Saline aquifers are considered as highly favored reservoirs for CO_(2)sequestration due to their favorable properties.Understanding the impact of saline aquifer properties on the migration and distribution of CO_(2)pl...Saline aquifers are considered as highly favored reservoirs for CO_(2)sequestration due to their favorable properties.Understanding the impact of saline aquifer properties on the migration and distribution of CO_(2)plume is crucial.This study focuses on four key parameters-permeability,porosity,formation pressure,and temperature-to characterize the reservoir and analyse the petrophysical and elastic response of CO_(2).First,we performed reservoir simulations to simulate CO_(2)saturation,using multiple sets of these four parameters to examine their significance on CO_(2)saturation and the plume migration speed.Subsequently,the effect of these parameters on the elastic properties is tested using rock physics theory.We established a relationship of compressional wave velocity(V_(p))and quality factor(Q_(p))with the four key parameters,and conducted a sensitivity analysis to test their sensitivity to V_(p) and Q_(p).Finally,we utilized visco-acoustic wave equation simulated time-lapse seismic data based on the computed V_(p) and Q_(p) models,and analysed the impact of CO_(2) saturation changes on seismic data.As for the above nu-merical simulations and analysis,we conducted sensitivity analysis using both homogeneous and heterogeneous models.Consistent results are found between homogeneous and heterogeneous models.The permeability is the most sensitive parameter to the CO_(2)saturation,while porosity emerges as the primary factor affecting both Q_(p) and V_(p).Both Q_(p) and V_(p) increase with the porosity,which contradicts the observations in gas reservoirs.The seismic simulations highlight significant variations in the seismic response to different parameters.We provided analysis for these observations,which serves as a valuable reference for comprehensive CO_(2)integrity analysis,time-lapse monitoring,injection planning and site selection.展开更多
As a means of quantitative interpretation,forward calculations of the global lithospheric magnetic field in the Spherical Harmonic(SH)domain have been widely used to reveal geophysical,lithological,and geothermal vari...As a means of quantitative interpretation,forward calculations of the global lithospheric magnetic field in the Spherical Harmonic(SH)domain have been widely used to reveal geophysical,lithological,and geothermal variations in the lithosphere.Traditional approaches either do not consider the non-axial dipolar terms of the inducing field and its radial variation or do so by means of complicated formulae.Moreover,existing methods treat the magnetic lithosphere either as an infinitesimally thin layer or as a radially uniform spherical shell of constant thickness.Here,we present alternative forward formulae that account for an arbitrarily high maximum degree of the inducing field and for a magnetic lithosphere of variable thickness.Our simulations based on these formulae suggest that the satellite magnetic anomaly field is sensitive to the non-axial dipolar terms of the inducing field but not to its radial variation.Therefore,in forward and inverse calculations of satellite magnetic anomaly data,the non-axial dipolar terms of the inducing field should not be ignored.Furthermore,our results show that the satellite magnetic anomaly field is sensitive to variability in the lateral thickness of the magnetized shell.In particular,we show that for a given vertically integrated susceptibility distribution,underestimating the thickness of the magnetic layer overestimates the induced magnetic field.This discovery bridges the greatest part of the alleged gap between the susceptibility values measured from rock samples and the susceptibility values required to match the observed magnetic field signal.We expect the formulae and conclusions of this study to be a valuable tool for the quantitative interpretation of the Earth's global lithospheric magnetic field,through an inverse or forward modelling approach.展开更多
This paper presents a framework for constructing surrogate models for sensitivity analysis of structural dynamics behavior.Physical models involving deformation,such as collisions,vibrations,and penetration,are devel-...This paper presents a framework for constructing surrogate models for sensitivity analysis of structural dynamics behavior.Physical models involving deformation,such as collisions,vibrations,and penetration,are devel-oped using the material point method.To reduce the computational cost of Monte Carlo simulations,response surface models are created as surrogate models for the material point system to approximate its dynamic behavior.An adaptive randomized greedy algorithm is employed to construct a sparse polynomial chaos expansion model with a fixed order,effectively balancing the accuracy and computational efficiency of the surrogate model.Based on the sparse polynomial chaos expansion,sensitivity analysis is conducted using the global finite difference and Sobol methods.Several examples of structural dynamics are provided to demonstrate the effectiveness of the proposed method in addressing structural dynamics problems.展开更多
Economic losses and catastrophic casualties may occur once super high-rise structures are struck by low-probability but high-consequence scenarios of concurrent earthquakes and winds. Therefore, accurately predicting ...Economic losses and catastrophic casualties may occur once super high-rise structures are struck by low-probability but high-consequence scenarios of concurrent earthquakes and winds. Therefore, accurately predicting multi-hazard dynamic responses to super high-rise structures has significant engineering and scientific value. This study performed a parametric global sensitivity analysis (GSA) for multi-hazard dynamic response prediction of super high-rise structures using the multiple-degree-of-freedom shear (MFS) model. Polynomial chaos Kriging (PCK) was introduced to build a surrogate model that allowed GSA to be combined with Sobol’ indices. Monte Carlo simulation (MCS) is also conducted for the comparison to verify the accuracy and efficiency of the PCK method. Parametric sensitivity analysis is performed for a wide range of aleatory uncertainty (intensities of coupled multi-hazard), epistemic uncertainty (bending stiffness, k_(m);shear stiffness, kq;density, ρ;and damping ratio, ξ), probability distribution types, and coefficients of variation. The results indicate that epistemic uncertainty parameters, k_(m), ρ, and ξ dramatically affect the multi-hazard dynamic responses of super high-rise structures;in addition, Sobol’ indices between the normal and lognormal distributions are insignificant, while the variation levels have remarkably influenced the sensitivity indices.展开更多
While steady improvements have been achieved for the track forecasts of typhoons,there has been a lack of improvement for intensity forecasts.One challenge for intensity forecasts is to capture the rapid intensificati...While steady improvements have been achieved for the track forecasts of typhoons,there has been a lack of improvement for intensity forecasts.One challenge for intensity forecasts is to capture the rapid intensification(RI),whose nonlinear characteristics impose great difficulties for numerical models.The ensemble sensitivity analysis(ESA)method is used here to analyze the initial conditions that contribute to typhoon intensity forecasts,especially with RI.Six RI processes from five typhoons(Chaba,Haima,Meranti,Sarika,and Songda)in 2016,are applied with ESA,which also gives a composite initial condition that favors subsequent RI.Results from individual cases have generally similar patterns of ESA,but with different magnitudes,when various cumulus parameterization schemes are applied.To draw the initial conditions with statistical significance,sample-mean azimuthal components of ESA are obtained.Results of the composite sensitivity show that typhoons that experience RI in 24 h favor enhanced primary circulation from low to high levels,intensified secondary circulation with increased radial inflow at lower levels and increased radial outflow at upper levels,a prominent warm core at around 300 hPa,and increased humidity at low levels.As the forecast lead time increases,the patterns of ESA are retained,while the sensitivity magnitudes decay.Given the general and quantitative composite sensitivity along with associated uncertainties for different cumulus parameterization schemes,appropriate sampling of the composite sensitivity in numerical models could be beneficial to capturing the RI and improving the forecasting of typhoon intensity.展开更多
In recent years,incidents of simultaneous exceedance of PM_(2.5)and O_(3) concentrations,termed PM_(2.5)and O_(3) co-pollution events,have frequently occurred in China.This study conducted atmospheric circulation anal...In recent years,incidents of simultaneous exceedance of PM_(2.5)and O_(3) concentrations,termed PM_(2.5)and O_(3) co-pollution events,have frequently occurred in China.This study conducted atmospheric circulation analysis on two typical co-pollution events in Beijing,occurring from July 22 to July 28,2019,and from April 25 to May 2,2020.These events were categorized into pre-trough southerly airflow type(Type 1)and post-trough northwest flow type(Type 2).Subsequently,sensitivity analyses using the GRAPES-CUACE adjoint model were performed to quantify the contributions of precursor emissions from Beijing and surrounding areas to PM_(2.5)and O_(3) concentrations in Beijing for two types of co-pollution.The results indicated that the spatiotemporal distribution of sensitive source region varied among different circulation types.Primary PM_(2.5)(PPM_(2.5))emissions from Hebei contributed the most to the 24-hour average PM_(2.5)(24-h PM_(2.5))peak concentration(41.6%-45.4%),followed by Beijing emissions(31%-35.7%).The maximum daily 8-hour average ozone peak concentration was primarily influenced by the emissions from Hebei and Beijing,with contribution ratios respectively of 32.8%-44.8% and 29%-42.1%.Additionally,NO_(x)emissions were the main contributors in Type 1,while both NO_(x)and VOCs emissions contributed similarly in Type 2.The iterative emission reduction experiments for two types of co-pollution indicated that Type 1 required emission reductions in NO_(x)(52.4%-71.8%)and VOCs(14.1%-33.8%)only.In contrast,Type 2 required combined emission reductions in NO_(x)(37.0%-65.1%),VOCs(30.7%-56.2%),and PPM_(2.5)(31%-46.9%).This study provided a reference for controlling co-pollution events and improving air quality in Beijing.展开更多
Kangbao County is located in the northwest of Bashang in Hebei Province,which is a sub-arid area in the middle temperate zone,with a cold and arid climate and frequent disastrous weather.The meteorological data of Kan...Kangbao County is located in the northwest of Bashang in Hebei Province,which is a sub-arid area in the middle temperate zone,with a cold and arid climate and frequent disastrous weather.The meteorological data of Kangbao County Meteorological Station from 1994 to 2023 were selected,and the meteorological elements such as air pressure,temperature,precipitation,wind,relative humidity,sunshine,thunderstorm,hail,gale,rainstorm,fog,and snow cover were counted.The climate background analysis and high-impact weather analysis were carried out in combination with the topographic characteristics,geographical location,and climate characteristics.The results of meteorological sensitivity survey in the park showed that industries such as food,agriculture and new energy are very sensitive to temperature.During the visit to the enterprises in the park,it was found that heavy precipitation,snow,strong winds and hail had a great impact on many industries,and it was recommended to carry out long-term planning and reasonable design of buildings.It should pay close attention to forecasts and early warnings,formulate emergency plans for high-impact weather defense,and actively take preventive measures.展开更多
In the field of rail transit,the UK Department of Transport stated that it will realize a comprehensive transformation of UK railways by 2050,abandoning traditional diesel trains and upgrading them to new environmenta...In the field of rail transit,the UK Department of Transport stated that it will realize a comprehensive transformation of UK railways by 2050,abandoning traditional diesel trains and upgrading them to new environmentally friendly trains.The current mainstream upgrade methods are electrification and hydrogen fuel cells.Comprehensive upgrades are costly,and choosing the optimal upgrade method for trams and mainline railways is critical.Without a sensitivity analysis,it is difficult for us to determine the influence relationship between each parameter and cost,resulting in a waste of cost when choosing a line reconstruction method.In addition,by analyzing the sensitivity of different parameters to the cost,the primary optimization direction can be determined to reduce the cost.Global higher-order sensitivity analysis enables quantification of parameter interactions,showing non-additive effects between parameters.This paper selects the main parameters that affect the retrofit cost and analyzes the retrofit cost of the two upgrade methods in the case of trams and mainline railways through local and global sensitivity analysis methods.The results of the analysis show that,given the current UK rail system,it is more economical to choose electric trams and hydrogen mainline trains.For trams,the speed at which the train travels has the greatest impact on the final cost.Through the sensitivity analysis,this paper provides an effective data reference for the current railway upgrading and reconstruction plan and provides a theoretical basis for the next step of train parameter optimization.展开更多
This paper introduces a novel approach for parameter sensitivity evaluation and efficient slope reliability analysis based on quantile-based first-order second-moment method(QFOSM).The core principles of the QFOSM are...This paper introduces a novel approach for parameter sensitivity evaluation and efficient slope reliability analysis based on quantile-based first-order second-moment method(QFOSM).The core principles of the QFOSM are elucidated geometrically from the perspective of expanding ellipsoids.Based on this geometric interpretation,the QFOSM is further extended to estimate sensitivity indices and assess the significance of various uncertain parameters involved in the slope system.The proposed method has the advantage of computational simplicity,akin to the conventional first-order second-moment method(FOSM),while providing estimation accuracy close to that of the first-order reliability method(FORM).Its performance is demonstrated with a numerical example and three slope examples.The results show that the proposed method can efficiently estimate the slope reliability and simultaneously evaluate the sensitivity of the uncertain parameters.The proposed method does not involve complex optimization or iteration required by the FORM.It can provide a valuable complement to the existing approximate reliability analysis methods,offering rapid sensitivity evaluation and slope reliability analysis.展开更多
Battery production is crucial for determining the quality of electrode,which in turn affects the manufactured battery performance.As battery production is complicated with strongly coupled intermediate and control par...Battery production is crucial for determining the quality of electrode,which in turn affects the manufactured battery performance.As battery production is complicated with strongly coupled intermediate and control parameters,an efficient solution that can perform a reliable sensitivity analysis of the production terms of interest and forecast key battery properties in the early production phase is urgently required.This paper performs detailed sensitivity analysis of key production terms on determining the properties of manufactured battery electrode via advanced data-driven modelling.To be specific,an explainable neural network named generalized additive model with structured interaction(GAM-SI)is designed to predict two key battery properties,including electrode mass loading and porosity,while the effects of four early production terms on manufactured batteries are explained and analysed.The experimental results reveal that the proposed method is able to accurately predict battery electrode properties in the mixing and coating stages.In addition,the importance ratio ranking,global interpretation and local interpretation of both the main effects and pairwise interactions can be effectively visualized by the designed neural network.Due to the merits of interpretability,the proposed GAM-SI can help engineers gain important insights for understanding complicated production behavior,further benefitting smart battery production.展开更多
The phenomenology involved in severe accidents in nuclear reactors is highly complex.Currently,integrated analysis programs used for severe accident analysis heavily rely on custom empirical parameters,which introduce...The phenomenology involved in severe accidents in nuclear reactors is highly complex.Currently,integrated analysis programs used for severe accident analysis heavily rely on custom empirical parameters,which introduce considerable uncertainty.Therefore,in recent years,the field of severe accidents has shifted its focus toward applying uncertainty analysis methods to quantify uncertainty in safety assessment programs,known as“best estimate plus uncertainty(BEPU).”This approach aids in enhancing our comprehension of these programs and their further development and improvement.This study concentrates on a third-generation pressurized water reactor equipped with advanced active and passive mitigation strategies.Through an Integrated Severe Accident Analysis Program(ISAA),numerical modeling and uncertainty analysis were conducted on severe accidents resulting from large break loss of coolant accidents.Seventeen uncertainty parameters of the ISAA program were meticulously screened.Using Wilks'formula,the developed uncertainty program code,SAUP,was employed to carry out Latin hypercube sampling,while ISAA was employed to execute batch calculations.Statistical analysis was then conducted on two figures of merit,namely hydrogen generation and the release of fission products within the pressure vessel.Uncertainty calculations revealed that hydrogen production and the fraction of fission product released exhibited a normal distribution,ranging from 182.784 to 330.664 kg and from 15.6 to 84.3%,respectively.The ratio of hydrogen production to reactor thermal power fell within the range of 0.0578–0.105.A sensitivity analysis was performed for uncertain input parameters,revealing significant correlations between the failure temperature of the cladding oxide layer,maximum melt flow rate,size of the particulate debris,and porosity of the debris with both hydrogen generation and the release of fission products.展开更多
Within this work,we perform a sensitivity analysis to determine the influence of the material input parameters on the pressure in an isotropic porous solid cylinder.We provide a step-by-step guide to obtain the analyt...Within this work,we perform a sensitivity analysis to determine the influence of the material input parameters on the pressure in an isotropic porous solid cylinder.We provide a step-by-step guide to obtain the analytical solution for a porous isotropic elastic cylinder in terms of the pressure,stresses,and elastic displacement.We obtain the solution by performing a Laplace transform on the governing equations,which are those of Biot's poroelasticity in cylindrical polar coordinates.We enforce radial boundary conditions and obtain the solution in the Laplace transformed domain before reverting back to the time domain.The sensitivity analysis is then carried out,considering only the derived pressure solution.This analysis finds that the time t,Biot's modulus M,and Poisson's ratio ν have the highest influence on the pressure whereas the initial value of pressure P_(0) plays a very little role.展开更多
High-performance compressor design is best achieved with a good trade-off between aerodynamic and structural considerations,which requires efficient and accurate multidisciplinary design and optimization tools.As adva...High-performance compressor design is best achieved with a good trade-off between aerodynamic and structural considerations,which requires efficient and accurate multidisciplinary design and optimization tools.As advanced compressors are defined with a large design space,their optimization is most efficiently achieved using a gradient-based approach,where the gradient can be computed using an adjoint method,at a cost nearly independent of the dimension of the design space.While the adjoint method has been widely used for aerodynamic shape optimization,its use for structural shape optimizations of compressor blades has not been as well studied.This paper discussed a discrete adjoint solver for structural sensitivity analysis developed within the opensource Computational Structural Mechanics(CSM)software CalculiX,and proposed an efficient stress sensitivity analysis method based on the Finite Element Method(FEM)using adjoint.The proposed method is applied to compute the stress sensitivity of a wide-chord fan blade in a highbypass-ratio engine.The accuracy of the adjoint-based stress sensitivity is verified against central finite differences.In terms of computational efficiency,the adjoint approach is about 4.5 times more efficient than the conventional approach using finite differences.This works marks an important step towards fluid-structural coupled adjoint optimization of wide-chord fan blades.展开更多
Traditional global sensitivity analysis(GSA)neglects the epistemic uncertainties associated with the probabilistic characteristics(i.e.type of distribution type and its parameters)of input rock properties emanating du...Traditional global sensitivity analysis(GSA)neglects the epistemic uncertainties associated with the probabilistic characteristics(i.e.type of distribution type and its parameters)of input rock properties emanating due to the small size of datasets while mapping the relative importance of properties to the model response.This paper proposes an augmented Bayesian multi-model inference(BMMI)coupled with GSA methodology(BMMI-GSA)to address this issue by estimating the imprecision in the momentindependent sensitivity indices of rock structures arising from the small size of input data.The methodology employs BMMI to quantify the epistemic uncertainties associated with model type and parameters of input properties.The estimated uncertainties are propagated in estimating imprecision in moment-independent Borgonovo’s indices by employing a reweighting approach on candidate probabilistic models.The proposed methodology is showcased for a rock slope prone to stress-controlled failure in the Himalayan region of India.The proposed methodology was superior to the conventional GSA(neglects all epistemic uncertainties)and Bayesian coupled GSA(B-GSA)(neglects model uncertainty)due to its capability to incorporate the uncertainties in both model type and parameters of properties.Imprecise Borgonovo’s indices estimated via proposed methodology provide the confidence intervals of the sensitivity indices instead of their fixed-point estimates,which makes the user more informed in the data collection efforts.Analyses performed with the varying sample sizes suggested that the uncertainties in sensitivity indices reduce significantly with the increasing sample sizes.The accurate importance ranking of properties was only possible via samples of large sizes.Further,the impact of the prior knowledge in terms of prior ranges and distributions was significant;hence,any related assumption should be made carefully.展开更多
Mendelian randomization(MR)is widely used in causal mediation analysis to control unmeasured confounding effects,which is valid under some strong assumptions.It is thus of great interest to assess the impact of violat...Mendelian randomization(MR)is widely used in causal mediation analysis to control unmeasured confounding effects,which is valid under some strong assumptions.It is thus of great interest to assess the impact of violations of these MR assumptions through sensitivity analysis.Sensitivity analyses have been conducted for simple MR-based causal average effect analyses,but they are not available for MR-based mediation analysis studies,and we aim to fill this gap in this paper.We propose to use two sensitivity parameters to quantify the effect due to the deviation of the IV assumptions.With these two sensitivity parameters,we derive consistent indirect causal effect estimators and establish their asymptotic propersties.Our theoretical results can be used in MR-based mediation analysis to study the impact of violations of MR as-sumptions.The finite sample performance of the proposed method is illustrated through simulation studies,sensitivity ana-lysis,and application to a real genome-wide association study.展开更多
This paper presents an engineering system approach using a 2D model of conservation of mass to study the dynamics of ozone and concerned chemical species in the stratosphere.By considering all fourteen photolysis,ozon...This paper presents an engineering system approach using a 2D model of conservation of mass to study the dynamics of ozone and concerned chemical species in the stratosphere.By considering all fourteen photolysis,ozone-generating,and-depleting chemical reactions,the model calculated the transient,spatial changes of ozone under different physical-chemical-radiative conditions.Validation against the measured data demonstrated good accuracy,close match of our model with the observed ozone concentrations at both 20°S and 90°N locations.The deviation in the average concentration was less than 1% and in ozone profiles less than 17%.The impacts of various chlorine-(Cl),nitrogen oxides-(NO_(x)),and bromine-(Br)depleting cycles on ozone concentrations and distribution were investigated.The chlorine catalytic depleting cycle was found to exhibit the most significant impact on ozone dynamics,confirming the key role of chlorine in the problem of ozone depletion.Sensitivity analysis was conducted with levels of 25%,50%,100%,200%,and 400% of the baseline value.The combined cycles(Cl+NO_(x)+Br)showed the most significant influence on ozone behavior.The total ozone abundance above the South Pole could decrease by a small 3%,from 281 DU(Dubson Units)to 273 DU for the 25% level,or by a huge thinning of 60%to 114 DU for the 400% concentration level.When the level of chlorine gases increased beyond 200%,it would cause ozone depletion to a level of ozone hole(below 220 DU).The 2D Ozone Model presented in this paper demonstrates robustness,convenience,efficiency,and executability for analyzing complex ozone phenomena in the stratosphere.展开更多
This paper aims to solve the resonance failure probability and develop an effective method to estimate the effects of variables and failure modes on failure probability of axially functionally graded material(FGM)pipe...This paper aims to solve the resonance failure probability and develop an effective method to estimate the effects of variables and failure modes on failure probability of axially functionally graded material(FGM)pipe conveying fluid.Correspondingly,the natural frequency of axially FGM pipes conveying fluid is calculated using the differential quadrature method(DQM).A variable sensitivity analysis(VSA)is introduced to measure the effect of each random variable,and a mode sensitivity analysis(MSA)is introduced to acquire the importance ranking of failure modes.Then,an active learning Kriging(ALK)method is established to calculate the resonance failure probability and sensitivity indices,which greatly improves the application of resonance reliability analysis for pipelines in engineering practice.Based on the resonance reliability analysis method,the effects of fluid velocity,volume fraction and fluid density of axially FGM pipe conveying fluid on resonance reliability are analyzed.The results demonstrate that the proposed method has great performance in the anti-resonance analysis of pipes conveying fluid.展开更多
This paper puts forward a rigorous approach for a sensitivity analysis of stochastic user equilibrium with the elastic demand （SUEED） model. First, proof is given for the existence of derivatives of output variables...This paper puts forward a rigorous approach for a sensitivity analysis of stochastic user equilibrium with the elastic demand （SUEED） model. First, proof is given for the existence of derivatives of output variables with respect to the perturbation parameters for the SUEED model. Then by taking advantage of the gradient-based method for sensitivity analysis of a general nonlinear program, detailed formulae are developed for calculating the derivatives of designed variables with respect to perturbation parameters at the equilibrium state of the SUEED model. This method is not only applicable for a sensitivity analysis of the logit-type SUEED problem, but also for the probit-type SUEED problem. The application of the proposed method in a numerical example shows that the proposed method can be used to approximate the equilibrium link flow solutions for both logit-type SUEED and probit-type SUEED problems when small perturbations are introduced in the input parameters.展开更多
Parallel kinematic machines （PKMs） have the advantages of a compact structure,high stiffness,a low moving inertia,and a high load/weight ratio.PKMs have been intensively studied since the 1980s,and are still attract...Parallel kinematic machines （PKMs） have the advantages of a compact structure,high stiffness,a low moving inertia,and a high load/weight ratio.PKMs have been intensively studied since the 1980s,and are still attracting much attention.Compared with extensive researches focus on their type/dimensional synthesis,kinematic/dynamic analyses,the error modeling and separation issues in PKMs are not studied adequately,which is one of the most important obstacles in its commercial applications widely.Taking a 3-PRS parallel manipulator as an example,this paper presents a separation method of source errors for 3-DOF parallel manipulator into the compensable and non-compensable errors effectively.The kinematic analysis of 3-PRS parallel manipulator leads to its six-dimension Jacobian matrix,which can be mapped into the Jacobian matrix of actuations and constraints,and then the compensable and non-compensable errors can be separated accordingly.The compensable errors can be compensated by the kinematic calibration,while the non-compensable errors may be adjusted by the manufacturing and assembling process.Followed by the influence of the latter,i.e.,the non-compensable errors,on the pose error of the moving platform through the sensitivity analysis with the aid of the Monte-Carlo method,meanwhile,the configurations of the manipulator are sought as the pose errors of the moving platform approaching their maximum.The compensable and non-compensable errors in limited-DOF parallel manipulators can be separated effectively by means of the Jacobian matrix of actuations and constraints,providing designers with an informative guideline to taking proper measures for enhancing the pose accuracy via component tolerancing and/or kinematic calibration,which can lay the foundation for the error distinguishment and compensation.展开更多
Parallel robots with SCARA（selective compliance assembly robot arm） motions are utilized widely in the field of high speed pick-and-place manipulation. Error modeling for these robots generally simplifies the parall...Parallel robots with SCARA（selective compliance assembly robot arm） motions are utilized widely in the field of high speed pick-and-place manipulation. Error modeling for these robots generally simplifies the parallelogram structures included by the robots as a link. As the established error model fails to reflect the error feature of the parallelogram structures, the effect of accuracy design and kinematic calibration based on the error model come to be undermined. An error modeling methodology is proposed to establish an error model of parallel robots with parallelogram structures. The error model can embody the geometric errors of all joints, including the joints of parallelogram structures. Thus it can contain more exhaustively the factors that reduce the accuracy of the robot. Based on the error model and some sensitivity indices defined in the sense of statistics, sensitivity analysis is carried out. Accordingly, some atlases are depicted to express each geometric error’s influence on the moving platform’s pose errors. From these atlases, the geometric errors that have greater impact on the accuracy of the moving platform are identified, and some sensitive areas where the pose errors of the moving platform are extremely sensitive to the geometric errors are also figured out. By taking into account the error factors which are generally neglected in all existing modeling methods, the proposed modeling method can thoroughly disclose the process of error transmission and enhance the efficacy of accuracy design and calibration.展开更多
基金supported by the State Key Laboratory of Offshore Oil and Gas Exploitation, Open Fund Project (No. CCL2023RCPS0162RQN)the primary funding, National Natural Science Foundation of China (No. ZX20230400)
文摘Saline aquifers are considered as highly favored reservoirs for CO_(2)sequestration due to their favorable properties.Understanding the impact of saline aquifer properties on the migration and distribution of CO_(2)plume is crucial.This study focuses on four key parameters-permeability,porosity,formation pressure,and temperature-to characterize the reservoir and analyse the petrophysical and elastic response of CO_(2).First,we performed reservoir simulations to simulate CO_(2)saturation,using multiple sets of these four parameters to examine their significance on CO_(2)saturation and the plume migration speed.Subsequently,the effect of these parameters on the elastic properties is tested using rock physics theory.We established a relationship of compressional wave velocity(V_(p))and quality factor(Q_(p))with the four key parameters,and conducted a sensitivity analysis to test their sensitivity to V_(p) and Q_(p).Finally,we utilized visco-acoustic wave equation simulated time-lapse seismic data based on the computed V_(p) and Q_(p) models,and analysed the impact of CO_(2) saturation changes on seismic data.As for the above nu-merical simulations and analysis,we conducted sensitivity analysis using both homogeneous and heterogeneous models.Consistent results are found between homogeneous and heterogeneous models.The permeability is the most sensitive parameter to the CO_(2)saturation,while porosity emerges as the primary factor affecting both Q_(p) and V_(p).Both Q_(p) and V_(p) increase with the porosity,which contradicts the observations in gas reservoirs.The seismic simulations highlight significant variations in the seismic response to different parameters.We provided analysis for these observations,which serves as a valuable reference for comprehensive CO_(2)integrity analysis,time-lapse monitoring,injection planning and site selection.
基金supported by the National Natural Science Foundation of China(Grant Nos.42250103 and 42174090)the Opening Fund of Key Laboratory of Geological Survey and Evaluation of Ministry of Education(Grant No.GLAB2023ZR02)the Ministry of Science and Technology(MOST)Special Fund from the State Key Laboratory of Geological Processes and Mineral Resources(Grant No.MSFGPMR2022-4)。
文摘As a means of quantitative interpretation,forward calculations of the global lithospheric magnetic field in the Spherical Harmonic(SH)domain have been widely used to reveal geophysical,lithological,and geothermal variations in the lithosphere.Traditional approaches either do not consider the non-axial dipolar terms of the inducing field and its radial variation or do so by means of complicated formulae.Moreover,existing methods treat the magnetic lithosphere either as an infinitesimally thin layer or as a radially uniform spherical shell of constant thickness.Here,we present alternative forward formulae that account for an arbitrarily high maximum degree of the inducing field and for a magnetic lithosphere of variable thickness.Our simulations based on these formulae suggest that the satellite magnetic anomaly field is sensitive to the non-axial dipolar terms of the inducing field but not to its radial variation.Therefore,in forward and inverse calculations of satellite magnetic anomaly data,the non-axial dipolar terms of the inducing field should not be ignored.Furthermore,our results show that the satellite magnetic anomaly field is sensitive to variability in the lateral thickness of the magnetized shell.In particular,we show that for a given vertically integrated susceptibility distribution,underestimating the thickness of the magnetic layer overestimates the induced magnetic field.This discovery bridges the greatest part of the alleged gap between the susceptibility values measured from rock samples and the susceptibility values required to match the observed magnetic field signal.We expect the formulae and conclusions of this study to be a valuable tool for the quantitative interpretation of the Earth's global lithospheric magnetic field,through an inverse or forward modelling approach.
基金support from the National Natural Science Foundation of China(Grant Nos.52174123&52274222).
文摘This paper presents a framework for constructing surrogate models for sensitivity analysis of structural dynamics behavior.Physical models involving deformation,such as collisions,vibrations,and penetration,are devel-oped using the material point method.To reduce the computational cost of Monte Carlo simulations,response surface models are created as surrogate models for the material point system to approximate its dynamic behavior.An adaptive randomized greedy algorithm is employed to construct a sparse polynomial chaos expansion model with a fixed order,effectively balancing the accuracy and computational efficiency of the surrogate model.Based on the sparse polynomial chaos expansion,sensitivity analysis is conducted using the global finite difference and Sobol methods.Several examples of structural dynamics are provided to demonstrate the effectiveness of the proposed method in addressing structural dynamics problems.
基金Dalian Municipal Natural Science Foundation under Grant No.2019RD01。
文摘Economic losses and catastrophic casualties may occur once super high-rise structures are struck by low-probability but high-consequence scenarios of concurrent earthquakes and winds. Therefore, accurately predicting multi-hazard dynamic responses to super high-rise structures has significant engineering and scientific value. This study performed a parametric global sensitivity analysis (GSA) for multi-hazard dynamic response prediction of super high-rise structures using the multiple-degree-of-freedom shear (MFS) model. Polynomial chaos Kriging (PCK) was introduced to build a surrogate model that allowed GSA to be combined with Sobol’ indices. Monte Carlo simulation (MCS) is also conducted for the comparison to verify the accuracy and efficiency of the PCK method. Parametric sensitivity analysis is performed for a wide range of aleatory uncertainty (intensities of coupled multi-hazard), epistemic uncertainty (bending stiffness, k_(m);shear stiffness, kq;density, ρ;and damping ratio, ξ), probability distribution types, and coefficients of variation. The results indicate that epistemic uncertainty parameters, k_(m), ρ, and ξ dramatically affect the multi-hazard dynamic responses of super high-rise structures;in addition, Sobol’ indices between the normal and lognormal distributions are insignificant, while the variation levels have remarkably influenced the sensitivity indices.
基金supported by the National Natural Science Foundation of China[grant numbers 42192553 and 41922036]the Fundamental Research Funds for the Central Universities–Cemac“GeoX”Interdisciplinary Program[grant number 020714380207]。
文摘While steady improvements have been achieved for the track forecasts of typhoons,there has been a lack of improvement for intensity forecasts.One challenge for intensity forecasts is to capture the rapid intensification(RI),whose nonlinear characteristics impose great difficulties for numerical models.The ensemble sensitivity analysis(ESA)method is used here to analyze the initial conditions that contribute to typhoon intensity forecasts,especially with RI.Six RI processes from five typhoons(Chaba,Haima,Meranti,Sarika,and Songda)in 2016,are applied with ESA,which also gives a composite initial condition that favors subsequent RI.Results from individual cases have generally similar patterns of ESA,but with different magnitudes,when various cumulus parameterization schemes are applied.To draw the initial conditions with statistical significance,sample-mean azimuthal components of ESA are obtained.Results of the composite sensitivity show that typhoons that experience RI in 24 h favor enhanced primary circulation from low to high levels,intensified secondary circulation with increased radial inflow at lower levels and increased radial outflow at upper levels,a prominent warm core at around 300 hPa,and increased humidity at low levels.As the forecast lead time increases,the patterns of ESA are retained,while the sensitivity magnitudes decay.Given the general and quantitative composite sensitivity along with associated uncertainties for different cumulus parameterization schemes,appropriate sampling of the composite sensitivity in numerical models could be beneficial to capturing the RI and improving the forecasting of typhoon intensity.
基金supported by the National Key Research and Development Program of China(No.2022YFC3701205)the National Natural Science Foundation of China(No.41975173)the Science and Technology Development Fund of the Chinese Academy of Meteorological Sciences(No.2021KJ011)。
文摘In recent years,incidents of simultaneous exceedance of PM_(2.5)and O_(3) concentrations,termed PM_(2.5)and O_(3) co-pollution events,have frequently occurred in China.This study conducted atmospheric circulation analysis on two typical co-pollution events in Beijing,occurring from July 22 to July 28,2019,and from April 25 to May 2,2020.These events were categorized into pre-trough southerly airflow type(Type 1)and post-trough northwest flow type(Type 2).Subsequently,sensitivity analyses using the GRAPES-CUACE adjoint model were performed to quantify the contributions of precursor emissions from Beijing and surrounding areas to PM_(2.5)and O_(3) concentrations in Beijing for two types of co-pollution.The results indicated that the spatiotemporal distribution of sensitive source region varied among different circulation types.Primary PM_(2.5)(PPM_(2.5))emissions from Hebei contributed the most to the 24-hour average PM_(2.5)(24-h PM_(2.5))peak concentration(41.6%-45.4%),followed by Beijing emissions(31%-35.7%).The maximum daily 8-hour average ozone peak concentration was primarily influenced by the emissions from Hebei and Beijing,with contribution ratios respectively of 32.8%-44.8% and 29%-42.1%.Additionally,NO_(x)emissions were the main contributors in Type 1,while both NO_(x)and VOCs emissions contributed similarly in Type 2.The iterative emission reduction experiments for two types of co-pollution indicated that Type 1 required emission reductions in NO_(x)(52.4%-71.8%)and VOCs(14.1%-33.8%)only.In contrast,Type 2 required combined emission reductions in NO_(x)(37.0%-65.1%),VOCs(30.7%-56.2%),and PPM_(2.5)(31%-46.9%).This study provided a reference for controlling co-pollution events and improving air quality in Beijing.
文摘Kangbao County is located in the northwest of Bashang in Hebei Province,which is a sub-arid area in the middle temperate zone,with a cold and arid climate and frequent disastrous weather.The meteorological data of Kangbao County Meteorological Station from 1994 to 2023 were selected,and the meteorological elements such as air pressure,temperature,precipitation,wind,relative humidity,sunshine,thunderstorm,hail,gale,rainstorm,fog,and snow cover were counted.The climate background analysis and high-impact weather analysis were carried out in combination with the topographic characteristics,geographical location,and climate characteristics.The results of meteorological sensitivity survey in the park showed that industries such as food,agriculture and new energy are very sensitive to temperature.During the visit to the enterprises in the park,it was found that heavy precipitation,snow,strong winds and hail had a great impact on many industries,and it was recommended to carry out long-term planning and reasonable design of buildings.It should pay close attention to forecasts and early warnings,formulate emergency plans for high-impact weather defense,and actively take preventive measures.
文摘In the field of rail transit,the UK Department of Transport stated that it will realize a comprehensive transformation of UK railways by 2050,abandoning traditional diesel trains and upgrading them to new environmentally friendly trains.The current mainstream upgrade methods are electrification and hydrogen fuel cells.Comprehensive upgrades are costly,and choosing the optimal upgrade method for trams and mainline railways is critical.Without a sensitivity analysis,it is difficult for us to determine the influence relationship between each parameter and cost,resulting in a waste of cost when choosing a line reconstruction method.In addition,by analyzing the sensitivity of different parameters to the cost,the primary optimization direction can be determined to reduce the cost.Global higher-order sensitivity analysis enables quantification of parameter interactions,showing non-additive effects between parameters.This paper selects the main parameters that affect the retrofit cost and analyzes the retrofit cost of the two upgrade methods in the case of trams and mainline railways through local and global sensitivity analysis methods.The results of the analysis show that,given the current UK rail system,it is more economical to choose electric trams and hydrogen mainline trains.For trams,the speed at which the train travels has the greatest impact on the final cost.Through the sensitivity analysis,this paper provides an effective data reference for the current railway upgrading and reconstruction plan and provides a theoretical basis for the next step of train parameter optimization.
基金supported by the National Natural Science Foundation of China(Grant Nos.52109144,52025094 and 52222905).
文摘This paper introduces a novel approach for parameter sensitivity evaluation and efficient slope reliability analysis based on quantile-based first-order second-moment method(QFOSM).The core principles of the QFOSM are elucidated geometrically from the perspective of expanding ellipsoids.Based on this geometric interpretation,the QFOSM is further extended to estimate sensitivity indices and assess the significance of various uncertain parameters involved in the slope system.The proposed method has the advantage of computational simplicity,akin to the conventional first-order second-moment method(FOSM),while providing estimation accuracy close to that of the first-order reliability method(FORM).Its performance is demonstrated with a numerical example and three slope examples.The results show that the proposed method can efficiently estimate the slope reliability and simultaneously evaluate the sensitivity of the uncertain parameters.The proposed method does not involve complex optimization or iteration required by the FORM.It can provide a valuable complement to the existing approximate reliability analysis methods,offering rapid sensitivity evaluation and slope reliability analysis.
基金supported by the National Natural Science Foundation of China (62373224,62333013,U23A20327)。
文摘Battery production is crucial for determining the quality of electrode,which in turn affects the manufactured battery performance.As battery production is complicated with strongly coupled intermediate and control parameters,an efficient solution that can perform a reliable sensitivity analysis of the production terms of interest and forecast key battery properties in the early production phase is urgently required.This paper performs detailed sensitivity analysis of key production terms on determining the properties of manufactured battery electrode via advanced data-driven modelling.To be specific,an explainable neural network named generalized additive model with structured interaction(GAM-SI)is designed to predict two key battery properties,including electrode mass loading and porosity,while the effects of four early production terms on manufactured batteries are explained and analysed.The experimental results reveal that the proposed method is able to accurately predict battery electrode properties in the mixing and coating stages.In addition,the importance ratio ranking,global interpretation and local interpretation of both the main effects and pairwise interactions can be effectively visualized by the designed neural network.Due to the merits of interpretability,the proposed GAM-SI can help engineers gain important insights for understanding complicated production behavior,further benefitting smart battery production.
基金This work was supported financially by the National Natural Science Foundation of China(No.12375176).
文摘The phenomenology involved in severe accidents in nuclear reactors is highly complex.Currently,integrated analysis programs used for severe accident analysis heavily rely on custom empirical parameters,which introduce considerable uncertainty.Therefore,in recent years,the field of severe accidents has shifted its focus toward applying uncertainty analysis methods to quantify uncertainty in safety assessment programs,known as“best estimate plus uncertainty(BEPU).”This approach aids in enhancing our comprehension of these programs and their further development and improvement.This study concentrates on a third-generation pressurized water reactor equipped with advanced active and passive mitigation strategies.Through an Integrated Severe Accident Analysis Program(ISAA),numerical modeling and uncertainty analysis were conducted on severe accidents resulting from large break loss of coolant accidents.Seventeen uncertainty parameters of the ISAA program were meticulously screened.Using Wilks'formula,the developed uncertainty program code,SAUP,was employed to carry out Latin hypercube sampling,while ISAA was employed to execute batch calculations.Statistical analysis was then conducted on two figures of merit,namely hydrogen generation and the release of fission products within the pressure vessel.Uncertainty calculations revealed that hydrogen production and the fraction of fission product released exhibited a normal distribution,ranging from 182.784 to 330.664 kg and from 15.6 to 84.3%,respectively.The ratio of hydrogen production to reactor thermal power fell within the range of 0.0578–0.105.A sensitivity analysis was performed for uncertain input parameters,revealing significant correlations between the failure temperature of the cladding oxide layer,maximum melt flow rate,size of the particulate debris,and porosity of the debris with both hydrogen generation and the release of fission products.
基金Project supported by the Engineering and Physical Sciences Research Council of U. K.(Nos. EP/S030875/1, EP/T017899/1, and EP/T517896/1)。
文摘Within this work,we perform a sensitivity analysis to determine the influence of the material input parameters on the pressure in an isotropic porous solid cylinder.We provide a step-by-step guide to obtain the analytical solution for a porous isotropic elastic cylinder in terms of the pressure,stresses,and elastic displacement.We obtain the solution by performing a Laplace transform on the governing equations,which are those of Biot's poroelasticity in cylindrical polar coordinates.We enforce radial boundary conditions and obtain the solution in the Laplace transformed domain before reverting back to the time domain.The sensitivity analysis is then carried out,considering only the derived pressure solution.This analysis finds that the time t,Biot's modulus M,and Poisson's ratio ν have the highest influence on the pressure whereas the initial value of pressure P_(0) plays a very little role.
基金Supported by the Science Center for Gas Turbine Project,China(No.P2022-C-II-001-001).
文摘High-performance compressor design is best achieved with a good trade-off between aerodynamic and structural considerations,which requires efficient and accurate multidisciplinary design and optimization tools.As advanced compressors are defined with a large design space,their optimization is most efficiently achieved using a gradient-based approach,where the gradient can be computed using an adjoint method,at a cost nearly independent of the dimension of the design space.While the adjoint method has been widely used for aerodynamic shape optimization,its use for structural shape optimizations of compressor blades has not been as well studied.This paper discussed a discrete adjoint solver for structural sensitivity analysis developed within the opensource Computational Structural Mechanics(CSM)software CalculiX,and proposed an efficient stress sensitivity analysis method based on the Finite Element Method(FEM)using adjoint.The proposed method is applied to compute the stress sensitivity of a wide-chord fan blade in a highbypass-ratio engine.The accuracy of the adjoint-based stress sensitivity is verified against central finite differences.In terms of computational efficiency,the adjoint approach is about 4.5 times more efficient than the conventional approach using finite differences.This works marks an important step towards fluid-structural coupled adjoint optimization of wide-chord fan blades.
文摘Traditional global sensitivity analysis(GSA)neglects the epistemic uncertainties associated with the probabilistic characteristics(i.e.type of distribution type and its parameters)of input rock properties emanating due to the small size of datasets while mapping the relative importance of properties to the model response.This paper proposes an augmented Bayesian multi-model inference(BMMI)coupled with GSA methodology(BMMI-GSA)to address this issue by estimating the imprecision in the momentindependent sensitivity indices of rock structures arising from the small size of input data.The methodology employs BMMI to quantify the epistemic uncertainties associated with model type and parameters of input properties.The estimated uncertainties are propagated in estimating imprecision in moment-independent Borgonovo’s indices by employing a reweighting approach on candidate probabilistic models.The proposed methodology is showcased for a rock slope prone to stress-controlled failure in the Himalayan region of India.The proposed methodology was superior to the conventional GSA(neglects all epistemic uncertainties)and Bayesian coupled GSA(B-GSA)(neglects model uncertainty)due to its capability to incorporate the uncertainties in both model type and parameters of properties.Imprecise Borgonovo’s indices estimated via proposed methodology provide the confidence intervals of the sensitivity indices instead of their fixed-point estimates,which makes the user more informed in the data collection efforts.Analyses performed with the varying sample sizes suggested that the uncertainties in sensitivity indices reduce significantly with the increasing sample sizes.The accurate importance ranking of properties was only possible via samples of large sizes.Further,the impact of the prior knowledge in terms of prior ranges and distributions was significant;hence,any related assumption should be made carefully.
基金This work was supported by the National Natural Science Foundation of China(12171451,72091212).
文摘Mendelian randomization(MR)is widely used in causal mediation analysis to control unmeasured confounding effects,which is valid under some strong assumptions.It is thus of great interest to assess the impact of violations of these MR assumptions through sensitivity analysis.Sensitivity analyses have been conducted for simple MR-based causal average effect analyses,but they are not available for MR-based mediation analysis studies,and we aim to fill this gap in this paper.We propose to use two sensitivity parameters to quantify the effect due to the deviation of the IV assumptions.With these two sensitivity parameters,we derive consistent indirect causal effect estimators and establish their asymptotic propersties.Our theoretical results can be used in MR-based mediation analysis to study the impact of violations of MR as-sumptions.The finite sample performance of the proposed method is illustrated through simulation studies,sensitivity ana-lysis,and application to a real genome-wide association study.
文摘This paper presents an engineering system approach using a 2D model of conservation of mass to study the dynamics of ozone and concerned chemical species in the stratosphere.By considering all fourteen photolysis,ozone-generating,and-depleting chemical reactions,the model calculated the transient,spatial changes of ozone under different physical-chemical-radiative conditions.Validation against the measured data demonstrated good accuracy,close match of our model with the observed ozone concentrations at both 20°S and 90°N locations.The deviation in the average concentration was less than 1% and in ozone profiles less than 17%.The impacts of various chlorine-(Cl),nitrogen oxides-(NO_(x)),and bromine-(Br)depleting cycles on ozone concentrations and distribution were investigated.The chlorine catalytic depleting cycle was found to exhibit the most significant impact on ozone dynamics,confirming the key role of chlorine in the problem of ozone depletion.Sensitivity analysis was conducted with levels of 25%,50%,100%,200%,and 400% of the baseline value.The combined cycles(Cl+NO_(x)+Br)showed the most significant influence on ozone behavior.The total ozone abundance above the South Pole could decrease by a small 3%,from 281 DU(Dubson Units)to 273 DU for the 25% level,or by a huge thinning of 60%to 114 DU for the 400% concentration level.When the level of chlorine gases increased beyond 200%,it would cause ozone depletion to a level of ozone hole(below 220 DU).The 2D Ozone Model presented in this paper demonstrates robustness,convenience,efficiency,and executability for analyzing complex ozone phenomena in the stratosphere.
基金The funding was provided by Laboratory Fund (Grant No.SYJJ200320).
文摘This paper aims to solve the resonance failure probability and develop an effective method to estimate the effects of variables and failure modes on failure probability of axially functionally graded material(FGM)pipe conveying fluid.Correspondingly,the natural frequency of axially FGM pipes conveying fluid is calculated using the differential quadrature method(DQM).A variable sensitivity analysis(VSA)is introduced to measure the effect of each random variable,and a mode sensitivity analysis(MSA)is introduced to acquire the importance ranking of failure modes.Then,an active learning Kriging(ALK)method is established to calculate the resonance failure probability and sensitivity indices,which greatly improves the application of resonance reliability analysis for pipelines in engineering practice.Based on the resonance reliability analysis method,the effects of fluid velocity,volume fraction and fluid density of axially FGM pipe conveying fluid on resonance reliability are analyzed.The results demonstrate that the proposed method has great performance in the anti-resonance analysis of pipes conveying fluid.
基金The Scientific Innovation Research of College Graduates in Jiangsu Province(No.CXLX13_110)the Young Scientists Fund of National Natural Science Foundation of China(No.51408253)the Young Scientists Fund of Huaiyin Institute of Technology(No.491713328)
文摘This paper puts forward a rigorous approach for a sensitivity analysis of stochastic user equilibrium with the elastic demand （SUEED） model. First, proof is given for the existence of derivatives of output variables with respect to the perturbation parameters for the SUEED model. Then by taking advantage of the gradient-based method for sensitivity analysis of a general nonlinear program, detailed formulae are developed for calculating the derivatives of designed variables with respect to perturbation parameters at the equilibrium state of the SUEED model. This method is not only applicable for a sensitivity analysis of the logit-type SUEED problem, but also for the probit-type SUEED problem. The application of the proposed method in a numerical example shows that the proposed method can be used to approximate the equilibrium link flow solutions for both logit-type SUEED and probit-type SUEED problems when small perturbations are introduced in the input parameters.
基金supported by Tianjin Research Program of Application Foundation and Advanced Technology of China (Grant No.11JCZDJC22700)National Natural Science Foundation of China (GrantNo. 51075295,Grant No. 50675151)+1 种基金National High-tech Research and Development Program of China (863 Program,Grant No.2007AA042001)PhD Programs Foundation of Ministry of Education of China (Grant No. 20060056018)
文摘Parallel kinematic machines （PKMs） have the advantages of a compact structure,high stiffness,a low moving inertia,and a high load/weight ratio.PKMs have been intensively studied since the 1980s,and are still attracting much attention.Compared with extensive researches focus on their type/dimensional synthesis,kinematic/dynamic analyses,the error modeling and separation issues in PKMs are not studied adequately,which is one of the most important obstacles in its commercial applications widely.Taking a 3-PRS parallel manipulator as an example,this paper presents a separation method of source errors for 3-DOF parallel manipulator into the compensable and non-compensable errors effectively.The kinematic analysis of 3-PRS parallel manipulator leads to its six-dimension Jacobian matrix,which can be mapped into the Jacobian matrix of actuations and constraints,and then the compensable and non-compensable errors can be separated accordingly.The compensable errors can be compensated by the kinematic calibration,while the non-compensable errors may be adjusted by the manufacturing and assembling process.Followed by the influence of the latter,i.e.,the non-compensable errors,on the pose error of the moving platform through the sensitivity analysis with the aid of the Monte-Carlo method,meanwhile,the configurations of the manipulator are sought as the pose errors of the moving platform approaching their maximum.The compensable and non-compensable errors in limited-DOF parallel manipulators can be separated effectively by means of the Jacobian matrix of actuations and constraints,providing designers with an informative guideline to taking proper measures for enhancing the pose accuracy via component tolerancing and/or kinematic calibration,which can lay the foundation for the error distinguishment and compensation.
基金Supported by National Natural Science Foundation of China(Grant No.51305222)National Key Scientific and Technological Program of China(Grant No.2013ZX04001-021)
文摘Parallel robots with SCARA（selective compliance assembly robot arm） motions are utilized widely in the field of high speed pick-and-place manipulation. Error modeling for these robots generally simplifies the parallelogram structures included by the robots as a link. As the established error model fails to reflect the error feature of the parallelogram structures, the effect of accuracy design and kinematic calibration based on the error model come to be undermined. An error modeling methodology is proposed to establish an error model of parallel robots with parallelogram structures. The error model can embody the geometric errors of all joints, including the joints of parallelogram structures. Thus it can contain more exhaustively the factors that reduce the accuracy of the robot. Based on the error model and some sensitivity indices defined in the sense of statistics, sensitivity analysis is carried out. Accordingly, some atlases are depicted to express each geometric error’s influence on the moving platform’s pose errors. From these atlases, the geometric errors that have greater impact on the accuracy of the moving platform are identified, and some sensitive areas where the pose errors of the moving platform are extremely sensitive to the geometric errors are also figured out. By taking into account the error factors which are generally neglected in all existing modeling methods, the proposed modeling method can thoroughly disclose the process of error transmission and enhance the efficacy of accuracy design and calibration.
