An improved algorithm based on equivalent sound velocity profile method at large incident angle

With the development of ultra-wide coverage technology,multibeam echo-sounder(MBES)system has put forward higher requirements for localization accuracy and computational efficiency of ray tracing method.The classical equivalent sound speed profile(ESSP)method replaces the measured sound velocity profile(SVP)with a simple constant gradient SVP,reducing the computational workload of beam positioning.However,in deep-sea environment,the depth measurement error of this method rapidly increases from the central beam to the edge beam.By analyzing the positioning error of the ESSP method at edge beam,it is discovered that the positioning error increases monotonically with the incident angle,and the relationship between them could be expressed by polynomial function.Therefore,an error correction algorithm based on polynomial fitting is obtained.The simulation experiment conducted on an inclined seafloor shows that the proposed algorithm exhibits comparable efficiency to the original ESSP method,while significantly improving bathymetry accuracy by nearly eight times in the edge beam.

Algebraic Method‑Based Point‑to‑Point Trajectory Planning of an Under‑Constrained Cable‑Suspended Parallel Robot with Variable Angle and Height Cable Mast

To avoid impacts and vibrations during the processes of acceleration and deceleration while possessing flexible working ways for cable-suspended parallel robots(CSPRs),point-to-point trajectory planning demands an under-constrained cable-suspended parallel robot(UCPR)with variable angle and height cable mast as described in this paper.The end-effector of the UCPR with three cables can achieve three translational degrees of freedom(DOFs).The inverse kinematic and dynamic modeling of the UCPR considering the angle and height of cable mast are completed.The motion trajectory of the end-effector comprising six segments is given.The connection points of the trajectory segments(except for point P3 in the X direction)are devised to have zero instantaneous velocities,which ensure that the acceleration has continuity and the planned acceleration curve achieves smooth transition.The trajectory is respectively planned using three algebraic methods,including fifth degree polynomial,cycloid trajectory,and double-S velocity curve.The results indicate that the trajectory planned by fifth degree polynomial method is much closer to the given trajectory of the end-effector.Numerical simulation and experiments are accomplished for the given trajectory based on fifth degree polynomial planning.At the points where the velocity suddenly changes,the length and tension variation curves of the planned and unplanned three cables are compared and analyzed.The OptiTrack motion capture system is adopted to track the end-effector of the UCPR during the experiment.The effectiveness and feasibility of fifth degree polynomial planning are validated.

Stability of the Dividing Distribution Function Method for ParticleSize Distribution Analysis in Small Angle X－Ray Scattering

The Dividing Distribution Function (DDF) method is one of the methods by which the particle size distribution of ultrafine powder can be evaluated from its small angle X-ray scattering data. In this paper, the stability of the solution obtained from DDF method has been investigated through optimizing the coefficient matrix, introducing a damping factor and a least square treatment. All calculations were accomplished with a microcomputer. It was shown that the average deviations of the size distribution obtained are not larger than the assigned random errors to the scattering intensities as long as the corresponding requirements are satisfied.

Determining Atmospheric Boundary Layer Height with the Numerical Differentiation Method Using Bending Angle Data from COSMIC

This paper presents a new method to estimate the height of the atmospheric boundary layer(ABL) by using COSMIC radio occultation bending angle(BA) data. Using the numerical differentiation method combined with the regularization technique, the first derivative of BA profiles is retrieved, and the height at which the first derivative of BA has the global minimum is defined to be the ABL height. To reflect the reliability of estimated ABL heights, the sharpness parameter is introduced, according to the relative minimum of the BA derivative. Then, it is applied to four months of COSMIC BA data(January, April, July, and October in 2008), and the ABL heights estimated are compared with two kinds of ABL heights from COSMIC products and with the heights determined by the finite difference method upon the refractivity data. For sharp ABL tops(large sharpness parameters), there is little difference between the ABL heights determined by different methods, i.e.,the uncertainties are small; whereas, for non-sharp ABL tops(small sharpness parameters), big differences exist in the ABL heights obtained by different methods, which means large uncertainties for different methods. In addition, the new method can detect thin ABLs and provide a reference ABL height in the cases eliminated by other methods. Thus, the application of the numerical differentiation method combined with the regularization technique to COSMIC BA data is an appropriate choice and has further application value.

Novel Real-Time Seam Tracking Algorithm Based on Vector Angle and Least Square Method

Real-time seam tracking can improve welding quality and enhance welding efficiency during the welding process in automobile manufacturing.However,the teaching-playing welding process,an off-line seam tracking method,is still dominant in automobile industry,which is less flexible when welding objects or situation change.A novel real-time algorithm consisting of seam detection and generation is proposed to track seam.Using captured 3D points,space vectors were created between two adjacent points along each laser line and then a vector angle based algorithm was developed to detect target points on the seam.Least square method was used to fit target points to a welding trajectory for seam tracking.Furthermore,the real-time seam tracking process was simulated in MATLAB/Simulink.The trend of joint angles vs.time was logged and a comparison between the off-line and the proposed seam tracking algorithm was conducted.Results show that the proposed real-time seam tracking algorithm can work in a real-time scenario and have high accuracy in welding point positioning.

Seasonal variability of the mixed layer depth determined using an improved maximum angle method in the Arctic basins

To investigate the spatiotemporal variations in the mixed layer depth(MLD)in the Arctic basins,a new criterion to determine the MLD,called the improved maximum angle method(IMAM),was developed.A total of 45123 potential density profiles collected using Ice-Tethered Profilers(ITPs)in the Arctic basins during 2005-2021 were used to demonstrate the method’s effectiveness.By comparing the results obtained by the fixed threshold method(FTM),percentage threshold method(PTM),and maximum gradient method(MGM)for profiles in the Canada Basin,Makarov Basin,and Eurasian Basin,we determined that the quality index(1.0 for perfect identification of the MLD)of the IMAM regarding the assessment of the MLD determination method reached 0.94,which is much greater than those of other criteria.Moreover,two types of the density profiles were identified based on the mixed layer development stage.The MLDs of the typical profiles determined using the IMAM were found to have better consistency with the original definition.By utilizing the new mixed layer criterion,the seasonal variations and regional differences in the MLD in the Arctic basins were analyzed.Spatially,the summer and winter MLDs in the Canada Basin were the shallowest(13.55 m in summer,26.76 m in winter)than those in the Makarov(29.51 m in summer,49.08 m in winter)and Eurasian(20.36 m in summer,46.81 m in winter)basins due to the stable stratification in the upper ocean and the subsequent small effects of dynamic and thermodynamic processes(wind-driven stirring and brine rejection)in the Canada Basin.Seasonally,in the three Arctic basins,the average MLD was shallowest(22.77 m)in summer;it deepened through autumn and reached a winter maximum(41.12 m).

Numerical and Experimental Study on Droplet Spreading Motion after Impingement Considering Dynamic Contact Angle with CCUP （CIP-Combined Unified Procedure） Method

The contact angle is one of important parameters to simulate droplet spreading and impingement phenomena on the surface. In the most numerical research, it is assumed constant value and it is implemented as boundary condition. However, contact angle is changed according to contact line velocity and time. Hence, for accurate simulation, dynamic contact angle which has various values as time elapsed is adopted. In the present study, the numerical analysis is performed on the droplet spreading phenomena considering dynamic contact angle function which is obtained from single droplet spreading experiment on the flat and bare surface. The CIP （cubic interpolated pseudo-particle） method by Yabe is used for analysis of interface between liquid and gas phases. The numerical results considering contact angle function which newly modeled as time and contact angle are compared with numerical results considering Hoffman＇s function and experimental data for range of Weber number which are 4.427 and 11.334. In contrast of numerical result considering Hoffman＇s function, the numerical result shows good agreement with experimental data as time elapsed in contact angle evolution, deformation of droplet spreading radius and height. Indeed, overall, the results display the increasing maximum spreading radius and the decreasing height as Weber numbers increased.

Research on Design Method of Non-Circular Gear Pair with Double Generating Angles

In order to enhance the bearing capacity of non-circular gear pair, the non-circular gear pair with double generating angles is proposed based on the design idea of unsymmetrical gear with double pressure angles. The tooth profile is designed by generating cutting theory, the pure rolling mathematic model that the center line of unsymmetrical rack roll along non-circular pitch curve is built, the digital model of non-circular gear with double generating angles is created through the second development method of CAD software, and then the drive characteristic and tooth strength are analyzed. The results show that the design method for double generating angles non-circular gear proposed in this paper is feasible, which is significant to improve the bearing capacity of non-circular gear pair.

Influences of fillet radius and draft angle on local loading process of titanium alloy T-shaped components

In order to study influences of geometric parameters on the T-shaped components local loading process, a new mathematical model considering the fillet radius and draft angle was established by using the slab method. The results obtained by the mathematical model agree with the data form experiment and numerical simulation, and the results are closer to the experimental and simulation results. The influence of draft angle may be neglected under the forming conditions used. The influence of fillet radius is notable, especially in the case that the ratio of fillet radius to rib width is less than 0.75.

Relationship between rectification moment and angle of shield based on numerical simulation

The finite element method is used to simulate the rectification process of shield machine, to study the relationship between rectification moment and angle and to explore the influence laws of different soil parameters and buried depth on rectification moment. It is hoped that the reference value of rectification moment can be offered to operator, and theoretical foundation can be laid for future automatic rectification technology. The results show that the rectification moment and angle generally exhibit good linear behavior in clay layers with different soil parameters or buried depths, and then the concept of rectification coefficient, that is, the ratio of rectification angle to rectification moment, is proposed; different soil parameters and buried depths have different influences on rectification coefficient, in which elastic modulus has great influence but others have little influences; the simulations of rectification process are preformed in clay layers with different elastic modulus, and fitting results show that elastic modulus and rectification coefficient present the quadratic function relation.

Influence of Atmospheric Refraction on Horizontal Angle Surveying

Side-refraction is the main error source of horizontal angle surveying, but it has little influence on the sides by analyzing the influence of atmospheric-infraction on the ultrahigh-precision side and angle surveying. Choosing oriented direction is crucial to distance and angle measurement in triangulateration network. How to select the oriented direction during angle measurement is presented, and the means to check the quality of auto-surveying with Georobot is brought forward as well. At last some solutions to reduce the influence of side-refraction while disposing and surveying ultrahigh-precision triangulateration network are put forward.

Confining stress effect on the elastoplastic ground reaction considering the Lode angle dependence

The convergence confinement methods are solutions employed to estimate convergence in circular tunnels. They are mostly based on constitutive equations governed by the Mohr-Coulomb and Hoek-Brown yield criteria. However, the solutions based on these criteria neglect the intermediate principal stress confining effect on the ground reaction estimation. Therefore, in this paper, a Drucker-Prager yield criterion governed solution integrated with the Lode angle parameter is employed. It considers the intermediate principal stress influence and the critical effect of the parameter on failure characterization.Subsequently, it is verified with results attained from numerical simulations which consider an elasticperfectly plastic constitutive law with a non-associative flow rule within FLAC3D. It was drawn from the results that the ground reaction and plastic evolution are influenced by the confining stress.Furthermore, considering a suitable yield criterion leads to realistic convergence and plastic evolution estimation. The circumscribed DP criterion governed solution with Lode angle parameter value(0.8) is considered appropriate for the realistic ground reaction estimation in the three-dimensional(3D) stress state rock mass. It estimates approximately 3.4% of tunnel convergence as compared to the classic solutions(5%) and plastic radius estimated to be approximately 2.45 m compared to 2.84 m.

Microfibril angle variability in Masson Pine (Pinus massoniana Lamb.) using X-ray diffraction

The microfibril angle of fiber walls is an ultra-mieroscopic feature affecting the performance of wood products. It is therefore essential to get more definitive information to improve selection and utilization. X-ray diffraction is a rapid method for measuring microfibril angles. In this paper, the variability of microfibril angle in plantation-grown Masson pine was investigated by peak-fitting method. This method was compared with the traditional hand-drawn method, 40% peak height method and half peak height method. X-ray diffraction measurements indicated that the microfibril angle changed as a function of the position in the tree. The mean microfibril angle decreased more gradually as the distance increased from the pith and reached the same level in mature wood. The microfibril angle also seemed to decrease clearly from the base upward. Differences of angle-intensity curves between heartwood and sapwood were also examined.

Comparative study of two lattice Boltzmann multiphase models for simulating wetting phenomena: implementing static contact angles based on the geometric formulation

Wetting phenomena are widespread in nature and industrial applications. In general, systems concerning wetting phenomena are typical multicomponent/multiphase complex fluid systems. Simulating the behavior of such systems is important to both scientific research and practical applications. It is challenging due to the complexity of the phenomena and difficulties in choosing an appropriate numerical method. To provide some detailed guidelines for selecting a suitable multiphase lattice Boltzmann model, two kinds of lattice Boltzmann multiphase models, the modified S-C model and the H-C-Z model, are used in this paper to investigate the static contact angle on solid surfaces with different wettability combined with the geometric formulation(Ding, H. and Spelt, P.D. M. Wetting condition in diffuse interface simulations of contact line motion. Physical Review E, 75(4), 046708(2007)). The specific characteristics and computational performance of these two lattice Boltzmann method(LBM) multiphase models are analyzed including relationship between surface tension and the control parameters, the achievable range of the static contact angle, the maximum magnitude of the spurious currents(MMSC), and most importantly, the convergence rate of the two models on simulating the static contact angle. The results show that a wide range of static contact angles from wetting to non-wetting can be realized for both models. MMSC mainly depends on the surface tension. With the numerical parameters used in this work, the maximum magnitudes of the spurious currents of the two models are on the same order of magnitude. MMSC of the S-C model is universally larger than that of the H-C-Z model. The convergence rate of the S-C model is much faster than that of the H-C-Z model. The major foci in this work are the frequently-omitted important details in simulating wetting phenomena. Thus, the major findings in this work can provide suggestions for simulating wetting phenomena with LBM multiphase models along with the geometric formulation.

NEW OPTIMAL LARGE ANGLE MANEUVER STRATEGY FOR SINGLE FLEXIBLE LINK

A component synthesis vibration suppression (CSVS) method for flexible structures is put forward. It can eliminate any unwanted orders of flexible vibration modes while achieves desired rigid motion. This method has robustness to uncertainty of frequency, which makes it practical in engineering. Several time optimal and time-fuel optimal control strategies are designed for a kind of single flexible link. Simulation results validate the feasibility of our method.

Target Localization Based on Angle of Arrivals

Mobile location using angle of arrival （AOA） measurements has received considerable attention. This paper presents an approximation of maximum likelihood estimator （MLE） for localizing a source based on AOA measurements. By introducing an intermediate variable, the nonlinear equations relating AOA estimates can be transformed into a set of equations which are linear in the unknown parameters. It is an approximate realization of the MLE. Simulations show that the proposed algorithm outperforms the previous contribution.

Numerical Simulation of Flow over Stepped Spillways with Varying Step-Angle

In the present study,the flow over the stepped spillway was numerically investigated by using Flow3D model.The effect of step angle on different properties of Nappe flow regime such as the water surface profile,location of free-surface aeration inception,Froude number at the spillway’s toe,and pressure,flow velocity,air concentration and cavitation index were evaluated.The realizable k–εwas applied as the turbulence model,and Volume of Fluid(VOF)model was used to determine the free surface flow profiles of the spillway.The model was verified using experimental data.In order to investigate the different characteristics of Nappe flow regime,17 numerical runs was designed,in which,four step angles,four flow discharge were considered to investigate the flow characteristics over the stepped spillway.The results indicated that the numerical model is well suited with the experimental data over the stepped spillway(RMSE=0.147 and ARE=6.9%).In addition,with increasing the step angles,the aeration inception point is generally moved downstream.By increasing the step angles from zero to 10 degrees,the Froude number does not change significantly,however,at the angle of 15 degrees,the Froude number decreases by about 42 percent.

AngleⅡ类错矫治的临床研究

目的 :观察联合运用功能矫治器和方丝弓矫治器治疗安氏 类错牙合患者的临床效果。方法 :以近 5年来收治的 30例安氏 类错牙合临床患者 ,平均治疗时间 1 8个月 ,治疗前后均拍摄头影测量片 ,将测量结果进行分析比较 ,评价治疗效果。结果 :儿童的上颌磨牙远中移动 ,下颌磨牙近中移动明显 ,儿童颌骨前后垂直关系显著增加。结论 :联合功能矫治器及方丝弓矫治器治疗的安氏 类错牙合有满意的疗效 。

COMPUTATION OF FIELD STRUCTURE AND AERODYNAMIC CHARACTERISTICS OF DELTA WINGS AT HIGH ANGLES OF ATTACK

A numerical investigation of the structure of the vortical flowfield over delta wings at high angles of attack in longitudinal and with small sideslip angle is presented. Three-dimensional Navier-Stokes numerical simulations were carried out to predict the complex leeward-side flowfield characteristics that are dominated by the effect of the breakdown of the leading-edge vortices. The methods that analyze the flowfield structure quantitatively were given by using flowfield data from the computational results. In the region before the vortex breakdown, the vortex axes are approximated as being straight line. As the angle of attack increases, the vortex axes are closer to the root chord, and farther away from the wing surface. Along the vortex axes, as the adverse pressure gradients occur, the axial velocity decreases, that is, A is negativee, so the vortex is unstable, and it is possible to breakdown. The occurrence of the breakdown results in the instability of lateral motion for a delta wing, and the lateral moment diverges after a small perturbation occurs at high angles of attack. However, after a critical angle of attack is reached the vortices breakdown completely at the wing apex, and the instability resulting from the vortex breakdown disappears.

Improved contact angle measurement in multiphase lattice Boltzmann

Contact angle is an essential parameter to characterize substrate wettability.The measurement of contact angle in experiment and simulation is a complex and time-consuming task.In this paper,an improved method of measuring contact angle in multiphase lattice Boltzmann simulations is proposed,which can accurately obtain the real-time contact angle at a low temperature and larger density ratio.The three-phase contact point is determined by an extrapolation,and its position is not affected by the local deformation of flow field in the three-phase contact region.A series of simulations confirms that the present method has high accuracy and gird-independence.The contact angle keeps an excellent linear relationship with the chemical potential of the surface,so that it is very convenient to specify the wettability of a surface.The real-time contact angle measurement enables us to obtain the dynamic contact angle hysteresis on chemically heterogeneous surface,while the mechanical analyses can be effectively implemented at the moving contact line.