Aim To develop blade mould CAD/CAM system of torque converter. Methods The mouldconsisted of four parts and an interactive computer program was developed to design a blade mould of torque converter based on UG at wor...Aim To develop blade mould CAD/CAM system of torque converter. Methods The mouldconsisted of four parts and an interactive computer program was developed to design a blade mould of torque converter based on UG at workstation. Results As compar- ed to manual modeling, it is showed in the application that this means not only improves the accuracy of blade shape and manufacture efficiency of converter, but also reduces costs. Conclusion It is proved that this CAD/CAM system is successful, and it opens up widely prospects for design and manufacture of the blade elementsand their moulds.展开更多
Mooring system plays an important role in station keeping of floating offshore structures. Coupled analysis on mooring-buoy interactions has been increasingly studied in recent years. At present, chains and wire ropes...Mooring system plays an important role in station keeping of floating offshore structures. Coupled analysis on mooring-buoy interactions has been increasingly studied in recent years. At present, chains and wire ropes are widely used in offshore engineering practice. On the basis of mooring line statics, an explicit formulation of single mooring chain/wire rope stiffness coefficients and mooring stiffness matrix of the mooring system were derived in this article, taking into account the horizontal restoring force, vertical restoring force and their coupling terms. The nonlinearity of mooring stiffness was analyzed, and the influences of various parameters, such as material, displacement, pre-tension and water depth, were investigated. Finally some application cases of the mooring stiffness in hydrodynamic calculation were presented. Data shows that this kind of stiffness can reckon in linear and nonlinear forces of mooring system. Also, the stiffness can be used in hydrodynamic analysis to get the eieenfrequencv of slow drift motions.展开更多
At intensive winter navigation, the ships should separate under movement on opposite courses or make overtaking of slowly moving cargo vessels in the water areas covered with ice. Under navigation within ice channel, ...At intensive winter navigation, the ships should separate under movement on opposite courses or make overtaking of slowly moving cargo vessels in the water areas covered with ice. Under navigation within ice channel, possibilities for maneuvering are reduced; therefore, danger of collision of ships exists. The ice floes between vessels hulls and outside are the major factors defining values and direction of side force and yawing moment that arise on their hulls during divergence. Ice loads on the ship hull exceed considerably the loads caused by water flow around hull. Performed previously experiments in the ice basin have detected that besides increase of side force and yawing moment modules the change of side force directions occurs during the divergence of vessels in comparison with same maneuvering on water area without ice cover. Article contains the detailed problem definition and mathematical model of ships interaction during opposite passing by or overtaking and technical approach to computation of loads on vessels hulls. As example of strategy application, the simulation of loads on overtaking ship was performed, and main results of computations are presented. Outcomes of investigation are character of variation of side force and yawing moment during passage along overtaken ship and dependence of the peak values of additional ice resistance, side force and yawing moment on beam distance between vessels and thickness that are contained in the article.展开更多
A dynamic velocity feed-forward compensation （RBF-NN） dynamic model identification was presented for control （DVFCC） approach with RBF neural network the adaptive trajectory tracking of industrial robots. The prop...A dynamic velocity feed-forward compensation （RBF-NN） dynamic model identification was presented for control （DVFCC） approach with RBF neural network the adaptive trajectory tracking of industrial robots. The proposed control approach combined the advantages of traditional feedback closed-loop position control and computed torque control based on inverse dynamic model. The feed-forward compensator used a nominal robot dynamics as accurate dynamic model and on-line identification with RBF-NN as uncertain part to improve dynamic modeling accu- racy. The proposed compensation was applied as velocity feed-forward by an inverse velocity controller that can con- vert torque signal into velocity in the standard industrial controller. Then, the need for a torque control interface was avoided in the real-time dynamic control of industrial robot. The simulations and experiments were carried out on a gas cutting manipulator. The results show that the proposed control approach can reduce steady-state error, suppress overshoot and enhance tracking accuracy and efficiency in joint space and Cartesian space, especially under high- speed condition.展开更多
A panel method is described for calculating potential flow around near-surface submarines. The method uses Havelock sources which automatically satisfy the linearized free-surface boundary condition. Outputs from the ...A panel method is described for calculating potential flow around near-surface submarines. The method uses Havelock sources which automatically satisfy the linearized free-surface boundary condition. Outputs from the method include pressure field, pressure drag, wave resistance, vertical force, trim moment and wave pattern. Comparisons are made with model tests for wave resistance of Series 58 and DARPA SUBOFF hulls, as well as with wave resistance, lift force and trim moment of three length-to-diameter variants of the DSTO Joubert submarine hull. It is found that the Havelock source panel method is capable of determining with reasonable accuracy wave resistance, vertical force and trim moment for submarine hulls. Further experimental data are required in order to assess the accuracy of the method for pressure field and wave pattern prediction. The method is implemented in the computer code“HullWave”and offers potential advantages over RANS-CFD codes in terms of speed, simplicity and robustness.展开更多
In this paper, we briefly introduce the history of the Defense Advanced Research Projects Agency(DARPA) Grand Challenge programs with particular focus on the 2012 Robotics Challenge. As members of team DRC-HUBO, we pr...In this paper, we briefly introduce the history of the Defense Advanced Research Projects Agency(DARPA) Grand Challenge programs with particular focus on the 2012 Robotics Challenge. As members of team DRC-HUBO, we propose different approaches for the Rough-Terrain task, such as enlarged foot pedals and a transformation into quadruped walking. We also introduce a new gait for humanoid robot locomotion to improve stability performance, called the Ski-Type gait. We analyze the stability performance of this gait and use the stability margin to choose between two candidate step sequences, Crawl-1 and Crawl-2. Next, we perform a force/torque analysis for the redundant closedchain system in the Ski-Type gait, and determine the joint torques by minimizing the total energy consumption. Based on the stability and force/torque analysis, we design a cane length to support a feasible and stable Crawl-2 gait on the HUBO2 humanoid robot platform. Finally, we compare our experimental results with biped walking to validate the SkiType gait. We also present our team performance in the trials of the Robotics Challenge.展开更多
The paper presents the methodology and results of measurement designed to determine the effect of the rolling element separator （cage） at the frictional moment in ball bearings, The measurement was carried out on fo...The paper presents the methodology and results of measurement designed to determine the effect of the rolling element separator （cage） at the frictional moment in ball bearings, The measurement was carried out on four groups on bearing with different cages. Measurements were carried out on torque-meter STPM, a device that has been designed and manufactured at Kielce University of Technology. The measurement results showed that the type of cage used in ball bearings has a significant impact on the frictional moment. In addition, the results also confirm that the size of the curvature ratio and the accuracy of the races shape have a significant impact on the frictional moment.展开更多
The viscous hydrodynamic force and moment on ships moving obliquely in shallow water are important for ship navigation safety.In the paper,the viscous flow field around a KVLCC2 model moving obliquely in shallow water...The viscous hydrodynamic force and moment on ships moving obliquely in shallow water are important for ship navigation safety.In the paper,the viscous flow field around a KVLCC2 model moving obliquely in shallow water is simulated and the hydrodynamic drag,lateral force and yaw moment acting on the hull are obtained by a general purpose computational fluid dynamics(CFD) package FLUENT with shear-stress transport(SST) k—ωturbulence model.The numerical computation is performed at different drift angels and water depths.The numerical results are compared with experimental results,and a good agreement is demonstrated.展开更多
Focusing on the singularities of a spacecraft using control moment gyros(CMGs)to do the large angle maneuvers,a new mixture steering law is proposed to avoid the singularities.According to this method,if the CMGs are ...Focusing on the singularities of a spacecraft using control moment gyros(CMGs)to do the large angle maneuvers,a new mixture steering law is proposed to avoid the singularities.According to this method,if the CMGs are far away from the singularity,the Moore-Penrose pseudo-inverse steering law(MP)is used directly.If the CMGs are close to the singularity,instead of solving the inverse matrix,a set of optimal gimbal angles are sought for the singular measurement to reach the maximum,which can avoid the singularities.Simulations show that the designed steering law enables the spacecraft to carry out the large angle maneuver and avoid the singularities simultaneously.展开更多
The Cellular Automaton(CA) modeling and simulation of solid dynamics is a long-standing difficult problem.In this paper we present a new two-dimensional CA model for solid dynamics.In this model the solid body is repr...The Cellular Automaton(CA) modeling and simulation of solid dynamics is a long-standing difficult problem.In this paper we present a new two-dimensional CA model for solid dynamics.In this model the solid body is represented by a set of white and black particles alternatively positioned in the x-and y-directions.The force acting on each particle is represented by the linear summation of relative displacements of the nearest-neighboring particles.The key technique in this new model is the construction of eight coefficient matrices.Theoretical and numerical analyses show that the present model can be mathematically described by a conservative system.So,it works for elastic material.In the continuum limit the CA model recovers the well-known Navier equation.The coefficient matrices are related to the shear module and Poisson ratio of the material body.Compared with previous CA model for solid body,this model realizes the natural coupling of deformations in the x-and y-directions.Consequently,the wave phenomena related to the Poisson ratio effects are successfully recovered.This work advances significantly the CA modeling and simulation in the field of computational solid dynamics.展开更多
文摘Aim To develop blade mould CAD/CAM system of torque converter. Methods The mouldconsisted of four parts and an interactive computer program was developed to design a blade mould of torque converter based on UG at workstation. Results As compar- ed to manual modeling, it is showed in the application that this means not only improves the accuracy of blade shape and manufacture efficiency of converter, but also reduces costs. Conclusion It is proved that this CAD/CAM system is successful, and it opens up widely prospects for design and manufacture of the blade elementsand their moulds.
基金Supported by the National Natural Science Foundation of China under Grant No.（51079034）.
文摘Mooring system plays an important role in station keeping of floating offshore structures. Coupled analysis on mooring-buoy interactions has been increasingly studied in recent years. At present, chains and wire ropes are widely used in offshore engineering practice. On the basis of mooring line statics, an explicit formulation of single mooring chain/wire rope stiffness coefficients and mooring stiffness matrix of the mooring system were derived in this article, taking into account the horizontal restoring force, vertical restoring force and their coupling terms. The nonlinearity of mooring stiffness was analyzed, and the influences of various parameters, such as material, displacement, pre-tension and water depth, were investigated. Finally some application cases of the mooring stiffness in hydrodynamic calculation were presented. Data shows that this kind of stiffness can reckon in linear and nonlinear forces of mooring system. Also, the stiffness can be used in hydrodynamic analysis to get the eieenfrequencv of slow drift motions.
文摘At intensive winter navigation, the ships should separate under movement on opposite courses or make overtaking of slowly moving cargo vessels in the water areas covered with ice. Under navigation within ice channel, possibilities for maneuvering are reduced; therefore, danger of collision of ships exists. The ice floes between vessels hulls and outside are the major factors defining values and direction of side force and yawing moment that arise on their hulls during divergence. Ice loads on the ship hull exceed considerably the loads caused by water flow around hull. Performed previously experiments in the ice basin have detected that besides increase of side force and yawing moment modules the change of side force directions occurs during the divergence of vessels in comparison with same maneuvering on water area without ice cover. Article contains the detailed problem definition and mathematical model of ships interaction during opposite passing by or overtaking and technical approach to computation of loads on vessels hulls. As example of strategy application, the simulation of loads on overtaking ship was performed, and main results of computations are presented. Outcomes of investigation are character of variation of side force and yawing moment during passage along overtaken ship and dependence of the peak values of additional ice resistance, side force and yawing moment on beam distance between vessels and thickness that are contained in the article.
文摘A dynamic velocity feed-forward compensation （RBF-NN） dynamic model identification was presented for control （DVFCC） approach with RBF neural network the adaptive trajectory tracking of industrial robots. The proposed control approach combined the advantages of traditional feedback closed-loop position control and computed torque control based on inverse dynamic model. The feed-forward compensator used a nominal robot dynamics as accurate dynamic model and on-line identification with RBF-NN as uncertain part to improve dynamic modeling accu- racy. The proposed compensation was applied as velocity feed-forward by an inverse velocity controller that can con- vert torque signal into velocity in the standard industrial controller. Then, the need for a torque control interface was avoided in the real-time dynamic control of industrial robot. The simulations and experiments were carried out on a gas cutting manipulator. The results show that the proposed control approach can reduce steady-state error, suppress overshoot and enhance tracking accuracy and efficiency in joint space and Cartesian space, especially under high- speed condition.
文摘A panel method is described for calculating potential flow around near-surface submarines. The method uses Havelock sources which automatically satisfy the linearized free-surface boundary condition. Outputs from the method include pressure field, pressure drag, wave resistance, vertical force, trim moment and wave pattern. Comparisons are made with model tests for wave resistance of Series 58 and DARPA SUBOFF hulls, as well as with wave resistance, lift force and trim moment of three length-to-diameter variants of the DSTO Joubert submarine hull. It is found that the Havelock source panel method is capable of determining with reasonable accuracy wave resistance, vertical force and trim moment for submarine hulls. Further experimental data are required in order to assess the accuracy of the method for pressure field and wave pattern prediction. The method is implemented in the computer code“HullWave”and offers potential advantages over RANS-CFD codes in terms of speed, simplicity and robustness.
文摘In this paper, we briefly introduce the history of the Defense Advanced Research Projects Agency(DARPA) Grand Challenge programs with particular focus on the 2012 Robotics Challenge. As members of team DRC-HUBO, we propose different approaches for the Rough-Terrain task, such as enlarged foot pedals and a transformation into quadruped walking. We also introduce a new gait for humanoid robot locomotion to improve stability performance, called the Ski-Type gait. We analyze the stability performance of this gait and use the stability margin to choose between two candidate step sequences, Crawl-1 and Crawl-2. Next, we perform a force/torque analysis for the redundant closedchain system in the Ski-Type gait, and determine the joint torques by minimizing the total energy consumption. Based on the stability and force/torque analysis, we design a cane length to support a feasible and stable Crawl-2 gait on the HUBO2 humanoid robot platform. Finally, we compare our experimental results with biped walking to validate the SkiType gait. We also present our team performance in the trials of the Robotics Challenge.
文摘The paper presents the methodology and results of measurement designed to determine the effect of the rolling element separator （cage） at the frictional moment in ball bearings, The measurement was carried out on four groups on bearing with different cages. Measurements were carried out on torque-meter STPM, a device that has been designed and manufactured at Kielce University of Technology. The measurement results showed that the type of cage used in ball bearings has a significant impact on the frictional moment. In addition, the results also confirm that the size of the curvature ratio and the accuracy of the races shape have a significant impact on the frictional moment.
基金the National Natural Science Foundationof China(No.10572094)the Natural Science Foundation of Shanghai(No.06ZR14050)
文摘The viscous hydrodynamic force and moment on ships moving obliquely in shallow water are important for ship navigation safety.In the paper,the viscous flow field around a KVLCC2 model moving obliquely in shallow water is simulated and the hydrodynamic drag,lateral force and yaw moment acting on the hull are obtained by a general purpose computational fluid dynamics(CFD) package FLUENT with shear-stress transport(SST) k—ωturbulence model.The numerical computation is performed at different drift angels and water depths.The numerical results are compared with experimental results,and a good agreement is demonstrated.
基金supported by the National Natural Sciences Foundation of China(Grant No.11172036)the Excellent Young Scholars Rearch Fund of Beijing Institute of Technology(Grant No.2012YG0101)
文摘Focusing on the singularities of a spacecraft using control moment gyros(CMGs)to do the large angle maneuvers,a new mixture steering law is proposed to avoid the singularities.According to this method,if the CMGs are far away from the singularity,the Moore-Penrose pseudo-inverse steering law(MP)is used directly.If the CMGs are close to the singularity,instead of solving the inverse matrix,a set of optimal gimbal angles are sought for the singular measurement to reach the maximum,which can avoid the singularities.Simulations show that the designed steering law enables the spacecraft to carry out the large angle maneuver and avoid the singularities simultaneously.
基金Supported by the Science Foundations of China Academy of Engineering Physics under Grant Nos. 2012B0101014 and 2011A0201002National Natural Science Foundation of China under Grant Nos. 11075021,91130020,and 11202003Foundation of State Key Laboratory of Explosion Science and Technology
文摘The Cellular Automaton(CA) modeling and simulation of solid dynamics is a long-standing difficult problem.In this paper we present a new two-dimensional CA model for solid dynamics.In this model the solid body is represented by a set of white and black particles alternatively positioned in the x-and y-directions.The force acting on each particle is represented by the linear summation of relative displacements of the nearest-neighboring particles.The key technique in this new model is the construction of eight coefficient matrices.Theoretical and numerical analyses show that the present model can be mathematically described by a conservative system.So,it works for elastic material.In the continuum limit the CA model recovers the well-known Navier equation.The coefficient matrices are related to the shear module and Poisson ratio of the material body.Compared with previous CA model for solid body,this model realizes the natural coupling of deformations in the x-and y-directions.Consequently,the wave phenomena related to the Poisson ratio effects are successfully recovered.This work advances significantly the CA modeling and simulation in the field of computational solid dynamics.
