MODELING COMPLIANT NON-PENETRATION CONSTRAINT FOR VP MOTION SIMULATION

A unilateral non-penetration constraint dynamical simulation model withfriction is constructed based on compliant model for mechanical system VP (virtual prototyping)simulation. This model combines computer graphics with multi-body system dynamics. It avoidshandling multiplicity of solution, such as cases of no solution, multi-solution brought about byfriction during traditional construction of non-penetration constraint based on rigid model. At thesame time, the realism of VE (virtual environment) is improved in process of simulation.Furthermore, the valid condition of rolling and sliding unilateral contact is constituted based onsingular perturbation and linear complementary theory. Finally, the compliant method is verified byan interaction between a multi-legged robot and VE.

Analytical models for the penetration of semi-infinite targets by rigid,deformable and erosive long rods

A theoretical study is presented herein on the pen- etration of a semi-infinite target by a spherical-headed long rod for Yp 〉 S, where Yp is the penetrator strength and S is the static target resistance. For Yp 〉 S, depending upon initial impact velocity, there exist three types of penetration, namely, penetration by a rigid long rod, penetration by a deforming non-erosive long rod and penetration by an erosive long rod. If the impact velocity of the penetrator is higher than the hydrodynamic velocity （VH）, it will penetrate the target in an erosive mode; if the impact velocity lies between the hydrodynamic velocity （VH） and the rigid body velocity （VR）, it will penetrate the target in a deformable mode; if the impact velocity is less than the rigid body velocity （VR）, it will penetrate the target in a rigid mode. The critical conditions for the transition among these three penetration modes are proposed. It is demonstrated that the present model predictions correlate well with the experimental observations in terms of depth of penetration （DOP） and the critical transition conditions.

Alternating Parity Band in Octupole-Soft ^(140)Xe with Axial Vibrational-Rotational Model and Triaxial Rigid Rotor Model

Energies of the yrast positive-and negative-parity excited states in140 Xe are reproduced by two different models considering quadrupole-octupole deformations, namely the axial vibrational-rotational model and the triaxial rigid rotor model, and compared with the stable octupole-deformed222 Th. The origin of the energy difference between the opposite parity sequences is considered from two different mechanisms, the vibration in axial deformed energy minima and the rotation considering the effective triaxial deformation. The success of reproducing the data in both the models implies that these two mechanisms are equivalent on some level for the octupole-soft nuclei. By investigating the probability distributions for projection of total angular momentum in the triaxial rigid rotor model, it is found that such an energy difference is associated with the difference of orientation of the rotational axis.

Model-Based Approach to Investigate the Influences of Different Load States to the Vehicle Dynamics of Light Electric Vehicles

The need to find alternative urban mobility solutions for delivery and transport has led mobility companies to devote enormous resources for research-based solutions to increase vehicle safety. This paper documents a virtual approach to investigate the influences of different load states to the vehicle dynamic of light electric vehicle. A model basing on a three-dimensional multibody system was used, which consists of five bodies. By applying methods of multibody modelling the generalized equations of motion were generated. To include the behavior within the contact point between road and vehicle a simplified tire models was added. The implementation of the equations allowed a first validation of the model via simulations. In a final modeling step the simulation results were interpreted in respect of plausibility. Afterwards, the model was simulated numerically to investigate different load states of the vehicle, by applying constant steering stimuli and variable velocities. In sum, the investigated model approach is useful to identify safety relevant parameters and shows the effects of load states to the vehicle dynamics. Furthermore, it behaves plausibly regarding general vehicle dynamics. These results prove the general usability of the model for the development controllers and estimators in driver assistances systems.

Two-dimensional simulation on the rolling process of semi-solid 60Si2Mn by finite element method

The effect of various process variables on the law of metal flow for semi-solid rolling 60Si2Mn was studied by finite element method. Semi-solid 60Si2Mn can be described as compressible rigid visco-plastic porous material saturated with liquid. In terms of ther-mo-mechanical coupling condition, the distributions of stress, velocity and temperature were studied using software MARC. The simulation results show that the rigid visco-plastic model can accurately describe the semi-solid 60Si2Mn rolling process. The great deformation can achieve completely in view of low flow stress of semi-solid slurry.

Effect of passive plates on vertical instability in the EAST tokamak

The effect of passive plates on vertical displacement control in the EAST tokamak is investigated by open loop experiments and numerical simulations based on a rigid displacement model. The experiments and simulations indicate that the vertical instability growth rate is reduced by a factor of about 2 in the presence of the passive plates, where the adjacent segments are not connected to each other. The simulations also show that the vertical instability growth rate is reduced by a factor of about 10 if all adjacent segments on each passive plate loop are connected to each other. The operational window is greatly enlarged with the passive plates.

Bionic Attitude Transformation Combined with Closed Motion for a Free Floating Space Robot

In order to realize the small error attitude transformation of a free floating space robot,a new method of three degrees of freedom（ DOF） attitude transformation was proposed for the space robot using a bionic joint. A general kinematic model of the space robot was established based on the law of linear and angular momentum conservation. A combinational joint model was established combined with bionic joint and closed motion. The attitude transformation of planar,two DOF and three DOF is analyzed and simulated by the model,and it is verified that the feasibility of attitude transformation in three DOF space. Finally,the specific scheme of disturbance elimination in attitude transformation is presented and simulation results are obtained.Therefore,the range of application field of the bionic joint model has been expanded.

MAGNETIC PROPERTIES OF AMORPHOUS CoZr SOFT MAGNETIC FILMS

The amorphous CoZr soft magnetic films with superior properties were prepared by radio-frequency sputtering under pressure of 0.5Pa Ar.The saturation magnetization of the amorphous CoZr films with relation to the Zr content and temperature was investigated.The amorphous CoZr films composed of different constituents obey the Bloch T^(3/2)-low in a wide range of temperatures.The number of electrons transferred from each Zr atom to 3d energy band of Co calculated by the rigid band model is about 2.27.

SOME THERMODYNAMIC PROPERTIES OF Pd-In ALLOYS

Some thermodynamic parnmeters of Pd-In alloys with 2 to 70 at. H indium have been determined in the temperuture range 800 to 1000℃ from e.m.f measurements ongalvanic cells with an onsen-cotzducting solid electrolyte. Heats of tnising calculated hem the activities are in excellent agreement with calorimetric data. The relative partial excess hee enengy of indiurn assumes unnsually larpe negative values ap to-174kJ/mol for Pd-rich alloys. Two efficts are discussed to account for the non-idealproperties: The rise Of Fermi enerpy as the valence electron8 of indium enter the 4dand 5sP bands of the alloy and the lattice distortion brought about by the differentmolar volumes of the cofnponents. The rise of the Fermi enerpy, as determlned fromthe activity data, indicates a strict adherence of the alloys to the rigid band model.

Tests of the real-time vertical growth rate calculation on EAST

In order to measure controllability of vertical instability in EAST,the calculation of model-based vertical growth rate,called rt-gamma,has been successfully carried out in real time.The numerical computing method is adapted from rigid plasma response model in TokSys,which is a widely-used analysis tool for tokamak devices in Matlab environment,but the code is rewritten by taking advantage of GPU parallel computing capability to accelerate the computation.The calculation of rt-gamma is validated by comparing it with the corresponding result generated by TokSys for totally 3508 cases.It is shown that the average absolute value of relative errors is about 0.85%.In addition,the calculation program of rt-gamma has been successfully applied during 2019 EAST campaign.The comparison with experimental results is discussed in this paper.The real-time calculation tool is well able to calculate model-based vertical growth rate,which is convenient for fast and continuous evaluations of EAST control system stability performances.

Numerical Simulation on Freezing Process of Saturated Granular Soil

The relation between ice pressure and load as a criterion of segregated ice initiation is introduced into the rigid ice model to simulate frost heave in saturated and granular soil. The calculated results show that unfrozen water content, thermal conductivity and hydraulic conductivity change greatly in frozen fringe. In numerical simulations, the influence of load, hydraulic conductivity and property of soil containing water on the process of soil freezing are analyzed, and the simulation curves such as cumulative heave, the change of depth of frozen and the distributions of water content are similar to the observations reported elsewhere.

Finite element model validation of bridge based on structural health monitoring——Part I: Response surface-based finite element model updating

In the engineering practice, merging statistical analysis into structural evaluation and assessment is a tendency in the future. As a combination of mathematical and statistical techniques, response surface （RS） methodology has been successfully applied to design optimization, response prediction and model validation. With the aid of RS methodology, these two serial papers present a finite element （FE） model updating and validation method for bridge structures based on structural health monitoring. The key issues to implement such a model updating are discussed in this paper, such as design of experiment, parameter screening, construction of high-order polynomial response surface model, optimization methods and precision inspection of RS model. The proposed procedure is illustrated by a prestressed concrete continuous rigid-frame bridge monitored under operational conditions. The results from the updated FE model have been compared with those obtained from online health monitoring system. The real application to a full-size bridge has demonstrated that the FE model updating process is efficient and convenient. The updated FE model can relatively reflect the actual condition of Xiabaishi Bridge in the design space of parameters and can be further applied to FE model validation and damage identification.