足式机器人SLIP模型向上跳跃台阶的运动控制

由于存在地势起伏,台阶对足式机器人运动稳定性会带来较大挑战.弹簧负载倒立摆模型(SLIP)作为研究足式机器人的优良模板,能否完成向上跳跃台阶的动作与其腿部摆角,起跳位置和跳跃高度都有密切的关系.由于调整模型腿部摆角规律容易引发运动失效,故本文在算法中引入虚拟弹簧腿,根据虚拟弹簧腿的运行规律确定合理起跳位置,根据起跳位置来控制系统跳跃高度进而完成跳跃台阶的动作.最后利用仿真软件进行多组仿真,结果表明本文算法对起跳区间划分合理,对起跳高度控制精准,能够实现SLIP模型跳跃台阶前后的稳定运动.

Revealing the role of pyramidal slip in the high ductility of Mg-Li alloy

The high ductility of Mg-Li alloy has been mainly ascribed to a high activity of pyramidal<c+a>slip to accommodate plastic strain.In the present study,however,a quantitative analysis reveals that Li-addition can only slightly stimulate the activation of pyramidal<c+a>slip under compression along the normal direction of a hot-rolled Mg-4.5 wt.%Li plate,with a relative activity of approximately 18%.Although the limited activity of pyramidal<c+a>slip alone cannot accommodate a large plastic strain,it effectively reduces the number of{10.11}−{10.12}double twins,which are believed to be favorable sites for crack initiation.The evidently reduced activity of double twins leads to a lower cracking tendency,and therefore improves ductility.

Effect of boundary slip on electroosmotic flow in a curved rectangular microchannel

The aim of this study is to numerically investigate the impact of boundary slip on electroosmotic flow(EOF) in curved rectangular microchannels. Navier slip boundary conditions were employed at the curved microchannel walls. The electric potential distribution was governed by the Poisson–Boltzmann equation, whereas the velocity distribution was determined by the Navier–Stokes equation. The finite-difference method was employed to solve these two equations. The detailed discussion focuses on the impact of the curvature ratio, electrokinetic width, aspect ratio and slip length on the velocity. The results indicate that the present problem is strongly dependent on these parameters. The results demonstrate that by varying the dimensionless slip length from 0.001 to 0.01 while maintaining a curvature ratio of 0.5 there is a twofold increase in the maximum velocity. Moreover, this increase becomes more pronounced at higher curvature ratios. In addition, the velocity difference between the inner and outer radial regions increases with increasing slip length. Therefore, the incorporation of the slip boundary condition results in an augmented velocity and a more non-uniform velocity distribution. The findings presented here offer valuable insights into the design and optimization of EOF performance in curved hydrophobic microchannels featuring rectangular cross-sections.

Coseismic deformation and fault slip distribution of the 2023 M_(W)7.8 and M_(W)7.6 earthquakes in Türkiye

On February 6,2023,a devastating earthquake with a moment magnitude of M_(W)7.8 struck the town of Pazarcik in south-central Türkiye,followed by another powerful earthquake with a moment magnitude of M_(W)7.6 that struck the nearby city of Elbistan 9 h later.To study the characteristics of surface deformation caused by this event and the influence of fault rupture,this study calculated the static coseismic deformation of 56 stations and dynamic displacement waveforms of 15 stations using data from the Turkish national fixed global navigation satellite system(GNSS)network.A maximum static coseismic displacement of 0.38 m for the M_(W)7.8 Kahramanmaras earthquake was observed at station ANTE,36 km from the epicenter,and a maximum dynamic coseismic displacement of 4.4 m for the M_(W)7.6 Elbistan earthquake was observed at station EKZ1,5 km from the epicenter.The rupture-slip distributions of the two earthquakes were inverted using GNSS coseismic deformation as a constraint.The results showed that the Kahramanmaras earthquake rupture segment was distinct and exposed on the ground,resulting in significant rupture slip along the Amanos and Pazarcik fault segments of the East Anatolian Fault.The maximum slip in the Pazarcik fault segment was 10.7 m,and rupture occurred at depths of 0–15 km.In the Cardak fault region,the Elbistan earthquake caused significant ruptures at depths of 0–12 km,with the largest amount of slip reaching 11.6 m.The Coulomb stress change caused by the Kahramanmaras earthquake rupture along the Cardak fault segment was approximately 2 bars,and the area of increased Coulomb stress corresponded to the subsequent rupture region of the M_(W)7.6 earthquake.Thus,it is likely that the M_(W)7.8 earthquake triggered or promoted the M_(W)7.6 earthquake.Based on the cumulative stress impact of the M_(W)7.8 and M_(W)7.6 events,the southwestern segment of the East Anatolian Fault,specifically the Amanos fault segment,experienced a Coulomb rupture stress change exceeding 2 bars,warranting further attention to assess its future seismic hazard risk.

Neural Network-Based Adaptive Motion Control for a Mobile Robot with Unknown Longitudinal Slipping

When the mobile robot performs certain motion tasks in complex environment, wheel slipping inevitably occurs due to the wet or icy road and other reasons, thus directly influences the motion control accuracy. To address unknown wheel longitudinal slipping problem for mobile robot, a RBF neural network approach based on whole model approximation is presented. The real-time data acquisition of inertial measure unit(IMU), encoders and other sensors is employed to get the mobile robot’s position and orientation in the movement, which is applied to compensate the unknown bounds of the longitudinal slipping using the adaptive technique. Both the simulation and experimental results prove that the control scheme possesses good practical performance and realize the motion control with unknown longitudinal slipping.

Method of adaptive PLL bandwidth adjustment without phase slipping

In a system based on the phase lock loop（PLL）, a trade-off must be made between the tracking precision and the dynamic performance if constant parameters are adopted. To overcome this drawback, a new method called no phase slipping adaptive bandwidth（NPS-AB） is proposed, which can adjust the loop bandwidth adaptively for different working conditions. As a result, both the tracking precision and the dynamic performance can be achieved concurrently. NPS-AB has two features to keep the loop stable： one is the capability of quick response to dynamics; the other is a series of additional constraints when the bandwidth is switched. Compared with other methods, there is no phase slipping during the adjustment process for NPS-AB. The phase integer ambiguity can be avoided and the phase value is kept valid. It is meaningful for carrier ranging systems. Simulation results show that NPS-AB can deal with sudden dynamics and keep the pseudo-range value stable in the entire dynamic process.

Slipping Phenomenon in Polymeric Fluids Flow between Parallel Planes

At this article studies of nonlinear viscoelastic fluid with one internal tensor parameter flow between parallel planes under a constant pressure gradient, taking into account the slipping phenomenon on the boundary. Numerically depending found on the components of the stress tensor and the flow velocity of the pressure gradient and the distance to the wall, enabled us to explain the emergence of non-parabolic profile of the flow velocity of the polymeric melt.

SYNCHRONOUS EFFECT OF SLIPPING HEAVY LOADS ON RO-RO SHIP ROLLING IN WAVES

Common effect of wave and slip of internal vehicles will make rolling of the roll-on ship serious. This is one of the important reasons for overturn of ro-ro ships. The multibody system with a floating base is composed of ro-ro ship and slipping vehicles. Takes the rolling angle of the ship and the transverse displacements of the slipping vehicles on desk as freedoms. Making use of the analysis of apparent gravitation and apparent buoyancy, the wave rolling moment is derived. By means of dynamic method of multibody system, dynamic equations of the system are established. Taking a certain channel ferry as an example, a set of numerical calculation have been carried out for rolling response of the multibody system with a floating base of a ro-ro ship and displacements response of the slipping vehicles under common effect of free slipping vehicles and wave, and a conclusion has been drawn that the motion of the numerous free slipping heavy loads will trend to be synchronous under restraining of the side-wall bulkhead with time because of repeated collision.

GREEN'S FUNCTIONS FOR ANISOTROPIC PIEZOELECTRIC BIMATERIALS WITH A SLIPPING INTERFACE

An explicit full-field expression of the Green's functions for anisotropic piezoeleetric bimateri- als with a slipping interface is derived.When the electro-elastic singularity reduces to a pray dislocation in displacement and electric potential,interaction energy,between the dislocation and the bimaterials is obtained explicitly while the generalized force on the disloeation is given in a real form whieh is also valid for degener- ate materials.The investigation demonstrates that the houndary conditions at lhe slipping interface between two piezoelectric materials will exert a prominent influence on the mobility of the dislocation.

Loading direction dependence of asymmetric response of pyramidal slip in rolled AZ31 magnesium alloy

Textured magnesium alloys usually exhibit anisotropic mechanical behavior due to the asymmetric activation of different twinning and slipping modes.This work focuses on the pyramidal slip responses of rolled AZ31 magnesium alloy under two loading conditions,compressive and tensile loading along the normal direction.Under the condition where the compressive loading direction is closely parallel to the c-axis of the unit cell,tensile twinning and basal slips are prohibited, dislocations then active and tend to accumulate at grain boundaries and form dislocation walls.Meanwhile,these dislocations exhibit zigzag morphologies,which result from the cross-slip from {10■1} first-order pyramidal plane to {11■2} second-order pyramidal plane,then back to {10■1} first-order pyramidal plane.Under the condition where tensile twins are prevalent,{10■1} first-order and {11■2} second-order pyramidal dislocations are favorable to be activated.Both types of dislocations behave climb-like dissociations onto the basal plane,forming zigzag dislocations.

Tensioner Vibration and Belt Slipping Behavior Investigation for Damped Serpentine Belt Drive Systems

A nonlinear rotational motion model for n-pulley damped serpentine belt drive systems （SBDSs） was developed.The effects of the belt deflection along the contact arc of pulleys on the belt span tensions were considered.The methods for calculating the tensioner arm vibration and belt slipping on pulleys were introduced.The effects of belt damping on rotational vibration of tensioner arm and belt slipping on pulleys were studied.Numerical solutions for a 3-pulley SBDS indicate that the belt slipping at the steady states should be controlled to avoid belt slipping at transient states.The slip factors tend to decrease when the belt damping increases,and the possibility of the belt slipping can be controlled through adjusting the wrap angles of pulleys and the preload of the tensioner when the design parameters of SBDS remain constant.

Wall slip behavior of cemented paste backfill slurry during pipeline based on noncontact experimental detection

Wall slip is a microscopic phenomenon of cemented paste backfill(CPB)slurry near the pipe wall,which has an important influence on the form of slurry pipe transport flow and velocity distribution.Directly probing the wall slip characteristics using conventional experimental methods is difficult.Therefore,this paper established a noncontact experimental platform for monitoring the microscopic slip layer of CPB pipeline transport independently based on particle image velocimetry(PIV)and analyzed the effects of slurry temperature,pipe diameter,solid concentration,and slurry flow on the wall slip velocity of the CPB slurry,which refined the theory of the effect of wall slip characteristics on pipeline transport.The results showed that the CPB slurry had an extensive slip layer at the pipe wall with significant wall slip.High slurry temperature improved the degree of particle Brownian motion within the slurry and enhanced the wall slip effect.Increasing the pipe diameter was not conducive to the formation of the slurry slip layer and led to a transition in the CPB slurry flow pattern.The increase in the solid concentration raised the interlayer shear effect of CPB slurry flow and the slip velocity.The slip velocity value increased from 0.025 to 0.056 m·s^(-1)when the solid content improved from 55wt%to 65wt%.When slurry flow increased,the CPB slurry flocculation structure changed,which affected the slip velocity,and the best effect of slip layer resistance reduction was achieved when the transported flow rate was 1.01 m^(3)·h^(-1).The results had important theoretical significance for improving the stability and economy of the CPB slurry in the pipeline.

Underlying slip/twinning activities of Mg-xGd alloys investigated by modified lattice rotation analysis

The inconsistencies regarding the fundamental correlation between Gd content and slip(twinning)activities of Mg alloys appeal further investigations.However,the traditional slip dislocations analysis by TEM is time-consuming,and that by SEM/EBSD cannot recognize the partial slip modes.These urge a more efficient and comprehensive approach to easily distinguish all potential slip modes occurred concurrently in alloy matrix.Here we report a modified lattice rotation analysis that can distinguish all slip systems and provide statistical results for slip activities in Mg alloy matrix.Using this method,the high ductility of Mg-Gd alloy ascribed to the enhanced non-basal slips,cross-slip,and postponed twinning activities by Gd addition is quantitatively clarified.

COMPUTER SIMULATION FOR THE-INFLUENCE OF WEFT-COMPRESSIBILITY ON WEAVING RESISTACE AND PICK-SLIPPING UNDER THE BALANCED-SHED

Based on the privious model,this paper discusses the effect of the compessed property of the weft on the weaving-resistance and picks slipping under unbalanced -shed.after giving a short description about the privious work.The discussion is made.under both situation of constant- cloth- tension and variable- cloth- tension respectively.

联合slipBERI与D-InSAR技术的青海省玛多县地震形变场提取与模拟

针对2021年5月22日青海玛多县Ms7.4地震震区形变信息、形变特征以及滑动断裂特性的提取与模拟等问题,获取了玛多县地震区的Sentinel-1A影像,采用双轨差分干涉法,并优化各项参数,提取出同震形变场,利用slipBERI(slip from bayesian regularized inversion)方法对断层的几何参数及形变场进行反演和模拟。结果表明:玛多地震同震形变场的形状近似于一个椭圆,断层整体呈西北-东南走向,其上部为沉降区,下部为隆升区,最大视线向(line of sight,LOS)形变分别为0.65 m和0.81 m。地震形变场的运动主要以东西方向的水平运动为主,并伴有明显的左旋走滑,断层上下方相对视线向运动可达1.50 m,表明此次地震的地表破裂有明显的错位移动。通过分析形变信息和地表破裂特征,可以判断该破裂带位于巴颜喀拉块体,为昆仑山口-江口断裂,反演结果与观测结果相符,这表明观测结果较可靠。

The June 2022 Khost earthquake in southeastern Afghanistan:A complicated shallow slip event revealed with InSAR

On June 22,2022,the Mw6.2 earthquake in southeastern Afghanistan caused a severe disaster.We used the Sentinel-1A ascending and descending track images of the European Space Agency and interferometric synthetic aperture radar(In SAR)to obtain the coseismic surface deformation field of the earthquake,which showed that the earthquake caused complex ruptures of multiple faults and various types.Using the dislocation model of the elastic half-space,we determined the focal parameters and slip distribution on the fault plane of this event.The results reveal that:(1)the seismogenic fault of this event is an unknown fault on the northeastern edge of the Katawaz microblock;(2)The slip on the fault plane is mainly in the range of 0—8 km along the dip,with maximum slips about 2 m at a depth of 2 km,which projected on the surface is 69.44°E,32.96°N.This event suggests that,similar to the Chaman,Ghazaband and other large faults,the faults inside the microblock also play an important role in adjusting for the collision stress between India and Europe.

On the strengthening and slip activity of Mg-3Al-1Zn alloy with pre-induced{1012¯}twins

{1012¯}twins were introduced into the magnesium(Mg)plate AZ31 via pre-rolling along its transverse direction.The plates,both with and without the pre-induced{1012¯}twins,were subjected to uniaxial tension along different directions.Using crystal plasticity modeling,we found that the strengthening effect of the pre-induced{1012¯}twins on the macroscopic flow stress primarily arised from the increased slip resistance caused by the boundaries,rather than the orientation hardening due to the twinning reorientation(although the latter did make its contribution in some specific loading directions).Besides,the pre-existing{1012¯}twins were found,by both experiments and simulation,to promote the activity of prismatic and pyramidal<c+a>in the parent matrix of the material.Further analysis showed that the enhanced non-basal slip activity is related to the{1012¯}twin boundaries’low micro Hall-Petch slope ratios of non-basal slips to basal slip.With the critical resolved shear stress(CRSS)obtained from crystal plasticity modeling and the orientation data from EBSD,a probability-based slip transfer model was proposed.The model predicts higher slip transfer probabilities and thus lower strain concentration tendencies at{1012¯}twin boundaries than that at grain boundaries,which agrees with the experimental observation that the strain localization was primarily associated with the latter.The present findings are helpful scientifically,in deepening our understanding of how the pre-induced{1012¯}twins affect the strength and slip activity of Mg alloys,and technologically,in guiding the design of the pre-strain protocol of Mg alloys.

Three-dimensional mixed convection stagnation-point fow past a vertical surface with second-order slip velocity

This study is concerned with the three-dimensional(3D)stagnation-point for the mixed convection flow past a vertical surface considering the first-order and secondorder velocity slips.To the authors’knowledge,this is the first study presenting this very interesting analysis.Nonlinear partial differential equations for the flow problem are transformed into nonlinear ordinary differential equations(ODEs)by using appropriate similarity transformation.These ODEs with the corresponding boundary conditions are numerically solved by utilizing the bvp4c solver in MATLAB programming language.The effects of the governing parameters on the non-dimensional velocity profiles,temperature profiles,skin friction coefficients,and the local Nusselt number are presented in detail through a series of graphs and tables.Interestingly,it is reported that the reduced skin friction coefficient decreases for the assisting flow situation and increases for the opposing flow situation.The numerical computations of the present work are compared with those from other research available in specific situations,and an excellent consensus is observed.Another exciting feature for this work is the existence of dual solutions.An important remark is that the dual solutions exist for both assisting and opposing flows.A linear stability analysis is performed showing that one solution is stable and the other solution is not stable.We notice that the mixed convection and velocity slip parameters have strong effects on the flow characteristics.These effects are depicted in graphs and discussed in this paper.The obtained results show that the first-order and second-order slip parameters have a considerable effect on the flow,as well as on the heat transfer characteristics.

Intermittent slipping of landslide regulated by dilatancy evolution and velocity-weakening friction law: an efficient numerical scheme

When a block of dense sandy soil moves downhill, the shear-induced soil dilatancy along the basal shear boundary produces a negative value of excess pore pressure that increases the basal frictional resistance. Dilatancy angle,Ψ, the degree to which the basal soil dilates due to the shear, normally evolves during slope failure. A study by other researchers shows that if Ψ is constant, the block of dense soil will remain stable(or unstable) sliding when the velocity-weakening rate of the basal friction coefficient of the block is small(or large) enough. Moreover, during unstable sliding processes, the block of dense soil exhibits "periodic" patterns of intermittent slipping. Here, we used a more efficient and accurate numerical scheme to revisit that study. We expanded their model by assuming Ψ evolves during slope failure. Consequently, we acquired completely different results. For instance, even though the velocity-weakening rate of the friction coefficient is fixed at the same smaller(or larger) value that those researchers use, the stable(or unstable) steady states of landslide they predict will inversely change to unstable(or stable) when Ψ decreases(or increases) with the increase of slide displacement to a value small(or large) enough. Particularly, in unstable processes, the soil block exhibits "aperiodic" styles of intermittent slipping, instead of "periodic". We found out that the stick states appearing later last longer(or shorter) in the case of decreasing(or increasing) Ψ. Moreover, because the basic states of landslides with impacts of dilatancy evolution are not steady nor periodic, traditional stability-analysis methods cannot be "directly" used to analyze the stability of such landslides. Here, we broke through this technical problem to a degree. We showed that combining a concept called "quasi-steady-state approximation" with a traditional stability-analysis technique can qualitatively predict the instability onset of the landslides. Through this study, we demonstrated that the combination of Chebyshev collocation(CC) and 4^(th)-order Runge-Kutta methods is more accurate and efficient than the numerical scheme those researchers use.

Paleostress Reconstruction from 3D Seismic Data and Slip Tendency in the Northern Slope Area of the Bongor Basin, Southwestern Chad

Paleostress plays a significant role in controlling the formation, accumulation, and distribution of reservoirs, and this could be an important factor in controlling the production of hydrocarbons from the unconventional reservoirs. In this study, we will use 3D seismic reflection data to perform the slip-tendency-based stress inversion to determine the stress field in the basement of the northern slope area in the Bongor Basin. The dataset for this technique is easily available in the oil and gas companies. The stress inversion results from the basement of the northern slope area of Bongor basin show that the maximum principal stress axis (σ1) is oriented vertically, the intermediate principal stress axis (σ2) is oriented N18° and the minimum principal stress axis (σ3) is oriented N105°, and σ2/σ1 = 0.60 and σ3/σ1 = 0.29. The findings of this paper provide significant information to understand the fault reactivation at the critical stage of hydrocarbon accumulation and the regional tectonic evolution.