MODELING, VALIDATION AND OPTIMAL DESIGN OF THE CLAMPING FORCE CONTROL VALVE USED IN CONTINUOUSLY VARIABLE TRANSMISSION

Associated dynamic performance of the clamping force control valve used in continuously variable transmission （CVT） is optimized. Firstly, the structure and working principle of the valve are analyzed, and then a dynamic model is set up by means of mechanism analysis. For the purpose of checking the validity of the modeling method, a prototype workpiece of the valve is manufactured for comparison test, and its simulation result follows the experimental result quite well. An associated performance index is founded considering the response time, overshoot and saving energy, and five structural parameters are selected to adjust for deriving the optimal associated performance index. The optimization problem is solved by the genetic algorithm （GA） with necessary constraints. Finally, the properties of the optimized valve are compared with those of the prototype workpiece, and the results prove that the dynamic performance indexes of the optimized valve are much better than those of the prototype workpiece.

A framework of force of information influence and application for C4KISR system

The subversive nature of information war lies not only in the information itself, but also in the circulation and application of information. It has always been a challenge to quantitatively analyze the function and effect of information flow through command, control, communications, computer, kill, intelligence,surveillance, reconnaissance (C4KISR) system. In this work, we propose a framework of force of information influence and the methods for calculating the force of information influence between C4KISR nodes of sensing, intelligence processing,decision making and fire attack. Specifically, the basic concept of force of information influence between nodes in C4KISR system is formally proposed and its mathematical definition is provided. Then, based on the information entropy theory, the model of force of information influence between C4KISR system nodes is constructed. Finally, the simulation experiments have been performed under an air defense and attack scenario. The experimental results show that, with the proposed force of information influence framework, we can effectively evaluate the contribution of information circulation through different C4KISR system nodes to the corresponding tasks. Our framework of force of information influence can also serve as an effective tool for the design and dynamic reconfiguration of C4KISR system architecture.

The effect of controllable train-tail devices on the longitudinal impulse of the combined trains under initial braking

The 20,000-ton combined train running has greatly promoted China’s heavy-haul railway transportation capability. The application of controllable train-tail devices could improve the braking wave of the train and braking synchronism, and alleviate longitudinal impulse.However, the characteristics of the controllable train-tail device such as exhaust area, exhaust duration and exhaust action time are not uniform in practice, and their effects on the longitudinal impulse of the train are not apparent,which is worth studying. In this work, according to the formation of the Datong-Qinhuangdao Railway, the train air brake and longitudinal dynamics simulation system(TABLDSS) is applied to establish a 20,000-ton combined train model with the controllable train-tail device, and the braking characteristics and the longitudinal impulse of the train are calculated synchronously with changing the air exhaust time, exhaust area, and action lag time under initial braking. The results show that the maximum coupler force of the combined train will decrease with the extension of the continuous exhaust time, while the total exhaust time of the controllable train-tail device remains unchanged;the maximum coupler force of the combined train reduces by32.5% with the exhaust area increasing from 70% to 140%;when the lag time between the controllable train-tail device and the master locomotive is more than 1.5 s, the maximum coupler force of the train increases along with the time difference enlargement.

Optimal guidance strategy for flexible load based on hybrid direct load control and time of use

The time-of-use(TOU)strategy can effectively improve the energy consumption mode of customers,reduce the peak-valley difference of load curve,and optimize the allocation of energy resources.This study presents an Optimal guidance mechanism of the flexible load based on strategies of direct load control and time-of-use.First,this study proposes a period partitioning model,which is based on a moving boundary technique with constraint factors,and the Dunn Validity Index(DVI)is used as the objective to solve the period partitioning.Second,a control strategy for the curtailable flexible load is investigated,and a TOU strategy is utilized for further modifying load curve.Third,a price demand response strategy for adjusting transferable load is proposed in this paper.Finally,through the case study analysis of typical daily flexible load curve,the efficiency and correctness of the proposed method and model are validated and proved.

小说The Use of Force的叙述特点分析

从语言的角度讲,小说主要由叙述和引语两部分组成,即叙述、描写或评论和直接或间接引语。叙述是小说的主线,引语则是叙述的主要组成部分。美国短篇小说The Use ofForce篇幅虽短,但在叙述视角和引语的使用方面具有鲜明的特色。基于此,试从叙述和引语的使用两方面对The Use ofForce进行分析,旨在总结出该小说的叙述特点。

Spatial patterns and driving forces of land use change in China during the early 21st century

Land use and land cover change as the core of coupled human-environment systems has become a potential field of land change science （LCS） in the study of global environmental change. Based on remotely sensed data of land use change with a spatial resolution of 1 km × 1 km on national scale among every 5 years, this paper designed a new dynamic regionalization according to the comprehensive characteristics of land use change including regional differentiation, physical, economic, and macro-policy factors as well. Spatial pattern of land use change and its driving forces were investigated in China in the early 21 st century. To sum up, land use change pattern of this period was characterized by rapid changes in the whole country. Over the agricultural zones, e.g., Huang-Huai-Hai Plain, the southeast coastal areas and Sichuan Basin, a great proportion of fine arable land were engrossed owing to considerable expansion of the built-up and residential areas, resulting in decrease of paddy land area in southern China. The development of oasis agriculture in Northwest China and the reclamation in Northeast China led to a slight increase in arable land area in northern China. Due to the ＂Grain for Green＂ policy, forest area was significantly increased in the middle and western developing regions, where the vegetation coverage was substantially enlarged, likewise. This paper argued the main driving forces as the implementation of the strategy on land use and regional development, such as policies of ＂Western Development＂, ＂Revitalization of Northeast＂, coupled with rapidly economic development during this period.

Improved hybrid position/force controller design of a flexible robot manipulator using a sliding observer

An improved hybrid position/force controller design of a flexible robot manipulator is presented using a sliding observer. The friction between the end effector and the environment is considered and compensated. For systematic reasons the controller is designed taking into consideration the rigid link subsystems and the flexible joints. The proposed control system satisfies the stability of the two subsystems and copes with the uncertainty of robot dynamics. A sliding observer is designed to estimate the time derivative of the torque applied as input to the rigid part of the robot. For the stability of the observer, it is assumed that the uncertainty of the observed system is bounded. A MRAC algorithm is used for the estimation of the friction forces at the contact point between the end effector and the environment. Finally simulation and experimental results are given, to demonstrate the effectiveness of the proposed controller.

Modeling the relationship of land use change and some geophysical indicators for the interlock area of farming and pasturing in China

This paper discusses land-use changes in the interlock area of farming and pasturing (IAFP) in northern China. It presents detailed analyses of land-use features in the IAFP, which are controlled by the macro geomorphic units and geophysical conditions-constraints or advantages. Additionally, it selects some indicators, according to the availability in acquiring and processing their quantitative data, to analyze the canonical correlations between the typical conversion of grassland and geophysical conditions. The preliminary study indicates that the physical conditions are of great advantages to the development of grassland. There exists significant correlation between land use change and some geophysical conditions.

Deep Learning Applied to Computational Mechanics:A Comprehensive Review,State of the Art,and the Classics

Three recent breakthroughs due to AI in arts and science serve as motivation:An award winning digital image,protein folding,fast matrix multiplication.Many recent developments in artificial neural networks,particularly deep learning(DL),applied and relevant to computational mechanics(solid,fluids,finite-element technology)are reviewed in detail.Both hybrid and pure machine learning(ML)methods are discussed.Hybrid methods combine traditional PDE discretizations with ML methods either(1)to help model complex nonlinear constitutive relations,(2)to nonlinearly reduce the model order for efficient simulation(turbulence),or(3)to accelerate the simulation by predicting certain components in the traditional integration methods.Here,methods(1)and(2)relied on Long-Short-Term Memory(LSTM)architecture,with method(3)relying on convolutional neural networks.Pure ML methods to solve(nonlinear)PDEs are represented by Physics-Informed Neural network(PINN)methods,which could be combined with attention mechanism to address discontinuous solutions.Both LSTM and attention architectures,together with modern and generalized classic optimizers to include stochasticity for DL networks,are extensively reviewed.Kernel machines,including Gaussian processes,are provided to sufficient depth for more advanced works such as shallow networks with infinite width.Not only addressing experts,readers are assumed familiar with computational mechanics,but not with DL,whose concepts and applications are built up from the basics,aiming at bringing first-time learners quickly to the forefront of research.History and limitations of AI are recounted and discussed,with particular attention at pointing out misstatements or misconceptions of the classics,even in well-known references.Positioning and pointing control of a large-deformable beam is given as an example.

Trajectory Tracking of a Planer Parallel Manipulator by Using Computed Force Control Method

Despite small workspace, parallel manipulators have some advantages over their serial counterparts in terms of higher speed, acceleration, rigidity, accuracy, manufacturing cost and payload. Accordingly, this type of manipulators can be used in many applications such as in high-speed machine tools, tuning machine for feeding, sensitive cutting, assembly and packaging. This paper presents a special type of planar parallel manipulator with three degrees of freedom. It is constructed as a variable geometry truss generally known planar Stewart platform. The reachable and orientation workspaces are obtained for this manipulator. The inverse kinematic analysis is solved for the trajectory tracking according to the redundancy and joint limit avoidance. Then, the dynamics model of the manipulator is established by using Virtual Work method. The simulations are performed to follow the given planar trajectories by using the dynamic equations of the variable geometry truss manipulator and computed force control method. In computed force control method, the feedback gain matrices for PD control are tuned with fixed matrices by trail end error and variable ones by means of optimization with genetic algorithm.

Application and Analysis of Force Control Strategies to Deburring and Grinding

This paper aims to give an insight into the development and evaluation of force controlled machining processes with a commercially available setup. We will focus on a deburring and a grinding scenario, representing the major applications in today’s robot machining. Whereas the deburring use-case implements a force dependent feed-rate control, the grinding use-case implements an orthogonal force (pressure) control. Both strategies will be evaluated and the influence of general machining and robot specific parameters will be discussed.

Decentralized adaptive neural network sliding mode position/force control of constrained reconfigurable manipulators

A decentralized adaptive neural network sliding mode position/force control scheme is proposed for constrained reconfigurable manipulators. Different from the decentralized control strategy in multi-manipulator cooperation, the proposed decentralized position/force control scheme can be applied to series constrained reconfigurable manipulators. By multiplying each row of Jacobian matrix in the dynamics by contact force vector, the converted joint torque is obtained. Furthermore, using desired information of other joints instead of their actual values, the dynamics can be represented as a set of interconnected subsystems by model decomposition technique. An adaptive neural network controller is introduced to approximate the unknown dynamics of subsystem. The interconnection and the whole error term are removed by employing an adaptive sliding mode term. And then, the Lyapunov stability theory guarantees the stability of the closed-loop system. Finally, two reconfigurable manipulators with different configurations are employed to show the effectiveness of the proposed decentralized position/force control scheme.

Force Control Compensation Method with Variable Load Stiffness and Damping of the Hydraulic Drive Unit Force Control System

Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit（HDU）, and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation, i.e., this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters, thereby, the online PID parameters tuning control method which is complex needs not be adopted. All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.

Mechanism of controlling turbulent channel flow with the effect of spanwise Lorentz force distribution

A direct numerical simulation（DNS） is performed to investigate the control effect and mechanism of turbulent channel flow with the distribution of spanwise Lorentz force. A sinusoidal distribution of constant spanwise Lorentz force is selected, of which the control effects, such as flow characters, mean Reynolds stress, and drag reductions, at different parameters of amplitude A and wave number k_x are discussed. The results indicate that the control effects vary with the parameter A and k_x. With the increase of A, the drag reduction rate D_r first increases and then decreases rapidly at low k_x,and slowly at high k_x. The low drag reduction（or even drag increase） is due to a weak suppression or even the enhancements of the random velocity fluctuation and mean Reynolds stress. The efficient drag reduction is due to the quasi-streamwise vortex structure induced by Lorentz force, which contributes to suppressing the random velocity fluctuation and mean Reynolds stress, and the negative vorticity improves the distribution of streamwise velocity. Therefore, the optimal control effect with a drag reduction of up to 58% can be obtained.

Numerical study of the turbulent channel flow under space-dependent electromagnetic force control at different Reynolds numbers

In this paper, the control of turbulent channel flow by space-dependent electromagnetic force and the mechanism of drag reduction are investigated with the direct numerical simulation(DNS) methods for different Reynolds numbers. A formulation is derived to express the relation between the drag and the Reynolds shear stress. With the application of optimal electromagnetic force, the in-depth relations among characteristic structures in the flow field, mean Reynolds shear stress, and the effect of drag reduction for different Reynolds numbers are discussed. The results indicate that the maximum drag reductions can be obtained with an optimal combination of parameters for each case of different Reynolds numbers. The regular quasi-streamwise vortex structures, which appear in the flow field, have the same period with that of the electromagnetic force.These structures suppress the random velocity fluctuations, which leads to the absolute value of mean Reynolds shear stress decreasing and the distribution of that moving away from the wall. Moreover, the wave number of optimal electromagnetic force increases,and the scale of the regular quasi-streamwise vortex structures decreases as the Reynolds number increases. Therefore, the rate of drag reduction decreases with the increase in the Reynolds number since the scale of the regular quasi-streamwise vortex structures decreases.

Analysis to driving forces of land use change in Lu’an mining area

By selecting impact factors of driving force and formulating evaluation criteria of the impacts, the evaluation system of corresponding driving force impact of land use change was established. Taking Lu'an mining area as an example, the specific impact factors of coal mine were comprehensively evaluated and analyzed in order to carry out qualitative and quantitative analysis for the driving force of mining-land use change. The principal component analysis shows that the social and economic development in mining area from 2000 to 2007 demonstrates continuous accelerate trends, and the impacts of its overall driving force to land use change are increased gradually. The socio-economic factors have more impacts to mining-land use change than those of the natural resources. The main driving force of mining-land use change also include population, technological progress and policy.

Precise Compound Control of Loading Force for Electric Load Simulator of Electric Power Steering Test Bench

Electric load simulator(ELS) systems are employed for electric power steering(EPS) test benches to load rack force by precise control. Precise ELS control is strongly influenced by nonlinear factors. When the steering motor rapidly rotates, extra force is directly superimposed on the original static loading error, which becomes one of the main sources of the final error. It is key to achieve ELS precise loading control for the entire EPS test bench. Therefore, a three-part compound control algorithm is proposed to improve the loading accuracy. First, a fuzzy proportional–integral plus feedforward controller with force feedback is presented. Second, a friction compensation algorithm is established to reduce the influence of friction. Then, the relationships between each quantity and the extra force are analyzed when the steering motor rapidly rotates, and a net torque feedforward compensation algorithm is proposed to eliminate the extra force. The compound control algorithm was verified through simulations and experiments. The results show that the tracking performance of the compound control algorithm satisfies the demands of engineering practice, and the extra force in the ELS system can be suppressed by the net torque corresponding to the actuator’s acceleration.

Finite-time tracking control and vibration suppression based on the concept of virtual control force for flexible two-link space robot

The dynamic modeling, finite-time trajectory tracking control and vibration suppression of a flexible two-link space robot are studied. Firstly, the dynamic model of the system is established by combining Lagrange method with assumed mode method. In order to ensure that the base attitude and the joints of space robot can reach the desired positions within a limited time, a non-singular fast terminal sliding mode(NFTSM) controller is designed, which realizes the finite-time convergence of the trajectory tracking errors. Subsequently, for the sake of suppressing the vibrations of flexible links, a hybrid trajectory based on the concept of the virtual control force is developed, which can reflect the flexible modes and the trajectory tracking errors simultaneously. By modifying the original control scheme, a NFTSM hybrid controller is proposed. The hybrid control scheme can not only realized attitude stabilization and trajectory tracking of joints in finite time, but also provide a new method of vibration suppression. The simulation results verify the effectiveness of the designed hybrid control strategy.

Experimental Investigations of Axial Force Monitoring and Control for Friction Stir Welding Process

Friction stir welding( FSW) is a solid-state welding process that utilizes a rotating tool to induce gross material plastic deformation and join two parts together. A large number of studies have indicated that axial force control can be used to achieve good welding quality. However,in the welding process,due to workpiece's geometry error,improper clamping and other process variations,the axial force can vary significantly and produce welding defects.The control of force in the process of FSW is investigated. At first,the development and evaluation of a closed-loop control system is described,which is equipped with a custom real-time wireless force dynamometer for FSW. Then,an axial force controller is designed based on nonlinear force controllers for FSW. Experimental validations are carried out on an FSW platform. The experimental results demonstrate that the controller maintains the constant axial force and shows desirable dynamic behavior, even when the disturbance is encountered during the welding process.

Assessing the Effect of Natural Controls and Land Use Change on Sediment Yield in a Major Andean River:The Magdalena Drainage Basin,Colombia

马格达莱纳河是哥伦比亚安第斯山区的一个世界级的河流网络，该河流年产沙量约为150Mt，是全世界10大主要产沙河流之一。在本研究中，我们探讨主要自然因子和人类活动对马格达莱纳河流域产沙模式的影响，重建该区森林砍伐和农业活动时空模式，探讨土地利用变化与产沙趋势的关系。我们的研究结果表明，整个马格达莱纳河流域的产沙量可以用自然变量（包括径流量和最大河水流量）来解释。这两个因子解释了产沙量58％的变化。含沙率和土地利用的时间分析表明，在过去10～20年里流域侵蚀呈现增加的趋势。许多人类活动的影响，包括森林覆被在20年里减小了近40％．农业和牧场增加了65％、土壤保持差、开矿活动，以及城市化的加速，都促进了该地区域尺度上产沙量的增加。