Switchable shape memory polymer bio-inspired adhesive and its application for unmanned aerial vehicle landing

Controlled and switchable adhesion is commonly observed in biological systems.In recent years,many scholars have focused on making switchable bio-inspired adhesives.However,making a bio-inspired adhesive with high adhesion performance and excellent dynamic switching properties is still a challenge.A Shape Memory Polymer Bio-inspired Adhesive(SMPBA)was successfully developed,well realizing high adhesion(about 337 kPa),relatively low preload(about90 kPa),high adhesion-to-preload ratio(about 3.74),high switching ratio(about 6.74),and easy detachment,which are attributed to the controlled modulus and contact area by regulating temperature and the Shape Memory Effect(SME).Furthermore,SMPBA exhibits adhesion strength of80–337 kPa on various surfaces(silicon,iron,and aluminum)with different roughness(Ra=0.021–10.280)because of the conformal contact,reflecting outstanding surface adaptability.The finite element analysis verifies the bending ability under different temperatures,while the adhesion model analyzes the influence of preload on contact area and adhesion.Furthermore,an Unmanned Aerial Vehicle(UAV)landing device with SMPBA was designed and manufactured to achieve UAV landing on and detaching from various surfaces.This study provides a novel switchable bio-inspired adhesive and UAV landing method.

Test and numerical investigations on static and dynamic characteristics of extra-wide concrete self-anchored suspension bridge under vehicle loads

The present work is aimed at studying the mechanic properties of the extra-wide concrete self-anchored suspension bridge under static and dynamic vehicle loads. Based on the field test using 12 heavy trucks and finite element simulations, the static deformations of different components, stress increments and distributions of the girder, as well as the vibration characteristics and damping ratio of the Hunan Road Bridge were analyzed, which is the widest self-anchored suspension bridge in China at present. The dynamic responses were calculated using the Newmark-β integration method assisted by the simulation models of bridge and vehicles, the influences on the dynamic impact coefficient(DIC) brought by the vehicle parameters, girder width, eccentricity travel and deck flatness were also researched. The spatial effect of the girder is obvious due to the extra width, which performs as the stress increments distribute unevenly along the transverse direction, and the girder deflections and stress increments of the upper plate change as a "V" and "M" shape respectively under the symmetrical vehicle loads affected by the shear lag effect, cross slope and local effect of the wheels, the maximum of stress increments are located in the junctions with the inner webs. The obvious girder torsional deformation and the apparent unevenness of the hanger forces between the two cable planes under the eccentric vehicle loads, together with the mode shapes such as the girder transverse bending and torsion which appear relatively earlier, all reflect the weakened torsional rigidity of the extra-wide girder. The transverse displacements of towers are more obvious than the longitudinal ones. As for the influences on the DIC, the static effect of the heavier vehicles plays a major role when pass through with a higher speed and the changes of vehicle suspension stiffness generate greater impacts than the suspension damp. The values of DIC in the vehicle-running side during the eccentric travel, affected by the restricts from the static effects of the eccentric moving trucks, are significantly smaller than the vehicle-free side, the increase in the road roughness is the most sensitive one among the above influential factors. The results could provide references for the design, static and dynamic response analysis of the similar extra-wide suspension bridges.

Transfigured Loop Shaping Controller and its Application to Underwater Vehicle

A kind of transfigured loop shaping controller is presented in this paper. A transfigured loop shaping system puts a controller K in a feedback loop, while putting the dc gain of the controller K on the reference signal line. It is shown through frequency domain analysis and simulation that a transfigured controller can improve the dynamic behavior of a system. The transfigured loop shaping controller method is simple and effective and corresponds to the mixed sensitivity method of robust control theory, which improves the behavior of a system by iterative tuning of weighting functions. Satisfactory control results are obtained when it is applied to the design of an underwater vehicle. Keywords Loop shaping controller - underwater vehicle - transfiguration Zhang Xianku graduated from Beijing Institute of Clothing Technology, China, in 1990. He received the M. S. degree from Dalian Maritime University (DMU), China, in 1993 and the Ph.D. degree from DMU, in 1998. He is currently a professor at the Laboratory of Simulation and Control of Navigation Systems, Dalian Maritime University. His research interests include ship motion control and robust control.Jin Yicheng graduated from Zhejiang University, China, in 1967. He is currently a professor at the Laboratory of Simulation and Control of Navigation Systems, Dalian Maritime University. His research interests include simulating system of ship steering and visual control.

Stabilization of coordinated motion for underwater vehicles

This paper presents a coordinating and stabilizing control law for a group of underwater vehicles with unstable dynamics. The coordinating law is derived from a potential that only depends on the relative configuration of the underwater vehicles. Being coordinated,the group behaves like one mechanical system with symmetry,and we focus on stabilizing a family of coordinated motions,called relative equilibria. The stabilizing law is derived using energy shaping to stabilize the relative equilibria which involve each vehicle translating along its longest（unstable） axis without spinning,while maintaining a relative configuration within the group. The proposed control law is physically motivated and avoids the linearization or cancellation of nonlinearities.

Autopilot Control Synthesis for Path Tracking Maneuvers of Underwater Vehicles

This paper is concerned with the robust control synthesis of autonomous underwater vehicle （AUV） for general path following maneuvers. First, we present maneuvering kinematics and vehicle dynamics in a unified framework. Based on H∞ loop-shaping procedure, the 2-DOF autopilot controller has been presented to enhance stability and path tracking. By use of model reduction, the high-order control system is reduced to one with reasonable order, and further the scaled low-order controller has been analyzed in both the frequency and the time domains. Finally, it is shown that the autopilot control system provides robust performance and stability against prescribed levels of uncertainty.

Study on hysteresis phenomenon in the acceleration phase of supercavitation vehicle

This paper aims to explore cavity shape variation regularity in the acceleration phase of supercavitat- ing vehicle. According to the theory of Homogenous Equilibrium Flow,with Mixture Multiphase Model,by setting up the flow speed at the inlet boundary as a function of time,this study carried out the experiments for the supercavitation vehicle's numeral model and obtained the variation regularity of cavity shape,the viscous drag coefficient and the cavity hysteresis time when the supercavitating vehicle was in the phase of acceleration. Results show that when the vehicle is in the phase of acceleration,at the same cavitation number,the cavity size decrease with the increase of acceleration. With the decrease of cavity number,the effect of acceleration on cavity shape is smaller,but the viscous drag increases along with the increase of acceleration. On the condition when the velocity reaches equality uniform status,the cavity hysteresis decreases as the acceleration becomes smaller. On the condition of the same acceleration,the cavity hysteresis time decreases as the velocity increases.

Reduction of global effects on vehicles after IED detonations

Global effects caused by the detonation of an IED near a military vehicle induce subsequent severe acceleration effects on the vehicle occupants.Two concepts to minimize these global effects were developed,with the help of a combined method based on a scaled experimental technology and numerical simulations.The first concept consists in the optimization of the vehicle shape to reduce the momentum transfer and thus the occupant loading.Three scaled V-shaped vehicles with different ground clearances were built and compared to a reference vehicle equipped with a flat floor.The second concept,called dynamic impulse compensation(DIC),is based on a momentum compensation technique.The principal possibility of this concept was demonstrated on a scaled vehicle.In addition,the numerical simulations have been performed with generic full size vehicles including dummy models,proving the capability of the DIC technology to reduce the occupant loading.

高速飞行器气动控制耦合优化设计方法研究

针对传统串行设计过程由于空气动力学和控制系统数学模型复杂、无法综合考虑气动和控制的多目标优化的问题,提出了一种面向高速飞行器气动控制耦合优化设计方法。基于气动单学科代理优化(SBO)算法,将飞行器主动控制技术(ACT)的思想与多学科优化方法(MDO)相结合,构建了高速飞行器气动控制耦合多目标优化流程架构。在2马赫来流条件下,对带有控制舵的双锥体外形开展了气动耦合优化设计研究,以提升飞行器的气动性能和控制能力为优化目标。结果表明:经过气动控制耦合优化后的最优模型在超声速环境下,升力系数和升阻比分别提升了0.401%、2.999%,同时超调量与控制增益分别降低了2.769%、0.655%,气动性能和控制能力得到提升,验证了耦合策略的可行性;气动控制耦合优化的最优模型不仅使飞行器在超声速工作环境下性能更卓越,还有助于降低后续控制系统的设计难度,提高飞行器设计效率。所提气动控制耦合优化设计方法为高速飞行器的先进设计提供了必要的技术支撑。

基于刚柔耦合模型的多轴车辆平顺性仿真分析

针对采用一体化设计、整体式车身结构的多轴车辆,建立刚柔耦合虚拟样机模型,对多轴车辆的平顺性进行研究。基于驾驶室连接方式、驾驶室结构形式和驾驶室顶部连通形式3个设计要素,分析整车在不同载重和不同工况下的平顺性。分析表明,带有斜支撑桁架结构的驾驶室能够有效降低车辆行驶时驾驶室的加权加速度均方根值;顶部不连通的结构形式驾驶室舒适性更好;通过优化驾驶室结构形式和顶部连通形式,车辆在空载和满载情况下的平顺性得到了较大的改善,能够更好地满足使用要求。

基于构架运动状态的轨道几何形位检测方法研究与应用

轨道几何状态检测对保证行车安全至关重要,列车上搭载检测系统检测线路,成本低且及时高效,但多采用基于加速度的惯性基准法解算轨道几何形位,适用于轨道质量较好线路,不适用于线形复杂、基础设施差的重载铁路.提出一种基于构架运动状态的轨道几何形位检测方法,利用构架姿态角及位移解算轨道几何形位.基于该方法研制了搭载式轨道动态检查仪,设备结构简单且成本低.在某重载铁路试验,系统运行稳定,解算结果经重复性分析并与轨检车检测结果对比,检测结果可靠且满足线路日常巡检需要.

基于匹配的车载环视图像拼接标定研究

车载环视系统是辅助安全驾驶、消除车身四周盲区的重要有效装备,为改善图像拼接标定的精度及实现自动标定,设计图像拼接标定板,提出形状匹配的标定方法。标定板采用圆形图案并按矩形及对角五点布局方式,适用于“F-B-L-R”和“F-B-L-R-Z-Y”及多节牵引挂车场合,基于形状匹配的算法融合最小二乘法、图像金字塔及模板预训练的方法,实现了图像拼接标定。仿真实验表明,标定板具有良好的鲁棒性、算法具有良好的标定精度,能够实现自动化标定。

悬挂式单轨车辆的倒T形辙叉道岔通过性能

[目的]悬挂式单轨交通系统具有良好的发展前景,对于其车辆过道岔的动力学性能研究目前较少,需对此进行研究。[方法]采用UM(多体动力学)软件建立车辆动力学模型,以车体最大振动加速度、走行轮最大垂向力、导向轮及稳定轮最大垂向力、车体及悬吊梁最大侧滚角为主要评价指标,针对应用于悬挂式单轨交通系统的倒T形辙叉道岔,进行悬挂式单轨车辆道岔通过性能研究。[结果及结论]倒T形辙叉道岔结构的导向轨面不平顺较大,悬挂式单轨车辆在通过曲线道岔时,很难保证导向轮的导向力不超过安全限值。针对此问题提出了一种导向轨面补偿装置。应用此导向轨面补偿装置后,悬挂式单轨车辆可以以15 km/h的速度安全通过半径为50 m的倒T形辙叉道岔,动力学性能有明显改善。

基于RCS仿真技术的特种车辆隐身造型设计

目的为提高地面特种车辆的隐身性,对某款特种车辆工业造型进行优化设计,提高车辆在雷达探测环境下的生存能力,同时拓展车辆造型设计风格特征。方法首先,基于雷达隐身设计原理,以车身造型轮廓为设计要素,构建设计要素的几何轮廓特征;其次,通过参数化形状文法进行车身造型多方案设计;最后,通过RCS数值模拟计算技术,对不同造型方案的RCS值进行计算,筛选相对最优方案,针对造型进行细节设计。结果相较原车身造型,所有优化设计造型方案的RCS值均全面减小,其中最优方案RCS均值减小55%,前视角RCS值减小幅度最大约58%,侧向视角RCS值减小幅度最大约43%,车身整体RCS值达到预期设计目标,有效提高了车身整体的造型隐身性能。结论以轮式特种车辆的造型设计为例,通过形状文法与参数化设计工具辅助车身造型的多方案设计。基于RCS仿真技术为特种车辆的隐身造型优化设计提供合理性验证与评价,提高了车身造型多方案设计的精确性,为特种车辆隐身造型的工业设计提供参考。

水滴形热管阵列预冷器综合换热特性数值研究

提出了一种应用于高超声速飞行器进气预冷的水滴形热管阵列预冷器构想,以实现进气预冷的高效换热和低流动损失。基于将热管处理为恒定温度导热体的简化模型假设,采用数值模拟方法研究了水滴形热管预冷器的流动换热特性以及水滴热管形状、纵向间距和来流马赫数的影响,并与具有相同截面积的圆形热管预冷器进行了对比分析。结果表明,水滴外形减少了外掠高温来流在热管尾缘脱落涡的产生,流动变得平滑。与圆形热管预冷器相比,水滴形热管预冷器极大地减小了高温来流流动损失,仅为圆形热管阵列的30%。虽然温降有所降低,但综合性能因子大于圆形热管预冷器。在本文的研究参数范围内,存在相对较优的水滴形状和热管纵向间距,可以获得更高的综合换热特性;随着来流马赫数增大,预冷器的综合换热特性有所提升。

结合形状文法与交互式遗传算法的列车头型设计

[目的]典型的列车头型美学设计方法普遍依赖于设计人员的主观经验和直觉,已不能满足快速迭代和大规模定制的设计与生产需求。因此,针对列车头型的美学设计问题,提出了一种结合形状文法与交互式遗传算法的列车头型生成式设计方法。[方法]对列车头型不同层次的形状特征线进行分析与提取,结合形状文法对设计元素特征线进行抽象创作;采用交互式遗传算法对造型设计特征进行编码,考虑到用户在评价方案过程中审美认知的模糊性,适应度采用模糊赋值方法,实现头型设计的智能多样化选择;以磁悬浮列车头型设计为例进行验证。[结果及结论]与传统交互式遗传算法的精确赋值相比,采用高斯隶属函数来模糊表示进化个体的适应度值,可以降低用户评价过程中的心理负担。结合形状文法与交互式遗传算法的列车头型生成式设计方法,可以有效改善概念方案质量,提升设计效率。在交互评价过程中,随着进化代数的增加,用户针对方案的平均交互评价时间逐渐减少,这体现了用户对方案理解的渐进性,也说明了交互式生成技术方法符合用户的认知模式。

运载火箭姿态控制速率陀螺自适应加权方法

针对运载火箭反馈控制回路中弹性振动信号与刚体信号存在耦合,会明显降低姿控系统稳定性的问题,提出了一种速率陀螺自适应加权方法,该方法适用于弹性振动的模态振型斜率和频率存在偏差的情况。将速率陀螺观测信号转换为频域表达,采用插值离散傅里叶变换方法辨识弹性频率;基于频域信号提出了速率陀螺加权系数矩阵自适应更新算法,分步抑制了各阶弹性振动信号;开展了不同偏差情况下的仿真校验工作。仿真结果表明,速率陀螺自适应加权方法可实现对速率陀螺测量信号中弹性振动信号的显著抑制,从源头上减小弹性振动信号对姿控系统稳定性的不利影响,从而提高运载火箭姿态控制器的性能,降低控制器的设计难度。

基于激光遥感的甲烷泄漏源搜索系统

为了弥补传统人工在天然气生产、运输和存储过程甲烷泄漏巡检中存在的劳动强度大、容易漏检、耗时耗力等不足,提出了一种基于激光遥感吸收光谱技术的甲烷泄漏搜索系统.选用近红外1653.7 nm的TO封装DFB激光器作为光源,以收发一体的卡塞格林光学结构进行发射激光和接收来自反射回来的微弱光信号,采用嵌入式单片机实现光信号的调制与解调.以开源ArduPilot AMP2.8作为无人机的飞控,采用433 MHz无线模块进行甲烷泄漏数据实时传送,计算机接收端以LabView虚拟仪器开发了接收应用程序进行数据的接收、显示和存储.以体积分数为10-3的甲烷气袋为搜索目标,采用Z字形搜索算法模拟了现场甲烷泄漏搜索实验.实验结果表明,该算法具有较高的检测精度和定位准确性,能够准确地检测到甲烷泄漏源位置.这为天然气泄漏源的快速检测和定位提供了有效的技术支持.

Aerodynamic/control integrated optimization method for unpowered high-speed vehicle configuration design

The unpowered high-speed vehicle experiences a significant coupling between the disciplines of aerodynamics and control due to its characteristics of high flight speed and extensive maneuverability within large airspace.The conventional aircraft conceptual design process follows a sequential design approach,and there is an artificial separation between the disciplines of aerodynamics and control,neglecting the coupling effects arising from their interaction.As a result,this design process often requires extensive iterations over long periods when applied to high-speed vehicles,and may not be able to effectively achieve the desired design objectives.To enhance the overall performance and design efficiency of high-speed vehicles,this study integrates the concept of Active Control Technology(ACT)from modern aircraft into the philosophy of aerodynamic/control integrated optimization.Two integrated optimization strategies,with differences in coupling granularity,have been developed.Subsequently,these strategies are put into action on a biconical vehicle that operates at Mach 5.The results reveal that the comprehensive performance of the synthesis optimal model derived from the aerodynamic/control integrated optimization strategy is improved by 31.76%and 28.29%respectively compared to the base model under high-speed conditions,demonstrating the feasibility and effectiveness of the method and optimization strategies employed.Moreover,in comparison to the single-stage strategy,the multi-stage strategy takes into deeper consideration the impact of control capacity.As a result,the control performance of the synthesis opti-mal model derived from the multi-stage strategy improves by 13.99%,whereas the single-stage strategy only achieves a 5.79%improvement.This method enables a fruitful interaction between aerodynamic configuration design and control system design,leading to enhanced overall performance and design efficiency.Furthermore,it improves the controllability of high-speed vehicles,mitigating the risk of mission failure resulting from an ineffective control system.

几何形状对气垫升力的影响研究

One of the crucial and challenging issues for researchers is presenting an appropriate approach to evaluate the aerodynamic characteristics of air cushion vehicles(ACVs)in terms of system design parameters.One of these issues includes introducing a suitable approach to analyze the effect of geometric shapes on the aerodynamic characteristics of ACVs.The main novelty of this paper lies in presenting an innovative method to study the geometric shape effect on air cushion lift force,which has not been investigated thus far.Moreover,this paper introduces a new approximate mathematical formula for calculating the air cushion lift force in terms of parameters,including the air gap,lateral gaps,air inlet velocity,and scaling factor for the first time.Thus,we calculate the aerodynamic lift force applied to nine different shapes of the air cushions used in the ACVs in the present paper through the ANSYS Fluent software.The geometrical shapes studied in this paper are rectangular,square,equilateral triangle,circular,elliptic shapes,and four other combined shapes,including circle-rectangle,circle-square,hexagonal,and fillet square.Results showed that the cushion with a circular pattern produces the highest lift force among other geometric shapes with the same conditions.The increase in the cushion lift force can be attributed to the fillet with a square shape and its increasing radius compared with the square shape.

吸气式高超声速机动飞行样式及其关键技术分析

机动飞行性能是确保吸气式高超声速飞行器实现多种应用的关键能力之一,本文重点对吸气式高超声速飞行器机动能力特点进行研究。首先分析了国外吸气式高超声速飞行器的发展趋势,就其典型机动能力水平和机动样式进行了初步分析,以美国当前典型高超声速导弹项目为例,梳理了吸气式高超声速飞行器的典型机动应用样式。在此基础上,从总体设计、气动外形、飞发一体、制导控制、多场耦合等方面,梳理分析了确保和提升吸气式高超声速飞行器机动能力的关键支撑性技术。