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A capture probability analytic model for the electromagnetic launched anti-torpedo torpedo 被引量:2
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作者 Bao-qi Wu Xiao-cun Guan +1 位作者 Shao-hua Guan Jing-bin Shi 《Defence Technology(防务技术)》 SCIE EI CAS CSCD 2022年第2期261-270,共10页
With the unique characteristics,electromagnetic launch technology is applicable to launch shipborne anti-torpedo torpedo(ATT).This paper aims to establish an analytic model to pre-evaluate the capture probability of t... With the unique characteristics,electromagnetic launch technology is applicable to launch shipborne anti-torpedo torpedo(ATT).This paper aims to establish an analytic model to pre-evaluate the capture probability of the electromagnetic launched ATT.The mathematics model of the multi-stage coilgun and the trajectory of the ATT is established for analysis.The influence factors of the capture probability are analyzed respectively,including the entry point dispersion of the ATT and the position dispersion of the incoming torpedo.Adopting the advanced angle interception mode,the ATT search model is obtained according to the positional relationship,and the course error is synthetically calculated according to the differentiation of implicit function.A geometric method to calculate the integral boundaries of the probability density function is proposed,based on the relative motion of the ATT and the incoming target.To verify the proposed integral model,the digital simulation and comparison is conducted.The results reveal that the variation trends and the calculation value of the proposed analytic model are coincident with the statistic results from Monte Carlo method.And implications of the results regarding the analytic model are discussed. 展开更多
关键词 Electromagnetic launch Anti-torpedo torpedo analytic model Dispersion variance Integral boundary
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Analytic model of deformation of construction interfaces of rolled control concrete dam
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作者 顾冲时 黄光明 赖道平 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI 2007年第1期79-86,共8页
The construction interfaces of RCCD have a distinct influence on the deformation of dams. The characters and rules on deformation of construction interfaces are studied. The methods simulating the deformation of the i... The construction interfaces of RCCD have a distinct influence on the deformation of dams. The characters and rules on deformation of construction interfaces are studied. The methods simulating the deformation of the interfaces at different stages are proposed. A thickness analytic model and a no-thickness analytic model of construction interfaces are built. These models can reflect the elastic deformation, the attenuation creep deformation, the irreversible creep deformation and the accelerating creep defor- mation of interfaces. The example shows that these proposed models can simulate the deformation of the dam structure objectively. Especially, the results of the thickness analytic model which simulates the gradual changing regularities of interfaces can tally with those of monitoring in situ preferably. The methods proposed and the analytic models can be generalized and applied to general concrete dams, especially to the analysis on deformation rules of fault and interlayer in dam base. 展开更多
关键词 RCCD construction interface DEFORMATION analytic model
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Prediction of the Biaxial Failure Strength of Composite Laminates with Unit Cell Analytic Model
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作者 赵琳 ZHANG Boming QING Xinlin 《Journal of Wuhan University of Technology(Materials Science)》 SCIE EI CAS 2014年第5期923-927,共5页
A new method to predict the ultimate strength of fiber reinforced composites under arbitrary load condition is introduced. The micromechanics strength theory is used to perform the final failure prediction of composit... A new method to predict the ultimate strength of fiber reinforced composites under arbitrary load condition is introduced. The micromechanics strength theory is used to perform the final failure prediction of composite laminates. The theory is based on unit cell analytic model which can provide the ply composite material properties by only using the constituent fiber and matrix properties and the laminate geometric parameters without knowing any experimental information of the laminates. To show that this method is suitable for predicting the strength of composite laminates, the micromechanics strength theory is ranked by comparing it with all the micro-level and the best two macro-level theories chosen from the World Wide Failure Exercise. The results show that this method can be used for predicting strength of any composite laminates and provide a direct reference for composite optimum design. 展开更多
关键词 COMPOSITES STRENGTH failure criteria unit cell analytic model
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An analytic model for gate-all-around silicon nanowire tunneling field effect transistors
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作者 刘颖 何进 +6 位作者 陈文新 杜彩霞 叶韵 赵巍 吴文 邓婉玲 王文平 《Chinese Physics B》 SCIE EI CAS CSCD 2014年第9期369-374,共6页
An analytical model of gate-all-around (GAA) silicon nanowire tunneling field effect transistors (NW-TFETs) is developted based on the surface potential solutions in the channel direction and considering the band ... An analytical model of gate-all-around (GAA) silicon nanowire tunneling field effect transistors (NW-TFETs) is developted based on the surface potential solutions in the channel direction and considering the band to band tunneling (BTBT) efficiency. The three-dimensional Poisson equation is solved to obtain the surface potential distributions in the partition regions along the channel direction for the NW-TFET, and a tunneling current model using Kane's expression is developed. The validity of the developed model is shown by the good agreement between the model predictions and the TCAD simulation results. 展开更多
关键词 gate-all-round nanowire tunneling field effect transistor band to band tunneling analytic model
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Thermal analytic model of current gain for bipolar junction transistor-bipolar static induction transistor compound device
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作者 张有润 张波 +2 位作者 李泽宏 赖昌菁 李肇基 《Chinese Physics B》 SCIE EI CAS CSCD 2009年第2期763-767,共5页
This paper proposes a thermal analytical model of current gain for bipolar junction transistor-bipolar static induction transistor (BJT-BSIT) compound device in the low current operation. It also proposes a best the... This paper proposes a thermal analytical model of current gain for bipolar junction transistor-bipolar static induction transistor (BJT-BSIT) compound device in the low current operation. It also proposes a best thermal compensating factor to the compound device that indicates the relationship between the thermal variation rate of current gain and device structure. This is important for the design of compound device to be optimized. Finally, the analytical model is found to be in good agreement with numerical simulation and experimental results. The test results demonstrate that thermal variation rate of current gain is below 10% in 25 ℃-85 ℃ and 20% in -55 ℃-25 ℃. 展开更多
关键词 bipolar junction transistor-bipolar static induction transistor thermal analytic model current gain
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Analytical model for predicting time-dependent lateral deformation of geosynthetics-reinforced soil walls with modular block facing 被引量:1
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作者 Luqiang Ding Chengzhi Xiao Feilong Cui 《Journal of Rock Mechanics and Geotechnical Engineering》 SCIE CSCD 2024年第2期711-725,共15页
To date,few models are available in the literature to consider the creep behavior of geosynthetics when predicting the lateral deformation(d)of geosynthetics-reinforced soil(GRS)retaining walls.In this study,a general... To date,few models are available in the literature to consider the creep behavior of geosynthetics when predicting the lateral deformation(d)of geosynthetics-reinforced soil(GRS)retaining walls.In this study,a general hyperbolic creep model was first introduced to describe the long-term deformation of geosynthetics,which is a function of elapsed time and two empirical parameters a and b.The conventional creep tests with three different tensile loads(Pr)were conducted on two uniaxial geogrids to determine their creep behavior,as well as the a-Pr and b-Pr relationships.The test results show that increasing Pr accelerates the development of creep deformation for both geogrids.Meanwhile,a and b respectively show exponential and negatively linear relationships with Pr,which were confirmed by abundant experimental data available in other studies.Based on the above creep model and relationships,an accurate and reliable analytical model was then proposed for predicting the time-dependent d of GRS walls with modular block facing,which was further validated using a relevant numerical investigation from the previous literature.Performance evaluation and comparison of the proposed model with six available prediction models were performed.Then a parametric study was carried out to evaluate the effects of wall height,vertical spacing of geogrids,unit weight and internal friction angle of backfills,and factor of safety against pullout on d at the end of construction and 5 years afterwards.The findings show that the creep effect not only promotes d but also raises the elevation of the maximum d along the wall height.Finally,the limitations and application prospects of the proposed model were discussed and analyzed. 展开更多
关键词 GEOSYNTHETICS Creep behavior Geosynthetics-reinforced soil(GRS)walls Lateral deformation analytical model
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Modeling and Comprehensive Review of Signaling Storms in 3GPP-Based Mobile Broadband Networks:Causes,Solutions,and Countermeasures
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作者 Muhammad Qasim Khan Fazal Malik +1 位作者 Fahad Alturise Noor Rahman 《Computer Modeling in Engineering & Sciences》 SCIE EI 2025年第1期123-153,共31页
Control signaling is mandatory for the operation and management of all types of communication networks,including the Third Generation Partnership Project(3GPP)mobile broadband networks.However,they consume important a... Control signaling is mandatory for the operation and management of all types of communication networks,including the Third Generation Partnership Project(3GPP)mobile broadband networks.However,they consume important and scarce network resources such as bandwidth and processing power.There have been several reports of these control signaling turning into signaling storms halting network operations and causing the respective Telecom companies big financial losses.This paper draws its motivation from such real network disaster incidents attributed to signaling storms.In this paper,we present a thorough survey of the causes,of the signaling storm problems in 3GPP-based mobile broadband networks and discuss in detail their possible solutions and countermeasures.We provide relevant analytical models to help quantify the effect of the potential causes and benefits of their corresponding solutions.Another important contribution of this paper is the comparison of the possible causes and solutions/countermeasures,concerning their effect on several important network aspects such as architecture,additional signaling,fidelity,etc.,in the form of a table.This paper presents an update and an extension of our earlier conference publication.To our knowledge,no similar survey study exists on the subject. 展开更多
关键词 Signaling storm problems control signaling load analytical modeling 3GPP networks smart devices diameter signaling mobile broadband data access data traffic mobility management signaling network architecture 5G mobile communication
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Extension of analytical model of solid-state phase transformation 被引量:1
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作者 姜伊辉 刘峰 宋韶杰 《Transactions of Nonferrous Metals Society of China》 SCIE EI CAS CSCD 2012年第5期1176-1181,共6页
Departing from an analytical phase transformation model, a new analytical approach to deduce transformed fraction for non-isothermal phase transformation was developed. In the new approach, the effect of the initial t... Departing from an analytical phase transformation model, a new analytical approach to deduce transformed fraction for non-isothermal phase transformation was developed. In the new approach, the effect of the initial transformation temperature and the accurate "temperature integral" approximations are incorporated to obtain an extended analytical model. Numerical approach demonstrated that the extended analytical model prediction for transformed fraction and transformation rate is in good agreement with the exact numerical calculation. The new model can describe more precisely the kinetic behavior than the original analytical model, especially for transformation with relatively high initial transformation temperature. The kinetic parameters obtained from the new model are more accurate and reasonable than those from the original analytical model. 展开更多
关键词 non-isothermal transformation analytical model initial transformation temperature APPROXIMATION
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Analytical model for power dissipation in cell membranes in suspensions exposed to electric fields
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作者 覃玉荣 江悦华 赖声礼 《Journal of Southeast University(English Edition)》 EI CAS 2005年第2期145-148,共4页
Due to interaction among cells, it is too complex to build an exactanalytical model for the power dissipation within the cell membrane in suspensions exposed toexternal fields. An approximate equivalence method is pro... Due to interaction among cells, it is too complex to build an exactanalytical model for the power dissipation within the cell membrane in suspensions exposed toexternal fields. An approximate equivalence method is proposed to resolve this problem. Based on theeffective medium theory, the transmembrane voltage on cells in suspensions was investigated by theequivalence principle. Then the electric field in the cell membrane was determined. Finally,analytical solutions for the power dissipation within the cell membrane in suspensions exposed toexternal fields were derived according to the Joule principle. The equations show that theconductive power dissipation is predominant within the cell membrane in suspensions exposed todirect current or lower frequencies, and dielectric power dissipation prevails at high frequenciesexceeding the relaxation frequency of the exposed membrane. 展开更多
关键词 power dissipation analytical model cell suspension external electricfields
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Analytic modeling of instabilities driven by higher-order modes in the HLS Ⅱ RF system with a higher-harmonic cavity
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作者 赵宇宁 李为民 +1 位作者 吴丛凤 王琳 《Chinese Physics C》 SCIE CAS CSCD 2013年第8期73-75,共3页
The utility of a passive fourth-harmonic cavity plays a key role in suppressing longitudinal beam insta- bilities in the electron storage ring and lengthens the bunch by a factor of 2.6 for the phase I[ project of the... The utility of a passive fourth-harmonic cavity plays a key role in suppressing longitudinal beam insta- bilities in the electron storage ring and lengthens the bunch by a factor of 2.6 for the phase I[ project of the Hefei Light Source (HLS II ). Meanwhile, instabilities driven by higher-order modes (HOM) may limit the performance of the higher-harmonic cavity. In this paper, the parasitic coupled-bunch instability, which is driven by narrow band parasitic modes, and the microwave instability, which is driven by broadband HOM, are both modeled analytically. The analytic modeling results are in good agreement with those of our previous simulation study and indicate that the passive fourth-harmonic cavity suppresses parasitic coupled-bunch instabilities and microwave instability. The modeling suggests that a fourth-harmonic cavity may be successfully used at the HLS II. 展开更多
关键词 parasitic coupled-bunch instability microwave instability higher-harmonic cavity analytic modeling higher-order mode
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An Analytical Model of Electron Mobility for Strained-Si Channel nMOSFETs 被引量:1
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作者 李小健 谭耀华 田立林 《Journal of Semiconductors》 EI CAS CSCD 北大核心 2008年第5期863-868,共6页
An analytical model of electron mobility for strained-silicon channel nMOSFETs is proposed in this paper. The model deals directly with the strain tensor,and thus is independent of the manufacturing process. It is sui... An analytical model of electron mobility for strained-silicon channel nMOSFETs is proposed in this paper. The model deals directly with the strain tensor,and thus is independent of the manufacturing process. It is suitable for (100〉/ 〈110) channel nMOSFETs under biaxial or (100〉/〈 110 ) uniaxial stress and can be implemented in conventional device simulation tools . 展开更多
关键词 STRAINED-SI electron mobility analytical model NMOSFET uniaxial stress/strain
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Semi analytical modeling of springback in arc bending and effect of forming load 被引量:8
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作者 S.K.PANTHI N.RAMAKRISHNAN 《Transactions of Nonferrous Metals Society of China》 SCIE EI CAS CSCD 2011年第10期2276-2284,共9页
The analytical model for springback in arc bending of sheet metal can serve as an excellent design support.The amount of springback is considerably influenced by the geometrical and the material parameters associated ... The analytical model for springback in arc bending of sheet metal can serve as an excellent design support.The amount of springback is considerably influenced by the geometrical and the material parameters associated with the sheet metal.In addition,the applied load during the bending also has a significant influence.Although a number of numerical techniques have been used for this purpose,only few analytical models that can provide insight into the phenomenon are available.A phenomenological model for predicting the springback in arc bending was proposed based on strain as well as deformation energy based approaches.The results of the analytical model were compared with the published experimental as well as FE results of the authors,and the agreement was found to be satisfactory. 展开更多
关键词 SPRINGBACK sheet metal bending finite element simulation analytical modeling
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A new analytical model for thermal stresses in multi-phase materials and lifetime prediction methods 被引量:3
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作者 Ladislav Ceniga 《Acta Mechanica Sinica》 SCIE EI CAS CSCD 2008年第2期189-206,共18页
Based on the fundamental equations of the mechanics of solid continuum, the paper employs an analytical model for determination of elastic thermal stresses in isotropic continuum represented by periodically distribute... Based on the fundamental equations of the mechanics of solid continuum, the paper employs an analytical model for determination of elastic thermal stresses in isotropic continuum represented by periodically distributed spherical particles with different distributions in an infinite matrix, imaginarily divided into identical cells with dimensions equal to inter-particle distances, containing a central spherical particle with or without a spherical envelope on the particle surface. Consequently, the multi-particle-(envelope)- matrix system, as a model system regarding the analytical modelling, is applicable to four types of multi-phase materials. As functions of the particle volume fraction v, the inter-particle distances dl, d2, d3 along three mutually per- pendicular axes, and the particle and envelope radii, R1 and R2, respectively, the thermal stresses within the cell, are originated during a cooling process as a consequence of the difference in thermal expansion coefficients of phases rep- resented by the matrix, envelope and particle. Analytical-(experimental)-computational lifetime prediction methods for multi-phase materials are proposed, which can be used in engineering with appropriate values of parameters of real multi-phase materials. 展开更多
关键词 Thermal stress Multi-phase material Lifetime prediction analytical modelling
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Simple analytical model for depth-averaged velocity in meandering compound channels 被引量:3
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作者 Yuqi SHAN Chao LIU Maokang LUO 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI CSCD 2015年第6期707-718,共12页
A simple but applicable analytical model is presented to predict the lat- eral distribution of the depth-averaged velocity in meandering compound channels. The governing equation with curvilinear coordinates is derive... A simple but applicable analytical model is presented to predict the lat- eral distribution of the depth-averaged velocity in meandering compound channels. The governing equation with curvilinear coordinates is derived from the momentum equation and the flow continuity equation under the condition of quasi-uniform flow. A series of experiments are conducted in a large-scale meandering compound channel. Based on the experimental data, a magnitude analysis is carried out for the governing equation, and two lower-order shear stress terms are ignored. Four groups of experimental data from different sources are used to verify the predictive capability of this model, and good predictions are obtained. Finally, the determination of the velocity parameter and the limitation of this model are discussed. 展开更多
关键词 meandering compound channel simple analytical model lateral distribu-tion method physical experiment depth-averaged velocity
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Development of fatigue analytical model of automotive dynamic parts made of semi-solid aluminum alloys 被引量:2
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作者 Kh.A.RAGAB A.BOUAICHA M.BOUAZARA 《Transactions of Nonferrous Metals Society of China》 SCIE EI CAS CSCD 2018年第6期1226-1232,共7页
Automotive suspension control arm is used to join the steering knuckle to the vehicle frame. Its main function is to provide stability under fatigue stresses of loading and unloading in accelerating and braking. Conve... Automotive suspension control arm is used to join the steering knuckle to the vehicle frame. Its main function is to provide stability under fatigue stresses of loading and unloading in accelerating and braking. Conventionally, these parts were made of steel; however, fuel consumption and emission of polluting gases are strongly dependent on car weight. Recently, there is a try to develop and design much lighter and better fatigue resistant metal of semisolid A357 aluminum alloys. This work aims at a better understanding of identifying the fatigue strain-hardening parameters used for determining fatigue characteristics of aluminum suspension control arm using analytical and mathematical modeling. The most judicious method is to perform the fatigue tests on standardized test pieces and then plot two Wohler curves, mainly number of cycles as a function of the stress and as a function of the deformation. From these curves and following a certain mathematical and analytical methods, certain curves are plotted and then all of these coefficients are drawn. The new calculated parameters showed a clear improvement of the fatigue curve towards the experimental curve performed on the samples of aluminum alloy A357 compared with the same analytical curve for the same alloy. 展开更多
关键词 FATIGUE aluminum SEMISOLID analytical modeling qualitative analysis
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Analytical modeling of complex contact behavior between rock mass and lining structure 被引量:3
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作者 Dingli Zhang Tong Xu +3 位作者 Huangcheng Fang Qian Fang Liqiang Cao Ming Wen 《Journal of Rock Mechanics and Geotechnical Engineering》 SCIE CSCD 2022年第3期813-824,共12页
Based on the nondestructive test data of operating railway tunnels in China, this paper summarizes the basic characteristics of the complex contact behavior between the rock mass and lining structure. The contact mode... Based on the nondestructive test data of operating railway tunnels in China, this paper summarizes the basic characteristics of the complex contact behavior between the rock mass and lining structure. The contact modes are classified into dense contact, local non-contact, and loose contact. Subsequently, the corresponding mechanical model for each contact mode is developed according to its mechanical characteristics using the complex variable method. In the proposed mechanical model, a special algorithm is introduced to detect whether the local non-contact zone is re-contacted. Besides, a novel conformal mapping method is also proposed to accurately calculate the mechanical response of the concrete lining. Finally, the accuracy of the proposed method is verified by comparing it with the finite element method(FEM). Several parameter investigations are conducted to analyze the effects of different contact modes on the rock-lining interaction. The results show that:(i) the height of the local noncontact area does not have a significant effect on the contact stress distribution if no re-contact occurs;(ii) backfill grouting can reduce the local stress concentration caused by poor contact modes;and(iii) reducing the friction coefficient of the interface can lead to a more uniform distribution of internal forces in the concrete lining. 展开更多
关键词 Loose contact Local non-contact Tunnel lining Complex variable method analytical mechanical model
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Vacancies and Antisites in B2 FeAl and DO_3 Fe_3Al with a Modified Analytic EAM Model 被引量:4
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作者 Xiaolin SHU, Wan gyu HU, Hanning XIAO and Huiqiu DENG College of Materials Science and Engineering, Hunan University, Changsha 410082, China Ban gwei ZHANG International Centre of Materials Physics, Chinese Academy of Sciences, S 《Journal of Materials Science & Technology》 SCIE EI CAS CSCD 2001年第6期601-604,共4页
A simple modified analytic EAM model for bcc Fe and fcc Al was used to calculate the lattice constant and elastic constants of B2 FeAl and DO3 Fe3Al alloys. The formation energies of ... A simple modified analytic EAM model for bcc Fe and fcc Al was used to calculate the lattice constant and elastic constants of B2 FeAl and DO3 Fe3Al alloys. The formation energies of vacancy and antisite were also calculated. The present calculations are in agreement with the experimental data and the theoretical results obtained by other authors. 展开更多
关键词 Al DO Fe Vacancies and Antisites in B2 FeAl and DO3 Fe3Al with a Modified analytic EAM model EAM
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Analytical modeling and vibration analysis of fiber reinforced composite hexagon honeycomb sandwich cylindrical-spherical combined shells 被引量:2
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作者 Hui LI Bocheng DONG +4 位作者 Zhijiang GAO Jing ZHAO Haiyang ZHANG Xiangping WANG Qingkai HAN 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI CSCD 2022年第9期1307-1322,共16页
This study analyzes and predicts the vibration characteristics of fiberreinforced composite sandwich(FRCS)cylindrical-spherical(CS)combined shells with hexagon honeycomb core(HHC)for the first time based on an analyti... This study analyzes and predicts the vibration characteristics of fiberreinforced composite sandwich(FRCS)cylindrical-spherical(CS)combined shells with hexagon honeycomb core(HHC)for the first time based on an analytical model developed,which makes good use of the advantage of the first-order shear deformation theory(FSDT),the multi-segment decomposition technique,the virtual spring technology,the Jacobi-Ritz approach,and the transfer function method.The equivalent material properties of HHC are firstly determined by the modified Gibson’s formula,and the related energy equations are derived for the HHC-FRCS-CS combined shells,from which the fundamental frequencies,the mode shapes,and the forced vibration responses are solved.The current model is verified through the discussion of convergence and comparative analysis with the associated published literature and finite element(FE)results.The effects of geometric parameters of HHC on the dynamic property of the structure are further investigated with the verified model.It reveals that the vibration suppression capability can be greatly enhanced by reducing the ratio of HHC thickness to total thickness and the ratio of wall thickness of honeycomb cell to overall radius,and by increasing the ratio of length of honeycomb cell to overall radius and honeycomb characteristic angle of HHC. 展开更多
关键词 analytical modeling cylindrical-spherical(CS)combined shell hexagonal honeycomb core(HHC) fiber reinforced composite(FRC) modified equivalent elastic modulus
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Analytical Modeling for Corrosion-Induced Cover Cracking of Corrosive Reinforced Concrete Structures 被引量:2
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作者 张小刚 王娇 周英武 《Transactions of Tianjin University》 EI CAS 2012年第4期285-290,共6页
An analytical model for predicting the corrosion-induced cracking of concrete cover of reinforced concrete(RC) structures was developed.The effects of influence factors such as practical initial defects,corrosion rate... An analytical model for predicting the corrosion-induced cracking of concrete cover of reinforced concrete(RC) structures was developed.The effects of influence factors such as practical initial defects,corrosion rate,strength and elastic modulus of concrete on the corrosion-induced cracking of concrete cover were investigated.It was found that the size of practical initial defects was the most effective factor.Therefore,improving the compactness of concrete is an effective way to improve the durability of RC structures.It was also demonstrated that the accelerated corrosion tests may be unfavorable in the study of the relationship between cracking time and crack width. 展开更多
关键词 initial crack width corrosion-induced cracking RC structure analytical model
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ANALYTICAL MODEL ALGORITHM FOR DYNAMICS OF ROBOTIC MANIPULATORS 被引量:6
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作者 Xu Liju Fan ShouwenChengdu University of Science and TechnologyChen YongSouthwest Jiaotong University 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 1995年第2期168-171,共4页
A simple analytical model method for dynamics of robotic manipulators is proposed.Problem of deriving model matrix elements is transformed into problem of solving for driving forceand driving torque under specified co... A simple analytical model method for dynamics of robotic manipulators is proposed.Problem of deriving model matrix elements is transformed into problem of solving for driving forceand driving torque under specified condition by recursive dynamic equations. Expressions of reaction force in arbitrary joint in numeric-symbolic form are also derived. The properties of modelmatrices are given. Corresponding software which can recognize and manipulate symbols is developed and can be used to generate model and real-time code of robotic dynamics. 展开更多
关键词 Robotic manipulator analytical model
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