Hydraulic Design Method of Wave Dissipating Structure with Partially Perforated Front Wall

Based on the matching conditions of different fluid regions, the eigenfunction expansion method is used to develop a theoretical formula for wave reflection in front of the perforated structure with a partially slit front wall. The accuracy of the solution is verified by comparing the numerical results with experimental data. In addition, a new hydraulic design method is developed by derivation of the theoretical formula with respect to the porosity of the slit wall, and the results of this design method is drafted for harbour engineers to use.

Force Control Compensation Method with Variable Load Stiffness and Damping of the Hydraulic Drive Unit Force Control System

Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit（HDU）, and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation, i.e., this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters, thereby, the online PID parameters tuning control method which is complex needs not be adopted. All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.

In-situ stress of coal reservoirs in the Zhengzhuang area of the southern Qinshui Basin and its effects on coalbed methane development

In-situ stress is a critical factor influencing the permeability of coal reservoirs and the production capacity of coalbed methane(CBM)wells.Accurate prediction of in-situ stress and investigation of its influence on coal reservoir permeability and production capacity are significant for CBM development.This study investigated the CBM development zone in the Zhengzhuang area of the Qinshui Basin.According to the low mechanical strength of coal reservoirs,this study derived a calculation model of the in-situ stress of coal reservoirs based on the multi-loop hydraulic fracturing method and analyzed the impacts of initial fractures on the calculated results.Moreover,by combining the data such as the in-situ stress,permeability,and drainage and recovery data of CBM wells,this study revealed the spatial distribution patterns of the current in-situ stress of the coal reservoirs and discussed the impacts of the insitu stress on the permeability and production capacity.The results are as follows.(1)Under given fracturing pressure,longer initial fractures are associated with higher calculated maximum horizontal principal stress values.Therefore,ignoring the effects of the initial fractures will cause the calculated values of the in-situ stress to be less than the actual values.(2)As the burial depth increases,the fracturing pressure,closure pressure,and the maximum and minimum horizontal principal stress of the coal reservoirs in the Zhengzhuang area constantly increase.The average gradients of the maximum and minimum horizontal principal stress are 3.17 MPa/100 m and 2.05 MPa/100 m,respectively.(3)Coal reservoir permeability is significantly controlled by the magnitude and state of the current in-situ stress.The coal reservoir permeability decreases exponentially with an increase in the effective principal stress.Moreover,a low lateral pressure coefficient(less than 1)is associated with minor horizontal compressive effects and high coal reservoir permeability.(4)Under similar conditions,such as resource endowments,CBM well capacity is higher in primary structural coal regions with moderate paleotectonic stress modification,low current in-situ stress,and lateral pressure coefficient of less than 1.

Direct comparison of hydraulic tortuosity and electric tortuosity based on finite element analysis

Tortuosity is one of the key parameters to characterize the transport properties of porous media. There are many models for tortuosity estimation based on some definitions： geometric, hydraulic, electric, and diffusive definitions, However, relationships among those tortuosities remain unclear due to the lack of di- rect comparison on the same porous media. Here we focus on hydraulic and electric tortuosities and have conducted a series of finite element simulations with the Navier-Stokes equation and the equation for electric current to directly compare tortuosities. The results revealed that： （1） on average, hydraulic tortu- osity is 15% greater than that of the electric one; （2） the proposed model based on the van Genuchten-type function successfully approximates both hydraulic and electric tortuosities; （3） tortuosities obtained from the nnrnus media hacked with circular narticles and square particles show quantitatively similar trends.

Geostress Measurement for Deep-Buried Long Tunnel through Niba Mountain

In the geostress measurement for Niba Mountain on Ya＇an-Lugu Expressway, results of Kaiser effect tests combined with focal mechanism solution were compared with those obtained by hydraulic fracturing method, both of which are basically coincident. It is shown that the principal stress increases with burial depth ; the maximum principal stress is about 45 MPa, which is larger near fault zones because of stress concentration, and its direction ranges from N20°W to N75°W.

Introduction of the Archimedean Screw Pump to East Asia during the Seventeenth and Eighteenth Centuries

The Jesuits played an important role in the transmission of Western science and technology to China during the seventeenth and eighteenth centuries,though their impact on water technology has received scant attention thus far.As a case in point,Sabatino de Ursis,Society of Jesus熊三拔,in collaboration with the Chinese official Xu Guangqi徐光啟,published in 1612 Hydraulic Methods of the Far West(Taixi shuifa泰西水法),the earliest book in China on Western water-lifting devices,which contained a detailed description of the Archimedean screw pump.While the impact of the Archimedean screw pump in China and Korea remained rather limited,the screw pump was used to drain water from gold mines in the Japanese Sado Island from as early as 1637.This fact became known in the West only in the very late 1800s when hand-colored picture scrolls about the Japanese gold mining process became available.These scrolls show various applications of Archimedean screw,which apparently were made according to the manufacturing instructions in Hydraulic Methods of the Far West.

Lattice Boltzmann simulation of flows in bifurcate channel at rotating inflow boundary conditions and resulted different outflow fluxes

The Lattice Boltzmann method （LBM） is used to simulate the flow field in a bifurcate channel which is a simplified model of the draft tube of hydraulic turbine machine. According to the simulation results, some qualitative conclusions can be deduced. The reason of uneven flux in different branches of draft tube is given. Not only the vortex rope itself, but also the attenuation of the rotation strength is important in bringing on the uneven flux. The later leads to adverse pressure gradient, and changes the velocity profile. If the outlet contains more than one exit, the one that contains the vortex rope will lose flux because of this adverse pressure gradient. Several possible methods can be used to minimize the adverse pressure gradient domain in order to improve the efficiency of turbine machine.

ANALYSIS OF THE DEFLECTION OF REEDS IN AUTOMOTIVE HYDRAULIC SHOCK ABSORBERS

The deformation of reeds in automotive hydraulic shock absorbers is analyzed with the finite element method. Combination of different thick reeds mounted on different supports is studied. The computational results show that deformation of the overlapped reeds is not always equal to the sum of deflection of single reed under any conditions. Experimental results prove computational results to be correct and computational method effective. The method of analysis and view of point can provide reference to the design and manufacture of hydraulic shock absorbers using reeds.

On the hydrodynamics of hydraulic machinery and flow control

Hydraulic machinery mainly includes turbine and pump, which is closely related to national economy and people＇s livelihood involving aerospace industry, marine engineering, hydropower engineering, petroleum industry, chemical industry, mining industry, biomedical engineering, environmental engineering, agricultural water-soil engineering, etc.. The internal flow of hydraulic machinery is extremely complex, and its characteristics can be summarized as high Reynolds number, multi-scales, inhomogeneous and vortex-dominant unsteady turbulence which interact with the rotating dynamic boundary（rotor blade）. Based on the analysis of the internal flow characteristics of hydraulic machinery, the author and his research team successively proposed a rotation correction model, a curvature corrected filter-based model, a scalable detached eddy simulation method, and a non-linear hybrid RANS/LES turbulence model to capture unsteady flow structures and then predict hydraulic performance and dynamic characteristics more accurately. According to the analysis on the internal flow, the corresponding flow control measures were put forward. It was verified by experiments that these methods could significantly improve the hydraulic performance, anti-cavitation performance and dynamic characteristics（pressure pulsation and vibration） of hydraulic machinery in a certain range of operating conditions. In addition, the mechanism how flow control measures influence internal flow was analyzed in depth, aiming at finding a feasible and effective way to improve hydraulic performance, anti-cavitation performance and dynamic characteristics of hydraulic machinery.

Comparison between gradient based UCODE2005 and the ensemble Kalman Filter for transient groundwater flow inverse modeling

Gradient based UCODE_2005 and data assimilation based on the Ensemble Kalman Filter(EnKF) are two different inverse methods. A synthetic two-dimensional flow case with four no-flow boundaries is used to compare the UCODE_2005 with the Ensemble Kalman Filter(EnKF) for their efficiency to inversely calculate and calibrate a hydraulic conductivity field based on hydraulic head data. A zonal, random heterogeneous conductivity field is calibrated by assimilating the time series of heads observed in monitoring wells. The study results indicate that the two inverse methods, UCODE_2005 and EnKF, could be used to calibrate the hydraulic conductivity field to a certain degree. More available observations and information about the conductivity field, more accurate inverse results will be obtained for the UCODE_2005. On the other hand, for a realistic zonal heterogeneous hydraulic conductivity field, EnKF can only efficiently determine the hydraulic conductivity field at the first several assimilated time steps. The results obtained by the UCODE_2005 look better than those by the EnKF. This is possibly due to the fact that the UCODE_2005 uses observed head data at every time step, while EnKF can only use observed heads at first several steps due to the filter divergence problem.