Multi-circular formation control with reinforced transient profiles for nonholonomic vehicles:A path-following framework

This article investigates a multi-circular path-following formation control with reinforced transient profiles for nonholonomic vehicles connected by a digraph.A multi-circular formation controller endowed with the feature of spatial-temporal decoupling is devised for a group of vehicles guided by a virtual leader evolving along an implicit path,which allows for a circumnavigation on multiple circles with an anticipant angular spacing.In addition,notice that it typically imposes a stringent time constraint on time-sensitive enclosing scenarios,hence an improved prescribed performance control(IPPC)using novel tighter behavior boundaries is presented to enhance transient capabilities with an ensured appointed-time convergence free from any overshoots.The significant merits are that coordinated circumnavigation along different circles can be realized via executing geometric and dynamic assignments independently with modified transient profiles.Furthermore,all variables existing in the entire system are analyzed to be convergent.Simulation and experimental results are provided to validate the utility of suggested solution.

Design of Pinion Machine Tool-settings for Spiral Bevel Gears by Controlling Contact Path and Transmission Errors

This paper proposes a new approach to design pinion machine tool-settings for spiral bevel gears by controlling contact path and transmission errors. It is based on the satisfaction of contact condition of three given control points on the tooth surface. The three meshing points are controlled to be on a predesigned straight contact path that meets the pre-designed parabolic function of transmission errors. Designed separately, the magnitude of transmission errors and the orientation of the contact path are subjected to precise control. In addition, in order to meet the manufacturing requirements, we suggest to modify the values of blank offset, one of the pinion machine tool-settings, and redesign pinion ma- chine tool-settings to ensure that the magnitude and the geometry of transmission errors should not be influenced apart from minor effects on the predesigned straight contact path. The proposed approach together with its ideas has been proven by a numerical example and the manufacturing practice of a pair of spiral bevel gears.

Investigation of the micro contact profile weldingtechnics

The cladding preparation technology for the micro contact profile is investigated through the way of seam welding. The effects of the seam welding on different conditions including welding electrical current, welding time, electrode force and electrode material were contrasted through the way of metallographic structure, electron scanning, experiments of rectification and twist fatigue. The parameters of welding several kinds of materials were obtained. As a result, the qualified contact profile can be produced by making a control of the technical conditions: welding current, welding time, electrode force and electrode material.

Influence of Setting Error of Tool on Tooth Profile and Contact Point of Face Gear Drive

In order to analyze the influence of setting error of tool on both tooth profile and contact characteristic of orthogonal face gear drive,the coordinate systems with and without setting error are established.Moreover,the equations of tooth profile and contact points of face gear drive are derived by envelope principle.According to the equations,the change of tooth profile and the contact points position on face gear are analyzed.The tooth surface and contact points are obtained by numerical simulation.Results show that the tooth profile and contact characteristic of face gear drive are not sensitive to the setting error of tool.

ELASTOHYDRODYNAMIC LUBRICATION OF LOGARITHMIC PROFILE ROLLER CONTACTS

An account of numerical solutions to the isothermal and flooded elastohydrodynamic lubrication(EHL)of a logarithmic profile roller,which is rolling over a flat plane,is given The analysis takes account of sideways flow of lubricant in the inlet region of the contact When the results are presented in suitable non dimensional groups,it is shown that more uniformly pressure and shape of the film distributing in axial direction is taken place under light loading As the increase of the load,the end closure is displayed and the oil pressure rises sharply at the ends The seal action formed by the end closure makes the film thickness a little And the minimum film thickness is transferred from the central to the ends and the value is reduced rapidly As the increase of the speed,the end closure becomes much serious The optimum crowning value obtained in EHL state is larger than the design value obtained in elastostatic contact state for the same working conditions In order to verify the correctness of theory,optical interferometry is applied to measure the oil film thickness between a logarithmic profiled roller and a glass plate under pure rolling conditions It is found the agreement between numerical solutions and experiments is very good.

Objective assessment of the effect of pupil size upon the power distribution of multifocal contact lenses

AIM： To analytically assess the effect of pupil size upon the refractive power distributions of different designs of multifocal contact lenses.METHODS： Two multifocal contact lenses of center-near design and one multifocal contact lens of center-distance design were used in this study. Their power profiles were measured using the NIMO TR1504 device （LAMBDA-X, Belgium）. Based on their power profiles, the power distribution was assessed as a function of pupil size. For the high addition lenses, the resulting refractive power as a function of viewing distance （far, intermediate, and near） and pupil size was also analyzed.RESULTS： The power distribution of the lenses was affected by pupil size differently. One of the lenses showed a significant spread in refractive power distribution, from about ？3 D to 0 D. Generally, the power distribution of the lenses expanded as the pupil diameter became greater. The surface of the lens dedicated for each distance varied substantially with the design of the lens.CONCLUSION： In an experimental basis, our results show how the lenses power distribution is affected by the pupil size and underlined the necessity of careful evaluation of the patient’s visual needs and the optical properties of a multifocal contact lens for achieving the optimal visual outcome.

The structure of the plant communities in the different environment contact sites on the base of the soil-geobotanic profiling in the changing climate of Lake Baikal region

The results of studies of the peculiarities of formation of phytocenoses in environments contact sites of the western and eastern coasts of the Lake Baikal has been showed in this paper. On the base of geobotanic profiling combined with soil one, the structure and dynamics of phytocenoses forming under the conditions of mutual development of light-coniferous taiga forest and of extra zonal steppes. Edaphic conditions and placement of phytocenoses are main trigger factors determining the ways of plant cover development in this part of Lake Baikal basin. We discuss the characteristics properties inherent in the linkage of the dynamics and spatial variability of the vegetation with the change of climate in the Baikal region. The regional conditions of the physiogeographic environment had given rise to structurally highly contrasting plant communities in this region. The increase in yearly mean summertime amounts of rainfall, combined with the rise of yearly mean winter temperatures over the last years were conducive to changes in the spatial structure of vegetation. The boundary between the types of vegetation undergoes smoothing. The upper boundary of forest is altered because of changes of the environment that are responsible for the zonality and properties of vertical zonality of the vegetation on the mountains surrounding Lake Baikal. Changes in the vegetation serve as indicators of climate change as well as providing diagnostic tools for the genesis of the Baikal region’s natural environment.

GEAR PROFILE ANALYSIS BY THE METHOD OF MOVING FRAMES

Setting up a pair of moving frames on the two pitch circles, the instantaneous contact point being considered the attendant point of the frames, the equation of the trace of the contact points in the frame being p = p(t~), we can deduce that the basic rule for the gear profiles is dp / ds = - csos 0 where s is the are length of the pitch circles. Giving a known function of p = p (0), we can obtain the equations of the two conjugate gear profiles and the curvatures and inductive curvature of the profiles. The second order contact phenomenon that a given gear profile can contact with the mating gear at two points simultaneously is discussed by the method of moving frames.

Anovelprofile error model to calculate contact error

A new profile model based on multi-scale asperities is developed and contact error is cal- culated. After stratified sampling, the model can get the distribution law of entity points on each cross section. Asperity radius of curvature is estimated by the relationship between circle radius and the section interval. Contact error is related to surface form error. A model equation of contact error plane is calculated through a method based on static equilibrium theory. Three contact asperities which determine the contact error plane on the rough surface are studied. The simulation results show that contact error can be accurately calculated according to the profile error model.

Generation Principle of Helix Tooth Profile in Hypocycloid Pinw heel Transmission and Its Contact Characteristics

The transmission characteristics of gear drive can be improved with the use of novel tooth profiles.A theoretical study on tooth profile of the hypocycloid pinwheel transmission and contact analysis of gear pair based on finite element method(FEM) are carried out,respectively.The line contact between mated tooth surfaces becomes point contact according to a plus movement.Through loaded tooth contact analysis(LTCA),the contact stress and load distributions for the proposed hypocycloid pinwheel transmission and the traditional one are discussed.The analysis results show that the developed tooth surfaces have anticipatory point contact characteristics under loads and contact fatigue dangerous area locates around the ultimate contact position.

Investigation of the Effects of Profile Shift in Helical Gear Mechanisms with Analytical and Numerical Methods

In this paper, the effects of profile shift in cylindrical helical gear mechanisms have been investigated with numerical and analytical calculations. The mathematical model for computer simulation of gears has been designed and the numerical calculations have been carried out. Analytical calculations have been made with an excel program which was designed at different profile shift coefficients for a selected mechanism. Analytical calculations of the same mechanism have been verified by using ANSYS 14.5. The results of analytical and numerical solutions have been compared to profile shift coefficients.

Influence of alloy components on arc erosion morphology of Ag/MeO electrical contact materials

Arc erosion morphologies of Ag/MeO（10） electrical contact materials after 50000 operations under direct current of 19 V and 20 A and resistive load conditions were investigated using scanning electron microscope（SEM） and a 3D optical profiler（3DOP）. The results indicated that 3DOP could supply clearer and more detailed arc erosion morphology information. Arc erosion resistance of Ag/SnO_2（10） electrical contact material was the best and that of Ag/CuO（10） was the worst. Arc erosion morphology of Ag/MeO（10） electrical contact materials mainly included three different types. Arc erosion morphologies of Ag/ZnO（10） and Ag/SnO_2（10） electrical contact materials were mainly liquid splash and evaporation, and those of Ag/CuO（10） and Ag/CdO（10） were mainly material transfer from anode to cathode. Arc erosion morphology of Ag/SnO_2（6）In_2O_3（4） electrical contact materials included both liquid splash, evaporation and material transfer. In addition, the formation process and mechanism on arc erosion morphology of Ag/MeO（10） electrical contact materials were discussed.

Arc erosion of AgSnO_2 electrical contacts at different stages of a break operation

Arc erosion studies are conducted on AgSnO2 contact materials at different stages in the break operation. A resistive load arrangement is used with up to 42 V DC at 24 A and a constant contact opening velocity. The arc current is terminated at different stages as the arc is drawn between the contacts enabling a study of the arcing phenomena up to that point. Surface profiling of the contacts is conducted to determine the extent of erosion at the different stages as the arc is drawn. Spectral analysis is also conducted on the arc and then related to the extent of erosion. The results show that particular features occur at different stages as the arc is drawn. As the arc is initially established, it goes through an ＂Arc Generation＂ regime where the arc roots are small and immobile on both the anode and the cathode. Material transfer occurs mainly from anode to cathode. The spectral analysis indicates that Sn and O species dominate the arc followed by the Ag species. As the arc is drawn further and enters the ＂Arc Degeneration＂ regime, the anode undergoes significantly larger erosion than the cathode. Also, both contacts indicate that multiple arc roots have formed, which are highly mobile in the later stages of the discharge. The spectral analysis indicates that Ag and N species are in high concentrations compared to other species. The mechanisms of erosion and deposition are discussed in relation to the species within the arc discharge. For the complete break operation, it is found that the anode undergoes major erosion, and it is thought that the gaseous ions species do not dominate the arc under these conditions of short arcs and voltage 〈42 V to cause cathode erosion.

COMMON DEFINITION FOR END-SURFACE CONTACT RATIO OF GEARS AND ITS APPLICATIONS

Common definition and calculating expressions of end-surface contact ratiofor all type of gears are put forward, and with calculation expressions for involute gears,micro-segments profile gears, and sine-curved profile gears being discussed. The end-surface contactratio of gears is defined as the ratio of the action angle (the rotation angle of gear from gear-into gear-out for one pair of teeth) to the rotation angle per pitch (or central angle per tooth).According to the theory of gearing, equation of the meshing line can be deduced from the toothprofiles of basic rack. Having obtained the equation of the meshing line, and being given theaddendum outline of the gears, the contact ratio can be calculated with the calculation expressions.For the involute gears, this definition has same effect as the well-known definition: ratio of thecontact line to the base pitch. This definition of contact ratio is also suitable to othernon-involute gears, such as micro-segments profile gears, sine-curved profile gears, and can givemore reliable results.

Tooth surface geometry optimization of spiral bevel and hypoid gears generated by duplex helical method with circular profile blade

In order to effectively improve meshing performance of spiral bevel and hypoid gears generated by the duplex helical method, the effects of straight lined and circular cutting edges profile on meshing and contact of spiral bevel and hypoid gears were investigated analytically. Firstly, a mathematical model of spiral bevel and hypoid gears with circular blade profile was established according to the cutting characteristics of the duplex helical method. Based on a hypoid gear drive, the tooth bearings and the functions of transmission errors of four design cases were analyzed respectively by the use of the tooth contact analysis(TCA), and the contact stresses of the four design cases were analyzed and compared using simulation software. Finally, the curvature radius of the circular profile blade was optimized. The results show that the contact stresses are availably reduced, and the areas of edge contact and severe contact stresses can be avoided by selecting appropriate circular blade profile. In addition, the convex and concave sides are separately modified by the use of different curvature radii of inside and outside blades, which can increase the flexibility of the duplex helical method.

Simulation of wheel and rail profile wear:a review of numerical models

The development of numerical models able to compute the wheel and rail profile wear is essential to improve the scheduling of maintenance operations required to restore the original profile shapes.This work surveys the main numerical models in the literature for the evaluation of the uniform wear of wheel and rail profiles.The standard structure of these tools includes a multibody simulation of the wheel-track coupled dynamics and a wear module implementing an experimental wear law.Therefore,the models are classified according to the strategy adopted for the worn profile update,ranging from models performing a single computation to models based on an online communication between the dynamic and wear modules.Nevertheless,the most common strategy nowadays relies on an iteration of dynamic simulations in which the profiles are left unchanged,with co-simulation techniques often adopted to increase the computational performances.Work is still needed to improve the accuracy of the current models.New experimental campaigns should be carried out to obtain refined wear coefficients and models,while strategies for the evaluation of both longitudinal and transversal wear,also considering the effects of tread braking,should be implemented to obtain accurate damage models.

Railway wheel profile fine-tuning system for profile recommendation

This paper develops a wheel profile fine-tuning system(WPFTS)that comprehensively considers the influence of wheel profile on wheel damage,vehicle stability,vehicle safety,and passenger comfort.WPFTS can recommend one or more optimized wheel profiles according to train operators’needs,e.g.,reducing wheel wear,mitigating the development of wheel out-of-roundness(OOR),improving the shape stability of the wheel profile.Specifically,WPFTS includes four modules:(I)a wheel profile generation module based on the rotary-scaling finetuning(RSFT)method;(II)a multi-objective generation module consisting of a rigid multi-body dynamics simulation(MBS)model,an analytical model,and a rigid–flexible MBS model,for generating 11 objectives related to wheel damage,vehicle stability,vehicle safety,and passenger comfort;(III)a weight assignment module consisting of an adaptive weight assignment strategy and a manual weight assignment strategy;and(IV)an optimization module based on radial basis function(RBF)and particle swarm optimization(PSO).Finally,three cases are introduced to show how WPTFS recommends a wheel profile according to train operators’needs.Among them,a wheel profile with high shape stability,a wheel profile for mitigating the development of wheel OOR,and a wheel profile considering hunting stability and derailment safety are developed,respectively.

Design of Linear Functional Noncircular Gear with High Contact Ratio Used in Continuously Variable Transmission

Continuously variable transmission(CVT)of noncircular gear has the technical advantages of large bearing capacity and high transmission efficiency.The key technology of CVT with noncircular gear has been broken through some countries,and is in the stage of deep application research.Although the characteristics and design methods of noncircular gear pairs have been continuously studied in China,the noncircular gear CVT is still in the preliminary exploration and research stage.The linear functional noncircular gear pair,whose transmission ratio is a linear function in the working section,to realize continuously variable transmission was the research object in this paper.According to the required transmission ratio in the working section,the transmission ratio function in the non-working section was constructed by using a polynomial.And then the influence of pitch curve parameters in the working section on which in the non-working section was also analyzed to obtain the pitch curve suitable for transmission of this gear pair.In addition,for improving the stability and bearing capacity of gear transmission,the noncircular gear pair transmission with high contact ratio was designed.Furthermore,the accurate value of the contact tooth length was calculated based on the gear principle and the characteristics of the involute tooth profile,from this the contact tooth length error was calculated by comparing the accurate value with its actual value obtained by the rolling experiment.Finally,an indirect method to verify the contact ratio by detecting the contact length error of the tooth profile was proposed.

Geometric design and simulation of tooth profile using elliptical segments as its line of action

A mathematical model of gear tooth profiles using the ellipse curve, whose curvature is convenient to control by changing the mathematical parameters as its line of action, was built based on the meshing theory. The equation of undercutting condition was derived from the model. A special epicycloidal tooth profile was also presented. An example gear drive with variation of the ellipse parameters was taken to illustrate the proposed method. The contact ratio of the gear drive designed by the proposed method was analyzed. A comparison of the property of the gear drive designed with the involute gear drive was also carried out. The results confirm that the proposed gear drive has higher contact ratio in comparison with the involute gear drive.

Can hip abduction reduce the risk of femoral head necrosis deteriorated into osteoarthritis?A 3D finite element analysis

The purpose of this study was to investigate biomechanical behavior changes of femoral head necrosis(FHN)by increasing lower extremity abduction(LEA)angle,offering scientific basis on choosing the LEA procedure for the exact classifications.Methods:Thirty computational models were constructed and used to simulate six different abducent angles with five different progresses of FHN.The initial model was validated by the bony density distribution in X-rays images and the photograph of the cadaver bone in cross-section.The stress transfer path(STP)of each model was analyzed and the contact stresses were assessed.Results:During the midstance phase,STP of type A showed strong similarities with the healthy level;STP distribution was from the top of the femoral head to the calcar;the damage area of STP of type B was approximately 25%of the healthy.While STPs in both type C1 and C2 were broken off.As the increase of the abduction angle,STP of type B transformed into type A,STP of type C1 transformed into type B.STP of type C2 transformed into type C1.There was no significant difference in contact stress between the four settings of FHN and normal femoral head.Conclusions:We found computational biomechanical technique to be a sensitive and useful method for distinguishing the biomechanical difference of FHN during abduction gait.These results showed that LEA motion could effectively reduce collapse risk and interrupt the disease pathway of FHN deteriorated into osteoarthritis.Furthermore,our findings indicated that the LEA procedure was suitable for type A,B and C1,while type C2 of FHN involved surgical intervention might get a better clinical outcome.