Monolithic Coupling of the Pressure and Rigid Body Motion Equations in Computational Marine Hydrodynamics

In Fluid Structure Interaction(FSI) problems encountered in marine hydrodynamics, the pressure field and the velocity of the rigid body are tightly coupled. This coupling is traditionally resolved in a partitioned manner by solving the rigid body motion equations once per nonlinear correction loop, updating the position of the body and solving the fluid flow equations in the new configuration. The partitioned approach requires a large number of nonlinear iteration loops per time–step. In order to enhance the coupling, a monolithic approach is proposed in Finite Volume(FV) framework,where the pressure equation and the rigid body motion equations are solved in a single linear system. The coupling is resolved by solving the rigid body motion equations once per linear solver iteration of the pressure equation, where updated pressure field is used to calculate new forces acting on the body, and by introducing the updated rigid body boundary velocity in to the pressure equation. In this paper the monolithic coupling is validated on a simple 2D heave decay case. Additionally, the method is compared to the traditional partitioned approach(i.e. "strongly coupled" approach) in terms of computational efficiency and accuracy. The comparison is performed on a seakeeping case in regular head waves, and it shows that the monolithic approach achieves similar accuracy with fewer nonlinear correctors per time–step. Hence, significant savings in computational time can be achieved while retaining the same level of accuracy.

A Robust Incremental Algorithm for Predicting the Motion of Rigid Body in a Time-Varying Environment

A configuration point consists of the position and orientation of a rigid body which are fully described by the position of the frame’s origin and the orientation of its axes, relative to the reference frame. We describe an algorithm to robustly predict futuristic configurations of a moving target in a time-varying environment. We use the Kalman filter for tracking and motion prediction purposes because it is a very effective and useful estimator. It implements a predictor-corrector type estimator that is optimal in the sense that it minimizes the estimated error covariance. The target motion is unconstrained. The proposed algorithm may be viewed as a seed for a range of applications, one of which is robot motion planning in a time-changing environment. A significant feature of the proposed algorithm (when compared to similar ones) is its ability to embark the prediction process from the first time step;no need to wait for few time steps as in the autoregressive-based systems. Simulation results supports our claims and demonstrate the superiority of the proposed model.

Amended influence matrix method for removal of rigid motion in the interior BVP for plane elasticity

A conventional complex variable boundary integral equation （CVBIE） in plane elasticity is provided. After using the Somigliana identity between a particular fundamental stress field and a physical stress field, an additional integral equality is obtained. By adding both sides of this integral equality to both sides of the conventional CVBIE, the amended boundary integral equation （BIE） is obtained. The method based on the discretization of the amended BIE is called the amended influence matrix method. With this method, for the Neumann boundary value problem （BVP） of an interior region, a unique solution for the displacement can be obtained. Several numerical examples are provided to prove the efficiency of the suggested method.

ON UNILATERALLY CONSTRAINED MOTIONS OF RIGID BODIES SYSTEMS

In this paper , the unilaterally constrained motions of a large class of rigid bodiessystems are studied both locally and globally. The main conclusion is that locally,such a system bahaves like a particle in a Riemannian manifold with boundary;globally.under the assumption of energy conservation, the system behaves like a billiards system over a Riemannina manifold with boundary

Effects of displacement boundary conditions on thermal deformation in thermal stress problems

Most computational structural engineers are paying more attention to applying loads rather than to DBCs （Displacement Boundary Conditions） because most static stable mechanical structures are working under already prescribed displacement boundary conditions. In all of the computational analysis of solving a system of algebraic equations, such as FEM （Finite Element Method）, three translational and three rotational degrees of freedom （DOF） should be constrained （by applying DBCs） before solving the system of algebraic equation in order to prevent rigid body motions of the analysis results （singular problem）. However, it is very difficult for an inexperienced engineer or designer to apply proper DBCs in the case of thermal stress analysis where no prescribed DBCs or constraints exist, for example in water quenching for heat treatment. Moreover, improper DBCs cause incorrect solutions in thermal stress analysis, such as stress concentration or unreasonable deformation phases. To avoid these problems, we studied a technique which performs the thermal stress analysis without any DBCs; and then removes rigid body motions from the deformation results in a post process step as the need arises. The proposed technique makes it easy to apply DBCs and prevent the error caused by improper DBCs. We proved it was mathematically possible to solve a system of algebraic equations without a step of applying DBCs. We also compared the analysis results with those of a traditional procedure for real castings.

MODEL OF CENTRIFUGAL EFFECT AND ATTITUDEMANEUVER STABILITY OF A COUPLEDRIGID-FLEXIBLE SYSTEM

The influences of nonlinear centrifugal force to large overall attitude motion of coupled rigid-flexible system was investigated. First the nonlinear model of the coupled rigid-flexible system was deduced from the idea of “centrifugal potential field', and then the dynamic effects of the nonlinear centrifugal force to system attitude motion were analyzed by approximate calculation; At last, the Lyapunov function based on energy norm was selected, in the condition that only the measured values of attitude and attitude speed are available, and it is proved that the PD feedback control law can ensure the attitude stability during large angle maneuver.

MODELING AND ANALYSIS OF A COUPLED RIGID_FLEXIBLE SYSTEM

Correct predictions of the behavior of flexible bodies undergoing large rigid-body motions and small elastic vibrations is a subject of major concern in the field of flexible multibody system dynamics. Because of failing to account for the effects of dynamic stiffening, conventional methods based on the linear theories can lead to erroneous results in many practical applications. In this paper, the idea of 'centrifugal potential field', which induced by large overall rotation is introduced, and the motion equation of a coupled rigid-flexible system by employing Hamilton's principle is established. Based on this equation, first it is proved that the elastic motion of the system has periodic property, then by using Frobenius' method its exact solution is obtained. The influences of large overall rigid motion on the elastic vibration mode shape and frequency are analysed through the numerical examples.

Bionic Attitude Transformation Combined with Closed Motion for a Free Floating Space Robot

In order to realize the small error attitude transformation of a free floating space robot,a new method of three degrees of freedom（ DOF） attitude transformation was proposed for the space robot using a bionic joint. A general kinematic model of the space robot was established based on the law of linear and angular momentum conservation. A combinational joint model was established combined with bionic joint and closed motion. The attitude transformation of planar,two DOF and three DOF is analyzed and simulated by the model,and it is verified that the feasibility of attitude transformation in three DOF space. Finally,the specific scheme of disturbance elimination in attitude transformation is presented and simulation results are obtained.Therefore,the range of application field of the bionic joint model has been expanded.

利用AutoCAD图解平面机构速度瞬心的三三分组法

瞬心法分析平面机构的运动简单而又适用 ,但平面机构的速度瞬心由于受到多方面的限制而难以精确求解。介绍一种利用AutoCAD精确图解平面机构速度瞬心的三三分组法 。

Hamilton系统的大范围周期轨道的估计

Hamilton系统的相轨道位于正则值所确定的等能曲面上,而系统的大范围周期轨道可以代表等能曲面的同调类,这些同调类一般非平凡。而等能曲面的拓扑性质又由相空间的拓扑性质和Hamilton函数的大尺度性质决定,用这两种性质估算了受外力的刚体运动的等能曲面的第1同调群的秩。用同伦论、同调论和Morse理论把已有证明中的不足之处加以改进,得出基本定理的新的证明。

基于ADAMS的多刚体动力学简化建模与仿真

应用多刚体动力学理论在ADAMS软件中对复杂模型进行简化建模与仿真,解决复杂模型在ADAMS中建模过程繁琐、仿真过程计算效率低等问题。首先对简化建模方法的多刚体动力学理论进行了分析;然后提出了基于ADAMS简化建模的具体方法,着重研究了使原模型和简化模型中心主转动惯量、中心惯量主轴连体基方向相同的数学方法;最后,将该简化建模方法应用到过山车单车模型上,并对仿真结果进行对比分析。结果显示基于ADAMS的多刚体动力学简化过山车模型与原模型的仿真效果基本相同。该简化建模方法能有效提高复杂模型在ADAMS中的建模效率和仿真的计算效率。

Numerical solutions for point masses sliding over analytical surfaces: Part 2

This paper is the second of two companion papers addressing the dynamics of two coupled masses sliding on analytical surfaces and interacting with one another. The motion occurs under the effect of gravity, the reaction force of the surface and basal friction. The interaction force maintains the masses at a fixed distance and lies on the line connecting them. The equations of motion form a system of ordinary differential equations that are solved through a fourth-order Runge–Kutta numerical scheme. In the first paper we considered an approximate method holding when the line joining the masses is almost tangent to the surface at the instant mass positions. In this second paper we provide a general solution. Firstly, we present special cases in which the system has exact solutions. Second, we consider a series of numerical examples where the interest is focused on the trajectories of the masses and on the intensity and changes of the interaction force.

On Flexible Trajectory Description for Effective Rigid Body Motion Reproduction and Recognition

Recognizing and reproducing spatiotemporal motions are necessary when analyzing behaviors andmovements during human-robot interaction. Rigid body motion trajectories are proven as compact and informativeclues in characterizing motions. A flexible dual square-root function (DSRF) descriptor for representing rigid bodymotion trajectories, which can offer robustness in the description over raw data, was proposed in our previousstudy. However, this study focuses on exploring the application of the DSRF descriptor for effective backwardmotion reproduction and motion recognition. Specifically, two DSRF-based reproduction methods are initiallyproposed, including the recursive reconstruction and online optimization. New trajectories with novel situationsand contextual information can be reproduced from a single demonstration while preserving the similarities withthe original demonstration. Furthermore, motion recognition based on DSRF descriptor can be achieved byemploying a template matching method. Finally, the experimental results demonstrate the effectiveness of theproposed method for rigid body motion reproduction and recognition.

刚体定轴转动理论教学中的类比法应用研究

基于刚体定轴转动和质点直线运动具有较为类似的特点,文章主要研究类比法在刚体定轴转动理论教学过程的应用。对于经典运动的两大领域——运动学和动力学,在教学实施的过程中,利用二运动数学形式上的相似性和物理量之间内在的联系,将较为难懂的转动理论中的角量与学生所熟悉的质点直线运动中的线量进行类比,借助理解质点直线运动的思维模式,深入理解刚体定轴转动的各物理量以及相应的物理规律,从而为此部分内容的教学提供一套较为可行的简易化范式。

基于自适应模糊算法的四足机器人全身运动控制

针对传统四足机器人运动控制器增益固定,极易造成控制系统控制精度较差、动态性能稳定性不足等问题,设计了一种基于模糊理论与全身运动控制(whole body control,WBC)相结合的新型控制器。首先,根据四足机器人的质量分布特性,建立单刚体质心动力学模型,将贝塞尔曲线作为足端轨迹的规划曲线并结合机器人质心曲线规划策略,增强机器人运动的稳定性与安全性;其次,将全身运动控制系统中的位置与速度增益基于专家经验建立模糊规则库来进行自适应优化,以提高系统的鲁棒性;最后,通过三维仿真平台对该算法进行可行性验证。实验结果表明,所提出的自适应控制方法与传统的WBC相比,提高了四足机器人在轨迹跟踪过程中的稳定性和准确性。

刚体平面运动中坐标轴正方向的选取

平面运动作为刚体的一种重要运动类型,成为物理学专业力学和理论力学课程中的重点教学内容.平面运动因为同时涉及平动和定轴转动且二者之间常常存在一定的约束关系,所以也是一个教学难点,主要问题在于初学者往往因为随意规定坐标轴正方向而遗漏约束关系中可能出现的负号.根据受力分析,在假定了刚体平面运动趋势后,适当选取坐标轴的正方向可以避开约束方程中的负号,从而使学生分析刚体运动问题更加快速准确.

以震源机制类型划分汶川、玉树地震构造块体归属

2001年11月14日昆仑山口7.8级地震、2008年3月21日于田7.1级和5月12日的汶川7.9级地震,全部发生在青藏高原中部,构成新的地震活动组.昆仑山口和汶川地震分别位于巴颜喀拉活动地块的北部和东部边界,于田地震发生在该地块的西端.GPS的观测资料分析表明该块体整体向东运动.发生在块体不同部位的昆仑山口、于田和汶川3次大地震震源机制类型体现了巴颜喀拉块体活动力学的一致性.汶川主震和强余震发生之前,出现于田序列余震的强度和频度显著增高,进一步证实同一活动地块地震之间的内在联系.2010年4月14日玉树发生6.9级地震,连同1996年11月19日的喀喇昆仑山口6.9级地震和1997年11月18日玛尼7.5级地震,都发生在巴颜喀拉活动地块的南部边界上,震源机制表现为一致的左旋走向滑动,证实它们属于羌塘块体向东运动的结果.事实表明活动块体具有整体运动的性质,而整体运动也是两组各自3次大地震成组活动的原因.

虚拟人技术研究综述

主要从虚拟人的几何表达、运动生成及控制这两个方面对虚拟人技术的研究进展作了一个比较全面的综述。针对目前已有方法存在的缺陷,提出了一种基于多刚体系统理论的虚拟人建模方法的思路与框架。

基于对偶四元数的航姿系统姿态更新算法研究

以微小型捷联航姿参考系统为研究对象,建立基于对偶四元数的导航系统姿态更新解算参数模型。该方法区别于描述刚体纯旋转变换的四元数方法,将载体系与地理系之间坐标转换的旋转与平移过程进行统一、融合,通过建立最小方差目标方程,求解最优的姿态更新矩阵。构建Kalman滤波方程,最终确定载体姿态,航向角实时信息。仿真表明,对偶四元数所建姿态四元数误差的均值与均方差均小于0.002。Kalman滤波器构造符合实际系统要求,在传感器测量精度有限的情况下,可使俯仰角、横滚角、航向角误差分别减小到0.1°,0.1°,0.2°。

水下爆炸冲击波作用下船体舱段变形试验研究

对舰船实尺度舱段在水下爆炸载荷作用下的船底板架变形进行了试验研究及理论分析。以舱段在水下爆炸的试验现象及结果为基础,通过平板模型求解药包在水下任意位置爆炸时舱段的刚体运动特性,以冲击波的入射能减去舱段刚体运动动能作为船底板架的弹塑性变形能,利用能量法,对船底板架应用薄板的大挠度弯曲理论进行局部变形求解。试验结果及理论分析表明:舱段模型在水下爆炸过程中会产生较大的刚体运动,船底外板变形区域主要集中在纵桁和实肋板交叉的板格内,理论求解的板格最大变形与试验结果较为一致。该文结果可对船体外板变形计算及局部强度考核提供数据及理论的参考。