The quantity of space debris on Earth orbit has escalated tremendously in recent years, presenting a significant hazard to human space operations. It is urgent to develop effective measures to capture and remove vario...The quantity of space debris on Earth orbit has escalated tremendously in recent years, presenting a significant hazard to human space operations. It is urgent to develop effective measures to capture and remove various space debris. For this purpose, this paper presents a tendon-actuated flexible deployable manipulator. The flexible manipulator consists of several deployable units connected by Cardan joints and actuated by tendons. Compared with the present technologies for capturing space debris such as rigid robotic arm or flying net, this flexible manipulator is deployable, reusable, lightweight and applicable to the capture of large space debris. In order to investigate its deployment dynamics, an accurate dynamic model of the flexible manipulator is established based on the natural coordinate formulation (NCF) and the absolute nodal coordinate formulation (ANCF). Subsequently, numerical simulations are carried out to study the effects of system parameters and the base satellite on its deployment dynamics. Finally, ground experiments for both deployment and bending of the flexible manipulator are conducted to verify its effectiveness and feasibility.展开更多
Reusable and flexible capturing of space debris is highly required in future aerospace technologies.A tendon-actuated flexible robotic arm is therefore proposed for capturing floating targets in this paper.Firstly,an ...Reusable and flexible capturing of space debris is highly required in future aerospace technologies.A tendon-actuated flexible robotic arm is therefore proposed for capturing floating targets in this paper.Firstly,an accurate dynamic model of the flexible robotic arm is established by using the absolute nodal coordinate formulation(ANCF)in the framework of the arbitrary Lagrangian-Eulerian(ALE)description and the natural coordinate formulation(NCF).The contact and self-contact dynamics of the flexible robotic arm when bending and grasping an object are considered via a fast contact detection approach.Then,the dynamic simulations of the flexible robotic arm for capturing floating targets are carried out to study the influence of the position,size,and mass of the target object on the grasping performance.Finally,a principle prototype of the tendon-actuated flexible robotic arm is manufactured to validate the dynamic model.The corresponding grasping experiments for objects of various shapes are also conducted to illustrate the excellent performance of the flexible robotic arm.展开更多
To meet the demand for the machining of blisks with narrow cascade channels and twisted blade profiles,especially integral shrouded blisks with shrouds,this paper innovatively proposes a method for dynamic deformation...To meet the demand for the machining of blisks with narrow cascade channels and twisted blade profiles,especially integral shrouded blisks with shrouds,this paper innovatively proposes a method for dynamic deformation electrochemical cutting of flexible electrodes with arrayed group slit structure.By applying torque to both ends of the flexible electrode,the proposed method produces bending deformation and realizes the processing of a twisted profile.The flexible electrode is an important carrier of this method,and its properties such as elasticity,rigidity,and flow field uniformity have a crucial impact on smooth processing.Therefore,this paper proposes a design theory of flexible electrodes with an arrayed group slit structure and designs flexible electrodes with variable cross-sections.Compared with traditional uniform section tube electrode,the designed flexible electrode was subjected to the corresponding mechanical simulation,flow field simulation,and fluid–structure interaction simulation to investigate the elasticity,rigidity,and flow field uniformity of the flexible electrode.In addition,a deformation device of flexible electrodes was constructed and the corresponding experiments were carried out.Simulations and experiments demonstrate that flexible electrodes with arrayed group slit structures have good comprehensive performance.Finally,typical components were successfully machined to verify the feasibility of the proposed method and the rationality of the designed flexible electrode.It is shown that the proposed method has great potential for the machining of distorted profiles and provides a new idea for the machining of complex profiles.展开更多
Flexible phase change materials(PCMs)have become increasingly critical to address the demand for thermal management in electronic technologies and energy conversion.However,their application remains challenging becaus...Flexible phase change materials(PCMs)have become increasingly critical to address the demand for thermal management in electronic technologies and energy conversion.However,their application remains challenging because of their rigidity,liquid leakage,and insufficient thermal conductivity.Herein,flexible glutamic acid@natural rubber/paraffin wax(PW)/carbon nanotubes-graphene nanoplatelets(GNR/PW/CGNP)phase change composites with high thermal conductivity,excellent shape stability,and recyclability were reported.Zn^(2+)-based dynamic crosslinking was constructed through the reaction of zinc acetate and carboxyl groups on glutamic acid@natural rubber(GNR),which was used as a flexible matrix to physically blend with paraffin wax/carbon nanotubes/graphene nanoplatelets(PW/CGNP)to achieve uniform dispersion of PW/CGNP,continuous thermal conductivity networks,and good encapsulation of PW.The GNR/PW/CGNP composites showed excellent mechanical strength,flexibility,and recycling ability,and effective encapsulation prevented the outflow of melted PW during the phase transition.Also,the phase change enthalpy could attain 111.1 J/g with a higher thermal conductivity of 1.055 W/m K,428%higher than that of pure PW owing to the formation of efficient thermal conductive pathways,which exhibited outstanding thermal management performance and superior temperature control behavior in electronic devices.The developed flexible composite PCMs may open new possibilities for next-generation flexible thermal management electronics.展开更多
Intelligent production is an important development direction in intelligent manufacturing,with intelligent factories playing a crucial role in promoting intelligent production.Flexible job shops,as the main form of in...Intelligent production is an important development direction in intelligent manufacturing,with intelligent factories playing a crucial role in promoting intelligent production.Flexible job shops,as the main form of intelligent factories,constantly face dynamic disturbances during the production process,including machine failures and urgent orders.This paper discusses the basic models and research methods of job shop scheduling,emphasizing the important role of dynamic job shop scheduling and its response schemes in future research.A multi-objective flexible job shop dynamic scheduling mathematical model is established,highlighting its complex and multi-constraint characteristics under different interferences.A classification discussion is conducted on the dynamic response methods and optimization objectives under machine failures,emergency orders,fuzzy completion times,and mixed dynamic events.The development process of traditional scheduling rules and intelligent methods in dynamic scheduling are also analyzed.Finally,based on the current development status of job shop scheduling and the requirements of intelligent manufacturing,the future development trends of dynamic scheduling in flexible job shops are proposed.展开更多
The deep seabed is known for its abundant reserves of various mineral resources.Notably,the Clarion Clipperton(C-C)mining area in the northeast Pacific Ocean,where China holds exploration rights,is particularly rich i...The deep seabed is known for its abundant reserves of various mineral resources.Notably,the Clarion Clipperton(C-C)mining area in the northeast Pacific Ocean,where China holds exploration rights,is particularly rich in deep-sea polymetallic nodules.These nodules,which are nodular and unevenly distributed in seafloor sediments,have significant industrial exploitation value.Over the decades,the deep-sea mining industry has increasingly adopted systems that combine rigid and flexible risers supported by large surface mining vessels.However,current systems face economic and structural stability challenges,hindering the development of deep-sea mining technology.This paper proposes a new structural design for a deep-sea mining system based on flexible risers,validated through numerical simulations and experimental research.The system composition,function and operational characteristics are comprehensively introduced.Detailed calculations determine the production capacity of the deep-sea mining system and the dimensions of the seabed mining subsystem.Finite element numerical simulations analyze the morphological changes of flexible risers and the stress conditions at key connection points under different ocean current incident angles.Experimental research verifies the feasibility of collaborative movement between two tethered underwater devices.The proposed deep-sea mining system,utilizing flexible risers,significantly advances the establishment of a commercial deep-sea mining system.The production calculations and parameter determinations provide essential references for the system’s future detailed design.Furthermore,the finite element simulation model established in this paper provides a research basis,and the method established in this paper offers a foundation for subsequent research under more complex ocean conditions.The control strategy for the collaborative movement between two tethered underwater devices provides an effective solution for deep-sea mining control systems.展开更多
Flexible microporous metal rubber(FMP-MR)is widely used in national defense applications,yet its mechanical behavior under high-speed impact conditions remains insufficiently explored.In this study,dynamic and static ...Flexible microporous metal rubber(FMP-MR)is widely used in national defense applications,yet its mechanical behavior under high-speed impact conditions remains insufficiently explored.In this study,dynamic and static experiments were conducted to systematically investigate the mechanical response of metal-wrapped microporous materials under impact loading that spanned 10~6 orders of magnitude.By combining a high-precision numerical model with a spatial contact point search algorithm,the spatio–temporal contact characteristics of the complex network structure in FMP-MR were systematically analyzed.Furthermore,the mapping mechanism from turn topology and mesoscopic friction behavior to macroscopic mechanical properties was comprehensively explored.The results showed that compared with quasi-static loading,FMP-MR under high-speed impact exhibited higher energy absorption efficiency due to high-strain-rate inertia effect.Therefore,the peak stress increased by 141%,and the maximum energy dissipation increased by 300%.Consequently,the theory of dynamic friction locking effect was innovatively proposed.The theory explains that the close synergistic effect of sliding friction and plastic dissipation promoted by the stable interturn-locked embedded structure is the essential reason for the excellent dynamic mechanical properties of FMP-MR under dynamic loading conditions.Briefly,based on the in-depth investigation of the mechanical response and energy dissipation mechanism of FMP-MR under impact loads,this study provides a solid theoretical basis for further expanding the application range of FMP-MR and optimizing its performance.展开更多
This work reviews models and methods for determining the dynamic response of pavements to moving vehicle loads in the framework of continuum-based three dimensional models and linear theories.This review emphasizes th...This work reviews models and methods for determining the dynamic response of pavements to moving vehicle loads in the framework of continuum-based three dimensional models and linear theories.This review emphasizes the most representative models and methods of analysis in the existing literature and illustrates all of them by numerical examples.Thus,13 such examples are presented here in some detail.Both flexible and rigid(concrete)pavement models involving simple and elaborate cases with respect to geometry and material behavior are considered.Thus,homogeneous or layered half-spaces with isotropic or cross-anisotropic and elastic,viscoelastic or poroelastic properties are considered.The vehicles are modeled as simple point or distributed loads or discrete spring-mass-dashpot system moving with constant or variable velocity.The dynamic response of the above pavement-vehicle systems is obtained by analytical/numerical or purely numerical methods of solution.Analytical/numerical methods have mainly to do with Fourier transforms or complex Fourier series with respect to both space and time.Purely numerical methods involve the finite element method(FEM)and the boundary element method(BEM)working in time or frequency domain.Critical discussions on the advantages and disadvantages of the various pavement-vehicle models and their methods of analysis are provided and the effects of the main parameters on the pavement response are determined through parametric studies and presented in the examples.Finally,conclusions are provided and suggestions for future research are made.展开更多
Pulsed dynamic electrolysis(PDE),driven by renewable energy,has emerged as an innovative electrocatalytic conversion method,demonstrating significant potential in addressing global energy challenges and promoting sust...Pulsed dynamic electrolysis(PDE),driven by renewable energy,has emerged as an innovative electrocatalytic conversion method,demonstrating significant potential in addressing global energy challenges and promoting sustainable development.Despite significant progress in various electrochemical systems,the regulatory mechanisms of PDE in energy and mass transfer and the lifespan extension of electrolysis systems,particularly in water electrolysis(WE)for hydrogen production,remain insufficiently explored.Therefore,there is an urgent need for a deeper understanding of the unique contributions of PDE in mass transfer enhancement,microenvironment regulation,and hydrogen production optimization,aiming to achieve low-energy consumption,high catalytic activity,and long-term stability in the generation of target products.Here,this review critically examines the microenvironmental effects of PDE on energy and mass transfer,the electrode degradation mechanisms in the lifespan extension of electrolysis systems,and the key factors in enhancing WE for hydrogen production,providing a comprehensive summary of current research progress.The review focuses on the complex regulatory mechanisms of frequency,duty cycle,amplitude,and other factors in hydrogen evolution reaction(HER)performance within PDE strategies,revealing the interrelationships among them.Finally,the potential future directions and challenges for transitioning from laboratory studies to industrial applications are proposed.展开更多
This paper deals with the stabilization of dynamic systems for two omni directional mobile robots by using the inner product of two vectors, one is from a robot's position to another's, the other is from a ro...This paper deals with the stabilization of dynamic systems for two omni directional mobile robots by using the inner product of two vectors, one is from a robot's position to another's, the other is from a robot's target point to another's. The multi step control laws given can exponentially stabilize the dynamic system and make the distance between two robots be greater than or equal to the collision free safe distance. The application of it to two omni directional mobile robots is described. Simulation result shows that the proposed controller is effective.展开更多
The body of quadruped robot is generally developed with the rigid structure. The mobility of quadruped robot depcnds on the mechanical properties of the body mechanism, It is difficult for quadruped robot with rigid s...The body of quadruped robot is generally developed with the rigid structure. The mobility of quadruped robot depcnds on the mechanical properties of the body mechanism, It is difficult for quadruped robot with rigid structure to achieve better mobility walking or running in the unstructured environment. A kind of bionic flexible body mechanism for quadruped robot is proposed, which is composed of one bionic spine and four pneumatic artificial muscles（PAMs）. This kind of body imitates the four-legged creatures＇ kinematical structure and physical properties, which has the characteristic of changeable stiff＇hess, lightweight, flexible and better bionics. The kinematics of body bending is derived, and the coordinated movement between the flexible body and legs is analyzed. The relationship between the body bending angle and the PAM length is obtained. The dynamics of the body bending is derived by the floating coordinate method and Lagrangian method, and the driving tbrce of PAM is determined. The experiment of body bending is conductcd, and the dynamic bending characteristic of bionic flexible body is evaluated. Experimental results show that the bending angle of the bionic flexible body can reach 18. An innovation body mechanism for quadruped robot is proposed, which has the characteristic of flexibility and achieve bending by changing gas pressure of PAMs. The coordinated movement of the body and legs can achieve spinning gait in order to improve the mobility of quadruped robot.展开更多
A unified theoretical aeroservoelastic stability analysis framework for flexible aircraft is established in this paper. This linearized state space model for stability analysis is based on nonlinear coupled dynamic eq...A unified theoretical aeroservoelastic stability analysis framework for flexible aircraft is established in this paper. This linearized state space model for stability analysis is based on nonlinear coupled dynamic equations, in which rigid and elastic motions of aircraft are both considered.The common body coordinate system is utilized as the reference frame in the deduction of dynamic equations, and significant deformations of flexible aircraft are also fully concerned without any excessive assumptions. Therefore, the obtained nonlinear coupled dynamic models can well reflect the special dynamic coupling mechanics of flexible aircraft. For aeroservoelastic stability analysis,the coupled dynamic equations are linearized around the nonlinear equilibrium state and together with a control system model to establish a state space model in the time domain. The methodology in this paper can be easily integrated into the industrial design process and complex structures.Numerical results for a complex flexible aircraft indicate the necessity to consider the nonlinear coupled dynamics and large deformation when dealing with aeroservoelastic stability for flexible aircraft.展开更多
Based on the equations of motion of flexible air vehicles includingrigid-body modes and elastic structural modes, and applying influence coefficients of linearaerodynamics, a set of equations are derived and a method ...Based on the equations of motion of flexible air vehicles includingrigid-body modes and elastic structural modes, and applying influence coefficients of linearaerodynamics, a set of equations are derived and a method is presented for analysis of flight loadsand dynamic characteristics. The problems in the fields of flight mechanics and aeroelasticity suchas static aeroelastic divergence, trim and deformation, aerodynamic loads distribution, flutter andflight dynamics can be solved by the procedure. An airplane with high aspect ratio wings isanalyzed, and the results show that the coupling between rigid -body modes and elastic modes isdistinct and should not be overlooked.展开更多
The paper studies the nonlinear dynamics of a flexible tethered satellite system subject to space environments, such as the J2 perturbation, the air drag force, the solar pressure, the heating effect, and the orbital ...The paper studies the nonlinear dynamics of a flexible tethered satellite system subject to space environments, such as the J2 perturbation, the air drag force, the solar pressure, the heating effect, and the orbital eccentricity. The flexible tether is modeled as a series of lumped masses and viscoelastic dampers so that a finite multi- degree-of-freedom nonlinear system is obtained. The stability of equilibrium positions of the nonlinear system is then analyzed via a simplified two-degree-freedom model in an orbital reference frame. In-plane motions of the tethered satellite system are studied numerically, taking the space environments into account. A large number of numerical simulations show that the flexible tethered satellite system displays nonlinear dynamic characteristics, such as bifurcations, quasi-periodic oscillations, and chaotic motions.展开更多
This paper investigates the visual servoing robust stabilization of nonholonomic mobile robots. The calibration of visual parameters is not only complicated, but also needs great consumption of calculated time so that...This paper investigates the visual servoing robust stabilization of nonholonomic mobile robots. The calibration of visual parameters is not only complicated, but also needs great consumption of calculated time so that the accurate calibration is impossible in some situations for high requirement of real timing. Hence, it is interesting and important to consider the design of stabilizing controllers for nonholonomic kinematic systems with uncalibrated visual parameters. A novel uncertain model of these nonholonomic kinematic systems is proposed. Based on this model, a stabilizing controller is discussed by using dynamic feedback and two-step techniques. The proposed robust controller makes the mobile robot image pose and the orientation converge to the desired configuration despite the lack of depth information and the lack of precise visual parameters. The stability of the closed loop system is rigorously proved. The simulation is given to show the effectiveness of the presented controllers.展开更多
The nonlinear dynamic behaviors of flexible rotor system with hydrodynamicbearing supports are analyzed. The shaft is modeled by using the finite element method that takesthe effect of inertia and shear into considera...The nonlinear dynamic behaviors of flexible rotor system with hydrodynamicbearing supports are analyzed. The shaft is modeled by using the finite element method that takesthe effect of inertia and shear into consideration. According to the nonlinearity of thehydrodynamic journal bearing-flexible rotor system, a modified modal synthesis technique withfree-interface is represented to reduce degrees-of-freedom of model of the flexible rotor system.According to physical character of oil film, variational constrain approach is introduced tocontinuously revise the variational form of Reynolds equation at every step of dynamic integrationand iteration. Fluid lubrication problem with Reynolds boundary is solved by the isoparametricfinite element method without the increasing of computing efforts. Nonlinear oil film forces andtheir Jacobians are simultaneously calculated and their compatible accuracy is obtained. Theperiodic motions are obtained by using the Poincare -Newton-Floquet (PNF) method. A method,combining the predictor-corrector mechanism to the PNF method, is presented to calculate thebifurcation point of periodic motions to be subject to change of system parameters. The localstability and bifurcation behaviors of periodic motions are obtained by Floquet theory. The chaoticmotions of the bearing-rotor system are investigated by power spectrum. The numerical examples showthat the scheme of this study saves computing efforts but also is of good precision.展开更多
There are vast constraint equations in conventional dynamics analysis of deployable structures,which lead to differential-algebraic equations(DAEs)solved hard.To reduce the difficulty of solving and the amount of equa...There are vast constraint equations in conventional dynamics analysis of deployable structures,which lead to differential-algebraic equations(DAEs)solved hard.To reduce the difficulty of solving and the amount of equations,a new flexible multibody dynamics analysis methodology of deployable structures with scissor-like elements(SLEs)is presented.Firstly,a precise model of a flexible bar of SLE is established by the higher order shear deformable beam element based on the absolute nodal coordinate formulation(ANCF),and the master/slave freedom method is used to obtain the dynamics equations of SLEs without constraint equations.Secondly,according to features of deployable structures,the specification matrix method(SMM)is proposed to eliminate the constraint equations among SLEs in the frame of ANCF.With this method,the inner and the boundary nodal coordinates of element characteristic matrices can be separated simply and efficiently,especially on condition that there are vast nodal coordinates.So the element characteristic matrices can be added end to end circularly.Thus,the dynamic model of deployable structure reduces dimension and can be assembled without any constraint equation.Next,a new iteration procedure for the generalized-a algorithm is presented to solve the ordinary differential equations(ODEs)of deployable structure.Finally,the proposed methodology is used to analyze the flexible multi-body dynamics of a planar linear array deployable structure based on three scissor-like elements.The simulation results show that flexibility has a significant influence on the deployment motion of the deployable structure.The proposed methodology indeed reduce the difficulty of solving and the amount of equations by eliminating redundant degrees of freedom and the constraint equations in scissor-like elements and among scissor-like elements.展开更多
The impact dynamics of a flexible multibody system is investigated. By using a partition method, the system is divided into two parts, the local impact region and the region away from the impact. The two parts are con...The impact dynamics of a flexible multibody system is investigated. By using a partition method, the system is divided into two parts, the local impact region and the region away from the impact. The two parts are connected by specific boundary conditions, and the system after partition is equivalent to the original system. According to the rigid-flexible coupling dynamic theory of multibody system, system＇s rigid-flexible coupling dynamic equations without impact are derived. A local impulse method for establishing the initial impact conditions is proposed. It satisfies the compatibility con- ditions for contact constraints and the actual physical situation of the impact process of flexible bodies. Based on the contact constraint method, system＇s impact dynamic equa- tions are derived in a differential-algebraic form. The contact/separation criterion and the algorithm are given. An impact dynamic simulation is given. The results show that system＇s dynamic behaviors including the energy, the deformations, the displacements, and the impact force during the impact process change dramatically. The impact makes great effects on the global dynamics of the system during and after impact.展开更多
基金the National Natural Science Foundation of China(Nos.11832005,12372042,12232011)Young Elite Scientists Sponsorship Program by CAST(No.2022QNRC001)+1 种基金the Fundamental Research Funds for the Central Universities(No.NS2023002)State Key Laboratory of Mechanics and Control for Aerospace Structures(Nanjing University of Aeronautics and Astronautics)(No.MCAS-S-0223K04).
文摘The quantity of space debris on Earth orbit has escalated tremendously in recent years, presenting a significant hazard to human space operations. It is urgent to develop effective measures to capture and remove various space debris. For this purpose, this paper presents a tendon-actuated flexible deployable manipulator. The flexible manipulator consists of several deployable units connected by Cardan joints and actuated by tendons. Compared with the present technologies for capturing space debris such as rigid robotic arm or flying net, this flexible manipulator is deployable, reusable, lightweight and applicable to the capture of large space debris. In order to investigate its deployment dynamics, an accurate dynamic model of the flexible manipulator is established based on the natural coordinate formulation (NCF) and the absolute nodal coordinate formulation (ANCF). Subsequently, numerical simulations are carried out to study the effects of system parameters and the base satellite on its deployment dynamics. Finally, ground experiments for both deployment and bending of the flexible manipulator are conducted to verify its effectiveness and feasibility.
基金funded by the"14th Five-Year Plan"Civil Aerospace Pre-research Project of China(Grant No.D010301).
文摘Reusable and flexible capturing of space debris is highly required in future aerospace technologies.A tendon-actuated flexible robotic arm is therefore proposed for capturing floating targets in this paper.Firstly,an accurate dynamic model of the flexible robotic arm is established by using the absolute nodal coordinate formulation(ANCF)in the framework of the arbitrary Lagrangian-Eulerian(ALE)description and the natural coordinate formulation(NCF).The contact and self-contact dynamics of the flexible robotic arm when bending and grasping an object are considered via a fast contact detection approach.Then,the dynamic simulations of the flexible robotic arm for capturing floating targets are carried out to study the influence of the position,size,and mass of the target object on the grasping performance.Finally,a principle prototype of the tendon-actuated flexible robotic arm is manufactured to validate the dynamic model.The corresponding grasping experiments for objects of various shapes are also conducted to illustrate the excellent performance of the flexible robotic arm.
基金supported by the National Natural Science Foundation of China(No.52375443)the Innovative Research Group Project of the National Natural Science Foundation of China(No.51921003)。
文摘To meet the demand for the machining of blisks with narrow cascade channels and twisted blade profiles,especially integral shrouded blisks with shrouds,this paper innovatively proposes a method for dynamic deformation electrochemical cutting of flexible electrodes with arrayed group slit structure.By applying torque to both ends of the flexible electrode,the proposed method produces bending deformation and realizes the processing of a twisted profile.The flexible electrode is an important carrier of this method,and its properties such as elasticity,rigidity,and flow field uniformity have a crucial impact on smooth processing.Therefore,this paper proposes a design theory of flexible electrodes with an arrayed group slit structure and designs flexible electrodes with variable cross-sections.Compared with traditional uniform section tube electrode,the designed flexible electrode was subjected to the corresponding mechanical simulation,flow field simulation,and fluid–structure interaction simulation to investigate the elasticity,rigidity,and flow field uniformity of the flexible electrode.In addition,a deformation device of flexible electrodes was constructed and the corresponding experiments were carried out.Simulations and experiments demonstrate that flexible electrodes with arrayed group slit structures have good comprehensive performance.Finally,typical components were successfully machined to verify the feasibility of the proposed method and the rationality of the designed flexible electrode.It is shown that the proposed method has great potential for the machining of distorted profiles and provides a new idea for the machining of complex profiles.
基金financially supported by the China Postdoctoral Science Foundation(No.2024M751205)。
文摘Flexible phase change materials(PCMs)have become increasingly critical to address the demand for thermal management in electronic technologies and energy conversion.However,their application remains challenging because of their rigidity,liquid leakage,and insufficient thermal conductivity.Herein,flexible glutamic acid@natural rubber/paraffin wax(PW)/carbon nanotubes-graphene nanoplatelets(GNR/PW/CGNP)phase change composites with high thermal conductivity,excellent shape stability,and recyclability were reported.Zn^(2+)-based dynamic crosslinking was constructed through the reaction of zinc acetate and carboxyl groups on glutamic acid@natural rubber(GNR),which was used as a flexible matrix to physically blend with paraffin wax/carbon nanotubes/graphene nanoplatelets(PW/CGNP)to achieve uniform dispersion of PW/CGNP,continuous thermal conductivity networks,and good encapsulation of PW.The GNR/PW/CGNP composites showed excellent mechanical strength,flexibility,and recycling ability,and effective encapsulation prevented the outflow of melted PW during the phase transition.Also,the phase change enthalpy could attain 111.1 J/g with a higher thermal conductivity of 1.055 W/m K,428%higher than that of pure PW owing to the formation of efficient thermal conductive pathways,which exhibited outstanding thermal management performance and superior temperature control behavior in electronic devices.The developed flexible composite PCMs may open new possibilities for next-generation flexible thermal management electronics.
基金supported by the National Key Research and Development Program Project(No.2021YFB3301300).
文摘Intelligent production is an important development direction in intelligent manufacturing,with intelligent factories playing a crucial role in promoting intelligent production.Flexible job shops,as the main form of intelligent factories,constantly face dynamic disturbances during the production process,including machine failures and urgent orders.This paper discusses the basic models and research methods of job shop scheduling,emphasizing the important role of dynamic job shop scheduling and its response schemes in future research.A multi-objective flexible job shop dynamic scheduling mathematical model is established,highlighting its complex and multi-constraint characteristics under different interferences.A classification discussion is conducted on the dynamic response methods and optimization objectives under machine failures,emergency orders,fuzzy completion times,and mixed dynamic events.The development process of traditional scheduling rules and intelligent methods in dynamic scheduling are also analyzed.Finally,based on the current development status of job shop scheduling and the requirements of intelligent manufacturing,the future development trends of dynamic scheduling in flexible job shops are proposed.
基金Supported by Finance Science and Technology Project of Hainan Province under Grant No.ZDKJ2021027the National Natural Science Foundation of China under Grant No.52231012.
文摘The deep seabed is known for its abundant reserves of various mineral resources.Notably,the Clarion Clipperton(C-C)mining area in the northeast Pacific Ocean,where China holds exploration rights,is particularly rich in deep-sea polymetallic nodules.These nodules,which are nodular and unevenly distributed in seafloor sediments,have significant industrial exploitation value.Over the decades,the deep-sea mining industry has increasingly adopted systems that combine rigid and flexible risers supported by large surface mining vessels.However,current systems face economic and structural stability challenges,hindering the development of deep-sea mining technology.This paper proposes a new structural design for a deep-sea mining system based on flexible risers,validated through numerical simulations and experimental research.The system composition,function and operational characteristics are comprehensively introduced.Detailed calculations determine the production capacity of the deep-sea mining system and the dimensions of the seabed mining subsystem.Finite element numerical simulations analyze the morphological changes of flexible risers and the stress conditions at key connection points under different ocean current incident angles.Experimental research verifies the feasibility of collaborative movement between two tethered underwater devices.The proposed deep-sea mining system,utilizing flexible risers,significantly advances the establishment of a commercial deep-sea mining system.The production calculations and parameter determinations provide essential references for the system’s future detailed design.Furthermore,the finite element simulation model established in this paper provides a research basis,and the method established in this paper offers a foundation for subsequent research under more complex ocean conditions.The control strategy for the collaborative movement between two tethered underwater devices provides an effective solution for deep-sea mining control systems.
基金National Natural Science Foundation of China-NSAF(Grant No.U2330202)the National Natural Science Foundation of China(Grant Nos.52175162 and 51805086)+1 种基金Fujian Provincial Technological Innovation Key Research and Industrialization Projects(Grant Nos.2023XQ005 and 2024XQ010)The National Independent Innovation Demonstration Platform Project of Fujian Province(2024QZFX07)。
文摘Flexible microporous metal rubber(FMP-MR)is widely used in national defense applications,yet its mechanical behavior under high-speed impact conditions remains insufficiently explored.In this study,dynamic and static experiments were conducted to systematically investigate the mechanical response of metal-wrapped microporous materials under impact loading that spanned 10~6 orders of magnitude.By combining a high-precision numerical model with a spatial contact point search algorithm,the spatio–temporal contact characteristics of the complex network structure in FMP-MR were systematically analyzed.Furthermore,the mapping mechanism from turn topology and mesoscopic friction behavior to macroscopic mechanical properties was comprehensively explored.The results showed that compared with quasi-static loading,FMP-MR under high-speed impact exhibited higher energy absorption efficiency due to high-strain-rate inertia effect.Therefore,the peak stress increased by 141%,and the maximum energy dissipation increased by 300%.Consequently,the theory of dynamic friction locking effect was innovatively proposed.The theory explains that the close synergistic effect of sliding friction and plastic dissipation promoted by the stable interturn-locked embedded structure is the essential reason for the excellent dynamic mechanical properties of FMP-MR under dynamic loading conditions.Briefly,based on the in-depth investigation of the mechanical response and energy dissipation mechanism of FMP-MR under impact loads,this study provides a solid theoretical basis for further expanding the application range of FMP-MR and optimizing its performance.
文摘This work reviews models and methods for determining the dynamic response of pavements to moving vehicle loads in the framework of continuum-based three dimensional models and linear theories.This review emphasizes the most representative models and methods of analysis in the existing literature and illustrates all of them by numerical examples.Thus,13 such examples are presented here in some detail.Both flexible and rigid(concrete)pavement models involving simple and elaborate cases with respect to geometry and material behavior are considered.Thus,homogeneous or layered half-spaces with isotropic or cross-anisotropic and elastic,viscoelastic or poroelastic properties are considered.The vehicles are modeled as simple point or distributed loads or discrete spring-mass-dashpot system moving with constant or variable velocity.The dynamic response of the above pavement-vehicle systems is obtained by analytical/numerical or purely numerical methods of solution.Analytical/numerical methods have mainly to do with Fourier transforms or complex Fourier series with respect to both space and time.Purely numerical methods involve the finite element method(FEM)and the boundary element method(BEM)working in time or frequency domain.Critical discussions on the advantages and disadvantages of the various pavement-vehicle models and their methods of analysis are provided and the effects of the main parameters on the pavement response are determined through parametric studies and presented in the examples.Finally,conclusions are provided and suggestions for future research are made.
基金financially supported by the Key Research and Development Program of Heilongjiang Province(No.2024ZXJ03C06)National Natural Science Foundation of China(No.52476192,No.52106237)+1 种基金Natural Science Foundation of Heilongjiang Province(No.YQ2022E027)Technology Project of China Datang Technology Innovation Co.,Ltd(No.DTKC-2024-20610).
文摘Pulsed dynamic electrolysis(PDE),driven by renewable energy,has emerged as an innovative electrocatalytic conversion method,demonstrating significant potential in addressing global energy challenges and promoting sustainable development.Despite significant progress in various electrochemical systems,the regulatory mechanisms of PDE in energy and mass transfer and the lifespan extension of electrolysis systems,particularly in water electrolysis(WE)for hydrogen production,remain insufficiently explored.Therefore,there is an urgent need for a deeper understanding of the unique contributions of PDE in mass transfer enhancement,microenvironment regulation,and hydrogen production optimization,aiming to achieve low-energy consumption,high catalytic activity,and long-term stability in the generation of target products.Here,this review critically examines the microenvironmental effects of PDE on energy and mass transfer,the electrode degradation mechanisms in the lifespan extension of electrolysis systems,and the key factors in enhancing WE for hydrogen production,providing a comprehensive summary of current research progress.The review focuses on the complex regulatory mechanisms of frequency,duty cycle,amplitude,and other factors in hydrogen evolution reaction(HER)performance within PDE strategies,revealing the interrelationships among them.Finally,the potential future directions and challenges for transitioning from laboratory studies to industrial applications are proposed.
文摘This paper deals with the stabilization of dynamic systems for two omni directional mobile robots by using the inner product of two vectors, one is from a robot's position to another's, the other is from a robot's target point to another's. The multi step control laws given can exponentially stabilize the dynamic system and make the distance between two robots be greater than or equal to the collision free safe distance. The application of it to two omni directional mobile robots is described. Simulation result shows that the proposed controller is effective.
基金Supported by National Natural Science Foundation of China(Grant No.51375289)Shanghai Municipal Natural Science Foundation of China(Grant No.13ZR1415500)Innovation Fund of Shanghai Education Commission(Grant No.13YZ020)
文摘The body of quadruped robot is generally developed with the rigid structure. The mobility of quadruped robot depcnds on the mechanical properties of the body mechanism, It is difficult for quadruped robot with rigid structure to achieve better mobility walking or running in the unstructured environment. A kind of bionic flexible body mechanism for quadruped robot is proposed, which is composed of one bionic spine and four pneumatic artificial muscles（PAMs）. This kind of body imitates the four-legged creatures＇ kinematical structure and physical properties, which has the characteristic of changeable stiff＇hess, lightweight, flexible and better bionics. The kinematics of body bending is derived, and the coordinated movement between the flexible body and legs is analyzed. The relationship between the body bending angle and the PAM length is obtained. The dynamics of the body bending is derived by the floating coordinate method and Lagrangian method, and the driving tbrce of PAM is determined. The experiment of body bending is conductcd, and the dynamic bending characteristic of bionic flexible body is evaluated. Experimental results show that the bending angle of the bionic flexible body can reach 18. An innovation body mechanism for quadruped robot is proposed, which has the characteristic of flexibility and achieve bending by changing gas pressure of PAMs. The coordinated movement of the body and legs can achieve spinning gait in order to improve the mobility of quadruped robot.
基金supported by the National Key Research and Development Program of China(No.2016YFB0200703)
文摘A unified theoretical aeroservoelastic stability analysis framework for flexible aircraft is established in this paper. This linearized state space model for stability analysis is based on nonlinear coupled dynamic equations, in which rigid and elastic motions of aircraft are both considered.The common body coordinate system is utilized as the reference frame in the deduction of dynamic equations, and significant deformations of flexible aircraft are also fully concerned without any excessive assumptions. Therefore, the obtained nonlinear coupled dynamic models can well reflect the special dynamic coupling mechanics of flexible aircraft. For aeroservoelastic stability analysis,the coupled dynamic equations are linearized around the nonlinear equilibrium state and together with a control system model to establish a state space model in the time domain. The methodology in this paper can be easily integrated into the industrial design process and complex structures.Numerical results for a complex flexible aircraft indicate the necessity to consider the nonlinear coupled dynamics and large deformation when dealing with aeroservoelastic stability for flexible aircraft.
文摘Based on the equations of motion of flexible air vehicles includingrigid-body modes and elastic structural modes, and applying influence coefficients of linearaerodynamics, a set of equations are derived and a method is presented for analysis of flight loadsand dynamic characteristics. The problems in the fields of flight mechanics and aeroelasticity suchas static aeroelastic divergence, trim and deformation, aerodynamic loads distribution, flutter andflight dynamics can be solved by the procedure. An airplane with high aspect ratio wings isanalyzed, and the results show that the coupling between rigid -body modes and elastic modes isdistinct and should not be overlooked.
基金supported by the National Natural Science Foundation of China(Nos.11002068 and11202094)the Research Fund of State Key Laboratory of Mechanics and Control of Mechanical Structures(No.0113Y01)the Priority Academic Program of Jiangsu Higher Education Institutions
文摘The paper studies the nonlinear dynamics of a flexible tethered satellite system subject to space environments, such as the J2 perturbation, the air drag force, the solar pressure, the heating effect, and the orbital eccentricity. The flexible tether is modeled as a series of lumped masses and viscoelastic dampers so that a finite multi- degree-of-freedom nonlinear system is obtained. The stability of equilibrium positions of the nonlinear system is then analyzed via a simplified two-degree-freedom model in an orbital reference frame. In-plane motions of the tethered satellite system are studied numerically, taking the space environments into account. A large number of numerical simulations show that the flexible tethered satellite system displays nonlinear dynamic characteristics, such as bifurcations, quasi-periodic oscillations, and chaotic motions.
基金supported by the National Natural Science Foundation of China (No.60874002)the Key Program of Scientific Innovation of Shanghai Education Committee (No.09zz158)the Shanghai Key Discipline (No.S30501)
文摘This paper investigates the visual servoing robust stabilization of nonholonomic mobile robots. The calibration of visual parameters is not only complicated, but also needs great consumption of calculated time so that the accurate calibration is impossible in some situations for high requirement of real timing. Hence, it is interesting and important to consider the design of stabilizing controllers for nonholonomic kinematic systems with uncalibrated visual parameters. A novel uncertain model of these nonholonomic kinematic systems is proposed. Based on this model, a stabilizing controller is discussed by using dynamic feedback and two-step techniques. The proposed robust controller makes the mobile robot image pose and the orientation converge to the desired configuration despite the lack of depth information and the lack of precise visual parameters. The stability of the closed loop system is rigorously proved. The simulation is given to show the effectiveness of the presented controllers.
基金This project is supported by National Natural Science Foundation of China (No.50275116) National 863 of China(No.2002AA414060, No.2002AA-503020).
文摘The nonlinear dynamic behaviors of flexible rotor system with hydrodynamicbearing supports are analyzed. The shaft is modeled by using the finite element method that takesthe effect of inertia and shear into consideration. According to the nonlinearity of thehydrodynamic journal bearing-flexible rotor system, a modified modal synthesis technique withfree-interface is represented to reduce degrees-of-freedom of model of the flexible rotor system.According to physical character of oil film, variational constrain approach is introduced tocontinuously revise the variational form of Reynolds equation at every step of dynamic integrationand iteration. Fluid lubrication problem with Reynolds boundary is solved by the isoparametricfinite element method without the increasing of computing efforts. Nonlinear oil film forces andtheir Jacobians are simultaneously calculated and their compatible accuracy is obtained. Theperiodic motions are obtained by using the Poincare -Newton-Floquet (PNF) method. A method,combining the predictor-corrector mechanism to the PNF method, is presented to calculate thebifurcation point of periodic motions to be subject to change of system parameters. The localstability and bifurcation behaviors of periodic motions are obtained by Floquet theory. The chaoticmotions of the bearing-rotor system are investigated by power spectrum. The numerical examples showthat the scheme of this study saves computing efforts but also is of good precision.
基金Supported by National Natural Science Foundation of China(Grant No.51175422)
文摘There are vast constraint equations in conventional dynamics analysis of deployable structures,which lead to differential-algebraic equations(DAEs)solved hard.To reduce the difficulty of solving and the amount of equations,a new flexible multibody dynamics analysis methodology of deployable structures with scissor-like elements(SLEs)is presented.Firstly,a precise model of a flexible bar of SLE is established by the higher order shear deformable beam element based on the absolute nodal coordinate formulation(ANCF),and the master/slave freedom method is used to obtain the dynamics equations of SLEs without constraint equations.Secondly,according to features of deployable structures,the specification matrix method(SMM)is proposed to eliminate the constraint equations among SLEs in the frame of ANCF.With this method,the inner and the boundary nodal coordinates of element characteristic matrices can be separated simply and efficiently,especially on condition that there are vast nodal coordinates.So the element characteristic matrices can be added end to end circularly.Thus,the dynamic model of deployable structure reduces dimension and can be assembled without any constraint equation.Next,a new iteration procedure for the generalized-a algorithm is presented to solve the ordinary differential equations(ODEs)of deployable structure.Finally,the proposed methodology is used to analyze the flexible multi-body dynamics of a planar linear array deployable structure based on three scissor-like elements.The simulation results show that flexibility has a significant influence on the deployment motion of the deployable structure.The proposed methodology indeed reduce the difficulty of solving and the amount of equations by eliminating redundant degrees of freedom and the constraint equations in scissor-like elements and among scissor-like elements.
基金supported by the National Natural Science Foundation of China(Nos.11132007,11272155,and 10772085)the Fundamental Research Funds for the Central Universities(No.30920130112009)the 333 Project of Jiangsu Province of China(No.BRA2011172)
文摘The impact dynamics of a flexible multibody system is investigated. By using a partition method, the system is divided into two parts, the local impact region and the region away from the impact. The two parts are connected by specific boundary conditions, and the system after partition is equivalent to the original system. According to the rigid-flexible coupling dynamic theory of multibody system, system＇s rigid-flexible coupling dynamic equations without impact are derived. A local impulse method for establishing the initial impact conditions is proposed. It satisfies the compatibility con- ditions for contact constraints and the actual physical situation of the impact process of flexible bodies. Based on the contact constraint method, system＇s impact dynamic equa- tions are derived in a differential-algebraic form. The contact/separation criterion and the algorithm are given. An impact dynamic simulation is given. The results show that system＇s dynamic behaviors including the energy, the deformations, the displacements, and the impact force during the impact process change dramatically. The impact makes great effects on the global dynamics of the system during and after impact.
