Rotation Control of a 3-DOF Parallel Mechanism Driven by Pneumatic Muscle Actuators

The pneumatic muscle actuator(PMA)has many advantages,such as good flexibility,high power/weight ratio,but its nonlinearity makes it difficult to build a static mathematical model with high precision.A new method is proposed to establish the model of PMA.The concept of hybrid elastic modulus which is related to the static characteristic of PMA is put forward,and the energy conservation law is used to achieve the expression of the hybrid elastic modulus,which can be fitted out based on experimental data,and the model of PMA can be derived from this expression.At the same time,a 3-DOF parallel mechanism(a new bionic shoulder joint)driven by five PMAs is designed.This bionic shoulder joint adopts the structure of two antagonistic PMAs actualizing a rotation control and three PMAs controlling another two rotations to get better rotation characteristics.The kinematic and dynamic characteristics of the mechanism are analyzed and a new static model of PMA is used to control it.Experimental results demonstrate the effectiveness of this new static model.

On Nonlinear Stability Theorems of 3D Quasi-geostrophic Flow

Nonlinear stability criteria for quasi-geostrophic zonally symmetric flow are improved by establishing an optimal Poincard inequality. The inequality is derived by a variational calculation considering the additional invariant of zonal momentum. When applied to the Eady model in a periodic channel with finite zonal length, the improved nonlinear stability criterion is identical to the linear normal-mode stability criterion provided the channel meridional width is no greater than 0.8605... times its channel length （which is the geophysically relevant case）.

Stimulatory Effects of NMDA on Intracellular Ca^(2+) Nonlinear Kinetic Model in Rat Dorsal Root Ganglion Neurons

The present study revealed the stimulatory effects of NMDA on intracellular ca 2+ concentration in rat dorsal root ganglion (DRG) neurons. Fura 3/AM, an intracellular calcium fluorescent indicator was used to monitor the fluctuation of 〔ca 2+ 〕 i. Here we present the evidence that (1) Confocal microscopy resolved the cells of three different sizes, based on which a cell diameter distribution histogram was drawn. The fluorescence signals originated from the cells of different sizes, small size (diameter<30μm), medium size (diameter between 30 to 50μm),and large size (diameter>50μm); presumably intracellular Ca 2+ concentration was different in the cells of different sizes. (2) The time related variation of fluorescence intensity was observed. In particular, the fluorescence intensity in 0 Ca 2+ bath solution was affected by the application of high ca 2+ solution. (3) In 0 ca 2+ bath solution the intracellular Ca 2+ concentration nonlinear properties of distinct diameter cells was described. (4) A kind of SETAR model was fitted with a medium sized cell.(5)The residuals from the fitted model were tested to see whether they were plausibly Gaussian. These findings indicated that in distinct types of cells intracellular Ca 2+ concentration had different characteristics in different DRG neurons, and contributed to different functions of these neurons. Besides, the established threshold autoregressive model can share intracellular ca 2+ with the main nonlinear kinetic

Effects of 3D deformation and nonlinear stress–strain relationship on the Brazilian test for a transversely isotropic rock

To improve the accuracy of indirect tensile strength for a transversely isotropic rock in the Brazilian test, this study considered the three-dimensional (3D) deformation and the nonlinear stress–strain relationship. A parametric study of a numerical Brazilian test was performed for a general range of elastic constants, revealing that the 3D modeling evaluated the indirect tensile strength up to 40% higher than the plane stress modeling. For the actual Asan gneiss, the 3D model evaluated the indirect tensile strength up to 10% higher and slightly enhanced the accuracy of deformation estimation compared with the plane stress model. The nonlinearity in stress–strain curve of Asan gneiss under uniaxial compression was then considered, such that the evaluated indirect tensile strength was affected by up to 10% and its anisotropy agreed well with the physical intuition. The estimation of deformation was significantly enhanced. The further validation on the nonlinear model is expected as future research.

Heave-Roll-Pitch Coupled Nonlinear Internal Resonance Response of a Spar Platform Considering Wave and Vortex Exciting Loads

Many studies have been done on the heave-pitch unstable coupling response for a spar platform by a 2-DOF model.In fact,in addition to the heave and pitch which are in one plane,the nonlinear unstable motion will also occur in roll.From the results of the experiments,the unstable roll motion plays a dominant role in the motion of a spar platform which is much stronger than that of pitch.The objective of this paper is to study 3-DOF coupling response performance of spar platform under wave and vortex-induced force.The nonlinear coupled equations in heave,roll and pitch are established by considering time-varying wet surface and coupling.The first order steady-state response is solved by multi-scales method when the incident wave frequency approaches the heave natural frequency.Numerical integration of the motion equations has been performed to verify the first-order perturbation solution.The results are confirmed by model test.There is a saturation phenomenon associated with heave mode in 3-DOF systems and all extra energy is transferred to roll and pitch.It is observed that sub-harmonic response occurs in roll and pitch when the wave force exceeds a certain value.The energy distribution in roll and pitch is determined by the initial value and damping characteristics of roll and pitch.The energy transfers from heave to pitch and then transfers from pitch to roll.Due to the influence of the low-frequency vortex-excited force,the response of roll is more complicated than that of pitch.

Fifth-Order Comprehensive Adjoint Sensitivity Analysis Methodology for Nonlinear Systems (5th-CASAM-N): I. Mathematical Framework

This work presents the mathematical framework of the “Fifth-Order Comprehensive Adjoint Sensitivity Analysis Methodology for Nonlinear Systems (5th-CASAM-N),” which generalizes and extends all of the previous works performed to date on this subject. The 5th-CASAM-N enables the exact and efficient computation of all sensitivities, up to and including fifth-order, of model responses to uncertain model parameters and uncertain boundaries of the system’s domain of definition, thus enabling, inter alia, the quantification of uncertainties stemming from manufacturing tolerances. The 5th-CASAM-N provides a fundamental step towards overcoming the curse of dimensionality in sensitivity and uncertainty analysis.

一维海森堡反铁磁体模型与O（3）非线性σ模型的相等性的研究

本文证明了一维海森堡反铁磁体自旋链模型在半径典极限下具有大而有限Ｓ时与Ｏ（３）非线性σ模型相等。由这相等性，得出了海森堡反铁磁体所具有的性质，预言了Ｎｅｅｌ磁振子动力学质量生成。参６。

富有机质页岩高温高压重量法等温吸附实验

借助重量法开展了下志留统龙马溪组富有机质页岩干燥样品在高温高压下的等温吸附实验,实验最高压力25 MPa,最高温度为80℃,观察到高温高压下由于吸附相密度和游离相密度不断变化所导致的过剩吸附量显著下降,并出现高温反转现象。二元Langmuir模型需要通过吸附相密度将过剩吸附量校正为绝对吸附量后才可使用。将吸附相密度作为变量,采用Langmuir三元模型直接对不同温度下的过剩吸附量进行非线性拟合来获取Langmuir参数。研究表明,随着温度升高,Langmuir体积逐渐降低,而Langmuir压力逐渐升高,基于不同温度下的拟合结果建立了温度与Langmuir参数间的关系,可进一步推算埋藏条件下吸附气的变化规律。

双向地震作用对框架柱端弯矩增大系数的影响分析

在世界各主要多地震国家的建筑抗震设计规范中,普遍采用的柱端弯矩增强措施一般在与柱正交的两个主轴方向上的各平面框架内施行,仅新西兰NZS3101规范采用简化方法考虑了双向地震作用对柱端弯矩增大系数的影响。在OpenSees平台上,以钢筋混凝土6层三维框架为例,采用基于柔度法的纤维模型从而更加真实地模拟柱在双向弯曲和变化轴力作用下的非线性反应。对比双向、单向地震输入下柱端滞回反应的差异及其对框架塑性铰耗能机构的影响。考察双向地震作用下柱端弯矩时程在两个正交主轴方向的相关性,着重研究同一节点处两正交方向的各梁端弯矩时程相关性的定量方法。研究表明,双向地震下柱的强度退化、屈服后变形均明显比单向受力更大,双向地震下X向、Y向柱端弯矩时程,以及同一节点处两正交方向的各梁端弯矩时程的相关性皆极大地依赖于双向水平地震动的输入方式。

黏土非线性模型的改进切线模量

切线模量描述是土体非线性模型中的一个基本问题。首先,引入“半值强度指数”概念建立了土体应力应变曲线的数学特征方程,分析了双曲线应力应变模型的数学缺陷。接着,根据试验数据分析提出了土体应力应变曲线的控制微分方程,建立了土体应力应变曲线的3参数新模型,新模型克服了双曲线模型的缺陷;证明了双曲线模型是该新模型的特例。最后,在3参数新模型的基础上,改进了土体的切线模量表达,给出了参数确定方法,并对三轴试验结果进行了模拟。

观音岩混合坝插入式接头应力变形分析

采用有限元方法,利用邓肯E-B模型及接触面模型,模拟堆石坝的实际填筑和蓄水过程,对观音岩水电站混合坝方案插入式接头结构型式进行三维非线性分析。计算结果表明,在蓄水前后,接头处各接触面上下游堆石部分都有脱开现象,心墙与混凝土在顶部有小范围脱开现象。插入式软接头方案基本可行,可在此基础上进行进一步计算分析,提出相应的优化和改善措施以提高运行可靠度。

上海软土场地三维非线性地震反应分析

考虑土的非线性,采用弹塑性边界面模型,对上海软土场地进行三维地震反应分析。利用多维地震动作用下的水平地层弹塑性动力反应分析程序,以具有水平和垂直三向完整加速度记录的Taft波作为地震输入,对比分析单向和多向地震输入场地水平和竖向地震反应特征,并分析不同强度地震动输入下竖向和水平加速度峰值比特征及地下水位变化对场地土层地震反应特征的影响。计算分析表明,竖向与水平向地震反应特征有较大差异;与水平单向地震输入相比,三向地震输入场地土层放大效应明显增大;地下水位上升对水平向和竖向峰值加速度的放大效应影响差异显著,地下水位上升,地表水平峰值加速度放大效应增大,竖向峰值加速度放大效应减小,研究结果对上海地区的工程抗震设计具有参考作用。

一种新的非线性相机模型标定方法

提出一种新的非线性相机模型标定方法.该方法考虑各种成像误差,用二元函数的多项式建立成像误差模型,用一个中间变量代替非线性畸变因素.在已知至少6个不共面点的空间坐标及对应的图像坐标,利用线性算法求解出非线性畸变模型的投影矩阵,用修正后的投影矩阵进行三维重建.实验结果表明,整个修正过程避免非线性方程的求解,10个修正参数由线性方程组一并解出,修正模型三维重建的精度整体得到提高.

龙首二级面板堆石坝三维真非线性地震反应分析和评价

基于土石料三维粘弹塑性动力本构模型,并采用新型三维各向异性有厚度薄单元来模拟面板和堆石的接触面特性,建立了高面板堆石坝地震反应分析的三维真非线性动力分析方法。利用坝料动力特性的大型三轴试验成果,分析计算了龙首二级(西流水)面板堆石坝的地震反应,主要包括加速度反应、堆石体应力反应及坝体单元抗震安全系数、面板应力反应和变形及接缝位移、高趾墙动力反应等。为大坝的抗震设计提供了有力的技术依据。

管材包裹混凝土柱轴压细观力学数值模拟

将不同模量管材包裹下的轴压混凝土圆柱构件内部混凝土看作由骨料、砂浆骨料过渡层、砂浆组成的三相复合材料,利用骨料随机投放程序确定骨料在试件中的随机位置,并考虑各相材料的弹塑性性质,建立了构件的三维非线性细观分析模型.通过对不同模量管材(PE,HDPE,PVC,钢)包裹下的轴压混凝土圆柱的内部细观力学性能进行分析,探讨不同材料外包下轴压混凝土柱破坏的开展与其内部各种材料(如骨料、过渡层、砂浆等)及外部包裹材料的细观受力状况的关系.

三维立方形n阶电阻网络等效模型构建

分析了三维立方形n阶网络的结构特点,构建出平面电阻网络的等效模型.通过构建非线形差分方程模型及其通解的研究,给出了三维立方形n阶网络等效电阻的一个普适规律,并给出了无穷三维n阶网络等效电阻的极限规律.

混凝土面板堆石坝三维非线性有限元应力变形分析

基于通用有限元分析系统ABAQUS的用户子程序二次开发实现Ducan-chang双曲线模型,对某混凝土面板堆石坝(CFRD)的填筑与蓄水过程三维非线性有限元仿真模拟,得到了坝体和混凝土面板的应力与变形、混凝土面板的垂直缝和周边缝沉陷、剪切和张开变形等结果,对工程坝体断面优化分区、接缝止水设计提供了参考依据。

基于三维云模型的智能控制器研究

首先介绍了云模型的基本概念和规则推理,提出了三维云模型的的概念,分析了三维云模型的规则推理,设计出基于三维云模型智能控制器。最后与常规PID控制系统进行了对比,仿真结果表明了本文设计方法的有效性。

矩形断面非线性驰振自激力测量及间接验证中若干重要问题的讨论

采用专门研制的小型动态测力天平,通过弹簧悬挂节段模型内置天平同步测力测振风洞试验,对3∶2矩形断面的非线性驰振自激力进行了测量。比较了基于实测自激力重构的节段模型位移响应时程与试验结果,从而对自激力测量精度进行了间接的验证;讨论了在进行这种验证时考虑节段模型系统等效阻尼和刚度参数非线性特性的重要性、非风致附加自激力和风致自激力在动态力中的占比、忽略非风致附加气动阻尼力和惯性力的非线性特性对自激力测量精度的影响等若干重要问题。结果显示:对于3∶2矩形断面,非风致附加自激力在测得的总动态力中的占比超过了风致自激力的占比,因此从测得的总动态力中提取自激力时必须扣除非风致附加自激力;非风致附加气动阻尼力和惯性力的非线性对驰振自激力测量精度有一定影响,值得考虑;节段模型系统等效阻尼和刚度参数的非线性对节段模型驰振位移响应的重构精度有明显影响,在验证自激力测量精度时必须加以考虑。