Perception of Static and Dynamic Forces with a Bio-inspired Tactile Fingertip

With the aid of different types of mechanoreceptors,human is capable of perceiving stimuli from surrounding environments and manipulating various objects dexterously.In this paper,a bio-inspired tactile fingertip is designed mimicking human fingertip in both structures and functionalities.Two pairs of strain gages and(Polyvinylidene Fluoride)PVDF films are perpendicularly arranged to simulate the Fast-Adapting(FA)and Slowly Adapting(SA)type mechanoreceptors in human hands,while silicones,Polymethyl Methacrylate(PMMA),and electronic wires are applied to mimic the skin,bone and nerve fibers.Both static and dynamic forces can be perceived sensitively.A preprocessing electric circuit is further designed to transform the resistor changes into voltages,and then filter and amplify the four-channel signals.In addition to strong robustness due to the embedded structure,the developed fingertip is found sensitive to deformations via a force test experiment.Finally,two robotic experiments explore its recognition ability of contact status and object surface.Excellent performance is found with high accuracy of 99.72%achieved in discriminating six surfaces that are ubiquitous in daily life,which demonstrates the effectiveness of our designed tactile sensor.

Dynamic Analysis of Axial Magnetic Forces for DVD Spindle Motors

The axial magnetic force, induced by the complicated flux linkage distribution from rotor magnet and stator slotted, is constructed by different relative heights and calculated by 3D finite element method (FEM) to analyze the dynamic characteristics for a DVD spindle motor. The axial magnetic force is designed to provide an axial stiffness, and govern the natural frequency of the dynamic performance. According to the simulation results and experimental measurements, the dynamic behaviors are significantly improved with a variation of relative height of rotor magnet and stator slotted on a DVD spindle motor.

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.

Dynamics of Sea Ice and Spectrum of Ice Force

Spectrum and self-excite characters are the two significant characters of the dynamics of sea ice. The spectrum character of sea ice is mainly shown by the spectrum of ice force. The spectrum character of the sea ice is its intrinsic attributes. When the spectrum of ice force from the dynamic response of ice and structure interaction are evaluated, the effect of dynamic character of the structure must be eliminated. In this paper, the ice force spectrum at Bohai Bay and Liaodong Bay is evaluated from the displacement and strain responses of a single degree and a multi-degree freedom structure. The evaluated ice force spectrum can be used to define the spectrum character of ice in the analysis of ice induced vibration.

Establishmen and vertification of an improved similitude law for dynamic ice force model test

To study the similitude laws for dynamic ice force model test which is a hot problem in ice mechanics.In this paper,a new modified similitude law for dynamic ice force model test is proposed based on ice-induced virbration theory and two reasonable assumptions.And the new law is vertified with an ice-induced pier virbration example.The numerical calculation results show that,firstly,the error of frequency factor between test value and theory value is small as well as that of displacement and velocity;Secondly,the time scale completely meet the similitude relation,the waveforms anastomotic well,and the phenomenon of offset and omit do not occur;Thirdly,as the damping ratio between prototype and model is nearly equal,the improved similitude law will still be applied.Therefore,the new modified similitude law is feasible to study dynamic ice force model test and can provide reference for the ice mechanics.

Dynamic Field Division of Hydrocarbon Migration,Accumulation and Hydrocarbon Enrichment Rules in Sedimentary Basins

Hydrocarbon distribution rules in the deep and shallow parts of sedimentary basins are considerably different, particularly in the following four aspects. First, the critical porosity for hydrocarbon migration is much lower in the deep parts of basins： at a depth of 7000 m, hydrocarbons can accumulate only in rocks with porosity less than 5%. However, in the shallow parts of basins （i.e., depths of around 1000 m）, hydrocarbon can accumulate in rocks only when porosity is over 20%. Second, hydrocarbon reservoirs tend to exhibit negative pressures after hydrocarbon accumulation at depth, with a pressure coefficient less than 0.7. However, hydrocarbon reservoirs at shallow depths tend to exhibit high pressure after hydrocarbon accumulation. Third, deep reservoirs tend to exhibit characteristics of oil （-gas）-water inversion, indicating that the oil （gas） accumulated under the water. However, the oil （gas） tends to accumulate over water in shallow reservoirs. Fourth, continuous unconventional tight hydrocarbon reservoirs are distributed widely in deep reservoirs, where the buoyancy force is not the primary dynamic force and the caprock is not involved during the process of hydrocarbon accumulation. Conversely, the majority of hydrocarbons in shallow regions accumulate in traps with complex structures. The results of this study indicate that two dynamic boundary conditions are primarily responsible for the above phenomena： a lower limit to the buoyancy force and the lower limit of hydrocarbon accumulation overall, corresponding to about 10%-12% porosity and irreducible water saturation of 100%, respectively. These two dynamic boundary conditions were used to divide sedimentary basins into three different dynamic fields of hydrocarbon accumulation： the free fluid dynamic field, limit fluid dynamic field, and restrain fluid dynamic field. The free fluid dynamic field is located between the surface and the lower limit of the buoyancy force, such that hydrocarbons in this field migrate and accumulate under the influence of, for example, the buoyancy force, pressure, hydrodynamic force, and capillary force. The hydrocarbon reservoirs formed are characterized as ＂four high,＂ indicating that they accumulate in high structures, are sealed in high locations, migrate into areas of high porosity, and are stored in reservoirs at high pressure. The basic features of distribution and accumulation in this case include hydrocarbon migration as a result of the buoyancy force and formation of a reservoir by a caprock. The limit fluid dynamic field is located between the lower limit of the buoyancy force and the lower limit of hydrocarbon accumulation overall; the hydrocarbon migrates and accumulates as a result of, for example, the molecular expansion force and the capillary force. The hydrocarbon reservoirs formed are characterized as ＂four low,＂ indicating that hydrocarbons accumulate in low structures, migrate into areas of low porosity, and accumulate in reservoirs with low pressure, and that oil（-gas）-water inversion occurs at low locations. Continuous hydrocarbon accumulation over a large area is a basic feature of this field. The restrain fluid dynamic field is located under the bottom of hydrocarbon accumulation, such that the entire pore space is filled with water. Hydrocarbons migrate as a result of the molecular diffusion force only. This field lacks many of the basic conditions required for formation of hydrocarbon reservoirs： there is no effective porosity, movable fluid, or hydrocarbon accumulation, and potential for hydrocarbon exploration is low. Many conventional hydrocarbon resources have been discovered and exploited in the free fluid dynamic field of shallow reservoirs, where exploration potential was previously considered to be low. Continuous unconventional tight hydrocarbon resources have been discovered in the limit fluid dynamic field of deep reservoirs; the exploration potential of this setting is thought to be tremendous, indicating that future exploration should be focused primarily in this direction.

Improved Diurnal Cycle of Precipitation on Land in a Global Non-Hydrostatic Model Using a Revised NSAS Deep Convective Scheme

In relatively coarse-resolution atmospheric models,cumulus parameterization helps account for the effect of subgridscale convection,which produces supplemental rainfall to the grid-scale precipitation and impacts the diurnal cycle of precipitation.In this study,the diurnal cycle of precipitation was studied using the new simplified Arakawa-Schubert scheme in a global non-hydrostatic atmospheric model,i.e.,the Yin-Yang-grid Unified Model for the Atmosphere.Two new diagnostic closures and a convective trigger function were suggested to emphasize the job of the cloud work function corresponding to the free tropospheric large-scale forcing.Numerical results of the 0.25-degree model in 3-month batched real-case simulations revealed an improvement in the diurnal precipitation variation by using a revised trigger function with an enhanced dynamical constraint on the convective initiation and a suitable threshold of the trigger.By reducing the occurrence of convection during peak solar radiation hours,the revised scheme was shown to be effective in delaying the appearance of early-afternoon rainfall peaks over most land areas and accentuating the nocturnal peaks that were wrongly concealed by the more substantial afternoon peak.In addition,the revised scheme enhanced the simulation capability of the precipitation probability density function,such as increasing the extremely low-and high-intensity precipitation events and decreasing small and moderate rainfall events,which contributed to the reduction of precipitation bias over mid-latitude and tropical land areas.

Investigation of a dynamics-oriented engineering approach to ultraprecision machining of freeform surfaces and its implementation perspectives

In current precision and ultraprecision machining practice,the positioning and control of actuation systems,such as slideways and spindles,are heavily dependent on the use of linear or rotary encoders.However,positioning control is passive because of the lack of direct monitoring and control of the tool and workpiece positions in the dynamic machining process and also because it is assumed that the machining system is rigid and the cutting dynamics are stable.In ultraprecision machining of freeform surfaces using slow tool servo mode in particular,however,account must be taken of the machining dynamics and dynamic synchronization of the cutting tool and workpiece positioning.The important question also arises as to how ultraprecision machining systems can be designed and developed to work better in this application scenario.In this paper,an innovative dynamics-oriented engineering approach is presented for ultraprecision machining of freeform surfaces using slow tool servo mode.The approach is focused on seamless integration of multibody dynamics,cutting forces,and machining dynamics,while targeting the positioning and control of the tool–workpiece loop in the machining system.The positioning and motion control between the cutting tool and workpiece surface are further studied in the presence of interfacial interactions at the tool tip and workpiece surface.The interfacial cutting physics and dynamics are likely to be at the core of in-process monitoring applicable to ultraprecision machining systems.The approach is illustrated using a virtual machining system developed and supported with simulations and experimental trials.Furthermore,the paper provides further explorations and discussion on implementation perspectives of the approach,in combination with case studies,as well as discussing its fundamental and industrial implications.

NANOSCALE CUTTING OF MONOCRYSTALLINE SILICON USING MOLECULAR DYNAMICS SIMULATION

It has been found that the brittle material, monocrystalline silicon, can be machined in ductile mode in nanoscale cutting when the tool cutting edge radius is reduced to nanoscale and the undeformed chip thickness is smaller than the tool edge radius. In order to better understand the mechanism of ductile mode cutting of silicon, the molecular dynamics （MD） method is employed to simulate the nanoscale cutting of monocrystalline silicon. The simulated variation of the cutting forces with the tool cutting edge radius is compared with the cutting force results from experimental cutting tests and they show a good agreement. The results also indicate that there is silicon phase transformation from monocrystalline to amorphous in the chip formation zone that can be used to explain the cause of ductile mode cutting. Moreover, from the simulated stress results, the two necessary conditions of ductile mode cutting, the tool cutting edge radius are reduced to nanoscale and the undeformed chip thickness should be smaller than the tool cutting edge radius, have been explained.

MODELING, VALIDATION AND OPTIMAL DESIGN OF THE CLAMPING FORCE CONTROL VALVE USED IN CONTINUOUSLY VARIABLE TRANSMISSION

Associated dynamic performance of the clamping force control valve used in continuously variable transmission （CVT） is optimized. Firstly, the structure and working principle of the valve are analyzed, and then a dynamic model is set up by means of mechanism analysis. For the purpose of checking the validity of the modeling method, a prototype workpiece of the valve is manufactured for comparison test, and its simulation result follows the experimental result quite well. An associated performance index is founded considering the response time, overshoot and saving energy, and five structural parameters are selected to adjust for deriving the optimal associated performance index. The optimization problem is solved by the genetic algorithm （GA） with necessary constraints. Finally, the properties of the optimized valve are compared with those of the prototype workpiece, and the results prove that the dynamic performance indexes of the optimized valve are much better than those of the prototype workpiece.

RESEARCH ANNOUNCEMENTS——Random Attractors for a Dissipative Quasi-geostrophic Dynamical System Under Stochastic Forcing

We consider the two-dimensional stochastic quasi-geostrophic equation ■=1/(R_e)△~2■-r/2△■+f(x,y,t)(1.1) on a regular bounded open domain D ■,where ■ is the stream function,F Froude Number (F≈O(1)),R_e Reynolds number(R_e■10~2),β_0 a positive constant(β_0≈O(10^(-1)),r the Ekman dissipation constant(r≈o(1)),the external forcing term f(x,y,t)=-(dW)/(dt)(the definition of W will be given later)a Gaussian random field,white noise in time,subject to the

THE GENERAL METHOD FOR SOLVING DYNAMIC PROBLEMS

In this paper the author has used the normalized Routh equations[1]to .solve the dynamic problems and establish the general method for. finding out the constraint forces and the variations of the state of motion for the complicated system.

Characterizing dynamic load propagation in cohesionless granular packing using force chain

When dynamic load is applied on a granular assembly,the time-dependent dynamic load and initial static load(such as gravity stress)act together on individual particles.In order to better understand how dynamic load triggers the micro-structure's evolution and furtherly the ensemble behavior of a granular assembly,we propose a criterion to recognize the major propagation path of dynamic load in 2D granular materials,called the“dynamic force chain”.Two steps are involved in recognizing dynamic force chains:(1)pick out particles with dynamic load larger than the threshold stress,where the attenuation of dynamic stress with distance is considered;(2)among which quasi-linear arrangement of three or more particles are identified as a force chain.The spatial distribution of dynamic force chains in indentation of granular materials provides a direct measure of dynamic load diffusion.The statistical evolution of dynamic force chains shows strong correlation with the indentation behaviors.

Microscopic mechanism study and process optimization of dimethyl carbonate production coupled biomass chemical looping gasification system

Biomass chemical looping gasification technology is one of the essential ways to utilize abundant biomass resources.At the same time,dimethyl carbonate can replace phosgene as an environmentfriendly organic material for the synthesis of polycarbonate.In this paper,a novel system coupling biomass chemical looping gasification with dimethyl carbonate synthesis with methanol as an intermediate is designed through microscopic mechanism analysis and process optimization.Firstly,reactive force field molecular dynamics simulation is performed to explore the reaction mechanism of biomass chemical looping gasification to determine the optimal gasification temperature range.Secondly,steady-state simulations of the process based on molecular dynamics simulation results are carried out to investigate the effects of temperature,steam to biomass ratio,and oxygen carrier to biomass ratio on the syngas yield and compositions.In addition,the main energy indicators of biomass chemical looping gasification process including lower heating value and cold gas efficiency are analyzed based on the above optimum parameters.Then,two synthesis stages are simulated and optimized with the following results obtained:the optimal temperature and pressure of methanol synthesis stage are 150℃ and 4 MPa;the optimal temperature and pressure of dimethyl carbonate synthesis stage are 140℃ and 0.3 MPa.Finally,the pre-separation-extraction-decantation process separates the mixture of dimethyl carbonate and methanol generated in the synthesis stage with 99.11%purity of dimethyl carbonate.Above results verify the feasibility of producing dimethyl carbonate from the perspective of multi-scale simulation and realize the multi-level utilization of biomass resources.

A Method of Evaluating the Effectiveness of a Hydraulic Oscillator in Horizontal Wells

Bent-housing motor is the most widely used directional drilling tool,but it often encounters the problem of high friction when sliding drilling in horizontal wells.In this paper,a mathematical model is proposed to simulate slide drilling with a friction reduction tool of axial vibration.A term called dynamic effective tractoring force(DETF)is defined and used to evaluate friction reduction effectiveness.The factors influencing the DETF are studied,and the tool placement optimization problem is investigated.The studyfinds that the drilling rate of penetration(ROP)can lower the DETF but does not change the trend of the DETF curve.To effectively work,the shock tool stiffness must be greater than some critical value.For the case study,the best oscillating frequency is within 15∼20 Hz.The reflection of the vibration at the bit boundary can intensify or weaken the friction reduction effec-tiveness,depending on the distance between the hydraulic oscillator and the bit.The optimal placement position corresponds to the plateau stage of the DETF curve.The reliability of the method is verified by thefield tests.The proposed method can provide a design and use guide to hydraulic oscillators and improve friction reduction effectiveness in horizontal wells.

立铣加工颤振稳定性时域求解与分析研究(英文)

In this paper, the instantaneous undeformed chip thickness is modeled to include the dynamic modulation caused by the tool vibration while the dynamic regenerative effects are taken into account. The numerical method is used to solve the differential equations goveming the dynamics of the milling system. Several chatter detection criteria are applied synthetically to the simulated signals and the stability diagram is obtained in time-domain. The simulation results in time-domain show a good agreement with the analytical prediction, which is validated by the cutting experiments. By simulating the chatter stability lobes in the time-domain and analyzing the influences of different spindle speeds on the vibration amplitudes of the tool under a Fixed chip-load condition, conclusions could be drawn as follows： In rough milling, higher machining efficiency can be achieved by selecting a spindle speed corresponding to the axial depth of cut in accordance with the simulated chatter stability lobes, and in Fmish milling, lower surface roughness can be achieved by selecting a spindle speed well beyond the resonant frequency of machining system.

湖北西北部一次局地暴雨的发生机理(英文)

A rare local rainstorm weather in the midsummer rainy weather process appeared in the northwest of Hubei Province during July 8-13,2009.The circulation situation,the contributions of dynamic,thermal force and water vapor to this strong precipitation in this process were discussed.The results showed that the cold air which was brought by Lake Balkis cold vortex was the trigger mechanism of local rainstorm,and Lake Baikal low pressure provided the foreign dynamic for the adjustment of East Asia circulation.When the rainstorm occurred,the divergence in the divergence field had the strong 'pumping effect' in the high altitude.The warm wet airflow in the Bay of Bengal and the South China Sea was the water vapor source of rainstorm.The falling zone of rainstorm appeared in the front of energy frontal zone,and the axis line in the top of high-energy tongue deviated to the side of cold air.Q vector divergence and the negative value zone of water vapor helicity had the important indication effect for the short-term forecast of local rainstorm.

Convective Initiation by Topographically Induced Convergence Forcing over the Dabie Mountains on 24 June 2010

The initiation of convective cells in the late morning of 24 June 2010 along the eastward extending ridge of the Dabie Mountains in the Anhui region, China, is studied through numerical simulations that include local data assimilation. A primary convergence line is found over the ridge of the Dabie Mountains, and along the ridge line several locally enhanced convergence centers preferentially initiate convection. Three processes responsible for creating the overall convergence pattern are identified. First, thermally-driven upslope winds induce convergence zones over the main mountain peaks along the ridge, which are shifted slightly downwind in location by the moderate low-level easterly flow found on the north side of a Mei-yu front. Second, flows around the main mountain peaks along the ridge create further convergence on the lee side of the peaks. Third, upslope winds develop along the roughly north-south oriented valleys on both sides of the ridge due to thermal and dynamic channeling effects, and create additional convergence between the peaks along the ridge. The superposition of the above convergence features creates the primary convergence line along the ridge line of the Dabie Mountains. Locally enhanced convergence centers on the primary line cause the initiation of the first convection cells along the ridge. These conclusions are supported by two sensitivity experiments in which the environmental wind （dynamic forcing） or radiative and land surface thermal forcing are removed, respectively. Overall, the thermal forcing effects are stronger than dynamic forcing given the relatively weak environmental flow.

Model Test Study on Ice-Induced Vibrations of Compliant Multi-Cone Structures

For the study on the ice-induced vibration of a compliant mono-cone structure,a series of model tests were performed from 2004 to 2006.In these tests,the ice sheet before the compliant conical structure was found to be failed in two-time breaking.Based on this important finding,model tests study of the ice force on a compliant multi-cone structure were performed from 2006 to 2007.In these tests,the ice sheet broke before each single cone non-simultaneously.The exciting energy of the total ice force was found to be in a wide range of frequencies,and the structure can be easily excited with nonlinear resonance.