In spite of its intrinsic complexities,the passive gait of bipedal robots on a sloping ramp is a subject of interest for numerous researchers.What distinguishes the present research from similar works is the considera...In spite of its intrinsic complexities,the passive gait of bipedal robots on a sloping ramp is a subject of interest for numerous researchers.What distinguishes the present research from similar works is the consideration of flexibility in the constituent links of this type of robotic systems.This is not a far-fetched assumption because in the transient(impact)phase,due to the impulsive forces which are applied to the system,the likelihood of exciting the vibration modes increases considerably.Moreover,the human leg bones that are involved in walking are supported by viscoelastic muscles and ligaments.Therefore,for achieving more exact results,it is essential to model the robot links with viscoelastic properties.To this end,the Gibbs-Appell formulation and Newton's kinematic impact law are used to derive the most general form of the system's dynamic equations in the swing and transient phases of motion.The most important issue in the passive walking motion of bipedal robots is the determination of the initial robot configuration with which the system could accomplish a periodic and stable gait solely under the effect of gravitational force.The extremely unstable nature of the system studied in this paper and the vibrations caused by the impulsive forces induced by the impact of robot feet with the inclined surface are some of the very serious challenges encountered for achieving the above-mentioned goal.To overcome such challenges,an innovative method that uses a combination of the linearized equations of motion in the swing phase and the algebraic motion equations in the transition phase is presented in this paper to obtain an eigenvalue problem.By solving this problem,the suitable initial conditions that are necessary for the passive gait of this bipedal robot on a sloping surface are determined.The effects of the characteristic parameters of elastic links including the modulus of elasticity and the Kelvin-Voigt coefficient on the walking stability of this type of robotic systems are also studied.The findings of this parametric study reveal that the increase in the Kelvin-Voigt coefficient enhances the stability of the robotic system,while the increase in the modulus of elasticity has an opposite effect.展开更多
This paper studies, under a small disturbance, the responses of seismic transient wave in the visco-elastic media and the analytic solution of the corresponding third-order partial differential equation. A plane wave ...This paper studies, under a small disturbance, the responses of seismic transient wave in the visco-elastic media and the analytic solution of the corresponding third-order partial differential equation. A plane wave solution of Kelvin-Voigt homogeneous visco-elastic third-order partial differ-ential equation with a pulse source is obtained. By the principle of pulse stacking of particle vibration, the result is extended to the solution of Kelvin-Voigt homogeneous visco-elastic third-order partial differential equation with any source. The velocities of seismic wave propagating and the attenuation of seismic wave in Kelvin-Voigt homogeneous visco-elastic media are discussed. The velocities of seismic wave propagating and the coefficient of attenuation of seismic wave in Kelvin-Voigt homogeneous visco-elastic media are derived, expressed as functions of density of the media, elastic modulus and visco-elastic coefficient. These results can be applied in inversing lithology parameters in geophysical prospecting.展开更多
In this paper, we consider a vibrating beam with one segment made of viscoelastic material of a Kelvin-Voigt （shorted as K-V） type and other parts made of elastic material by means of the Timoshenko model. We have d...In this paper, we consider a vibrating beam with one segment made of viscoelastic material of a Kelvin-Voigt （shorted as K-V） type and other parts made of elastic material by means of the Timoshenko model. We have deduced mathematical equations modelling its vibration and studied the stability of the semigroup associated with the equation system. We obtain the exponential stability under certain hypotheses of the smoothness and structural condition of the coefficients of the system, and obtain the strong asymptotic stability under weaker hypotheses of the coefficients.展开更多
In this paper,we consider a class of Kirchhoff equation,in the presence of a Kelvin-Voigt type damping and a source term of general nonlinearity forms.Where the studied equation is given as followsutt-K(Nu(t))[Δ_(p(x...In this paper,we consider a class of Kirchhoff equation,in the presence of a Kelvin-Voigt type damping and a source term of general nonlinearity forms.Where the studied equation is given as followsutt-K(Nu(t))[Δ_(p(x))^(u)+Δ_(r(x))^(ut)]=F(x,t,u).Mere,K(Nu(t))is a Kirchhoff function,Δ_(r(x))^(ut)represent a Kelvin-Vbigt strong damp-ing term,and F(x,t,u)is a source term.According to an appropriate assumption,we obtain the local existence of the weak solutions by applying the Galerkin's approximation method.Furthermore,we prove a non-global existence result for certain solutions with negative/positive initial energy.More precisely,our aim is to find a sufficient conditions for p(x)/q(x)/r(x)/F(x/t/u)and the initial data for which the blow-up occurs.展开更多
The present research focuses on the analysis of wave propagation on a rotating viscoelastic nanobeam supported on the viscoelastic foundation which is subject to thermal gradient effects.A comprehensive and accurate m...The present research focuses on the analysis of wave propagation on a rotating viscoelastic nanobeam supported on the viscoelastic foundation which is subject to thermal gradient effects.A comprehensive and accurate model of a viscoelastic nanobeam is constructed by using a novel nonclassical mechanical model.Based on the general nonlocal theory(GNT),Kelvin-Voigt model,and Timoshenko beam theory,the motion equations for the nanobeam are obtained.Through the GNT,material hardening and softening behaviors are simultaneously taken into account during wave propagation.An analytical solution is utilized to generate the results for torsional(TO),longitudinal(LA),and transverse(TA)types of wave dispersion.Moreover,the effects of nonlocal parameters,Kelvin-Voigt damping,foundation damping,Winkler-Pasternak coefficients,rotating speed,and thermal gradient are illustrated and discussed in detail.展开更多
文摘In spite of its intrinsic complexities,the passive gait of bipedal robots on a sloping ramp is a subject of interest for numerous researchers.What distinguishes the present research from similar works is the consideration of flexibility in the constituent links of this type of robotic systems.This is not a far-fetched assumption because in the transient(impact)phase,due to the impulsive forces which are applied to the system,the likelihood of exciting the vibration modes increases considerably.Moreover,the human leg bones that are involved in walking are supported by viscoelastic muscles and ligaments.Therefore,for achieving more exact results,it is essential to model the robot links with viscoelastic properties.To this end,the Gibbs-Appell formulation and Newton's kinematic impact law are used to derive the most general form of the system's dynamic equations in the swing and transient phases of motion.The most important issue in the passive walking motion of bipedal robots is the determination of the initial robot configuration with which the system could accomplish a periodic and stable gait solely under the effect of gravitational force.The extremely unstable nature of the system studied in this paper and the vibrations caused by the impulsive forces induced by the impact of robot feet with the inclined surface are some of the very serious challenges encountered for achieving the above-mentioned goal.To overcome such challenges,an innovative method that uses a combination of the linearized equations of motion in the swing phase and the algebraic motion equations in the transition phase is presented in this paper to obtain an eigenvalue problem.By solving this problem,the suitable initial conditions that are necessary for the passive gait of this bipedal robot on a sloping surface are determined.The effects of the characteristic parameters of elastic links including the modulus of elasticity and the Kelvin-Voigt coefficient on the walking stability of this type of robotic systems are also studied.The findings of this parametric study reveal that the increase in the Kelvin-Voigt coefficient enhances the stability of the robotic system,while the increase in the modulus of elasticity has an opposite effect.
基金supported by the National Natural Science Foundation of China(Grant No.50490270)the National Basic Research Program of China(Grant Nos.2005CB221501 and 2002CB211707).
文摘This paper studies, under a small disturbance, the responses of seismic transient wave in the visco-elastic media and the analytic solution of the corresponding third-order partial differential equation. A plane wave solution of Kelvin-Voigt homogeneous visco-elastic third-order partial differ-ential equation with a pulse source is obtained. By the principle of pulse stacking of particle vibration, the result is extended to the solution of Kelvin-Voigt homogeneous visco-elastic third-order partial differential equation with any source. The velocities of seismic wave propagating and the attenuation of seismic wave in Kelvin-Voigt homogeneous visco-elastic media are discussed. The velocities of seismic wave propagating and the coefficient of attenuation of seismic wave in Kelvin-Voigt homogeneous visco-elastic media are derived, expressed as functions of density of the media, elastic modulus and visco-elastic coefficient. These results can be applied in inversing lithology parameters in geophysical prospecting.
基金This project is supported partially by the National Natural Science Foundation of China Grants 69874034 and 10271111
文摘In this paper, we consider a vibrating beam with one segment made of viscoelastic material of a Kelvin-Voigt （shorted as K-V） type and other parts made of elastic material by means of the Timoshenko model. We have deduced mathematical equations modelling its vibration and studied the stability of the semigroup associated with the equation system. We obtain the exponential stability under certain hypotheses of the smoothness and structural condition of the coefficients of the system, and obtain the strong asymptotic stability under weaker hypotheses of the coefficients.
文摘In this paper,we consider a class of Kirchhoff equation,in the presence of a Kelvin-Voigt type damping and a source term of general nonlinearity forms.Where the studied equation is given as followsutt-K(Nu(t))[Δ_(p(x))^(u)+Δ_(r(x))^(ut)]=F(x,t,u).Mere,K(Nu(t))is a Kirchhoff function,Δ_(r(x))^(ut)represent a Kelvin-Vbigt strong damp-ing term,and F(x,t,u)is a source term.According to an appropriate assumption,we obtain the local existence of the weak solutions by applying the Galerkin's approximation method.Furthermore,we prove a non-global existence result for certain solutions with negative/positive initial energy.More precisely,our aim is to find a sufficient conditions for p(x)/q(x)/r(x)/F(x/t/u)and the initial data for which the blow-up occurs.
文摘The present research focuses on the analysis of wave propagation on a rotating viscoelastic nanobeam supported on the viscoelastic foundation which is subject to thermal gradient effects.A comprehensive and accurate model of a viscoelastic nanobeam is constructed by using a novel nonclassical mechanical model.Based on the general nonlocal theory(GNT),Kelvin-Voigt model,and Timoshenko beam theory,the motion equations for the nanobeam are obtained.Through the GNT,material hardening and softening behaviors are simultaneously taken into account during wave propagation.An analytical solution is utilized to generate the results for torsional(TO),longitudinal(LA),and transverse(TA)types of wave dispersion.Moreover,the effects of nonlocal parameters,Kelvin-Voigt damping,foundation damping,Winkler-Pasternak coefficients,rotating speed,and thermal gradient are illustrated and discussed in detail.
