical simulation results from the above methods were basically consistent with the logging data, which verified the accuracy of the method again. The results of this study lay a theoretical foundation for multiple-parameter inversion in anisotropic formation under complex well conditions.

Dominant pulse simulation of near fault ground motions

In this study, a new mathematical model is developed composed of two parts, including harmonic and polynomial expressions for simulating the dominant velocity pulse of near fault ground motions. Based on a proposed velocity function, the corresponding expressions for the ground acceleration and displacement time histories are also derived. The proposed model is then fitted using some selected pulse-like near fault ground motions in the Next Generation Attenuation （NGA） project library. The new model is not only simple in form but also simulates the long-period portion of actual velocity near fault records with a high level of precision. It is shown that the proposed model-based elastic response spectra are compatible with the near fault records in the neighborhood of the prevailing frequency of the pulse. The results indicate that the proposed model adequately simulates the components of the time histories. Finally, the energy of the proposed pulse was compared with the energy of the actual record to confirm the compatibility.

An element-free Galerkin method for ground penetrating radar numerical simulation

An element-free Galerkin method(EFGM) is used to solve the two-dimensional(2D) ground penetrating radar(GPR)modelling problems, due to its simple pre-processing, the absence of elements and high accuracy. Different from element-based numerical methods, this approach makes nodes free from the elemental restraint and avoids the explicit mesh discretization. First, we derived the boundary value problem for the 2D GPR simulation problems. Second, a penalty function approach and a boundary condition truncated method were used to enforce the essential and the absorbing boundary conditions, respectively. A three-layered GPR model was used to verify our element-free approach. The numerical solutions show that our solutions have an excellent agreement with solutions of a finite element method(FEM). Then, we used the EFGM to simulate one more complex model to show its capability and limitations. Simulation results show that one obvious advantage of EFGM is the absence of element mesh, which makes the method very flexible. Due to the use of MLS fitting, a key feature of EFM, is that both the dependent variable and its gradient are continuous and have high precision.

Simulation of bulk metal forming processes using one-step finite element approach based on deformation theory of plasticity

The bulk metal forming processes were simulated by using a one-step finite element(FE)approach based on deformation theory of plasticity,which enables rapid prediction of final workpiece configurations and stress/strain distributions.This approach was implemented to minimize the approximated plastic potential energy derived from the total plastic work and the equivalent external work in static equilibrium,for incompressibly rigid-plastic materials,by FE calculation based on the extremum work principle.The one-step forward simulations of compression and rolling processes were presented as examples,and the results were compared with those obtained by classical incremental FE simulation to verify the feasibility and validity of the proposed method.

Simulation research and application on response characteristics of detecting water-filled goaf by transient electromagnetic method

Water inrush disasters poses a great threat to the safe exploitation of coal resources.To solve this problem,the transient electromagnetic method(TEM)was proposed to accurately detect the water accumulation in the goaf.The electromagnetic response characteristics of diferent water-flled goaves were studied by electromagnetic feld theory,numerical simulation and feld verifcation.Through the models of 100%water accumulation,50%water accumulation,0%water accumulation,100%water accumulation with collapsed rock,50%water accumulation with collapsed rock and 0%water accumulation with collapsed rock goaf,the characteristics of induced voltage attenuation curves were studied.Meanwhile,the relationship between the attenuation voltage value and area of the transmitting coil,the depth of the goaf,the background resistivity,and the delay time were also simulated.The results illustrate that the attenuation curve of induced voltage presented a regular exponential decay form in the 0%water accumulation model but existed abnormal exaltation for voltage in water-flled model.Through the linear ftting curve,it can be seen that the abnormal intensity of the induced voltage becomes stronger as the distance between the measuring point and the center of the target decrement.Moreover,the abnormal amplitude of the induced voltage increases with the rise of the water accumulation and collapsed rock will weakly reduce the low-resistivity anomalous efect on the water-accumulated goaf.In addition,the response value of the attenuation voltage increased as the area of the transmitting coil increases,but decreased with increasing delay time and increasing background resistivity and depth of the target body.The feld detection results of the Majiliang coal mine also confrmed the theoretical analysis and the numerical simulation.

Numerical simulation and response analysis of microspherical focused logging in inclined micro-fractured formation

Tight and unconventional reservoirs have become the focus with the progress of petroleum exploration and development.Micro-fractures in these reservoirs can effectively improve reservoir permeability,and well-developed micro-fractures can serve to directly improve productivity.Compared with the centered electrical well logging method,the Micro Spherical Focused Logging(MSFL)is more suitable for microfracture identification due to its high resolution and near borehole wall measuring method.In this study,an anisotropic model is used to depict micro-fractured formation.First,a forward model with microfractured formation,borehole,logging instrument and surrounding rock is established.Subsequently,MSFL responses under different micro-fracture porosity,resistivity,dip angle and borehole radius,are calculated based on the finite element method(FEM).Finally,the MSFL responses under different microfracture parameters are analyzed with the response laws clarified.

3D seismic forward modeling from the multiphysical inversion at the Ketzin CO_(2) storage site

From June 2008 to August 2013,approximately 67 kt of CO_(2) was injected into a deep saline formation at the Ketzin pilot CO_(2) storage site.During injection,3D seismic surveys have been performed to monitor the migration of sequestered CO_(2).Seismic monitoring results are limited by the acquisition and signal-to-noise ratio of the acquired data.The multiphysical reservoir simulation provides information regarding the CO_(2) fluid behavior,and the approximated model should be calibrated with the monitoring results.In this work,property models are delivered from the multiphysical model during 3D repeated seismic surveys.The simulated seismic data based on the models are compared with the real data,and the results validate the effectiveness of the multiphysical inversion method.Time-lapse analysis shows the trend of CO_(2) migration during and after injection.

实现二次升压功能的Forward和Flyback变换器

为了克服光伏/燃料电池发电系统前级输出电压低,确保光伏/燃料电池在并网前实现高电压增益,介绍了2种组合设计的直流变换器(Boost-Forward和Boost-Flyback)的设计原理。通过Or CAD Pspice软件对其进行建模和仿真,证明了这种设计原理的准确性和用于提高太阳能电池输出电压的可行性。通过对降低输入电流纹波、输出电压纹波和开关管电压应力进行仿真分析,实现电路参数的最优化设计。

One-way wave equation seismic prestack forward modeling with irregular surfaces

Mathematical geophone （MG） and equal-time stacking （ETS） principles are used to implement seismic prestack forward modeling with irregular surfaces using the oneway acoustic wave-equation. This method receives seismic primary reflections from the subsurface using a set of virtual MGs. The receivers can be located anywhere on an irregular observing surface. Moreover, the ETS method utilizes the one-way acoustic wave equation to easily and quickly image and extrapolate seismic reflection data. The method is illustrated using high single-noise ratio common shot gathers computed by numerical forward modeling of two simple models, one with a flat surface and one with an irregular surface, and a complex normal fault model. A prestack depth migration method for irregular surface topography was used to reoroduce the normal fault model with high accuracy.

Unsteady aerodynamic forces and power requirements of a bumblebee in forward flight

Aerodynamic forces and power requirements in forward flight in a bumblebee （Bombus terrestris） were studied using the method of computational fluid dynamics. Actual wing kinematic data of free flight were used in the study （the speed ranges from 0 m/s to 4.5 m/s; advance ratio ranges from 0-0.66）. The bumblebee employs the delayed stall mechanism and the fast pitching-up rotation mechanism to produce vertical force and thrust. The leading-edge vortex does not shed in the translatory phase of the half-strokes and is much more concentrated than that of the fruit fly in a previous study. At hovering and low-speed flight, the vertical force is produced by both the half-strokes and is contributed by wing lift; at medium and high speeds, the vertical force is mainly produced during the downstroke and is contributed by both wing lift and wing drag. At all speeds the thrust is mainly produced in the upstroke and is contributed by wing drag. The power requirement at low to medium speeds is not very different from that of hovering and is relatively large at the highest speed （advance ratio 0.66）, i.e. the power curve is Jshaped. Except at the highest flight speed, storing energy elastically can save power up to 20%-30%. At the highest speed, because of the large increase of aerodynamic torque and the slight decrease of inertial torque （due to the smaller stroke amplitude and stroke frequency used）, the power requirement is dominated by aerodynamic power and the effect of elastic storage of energy on power requirement is limited.

QFT control based on zero phase error compensation for flight simulator

To improve the robustness of high-precision servo systems, quantitative feedback theory （QFT） which aims to achieve a desired robust design over a specified region of plant uncertainty is proposed. The robust design problem can be solved using QFT but it fails to guarantee a high precision tracking. This problem is solved by a robust digital QFT control scheme based on zero phase error （ZPE） feed forward compensation. This scheme consists of two parts： a QFT controller in the closed-loop system and a ZPE feed-forward compensator. Digital QFT controller is designed to overcome the uncertainties in the system. Digital ZPE feed forward controller is used to improve the tracking precision. Simulation and real-time examples for flight simulator servo system indicate that this control scheme can guarantee both high robust performance and high position tracking precision.

基于Matlab/Simulink的混合动力客车前向式仿真平台的建立

建立某型号并联式混合动力客车的前向式仿真平台,基于Matlab/Simulink环境在标准道路行驶循环下对其进行仿真,以分析整车动力性与经济性。结果表明,该车性能满足设计要求。

Dynamic flight stability of a bumblebee in forward flight

The longitudinal dynamic flight stability of a bumblebee in forward flight is studied. The method of computational fluid dynamics is used to compute the aerodynamic derivatives and the techniques of eigenvalue and eigenvector analysis are employed for solving the equations of motion. The primary findings are as the following. The forward flight of the bumblebee is not dynamically stable due to the existence of one （or two） unstable or approximately neutrally stable natural modes of motion. At hovering to medium flight speed [flight speed Ue = （0-3.5）m s^-1; advance ratio J = 0-0.44], the flight is weakly unstable or approximately neutrally stable; at high speed （Ue = 4.5 m s^-1; J = 0.57）, the flight becomes strongly unstable （initial disturbance double its value in only 3.5 wingbeats）.

Stabilization control of a bumblebee in hovering and forward flight

Our previous study shows that the hovering and forward flight of a bumblebee do not have inherent stability （passive stability）. But the bumblebees are observed to fly stably. Stabilization control must have been applied. In this study, we investigate the longitudinal stabilization control of the bumblebee. The method of computational fluid dynamics is used to compute the control derivatives and the techniques of eigenvalue and eigenvector analysis and modal decomposition are used for solving the equations of motion. Controllability analysis shows that at all flight speeds considered, although inherently unstable, the flight is controllable. By feedbacking the state variables, i.e. vertical and horizontal velocities, pitching rate and pitch angle （which can be measured by the sensory system of the insect）, to produce changes in stroke angle and angle of attack of the wings, the flight can be stabilized, explaining why the bumblebees can fly stably even if they are passively unstable.