Theoretical and experimental studies on critical time delay of multi-DOF real-time hybrid simulation

This paper aims to investigate the critical stability of a multi-degree-of-freedom(multi-DOF)real-time hybrid simulation(RTHS).First,the critical time-delay analysis models are developed using the continuous-and discrete-time root locus(RL)techniques,respectively.A bilinear transform is introduced into the first-order Padéapproximation while conducting the discrete RL analysis.Based on this technique,the time delay can be explicitly used as the gain factor and thus the instability mechanism of the multi-DOF RTHS system can be analyzed.Subsequently,the critical time delays calculated by the continuous-and discrete-time RL techniques,respectively,are compared for a 2-DOF RTHS system.It is shown that assuming the RTHS system to be a continuous-time system will result in overestimating the critical time delay.Finally,theoretically calculated critical delays are demonstrated and validated by numerical simulation and a set of RTHS experiments.Parametric analysis provides a glimpse of the effects of time step,frequency and damping ratio in a performing partitioning scheme.The constructed analysis model proves to be useful for evaluating the critical time delay to predict stability and performance,therefore facilitating successful RTHS.

Exploration of instantaneous frequency for local control assessment in real-time hybrid simulation

Local control parameters such as instantaneous delay and instantaneous amplitude play an essential role in evaluating the performance and maintaining the stability of real-time hybrid simulation(RTHS).However,existing methods have limitations in obtaining this local assessment in either the time domain or frequency domain.In this study,the instantaneous frequency is introduced to determine local control parameters for actuator tracking assessment in a real-time hybrid simulation.Instantaneous properties,including amplitude,delay,frequency and phase,are then calculated based on analytic signals translated from actuator tracking signals through the Hilbert transform.Potential issues are discussed and solutions are proposed for calculation of local control parameters.Numerical simulations are first conducted for sinusoidal and chirp signals with time varying amplitude error and delay to demonstrate the potential of the proposed method.Laboratory tests also are conducted for a predefined random signal as well as the RTHS of a single degree of freedom structure with a self-centering viscous damper to experimentally verify the effectiveness of the proposed use of the instantaneous frequency.Results from the ensuing analysis clearly demonstrate that the instantaneous frequency provides great potential for local control assessment,and the proposed method enables local tracking parameters with good accuracy.

Teaching Experiment in Engineering Mechanics Based on Simulation Technology:A Case Study

This paper explores the integration of simulation technology in Engineering Mechanics(EM)teaching in vocational colleges.A case study was conducted using the tensile test as an example,and digital resources,such as colored Mises stress nephograms,were obtained.These resources were integrated into the original curriculum to conduct teaching experiments.The results show that the use of digital resources significantly improved the quality of teaching in EM.The integration of simulation technology in EM teaching provides a promising direction for the improvement of vocational education and the cultivation of high-quality skilled talents.The development and application of more simulation-based teaching cases should be studied by scholars.

Construction and Practice of First-Class Courses on Virtual Simulation Experimental Teaching of Urban Overpasses

Virtual simulation experiment,as a new way to promote the digital transformation of education,has a broad development prospect and application value.The civil engineering experimental volume and space are huge,it has a long construction period,is highly dangerous,and is difficult to experiment with.In order to solve the contradiction between the traditional theory teaching of civil engineering and the engineering training of students,the construction of virtual simulation experimental teaching courses with a high degree of realism,intuition,and accuracy can be used as a useful supplement and innovation of experimental and practical teaching.This paper takes the virtual simulation experimental teaching course of urban overpasses as an example,introduces the necessity and practicability of the course construction,and describes the experimental principle structure of the course,the simulation scene design,the experimental teaching process,the experimental method,etc.The course has achieved good application results,and it has been recognized as the first-class virtual simulation teaching course of the Chongqing Municipal Government,which provides certain references to the construction of the same type of courses in the civil engineering profession.

Models to Simulate Effective Coverage of Fire Station Based on Real-Time Travel Times

In recent years,frequent fire disasters have led to enormous damage in China.Effective firefighting rescues can minimize the losses caused by fires.During the rescue processes,the travel time of fire trucks can be severely affected by traffic conditions,changing the effective coverage of fire stations.However,it is still challenging to determine the effective coverage of fire stations considering dynamic traffic conditions.This paper addresses this issue by combining the traveling time calculationmodelwith the effective coverage simulationmodel.In addition,it proposes a new index of total effective coverage area(TECA)based on the time-weighted average of the effective coverage area(ECA)to evaluate the urban fire services.It also selects China as the case study to validate the feasibility of the models,a fire station(FS-JX)in Changsha.FS-JX station and its surrounding 9,117 fire risk points are selected as the fire service supply and demand points,respectively.A total of 196 simulation scenarios throughout a consecutiveweek are analyzed.Eventually,1,933,815 sets of valid sample data are obtained.The results showed that the TECA of FS-JX is 3.27 km^(2),which is far below the standard requirement of 7.00 km^(2) due to the traffic conditions.The visualization results showed that three rivers around FS-JX interrupt the continuity of its effective coverage.The proposed method can provide data support to optimize the locations of fire stations by accurately and dynamically determining the effective coverage of fire stations.

Marine Predator Algorithm-based Sliding Mode Control of a Novel Motion Simulator for High Column Sloshing Experiments

Sloshing experiment is crucial to determine the reaction performance of regeneration columns on an offshore floating platform.A novel type of column motion simulating device and a Marine Predator Algorithm-based Sliding Mode Controller(MPA-SMC)are proposed for such sloshing experiments.The simulator consists of a Stewart platform and a steel framework.The Stewart platform is located at the column's center of gravity(CoG)and supported by the steel framework.The platform's hydraulic servo system is controlled by a sliding mode controller with parameters optimized by MPA to improve robustness and precision.A numerical sloshing experiment is conducted using the proposed device and controller.The results show that the novel motion simulator has lower torque during the column sloshes,and the proposed controller performs better than a well-tuned PID controller in terms of target tracking precision and anti-interference capability.

Experiments and numerical simulations on transport of dissolved pollutants around spur dike

The flow field around a spur dike has three-dimensional characteristics. In order to analyze the influence of the flow field on pollutant transport, based on a compressive volume of fluid （VOF） scheme, the three-dimensional transient compressive pollutant transport model （CPTM） and the cubic equation （CE） bounded differencing scheme were developed. For the calibration and validation of CPTM, laboratory experiments were carried out in a flume with a non-submerged spur dike. The spur dike was angled at 60°, 90°, and 120° from the upstream direction. The simulation results agreed with the experimental results. The simulations and experiments showed that the distribution of pollutant concentration was determined by circumfluence and the main flow. Concentration decay in the circumfluenee zone was slower than that in the main flow. Downstream of the spur dike, the concentration fluctuation became intensive with the increase of spur dike angle.

A laboratory acoustic emission experiment and numerical simulation of rock fracture driven by a high-pressure fluid source

In order to improve our understanding of rock fracture and fault instability driven by high-pressure fluid sources, the authors carried out rock fracture tests using granite under a confining pressure of 80 MPa with fluid injection in the laboratory. Furthermore, we tested a number of numerical models using the FLAC;modeling software to find the best model to represent the experimental results. The high-speed multichannel acoustic emission（AE） waveform recording system used in this study made it possible to examine the total fracture process through detailed monitoring of AE hypocenters and seismic velocity.The experimental results show that injecting high-pressure oil into the rock sample can induce AE activity at very low stress levels and can dramatically reduce the strength of the rock. The results of the numerical simulations show that major experimental results, including the strength, the temporal and spatial patterns of the AE events, and the role of the fluid can be represented fairly well by a model involving（1） randomly distributed defect elements to model pre-existing cracks,（2） random modification of rock properties to represent inhomogeneity introduced by different mineral grains, and（3）macroscopic inhomogeneity. Our study, which incorporates laboratory experiments and numerical simulations, indicates that such an approach is helpful in finding a better model not only for simulating experimental results but also for upscaling purposes.

Evolution and organic geochemical significance of bicyclic sesquiterpanes in pyrolysis simulation experiments on immature organic-rich mudstone

Sesquiterpanes are ubiquitous components of crude oils and ancient sediments.Liquid saturated hydrocarbons from simulated pyrolysis experiments on immature organic-rich mudstone collected from the Lower Cretaceous Hesigewula Sag were analyzed by gas chromatography-mass spectrometry(GC-MS).C14 bicyclic sesquiterpanes,namely,8β(H)-drimane,8β(H)-homodrimane,and 8 a(H)-homodrimane were detected and identified on basis of their diagnostic fragment ions(m/z123,179,193,and 207),and previously published mass spectra data,and these bicyclic sesquiterpanes presented relatively regular characteristics in their thermal evolution.The ratios 8β(H)-drimane/8β(H)-homodrimane,8β(H)-homodrimane/8 a(H)-homodrimane,and 8β(H)-drimane/8 a(H)-homodrimane all show a clear upward trend with increasing temperature below the temperature turning point.Thus,all these ratios can be used as evolution indexes of source rocks in the immature-lowmaturity stage.However,the last two ratios may be more suitable than the first ratio as valid parameters for measuring the extent of thermal evolution of organic matter in the immature-low-maturity stage because their change amplitude with increasing temperature is more obvious.

FEM model for real-time guide wire simulation in vasculature

A model suitable for describing the mechanical response of thin elastic objects is proposed to simulate the deformation of guide wires in minimally invasive interventions. The main objective of this simulation is to provide doctors an opportunity to rehearse the surgery and select an optimal operation plan before the real surgery. In this model the guide wire is discretized with the multi-body representation and its elastic energy derivate from elastic theory is a polynomial function of the nodal displacements. The vascular structure is represented by a tetrahedron mesh extended from the triangular mesh of the artery, which can be extracted from the patient＇s CT image data. The model applies the energy decline process of the conjugate gradient method to the deformation simulation of the guide wire. Experimental results show that the polynomial relationship between elastic energy and nodal displacements tremendously simplifies the evaluation of the conjugate gradient method and significantly improves the model＇s efficiency. Compared with models depending on an explicit scheme for evaluation, the new model is not only non-conditionally stable but also more efficient. The model can be applied to the real-time simulation of guide wire in a vascular structure.

Passive walker that can walk down steps:simulations and experiments

A planar passive walking model with straight legs and round feet was discussed. This model can walk down steps, both on stairs with even steps and with random steps. Simulations showed that models with small moments of inertia can navigate large height steps. Period-doubling has been observed when the space between steps grows. This period-doubling has been validated by experiments, and the results of experiments were coincident with the simulation.

Simulation and Experiment on Workability for Cold Pressure Forming of Sheet Metal Part with Step Cross-section

In modem manufacturing, a new type of sheet metal part with step cross-section in both inner hole and outer edge is proposed. The traditional stamping separating processes can only produce sheet metal part with vertical cross-section. According to the latest developing theory and potential of cold pressure forming： combination of pressure and cold forging, a new flow control forming of sheet metal（FCF） is excogitated based on blanking process of general stamping and combined with cold forging processes such as extrusion and coining, etc, which is aiming at the above-mentioned new type of sheet metal part. With utilization of this new process, the new type of sheet metal parts can be manufactured. In order to shorten the testing period, the numerical simulation was carried out by using DEFORM-3D software, and both deformation and mechanics rules were analyzed. Based on the simulation, both punching part and blanked parts of this new type were successfully developed. Then a new conception of optimal distance between the step walls of inner hole and outside edge was proposed and the design principle for its numerical value was inferred. Furthermore, a mold set for combination of stamping ＆ cold forging was designed and manufactured, by which the technologic experiments were taken for validation with Aluminum plate of thickness 2.35 mm for power battery cover board, which verified the principle of the distance between the step walls. The research of cold pressure forming of thin sheet metal with step cross-section is significant, not only to the development of modem mechanical manufacture, but also to metal plastic forming science.

Experimental study and simulation of a three-phase flow stirred bioreactor

In order to obtain the reasonable operating conditions and minimize the power consumption in the stirred bioreactor, the hydrodynamic experiments in the stirred bioreactor have been taken to obtain the basic data. Subsequently, an Eulerian model for the gas–liquid–solid three phase flow in the stirred bioreactor has been proposed and the CFD simulation has been conducted. By comparing the results of experiment and simulation, it can be concluded that the simulation results were consistent with the experimental data. The inner relationship between operating variables and indicators could be obtained by comparing the results of just suspension speed, gas holdup, power consumption and operational maps, further the reasonable operating conditions could be also determined under the minimum power consumption. The operational maps could provide the theoretical foundation for industrial application of the gas–liquid–solid stirred bioreactors under the low solid concentration(no more than 20 wt%).

On modeling approach for embedded real-time software simulation testing

Modeling technology has been introduced into software testing field. However, how to carry through the testing modeling effectively is still a difficulty. Based on combination of simulation modeling technology and embedded real-time software testing method, the process of simulation testing modeling is studied first. And then, the supporting environment of simulation testing modeling is put forward. Furthermore, an approach of embedded real-time software simulation testing modeling including modeling of cross-linked equipments of system under testing （SUT）, test case, testing scheduling, and testing system service is brought forward. Finally, the formalized description and execution system of testing models are given, with which we can realize real-time, closed loop, mad automated system testing for embedded real-time software.

Simulation and Experiment for Oxygen-enriched Combustion Engine Using Liquid Oxygen to Solidify CO2

For capturing and recycling of CO2 in the internal combustion engine, Rankle cycle engine can reduce the exhaust pollutants effectively under the condition of ensuring the engine thermal efficiency by using the techniques of spraying water in the cylinder and optimizing the ignition advance angle. However, due to the water spray nozzle need to be installed on the cylinder, which increases the cylinder head design difficulty and makes the combustion conditions become more complicated. In this paper, a new method is presented to carry out the closing inlet and exhaust system for internal combustion engines. The proposed new method uses liquid oxygen to solidify part of cooled CO2 from exhaust system into dry ice and the liquid oxygen turns into gas oxygen which is sent to inlet system. The other part of CO2 is sent to inlet system and mixed with oxygen, which can reduce the oxygen-enriched combustion detonation tendency and make combustion stable. Computing grid of the IP52FMI single-cylinder four-stroke gasoline-engine is established according to the actual shape of the combustion chamber using KIVA-3V program. The effects of exhaust gas recirculation （EGR） rate are analyzed on the temperatures, the pressures and the instantaneous heat release rates when the EGR rate is more than 8%. The possibility of enclosing intake and exhaust system for engine is verified. The carbon dioxide trapping device is designed and the IP52FMI engine is transformed and the CO2 capture experiment is carried out. The experimental results show that when the EGR rate is 36% for the optimum EGR rate. When the liquid oxygen of 35.80-437.40 g is imported into the device and last 1-20 min, respectively, 21.50-701.30 g dry ice is obtained. This research proposes a new design method which can capture CO2 for vehicular internal combustion engine.

Model-based framework for multi-axial real-time hybrid simulation testing

Real-time hybrid simulation is an efficient and cost-effective dynamic testing technique for performance evaluation of structural systems subjected to earthquake loading with rate-dependent behavior. A loading assembly with multiple actuators is required to impose realistic boundary conditions on physical specimens. However, such a testing system is expected to exhibit significant dynamic coupling of the actuators and suffer from time lags that are associated with the dynamics of the servo-hydraulic system, as well as control-structure interaction （CSI）. One approach to reducing experimental errors considers a multi-input, multi-output （MIMO） controller design, yielding accurate reference tracking and noise rejection. In this paper, a framework for multi-axial real-time hybrid simulation （maRTHS） testing is presented. The methodology employs a real-time feedback-feedforward controller for multiple actuators commanded in Cartesian coordinates. Kinematic transformations between actuator space and Cartesian space are derived for all six-degrees-of- freedom of the moving platform. Then, a frequency domain identification technique is used to develop an accurate MIMO transfer function of the system. Further, a Cartesian-domain model-based feedforward-feedback controller is implemented for time lag compensation and to increase the robustness of the reference tracking for given model uncertainty. The framework is implemented using the 1/5th-scale Load and Boundary Condition Box （LBCB） located at the University of Illinois at Urbana- Champaign. To demonstrate the efficacy of the proposed methodology, a single-story frame subjected to earthquake loading is tested. One of the columns in the fraane is represented physically in the laboratory as a cantilevered steel column. For real- time execution, the numerical substructure, kinematic transformations, and controllers are implemented on a digital signal processor. Results show excellent performance of the maRTHS framework when six-degrees-of-freedom are controUed at the interface between substructures.

Simulation of large-scale numerical substructure in real-time dynamic hybrid testing

A solution scheme is proposed in this paper for an existing RTDHT system to simulate large-scale finite element （FE） numerical substructures. The analysis of the FE numerical substructure is split into response analysis and signal generation tasks, and executed in two different target computers in real-time. One target computer implements the response analysis task, wherein a large time-step is used to solve the FE substructure, and another target computer implements the signal generation task, wherein an interpolation program is used to generate control signals in a small time-step to meet the input demand of the controller. By using this strategy, the scale of the FE numerical substructure simulation may be increased significantly. The proposed scheme is initially verified by two FE numerical substructure models with 98 and 1240 degrees of freedom （DOFs）. Thereafter, RTDHTs of a single frame-foundation structure are implemented where the foundation, considered as the numerical substructure, is simulated by the FE model with 1240 DOFs. Good agreements between the results of the RTDHT and those from the FE analysis in ABAQUS are obtained.

Dynamic simulation and experimental study of inspection robot for high-voltage transmission-line

A mobile robot developed by Wuhan University for full-path hotline inspection on 220 kV transmission lines was presented. With 4 rotating joints and 2 translational ones, such robot is capable of traveling along non- obstaclestraight-line segment and surmounting straight-line segment obstacles as well as transferring between two spans automatically. Lagrange’s equations were utilized to derive dynamic equations of all the links, including items of inertia, coupling inertia, Coriolis acceleration, centripetal acceleration and gravity. And a dynamic response experiment on elemental motions of robot prototype’s travelling along non-obstacle straight-line segment and surmounting obstacles was performed on 220 kV 1∶1 simulative overhanging transmission-line in laboratory. In addition, dynamic numerical simulation was conducted in the corresponding condition. Comparison and analysis on results of experiment and numerical simulation have validated theoretical model and simulation resolution. Therefore, the dynamic model formed hereunder can be used for the study of robot control.

Construction Simulation and Real-Time Control for High Arch Dam

A method of combining dynamic simulation with real-time control was proposed to fit the randomness and uncertainty in the high arch dam construction process. The mathematical logic model of high arch dam construction process was established. By combining dynamic construction simulation with schedule analysis, the process of construction schedule forecasting and analysis based on dynamic simulation was studied. The process of real-time schedule control was constructed and some measures for dynamic adjustment and control of construction schedule were provided. A system developed with the method is utilized in a being constructed hydroelectric project located at the Yellow River in northwest China, which can make the pouring plan of the dam in the next stage (a month, quarter or year) to guide the practical construction. The application result shows that the system provides an effective technical support for the construction and management of the dam.

A Class of Fast Algorithms in Real-Time Simulation

A class of hybrid algorithms of real-time simulation based on evaluation of non-integerstep right-hand side function are presented in this paper. And some results of the convergence and stability of the algorithms are given. Using the class of algorithms, evaluation for the right-hand side function is needed once in every integration-step. Moreover, comparing with the other methods with the same amount of work, their numerical stability regions are larger and the method errors are smaller, and the numerical experiments show that the algorithms are very effective.