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.

Dynamic Modeling and Experimental Verification of an RPR Type Compliant Paralle Mechanism with Low Orders

Efficiency of calculating a dynamic response is an important point of the compliant mechanism for posture adjustment.Dynamic modeling with low orders of a 2R1T compliant parallel mechanism is studied in the paper.The mechanism with two out-of-plane rotational and one lifting degrees of freedom(DoFs)plays an important role in posture adjustment.Based on elastic beam theory,the stiffness matrix and mass matrix of the beam element are established where the moment of inertia is considered.To improve solving efficiency,a dynamic model with low orders of the mechanism is established based on a modified modal synthesis method.Firstly,each branch of the RPR type mechanism is divided into a substructure.Subsequently,a set of hypothetical modes of each substructure is obtained based on the C-B method.Finally,dynamic equation of the whole mechanism is established by the substructure assembly.A dynamic experiment is conducted to verify the dynamic characteristics of the compliant mechanism.

Predicting the probability distribution of Martian rocks mechanical property based on microscale rock mechanical experiments and accurate grain-based modeling

The exploration of Mars would heavily rely on Martian rocks mechanics and engineering technology.As the mechanical property of Martian rocks is uncertain,it is of utmost importance to predict the probability distribution of Martian rocks mechanical property for the success of Mars exploration.In this paper,a fast and accurate probability distribution method for predicting the macroscale elastic modulus of Martian rocks was proposed by integrating the microscale rock mechanical experiments(micro-RME),accurate grain-based modeling(AGBM)and upscaling methods based on reliability principles.Firstly,the microstructure of NWA12564 Martian sample and elastic modulus of each mineral were obtained by micro-RME with TESCAN integrated mineral analyzer(TIMA)and nanoindentation.The best probability distribution function of the minerals was determined by Kolmogorov-Smirnov(K-S)test.Secondly,based on best distribution function of each mineral,the Monte Carlo simulations(MCS)and upscaling methods were implemented to obtain the probability distribution of upscaled elastic modulus.Thirdly,the correlation between the upscaled elastic modulus and macroscale elastic modulus obtained by AGBM was established.The accurate probability distribution of the macroscale elastic modulus was obtained by this correlation relationship.The proposed method can predict the probability distribution of Martian rocks mechanical property with any size and shape samples.

Computational Experiments for Complex Social Systems:Experiment Design and Generative Explanation

Powered by advanced information technology,more and more complex systems are exhibiting characteristics of the cyber-physical-social systems(CPSS).In this context,computational experiments method has emerged as a novel approach for the design,analysis,management,control,and integration of CPSS,which can realize the causal analysis of complex systems by means of“algorithmization”of“counterfactuals”.However,because CPSS involve human and social factors(e.g.,autonomy,initiative,and sociality),it is difficult for traditional design of experiment(DOE)methods to achieve the generative explanation of system emergence.To address this challenge,this paper proposes an integrated approach to the design of computational experiments,incorporating three key modules:1)Descriptive module:Determining the influencing factors and response variables of the system by means of the modeling of an artificial society;2)Interpretative module:Selecting factorial experimental design solution to identify the relationship between influencing factors and macro phenomena;3)Predictive module:Building a meta-model that is equivalent to artificial society to explore its operating laws.Finally,a case study of crowd-sourcing platforms is presented to illustrate the application process and effectiveness of the proposed approach,which can reveal the social impact of algorithmic behavior on“rider race”.

Research on the quasi-isentropic driving model of aluminized explosives in the detonation wave propagation direction

Taking CL-20(Hexanitrohexaazaisowurtzitane)-based aluminized explosives with high gurney energy as the research object, this research experimentally investigates the work capability of different aluminized explosive formulations when driving metal flyer plates in the denotation wave propagation direction.The research results showed that the formulations with 43 μm aluminum(Al) powder particles(The particle sizes of Al powder were in the range of 2~43 μm) exhibited the optimal performance in driving flyer plates along the denotation wave propagation direction. Compared to the formulations with Al powder 13 μm, the formulations with Al powder 2 μm delivered better performance in accelerating metal flyer plates in the early stage, which, however, turned to be poor in the later stage. The CL-20-based explosives containing 25% Al far under-performed those containing 15% Al. Based on the proposed quasi-isentropic hypothesis, relevant isentropy theories, and the functional relationship between detonation parameters and entropy as well as Al reaction degree, the characteristic lines of aluminized explosives in accelerating flyer plates were theoretically studied, a quasi-isentropic theoretical model for the aluminized explosive driving the flyer plate was built and the calculation methods for the variations of flyer plate velocity, Al reaction degree, and detonation product parameters with time and axial positions were developed. The theoretical model built is verified by the experimental results of the CL-20-based aluminized explosive driving flyer plate. It was found that the model built could accurately calculate the variations of flyer plate velocity and Al reaction degree over time. In addition, how physical parameters including detonation product pressure and temperature varied with time and axial positions was identified. The action time of the positive pressure after the detonation of aluminized explosives was found prolonged and the downtrend of the temperature was slowed down and even reversed to a slight rise due to the aftereffect reaction between the Al powder and the detonation products.

The Effect of Urban Agglomeration Expansion on PM_(2.5) Concentrations: Evidence from a Quasi-natural Experiment

This study constructs a quasi-natural experiment based on the expansion of the Yangtze River Delta urban agglomeration(YRDUA) of China in 2010 to investigate the impact and inner mechanism of urban agglomeration expansion on fine particulate matter(PM_(2.5)) concentrations through propensity scores in difference-in-differences models(PSM-DID) using panel data from 286 prefecturelevel cities in China from 2003 to 2016. The results show that 1) urban agglomeration expansion contributes to an overall decrease in PM_(2.5)concentration, which is mainly achieved from the original cities. For the new cities, on the other hand, the expansion significantly increases the local PM_(2.5)concentration. 2) In the long term, the significant influence of urban agglomeration expansion on PM_(2.5)concentration lasts for three years and gradually decreases. A series of robustness tests confirm the applicability of the PSM-DID model.3) Cities with weaker government regulation, a better educated population and higher per capita income present stronger PM_(2.5)reduction effects. 4) Urban agglomeration expansion affects the PM_(2.5)concentration mainly through industrial transfer and population migration, which cause a decrease in the PM_(2.5)concentration in the original cities and an increase in the PM_(2.5)concentration in the new cities.Corresponding policy suggestions are proposed based on the conclusions.

A Quasi-Experimental Study of English Vocabulary Teaching Based on Incidental Acquisition

Recent years have witnessed a phenomenon that major English teachers in China have adopted the traditional teaching pattern, mechanically linking English pronunciations directly with the meaning of Chinese, which gradually dampens learners’ enthusiasm. The chief purpose of this paper was to design one English vocabulary teaching lesson based on incidental acquisition. More specifically, the questions raised are, on the one hand, whether incidental vocabulary teaching imprints differences on the learning outcomes for middle school students, and, on the other hand, whether incidental acquisition results in positive feedback between teachers and students. The technique we applied was referred to as questionnaires and interviews addressed to a sample of 68 students. Focusing on the effect of incidental vocabulary acquisition, the analysis demonstrated that it could enhance students’ vocabulary capacity. In addition, it was interesting to note that excellent students and average students tended to embrace the new teaching style while underachievers were on the opposite side. On this basis, it is recommended for English teachers to design English vocabulary lessons, adopting visual, auditory, oral, reading or writing training. More precisely, they should use phonics rules and patterns, holistic learning, classified vocabulary teaching, visual illustration or multimedia teaching to give lessons effectively and expand learners’ vocabulary.

Numerical Experiments of Meiyu(Baiu) Rainfall by Quasi-Lagrangian Limited Area Model with Terrain

In this paper, a 10-level Quasi-Lagrangian Limited Area Model is used to simulate the process of Meiyu(Baiu) front of 1979. Some physical processes, such as large-scale condensation and cumulus convection, are included in the model. The simulation results are encouraging. 24-h numerical simulation shows that the invading of cold air from North China and rapidly northward moving of warm air from South China can be successfully reproduced. The terrain with a maximum of 4175 m is incorporated in the model. Three different kinds of terrain schemes are tested and the dynamic effect of the Plateau on the process of heavy rainfall is found to be very important.

Experimental verification of mathematical model for multiphase flow in air-agitated seed precipitation tank

In order to check the validity of the mathematical model for analyzing the flow field in the air-agitated seed precipitation tank,a scaled down experimental apparatus was designed and the colored tracer and KCl tracer were added in the apparatus to follow the real flow line.Virtue tracers were considered in the mathematical model and the algorithm of tracers was built.The comparison of the results between the experiment and numerical calculation shows that the time of the tracer flows out of stirring tube are 40 s in the experiment and 42 s in numerical calculated result.The transient diffusion process and the solution residence time of the numerical calculation are in good agreement with the experimental results,which indicates that the mathematical model is reliable and can be used to predict the flow field of the air-agitated seed precipitation tank.

Wide angle reflections in OBC seismic physical model experiment

Wide angle acquisition has been taken as a significant measure to obtain high quality seismic data and is getting greater attention, In this paper, we discuss ocean bottom cable （OBC） seismic wide angle reflections on the basis of a layered model experiment. Some experiment results don＇t support theoretical conclusions. The main experimental conclusions are： 1. Wide angle reflection energies are stronger than non-wide-angle reflections （up to twice as strong） but there is a big difference between observations and theoretical calculations that suggest the wide angle reflection energies are 15 times the non- wide-angle reflection energy. The reflection energy increases gradually rather than sharply as the theoretical calculations suggest. 2. The reflection events remain hyperbolic when the offset increases. 3. Wide angle reflection dominant frequency is about 20-30% less than non- wide-angle reflections and decreases as the offset increases. The non-wide-angle reflection dominant frequency shows no obvious variation for small offsets. 4. There is no wave shape mutation or polarity reversal near the critical angle. 5. The reflection event group features are the same for both cases of incidence angle greater and less than the critical angle. 6. Direct arrivals, multiples, and water bottom refractions influence the wide angle reflections of the sea floor.

Blast wave characteristics of multi-layer composite charge:Theoretical analysis,numerical simulation,and experimental validation

This article investigates the characteristics of shock wave overpressure generated by multi-layer composite charge under different detonation modes.Combining dimensional analysis and the explosion mechanism of the charge,a peak overpressure prediction model for the composite charge under singlepoint detonation and simultaneous detonation was established.The effects of the charge structure and initiation method on the overpressure field characteristics were investigated in AUTODYN simulation.The accuracy of the prediction model and the reliability of the numerical simulation method were subsequently verified in a series of static explosion experiments.The results reveal that the mass of the inner charge was the key factor determining the peak overpressure of the composite charge under single-point detonation.The peak overpressure in the radial direction improved apparently with an increase in the aspect ratio of the charge.The overpressure curves in the axial direction exhibited a multi-peak phenomenon,and the secondary peak overpressure even exceeded the primary peak at distances of 30D and 40D(where D is the charge diameter).The difference in peak overpressure among azimuth angles of 0-90°gradually decreased with an increase in the propagation distance of the shock wave.The coupled effect of the detonation energy of the inner and outer charge under simultaneous detonation improved the overpressure in both radial and axial directions.The difference in peak overpressure obtained from model prediction and experimental measurements was less than 16.4%.

A Land Surface Model(IAP94) for Climate Studies PartI:Formulation and Validation in Off-line Experiments

The IAP (Institute of Atmospheric Physics) land-surface model (IAP94) is described. This model is a comprehensive one with detailed description for the processes of vegetation, snow and soil. Particular attention has been paid to the cases with three water phases in the surface media. On the basis of the mixture theory and the theory of fluid dynamics of porous media, the system of universal conservational equations for water and heat of soil, snow and vegetation canopy has been constructed. On this background, all important factors that may affect the water and heat balance in media can be considered naturally, and each factor and term possess distinct physical meaning. In the computation of water content and temperature, the water phase change and the heat transportation by water flow are taken into account. Moreover, particular attention has been given to the water vapor diffusion in soil for arid or semi-arid cases, and snow compaction. In the treatment of surface turbulent fluxes, the difference between aerodynamic and thermal roughness is taken into account. The aerodynamic roughness of vegetation is calculated as a function of canopy density, height and zero-plane displacement. An extrapolation of log linear and exponential relationship is used when calculating the wind profile within canopy. The model has been validated against field measurements in off-line simulations. The desirable model′s performance leads to the conclusion that the IAP94 is able to reproduce the main physical mechanisms governing the energy and water balances in the global land surface. Part II of the present study will concern the validation in a 3-D experiment coupled with the IAP Two-Level AGCM.

Multi-year Simulations and Experimental Seasonal Predictions for Rainy Seasons in China by Using a Nested Regional Climate Model (RegCM_NCC). Part Ⅰ: Sensitivity Study

A modified version of the NCAR/RegCM2 has been developed at the National Climate Center （NCC）, China Meteorological Administration, through a series of sensitivity experiments and multi-year simulations and hindcasts, with a special emphasis on the adequate choice of physical parameterization schemes suitable for the East Asian monsoon climate. This regional climate model is nested with the NCC/IAP （Institute of Atmospheric Physics） T63 coupled GCM to make an experimental seasonal prediction for China and East Asia. The four-year （2001 to 2004） prediction results are encouraging. This paper is the first part of a two-part paper, and it mainly describes the sensitivity study of the physical process paraxneterization represented in the model. The systematic errors produced by the different physical parameterization schemes such as the land surface processes, convective precipitation, cloud-radiation transfer process, boundary layer process and large-scale terrain features have been identified based on multi-year and extreme flooding event simulations. A number of comparative experiments has shown that the mass flux scheme （MFS） and Betts-Miller scheme （BM） for convective precipitation, the LPMI （land surface process model I） and LPMII （land surface process model Ⅱ） for the land surface process, the CCM3 radiation transfer scheme for cloud-radiation transfer processes, the TKE （turbulent kinetic energy） scheme for the boundary layer processes and the topography treatment schemes for the Tibetan Plateau are suitable for simulations and prediction of the East Asia monsoon climate in rainy seasons. Based on the above sensitivity study, a modified version of the RegCM2 （RegCM_NCC） has been set up for climate simulations and seasonal predictions.

Numerical and Experimental Study on Ventilation Panel Models in a Subway Passenger Compartment

The internal flow field study of car compartments is an important step in railroad vehicle design and optimization. The flow field profile has a significant impact on the temperature distribution and passenger comfort level. Experimental studies on flow field can yield accurate results but carry a high time and computational cost. In contrast, the numerical simulation method can yield an internal flow field profile in less time than an experimental study. This study aims to improve the computational efficiency of numerical simulation by adapting two simplified models—the porous media model and the porous jump face model—to study the internal flow field of a railroad car compartment. The results provided by both simplified models are compared with the original numerical simulation model and with experimental data. Based on the results, the porous media model has a better agreement with the original model and with the experimental results. The flow field parameters (temperature and velocity) of the porous media model have relatively small numerical errors, with a maximum numerical error of 4.7%. The difference between the numerical results of the original model and those of the porous media model is less than 1%. By replacing the original numerical simulation model with the porous media model, the flow field of subway car compartments can be calculated with a reduction of about 25% in computing resources, while maintaining good accuracy.

The Water-Bearing Numerical Model and Its Operational Forecasting Experiments PartII: The Operational Forecasting Experiments

おhe water-bearing numerical model is undergone all round examinations during the operational forecasting experiments from 1994 to 1996. A lot of difficult problems arising from the model′s water-bearing are successfully resolved in these experiments through developing and using a series of technical measures. The operational forecasting running of the water-bearing numerical model is realized stably and reliably, and satisfactory forecasts are obtained.

Structure and kinematic analysis of the deepwater area of the Qiongdongnan Basin through a seismic interpretation and analogue modeling experiments

Located at the northwest continental slope of the South China Sea, the Qiongdongnan Basin bears valley-shaped bathymetry deepening toward east. It is separated from the Yinggehai Basin through NW-trending Indo-China-Red River shear zone, and connected with NW subsea basin through the Xisha Trough. Along with the rapid progress of the deepwater exploration, large amounts of high resolution geophysical and geological data were accumulated. Scientific researches about deepwater basins kept revealing brand new tectonic and sedimentary discoveries. In order to summarize the structural features and main controlling factors of the deepwater Qiongdongnan Basin, a series of researches on basin architecture, fault activities, tectonic deformation and evolution were carried out. In reference to analogue modeling experiments, a tectonic situation and a basin formation mechanism were discussed. The researches indicate that：the northern boundary of the Qiongdongnan Basin is strongly controlled by No. 2 fault. The overlapping control of two stress fields from the east and the west made the central depression zone extremely thinned. Combined with the changed stress field, the segmentation of a preexisting weakness zone made the sags in the east experiencing different rifting histories from the west ones. The NE-trending west segment of the Qiongdongnan Basin experienced strong rifting during Eocene, while the roughly EW-trending sags in the east segment show strong rifting during late Eocene and early Oligocene. Local structures such as NW-trending basal fault and inherited uplifts controlled the lateral segmentation. So first order factors such as regional stress field and preexisting weakness zone controlled the basin zonation, while the second order factors determined the segmentation from east to west.

Mathematical Model and Experiment Validation of Fluid Torque by Shear Stress under Influence of Fluid Temperature in Hydro-viscous Clutch

The current design of hydro-viscous clutch（HVC） in tracked vehicle fan transmission mainly focuses on high-speed and high power. However, the fluid torque under the influence of fluid temperature can not be predicted accurately by conventional mathematical model or experimental research. In order to validate the fluid torque of HVC by taking the viscosity-temperature characteristic of fluid into account, the test rig is designed. The outlet oil temperature is measured and fitted with different rotation speed, oil film thickness, oil flow rate, and inlet oil temperature. Meanwhile, the film torque can be obtained. Based on Navier-Stokes equations and the continuity equation, the mathematical model of fluid torque is proposed in cylindrical coordinate. Iterative method is employed to solve the equations. The radial and tangential speed distribution, radial pressure distribution and theoretical flow rate are determined and analyzed. The models of equivalent radius and fluid torque of friction pairs are introduced. The experimental and theoretical results indicate that tangential speed distribution is mainly determined by the relative rotating speed between the friction plate and the separator disc. However, the radial speed distribution and pressure distribution are dominated by pressure difference at the lower rotating speed. The oil film fills the clearance and the film torque increases with increasing rotating speed. However, when the speed reaches a certain value, the centrifugal force will play an important role on the fluid distribution. The pressure is negative at the outer radius when inlet flow rate is less than theoretical flow, so the film starts to shrink which decreases the film torque sharply. The theoretical fluid torque has good agreement with the experimental data. This research proposes a new fluid torque mathematical model which may predict the film torque under the influence of temperature more accurately.

Spatiotemporal evolution rule of rocks fracture surrounding gob-side roadway with model experiments

A series of plane-strain physical model experiments are carried out to study the spatiotemporal evolution rule of rocks fracture surrounding gob-side roadway, which is subjected to the pressure induced by the mining process. The digital photogrammetry technology and large deformation analysis method are applied to measure the deformation and fracture of surrounding rocks. The experimental results indicate that the deformation and fracture of coal pillars are the cause to the instability and failure of the surrounding rocks. The spatiotemporal evolution rule of the rock deformation and fracture surrounding gob-side roadway is obtained. The coal pillar and the roof near coal pillar should be strengthened in support design. The engineering application results also can provide a useful guide that the combined support with wire meshes, beam, anchor bolt and cable is an effective method.

Review on cyclic plasticity of magnesium alloys:Experiments and constitutive models

Fatigue analysis has always been a concern in the design and assessment of Mg alloy structure components subjected to cyclic loading,and research on the cyclic plasticity is fundamental to investigate the corresponding fatigue failure.Thus,this work reviews the progress in the cyclic plasticity of Mg alloys.First,the existing macroscopic and microscopic experimental results of Mg alloys are summarized.Then,corresponding macroscopic phenomenological constitutive models and crystal plasticity-based models are reviewed.Finally,some conclusions and recommended topics on the cyclic plasticity of Mg alloys are provided to boost the further development and application of Mg alloys.

Bearing capacity of foundation on slope determined by energy dissipation method and model experiments

To determine the ultimate bearing capacity of foundations on sloping ground surface in practice, energy dissipation method was used to formulate the beating capacity as programming problem, and full-scale model experiments were investigated to analyze the performance of the soil slopes loaded by a strip footing in laboratory. The soil failure is governed by a linear Mohr-Coulomb yield criterion, and soil deformation follows an associated flow rule. Based on the energy dissipation method of plastic mechanics, a multi-wedge translational failure mechanism was employed to obtain the three bearing capacity factors related to cohesion, equivalent surcharge load and the unit gravity for various slope inclination angles. Numerical results were compared with those of the published solutions using finite element method and those of model experiments. The bearing capacity factors were presented in the form of design charts for practical use in engineering. The results show that limit analysis solutions approximate to those of model tests, and that the energy dissipation method is effective to estimate bearing capacity of soil slope.