Nonlinear dynamic modeling of planar moving Timoshenko beam considering non-rigid non-elastic axial effects

Due to the importance of vibration effects on the functional accuracy of mechanical systems,this research aims to develop a precise model of a nonlinearly vibrating single-link mobile flexible manipulator.The manipulator consists of an elastic arm,a rotary motor,and a rigid carrier,and undergoes general in-plane rigid body motion along with elastic transverse deformation.To accurately model the elastic behavior,Timoshenko’s beam theory is used to describe the flexible arm,which accounts for rotary inertia and shear deformation effects.By applying Newton’s second law,the nonlinear governing equations of motion for the manipulator are derived as a coupled system of ordinary differential equations(ODEs)and partial differential equations(PDEs).Then,the assumed mode method(AMM)is used to solve this nonlinear system of governing equations with appropriate shape functions.The assumed modes can be obtained after solving the characteristic equation of a Timoshenko beam with clamped boundary conditions at one end and an attached mass/inertia at the other.In addition,the effect of the transverse vibration of the inextensible arm on its axial behavior is investigated.Despite the axial rigidity,the effect makes the rigid body dynamics invalid for the axial behavior of the arm.Finally,numerical simulations are conducted to evaluate the performance of the developed model,and the results are compared with those obtained by the finite element approach.The comparison confirms the validity of the proposed dynamic model for the system.According to the mentioned features,this model can be reliable for investigating the system’s vibrational behavior and implementing vibration control algorithms.

An efficient formulation based on the Lagrangian method for contact–impact analysis of flexible multi-body system

In this paper,an efficien formulation based on the Lagrangian method is presented to investigate the contact–impact problems of f exible multi-body systems.Generally,the penalty method and the Hertz contact law are the most commonly used methods in engineering applications.However,these methods are highly dependent on various non-physical parameters,which have great effects on the simulation results.Moreover,a tremendous number of degrees of freedom in the contact–impact problems will influenc thenumericalefficien ysignificantl.Withtheconsideration of these two problems,a formulation combining the component mode synthesis method and the Lagrangian method is presented to investigate the contact–impact problems in fl xible multi-body system numerically.Meanwhile,the finit element meshing laws of the contact bodies will be studied preliminarily.A numerical example with experimental verificatio will certify the reliability of the presented formulationincontact–impactanalysis.Furthermore,aseries of numerical investigations explain how great the influenc of the finit element meshing has on the simulation results.Finally the limitations of the element size in different regions are summarized to satisfy both the accuracy and efficien y.

Modal analysis of prestressed draft pad of freight wagons using finite element method

The present work intends to investigate dynamic behaviour of draft gear using finite element method. The longitudinal force that the draft gear absorbs usually leads to the failure of its components, especially, the load bearing draft pads. Dynamic behaviour of an individual draft pad and a draft gear is determined and characterized with exciting frequen- cies and corresponding mode shapes. The effect of compressive prestress load on the dynamic behaviour of an individual draft pad is also determined as the draft pads in assembled state are under constant axial compressive force in the draft gear. The vibration characteristics of individual draft pad are compared with draft pads that are part of draft gear. The modal analysis gives us a basis for subjecting a draft pad to higher frequency loading for determining its fatigue behaviour.

Range of applicability of real mode superposition approximation method for seismic response calculation of non-classically damped industrial buildings

An industrial building is a non-classically damped system due to the different damping properties of the primary structure and equipment.The objective of this paper is to quantify the range of applicability of the real model superposition approximation method to the seismic response calculation of industrial buildings.The analysis using lumped mass-and-shear spring models indicates that for the equipment-to-structure frequency ratiosγf>1.1 orγf<0.9,the non-classical damping effect is limited,and the real mode superposition approximation method provides accurate estimates.For 0.9<γf<1.1,the system may have a pair of closely spaced frequency modes,and the non-zero off-diagonal damping terms have a non-negligible effect on the damping ratios and mode shape vectors of these modes.For 0.9<γf<1.1 and the equipment-to-structure mass ratiosγm<0.07,the real mode superposition approximation method results in large errors,while the approximation method can provide an accurate estimation for 0.9<γf<1.1 andγm>0.07.Furthermore,extensive parametric analyses are conducted,where both steel structures and reinforced concrete structures with equipment with various damping ratios are considered.Finally,the finite element analysis of a five-story industrial building is adopted to validate the proposed range of applicability.

Numerical Calculation Methods for Wavemaking Response Induced by Explosion in Harbour

Using the axial symmetry results of marker and cell (MAC) method as initial value in this paper, two numerical calculating methods are presented for the late wavemaking response induced by explosion in harbour. One of the methods is the superposition method of the vibration mode based on fluid slosh in container. Another one is the joining method of the MAC results with the shallow wave theory calculation in time domain. As a practical example, it is conducted to the numerical calculation about 1000 ton TNT equivalent explosion within touch of water surface. The results show that it can be rationally described with the methods to the wavemaking progress and character. The numerical results are identical with the observed scene on the spot experiment. The methods are simple and applicable in the engineering design.

Comparison of Three Methods in Extracting Coherent Modes from a Doppler Backscatter System

We compare three different methods to extract coherent modes from Doppler backscattering （DBS）, which are center of gravity （COG） of the complex amplitude spectrum, spectrum of DBS phase derivative （phase derivative method）, and phase spectrum, respectively. These three methods are all feasible to extract coherent modes, for example, geodesic acoustic mode oscillation. However, there are stilI differences between dealing with high frequency modes （several hundred kHz） and low frequency modes, （several kHz） hiding in DBS signal. There is a significant amount of power at low frequencies in the phase spectrum, which can be removed by using the phase derivative method and COG. High frequency modes are clearer by using the COO and the phase derivative method than the phase spectrum. The spectrum of DBS amplitude does not show the coherent modes detected by using COG, phase derivative method and phase spectrum. When two Doppler shifted peaks exist, coherent modes and their harmonics appear in the spectrum of DBS amplitude, which are introduced by the DBS phase.

IMPROVED COVARIANCE DRIVEN BLIND SUBSPACE IDENTIFICATION METHOD

An improved covariance driven subspace identification method is presented to identify the weakly excited modes. In this method, the traditional Hankel matrix is replaced by a reformed one to enhance the identifiability of weak characteristics. The robustness of eigenparameter estimation to noise contamination is reinforced by the improved Hankel matrix, in combination with component energy index （CEI） which indicates the vibration intensity of signal components, an alternative stabilization diagram is adopted to effectively separate spurious and physical modes. Simulation of a vibration system of multiple-degree-of-freedom and experiment of a frame structure subject to wind excitation are presented to demonstrate the improvement of the proposed blind method. The performance of this blind method is assessed in terms of its capability in extracting the weak modes as well as the accuracy of estimated parameters. The results have shown that the proposed blind method gives a better estimation of the weak modes from response signals of small signal to noise ratio （SNR）and gives a reliable separation of spurious and physical estimates.

Mode Ⅲ fracture analysis by Trefftz boundary element method

This paper presents a hybrid Trefftz （HT） boundary element method （BEM） by using two indirect techniques for mode III fracture problems. Two Trefftz complete functions of Laplace equation for normal elements and a special purpose Trefftz function for crack elements are proposed in deriving the Galerkin and the collocation techniques of HT BEM. Then two auxiliary functions are introduced to improve the accuracy of the displacement field near the crack tips, and stress intensity factor （SIF） is evaluated by local crack elements as well. Furthermore, numerical examples are given, including comparisons of the present results with the analytical solution and the other numerical methods, to demonstrate the efficiency for different boundary conditions and to illustrate the convergence influenced by several parameters. It shows that HT BEM by usingthe Galerkin and the collocation techniques is effective for mode III fracture problems.

Rainfall Variability and Trends in West Africa

Rainfall variability associated with climate change has enormous impacts on ecosystems, agriculture and people in West Africa but few studies have been devoted to it. Monthly rainfall data from 1901 to 2013, provided by the Global Precipitation Climatology Center dataset, were analyzed using segmentation and empirical modal decomposition (EMD) methods to increase our knowledge on past and recent spatio-temporal rainfall trends and their impacts on the West African region. The results obtained showed that the peak of rainfall during the short rainy season is observed in September in C&#244;te d’Ivoire, Ghana and Liberia. The temporal variability of this rainfall is marked by several breakpoints whose durations range from 2 to 70 years. The periods of change in the rainfall regime, characterized by the appearance of breakpoints, vary from one country to another and are of unequal duration. The main breakpoint appears after 1960. Periods of relative or normal increase or decrease in precipitation are observed before and after 1960. The long-term variability of this rainfall is characterized by a decrease in the amount of rainfall over all West African countries. The results of this study can be used as a tool to help raise awareness among populations for sustainable management of water resources in response to climate change and its adverse effects.

A Methodology for Assessing Axial Compressor Stability with Inlet Temperature Ramp Distortion

Based on a small perturbation stability model for periodic flow,the effects of inlet total temperature ramp distortion on the axial compressor are investigated and the compressor stability is quantitatively evaluated.In the beginning,a small perturbation stability model for the periodic flow in compressors is proposed,referring to the governing equations of the Harmonic Balance Method.This stability model is validated on a single-stage low-speed compressor TA36 with uniform inlet flow.Then,the unsteady flow of TA36 with different inlet total temperature ramps and constant back pressure is simulated based on the Harmonic Balance Method.Based on these simulations,the compressor stability is analyzed using the proposed small perturbation model.Further,the Dynamic Mode Decomposition method is employed to accurately extract pressure oscillations.The two parameters of the temperature ramp,ramp rate and Strouhal number,are discussed in this paper.The results indicate the occurrence and extension of hysteresis loops in the rows,and a decrease in compressor stability with increasing ramp rate.Compressor performance is divided into two phases,stable and limit,based on the ramp rate.Furthermore,the model predictions suggest that a decrease in period length and an increase in Strouhal number lead to improved compressor stability.The DMD results imply that for compressors with inlet temperature ramp distortion,the increase of high-order modes and oscillations at the rotor tip is always the signal of decreasing stability.

Forecasting hourly PM_(2.5)concentrations based on decomposition-ensemble-reconstruction framework incorporating deep learning algorithms

Accurate predictions of hourly PM_(2.5)concentrations are crucial for preventing the harmful effects of air pollution.In this study,a new decomposition-ensemble framework incorporating the variational mode decomposition method(VMD),econometric forecasting method(autoregressive integrated moving average model,ARIMA),and deep learning techniques(convolutional neural networks(CNN)and temporal convolutional network(TCN))was developed to model the data characteristics of hourly PM_(2.5)concentrations.Taking the PM_(2.5)concentration of Lanzhou,Gansu Province,China as the sample,the empirical results demonstrated that the developed decomposition-ensemble framework is significantly superior to the benchmarks with the econometric model,machine learning models,basic deep learning models,and traditional decomposition-ensemble models,within one-,two-,or three-step-ahead.This study verified the effectiveness of the new prediction framework to capture the data patterns of PM_(2.5)concentration and can be employed as a meaningful PM_(2.5)concentrations prediction tool.

FUZZY ADAPTIVE CONTROL OF FLEXIBLE-LINK ROBOT MANIPULATOR

A fuzzy adaptive control method is proposed for a flexible robot manipulator. Due to the structure characteristics of the flexible manipulator, the vibration modes must be controlled to realize the high-precision tip position. The Lagrangian principle is utilized to model the dynamic function of the single-degree flexible manipulator incorporating the assumed modes method. Simulation results of the fuzzy adaptive control method in the location control and the trajectory tracking with different tip disturbances are presented and compared with the results of the classic PD control. It shows that the controller can obtain the stable and robust performance.

Analysis of circular-to-circular groove waveguide junction

Mode matching method is used to analyze the scattering characteristics of thecircular-to-circular groove waveguide junction. Matching the electric fields and magnetic fields atthe boundary of the junction, and multiplying the mode functions of the circular waveguide andcircular groove waveguide on both sides of the boundary equation, the scattering matrix equation isobtained, the scattering coefficients can be obtained from the equation. Then the scatteringcharacteristics of the iris with circular window in circular groove waveguide are analyzed. At lastthe convergent problem is discussed; when choosing a suitable mode group, convergent numericalresults are obtained, and the frequency response of the iris' scattering coefficients is also given.

Empirical study on cooperative learning approach to College oral English teaching

As a creative and effective teaching method adopted by many countries, cooperative learning is one of the most widespread and fruitful areas in modern education theory. With the introduction of the concept of cooperative learning among College oral English teaching, students could undergo all-round training in English proficiency, cooperative ability, self-learning ability and sense of competition. This paper mainly focuses on how to make full use of cooperative leaning in College oral English teaching, and tries to verify that cooperative leaning is a practical and effective teaching mode which could enhance the College oral English classroom teaching quality.

Bifurcation and buckling analysis of a unilaterally confined self-rotating cantilever beam

A nonlinear dynamic model of a simple nonholonomic system comprising a self-rotating cantilever beam subjected to a unilateral locked or unlocked constraint is established by employing the general Hamilton＇s Variational Principle. The critical values, at which the trivial equilibrium loses its stability or the unilateral constraint is activated or a saddle-node bifurcation occurs, and the equilibria are investigated by approximately analytical and numerical methods. The results indicate that both the buckled equilibria and the bifurcation mode of the beam are different depending on whether the distance of the clearance of unilateral constraint equals zero or not and whether the unilateral constraint is locked or not. The unidirectional snap-through phenomenon （i.e. catastrophe phenomenon） is destined to occur in the system no matter whether the constraint is lockable or not. The saddle-node bifurcation can occur only on the condition that the unilateral constraint is lockable and its clearance is nonzero. The results obtained by two methods are consistent.

AN ENSEMBLE FORECAST EXPERIMENT OF A LANDING TYPHOON

Based on the Global Regional Assimilation and Prediction System-Tropical Cyclone Model(GRAPES-TCM),an ensemble forecast experiment was performed,in which Typhoon Wipha during the period immediately prior to landfall was selected for the study and the breeding of growing mode(BGM) method was used to perturb the initial conditions of the vortex field and the environment field.The results of the experiment indicate that each member had a different initial status in BGM processing and they show a reasonable spread among members along with the forecast phase.Changes in the large-scale field,thermodynamic structure,and spread among members took place when Wipha made landfall.The steering effect of the large-scale field and the interaction between the thermodynamics and the dynamics resulted in different tracks of the members.Meanwhile,the forecast uncertainty increased.In summary,the ensemble mean did not perform as well as the control forecast,but the cluster mean provided some useful information,and performed better than the control in some instances.The position error was 34 km for 24 h forecast,153 km for 48 h forecast,and 191 km for 66 h forecast.The strike probability chart qualitatively described the forecast uncertainty.

ELASTIC IMPACT ON FINITE TIMOSHENKO BEAM

In this paper the analytical solutions of the impact of a particle on Timoshenko beams with four kinds of different boundary conditions are obtained according to Navier's idea, which is further developed. The initial values of the impact forces are exactly determined by the momentum conservation law. The propagation of the longitudinal and transverse waves along the beam, especially, the effects of boundary conditions on the characteristics of the reflected waves, are investigated in detail. Some results are compared with those by MSC/NASTRAN.

SYNCHRONIZATION OF MASTER-SLAVE MARKOVIAN SWITCHING COMPLEX DYNAMICAL NETWORKS WITH TIME-VARYING DELAYS IN NONLINEAR FUNCTION VIA SLIDING MODE CONTROL

In this article, a synchronization problem for master-slave Markovian switching complex dynamical networks with time-varying delays in nonlinear function via sliding mode control is investigated. On the basis of the appropriate Lyapunov-Krasovskii functional, introducing some free weighting matrices, new synchronization criteria are derived in terms of linear matrix inequalities （LMIs）. Then, an integral sliding surface is designed to guarantee synchronization of master-slave Markovian switching complex dynamical networks, and the suitable controller is synthesized to ensure that the trajectory of the closed-loop error system can be driven onto the prescribed sliding mode surface. By using Dynkin＇s formula, we established the stochastic stablity of master-slave system. Finally, numerical example is provided to demonstrate the effectiveness of the obtained theoretical results.

Evaluation of parameters affecting reflection cracking in geogrid-reinforced overlay

The influence of the most important parameters on the service life of reinforced asphalt overlay with geogrid materials in bending mode was examined by employing the Taguchi method and analysis of variance techniques. The objectives of this experiment was to investigate the effects of grid stiffness, tensile strength, coating type, amount of tack coat, overlay thickness, crack width and stiffnesses of asphalt overlay and existing asphalt concrete on propagation of the reflection cracking. Results indicate that the stiffnesses of cracked layer and overlay are the main significant factors that can directly improve the service life of an overlay against the reflection cracking. Generally, glass grid is more effective in reinforced overlay than polyester grid. Effect of crack width of the existing layer is significant when its magnitude increases from 6 to 9 mm.

Influence of vibration mode on the screening process

The screening of particles with different vibration modes was simulated by means of a 3D discrete element method (3D-DEM). The motion and penetration of the particles on the screen deck were analyzed for linear, circular and elliptical vibration of the screen. The results show that the travel velocity of the particles is the fastest, but the screening efficiency is the lowest, for the linear vibration mode. The circular motion resulted in the highest screening efficiency, but the lowest particle travel velocity. In the steady state the screening efficiency for each mode is seen to increase gradually along the longitudinal direction of the deck. The screening efficiency increment of the circular mode is the largest while the linear mode shows the smallest increment. The volume fraction of near-mesh size particles at the underside is larger than that of small size particles all along the screen deck. Linear screening mode has more near-mesh and small size particles on the first three deck sections, and fewer on the last two sections, compared to the circular or elliptical modes.