Neural Network Based Terminal Sliding Mode Control for WMRs Affected by an Augmented Ground Friction With Slippage Effect

Wheeled mobile robots(WMRs) encounter unavoidable slippage especially on the low adhesion terrain such that the robots stability and accuracy are reduced greatly.To overcome this drawback,this article presents a neural network(NN) based terminal sliding mode control(TSMC) for WMRs where an augmented ground friction model is reported by which the uncertain friction can be estimated and compensated according to the required performance.In contrast to the existing friction models,the developed augmented ground friction model corresponds to actual fact because not only the effects associated with the mobile platform velocity but also the slippage related to the wheel slip rate are concerned simultaneously.Besides,the presented control approach can combine the merits of both TSMC and radial basis function(RBF) neural networks techniques,thereby providing numerous excellent performances for the closed-loop system,such as finite time convergence and faster friction estimation property.Simulation results validate the proposed friction model and robustness of controller;these research results will improve the autonomy and intelligence of WMRs,particularly when the mobile platform suffers from the sophisticated unstructured environment.

An improved apparent permeability model considering full pore pressure range,variable intrinsic permeability and slippage coefficient

Although the slippage effect has been extensively studied,most of the previous studies focused on the impact of the slippage effect on apparent permeability within a low pore pressure range,resulting in the inability of matching the evolution of permeability in the remaining pressure range.In this paper,a new apparent permeability model that reveals the evolution of permeability under the combined action of effective stress and slippage in the full pore pressure range was proposed.In this model,both intrinsic permeability and slippage coefficient are stress dependent.Three experimental tests with pore pressure lower than 2 MPa and a test with pore pressure at about 10 MPa using cores from the same origin under constant confining stress and constant effective stress are conducted.By comparing experimental data and another apparent permeability model,we proved the fidelity of our newly developed model.Furthermore,the contribution factor of the slippage effect Rslip is used to determine the low pore pressure limit with significant slippage effect.Our results show that both narrow initial pore size and high effective stress increase the critical pore pressure.Finally,the evolutions of the slippage coefficient and the intrinsic permeability under different boundary conditions were analyzed.

Distributed Control of Nonholonomic Robots Without Global Position Measurements Subject to Unknown Slippage Constraints

This paper studies the fully distributed formation control problem of multi-robot systems without global position measurements subject to unknown longitudinal slippage constraints.It is difficult for robots to obtain accurate and stable global position information in many cases,such as when indoors,tunnels and any other environments where GPS(global positioning system)is denied,thus it is meaningful to overcome the dependence on global position information.Additionally,unknown slippage,which is hard to avoid for wheeled robots due to the existence of ice,sand,or muddy roads,can not only affect the control performance of wheeled robot,but also limits the application scene of wheeled mobile robots.To solve both problems,a fully distributed finite time state observer which does not require any global position information is proposed,such that each follower robot can estimate the leader’s states within finite time.The distributed adaptive controllers are further designed for each follower robot such that the desired formation can be achieved while overcoming the effect of unknown slippage.Finally,the effectiveness of the proposed observer and control laws are verified by simulation results.

Effect of the Inclination Angle on Slippage Loss in Gas-Liquid Two-Phase Flow

The lifting efficiency and stability of gas lift well are affected by the socalled slippage-loss effect in gas-liquid two-phase flow.The existing studies on this subject have generally been based on vertical and horizontal wells.Only a few of them have considered inclined pipes.In the present work a new focused study is presented along these lines.More specifically,we use the non-slip pressure drop model with Flanigan’s fluctuation correction coefficient formula(together with the parameters of slippage density,slippage pressure drop and slippage ratio)to analyze the influence of the inclination angle on slippage loss for different conditions(different gas-liquid superficial velocity and pipe diameters).Moreover,the“standard regression coefficient method”is used for multi-factor sensitivity analysis.The experimental results indicate that slippage loss is affected by multiple factors,and the influence of the inclination angle on slippage loss is less significant than other factors.The change of the slippage pressure drop with the superficial velocity of gas-liquid is similar to that of the total pressure drop.The inclination angles of 45°and 60°have the greatest influence on slippage loss.The correlation between slippage density and slippage ratio is not obvious.Using the so-called slippage ratio seems to be a more accurate option to evaluate the degree of slippage loss.

Optimization of Casing Design Parameters to Mitigate Casing Failure Caused by Formation Slippage

There has been lack of work efforts on how to optimize cementing and completing parameters in order to prevent casing failure induced by formation slippage in pertroleum industry scope.Once the weak plane fails,the formation will become easily undertaken slippage across a large area along its interface.The plenty of horizontal planes of weakness in reservoir formations,as reported for a number of oilfields,can easily undertaken slippage once it fails.To address the problem,three-dimensional finite element models were established by taking into considerations the elastoplastic mechanical characteristics of both the casing and the near-wellbore rock.Two types of casing impairment scenarios were considered:Casing collapse(that causes tubing stuck in the well)and complete casing shear-off.In this study,the critical slip displacement of casing shear damage under both cemented and un-cemented conditions was calculated,and the critical displacement of casing with various wall thicknesses and steel grades was compared.A new cementing practice for the Daqing oilfield was then proposed by optimizing casing parameters according to API standards,and a new research method was also put forward by proposing new casing materials to effectively mitigate casing failure caused by formation slippage for the future.Modeling results indicate that the stress and deformation associated with casing in the un-cemented condition is more diffused and the critical slippage displacement is larger than that in the cemented condition.Therefore,the un-cemented condition is more effective in preventing casing shear failure and easier for casing repair,for the case of casing damage caused by formation shear slippage.Casing elongation is the key parameter of casing shear failure in the un-cemented condition.Lower grade casing exhibits a larger critical slippage displacement because of its higher elongation capacity under stress.Casing with lower grade and smaller thickness provides more advantages in preventing casing damage in formations abundant with horizontal weak layers.If the elongation of casing can be largely improved,the critical displacement value can be increased by 21.40%.Higher grade and thicker casing is adapted for mitigate casing failure caused by formation slippage.

Analytical solution of coal-bed methane migration with slippage effects in hypotonic reservoir

Using theoretical analysis, the single-phase gas seepage mathematical model influenced by slippage effects was established. The results show that the pressure of producing wells attenuates more violently than the wells without slippage effects. The decay rate of reservoir pressure is more violent as the Klinkenherg factor increases. The gas prediction output gradually increases as the Klinenberg factor increases when considering gas slippage effects. Through specific examples, analyzed the law of stope pore pressure and gas output forecast changing in a hypotonic reservoir with slippage effects. The results have great theoretical significance in the study of the law of coal-bed methane migration in hypotonic reservoirs and for the exploitation of coal-bed methane.

Parameter Identification and Application of Slippage Kinematics for Tracked Mobile Robots

A new parameter identification method is proposed to solve the slippage problem when tracked mobile robots execute turning motions.Such motion is divided into two states in this paper:pivot turning and coupled turning between angular velocity and linear velocity.In the processing of pivot turning,the slippage parameters could be obtained by measuring the end point in a square path.In the process of coupled turning,the slippage parameters could be calculated by measuring the perimeter of a circular path and the linear distance between the start and end points.The identification results showed that slippage parameters were affected by velocity.Therefore,a fuzzy rule base was established with the basis on the identification data,and a fuzzy controller was applied to motion control and dead reckoning.This method effectively compensated for errors resulting in unequal tension between the left and right tracks,structural dimensions and slippage.The results demonstrated that the accuracy of robot positioning and control could be substantially improved on a rigid floor.

SLIPPAGE SOLUTION OF GAS PRESSURE DISTRIBUTION IN PROCESS OF LANDFILL GAS SEEPAGE

A mathematical model of landfill gas migration was established under presumption of the effect of gas slippage. The slippage solutions to the nonlinear mathematical model were accomplished by the perturbation and integral transformation method. The distribution law of gas pressure in landfill site was presented under the conditions of considering and neglecting slippage effect. Sensitivity of the model input parameters was analyzed. The model solutions were compared to observation values. Results show that gas slippage effect has a large impact on gas pressure distribution. Landfill gas pressure and pressure gradient considering slippage effect is lower than that neglecting slippage effect, with reasonable agreement between model solution and measured data. It makes clear that the difference between considering and neglecting slippage effect is obvious and the effects of coupling cannot be ignored. The theoretical basis is provided for engineering design of security control and decision making of gas exploitation in landfill site. The solutions give scientific foundation to analyzing well test data in the process of low-permeability oil gas reservoir exploitation.

Boundary slippage for generating hydrodynamic load-carrying capacity

Boundary slippage is used to generate the load-carrying capacity of the hydrodynamic contact between two parallel plane surfaces. In the fluid inlet zone, the fluidcontact interfacial shear strength on a stationary surface is set at low to generate boundary slippage there, while in the fluid outlet zone the fluid-contact interfacial shear strength on the stationary surface is set at high enough to prevent the occurrence of boundary slippage. The fluid-contact interfacial shear strength on the entire moving surface is set at high enough to prevent boundary slippage on the moving surface. These hydrodynamic contact configurations are analyzed to generate the pronounced load-carrying capacity. The optimum ratio of the outlet zone width to the inlet zone width for the maximum load-carrying capacity of the whole contact is found to be 0.5.

Effects of boundary slippage on thin-film lubricationbetween two nonparallel plane plates

Hydrodynamic lubrications between two plane plates with an intersection angle θ have been investigated us- ing the boundary slippage theory, and relations are obtained between dimensionless pressures and coordinate x, between bearing capacity, friction force, friction coefficient and di- mensionless slipping size factor. The results show that bear- ing capacity of two plane plates without boundary slippage significantly increases with increasing intersection angle θ when 0 〈 θ 〈 1°, whereas decreases with increasing in- tersection angle 0 when θ 〉 1°. The results also show that negative pressure occurs in fluid entrance region and bearing capacity decreases, and friction force and friction coefficient increase with the increase of dimensionless slipping size fac- tor.

Damage Accumulation in Rail Steel under Rolling with Slippage and Its Analysis

Experime ntal research results of surface damage accumulation in rail steel under rolling with slippage are presented. Hertz contact for two rollers made of rail and whe el steels was realized in the test. The influence of loading regime upon wear of rail is considered. The estimation of characteristics of surface fracture resis tance for rail steel is made. The method to predict the life of rail steel under given conditions of regular loading is proposed.

The experiment study on slippage effect of the coal-bed methane transfusion

When the gas flow in the compact porous medium at low speed,it has slippage effect which is caused by the gas molecular collision whit the solidskeleton.Using the gas transfusion slippage effect at researching the coal bed transfusion rule,established the transfusion mathematical model of the coal bed which had considered the slippage effect. Observing the influence of the different toencircle presses,the different hole press and the different actual stress to the coal bed by using the three-axles permeameter.Thus sum- marized the transfusion rule of the coal bed.The experiment indicates that the bigger of the surrounding pressure,the more obvious of the slippage effect.At the same condition of axial pressure and the surrounding pressure,with the increase of the hole pressure,the coal permeability became bigger and then smaller.The coal body effective tress and the permeability curve nearly also has the same change tendency.Thus we can draws the conclusion that the transfusion of the gas in the coal bed generally has the slippage effect.

Commentary on the Lamellar-Repulsive-Slippage Lubrication

In this article, we evaluated surface topographical images of the bovine (cartilage/cartilage) pair friction. In healthy joints, the cartilage (AC) surface coated with phospholipid multi-bilayers is activated by the lamellar-repulsive-slippage lubrication mechanism. Hydrophilic and negatively charged (--) natural cartilage surface is covered by phospholipid bilayers. These phospholipids have been demonstrated to exert highly desirable characteristics on the surface of articular cartilage such as efficient lubrication, load processing, and semi-permeability for nutrient transport. We attempt to demonstrate phospholipids involvement in boundary lubrication of articular cartilage by: 1) the surface amorphous layer (SAL);2) negatively charged surface;3) lamellar-repulsive lubrication;and 4) lamellar-slippage mechanism in (cartilage/cartilage) pair lubrication. The secret of the super low friction and wear between the cartilage-bearing surfaces is lamellar-repulsive and slippage mechanism of lubrication. We also present the evidence that the superficial phospholipid bilayer covering the articular surface of cartilage has a primary function of creating a hydrophilic surface with wetting properties, and hence, of controlling interfacial properties under 7.4 pH values. We conclude that lamellar bilayers slippage, as well as the short-range repulsion between the interfaces of the negatively charged (-) cartilage surfaces, is a primary determinant of the low frictional properties of the joint.

巷帮煤体整体滑脱型冲击地压锚杆防冲支护原理及工程实践

冲击地压是目前严重影响煤炭安全有效开采的灾害之一,研究锚杆防冲支护原理和技术对防治巷道冲击地压灾害具有重要意义和价值。通过对巷帮煤体整体冲入型冲击地压发生的地质条件以及破坏特征进行总结分析,认为坚硬顶板与坚硬煤层是此类型冲击地压的重要地质特征,而巷帮煤体整体滑脱是其主要冲击破坏特征。在此基础上,以巷帮滑脱煤体为研究对象,建立了顶板-巷道-底板复合结构体力学模型,建立了巷帮煤体发生水平滑移的极限平衡方程,并对各个参数进行分析。结果表明:由于顶板反弹使巷帮煤体竖直方向压力降低,巷帮煤体被构造应力推入巷道发生冲击地压。基于该发生机制模型,认为目前的锚杆支护设计体系在防治巷帮煤体冲入型冲击地压存在不足,并基于其发生和破坏特征,建立了针对巷帮煤体整体滑脱型冲击地压的锚杆防冲支护设计原则,即将顶和底帮锚杆锚固端分别穿层打入稳定的顶底板内,并使用长锚索取代中部帮锚杆,提供锚杆支护的防冲作用。基于新建立的锚杆防冲支护设计方法,以大屯矿区孔庄煤矿7305工作面防冲支护为工程背景,在宽煤柱段巷帮锚杆支护采取了防冲设计,帮顶、底部锚杆及补强锚索均锚固于顶底板内部,能够有效吸收煤体滑动动能,提高安全性。

具有不确定滑转的轮式移动机器人轨迹跟踪控制方法

轮式移动机器人在松软复杂地形条件下容易发生车轮滑转,影响轨迹跟踪精度.为提高机器人在该情况下的轨迹跟踪准确性,提出了一种基于容错控制的自适应滑转补偿控制器.首先,考虑车轮滑转率建立了四轮移动机器人运动学模型,并构建了相应的轨迹跟踪误差模型;然后,根据容错控制方法设计了滑转补偿项,并基于Lyapunov稳定性理论证明了自适应滑转补偿控制器的稳定性,实现了对由车轮滑转引起的速度误差的准确补偿;最后,利用四轮移动机器人进行了两种工况下的实验验证.结果表明,设计的控制器能够使移动机器人在未知的车轮滑转率条件下准确跟踪理想路径,并且相较于常规控制器有更强的鲁棒性和更高的跟踪精度.

不同直径玄武岩纤维对沥青混合料性能影响

为研究玄武岩纤维直径参数对AC-13C型沥青混合料性能的影响,对7, 13, 25μm三种不同直径纤维改性后的沥青混合料的高温性能、低温性能和抗裂性能进行检测和对比分析,并结合滑移理论分析玄武岩纤维的直径对混合料中增强作用的影响.结果表明,不同直径的玄武岩纤维在不同程度上增强了沥青混合料的高温、低温、抗裂性能,在相同玄武岩纤维掺量下,纤维的直径越小,其对沥青混合料的增强效果越明显,这是由于纤维直径越小时滑移率越小,混合料性能增强效果越好.

考虑螺栓滑移效应的角钢输电塔抗震性能研究

为研究螺栓滑移效应对角钢输电塔抗震性能的影响,利用ABAQUS有限元软件中的非线性弹簧模拟角钢输电塔节点的刚度特性,建立考虑螺栓滑移效应的角钢输电塔有限元模型,基于数值模型开展角钢输电塔的动力特性、地震响应、失效倒塌和地震易损性分析.结果表明:考虑螺栓滑移效应后,角钢输电塔的振型不变但各阶自振频率有不同程度的降低,说明在传统设计方法中高估了角钢输电塔的整体刚度.考虑螺栓滑移效应后,角钢输电塔在地震作用下的主材轴力响应、塔身位移响应和易损性增加,其失效机理和倒塌形式也发生改变.在抗震设计中考虑螺栓滑移效应的影响有助于准确预测角钢输电塔的失效位置,对保障震区输电线路的可靠性与安全性有重要意义.

2023年甘肃积石山6.2级地震青海灾区地震地质灾害初步调查分析

北京时间2023年12月18日23时59分,甘肃省积石山县(35.70°N, 102.79°E)发生6.2级地震,积石山县大河家镇为本次地震的宏观震中,地震烈度为Ⅷ度(8度)。通过2023年12月18日甘肃积石山MS6.2地震青海地区的现场初步调查发现,这次地震造成大量房屋倒塌,多处出现滑坡、地裂缝和喷砂冒水(液化)现象。由于震区浅表土质松软,地下含水较多,地震的破裂和构造作用造成浅表地体的流滑。本文简要介绍了本次地震的烈度分布、地震地质灾害类型及特点,分析讨论总结此次地震灾害的特征及影响。本研究可为地质灾害重点防范区范围划定、趋势预测和灾后重建提供科学参考,对今后抗震设防和防震减灾工作有启示作用。

页岩储层水力裂缝和天然裂缝交互规律

页岩储层的大量天然裂缝会在水力压裂中影响水力裂缝扩展路径,厘清二者交互规律对于明确储层裂缝扩展机制及优化裂缝网络具有指导意义。文中利用真实页岩岩心,在提前预置单一裂缝基础上,模拟水力压裂过程中水力裂缝与天然裂缝的交互行为;采用单一变量法,研究水力裂缝逼近角、注入孔深度、天然裂缝胶结强度、围压对二者交互行为的影响。结果表明:交互状况有水力裂缝打开天然裂缝、沿天然裂缝穿行一定距离后偏转、穿过天然裂缝3种,而打开时最大滑移量和最大滑移速率在所有交互结果中最高,偏转时次之,穿过时最小;相比张性起裂,裂缝剪切起裂下最大滑移速率较小,最大滑移量较大。逼近角大、注入孔深度小、天然裂缝胶结强度大、围压高均有利于水力裂缝均衡扩展;反之,则易沟通天然裂缝形成复杂缝网。该研究成果对改善裂缝网络形态及优化页岩储层压裂设计具有一定的借鉴意义。

基于ANSYS Workbench的无袖紧身传感服装设计

为减小人体运动时搭载于紧身服装上的传感模块与人体皮肤间的滑移,采用数值模拟仿真的方法对服装进行了优化设计。首先,利用逆向工程软件Geomagic Studio,建立了人体上半身和无袖紧身服装实体模型;其次,根据紧身服装的款式及各区域皮肤变形范围,对无袖紧身服装进行了裁剪分片设计;最后,以跑步时人体的运动状态为例,利用ANSYS Workbench有限元分析平台,研究了当不同弹性面料组合成服装时传感模块装配点相对皮肤的位置变化。结果显示,当前片和后片选择弹性较好的面料、肩膀和侧边片选择弹性较差的面料时,传感模块与人体皮肤之间的滑移量较小。