Dynamics Modeling and Parameter Identification for a Coupled-Drive Dual-Arm Nursing Robot

A dual-arm nursing robot can gently lift patients and transfer them between a bed and a wheelchair.With its lightweight design,high load-bearing capacity,and smooth surface,the coupled-drive joint is particularly well suited for these robots.However,the coupled nature of the joint disrupts the direct linear relationship between the input and output torques,posing challenges for dynamic modeling and practical applications.This study investigated the transmission mechanism of this joint and employed the Lagrangian method to construct a dynamic model of its internal dynamics.Building on this foundation,the Newton-Euler method was used to develop a dynamic model for the entire robotic arm.A continuously differentiable friction model was incorporated to reduce the vibrations caused by speed transitions to zero.An experimental method was designed to compensate for gravity,inertia,and modeling errors to identify the parameters of the friction model.This method establishes a mapping relationship between the friction force and motor current.In addition,a Fourier series-based excitation trajectory was developed to facilitate the identification of the dynamic model parameters of the robotic arm.Trajectory tracking experiments were conducted during the experimental validation phase,demonstrating the high accuracy of the dynamic model and the parameter identification method for the robotic arm.This study presents a dynamic modeling and parameter identification method for coupled-drive joint robotic arms,thereby establishing a foundation for motion control in humanoid nursing robots.

Phase diagram and quench dynamics of a periodically drivenHaldane model

We investigate a periodically driven Haldane model subjected to a two-stage driving scheme in the form of a step function.By using the Floquet theory,we obtain the topological phase diagram of the system.We also find that anomalous Floquet topological phases exist in the system.Focusing on examining the quench dynamics among topological phases,we analyze the site distribution of the 0-mode and p-mode edge states in long-period evolution after a quench.The results demonstrate that,under certain conditions,the site distribution of the 0-mode can be confined at the edge even in long-period evolution.Additionally,both the 0-mode and p-mode can recover and become confined at the edge in long-period evolution when the post-quench parameters(T,M_(2) /M_(1))in the phase diagram cross away from the phase boundary (M_(2)/ M_(1))=(6√3t2)/ M_(1)−1.Furthermore,we conclude that whether the edge state is confined at the edge in the long-period evolution after a quench depends on the similarity of the edge states before and after the quench.Our findings reveal some new characteristics of quench dynamics in a periodically driven system.

Dynamics modeling and optimal control for multi-information diffusion in Social Internet of Things

As an ingenious convergence between the Internet of Things and social networks,the Social Internet of Things(SIoT)can provide effective and intelligent information services and has become one of the main platforms for people to spread and share information.Nevertheless,SIoT is characterized by high openness and autonomy,multiple kinds of information can spread rapidly,freely and cooperatively in SIoT,which makes it challenging to accurately reveal the characteristics of the information diffusion process and effectively control its diffusion.To this end,with the aim of exploring multi-information cooperative diffusion processes in SIoT,we first develop a dynamics model for multi-information cooperative diffusion based on the system dynamics theory in this paper.Subsequently,the characteristics and laws of the dynamical evolution process of multi-information cooperative diffusion are theoretically investigated,and the diffusion trend is predicted.On this basis,to further control the multi-information cooperative diffusion process efficiently,we propose two control strategies for information diffusion with control objectives,develop an optimal control system for the multi-information cooperative diffusion process,and propose the corresponding optimal control method.The optimal solution distribution of the control strategy satisfying the control system constraints and the control budget constraints is solved using the optimal control theory.Finally,extensive simulation experiments based on real dataset from Twitter validate the correctness and effectiveness of the proposed model,strategy and method.

Computational Fluid Dynamics Approach for Predicting Pipeline Response to Various Blast Scenarios: A Numerical Modeling Study

Recent industrial explosions globally have intensified the focus in mechanical engineering on designing infras-tructure systems and networks capable of withstanding blast loading.Initially centered on high-profile facilities such as embassies and petrochemical plants,this concern now extends to a wider array of infrastructures and facilities.Engineers and scholars increasingly prioritize structural safety against explosions,particularly to prevent disproportionate collapse and damage to nearby structures.Urbanization has further amplified the reliance on oil and gas pipelines,making them vital for urban life and prime targets for terrorist activities.Consequently,there is a growing imperative for computational engineering solutions to tackle blast loading on pipelines and mitigate associated risks to avert disasters.In this study,an empty pipe model was successfully validated under contact blast conditions using Abaqus software,a powerful tool in mechanical engineering for simulating blast effects on buried pipelines.Employing a Eulerian-Lagrangian computational fluid dynamics approach,the investigation extended to above-surface and below-surface blasts at standoff distances of 25 and 50 mm.Material descriptions in the numerical model relied on Abaqus’default mechanical models.Comparative analysis revealed varying pipe performance,with deformation decreasing as explosion-to-pipe distance increased.The explosion’s location relative to the pipe surface notably influenced deformation levels,a key finding highlighted in the study.Moreover,quantitative findings indicated varying ratios of plastic dissipation energy(PDE)for different blast scenarios compared to the contact blast(P0).Specifically,P1(25 mm subsurface blast)and P2(50 mm subsurface blast)showed approximately 24.07%and 14.77%of P0’s PDE,respectively,while P3(25 mm above-surface blast)and P4(50 mm above-surface blast)exhibited lower PDE values,accounting for about 18.08%and 9.67%of P0’s PDE,respectively.Utilising energy-absorbing materials such as thin coatings of ultra-high-strength concrete,metallic foams,carbon fiber-reinforced polymer wraps,and others on the pipeline to effectively mitigate blast damage is recommended.This research contributes to the advancement of mechanical engineering by providing insights and solutions crucial for enhancing the resilience and safety of underground pipelines in the face of blast events.

Dynamic optimal allocation of energy storage systems integrated within photovoltaic based on a dual timescale dynamics model

Energy storage systems(ESSs)operate as independent market participants and collaborate with photovoltaic(PV)generation units to enhance the flexible power supply capabilities of PV units.However,the dynamic variations in the profitability of ESSs in the electricity market are yet to be fully understood.This study introduces a dual-timescale dynamics model that integrates a spot market clearing(SMC)model into a system dynamics(SD)model to investigate the profit-aware capacity growth of ESSs and compares the profitability of independent energy storage systems(IESSs)with that of an ESS integrated within a PV(PV-ESS).Furthermore,this study aims to ascertain the optimal allocation of the PV-ESS.First,SD and SMC models were set up.Second,the SMC model simulated on an hourly timescale was incorporated into the SD model as a subsystem,a dual-timescale model was constructed.Finally,a development simulation and profitability analysis was conducted from 2022 to 2040 to reveal the dynamic optimal range of PV-ESS allocation.Additionally,negative electricity prices were considered during clearing processes.The simulation results revealed differences in profitability and capacity growth between IESS and PV-ESS,helping grid investors and policymakers to determine the boundaries of ESSs and dynamic optimal allocation of PV-ESSs.

Nonlinear dynamics of a circular curved cantilevered pipe conveying pulsating fluid based on the geometrically exact model

Due to the novel applications of flexible pipes conveying fluid in the field of soft robotics and biomedicine,the investigations on the mechanical responses of the pipes have attracted considerable attention.The fluid-structure interaction(FSI)between the pipe with a curved shape and the time-varying internal fluid flow brings a great challenge to the revelation of the dynamical behaviors of flexible pipes,especially when the pipe is highly flexible and usually undergoes large deformations.In this work,the geometrically exact model(GEM)for a curved cantilevered pipe conveying pulsating fluid is developed based on the extended Hamilton's principle.The stability of the curved pipe with three different subtended angles is examined with the consideration of steady fluid flow.Specific attention is concentrated on the large-deformation resonance of circular pipes conveying pulsating fluid,which is often encountered in practical engineering.By constructing bifurcation diagrams,oscillating shapes,phase portraits,time traces,and Poincarémaps,the dynamic responses of the curved pipe under various system parameters are revealed.The mean flow velocity of the pulsating fluid is chosen to be either subcritical or supercritical.The numerical results show that the curved pipe conveying pulsating fluid can exhibit rich dynamical behaviors,including periodic and quasi-periodic motions.It is also found that the preferred instability type of a cantilevered curved pipe conveying steady fluid is mainly in the flutter of the second mode.For a moderate value of the mass ratio,however,a third-mode flutter may occur,which is quite different from that of a straight pipe system.

Multi-Body Dynamics Modeling of Heavy Goods Vehicle-Rail Interaction

Based on the principle of vehicle-track coupling dynamics, SIMPACK multi-body dynamics software is used to establish a C80 wagon line-coupled multi-body dynamics model with 73 degrees of freedom. And the reasonableness of the line-coupled dynamics model is verified by using the maximum residual acceleration, the nonlinear critical speed of the wagon. The experimental results show that the established vehicle line coupling dynamics model meets the requirements of vehicle line coupling dynamics modeling.

Dynamics models of soil organic carbon

As the largest pool of terrestrial organic carbon, soils interact strongly with atmosphere composition, climate, and land change. Soil organic carbon dynamics in ecosystem plays a great role in global carbon cycle and global change. With development of mathematical models that simulate changes in soil organic carbon, there have been considerable advances in understanding soil organic carbon dynamics. This paper mainly reviewed the composition of soil organic matter and its influenced factors, and recommended some soil organic matter models worldwide. Based on the analyses of the developed results at home and abroad, it is suggested that future soil organic matter models should be developed toward based-process models, and not always empirical ones. The models are able to reveal their interaction between soil carbon systems, climate and land cover by technique and methods of GIS (Geographical Information System) and RS (Remote Sensing). These models should be developed at a global scale, in dynamically describing the spatial and temporal changes of soil organic matter cycle. Meanwhile, the further researches on models should be strengthen for providing theory basis and foundation in making policy of green house gas emission in China.

Mathematical Models of Tire-Longitudinal Road Adhesion and Their Use in the Study of Road Vehicle Dynamics

Mathematical models of tire-longitudinal road adhesion for use in the study of road vehicle dynamics are set up so as to express the relations of longitudinal adhesion coefficients with the slip ratio. They perfect the Pacejka's models in practical use by taking into account the influences of all essential parameters such as road surface condition. vehicle velocity. slip angle. vertical load and slip ratio on the longitudinal adhesion coefficients. The new models are more comprehensive more concise. simpler and more convenient in application in all kinds of simulations of car dynamics in various sorts of braking modes.

Local structure of calcium silicate melts from classical molecular dynamics simulation and a newly constructed thermodynamic model

The distributions of local structural units of calcium silicate melts were quantified by means of classical molecular dynamics simulation and a newly constructed structural thermodynamic model. The distribution of five kinds of Si-O tetrahedra Qi from these two methods was compared with each other and also with the experimental Raman spectra, an excellent agreement was achieved. These not only displayed the panorama distribution of microstructural units in the whole composition range, but also proved that the thermodynamic model is suitable for the utilization as the subsequent application model of spectral experiments for the thermodynamic calculation. Meanwhile, the five refined regions mastered by different disproportionating reactions were obtained. Finally, the distributions of two kinds of connections between Qi were obtained, denoted as Qi-Ca-Qj and Qi-[Ob]-Qj, from the thermodynamic model, and a theoretical verification was given that the dominant connections for any composition are equivalent connections.

Mathematical Models of Tire-Lateral Road Adhesion for Use in Road Vehicle Dynamics Studies

Mathematical models of tire-lateral mad adhesion for use in mad vehicle dynamics studies are set up to express the relations of adhesion coefficients with slip ratio in lateral direction.The models of tire-lateral mad adhesion revolutionize the Pacejka's model in concept and therefore make it possible for applications in vehicle dynamics studies by the expression of lateral adhesion coefficient as a function of wheel slip ratio,instead of the wheel slip angle,taking into account in the mean time the influences of mad surface condition, vehicle velocity,vertical load,tire slip angle,and wheel camber angle.

Time-domain dynamic constitutive model suitable for mucky soil site seismic response

Soil nonlinear behavior displays noticeable effects on the site seismic response.This study proposes a new functional expression of the skeleton curve to replace the hyperbolic skeleton curve.By integrating shear modulus and combining the dynamic skeleton curve and the damping degradation coefficient,the constitutive equation of the logarithmic dynamic skeleton can be obtained,which considers the damping effect in a soil dynamics problem.Based on the finite difference method and the multi-transmitting boundary condition,a 1D site seismic response analysis program called Soilresp1D has been developed herein and used to analyze the time-domain seismic response in three types of sites.At the same time,this study also provides numerical simulation results based on the hyperbolic constitutive model and the equivalent linear method.The results verify the rationality of the new soil dynamic constitutive model.It can analyze the mucky soil site nonlinear seismic response,reflecting the deformation characteristics and damping effect of the silty soil.The hysteresis loop area is more extensive,and the residual strain is evident.

Hybrid Dynamic Variables-Dependent Event-Triggered Fuzzy Model Predictive Control

This article focuses on dynamic event-triggered mechanism(DETM)-based model predictive control(MPC) for T-S fuzzy systems.A hybrid dynamic variables-dependent DETM is carefully devised,which includes a multiplicative dynamic variable and an additive dynamic variable.The addressed DETM-based fuzzy MPC issue is described as a “min-max” optimization problem(OP).To facilitate the co-design of the MPC controller and the weighting matrix of the DETM,an auxiliary OP is proposed based on a new Lyapunov function and a new robust positive invariant(RPI) set that contain the membership functions and the hybrid dynamic variables.A dynamic event-triggered fuzzy MPC algorithm is developed accordingly,whose recursive feasibility is analysed by employing the RPI set.With the designed controller,the involved fuzzy system is ensured to be asymptotically stable.Two examples show that the new DETM and DETM-based MPC algorithm have the advantages of reducing resource consumption while yielding the anticipated performance.

Adaptive Optimal Discrete-Time Output-Feedback Using an Internal Model Principle and Adaptive Dynamic Programming

In order to address the output feedback issue for linear discrete-time systems, this work suggests a brand-new adaptive dynamic programming(ADP) technique based on the internal model principle(IMP). The proposed method, termed as IMP-ADP, does not require complete state feedback-merely the measurement of input and output data. More specifically, based on the IMP, the output control problem can first be converted into a stabilization problem. We then design an observer to reproduce the full state of the system by measuring the inputs and outputs. Moreover, this technique includes both a policy iteration algorithm and a value iteration algorithm to determine the optimal feedback gain without using a dynamic system model. It is important that with this concept one does not need to solve the regulator equation. Finally, this control method was tested on an inverter system of grid-connected LCLs to demonstrate that the proposed method provides the desired performance in terms of both tracking and disturbance rejection.

Coarse-graining Calcium Dynamics on Stochastic Reaction-diffusion Lattice Model

We develop a coarse grained （CG） approach for efficiently simulating calcium dynamics in the endoplasmic reticulum membrane based on a fine stochastic lattice gas model. By grouping neighboring microscopic sites together into CG cells and deriving CG reaction rates using local mean field approximation, we perform CG kinetic Monte Carlo （kMC） simulations and find the results of CG-kMC simulations are in excellent agreement with that of the microscopic ones. Strikingly, there is an appropriate range of coarse proportion rn, corresponding to the minimal deviation of the phase transition point compared to the microscopic one. For fixed m, the critical point increases monotonously as the system size increases, especially, there exists scaling law between the deviations of the phase transition point and the system size. Moreover, the CG approach provides significantly faster Monte Carlo simulations which are easy to implement and are directly related to the microscopics, so that one can study the system size effects at the cost of reasonable computational time.

A viscoelastic-plastic constitutive model with Mohr-Coulomb yielding criterion for sea ice dynamics

A new viscoelastic-plastic （VEP） constitutive model for sea ice dynamics was developed based on continuum mechanics. This model consists of four components： Kelvin-Vogit viscoelastic model, Mohr-Coulomb yielding criterion, associated normality flow rule for plastic rehololgy, and hydrostatic pressure. The numerical simulations for ice motion in an idealized rectangular basin were made using smoothed particle hydrodynamics （SPH） method, and compared with the analytical solution as well as those based on the modified viscous plastic（VP） model and static ice jam theory. These simulations show that the new VEP model can simulate ice dynamics accurately. The new constitutive model was further applied to simulate ice dynamics of the Bohai Sea and compared with the traditional VP, and modified VP models. The results of the VEP model are compared better with the satellite remote images, and the simulated ice conditions in the JZ20-2 oil platform area were more reasonable.

A system dynamics approach for water resources policy analysis in arid land:a model for Manas River Basin

The Manas River Basin in Xinjiang Uygur autonomous region, similar to other arid regions, is facing water constraints which challenge decision-makers as to how to rationally allocate the available water resources to meet the demands from industries and natural ecosystems. Policies which integrate the supply and demand are needed to address the water stress issues. An object-oriented system dynamics model was developed to capture the interrelationships between water availability and increasing water demands from the growth of industries, agri- cultural production and the population through modeling the decision-making process of the water exploration ex- plicitly, in which water stress is used as a major indicator. The model is composed of four sectors： 1 ） natural surface and groundwater resources; 2） water demand; 3） the water exploitation process, including the decision to build reservoirs, canals and pumps; 4） water stress to which political and social systems respond through increasing the supply, limiting the growth or improving the water use efficiency. The model was calibrated using data from 1949 to 2009 for population growth, irrigated land area, industry output, perceived water stress, groundwater resources availability and the drying-out process of Manas River; and simulations were carried out from 2010 to 2050 on an annual time step. The comparison of results from calibration and observation showed that the model corresponds to observed behavior, and the simulated values fit the observed data and trends accurately. Sensitivity analysis showed that the model is robust to changes in model parameters related to population growth, land reclamation, pumping capacity and capital contribution to industry development capacity. Six scenarios were designed to inves- tigate the effectiveness of policy options in the area of reservoir relocation, urban water recycling, water demand control and groundwater pumping control. The simulation runs demonstrated that the technical solutions for im- proving water availability and water use efficiency are not sustainable. Acknowledging the carrying capacity of water resources and eliminating a growth-orientated value system are crucial for the sustainability of the Manas River Basin.

Numerical Modelling of Ore-forming Dynamics of Fractal Dispersive Fluid Systems

Based on an analysis of the fractal structures and mass transport mechanism of typical shear-fluid-ore formation system, the fractal dispersion theory of the fluid system was used in the dynamic study of the ore formation system. The model of point-source diffusive illuviation of the shear-fluid-ore formation system was constructed, and the numerical simulation of dynamics of the ore formation system was finished. The result shows that: (1) The metallogenic system have nested fractal structure. Different fractal dimension values in different systems show unbalance and inhomogeneity of ore-forming processes in the geohistory. It is an important parameter to symbolize the process of remobilization and accumulation of ore-forming materials. Also it can indicate the dynamics of the metallogenic system quantitatively to some extent. (2) In essence, the fractal dispersive ore-forming dynamics is a combination of multi-processes dominated by fluid dynamics and supplemented by molecule dispersion in fluids and fluid-rock interaction. It changes components and physico-chemical properties of primary rocks and fluids, favouring deposition and mineralization of ore-forming materials. (3) Gold ore-forming processes in different types of shear zones are quite different. (1) In a metallogenic system with inhomogeneous volumetric change and inhomogeneous shear, mineralization occurs in structural barriers in the centre of a shear zone and in geochemical barriers in the shear zone near its boundaries. But there is little possibility of mineralization out of the shear zone. (2) As to a metallogenic system with inhomogeneous volumetric change and simple shear, mineralization may occur only in structural barriers near the centre of the shear zone. (3) In a metallogenic system with homogeneous volumetric change and inhomogeneous shear, mineralization may occur in geochemical barriers both within and out of the shear zone.

On dynamics of elastic rod based on exact Cosserat model

The analysis of kinematics and dynamics of an elastic rod with circular cross section is studied on the basis of exact Cosserat model under consideration of the tension and shear deformation of the rod. The dynamical equations of a rod with arbitrary initial shape are established in general form. The dynamics of a straight rod under axial tension and torsion is discussed as an example. In discussion of static stability in the space domain the Greenhill criteria of stability and the Euler load are corrected by the influence of tension and shear strain. In analysis of dynamical stability in the time domain it is shown that the Lyapunov and Euler stability conditions of the rod in space domain are the necessary conditions of Lyapunov＇s stability in the time domain. The longitudinal, torsional and lateral vibrations of a straight rod based on exact model are discussed, and an exact formula of free frequency of lateral vibration is obtained. The free frequency formulas of various simplified models, such as the Rayleigh beam, the Kirchhoff rod, and the Timoshenko beam, can be seen as special cases of the exact formula under different conditions of simplification.

UPWELLING AND SEDIMENTATION DYNAMICS II. A SIMPLE MODEL

It was found that the location and distributional pattern of certain sea bottom mud patches in the Yellow Sea and East China Sea are identical with the geographical location and flow pattern of the upwelling above. Following a general description by Hu, (1984) of the role of upwelling in . sedimentation, this study presents a two - dimensional numerical model to further examine, the sedimentation dynamics in upwelling areas. The model shows that advection by ocean circulation, downward settling due to gravity and turbulent mixing are the main mechanisms controlling the "movement of suspended matters, and that the upwelling :on the shelf favors deposition near the bottom. It is concluded that on the shelf (1) wherever there is upwelling, mud sediment must exist; and . (2) the closer to the center of upwelling, the greater the concentration of suspended matters in the water, the greater the depositing rate near the bottom and the finer the sediment on the sea bed.