Experimental and numerical study on dynamic mechanical behaviors of shale under true triaxial compression at high strain rate

High-energy gas fracturing of shale is a novel,high efficacy and eco-friendly mining technique,which is a typical dynamic perturbing behavior.To effectively extract shale gas,it is important to understand the dynamic mechanical properties of shale.Dynamic experiments on shale subjected to true triaxial compression at different strain rates are first conducted in this research.The dynamic stress-strain curves,peak strain,peak stress and failure modes of shale are investigated.The results of the study indicate that the intermediate principal stress and the minor principal stress have the significant influence on the dynamic mechanical behaviors,although this effect decreases as the strain rate increases.The characteristics of compression-shear failure primarily occur in shale subjected to triaxial compression at high strain rates,which distinguishes it from the fragmentation characteristics observed in shale under dynamic uniaxial compression.Additionally,a numerical three-dimensional Split Hopkinson Pressure Bar(3D-SHPB),which is established by coupling PFC3D and FLAC3D methods,is validated to replicate the laboratory characteristics of shale.The dynamic mechanical characteristics of shale subjected to different confining stresses are systematically investigated by the coupling PFC3D and FLAC3D method.The numerical results are in good agreement with the experimental data.

3D dynamic motion of a dielectric micro-sphere within optical tweezers

Known as laser trapping,optical tweezers,with nanometer accuracy and pico-newton precision,plays a pivotal role in single bio-molecule measurements and controllable motions of micro-machines.In order to advance the flourishing applications for those achievements,it is necessary to make clear the three-dimensional dynamic process of micro-particles stepping into an optical field.In this paper,we utilize the ray optics method to calculate the optical force and optical torque of a micro-sphere in optical tweezers.With the influence of viscosity force and torque taken into account,we numerically solve and analyze the dynamic process of a dielectric micro-sphere in optical tweezers on the basis of Newton mechanical equations under various conditions of initial positions and velocity vectors of the particle.The particle trajectory over time can demonstrate whether the particle can be successfully trapped into the optical tweezers center and reveal the subtle details of this trapping process.Even in a simple pair of optical tweezers,the dielectric micro-sphere exhibits abundant phases of mechanical motions including acceleration,deceleration,and turning.These studies will be of great help to understand the particle-laser trap interaction in various situations and promote exciting possibilities for exploring novel ways to control the mechanical dynamics of microscale particles.

Natural dynamic characteristics of a circular cylindrical Timoshenko tube made of three-directional functionally graded material

The natural dynamic characteristics of a circular cylindrical tube made of three-directional(3 D)functional graded material(FGM)based on the Timoshenko beam theory are investigated.Hamilton’s principle is utilized to derive the novel motion equations of the tube,considering the interactions among the longitudinal,transverse,and rotation deformations.By dint of the differential quadrature method(DQM),the governing equations are discretized to conduct the analysis of natural dynamic characteristics.The Ritz method,in conjunction with the finite element method(FEM),is introduced to verify the present results.It is found that the asymmetric modes in the tube are controlled by the 3 D FGM,which exhibit more complicated shapes compared with the unidirectional(1 D)and bi-directional(2 D)FGM cases.Numerical examples illustrate the effects of the axial,radial,and circumferential FGM indexes as well as the supported edges on the natural dynamic characteristics in detail.It is notable that the obtained results are beneficial for accurate design of smart structures composed from multi-directional FGM.

溢流堰表孔弧形闸门开启过程水力特性3维数值模拟

基于动网格技术和VOF方法对某工程宽尾墩泄洪表孔弧形闸门开启过程进行了3维数值模拟研究。为获得详细的水力特性,采用3种不同的开启速度。获得了闸门区、宽尾墩及消力池的压力、速度等水力参数的时空变化规律和易发生空化空蚀的时刻与区域,指出闸门开启过快时的不利因素,并将部分结果与试验进行对比,吻合良好,验证了数值方法是可靠的,可为确定闸门的合理运行方式及工程体型优化提供重要的参考依据。

Numerical Investigation of Green Water Loading on Flexible Structures Using Three-Step CFD-BEM-FEM Approach

In this paper, the effect of green water impact on a flexible structure is studied based on three-step computational fluid dynamics(CFD)–boundary element method(BEM)–finite element method(FEM) approach. The impact due to shipping of water on the deck of the vessel is computed using commercial CFD software and used as an external force in coupled BEM-FEM solver. Other hydrodynamic forces such as radiation, diffraction, and Froude-Krylov forces acting on the structure are evaluated using 3 D time domain panel method. To capture the structural responses such as bending moment and shear force, 1 D finite element method is developed. Moreover, a direct integration scheme based on the Newmark–Beta method is employed to get the structural velocity,displacement, etc., at each time step. To check the effect of the green water impact on the structure, a rectangular barge without forward speed is taken for the analysis. The influence is studied in terms of bending moment, shear force, etc. Results show that the effect of green water impact on the bow region can be severe in extreme seas and lead to various structural damages. Similarly,it is also verified that vessel motion affects green water loading significantly and therefore one must consider its effect while designing a vessel.

Distribution of acceleration and empirical formula for calculating maximum acceleration of rockfill dams

To find the distribution patterns of dynamic amplification coefficients for dams subjected to earthquake, 3D seismic responses of concrete-faced rockfill dams with different heights and different shapes of river valley were analyzed by using the equivalent-linear model. Statistical analysis was also made to the seismic coefficient, and an empirical formula for calculating the maximum acceleration was provided. The results indicate that under the condition of the same dam height and the same base acceleration excitations, with the increase of the river valley width, the position of the maximum acceleration on the axis of the top of the dam moves from the center to the riversides symmetrically. For the narrow valleys, the maximum acceleration occurs in the middle of the axis at the top of the dam; for wide valleys the maximum acceleration appears near the riversides. The result negates the application of 2D dynamical computation for wide valleys, and shows that for the seismic response of high concrete-faced rockfill dams, the seismic coefficient along the axis should be given, except for that along the dam height. Seismic stability analysis of rockfill dams using pseudo-static method can be modified according to the formula.

Dynamic Obstacle Avoidance for Application of Human-Robot Cooperative Dispensing Medicines

For safety reasons,in the automated dispensing medicines process,robots and humans cooperate to accomplish the task of drug sorting and distribution.In this dynamic unstructured environment,such as a humanrobot collaboration scenario,the safety of human,robot,and equipment in the environment is paramount.In this work,a practical and effective robot motion planning method is proposed for dynamic unstructured environments.To figure out the problems of blind zones of single depth sensor and dynamic obstacle avoidance,we first propose a method for establishing offline mapping and online fusion of multi-sensor depth images and 3D grids of the robot workspace,which is used to determine the occupation states of the 3D grids occluded by robots and obstacles and to conduct real-time estimation of the minimum distance between the robot and obstacles.Then,based on the reactive control method,the attractive and repulsive forces are calculated and transformed into robot joint velocities to avoid obstacles in real time.Finally,the robot’s dynamic obstacle avoidance ability is evaluated on an experimental platform with a UR5 robot and two KinectV2 RGB-D sensors,and the effectiveness of the proposed method is verified.

基于“三图法”煤层顶板突水动态可视化预测

在煤炭资源开发过程中,矿井突水灾害对安全生产构成很大威胁,而现有技术方法缺乏对突水灾害发生过程的时空表达。基于"三图法",分析并设计了煤层顶板突水三维动态可视化系统的实现方法。通过构建3D地质模型及"三图",以确定煤层开采模拟区域及突水点位置的各种候选方案,真实反映煤层开采过程中可能发生的实际复杂情况。在此基础上,经过地下水模拟、可视化预处理、刚体碰撞检测响应等,实现垮裂带及地下水流场的动态模拟分析。以内蒙古自治区中西部某矿为例,依据矿区数据,进行了煤层顶板突水动态可视化预测,为企业提供了一个了解和分析预测煤层顶板突水过程的崭新平台。

动态应力作用与地震机制的初步研究

运用三维非线性动态有限元计算仿真方法研究了动态应力的作用及其与地震机制的关系.结果表明地震产生的冲击力在加载与卸载过程中形成的应力波,在遇断层时多次反射并发生半波损失,反射的应力波叠加或干涉而形成的动态应力使围压减小和波动.地震动态应力使围压产生低值波动,一方面使围压减小、摩擦力减小;另一方面,使裂纹串通、介质松动、接触面变平,降低摩擦系数、减小剪切强度.由此均导致抗剪强度降低,从而触发地震.动态应力作用时间短,触发地震大小与动态应力大小成正比、与距离成反比,触发地震位置、过程与孕震体断层产状有关.

东坪金矿采空区开挖过程的三维有限元数值模拟

结合东坪金矿南山采区1号空区的工程实际,采用Plaxis 3D Tunnel对其建立三维数值模型,并对其不同开挖顺序的开挖过程进行数值模拟。通过对开采过程中的地压活动规律和围岩稳定性进行分析,论证了地下采空区开挖方案的可行性,揭示了采空区不同开挖阶段应力的集中部位和围岩的潜在破坏部位。计算表明该空区由上向下开挖顺序较为有利,其开挖过程总体可以保持稳定,但也存在不安全隐患。计算结果对该矿山的安全生产具有指导意义。

考虑三维圆柱铰间隙碰撞的空间机构柔性多体动力学分析方法

三维圆柱铰的动态性能对空间机构的运动精度和动力学特性有着重要的影响。基于多体动力学方法和刚体有限元方法,提出考虑三维圆柱铰的间隙碰撞和动态接触作用的空间机构柔性多体接触动力学方法。采用圆柱-圆柱的线接触力学模型和切片法,计算圆柱-圆柱的接触变形量和接触力,建立三维圆柱铰的轴销与轴套之间的间隙碰撞作用和三维动态接触关系。以等效刚体单元和Timoshenko梁单元描述柔性杆件的刚性有限元模型,建立柔性连杆和三维圆柱铰的具有多刚体系统的统一形式的动力学方程。计算分析了含三维圆柱铰的空间机构的运动精度和动力学特性,获得空间机构的位移响应,三维圆柱铰的相对运动轨迹和动态作用力等动力学响应。采用三维圆柱-圆柱动态线接触方法,能有效地预测空间机构系统的三维圆柱铰持续接触、间隙碰撞状态和摩擦作用下的动力学特性。计算结果表明三维圆柱铰的间隙碰撞作用对空间机构的运动精度和动态特性的影响较为显著。动力学模型和计算结果对复杂工况下高精度多间隙的空间机构的动态设计和动力学研究具有重要的理论意义。

灰渣坝抗震稳定性的三维有效应力动力分析

本文采用三维有效应力动力分析方法 ,分析研究了某灰渣坝在 8度地震作用下的稳定性 .抗震分析中同时考虑了坝体的三维特性、震动引起的孔隙水压力对材料剪切模量的影响 。

哈达山工程土坝地震反应三维有限元分析

以哈达山水利枢纽坝址区地震为例,采用三维非线性有限元法建立了土坝和坝基的三维非线性有限元模型,并根据提供的地震动加速度曲线采用动力时程分析法对大坝进行地震反应分析。结果表明,设计地震作用下坝体的加速度、位移和应力反应均小,地震永久变形不明显,约为最大坝高(含坝基覆盖层)的0.10%,整体稳定性满足要求,设计方案合理。

垂直线源井-地电位探测地下动态导体的三维有限元数值模拟

利用钻孔金属套管作为线源供电,在地表观察电位探测地下动态导体是一种实用的方法。在本文中,以垂直钻孔套管为垂直线源,介绍了垂直线源的地电场电位公式,给出了异常电位的变分问题。针对有限元方程求解时计算速度慢和对内存要求高的问题,利用对称超松弛预条件共轭梯度算法结合按行压缩存储技术,提高了计算速度并且减少了对内存空间的要求。采用异常电位的有限元法实现了井-地电位探测地下动态导体的三维数值模拟。通过一个低阻动态导体在不同埋深处模拟超大型垃圾场区渗滤液的地下去向,算例结果表明利用垂直线源井地电位三维有限元研究探测地下动态导体是有效、可行的。

面板堆石坝坝顶加速度沿坝轴线分布规律

对面板堆石坝进行三维动力反应计算分析,采用等价线性化模型以不同坝体高度、不同河谷形状为对象,研究了输入不同地震波坝体的反应。结果表明,在坝高相同、基础输入加速度不变情况下,随河谷宽度增加,坝顶坝轴线最大加速度位置由中间向两岸对称移动;对狭窄河谷,最大加速度在坝轴线中间坝顶部位,对宽阔河谷,最大加速度在靠近两岸的部位,这一结果否定了以往对宽河谷采用二维动力计算结果的做法。进而提出对高面板堆石坝,地震反应除应给出沿坝高的地震放大系数外,还应给出沿坝轴线的地震放大系数。

黄文熙先生的主要学术成就——纪念黄文熙先生诞生100周年

黄文熙先生在结构工程和岩土工程方面都有创新性的研究成果。他提出的拱坝计算的格栅法,是在电子计算机出现以前的结构离散计算方法,也是有限元法计算的先驱;他提出了可以反映土的应力路径的三维地基沉降计算方法;他也是国内外公认的动三轴试验的首创者;他提出了具有突出特色的清华弹塑性模型,大大推动了我国土的本构模型研究的发展。

面板堆石坝最大加速度放大倍数经验公式

对面板堆石坝进行三维动力反应计算分析,采用等价线性化模型以不同坝体高度、不同河谷形状为对象,研究了输入不同地震波坝体的反应.结果表明,在坝高相同、基础输入加速度不变情况下,随河谷宽度增加,坝顶坝轴线最大加速度位置由中间向两岸对称移动;对狭窄河谷,最大加速度在坝轴线中间坝顶部位,对宽阔河谷,最大加速度在靠近两岸的部位.对面板堆石坝地震反应加速度分布规律进行了统计分析,给出了计算坝体最大加速度放大倍数的经验公式,为实际工程中进行基于拟静力法的面板堆石坝抗震稳定分析提供了参考依据.

磁阻反应式有限转角电机特性分析

介绍了磁阻反应式有限转角电机的主要结构及工作原理。由于其独特的不对称结构,必须进行三维电磁场仿真分析。通过仿真,分别得到磁链、电感、转矩与电流和转子位置角的三维曲面图,建立相关数据库,并分析了电机的静态特性。根据非线性磁参数法,建立了电机的数学模型。将电机的磁化曲线数据ψ(i,θ)转变为i(θ,ψ)的形式,代入数学模型中。再采用四阶Runge-Kutta法和有限元法求解电压平衡方程和机械运动方程,得到线圈电流、转矩、转子位置角等参数的动态特性曲线。并进行了静态转矩和动态特性实验。将实验结果与仿真结果进行比较,结果证明了求解方法的正确性。

陀螺系统特征值问题的一些探讨

陀螺系统特征值问题是在转子动力学中提出的一个典型的数学问题。它的研究一直受到力学界的重视。研究它具有较大的理论意义和工程应用价值。作为本专题的第一部分，本文探讨三维旋转法本身存在的问题。指出三维旋转法不是对任何反对称矩阵都是合适的，而应有条件地应用它。

论基础数学工具的创新运用

在建立叶轮机三元流面理论时,吴仲华巧妙地、创造性地提出了全导数型的沿流面方向偏导数的概念和表达式,导出了两类流面气动力学数学模型,不但数学形式简洁,而且具有明晰的物理意义,有利于分析和求解。在吴氏流面理论的启示下,作者不断致力于基础数学工具和概念的推广和创新运用,挖掘并发挥其潜在功能。本文将通过流体力学、传热学以及最优控制论方面的一些实例来综合介绍个人的心得和体会。