Dynamic Modeling and Experimental Verification of an RPR Type Compliant Paralle Mechanism with Low Orders

Efficiency of calculating a dynamic response is an important point of the compliant mechanism for posture adjustment.Dynamic modeling with low orders of a 2R1T compliant parallel mechanism is studied in the paper.The mechanism with two out-of-plane rotational and one lifting degrees of freedom(DoFs)plays an important role in posture adjustment.Based on elastic beam theory,the stiffness matrix and mass matrix of the beam element are established where the moment of inertia is considered.To improve solving efficiency,a dynamic model with low orders of the mechanism is established based on a modified modal synthesis method.Firstly,each branch of the RPR type mechanism is divided into a substructure.Subsequently,a set of hypothetical modes of each substructure is obtained based on the C-B method.Finally,dynamic equation of the whole mechanism is established by the substructure assembly.A dynamic experiment is conducted to verify the dynamic characteristics of the compliant mechanism.

Comparison of microwave- and thermal-assisted rock fragmentation methods at different temperatures and loading rates

Understanding the effects of microwave irradiation and thermal treatment on the dynamic compression and fragmentation properties of rocks is essential to quantify energy consumption in rock engineering.In this study,Fangshan granite(FG)specimens were exposed to microwave irradiation and heat treatment.The damage of FG specimens induced by these two methods was compared using X-ray CT scanning and ultrasonic wave method.The temperatures of FG after microwave irradiation and thermal treatment were effectively evaluated using a newly proposed technique.A novelty method for precisely determining the geometric features of fragments is developed to estimate the fragmentation energy.Thus,the dynamic uniaxial compressive strength(UCS),the dynamic fragmentation characteristics,and the fragmentation energy of FG after these two pretreatment methods can be reasonably compared.The noticeable distinction of loading rate effect on the dynamic UCS of FG between these two pretreatment methods is first observed.A relationship is established between the dynamic UCS and the damage induced by microwave irradiation and heat treatment.Moreover,fragmentation energy fan analysis is introduced to accurately compare the fragmentation properties of FG after two pretreatment methods in dynamic compression tests.

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.

Dynamic experiment and numerical simulation of solute transmission in heap leaching processing

Solute transmission in saturated ore heap was studied numerically and experimentally. The convection-diffusion equation (CDE) used to describe the mass transportation in porous media was solved by characteristic difference method to give the distribution of the concentration of ferrous ion in the ore column. To calibrate the computational model, a column test was performed using infiltration of sulfide ferrous solution (the initial concentration is c0=0.04 mol/L) on a 100 cm high column composed of ore particles smaller than 10 mm for 2.5 h. The numerical analysis shows that the results obtained from numerical modeling under the same operating conditions as used for column test are in good agreement with those from experimental procedure on the whole trend, which indicates that the model, the numerical method, and the parameters chosen can reflect the rule of ferrous ion transmission in ore heap.

Numerical and experimental studies on impact dynamics of a planar flexible multibody system

In this paper a computational methodology on impact dynamics of the flexible multibody system is presented. First, the floating frame of reference approach and nodal coordinates on the basis of finite element formulation are used to describe the kinematics of planar deformable bodies. According to the kinematic description of contact conditions, the contact constraint equations of planar flexible bodies are derived. Based on the varying topology technique the impact dynamic equations for a planar multibody system are established. Then the initial conditions of the equations in each contact stage are determined according to the discontinuity theory in continuum mechanics. The experiments between the aluminum rods are performed to check the correctness of the proposed method. Through the comparison between the numerical and experimental results the proposed method is validated. Experimental results also show that the impulse momentum method cannot accurately predict the complex impact dynamic phenomena and the continuous model may lead to a serious error when used to simulate the impact problems with significant wave propagation effects.

WRIST FORCE SENSOR'S DYNAMIC PERFORMANCE CALIBRATION BASED ON NEGATIVE STEP RESPONSE

Negative step response experimental method is used in wrist force sensor＇s dynamic performance calibration. The exciting manner of negative step response method is the same as wrist force sensor＇s load in working. This experimental method needn＇t special experiment equipments. Experiment＇s dynamic repeatability is good. So wrist force sensor＇s dynamic performance is suitable to be calibrated by negative step response method. A new correlation wavelet transfer method is studied. By wavelet transfer method, the signal is decomposed into two dimensional spaces of time-frequency. So the problem of negative step exciting energy concentrating in the low frequency band is solved. Correlation wavelet transfer doesn＇t require that wavelet primary function be orthogonal and needn＇t wavelet reconstruction. So analyzing efficiency is high. An experimental bench is designed and manufactured to load the wrist force sensor orthogonal excitation force/moment. A piezoelectric force sensor is used to setup soft trigger and calculate the value of negative step excitation. A wrist force sensor is calibrated. The pulse response function is calculated after negative step excitation and step response have been transformed to positive step excitation and step response. The pulse response function is transferred to frequency response function. The wrist force sensor＇s dynamic characteristics are identified by the frequency response function.

Some numerical experiments of the dynamics of the wintertime circulation in the Northern Huanghai Sea and the Bohai Sea

-Some numerical experiments have been developed to explain dynamically the mechanism of the formation of the wintertime circulation in the Northern Huanghai Sea and the Bohai Sea. From the results of the numerical experiments with Coriolis parameter having positive and negative values respectively, it is found that the current pattern characterized by flowing into the Bohai Sea in the northern part of the Bohai Straits and flowing out of the Bohai Sea in the southern part of the Bohai Straits is controlled basically by the bottom topography with 'the deepness on the northern side and shallowness on the southern side'in the Bohai Straits, and is not related to Coriolis parameter having positive and negative values. It also shows that the Huanghai Warm Current regarded as the inllow condition passing through the in-ports at the water boundary of the numerical experiments only influences the region near the water boundary and the eastern region of the Northern Huanghai Sea. In addition, the mechanism of the formation of several mesoscale eddies and the influence of the bottom topography on the wintertime circulation in the basin have been discussed.

A Sine Driving System for the Dynamic Experiment of the Aerofoil Model

The design principle and the structural characters of a new sine driving system apparatus, which have been used by NPU NF-3 wind tunnel in the dynamic stall experiments on the oscillating aerofoil model from 1994, is introduced. Some measures to improve the stability and flexibility are studied. The obvious advantages of the system are its simple structure, convenient operation and more accurate sine relationship between the attack angle and the rotating angle of the aerofoil The driving system has been proved advisable comparing with the experimental results both abroad and in many dynamic tests in NF-3 wind tunnel. It can provide guidelines for the study of the aerodynamic properties on the oscillating aerofoil.

Study on the Mathematical Model of Dielectric Recovery Characteristics in High Voltage SF6 Circuit Breaker

According to the stream theory, this paper proposes a mathematical model of the dielectric recovery characteristic based on the two-temperature ionization equilibrium equation. Taking the dynamic variation of charged particle＇s ionization and attachment into account, this model can be used in collaboration with the Coulomb collision model, which gives the relationship of the heavy particle temperature and electron temperature to calculate the electron density and temperature under different pressure and electric field conditions, so as to deliver the breakdown electric field strength under different pressure conditions. Meanwhile an experiment loop of the circuit breaker has been built to measure the breakdown voltage. It is shown that calculated results are in conformity with experiment results on the whole while results based on the stream criterion are larger than experiment results. This indicates that the mathematical model proposed here is more accurate for calculating the dielectric recovery characteristic, it is derived from the stream model with some improvement and refinement and has great significance for increasing the simulation accuracy of circuit breaker＇s interruption characteristic.

Development of an ε-type actuator for enhancing high-speed electro-pneumatic ejector valve performance

A novel ε-type solenoid actuator is proposed to improve the dynamic response of electro-pneumatic ejector valves by reducing moving mass weight. A finite element analysis (FEA) model has been developed to describe the static and dynamic operations of the valves. Compared with a conventional E-type actuator, the proposed ε-type actuator reduced the moving mass weight by almost 65% without significant loss of solenoid force, and reduced the response time (RT) typically by 20%. Prototype valves were designed and fabricated based on the proposed ε-type actuator model. An experimental setup was also established to investigate the dynamic characteristics of valves. The experimental results of the dynamics of valves agreed well with simulations, indicating the validity of the FEA model.

Study on the Treatment of Acid Mine Drainage Containing Fe^(2+) and Mn^(2+) Using Modified Spontaneous Combustion Gangue

The high concentrations of Fe^(2+) and Mn^(2+) in acid mine drainage make it difficult and expensive to treat.It is urgent that we find a cheap and efficient adsorption material to treat Fe^(2+) and Mn^(2+).As a solid waste in mining areas,coal gangue occupies a large area and pollutes the surrounding environment during the stacking process.Developing a method of resource utilization is thus a research hotspot.In this study,we modified spontaneous combustion gangue using NaOH,NaCl,and HCl by chemically modifying the minerals.We determined the optimal conditions for treating Fe^(2+) and Mn^(2+) in acid mine drainage with spontaneous combustion gangue and modified coal gangue using the single factor test method.Based on results of the static test,two dynamic test columns,column No.1(spontaneous combustion gangue)and column No.2(NaOH modified spontaneous combustion gangue),were constructed,and the repair effects of acid mine drainage were compared and analyzed using dynamic experiments.The results show that overall,NaOH modified spontaneous combustion gangue is the most efficient at removing the Fe^(2+) and Mn^(2+) in acid mine drainage.The optimal conditions for NaOH modification are an NaOH concentration of 3 mol/L,a liquid to solid ratio of 2 L/kg,and a modification time of 8 h.The overall efficiency of column No.2 at removing Fe^(2+) and Mn^(2+) from acid mine drainage is better than that of column No.1.Among them,the average removal efficiency of Fe^(2+)and Mn^(2+) from acid mine drainage in column No.2 were 97.73%and 44.82%,respectively.The above results show that NaOH modified spontaneous combustion gangue is a good adsorbent,which has application potential in wastewater remediation,as it can achieve the purpose of“treating dust with waste”.

Simulation logging experiment and interpretation model of array production logging measurements in a horizontal well

The distributions of local velocity and local phase holdup along the radial direction of pipes are complicated because of gravity differentiation,and the distribution of fluid velocity fi eld changes along the gravity direction in horizontal wells.Therefore,measuring the mixture flow and water holdup is difficult,resulting in poor interpretation accuracy of the production logging output profile.In this paper,oil–water two-phase flow dynamic simulation logging experiments in horizontal oil–water two-phase fl ow simulation wells were conducted using the Multiple Array Production Suite,which comprises a capacitance array tool(CAT)and a spinner array tool(SAT),and then the response characteristics of SAT and CAT in diff erent fl ow rates and water cut production conditions were studied.According to the response characteristics of CAT in diff erent water holdup ranges,interpolation imaging along the wellbore section determines the water holdup distribution,and then,the oil–water two-phase velocity fi eld in the fl ow section was reconstructed on the basis of the fl ow section water holdup distribution and the logging value of SAT and combined with the rheological equation of viscous fl uid,and the calculation method of the oil–water partial phase fl ow rate in the fl ow section was proposed.This new approach was applied in the experiment data calculations,and the results are basically consistent with the experimental data.The total fl ow rate and water holdup from the calculation are in agreement with the set values in the experiment,suggesting that the method has high accuracy.

Partial phase flow rate measurements for stratified oil-water flow in horizontal wells

To accurately measure and evaluate the oil-water production profile of horizontal wells, a dynamic measurement experiment of oil-water two-phase flow in horizontal wells and numerical simulation were combined to establish a method for measuring the partial phase flow rate of oil-water two-phase stratified flow in horizontal wells. An experimental work was performed in horizontal oil-water two-phase flow simulation well using combination production logging tool including mini-capacitance sensor and mini-spinner. The combination tool provides a recording of holdup and velocity profiles at five different heights of the borehole cross-section. The effect of total flow rate and water-cut on the response of spinner and capacitive sensor at five measured positions were investigated. The capacitance water holdup interpolation imaging algorithm was used to determine the local fluid property and oil-water interface height, and the measured local fluid speed was combined with the numerical simulation result to establish an optimal calculation model for obtaining the partial phase flow rate of the oil-water two-phase stratified flow in the horizontal well. The calculated flow rates of five measured points are basically consistent with the experimental data, the total flow rate and water holdup from calculation are in agreement with the set values in the experiment too, suggesting that the method has high accuracy.

WHU-Grace01s:A new temporal gravity field model recovered from GRACE KBRR data alone

A new temporal gravity field model called WHU-Grace01s solely recovered from Gravity Recovery and Climate Experiment （GRACE） K-Band Range Rate （KBRR） data based on dynamic integral approach is presented in this paper. After meticulously preprocessing of the GRACE KBRR data, the root mean square of its post residuals is about 0.2 micrometers per second, and seventy-two monthly temporal solutions truncated to degree and order 60 are computed for the period from January 2003 to December 2008. After applying the combi- nation filter in WHU-Grace01s, the global temporal signals show obvious periodical change rules in the large-scale fiver basins. In terms of the degree variance, our solution is smaller at high degrees, and shows a good consistency at the rest of degrees with the Release 05 models from Center for Space Research （CSR）, GeoForschungsZentrum Potsdam （GFZ） and Jet Pro- pulsion Laboratory 0PL）. Compared with other published models in terms of equivalent water height distribution, our solution is consistent with those published by CSR, GFZ, JPL, Delft institute of Earth Observation and Space system （DEOS）, Tongji University （Tongji）, Institute of Theoretical Geodesy （ITG）, Astronomical Institute in University of Bern （AIUB） and Groupe de Recherche de Geodesie Spatiale （GRGS}, which indicates that the accuracy of WHU-Grace01s has a good consistency with the previously published GRACE solutions.

Design of a Reflective Intensity Optical Fibre Bundle Displacement Sensor

Optical fibre sensor has the advantages of small size,light weight,anti⁃electromagnetic interference,and high measurement accuracy,which has important applications in research and industrial production.To design an optical fibre displacement sensor(OFBDS)with simple structure and high measurement accuracy,the unified model of the commonly used OFBDS structures was proposed and the feasibility of the intensity⁃modulation of multi⁃structural optical fibre bundles was analysed based on the arrangement characteristics of the fibre bundle end⁃face.The intensity⁃modulation characteristic of different fibre bundles was analysed,and the single coil coaxial fibre bundle was chosen as the fibre probe in this study.The sensor hardware system was designed.Lastly,the calibration experiment,temperature interference experiment,changes of measured plane surface area,and the dynamic experiment were conducted.Results showed that the sensor linear measurement range was about 3 mm,and the sensor system had excellent static and dynamic characteristics.

Experimental study of traffic-induced vibration of the new CCTV headquarters building

The traffic-induced vibrations of the new CCTV Headquarters building are studied stages. In the first stage when the through experiments in two 30th floor of the northwest tower and the 38th floor of the southeast tower were finished, the traffic flows on the roads surrounding the building were investigated, and 27 setups of accelerations were measured at the roadside, on the pile cap and on the 9th floor. In the second stage when the whole steel structure was completed, l 5 setups of accelerations were measured at the roadside, on the pile cap and on the 37th and the 48th floors. The accelerations of the building under different traffic flows, in different positions are analyzed in both time domain and frequency domain. The damping ratios are estimated by the upgraded half-power bandwidth method.

Research on the Constitutive Behavior of the Sintered Reactive Material PTFE/Al/Si

The constitutive behaviors of the sintered reactive material PTFE/Al/Si, one new formulation proposed by the author, were studied systematically and found it appears strain-harden, stain-rate harden and temperature-soften effects, so it is more appropriate to describe the mechanical behavior with the Johnson-Cook model. With the static and dynamic experimental results and using the nonlinear fitting method, the mechanical and physical parameters in the Johnson-Cook model were determined, which supply one basis for the future numerical simulation study.

Dynamic Experimental Study of a Multi-bypass PulseTube Refrigerator with Two-bypass Tubes

A dynamic experimental apparatus to measure the instantaneous velocity and pressure in the multi-bypass pulse tube refrigerator (MPTR) was designed and constructed. Some theortant experimental results of the instantaneous measurements of the velocity and the pressure in the MPTR with two-bypass tubes during actual operation are presented. The effects of the middle-bypass version on the dynamic pressure and mass flow rate at the cold end of the pulse tube are evaluated from experimental measurements.DC-flow phenomena are observed in this MPTR. The reasons of the multi-bypass version improved the performance of pulse tube refrigerator are given.