A Novel Prescribed-Performance Path-Following Problem for Non-Holonomic Vehicles

The issue of achieving prescribed-performance path following in robotics is addressed in this paper,where the aim is to ensure that a desired path within a specified region is accu-rately converged to by the controlled vehicle.In this context,a novel form of the prescribed performance guiding vector field is introduced,accompanied by a prescribed-time sliding mode con-trol approach.Furthermore,the interdependence among the pre-scribed parameters is discussed.To validate the effectiveness of the proposed method,numerical simulations are presented to demonstrate the efficacy of the approach.

THE FUNDAMENTAL EQUATIONS OF DYNAMICS USINGREPRESENTATION OF QUASI-COORDINATES IN THE SPACEOF NON-LINEAR NON-HOLONOMIC CONSTRAINTS

The dot product of the bases vectors on the super-surface of the non-linear nonholonomic constraints with one order, expressed by quasi-coorfinates, and Mishirskiiequalions are regarded as the fundamental equations of dynamics with non-linear andnon-holononlic constraints in one order for the system of the variable mass. From thesethe variant ddferential-equations of dynamics expressed by quasi-coordinates arederived. The fundamental equations of dynamics are compatible with the principle ofJourdain. A case is cited.

Lie-form invariance of non-holonomic systems with unilateral constraints

In this paper the Lie-form invariance of the non-holonomic systems with unilateral constraints is studied. The definition and the criterion of the Lie-form invariance of the system are given. The generalized Hojman conserved quantity and a new type of conserved quantity deduced from the Lie-form invariance are obtained. Finally, an example is presented to illustrate the application of the results.

On the field method in non-holonomic mechanics

This paper deals with the generalization of the fieldmethod to non-holonomic systems whose motion is subject toeither non-linear constraints or those of a higher order,whiletheir motion is modeled by the generalized Lagrange equa-tions of the second kind.Two examples are given to illustratethe theory.

Mei conserved quantity of the Nielsen equation for a non-Chetaev-type non-holonomic system

The Mei symmetry and Mei conserved quantity of the Nielsen equation for a non-Chetaewtype non-holonomic non-conservative system are studied. The differential equations of motion of the Nielsen equation for the system, the definition and the criterion of Mei symmetry and the condition and the form of Mei conserved quantities deduced directly from the Mei symmetry for the system are obtained. Finally, an example is given to illustrate the application of the results.

Dynamics and Stability of Blind Grasping of a 3-Dimensional Object under Non-holonomic Constraints

A mathematical model expressing the motion of a pair of multi-DOF robot fingers with hemi-spherical ends, grasping a 3-D rigid object with parallel fiat surfaces, is derived, together with non-holonomic constraints. By referring to the fact that humans grasp an object in the form of precision prehension, dynamically and stably by opposable forces, between the thumb and another finger （index or middle finger）, a simple control signal constructed from finger-thumb opposition is proposed, and shown to realize stable grasping in a dynamic sense without using object information or external sensing （this is called ＂blind grasp＂ in this paper）. The stability of grasping with force/torque balance under non-holonomic constraints is analyzed on the basis of a new concept named ＂stability on a manifold＂. Preliminary simulation results are shown to verify the validity of the theoretical results.

Mei Symmetry and Mei Conserved Quantity for a Non-holonomic System of Non-Chetaev's Type with Unilateral Constraints in Nielsen Style

Mei symmetry and Mei conserved quantity for a non-holonomic system of non-Chetaev's type with unilateralconstraints in the Nielsen style are studied.The differential equations of motion for the system above are established.The definition and the criteria of Mei symmetry,conditions,and expressions of Mei conserved quantity deduced directlyfrom the Mei symmetry are given.An example is given to illustrate the application of the results.

Unified symmetry of non-holonomic singular systems

In this paper, the unified symmetry of non-holonomic singular systems is studied. The differential equations of motion of the systems are given. The definition and the criterion of the unified symmetry for the systems are presented. The Noether conserved quantity, the Hojman conserved quantity and the Mei conserved quantity are obtained. An example is given to illustrate the application of the results.

Lie-Form Invariance of a Type of Non-holonomic Singular Systems

In this paper, the Lie-form invariance of a type of non-holonomic singular systems is studied. The differential equations of motion of the systems are given. The definition and the criterions of the Lie-form invariance for the systems are presented. The Hojman conserved quantity and the Mei conserved quantity are obtained. An example is given to illustrate the application of the results.

Form Invariance and Conserved Quantity for Non-holonomic Systems with Variable Mass and Unilateral Constraints

The paper studies the form invariance and a type of non-Noether conserved quantity called Mei conserved quantity for non-holonomic systems with variable mass and unilateral constraints. Acoording to the invariance of the form of differential equations of motion under infinitesimal transformations, this paper gives the definition and criterion of the form invariance for non-holonomic systems with variable mass and unilateral constraints. The condition under which a form invariance can lead to Mei conservation quantity and the form of the conservation quantity are deduced. An example is given to illustrate the application of the results.

THE STATIONARY VALUE PROPERTY OF HAMILTON'S PRINCIPLE IN NON-HOLONOMIC SYSTEMS

This paper proves that Hanlilton's prmciple of both using the Appell-Chetaevcondition and not using the Appell-CHETAEV conditiion is the variational principle of stationary action.The relevant problems are discussed

Self-motion Manifolds of an 8-DOF Non-holonomic Mobile Manipulator

For the non-holonomic constraint robot,determining the pose of its end-effector will rely on its joints' displacement and the velocity of its non-holonomic constraint joints as well.Therefore,it becomes increasingly difficult to obtain the analytic solution of its self-motion manifold in the traditional way for solving matrix equation.In this paper,we take the pose of end manipulator as the result of the joint sequential motion based on the mentality of motion equivalence,the structure and the reference velocity which correspond precisely to the points in self-motion manifold as self-motion variable.Thus an analytical solution for the self-motion manifold of the 8 degree of freedom wheeled mobile manipulator is presented by taking vector algebra as a tool,which facilitates deriving the closed solution of its self-motion manifold.In the closing part of this paper,calculating examples of self-motion manifold and mechanism self-motion simulation are proposed,which proves the validity of solution algorithm for self-motion manifold.

On the efficient non-linear solver for hydraulic fracturing and well cementing simulations based on Anderson acceleration

The aim of this study is to create a fast and stable iterative technique for numerical solution of a quasi-linear elliptic pressure equation. We developed a modified version of the Anderson acceleration(AA)algorithm to fixed-point(FP) iteration method. It computes the approximation to the solutions at each iteration based on the history of vectors in extended space, which includes the vector of unknowns, the discrete form of the operator, and the equation's right-hand side. Several constraints are applied to AA algorithm, including a limitation of the time step variation during the iteration process, which allows switching to the base FP iterations to maintain convergence. Compared to the base FP algorithm, the improved version of the AA algorithm enables a reliable and rapid convergence of the iterative solution for the quasi-linear elliptic pressure equation describing the flow of particle-laden yield-stress fluids in a narrow channel during hydraulic fracturing, a key technology for stimulating hydrocarbon-bearing reservoirs. In particular, the proposed AA algorithm allows for faster computations and resolution of unyielding zones in hydraulic fractures that cannot be calculated using the FP algorithm. The quasi-linear elliptic pressure equation under consideration describes various physical processes, such as the displacement of fluids with viscoplastic rheology in a narrow cylindrical annulus during well cementing,the displacement of cross-linked gel in a proppant pack filling hydraulic fractures during the early stage of well production(fracture flowback), and multiphase filtration in a rock formation. We estimate computational complexity of the developed algorithm as compared to Jacobian-based algorithms and show that the performance of the former one is higher in modelling of flows of viscoplastic fluids. We believe that the developed algorithm is a useful numerical tool that can be implemented in commercial simulators to obtain fast and converged solutions to the non-linear problems described above.

Prediction of the undrained shear strength of remolded soil with non-linear regression,fuzzy logic,and artificial neural network

This study aims to predict the undrained shear strength of remolded soil samples using non-linear regression analyses,fuzzy logic,and artificial neural network modeling.A total of 1306 undrained shear strength results from 230 different remolded soil test settings reported in 21 publications were collected,utilizing six different measurement devices.Although water content,plastic limit,and liquid limit were used as input parameters for fuzzy logic and artificial neural network modeling,liquidity index or water content ratio was considered as an input parameter for non-linear regression analyses.In non-linear regression analyses,12 different regression equations were derived for the prediction of undrained shear strength of remolded soil.Feed-Forward backpropagation and the TANSIG transfer function were used for artificial neural network modeling,while the Mamdani inference system was preferred with trapezoidal and triangular membership functions for fuzzy logic modeling.The experimental results of 914 tests were used for training of the artificial neural network models,196 for validation and 196 for testing.It was observed that the accuracy of the artificial neural network and fuzzy logic modeling was higher than that of the non-linear regression analyses.Furthermore,a simple and reliable regression equation was proposed for assessments of undrained shear strength values with higher coefficients of determination.

The ridgelet transform with non-linear threshold for seismic noise attenuation in marine carbonates

Wavelet transforms have been successfully used in seismic data processing with their ability for local time - frequency analysis. However, identification of directionality is limited because wavelet transform coefficients reveal only three spatial orientations. Whereas the ridgelet transform has a superior capability for direction detection and the ability to process signals with linearly changing characteristics. In this paper, we present the issue of low signal-to-noise ratio （SNR） seismic data processing based on the ridgelet transform. Actual seismic data with low SNR from south China has been processed using ridgelet transforms to improve the SNR and the continuity of seismic events. The results show that the ridgelet transform is better than the wavelet transform for these tasks.

Microstructure evolution of Al-Zn-Mg-Cu alloy during non-linear cooling process

The microstructure evolution and properties of an Al-Zn-Mg-Cu alloy were investigated under different non-linear cooling processes from the solution temperature, combined with in-situ electrical resistivity measurements, selected area diffraction patterns （SADPs）, transmission electron microscopy （TEM）, and tensile tests. The relative resistivity was calculated to characterize the phase transformation of the experimental alloy during different cooling processes. The results show that at high temperatures, the microstructure evolutions change from the directional diffusion of Zn and Mg atoms to the precipitation of S phase, depending on the cooling rate. At medium temperatures, q phase nucleates on A13Zr dispersoids and grain boundaries under fast cooling conditions, while S phase precipitates under the slow cooling conditions. The strength and ductility of the aged alloy suffer a significant deterioration due to the heterogeneous precipitation in medium temperature range. At low temperatures, homogeneously nucleated GP zone, η′ and η phases precipitate.

NON-LINEAR FORCED VIBRATION OF AXIALLY MOVING VISCOELASTIC BEAMS

The non-linear forced vibration of axially moving viscoelastic beams excited by the vibration of the supporting foundation is investigated. A non-linear partial-differential equation governing the transverse motion is derived from the dynamical, constitutive equations and geometrical relations. By referring to the quasi-static stretch assumption, the partial-differential non-linearity is reduced to an integro-partial-differential one. The method of multiple scales is directly applied to the governing equations with the two types of non-linearity, respectively. The amplitude of near- and exact-resonant steady state is analyzed by use of the solvability condition of eliminating secular terms. Numerical results are presented to show the contributions of foundation vibration amplitude, viscoelastic damping, and nonlinearity to the response amplitude for the first and the second mode.

Characteristics of the Main Journal Bearings of an Engine Based on Non-linear Dynamics

Many simple nonlinear main journal bearing models have been studied theoretically, but the connection to existing engineering system has not been equally investigated. The consideration of the characteristics of engine main journal bearings may provide a prediction of the bearing load and lubrication. Due to the strong non-linear features in bearing lubrication procedure, it is difficult to predict those characteristics. A non-linear dynamic model is described for analyzing the characteristics of engine main journal bearings. Components such as crankshaft, main journals and con rods are found by applying the finite element method. Non-linear spring/dampers are introduced to imitate the constraint and supporting functions provided by the main bearing and oil film. The engine gas pressure is imposed as excitation on the model via the engine piston, con rod, etc. The bearing reaction force is calculated over one engine cycle, and meanwhile, the oil film thickness and pressure distribution are obtained based on Reynolds differential equation. It can be found that the maximum bearing reaction force always occurs when the maximum cylinder pressure arises in the cylinder adjacent to that bearing. The simulated minimum oil film thickness, which is 3 μm, demonstrates the reliability of the main journal bearings. This non-linear dynamic analysis may save computing efforts of engine main bearing design and also is of good precision and close connection to actual engine main journal bearing conditions.

Microsphere femtosecond laser sub-50 nm structuring in far field via non-linear absorption

Creation of arbitrary features with high resolution is critically important in the fabrication of nano-optoelectronic devices.Here,sub-50 nm surface structuring is achieved directly on Sb2S3 thin films via microsphere femtosecond laser irradi-ation in far field.By varying laser fluence and scanning speed,nano-feature sizes can be flexibly tuned.Such small patterns are attributed to the co-effect of microsphere focusing,two-photons absorption,top threshold effect,and high-repetition-rate femtosecond laser-induced incubation effect.The minimum feature size can be reduced down to~30 nm(λ/26)by manipulating film thickness.The fitting analysis between the ablation width and depth predicts that the feature size can be down to~15 nm at the film thickness of~10 nm.A nano-grating is fabricated,which demonstrates desirable beam diffraction performance.This nano-scale resolution would be highly attractive for next-generation laser nano-lithography in far field and in ambient air.

A Non-linear Non-ideal Model of Simulated Moving Bed Chromatography for Chiral Separations

A non-linear non-ideal model, taking into account non-linear competitive isotherms, axial dispersion, film mass transfer, intraparticle diffusion, and port periodic switching, was developed to simulate the dynamics of simulated moving bed chromatography (SMBC). The model equations were solved by a new efficient numerical technique of orthogonal collocation on finite elements with periodical movement of concentration vector. The simulated SMBC performance is in accordance with the experimental results reported in the literature for separation of l,1'-bi-2-naphthol enantiomers using SMBC. This model is useful for design, operation, optimization and scale-up of non-linear SMBC for chiral separations with significant non-ideal effects, especially for high solute concentration and small intraparticle diffusion coefficient or large chiral stationary phase particle.