Using the principle of analytical geometry, several properties of the space straight lille are proved. Based on these properties, the equilibrium of general space force system is considered and its four new scalar-typ...Using the principle of analytical geometry, several properties of the space straight lille are proved. Based on these properties, the equilibrium of general space force system is considered and its four new scalar-type equilibrium equations are derived which are equivalent to the vector-type necessary and sufficient conditions far equilibrium.展开更多
This letter is focused on proposing an arbitrarily high-order energy-preserving method for solving the charged-particle dynamics.After transforming the original Hamiltonian energy functional into a quadratic form by u...This letter is focused on proposing an arbitrarily high-order energy-preserving method for solving the charged-particle dynamics.After transforming the original Hamiltonian energy functional into a quadratic form by using the invariant energy quadratization method,symplectic Runge-Kutta method is used to construct a novel energy-preserving scheme to solve the Lorentz force system.The new scheme is not only energy-preserving,but also can be arbitrarily highorder.Numerical experiments are conducted to demonstrate the notable superiority of the new method with comparison to the well-known Boris method and another second-order energypreserving method in the literature.展开更多
Unbalanced force produced by the unbalanced mass will affect vibrations of rotor systems,which probably results in the components failures of rotating machinery.To study the effects of unbalanced mass on the vibration...Unbalanced force produced by the unbalanced mass will affect vibrations of rotor systems,which probably results in the components failures of rotating machinery.To study the effects of unbalanced mass on the vibration characteristics of rotor systems,a flexible rotor system model considering the unbalanced mass is proposed.The time-varying bearing force is considered.The developed model is verified by the experimental and theoretical frequency spectrums.The displacements and axis orbits of flexible and rigid rotor systems are compared.The results show that the unbalanced mass will affect the vibration characteristics of rotor system.This model can be more suitable and effective to calculate vibration characteristics of rotor system with the flexible deformation and unbalanced mass.This paper provides a new reference and research method for predicting the vibrations of flexible rotor system considering the unbalanced mass.展开更多
Soft robots,as a modern gateway to unlocking the mysteries of underwater realms,present new complexities.Modeling their behavior when in contact with external forces,whether point-based or distributed,is a primary cha...Soft robots,as a modern gateway to unlocking the mysteries of underwater realms,present new complexities.Modeling their behavior when in contact with external forces,whether point-based or distributed,is a primary challenge due to the nature of soft bodies.To obtain a holistic view of the system’s behavior determining the governing dynamics is deemed necessary.This paper proposes a new technique to simulate the dynamic lateral undulation of a soft robotic fish with a cable-driven soft tail.By integrating the rigid finite element method with rigid-body robotics,the model represents the undulation of a finite number of rigid elements connected through a set of torsional spring and damper.Instead of directly modeling external forces,we substitute equivalent joint torques into the system dynamics,allowing us to consider external effects without complicating the model.The resulting model yields valuable insights into the system’s behavior,including propulsive and lateral forces.A comparison with experimental results shows strong agreement,with a tip amplitude error of 10% at 0.8 Hz,5.25% at 1.6 Hz and 2.54%at 2.2 Hz flapping frequency.These findings illuminate the influence of lateral undulation on the overall dynamics,paving the way for fully autonomous robotic fish.展开更多
Force feedback bilateral teleoperation represents a pivotal advancement in control technology,finding widespread application in hazardous material transportation,perilous environments,space and deep-sea exploration,an...Force feedback bilateral teleoperation represents a pivotal advancement in control technology,finding widespread application in hazardous material transportation,perilous environments,space and deep-sea exploration,and healthcare domains.This paper traces the evolutionary trajectory of force feedback bilateral teleoperation from its conceptual inception to its current complexity.It elucidates the fundamental principles underpinning interaction forces and tactile exchanges,with a specific emphasis on the crucial role of tactile devices.In this review,a quantitative analysis of force feedback bilateral teleoperation development trends from 2011 to 2024 has been conducted,utilizing published journal article data as the primary source of information.The review accentuates classical control frameworks and algorithms,while also delving into existing research advancements and prospec-tive breakthrough directions.Moreover,it explores specific practical scenarios ranging from intricate surgeries to hazardous environment exploration,underscoring the technology’s potential to revolutionize industries by augmenting human manipulation of remote systems.This underscores the pivotal role of force feedback bilateral teleoperation as a transformative human-machine interface,capable of shaping flexible control strategies and addressing technological bottlenecks.Future research endeavors in force feedback bilateral teleoperation are expected to prioritize the creation of more immersive experiences,overcoming technical hurdles,fortifying human-machine collaboration,and broadening application domains,particularly within the realms of medical intervention and hazardous environments.With the continuous progression of technology,the integration of human intelligence and robotic capabilities is expected to produce more innovations and breakthroughs in the field of automatic control.展开更多
Rotary steering systems(RSSs)have been increasingly used to develop horizontal wells.A static push-the-bit RSS uses three hydraulic modules with varying degrees of expansion and contraction to achieve changes in the p...Rotary steering systems(RSSs)have been increasingly used to develop horizontal wells.A static push-the-bit RSS uses three hydraulic modules with varying degrees of expansion and contraction to achieve changes in the pushing force acting on the wellbore in different sizes and directions within a circular range,ultimately allowing the wellbore trajectory to be drilled in a predetermined direction.By analyzing its mathematical principles and the actual characteristics of the instrument,a vector force closed-loop control method,including steering and holding modes,was designed.The adjustment criteria for the three hydraulic modules are determined to achieve rapid adjustment of the vector force.The theoretical feasibility of the developed method was verified by comparing its results with the on-site application data of an imported rotary guidance system.展开更多
In the field of flexible polishing,the accuracy of contact force control directly affects processing quality and material removal uniformity.However,the complex dynamic contact model and inherent strong hysteresis of ...In the field of flexible polishing,the accuracy of contact force control directly affects processing quality and material removal uniformity.However,the complex dynamic contact model and inherent strong hysteresis of pneumatic systems can significantly impact the force control accuracy of pneumatic polishing system end-effectors.To enhance responsiveness and control precision during the flexible polishing process,this study proposes an observer-based fuzzy adaptive control(OBFAC)scheme.To ensure control accuracy under an uncertain dynamic contact model,a fuzzy state observer is designed to estimate unmeasured states,while fuzzy logic approximates the uncertain nonlinear functions in the model to improve control performance.Additionally,the integral barrier Lyapunov function is employed to ensure that all states remain within predefined constraints.The stability of the proposed control scheme is analyzed using the Lyapunov function,and a pneumatic polishing experimental platform is constructed to conduct polishing contact force control experiments under multiple scenarios.Experimental results demonstrate that the proposed OBFAC scheme achieves superior tracking control performance compared to existing control schemes.展开更多
During the grinding train operation process,the grinding force between the grinding wheel and the rail is critical in ensuring the grinding quality and efficiency.The coupling vibration among the frame,the grinding wh...During the grinding train operation process,the grinding force between the grinding wheel and the rail is critical in ensuring the grinding quality and efficiency.The coupling vibration among the frame,the grinding wheels,and the wheelsets will seriously affect the stability of the grinding force.In this paper,the coupled mechanical model of the grinding wheel/rail is established based on the contact mechanics theory,which is embedded as a submodel into the dynamic model of the multi-rigid buggy.The interaction among the frame,the grinding wheels and the wheelsets is analysed by setting the convex irregularity on the rail.The grinding effect is evaluated in combination with the subway’s long wave corrugation grinding conditions.The results show that when the grinding buggy passes the convex irregularity,the vibration excited by the wheelset system has a significant impact on the dynamic behavior of the grinding wheels.The vibration of the grinding wheel is mainly transmitted between the grinding wheel and the frame,less affecting the wheelset.For the long wave corrugation of the subway,the grinding effect of the grinding wheel has a certain correlation with the phase angle of the wheelset through the corrugation.The research results provide an important reference for the setting of the grinding pattern.展开更多
The high-quality assembly of Large Aircraft Components(LACs)is essential in modern aviation manufacturing.Numerical control locators are employed for the posture adjustment of LAC,yet the system's multi-input mult...The high-quality assembly of Large Aircraft Components(LACs)is essential in modern aviation manufacturing.Numerical control locators are employed for the posture adjustment of LAC,yet the system's multi-input multi-output,nonlinearity,and strong coupling presents significant challenges.The substantial internal force generated during the adjustment process can potentially damage the LAC and degrade the assembly quality.Hence,a workspace-based hybrid force position control scheme was developed to achieve high quality assembly with high-precision and lower internal force.Firstly,an offline workspace analysis with inherent geometric characteristics to form time-varying posture error constraint.Then,the posture error is integrated into the online position axis control to ensure tracking the ideal posture,while the force control axis compensates for posture deviation by minimizing internal force,thereby achieving high precision and low internal force.Finally,the effectiveness was demonstrated through experiments.The root mean square errors of orientation and position are 104 rad and 0.1 mm,respectively.A reduction in internal force can range from 10.96%to 57.4%compared to the traditional method.Key points'max position error is decreased from 0.32 mm to 0.18 mm,satisfying the 0.5 mm tolerance.Therefore,the proposed method will help promote the development of high-performance manufacturing.展开更多
A shaking table test was performed to investigate the different responses of piles with and without cement-soil reinforcement,considering both inertial and kinematic interactions.A comparison of the dynamic shear stre...A shaking table test was performed to investigate the different responses of piles with and without cement-soil reinforcement,considering both inertial and kinematic interactions.A comparison of the dynamic shear stress−strain hysteresis curves of soil profiles on the pile side with and without cement-soil reinforced piles indicates that cement-soil reinforced piles not only bear more tremendous shear stress but also have smaller strains under the action of cyclic shear stress.Furthermore,the cement-soil on the pile side not only shares part of the shear stress and modifies the bending moment distribution but also significantly enhances the resistance of the pile-side soil,reducing the lateral displacement of the superstructure.Cement-soil reinforcement reduced shear strains,inhibited sand liquefaction,and reduced superstructure displacements by 27%−47%(instantaneous)and 40%−65%(permanent).The proportion of horizontal load sharing between cement-soil reinforcement and saturated sand is considered,along with the change pattern of the subgrade reaction after sand liquefaction.An equivalent subgrade reaction calculation method is proposed,which accounts for the horizontal load-sharing ratios of soils with two different strengths.The test results indicate that the pile stress and displacement,estimated using the equivalent subgrade reaction,are in good agreement with the observed results.展开更多
Considering the Hamaker constant,inclusion size,and distance between inclusions on the surface of the molten steel,a new collision model of the inclusions on the surface of the molten steel was established based on in...Considering the Hamaker constant,inclusion size,and distance between inclusions on the surface of the molten steel,a new collision model of the inclusions on the surface of the molten steel was established based on in-situ observed results of the collision process of different types of inclusions on the surface of the molten steel.The developed model can be used to calculate the attraction of inclusions on the surface of the molten steel including Al_(2)O_(3)MgO,SiO_(2),etc.展开更多
Bentonite is a necessary binder in producing pellets.Its excessive use reduces the iron grade of pellets and increases production costs.Minimizing bentonite dosage is essential for producing high-quality iron ore pell...Bentonite is a necessary binder in producing pellets.Its excessive use reduces the iron grade of pellets and increases production costs.Minimizing bentonite dosage is essential for producing high-quality iron ore pellets.Addressing the gap in the application of organically-intercalated modified bentonite in the pelletizing field,this study introduces an innovative modification process for bentonite that employs the synergistic effect of mechanical force and dimethyl sulfoxide to enhance the intercalation of organic compounds within bentonite,thus significantly enhancing its binding performance.The colloid value and swell capacity of modified bentonite(98.5 m L/3g and 55.0 m L/g)were much higher than the original bentonite(90.5 m L/3g and 17.5 m L/g).With the decrease of bentonite dosage from1.5wt%to 1.0wt%,the drop number of green pellets from a height of 0.5 m and the compressive strengths of roasted pellets using the modified bentonite(6.0 times and 2916 N per pellet)were significantly higher than those of the original bentonite(4.0 times and 2739 N per pellet).This study provides a comprehensive analysis of the intercalation modification mechanism of bentonite,offering crucial technical insights for the development of high-performance modified bentonite as iron ore pellet binders.展开更多
High entropy alloy attracts widespread attention due to its excellent mechanical properties.It becomes a new type of alloy material with high application potential,but the grinding performance of High entropy alloy re...High entropy alloy attracts widespread attention due to its excellent mechanical properties.It becomes a new type of alloy material with high application potential,but the grinding performance of High entropy alloy receives little attention.This paper conducts grinding simulation and surface grinding experiments on FeCoCrNi high entropy and alloys to analyze the grinding removal mechanism of the FeCoCrNi-based High entropy alloy.We also discuss the influence of grinding parameters,element types,element content and forming methods on grinding force and sub-surface plastic deformation after grinding.The simulation and experimental results show that as the increase of grinding depth,both tangential grinding force and normal grinding force increase,and the thickness of sub-surface plastic deformation layer decreases.With the increase of grinding speed,both tangential grinding force and normal grinding force decrease,and the thickness of sub-surface plastic deformation layer caused by grinding process shows a trend of gradual decrease.Under the same processing parameters,the normal grinding force is greater than the tangential grinding force.In FeCoCrNi series high entropy alloys,the grinding force and subsurface plastic deformation layer thickness of high entropy alloys increased with the addition in Ti content.The grinding force and plastic deformation formed by adding Ti element are greater than those formed by adding Al element,and High entropy alloys prepared using laser cladding method exhibit greater grinding force and plastic deformation than those prepared using selective laser melting method.The research results provide theoretical reference and experimental basis for high-quality grinding of high entropy alloys,which may be helpful for the design and manufacturing of high entropy alloy parts.展开更多
Human life is not determined by mechanical fatalism or a single material factor;instead,based on the dualistic ontology and active force mechanism in the Unified Complex Systems Theory(UCST),it can be actively designe...Human life is not determined by mechanical fatalism or a single material factor;instead,based on the dualistic ontology and active force mechanism in the Unified Complex Systems Theory(UCST),it can be actively designed under the guidance of mind,in accordance with causal laws,and through systematic interactions.This study integrates the dualistic ontology of UCST,as well as the cooperative mechanism of active force(Fa)and passive force(Fp).Furthermore,by incorporating Master Jiqun’s philosophy of“life design”and the practical principle of“destiny establishment and transformation”from The Four Lessons of Liaofan Yuan,it constructs a three-dimensional framework for life design encompassing the dimensions of science,philosophy,and practice.The significance of this research lies in breaking through the predicament of materialism in the AI(artificial intelligence)era,explaining the autonomy and initiative of life,providing feasible pathways for life design,and ultimately achieving the in-depth integration of scientific rationality and the wisdom of traditional Eastern culture.展开更多
The surfaces of brittle materials are susceptible to defects such as scratches,cracks,and chipping during con-ventional grinding processes,which significantly compromise surface quality and service performance.A flexi...The surfaces of brittle materials are susceptible to defects such as scratches,cracks,and chipping during con-ventional grinding processes,which significantly compromise surface quality and service performance.A flexible ball-end body-armor-like abrasive tool(BAAT)can effectively remove micro-convex peaks from the surfaces of brittle materials by employing a high tangential grinding force and a low normal grinding force,thereby achieving nano-level surface roughness and ultra-smooth mirror finishes.However,the surface contact me-chanism,pressure distribution pattern,and grinding force behavior between BAAT and workpiece remain in-adequately understood.This study examines the mechanism of liquid film formation and the distribution pattern of elastohydrodynamic pressure in high-shear and low-pressure grinding areas,drawing on the theories of elastohydrodynamic lubrication,non-Newtonian fluid dynamics,and material mechanics.A high-shear low-pressure grinding force model,which incorporates elastohydrodynamic liquid film thickness and abrasive grain size,was developed.The effects of the main grinding parameters(normal load,spindle rotational speed,and abrasive grain size)on the tangential grinding force were investigated through the processing of lithium niobate crystals using an intelligent precision-grinding system.The experimental results indicated that the relative error between the predicted and experimental values was 10.74%,thereby confirming the accuracy of the grinding force model.This study advances the understanding of elastohydrodynamic lubrication mechanisms in abrasive machining and provides a crucial theoretical foundation for the application of flexible ball-end BAAT.展开更多
Manned aerial vehicle-unmanned aerial vehicle(MAV-UAV)combat organization is a MAV-UAV combat collective formed from the perspective of organization design theory and methodology,and the generation of force formation ...Manned aerial vehicle-unmanned aerial vehicle(MAV-UAV)combat organization is a MAV-UAV combat collective formed from the perspective of organization design theory and methodology,and the generation of force formation plan is a key step in the organizational planning.Based on the description of the problem and the definition of organizational elements,the matching model of platform-target attack wave is constructed to minimize the redundancy of command and decision-making capability,resource capability and the number of platforms used.Based on the non-dominated sorting genetic algorithmⅢ(NSGA-Ⅲ)framework,which includes encoding/decoding method and constraint handling method,the generation model of organizational force formation plan is solved,and the effectiveness and superiority of the algorithm are verified by simulation experiments.展开更多
The rapid development of new-quality productive forces(NQPF)has intensified the demand for high-level innovative talent.As a representative of NQPF,generative artificial intelligence(GenAI)offers powerful tools to res...The rapid development of new-quality productive forces(NQPF)has intensified the demand for high-level innovative talent.As a representative of NQPF,generative artificial intelligence(GenAI)offers powerful tools to reshape talent cultivation but also presents significant challenges,including skill hollowing,ethical risks,and a growing disconnect between education and industry needs.Currently,graduate-level software engineering education struggles with outdated curricula and insufficient alignment with practical demands.In this paper,we propose a dual-core collaborative framework driven by“GenAI technology”and“industry demand”.Under this framework,we design a four-dimensional capability development path to enhance graduate students’innovation in software engineering practice.This path focuses on①scientific research innovation,②engineering problem-solving,③cross-domain collaborative evolution,and④ethical risk governance.The proposed approach promotes a shift from traditional knowledge transfer to human-machine collaborative innovation,aligning talent cultivation with the demands of the NQPF.展开更多
Sandwich functionally graded(FG)auxetic beams are extensively utilized in aerospace,automotive,and biomedical industries due to their excellent strength-toweight ratio,impact resistance,and tunable mechanical properti...Sandwich functionally graded(FG)auxetic beams are extensively utilized in aerospace,automotive,and biomedical industries due to their excellent strength-toweight ratio,impact resistance,and tunable mechanical properties.The integration of FG materials with auxetic structures enhances their adaptability in advanced engineering applications.However,understanding their dynamic behavior under external excitations is essential for optimal design and structural reliability.Nonlinear interactions in such structures pose significant challenges in vibration analysis,necessitating robust analytical methods.This study presents a closed-form solution for the nonlinear forced vibration analysis of sandwich FG auxetic beams,offering an accurate and efficient method for predicting their dynamic response.The beam consists of two FG face sheets with material properties varying through the thickness and a re-entrant honeycomb auxetic core with an adjustable Poisson's ratio.The governing nonlinear equations of motion are derived using the first-order shear deformation theory(FSDT),the modified Gibson model,and the von Kármán relations,formulated through Hamilton's principle.A closed-form solution is obtained via the Galerkin method and multiple-scale technique.The results demonstrate that FG layers enable control of the overweight and dynamic response amplitude,with positive power law indexes reducing weight.Comparisons with finite element results confirm the accuracy of the proposed formulation.展开更多
A prototype of the master slave telerehabilitation robotic system with force feedback is developed. This system contains a pair of robots with the master being operated by the therapist and the slave following the mas...A prototype of the master slave telerehabilitation robotic system with force feedback is developed. This system contains a pair of robots with the master being operated by the therapist and the slave following the master to guide the patients to exercise. A slave device with a slave controller is designed to stretch and mobilize the impaired elbow joints accurately and safely. A master device with a master controller is designed to control/monitor the procedure of treatment and assess the outcome of treatment remotely and accurately. By using the twoport network theory and the circuit equivalent impedance models, the position-force control scheme is designed to generate force feedback for the therapist who is to be informed of the interaction force between the subject and the robot arm during exercise. Experiments were conducted with a healthy male. Results show that the therapist can guide the patient to exercise by the master arm and can feel the interaction forces between the impaired arm and the robot. Compared with the traditional therapy, this system is more cost-efficient, more convenient and safer for both the stroke patients and the clinicians.展开更多
Identifying the driving forces that cause changes in forest ecosystem services related to water conservation is essential for the design of interventions that could enhance positive impacts as well as minimizing negat...Identifying the driving forces that cause changes in forest ecosystem services related to water conservation is essential for the design of interventions that could enhance positive impacts as well as minimizing negative impacts. In this study, we propose an assessment concept framework model for indirect-direct-ecosystem service （IN-DI-ESS） driving forces within this context and method for index construction that considers the selection of a robust and parsimonious variable set. Factor analysis was integrated into two-stage data envelopment analysis （TS-DEA） to determine the driving forces and their effects on water conservation services in forest ecosystems at the provincial scale in China. The results showed the following. 1） Ten indicators with factor scores more than 0.8 were selected as the minimum data set. Four indicators comprising population density, per capita gross domestic product, irrigation efficiency, and per capita food consumption were the indirect driving factors, and six indicators comprising precipitation, farmland into forestry or pasture, forest cover, habitat area, water footprint, and wood extraction were the direct driving forces. 2） Spearman＇s rank correlation test was performed to compare the overall effectiveness in two periods： stage 1 and stage 2. The calculated coefficients were 0.245, 0.136, and 0.579, respectively, whereas the tabulated value was 0.562. This indicates that the driving forces obviously differed in terms of their contribution to the overall effectiveness and they caused changes in water conservation services in different stages. In terms of the variations in different driving force effects in the years 2000 and 2010, the overall, stage 1, and stage 2 variances were 0.020, 0.065, and 0.079 in 2000, respectively, and 0.018, 0.063, and 0.071 in 2010. This also indicates that heterogeneous driving force effects were obvious in the process during the same period. Identifying the driving forces that affect service changes and evaluating their efficiency have significant policy implications for the management of forest ecosystem services. Advanced effectiveness measures for weak regions could be improved in an appropriate manner. In this study, we showed that factor analysis coupled with TS-DEA based on the IN-D1-ESS framework can increase the parsimony of driving force indicators, as well as interpreting the interactions among indirect and direct driving forces with forest ecosystem water conservation services, and reducing the uncertainty related to the internal consistency during data selection.展开更多
文摘Using the principle of analytical geometry, several properties of the space straight lille are proved. Based on these properties, the equilibrium of general space force system is considered and its four new scalar-type equilibrium equations are derived which are equivalent to the vector-type necessary and sufficient conditions far equilibrium.
基金Support by the National Natural Science Foundation of China(Grants Nos.1180127711971242).
文摘This letter is focused on proposing an arbitrarily high-order energy-preserving method for solving the charged-particle dynamics.After transforming the original Hamiltonian energy functional into a quadratic form by using the invariant energy quadratization method,symplectic Runge-Kutta method is used to construct a novel energy-preserving scheme to solve the Lorentz force system.The new scheme is not only energy-preserving,but also can be arbitrarily highorder.Numerical experiments are conducted to demonstrate the notable superiority of the new method with comparison to the well-known Boris method and another second-order energypreserving method in the literature.
基金Support by Shanxi Provincial Key Research and Development Plan of China(Grant No.2024GH-ZDXM-29)National Natural Science Foundation of China(Grant No.52175120)Shaanxi Provincial Innovation Capability Support Program of China(Grant No.2024RS-CXTD-15)。
文摘Unbalanced force produced by the unbalanced mass will affect vibrations of rotor systems,which probably results in the components failures of rotating machinery.To study the effects of unbalanced mass on the vibration characteristics of rotor systems,a flexible rotor system model considering the unbalanced mass is proposed.The time-varying bearing force is considered.The developed model is verified by the experimental and theoretical frequency spectrums.The displacements and axis orbits of flexible and rigid rotor systems are compared.The results show that the unbalanced mass will affect the vibration characteristics of rotor system.This model can be more suitable and effective to calculate vibration characteristics of rotor system with the flexible deformation and unbalanced mass.This paper provides a new reference and research method for predicting the vibrations of flexible rotor system considering the unbalanced mass.
文摘Soft robots,as a modern gateway to unlocking the mysteries of underwater realms,present new complexities.Modeling their behavior when in contact with external forces,whether point-based or distributed,is a primary challenge due to the nature of soft bodies.To obtain a holistic view of the system’s behavior determining the governing dynamics is deemed necessary.This paper proposes a new technique to simulate the dynamic lateral undulation of a soft robotic fish with a cable-driven soft tail.By integrating the rigid finite element method with rigid-body robotics,the model represents the undulation of a finite number of rigid elements connected through a set of torsional spring and damper.Instead of directly modeling external forces,we substitute equivalent joint torques into the system dynamics,allowing us to consider external effects without complicating the model.The resulting model yields valuable insights into the system’s behavior,including propulsive and lateral forces.A comparison with experimental results shows strong agreement,with a tip amplitude error of 10% at 0.8 Hz,5.25% at 1.6 Hz and 2.54%at 2.2 Hz flapping frequency.These findings illuminate the influence of lateral undulation on the overall dynamics,paving the way for fully autonomous robotic fish.
基金supported by the MSIT(Ministry of Science and ICT),Republic of Korea,under the Convergence Security Core Talent Training Business Support Program(IITP-2024-RS-2024-00423071)supervised by the IITP(Institute of Information&Communications Technology Planning&Evaluation)supported by Sichuan Science and Technology Program(2023YFSY0026,2023YFH0004).
文摘Force feedback bilateral teleoperation represents a pivotal advancement in control technology,finding widespread application in hazardous material transportation,perilous environments,space and deep-sea exploration,and healthcare domains.This paper traces the evolutionary trajectory of force feedback bilateral teleoperation from its conceptual inception to its current complexity.It elucidates the fundamental principles underpinning interaction forces and tactile exchanges,with a specific emphasis on the crucial role of tactile devices.In this review,a quantitative analysis of force feedback bilateral teleoperation development trends from 2011 to 2024 has been conducted,utilizing published journal article data as the primary source of information.The review accentuates classical control frameworks and algorithms,while also delving into existing research advancements and prospec-tive breakthrough directions.Moreover,it explores specific practical scenarios ranging from intricate surgeries to hazardous environment exploration,underscoring the technology’s potential to revolutionize industries by augmenting human manipulation of remote systems.This underscores the pivotal role of force feedback bilateral teleoperation as a transformative human-machine interface,capable of shaping flexible control strategies and addressing technological bottlenecks.Future research endeavors in force feedback bilateral teleoperation are expected to prioritize the creation of more immersive experiences,overcoming technical hurdles,fortifying human-machine collaboration,and broadening application domains,particularly within the realms of medical intervention and hazardous environments.With the continuous progression of technology,the integration of human intelligence and robotic capabilities is expected to produce more innovations and breakthroughs in the field of automatic control.
基金supported by the Opening Foundation of China National Logging Corporation(CNLC20229C06)the China Petroleum Technical Service Corporation's science project'Development and application of 475 rotary steering system'(2024T-001001)。
文摘Rotary steering systems(RSSs)have been increasingly used to develop horizontal wells.A static push-the-bit RSS uses three hydraulic modules with varying degrees of expansion and contraction to achieve changes in the pushing force acting on the wellbore in different sizes and directions within a circular range,ultimately allowing the wellbore trajectory to be drilled in a predetermined direction.By analyzing its mathematical principles and the actual characteristics of the instrument,a vector force closed-loop control method,including steering and holding modes,was designed.The adjustment criteria for the three hydraulic modules are determined to achieve rapid adjustment of the vector force.The theoretical feasibility of the developed method was verified by comparing its results with the on-site application data of an imported rotary guidance system.
基金Supported by National Key Research and Development Program of China(Grant No.2022YFB3403402)National Natural Science Foundation of China Basic Research Programme for PhD Students(Grant No.524B2049)。
文摘In the field of flexible polishing,the accuracy of contact force control directly affects processing quality and material removal uniformity.However,the complex dynamic contact model and inherent strong hysteresis of pneumatic systems can significantly impact the force control accuracy of pneumatic polishing system end-effectors.To enhance responsiveness and control precision during the flexible polishing process,this study proposes an observer-based fuzzy adaptive control(OBFAC)scheme.To ensure control accuracy under an uncertain dynamic contact model,a fuzzy state observer is designed to estimate unmeasured states,while fuzzy logic approximates the uncertain nonlinear functions in the model to improve control performance.Additionally,the integral barrier Lyapunov function is employed to ensure that all states remain within predefined constraints.The stability of the proposed control scheme is analyzed using the Lyapunov function,and a pneumatic polishing experimental platform is constructed to conduct polishing contact force control experiments under multiple scenarios.Experimental results demonstrate that the proposed OBFAC scheme achieves superior tracking control performance compared to existing control schemes.
基金Supported by National Natural Science Foundation of China(Grant No.52475137)Sichuan Provincial Science and Technology Program(Grant No.2024YFHZ0280)Sichuan Provincial Nature and Science Foundation Innovation Research Group Project(Grant No.2023NSFSC1975).
文摘During the grinding train operation process,the grinding force between the grinding wheel and the rail is critical in ensuring the grinding quality and efficiency.The coupling vibration among the frame,the grinding wheels,and the wheelsets will seriously affect the stability of the grinding force.In this paper,the coupled mechanical model of the grinding wheel/rail is established based on the contact mechanics theory,which is embedded as a submodel into the dynamic model of the multi-rigid buggy.The interaction among the frame,the grinding wheels and the wheelsets is analysed by setting the convex irregularity on the rail.The grinding effect is evaluated in combination with the subway’s long wave corrugation grinding conditions.The results show that when the grinding buggy passes the convex irregularity,the vibration excited by the wheelset system has a significant impact on the dynamic behavior of the grinding wheels.The vibration of the grinding wheel is mainly transmitted between the grinding wheel and the frame,less affecting the wheelset.For the long wave corrugation of the subway,the grinding effect of the grinding wheel has a certain correlation with the phase angle of the wheelset through the corrugation.The research results provide an important reference for the setting of the grinding pattern.
基金co-supported by the National Natural Science Foundation of China(No.52125504)the Liaoning Revitalization Talents Program(No.XLYC2202017)Dalian Support Policy Project for Innovation of Technological Talents(No.2023RG001)。
文摘The high-quality assembly of Large Aircraft Components(LACs)is essential in modern aviation manufacturing.Numerical control locators are employed for the posture adjustment of LAC,yet the system's multi-input multi-output,nonlinearity,and strong coupling presents significant challenges.The substantial internal force generated during the adjustment process can potentially damage the LAC and degrade the assembly quality.Hence,a workspace-based hybrid force position control scheme was developed to achieve high quality assembly with high-precision and lower internal force.Firstly,an offline workspace analysis with inherent geometric characteristics to form time-varying posture error constraint.Then,the posture error is integrated into the online position axis control to ensure tracking the ideal posture,while the force control axis compensates for posture deviation by minimizing internal force,thereby achieving high precision and low internal force.Finally,the effectiveness was demonstrated through experiments.The root mean square errors of orientation and position are 104 rad and 0.1 mm,respectively.A reduction in internal force can range from 10.96%to 57.4%compared to the traditional method.Key points'max position error is decreased from 0.32 mm to 0.18 mm,satisfying the 0.5 mm tolerance.Therefore,the proposed method will help promote the development of high-performance manufacturing.
基金Project(52078129)supported by the National Natural Science Foundation of ChinaProject(MTF2023009)supported by the Open Project of Key Laboratory of Transport Industry of Comprehensive Transportation Theory(Nanjing Modern Multimodal Transportation Laboratory),ChinaProject(2242024K40037)supported by the Fundamental Research Funds for the Central Universities,China。
文摘A shaking table test was performed to investigate the different responses of piles with and without cement-soil reinforcement,considering both inertial and kinematic interactions.A comparison of the dynamic shear stress−strain hysteresis curves of soil profiles on the pile side with and without cement-soil reinforced piles indicates that cement-soil reinforced piles not only bear more tremendous shear stress but also have smaller strains under the action of cyclic shear stress.Furthermore,the cement-soil on the pile side not only shares part of the shear stress and modifies the bending moment distribution but also significantly enhances the resistance of the pile-side soil,reducing the lateral displacement of the superstructure.Cement-soil reinforcement reduced shear strains,inhibited sand liquefaction,and reduced superstructure displacements by 27%−47%(instantaneous)and 40%−65%(permanent).The proportion of horizontal load sharing between cement-soil reinforcement and saturated sand is considered,along with the change pattern of the subgrade reaction after sand liquefaction.An equivalent subgrade reaction calculation method is proposed,which accounts for the horizontal load-sharing ratios of soils with two different strengths.The test results indicate that the pile stress and displacement,estimated using the equivalent subgrade reaction,are in good agreement with the observed results.
基金support from the National Natural Science Foundation of China(Grant No.U22A20171)the National Key Research and Development Program Project(2023YFB3709901)+3 种基金the China Baowu Low Carbon Metallurgical Innovation Fund(BWLCF202315)the Pangang-USTB Vanadium and Titanium Research Institute Research Projectthe High Steel Center(HSC)at North China University of TechnologyYanshan University and University of Science and Technology Beijing,China.
文摘Considering the Hamaker constant,inclusion size,and distance between inclusions on the surface of the molten steel,a new collision model of the inclusions on the surface of the molten steel was established based on in-situ observed results of the collision process of different types of inclusions on the surface of the molten steel.The developed model can be used to calculate the attraction of inclusions on the surface of the molten steel including Al_(2)O_(3)MgO,SiO_(2),etc.
基金financial support by the National Key Research and Development Program of China(No.2023YFC2907801)the Hunan Provincial Natural Science Foundation of China(No.2023JJ40760)the Scientific and Technological Project of Yunnan Precious Metals Laboratory,China(No.YPML-2023050276)。
文摘Bentonite is a necessary binder in producing pellets.Its excessive use reduces the iron grade of pellets and increases production costs.Minimizing bentonite dosage is essential for producing high-quality iron ore pellets.Addressing the gap in the application of organically-intercalated modified bentonite in the pelletizing field,this study introduces an innovative modification process for bentonite that employs the synergistic effect of mechanical force and dimethyl sulfoxide to enhance the intercalation of organic compounds within bentonite,thus significantly enhancing its binding performance.The colloid value and swell capacity of modified bentonite(98.5 m L/3g and 55.0 m L/g)were much higher than the original bentonite(90.5 m L/3g and 17.5 m L/g).With the decrease of bentonite dosage from1.5wt%to 1.0wt%,the drop number of green pellets from a height of 0.5 m and the compressive strengths of roasted pellets using the modified bentonite(6.0 times and 2916 N per pellet)were significantly higher than those of the original bentonite(4.0 times and 2739 N per pellet).This study provides a comprehensive analysis of the intercalation modification mechanism of bentonite,offering crucial technical insights for the development of high-performance modified bentonite as iron ore pellet binders.
基金Supported by National Natural Science Foundation of China(Grant No.52275412)Fundamental Research Funds for the Central Universities of China(Grant No.N2403015).
文摘High entropy alloy attracts widespread attention due to its excellent mechanical properties.It becomes a new type of alloy material with high application potential,but the grinding performance of High entropy alloy receives little attention.This paper conducts grinding simulation and surface grinding experiments on FeCoCrNi high entropy and alloys to analyze the grinding removal mechanism of the FeCoCrNi-based High entropy alloy.We also discuss the influence of grinding parameters,element types,element content and forming methods on grinding force and sub-surface plastic deformation after grinding.The simulation and experimental results show that as the increase of grinding depth,both tangential grinding force and normal grinding force increase,and the thickness of sub-surface plastic deformation layer decreases.With the increase of grinding speed,both tangential grinding force and normal grinding force decrease,and the thickness of sub-surface plastic deformation layer caused by grinding process shows a trend of gradual decrease.Under the same processing parameters,the normal grinding force is greater than the tangential grinding force.In FeCoCrNi series high entropy alloys,the grinding force and subsurface plastic deformation layer thickness of high entropy alloys increased with the addition in Ti content.The grinding force and plastic deformation formed by adding Ti element are greater than those formed by adding Al element,and High entropy alloys prepared using laser cladding method exhibit greater grinding force and plastic deformation than those prepared using selective laser melting method.The research results provide theoretical reference and experimental basis for high-quality grinding of high entropy alloys,which may be helpful for the design and manufacturing of high entropy alloy parts.
基金supported by the start-up funding from Westlake University under Grant Number 041030150118 and the scientific research project of Westlake University“Theoretical Research and Demonstration Application of Complex Systems and Deep-Sea Technology(Phase I)”under Grant Number WU2025A006.
文摘Human life is not determined by mechanical fatalism or a single material factor;instead,based on the dualistic ontology and active force mechanism in the Unified Complex Systems Theory(UCST),it can be actively designed under the guidance of mind,in accordance with causal laws,and through systematic interactions.This study integrates the dualistic ontology of UCST,as well as the cooperative mechanism of active force(Fa)and passive force(Fp).Furthermore,by incorporating Master Jiqun’s philosophy of“life design”and the practical principle of“destiny establishment and transformation”from The Four Lessons of Liaofan Yuan,it constructs a three-dimensional framework for life design encompassing the dimensions of science,philosophy,and practice.The significance of this research lies in breaking through the predicament of materialism in the AI(artificial intelligence)era,explaining the autonomy and initiative of life,providing feasible pathways for life design,and ultimately achieving the in-depth integration of scientific rationality and the wisdom of traditional Eastern culture.
基金Supported by National Natural Science Foundation of China(Grant Nos.52575516,51875329)Taishan Scholar Special Foundation of Shandong Province(Grant Nos.tstp20240826,tsqn201812064)+2 种基金Shandong Provincial Natural Science Foundation(Grant No.ZR2023ME112)Key Research and Development Project of the Ningxia Hui Autonomous Region(Grant No.2024BEE02019)Innovation Capacity Improvement Programme for High-tech SMEs of Shandong Province(Grant Nos.2022TSGC1333,2022TSGC1261).
文摘The surfaces of brittle materials are susceptible to defects such as scratches,cracks,and chipping during con-ventional grinding processes,which significantly compromise surface quality and service performance.A flexible ball-end body-armor-like abrasive tool(BAAT)can effectively remove micro-convex peaks from the surfaces of brittle materials by employing a high tangential grinding force and a low normal grinding force,thereby achieving nano-level surface roughness and ultra-smooth mirror finishes.However,the surface contact me-chanism,pressure distribution pattern,and grinding force behavior between BAAT and workpiece remain in-adequately understood.This study examines the mechanism of liquid film formation and the distribution pattern of elastohydrodynamic pressure in high-shear and low-pressure grinding areas,drawing on the theories of elastohydrodynamic lubrication,non-Newtonian fluid dynamics,and material mechanics.A high-shear low-pressure grinding force model,which incorporates elastohydrodynamic liquid film thickness and abrasive grain size,was developed.The effects of the main grinding parameters(normal load,spindle rotational speed,and abrasive grain size)on the tangential grinding force were investigated through the processing of lithium niobate crystals using an intelligent precision-grinding system.The experimental results indicated that the relative error between the predicted and experimental values was 10.74%,thereby confirming the accuracy of the grinding force model.This study advances the understanding of elastohydrodynamic lubrication mechanisms in abrasive machining and provides a crucial theoretical foundation for the application of flexible ball-end BAAT.
基金supported by the Natural Science Foundation of Shaanxi Province(2023-JC-QN-0728)the China Postdoctoral Science Foundation(2021M693942)。
文摘Manned aerial vehicle-unmanned aerial vehicle(MAV-UAV)combat organization is a MAV-UAV combat collective formed from the perspective of organization design theory and methodology,and the generation of force formation plan is a key step in the organizational planning.Based on the description of the problem and the definition of organizational elements,the matching model of platform-target attack wave is constructed to minimize the redundancy of command and decision-making capability,resource capability and the number of platforms used.Based on the non-dominated sorting genetic algorithmⅢ(NSGA-Ⅲ)framework,which includes encoding/decoding method and constraint handling method,the generation model of organizational force formation plan is solved,and the effectiveness and superiority of the algorithm are verified by simulation experiments.
基金supported in part by the Graduate Education Reform Research Project of Hubei University of Technology under Grant 2024YB003the Hubei University of Arts and Science,Teaching Research Project,under Grant JY2025018.
文摘The rapid development of new-quality productive forces(NQPF)has intensified the demand for high-level innovative talent.As a representative of NQPF,generative artificial intelligence(GenAI)offers powerful tools to reshape talent cultivation but also presents significant challenges,including skill hollowing,ethical risks,and a growing disconnect between education and industry needs.Currently,graduate-level software engineering education struggles with outdated curricula and insufficient alignment with practical demands.In this paper,we propose a dual-core collaborative framework driven by“GenAI technology”and“industry demand”.Under this framework,we design a four-dimensional capability development path to enhance graduate students’innovation in software engineering practice.This path focuses on①scientific research innovation,②engineering problem-solving,③cross-domain collaborative evolution,and④ethical risk governance.The proposed approach promotes a shift from traditional knowledge transfer to human-machine collaborative innovation,aligning talent cultivation with the demands of the NQPF.
文摘Sandwich functionally graded(FG)auxetic beams are extensively utilized in aerospace,automotive,and biomedical industries due to their excellent strength-toweight ratio,impact resistance,and tunable mechanical properties.The integration of FG materials with auxetic structures enhances their adaptability in advanced engineering applications.However,understanding their dynamic behavior under external excitations is essential for optimal design and structural reliability.Nonlinear interactions in such structures pose significant challenges in vibration analysis,necessitating robust analytical methods.This study presents a closed-form solution for the nonlinear forced vibration analysis of sandwich FG auxetic beams,offering an accurate and efficient method for predicting their dynamic response.The beam consists of two FG face sheets with material properties varying through the thickness and a re-entrant honeycomb auxetic core with an adjustable Poisson's ratio.The governing nonlinear equations of motion are derived using the first-order shear deformation theory(FSDT),the modified Gibson model,and the von Kármán relations,formulated through Hamilton's principle.A closed-form solution is obtained via the Galerkin method and multiple-scale technique.The results demonstrate that FG layers enable control of the overweight and dynamic response amplitude,with positive power law indexes reducing weight.Comparisons with finite element results confirm the accuracy of the proposed formulation.
基金The National Natural Science Foundation of China(No.60475034).
文摘A prototype of the master slave telerehabilitation robotic system with force feedback is developed. This system contains a pair of robots with the master being operated by the therapist and the slave following the master to guide the patients to exercise. A slave device with a slave controller is designed to stretch and mobilize the impaired elbow joints accurately and safely. A master device with a master controller is designed to control/monitor the procedure of treatment and assess the outcome of treatment remotely and accurately. By using the twoport network theory and the circuit equivalent impedance models, the position-force control scheme is designed to generate force feedback for the therapist who is to be informed of the interaction force between the subject and the robot arm during exercise. Experiments were conducted with a healthy male. Results show that the therapist can guide the patient to exercise by the master arm and can feel the interaction forces between the impaired arm and the robot. Compared with the traditional therapy, this system is more cost-efficient, more convenient and safer for both the stroke patients and the clinicians.
基金Under the auspices of Science and Technology Service Network Initiative Project of the Chinese Academy of Sciences(No.KFJ-EW-STS-002)
文摘Identifying the driving forces that cause changes in forest ecosystem services related to water conservation is essential for the design of interventions that could enhance positive impacts as well as minimizing negative impacts. In this study, we propose an assessment concept framework model for indirect-direct-ecosystem service （IN-DI-ESS） driving forces within this context and method for index construction that considers the selection of a robust and parsimonious variable set. Factor analysis was integrated into two-stage data envelopment analysis （TS-DEA） to determine the driving forces and their effects on water conservation services in forest ecosystems at the provincial scale in China. The results showed the following. 1） Ten indicators with factor scores more than 0.8 were selected as the minimum data set. Four indicators comprising population density, per capita gross domestic product, irrigation efficiency, and per capita food consumption were the indirect driving factors, and six indicators comprising precipitation, farmland into forestry or pasture, forest cover, habitat area, water footprint, and wood extraction were the direct driving forces. 2） Spearman＇s rank correlation test was performed to compare the overall effectiveness in two periods： stage 1 and stage 2. The calculated coefficients were 0.245, 0.136, and 0.579, respectively, whereas the tabulated value was 0.562. This indicates that the driving forces obviously differed in terms of their contribution to the overall effectiveness and they caused changes in water conservation services in different stages. In terms of the variations in different driving force effects in the years 2000 and 2010, the overall, stage 1, and stage 2 variances were 0.020, 0.065, and 0.079 in 2000, respectively, and 0.018, 0.063, and 0.071 in 2010. This also indicates that heterogeneous driving force effects were obvious in the process during the same period. Identifying the driving forces that affect service changes and evaluating their efficiency have significant policy implications for the management of forest ecosystem services. Advanced effectiveness measures for weak regions could be improved in an appropriate manner. In this study, we showed that factor analysis coupled with TS-DEA based on the IN-D1-ESS framework can increase the parsimony of driving force indicators, as well as interpreting the interactions among indirect and direct driving forces with forest ecosystem water conservation services, and reducing the uncertainty related to the internal consistency during data selection.
