Bentonite is a necessary binder in producing pellets.Its excessive use reduces the iron grade of pellets and increases production costs.Minimizing bentonite dosage is essential for producing high-quality iron ore pell...Bentonite is a necessary binder in producing pellets.Its excessive use reduces the iron grade of pellets and increases production costs.Minimizing bentonite dosage is essential for producing high-quality iron ore pellets.Addressing the gap in the application of organically-intercalated modified bentonite in the pelletizing field,this study introduces an innovative modification process for bentonite that employs the synergistic effect of mechanical force and dimethyl sulfoxide to enhance the intercalation of organic compounds within bentonite,thus significantly enhancing its binding performance.The colloid value and swell capacity of modified bentonite(98.5 m L/3g and 55.0 m L/g)were much higher than the original bentonite(90.5 m L/3g and 17.5 m L/g).With the decrease of bentonite dosage from1.5wt%to 1.0wt%,the drop number of green pellets from a height of 0.5 m and the compressive strengths of roasted pellets using the modified bentonite(6.0 times and 2916 N per pellet)were significantly higher than those of the original bentonite(4.0 times and 2739 N per pellet).This study provides a comprehensive analysis of the intercalation modification mechanism of bentonite,offering crucial technical insights for the development of high-performance modified bentonite as iron ore pellet binders.展开更多
Due to batteries inconsistencies and potential faults in battery management systems,slight overcharging remains a common yet insufficiently understood safety risk,lacking effective warning methods.To illuminate the de...Due to batteries inconsistencies and potential faults in battery management systems,slight overcharging remains a common yet insufficiently understood safety risk,lacking effective warning methods.To illuminate the degradation behavior and failure mechanism of various overcharged states(100%SOC,105%SOC,110%SOC,and 115%SOC),multiple advanced in-situ characterization techniques(accelerating rate calorimeter,electrochemical impedance spectroscopy,ultrasonic scanning,and expansion instrument)were utilized.Additionally,re-overcharge-induced thermal runaway(TR)tests were conducted,with a specific emphasis on the evolution of the expansion force signal.Results indicated significant degradation at 110%SOC including conductivity loss,loss of lithium inventory,and loss of active material accompanied by internal gas generation.These failure behaviors slow down the expansion force rate during reovercharging,reducing the efficacy of active warnings that depend on rate thresholds of expansion force.Specifically,the warning time for 115%SOC battery is only 144 s,which is 740 s shorter than that for fresh battery,and the time to TR is advanced by 9 min.Moreover,the initial self-heating temperature(T1)is reduced by 62.4℃compared to that of fresh battery,reaching only 70.8℃.To address the low safety of overcharged batteries,a passive overcharge warning method utilizing relaxation expansion force was proposed,based on the continued gas generation after stopping charging,leading to a sustained increase in force.Compared to active methods that rely on thresholds of expansion force rate,the passive method can issue warnings 115 s earlier.By combining the passive and active warning methods,guaranteed effective overcharge warning can be issued 863-884 s before TR.This study introduces a novel perspective for enhancing the safety of batteries.展开更多
A new analytical model for geometric size and forming force prediction in incremental flanging(IF)is presented in this work.The complex deformation characteristics of IF are considered in the modeling process,which ca...A new analytical model for geometric size and forming force prediction in incremental flanging(IF)is presented in this work.The complex deformation characteristics of IF are considered in the modeling process,which can accurately describe the strain and stress states in IF.Based on strain analysis,the model can predict the material thickness distribution and neck height after IF.By considering contact area,strain characteristics,material thickness changes,and friction,the model can predict specific moments and corresponding values of maximum axial forming force and maximum horizontal forming force during IF.In addition,an IF experiment involving different tool diameters,flanging diameters,and opening hole diameters is conducted.On the basis of the experimental strain paths,the strain characteristics of different deformation zones are studied,and the stable strain ratio is quantitatively described through two dimensionless parameters:relative tool diameter and relative hole diameter.Then,the changing of material thickness and forming force in IF,and the variation of minimum material thickness,neck height,maximum axial forming force,and maximum horizontal forming force with flanging parameters are studied,and the reliability of the analytical model is verified in this process.Finally,the influence of the horizontal forming force on the tool design and the fluctuation of the forming force are explained.展开更多
Moles exhibit highly effective capabilities due to their unique body structures and digging techniques,making them ideal models for biomimetic research.However,a major challenge for mole-inspired robots lies in overco...Moles exhibit highly effective capabilities due to their unique body structures and digging techniques,making them ideal models for biomimetic research.However,a major challenge for mole-inspired robots lies in overcoming resistance in granular media when burrowing with forelimbs.In the absence of effective forepaw design strategies,most robotic designs rely on increased power to enhance performance.To address this issue,this paper employs Resistive Force Theory to optimize mole-inspired forepaws,aiming to enhance burrowing efficiency.By analyzing the relationship between geometric parameters and burrowing forces,we propose several forepaw design variations.Through granular resistance assessments,an effective forepaw configuration is identified and further refined using parameters such as longitudinal and transverse curvature.Subsequently,the Particle Swarm Optimization algorithm is applied to determine the optimal forepaw design.In force-loading tests,the optimized forepaw demonstrated a 79.44%reduction in granular lift force and a 22.55%increase in propulsive force compared with the control group.In robotic burrowing experiments,the optimized forepaw achieved the longest burrow displacement(179.528 mm)and the lowest burrowing lift force(0.9355 mm/s),verifying its effectiveness in reducing the lift force and enhancing the propulsive force.展开更多
The undeformed chip thickness and grinding force are key parameters for revealing the material removal mechanism in the grinding process.However,they are difficult to be well expressed due to the ununiformed protrusio...The undeformed chip thickness and grinding force are key parameters for revealing the material removal mechanism in the grinding process.However,they are difficult to be well expressed due to the ununiformed protrusion height and random position distribution of abrasive grains on the abrasive wheel surface.This study investigated the distribution of undeformed chip thickness and grinding force considering the non-uniform characteristics of abrasive wheel in the grinding of K4002 nickel-based superalloy.First,a novel grinding force model was established through a kinematic-geometric analysis and a grain-workpiece contact analysis.Then,a series of grinding experiments were conducted for verifying the model.The results indicate that the distribution of undeformed chip thickness is highly consistent with the Gaussian distribution formula.The increase in the grinding depth mainly leads to an increase in the average value of Gaussian distribution.On the contrary,the increase in the workpiece infeed speed or the decrease in the grinding speed mainly increases the standard deviation of Gaussian distribution.The average and maximum errors of the grinding force model are 4.9%and 14.6%respectively,indicating that the model is of high predication accuracy.展开更多
Nowadays,force sensors play an important role in industrial production,electronic information,medical health,and many other fields.Two-dimensional material-based filed effect transistor(2D-FET)sensors are competitive ...Nowadays,force sensors play an important role in industrial production,electronic information,medical health,and many other fields.Two-dimensional material-based filed effect transistor(2D-FET)sensors are competitive with nano-level size,lower power consumption,and accurate response.However,few of them has the capability of impulse detection which is a path function,expressing the cumulative effect of the force on the particle over a period of time.Herein we fabricated the flexible polymethyl methacrylate(PMMA)gate dielectric MoS_(2)-FET for force and impulse sensor application.We systematically investigated the responses of the sensor to constant force and varying forces,and achieved the conversion factors of the drain current signals(I_(ds))to the detected impulse(I).The applied force was detected and recorded by I_(ds)with a low power consumption of~30 nW.The sensitivity of the device can reach~8000%and the 4×1 sensor array is able to detect and locate the normal force applied on it.Moreover,there was almost no performance loss for the device as left in the air for two months.展开更多
Forced imbibition,the invasion of a wetting fluid into porous rocks,plays an important role in the effective exploitation of hydrocarbon resources and the geological sequestration of carbon dioxide.However,the interfa...Forced imbibition,the invasion of a wetting fluid into porous rocks,plays an important role in the effective exploitation of hydrocarbon resources and the geological sequestration of carbon dioxide.However,the interface dynamics influenced by complex topology commonly leads to non-wetting fluid trapping.Particularly,the underlying mechanisms under viscously unfavorable conditions remain unclear.This study employs a direct numerical simulation method to simulate forced imbibition through the reconstructed digital rocks of sandstone.The interface dynamics and fluid–fluid interactions are investigated through transient simulations,while the pore topology metrics are introduced to analyze the impact on steady-state residual fluid distribution obtained by a pseudo-transient scheme.The results show that the cooperative pore-filling process promoted by corner flow is dominant at low capillary numbers.This leads to unstable inlet pressure,mass flow,and interface curvature,which correspond to complicated interface dynamics and higher residual fluid saturation.During forced imbibition,the interface curvature gradually increases,with the pore-filling mechanisms involving the cooperation of main terminal meniscus movement and arc menisci filling.Complex topology with small diameter pores may result in the destabilization of interface curvature.The residual fluid saturation is negatively correlated with porosity and pore throat size,and positively correlated with tortuosity and aspect ratio.A large mean coordination number characterizing global connectivity promotes imbibition.However,high connectivity characterized by the standardized Euler number corresponding to small pores is associated with a high probability of non-wetting fluid trapping.展开更多
Rail weld irregularities are one of the primary excitation sources for vehicle-track interaction dynamics in modern high-speed railways.They can cause significant wheel-rail dynamic interactions,leading to wheel-rail ...Rail weld irregularities are one of the primary excitation sources for vehicle-track interaction dynamics in modern high-speed railways.They can cause significant wheel-rail dynamic interactions,leading to wheel-rail noise,component damage,and deterioration.Few researchers have employed the vehicle-track interaction dynamic model to study the dynamic interactions between wheel and rail induced by rail weld geometry irregularities.However,the cosine wave model used to simulate rail weld irregularities mainly focuses on the maximum value and neglects the geometric shape.In this study,novel theoretical models were developed for three categories of rail weld irregularities,based on measurements of the high-speed railway from Beijing to Shanghai.The vertical dynamic forces in the time and frequency domains were compared under different running speeds.These forces generated by the rail weld irregularities that were measured and modeled,respectively,were compared to validate the accuracy of the proposed model.Finally,based on the numerical study,the impact force due to rail weld irrregularity is modeled using an Artificial Neural Network(ANN),and the optimum combination of parameters for this model is found.The results showed that the proposed model provided a more accurate wheel/rail dynamic evaluation caused by rail weld irregularities than that established in the literature.The ANN model used in this paper can effectively predict the impact force due to rail weld irrregularity while reducing the computation time.展开更多
Astronomical extreme events or phenomena include black holes as well as nebulae systems that resemble the Milky Way. Meteorological extreme events or phenomena include tornadoes and tropical cyclones. The new high ene...Astronomical extreme events or phenomena include black holes as well as nebulae systems that resemble the Milky Way. Meteorological extreme events or phenomena include tornadoes and tropical cyclones. The new high energy state of matter expanding outwards by spin jets from the two poles of an astronomical black hole, the new high energy state of matter in a funnel-shaped vortex showed a meteorological tornado expanding downwards from a rotated disk of cumulonimbus clouds, the new high energy state of matter in a tropical cyclone and the new high energy state of a nebulae system converging celestial materials are phenomena across disciplines and multiple time-space scales that have not yet been physically explained. In this paper, the theory of orthogonal collision in the rotational contraction continuum is used to unify the understanding of diverse extreme events or phenomena through a single dynamical mechanism, offering insights into natural processes across disciplines. In the field of astronomy, the orthogonal collision of two-beam rotating and contracting particles or stars associated with centripetal forces forms a new high-energy state of matter at the collision point and the new high-energy particles have expanding forces outward to both sides of the collision plane. In the field of meteorology, the orthogonal collision of multiple horizontally rotating and contracting airflows associated with centripetal forces forms a new high energy state of matter at the collision point as well as an updraft force and a downdraft force vertically. The updraft force and downdraft force formed by the collision of anomalous wet airflows in the lower atmosphere can well indicate tornado, thunderstorm and extreme precipitation. The orthogonal collision theory can be applied to explain new states of matter in disciplines from the astronomical scale to the meteorological scale and the Planck scale.展开更多
With the intensification of lunar exploration,the failure risk caused by the adsorption of lunar dust on the spacecraft surface cannot be ignored.Therefore,three types of typical spatial solid lubrication films,namely...With the intensification of lunar exploration,the failure risk caused by the adsorption of lunar dust on the spacecraft surface cannot be ignored.Therefore,three types of typical spatial solid lubrication films,namely polytetrafluoroethylene(PTFE),amorphous carbon(a-C)and molybdenum disulfide(MoS2),were prepared as test samples.Firstly,the surface free energy parameters of the material were measured using a contact Angle measuring instrument.At the same time,atomic force microscopy(AFM)was used to quantify the adhesion of the film samples based on the lunar dust micro-adsorption model.In order to investigate the influence of the test environment,the environmental pressure was adjusted to normal pressure environment and high vacuum environment with a vacuum degree of 10−6 Pa for testing.The results indicate a positive correlation between surface energy and adhesion.As surface energy increases,molecules tend to move closer,forming a stronger attraction and thus enhancing surface adhesion.In addition,AFM was used to measure the adhesion force under atmospheric pressure and vacuum conditions,revealing that parameters measured in atmospheric environment were generally higher than those measured in vacuum,which effectively verified the existence of capillary force in the microscopic adsorption model and its influence on the adhesion effect.Through the test comparison of three groups of typical solid lubricating films,it is found that MoS2 has a lower adhesion effect than the other two groups of films,which can effectively reduce the adhesion phenomenon of lunar dust on the surface of the material,and provide suitable materials for future lunar exploration and manned lunar missions.展开更多
Force feedback bilateral teleoperation represents a pivotal advancement in control technology,finding widespread application in hazardous material transportation,perilous environments,space and deep-sea exploration,an...Force feedback bilateral teleoperation represents a pivotal advancement in control technology,finding widespread application in hazardous material transportation,perilous environments,space and deep-sea exploration,and healthcare domains.This paper traces the evolutionary trajectory of force feedback bilateral teleoperation from its conceptual inception to its current complexity.It elucidates the fundamental principles underpinning interaction forces and tactile exchanges,with a specific emphasis on the crucial role of tactile devices.In this review,a quantitative analysis of force feedback bilateral teleoperation development trends from 2011 to 2024 has been conducted,utilizing published journal article data as the primary source of information.The review accentuates classical control frameworks and algorithms,while also delving into existing research advancements and prospec-tive breakthrough directions.Moreover,it explores specific practical scenarios ranging from intricate surgeries to hazardous environment exploration,underscoring the technology’s potential to revolutionize industries by augmenting human manipulation of remote systems.This underscores the pivotal role of force feedback bilateral teleoperation as a transformative human-machine interface,capable of shaping flexible control strategies and addressing technological bottlenecks.Future research endeavors in force feedback bilateral teleoperation are expected to prioritize the creation of more immersive experiences,overcoming technical hurdles,fortifying human-machine collaboration,and broadening application domains,particularly within the realms of medical intervention and hazardous environments.With the continuous progression of technology,the integration of human intelligence and robotic capabilities is expected to produce more innovations and breakthroughs in the field of automatic control.展开更多
Human skin exhibits a remarkable capability to perceive contact forces and environmental temperatures,providing complex information that is essential for its subtle control.Despite recent advancements in soft tactile ...Human skin exhibits a remarkable capability to perceive contact forces and environmental temperatures,providing complex information that is essential for its subtle control.Despite recent advancements in soft tactile sensors,accurately decoupling signals—specifically separating forces from directional orientation and temperature—remains a challenge thus resulting in failure to meet the advanced application requirements of robots.This study proposes,F3T,a multilayer soft sensor unit designed to achieve isolated measurements and mathematical decoupling of normal pressure,omnidirectional tangential forces,and temperature.We developed a circular coaxial magnetic film featuring a floating mount multilayer capacitor that facilitated the physical decoupling of normal and tangential forces in all directions.Additionally,we incorporated an ion gel-based temperature-sensing film into the tactile sensor.The proposed sensor was resilient to external pressures and deformations,and could measure temperature and significantly eliminate capacitor errors induced by environmental temperature changes.In conclusion,our novel design allowed for the decoupled measurement of multiple signals,laying the foundation for advancements in high-level robotic motion control,autonomous decision-making,and task planning.展开更多
Purpose–This study aims to propose a novel identification method to accurately estimate linear and nonlinear dynamics in permanent magnet synchronous linear motor(PMSLM)based on the time-domain analysis of relay feed...Purpose–This study aims to propose a novel identification method to accurately estimate linear and nonlinear dynamics in permanent magnet synchronous linear motor(PMSLM)based on the time-domain analysis of relay feedback.Design/methodology/approach–A mathematical model of the PMSLM-based servo-mechanical system was first established,incorporating the aforementioned nonlinearities.The model’s velocity response was derived by analyzing its behavior as a first-order system under arbitrary input.To induce oscillatory dynamics,an ideal relay with artificially introduced dead-time components was then integrated into the servo-mechanism.Depending on the oscillations and the time-domain analysis,nonlinear formulas were deduced according to the velocity response of the servo-mechanism.Afterwards,the unknown model parameters can be solved on account of the cost function which utilizes the discrepancy between nominal position characteristics and temporary position characteristics,both of which are extracted from the oscillations.The proposed recognition method was validated through a twostage process:(1)numerical simulation and calculation,followed by(2)real-time experimental verification on a direct-drive servo platform.Subsequently,leveraging the identification results,a novel control strategy was developed and its tracking performance was benchmarked against conventional control schemes.Findings–Simulation results demonstrate that the proposed method achieves estimation accuracy within 8%.Building on this,a novel control strategy is developed by incorporating both friction pulsation and force pulsation identification results into the feedforward compensator.Comparative experiments reveal that this strategy significantly enhances tracking and positioning performance over traditional control schemes.In a word,this new identification method can be used in different process control and servo control systems.Moreover,parameter auto-tuning,feed forward compensation or disturbance observer can be investigated based on the obtained information to improve the system stability and control accuracy.Originality/value–It is of great significance for the performance improvement of rail transit motor control equipment,such as electro-mechanical braking systems.By enhancing the efficiency of motor control,the performance of the product will be more outstanding.展开更多
The purpose of this article is to provide,from the perspective of deformable solid mechanics,a correct justification for the expressions of all forces acting on the surface of a ferromagnetic material in a magnetic fi...The purpose of this article is to provide,from the perspective of deformable solid mechanics,a correct justification for the expressions of all forces acting on the surface of a ferromagnetic material in a magnetic field,initiated only by this field.It is shown that the moment of force applied to any closed body surface S,corresponding to the asymmetric part TAof the stress tensor T(denoted as the force pA),balances the mass magnetic moment Lmagacting in the volume V bounded by the surface S.The emergence of the asymmetric part TAof the stress tensor arises as a consequence of a special case within the moment theory of elasticity,the use of which is necessary for accurately describing the behavior of a ferromagnetic material in a magnetic field.The force pa acts in a plane tangential to the surface S at any point,while,in addition to this force,the normal force pn also acts on the body surface.It is shown in the article that the latter force arises as a result of a jump in the normal component of the magnetic field strength appearing at the body surface,and its expression is defined by the mass' s(ponderomotive) magnetic forces Fmag.Usually,this force is introduced based on the Maxwell stress tensor,which is used in the classical electromagnetism to represent the interaction between electromagnetic forces and mechanical momentum.However,as we believe and justify this in the article,such an approach is unacceptable in deformable solid mechanics.展开更多
In the realm of slope monitoring and reinforcement,traditional prestressing anchor cables are extensively used.However,these conventional methods often face limitations when applied to loess slopes,such as potential i...In the realm of slope monitoring and reinforcement,traditional prestressing anchor cables are extensively used.However,these conventional methods often face limitations when applied to loess slopes,such as potential issues with stress concentration and insufficient adaptability to the unique mechanical properties of loess,which may lead to challenges in ensuring long-term stability and effective reinforcement.Negative Poisson's ratio(NPR)anchor cables with constant resistance have emerged as a promising alternative,which can better match the engineering demands of loess slopes by providing more uniform stress distribution and adaptive deformation characteristics.The NPR cable's ability to maintain a constant resistance during deformation offers a distinct advantage over traditional methods as it can more effectively accommodate the complex and variable conditions of loess slopes.To investigate the anchoring performance of NPR cables in loess slope,the stress characteristics of NPR cable in loess medium were simulated and analysed by ABAQUS finite element software.First,static and general quasi-static analysis methods were used to simulate the NPR cable under static tensile conditions.The consistency of the simulated constant resistance deformation characteristics with experimental results found in the literature was verified.Second,the interaction model between the NPR cable coupled with the loess medium was established.Its constant resistance was calculated to be about 24.08%larger than that of NPR anchor cable while its plastic deformation was reduced by about 37.14%.The compressive stress on the contact surface between NPR cable and loess was concentrated near the free end of the sleeve,which indicated that the loess was prone to severe damage at the free end.The research results reveal the typical shear failure mechanism of NPR cable in loess medium,which provides an important theoretical basis for prevention of landslides and monitoring of loess slopes.展开更多
In order to explore the opening force variation rules and influencing factors of parafoil opening process,a dynamic model for parafoil opening process is established in this paper.The performance of the parafoil openi...In order to explore the opening force variation rules and influencing factors of parafoil opening process,a dynamic model for parafoil opening process is established in this paper.The performance of the parafoil opening process is calculated using the RungeKutta method.The calculation results are consistent with the patterns of the existing literatures,showing a maximum opening force error of 4.8%.Based on this,simulations are conducted for 20 different operating conditions of the parafoil system,and the rules governing the changes in system motion speed and parafoil opening force are obtained.The influence of the parafoil parameters and opening conditions on the opening force is also investigated.The results indicate that the opening force is positively correlated with the load mass,the opening speed,and trajectory angle,while it is negatively correlated with the opening height.The peak time of the opening force is affected by aerodynamic force and decelerating inertia force.As the weight and the opening height increase,the system deceleration becomes slower,and the peak time of the opening force is delayed.The aerodynamic force increases with the canopy area and the opening speed,leading to an advancement in the peak time of the opening force.Finally,the Sobol global sensitivity analysis method is employed to obtain the firstorder sensitivity and total sensitivity coefficients of the parafoil parameters and opening conditions on parafoil maximum opening force.The results show that the opening speed and the load mass significantly affect the maximum opening force.The firstorder sensitivity coefficients of 0.4107 and 0.3136,respectively;and the total sensitivity coefficients of 0.4775 and 0.3752,respectively.The sensitivity of the canopy area is at a moderate level,with the firstorder and total sensitivity coefficients of 0.0749 and 0.0851,respectively.The sensitivity coefficients for the opening height and the opening angle are close to zero,indicating that fluctuations in their values have little effect on the maximum opening force.展开更多
基金financial support by the National Key Research and Development Program of China(No.2023YFC2907801)the Hunan Provincial Natural Science Foundation of China(No.2023JJ40760)the Scientific and Technological Project of Yunnan Precious Metals Laboratory,China(No.YPML-2023050276)。
文摘Bentonite is a necessary binder in producing pellets.Its excessive use reduces the iron grade of pellets and increases production costs.Minimizing bentonite dosage is essential for producing high-quality iron ore pellets.Addressing the gap in the application of organically-intercalated modified bentonite in the pelletizing field,this study introduces an innovative modification process for bentonite that employs the synergistic effect of mechanical force and dimethyl sulfoxide to enhance the intercalation of organic compounds within bentonite,thus significantly enhancing its binding performance.The colloid value and swell capacity of modified bentonite(98.5 m L/3g and 55.0 m L/g)were much higher than the original bentonite(90.5 m L/3g and 17.5 m L/g).With the decrease of bentonite dosage from1.5wt%to 1.0wt%,the drop number of green pellets from a height of 0.5 m and the compressive strengths of roasted pellets using the modified bentonite(6.0 times and 2916 N per pellet)were significantly higher than those of the original bentonite(4.0 times and 2739 N per pellet).This study provides a comprehensive analysis of the intercalation modification mechanism of bentonite,offering crucial technical insights for the development of high-performance modified bentonite as iron ore pellet binders.
基金supported by the National Natural Science Foundation of China(52476200,52106244)the Guangdong Basic and Applied Basic Research Foundation(2024A1515030124)+1 种基金the Science and Technology Project of China Southern Power Grid under Grant GDKJXM20230246(030100KC23020017)the Fundamental Research Funds for the Central Universities。
文摘Due to batteries inconsistencies and potential faults in battery management systems,slight overcharging remains a common yet insufficiently understood safety risk,lacking effective warning methods.To illuminate the degradation behavior and failure mechanism of various overcharged states(100%SOC,105%SOC,110%SOC,and 115%SOC),multiple advanced in-situ characterization techniques(accelerating rate calorimeter,electrochemical impedance spectroscopy,ultrasonic scanning,and expansion instrument)were utilized.Additionally,re-overcharge-induced thermal runaway(TR)tests were conducted,with a specific emphasis on the evolution of the expansion force signal.Results indicated significant degradation at 110%SOC including conductivity loss,loss of lithium inventory,and loss of active material accompanied by internal gas generation.These failure behaviors slow down the expansion force rate during reovercharging,reducing the efficacy of active warnings that depend on rate thresholds of expansion force.Specifically,the warning time for 115%SOC battery is only 144 s,which is 740 s shorter than that for fresh battery,and the time to TR is advanced by 9 min.Moreover,the initial self-heating temperature(T1)is reduced by 62.4℃compared to that of fresh battery,reaching only 70.8℃.To address the low safety of overcharged batteries,a passive overcharge warning method utilizing relaxation expansion force was proposed,based on the continued gas generation after stopping charging,leading to a sustained increase in force.Compared to active methods that rely on thresholds of expansion force rate,the passive method can issue warnings 115 s earlier.By combining the passive and active warning methods,guaranteed effective overcharge warning can be issued 863-884 s before TR.This study introduces a novel perspective for enhancing the safety of batteries.
基金supported in part by financial support from the National Key R&D Program of China(No.2023YFB3407003)the National Natural Science Foundation of China(No.52375378).
文摘A new analytical model for geometric size and forming force prediction in incremental flanging(IF)is presented in this work.The complex deformation characteristics of IF are considered in the modeling process,which can accurately describe the strain and stress states in IF.Based on strain analysis,the model can predict the material thickness distribution and neck height after IF.By considering contact area,strain characteristics,material thickness changes,and friction,the model can predict specific moments and corresponding values of maximum axial forming force and maximum horizontal forming force during IF.In addition,an IF experiment involving different tool diameters,flanging diameters,and opening hole diameters is conducted.On the basis of the experimental strain paths,the strain characteristics of different deformation zones are studied,and the stable strain ratio is quantitatively described through two dimensionless parameters:relative tool diameter and relative hole diameter.Then,the changing of material thickness and forming force in IF,and the variation of minimum material thickness,neck height,maximum axial forming force,and maximum horizontal forming force with flanging parameters are studied,and the reliability of the analytical model is verified in this process.Finally,the influence of the horizontal forming force on the tool design and the fluctuation of the forming force are explained.
基金financially supported in-part by the National Natural Science Foundation of China(52275011)the Natural Science Foundation of Guangdong Province(2023B1515020080)+3 种基金the Natural Science Foundation of Guangzhou(2024A04J2552)the Fundamental Research Funds for the Central Universities,the Young Elite Scientists Sponsorship Program by the China Association for Science and Technology(CAST)(2021QNRC001)the Guangdong Basic and Applied Basic Research Foundation(Grant No.2023A1515011253)the Higher Education Institution Featured Innovation Project of Department of Education of Guangdong Province(GrantNo.2023KTSCX138).
文摘Moles exhibit highly effective capabilities due to their unique body structures and digging techniques,making them ideal models for biomimetic research.However,a major challenge for mole-inspired robots lies in overcoming resistance in granular media when burrowing with forelimbs.In the absence of effective forepaw design strategies,most robotic designs rely on increased power to enhance performance.To address this issue,this paper employs Resistive Force Theory to optimize mole-inspired forepaws,aiming to enhance burrowing efficiency.By analyzing the relationship between geometric parameters and burrowing forces,we propose several forepaw design variations.Through granular resistance assessments,an effective forepaw configuration is identified and further refined using parameters such as longitudinal and transverse curvature.Subsequently,the Particle Swarm Optimization algorithm is applied to determine the optimal forepaw design.In force-loading tests,the optimized forepaw demonstrated a 79.44%reduction in granular lift force and a 22.55%increase in propulsive force compared with the control group.In robotic burrowing experiments,the optimized forepaw achieved the longest burrow displacement(179.528 mm)and the lowest burrowing lift force(0.9355 mm/s),verifying its effectiveness in reducing the lift force and enhancing the propulsive force.
基金financially supported by the National Natural Science Foundation of China(Nos.92160301,92060203,52175415 and 52205475)the Science Center for Gas Turbine Project(Nos.P2022-AB-Ⅳ-002-001 and P2023-B-Ⅳ-003-001)+3 种基金the Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology(No.JSKL2223K01)the Natural Science Foundation of Jiangsu Province(No.BK20210295)the Superior Postdoctoral Project of Jiangsu Province(No.2022ZB215)the Henan Science and Technology Public Relations Project(No.212102210445).
文摘The undeformed chip thickness and grinding force are key parameters for revealing the material removal mechanism in the grinding process.However,they are difficult to be well expressed due to the ununiformed protrusion height and random position distribution of abrasive grains on the abrasive wheel surface.This study investigated the distribution of undeformed chip thickness and grinding force considering the non-uniform characteristics of abrasive wheel in the grinding of K4002 nickel-based superalloy.First,a novel grinding force model was established through a kinematic-geometric analysis and a grain-workpiece contact analysis.Then,a series of grinding experiments were conducted for verifying the model.The results indicate that the distribution of undeformed chip thickness is highly consistent with the Gaussian distribution formula.The increase in the grinding depth mainly leads to an increase in the average value of Gaussian distribution.On the contrary,the increase in the workpiece infeed speed or the decrease in the grinding speed mainly increases the standard deviation of Gaussian distribution.The average and maximum errors of the grinding force model are 4.9%and 14.6%respectively,indicating that the model is of high predication accuracy.
基金financially supported by the National Natural Science Foundation of China(Nos.52272160,U2330112,and 52002254)Sichuan Science and Technology Foundation(Nos.2020YJ0262,2021YFH0127,2022YFH0083,2022YFSY0045,and 2023YFSY0002)+1 种基金the Chunhui Plan of Ministry of Education,Fundamental Research Funds for the Central Universities,China(No.YJ201893)the Foundation of Key Laboratory of Lidar and Device,Sichuan Province,China(No.LLD2023-006)。
文摘Nowadays,force sensors play an important role in industrial production,electronic information,medical health,and many other fields.Two-dimensional material-based filed effect transistor(2D-FET)sensors are competitive with nano-level size,lower power consumption,and accurate response.However,few of them has the capability of impulse detection which is a path function,expressing the cumulative effect of the force on the particle over a period of time.Herein we fabricated the flexible polymethyl methacrylate(PMMA)gate dielectric MoS_(2)-FET for force and impulse sensor application.We systematically investigated the responses of the sensor to constant force and varying forces,and achieved the conversion factors of the drain current signals(I_(ds))to the detected impulse(I).The applied force was detected and recorded by I_(ds)with a low power consumption of~30 nW.The sensitivity of the device can reach~8000%and the 4×1 sensor array is able to detect and locate the normal force applied on it.Moreover,there was almost no performance loss for the device as left in the air for two months.
基金supported by the National Natural Science Foundation of China(Grant Nos.42172159 and 42302143)the Postdoctora Fellowship Program of the China Postdoctoral Science Foundation(CPSF)(Grant No.GZB20230864).
文摘Forced imbibition,the invasion of a wetting fluid into porous rocks,plays an important role in the effective exploitation of hydrocarbon resources and the geological sequestration of carbon dioxide.However,the interface dynamics influenced by complex topology commonly leads to non-wetting fluid trapping.Particularly,the underlying mechanisms under viscously unfavorable conditions remain unclear.This study employs a direct numerical simulation method to simulate forced imbibition through the reconstructed digital rocks of sandstone.The interface dynamics and fluid–fluid interactions are investigated through transient simulations,while the pore topology metrics are introduced to analyze the impact on steady-state residual fluid distribution obtained by a pseudo-transient scheme.The results show that the cooperative pore-filling process promoted by corner flow is dominant at low capillary numbers.This leads to unstable inlet pressure,mass flow,and interface curvature,which correspond to complicated interface dynamics and higher residual fluid saturation.During forced imbibition,the interface curvature gradually increases,with the pore-filling mechanisms involving the cooperation of main terminal meniscus movement and arc menisci filling.Complex topology with small diameter pores may result in the destabilization of interface curvature.The residual fluid saturation is negatively correlated with porosity and pore throat size,and positively correlated with tortuosity and aspect ratio.A large mean coordination number characterizing global connectivity promotes imbibition.However,high connectivity characterized by the standardized Euler number corresponding to small pores is associated with a high probability of non-wetting fluid trapping.
基金supported by Natural Science Foundation of China(52178441)the Scientific Research Projects of the China Academy of Railway Sciences Co.,Ltd.(Grant No.2022YJ043).
文摘Rail weld irregularities are one of the primary excitation sources for vehicle-track interaction dynamics in modern high-speed railways.They can cause significant wheel-rail dynamic interactions,leading to wheel-rail noise,component damage,and deterioration.Few researchers have employed the vehicle-track interaction dynamic model to study the dynamic interactions between wheel and rail induced by rail weld geometry irregularities.However,the cosine wave model used to simulate rail weld irregularities mainly focuses on the maximum value and neglects the geometric shape.In this study,novel theoretical models were developed for three categories of rail weld irregularities,based on measurements of the high-speed railway from Beijing to Shanghai.The vertical dynamic forces in the time and frequency domains were compared under different running speeds.These forces generated by the rail weld irregularities that were measured and modeled,respectively,were compared to validate the accuracy of the proposed model.Finally,based on the numerical study,the impact force due to rail weld irrregularity is modeled using an Artificial Neural Network(ANN),and the optimum combination of parameters for this model is found.The results showed that the proposed model provided a more accurate wheel/rail dynamic evaluation caused by rail weld irregularities than that established in the literature.The ANN model used in this paper can effectively predict the impact force due to rail weld irrregularity while reducing the computation time.
文摘Astronomical extreme events or phenomena include black holes as well as nebulae systems that resemble the Milky Way. Meteorological extreme events or phenomena include tornadoes and tropical cyclones. The new high energy state of matter expanding outwards by spin jets from the two poles of an astronomical black hole, the new high energy state of matter in a funnel-shaped vortex showed a meteorological tornado expanding downwards from a rotated disk of cumulonimbus clouds, the new high energy state of matter in a tropical cyclone and the new high energy state of a nebulae system converging celestial materials are phenomena across disciplines and multiple time-space scales that have not yet been physically explained. In this paper, the theory of orthogonal collision in the rotational contraction continuum is used to unify the understanding of diverse extreme events or phenomena through a single dynamical mechanism, offering insights into natural processes across disciplines. In the field of astronomy, the orthogonal collision of two-beam rotating and contracting particles or stars associated with centripetal forces forms a new high-energy state of matter at the collision point and the new high-energy particles have expanding forces outward to both sides of the collision plane. In the field of meteorology, the orthogonal collision of multiple horizontally rotating and contracting airflows associated with centripetal forces forms a new high energy state of matter at the collision point as well as an updraft force and a downdraft force vertically. The updraft force and downdraft force formed by the collision of anomalous wet airflows in the lower atmosphere can well indicate tornado, thunderstorm and extreme precipitation. The orthogonal collision theory can be applied to explain new states of matter in disciplines from the astronomical scale to the meteorological scale and the Planck scale.
基金Supported by National Nature Science Foundation of China(Grant Nos.52205225,U2330202)The Foundation Project of China(Grant No.2023-JCJQ-JJ-0958).
文摘With the intensification of lunar exploration,the failure risk caused by the adsorption of lunar dust on the spacecraft surface cannot be ignored.Therefore,three types of typical spatial solid lubrication films,namely polytetrafluoroethylene(PTFE),amorphous carbon(a-C)and molybdenum disulfide(MoS2),were prepared as test samples.Firstly,the surface free energy parameters of the material were measured using a contact Angle measuring instrument.At the same time,atomic force microscopy(AFM)was used to quantify the adhesion of the film samples based on the lunar dust micro-adsorption model.In order to investigate the influence of the test environment,the environmental pressure was adjusted to normal pressure environment and high vacuum environment with a vacuum degree of 10−6 Pa for testing.The results indicate a positive correlation between surface energy and adhesion.As surface energy increases,molecules tend to move closer,forming a stronger attraction and thus enhancing surface adhesion.In addition,AFM was used to measure the adhesion force under atmospheric pressure and vacuum conditions,revealing that parameters measured in atmospheric environment were generally higher than those measured in vacuum,which effectively verified the existence of capillary force in the microscopic adsorption model and its influence on the adhesion effect.Through the test comparison of three groups of typical solid lubricating films,it is found that MoS2 has a lower adhesion effect than the other two groups of films,which can effectively reduce the adhesion phenomenon of lunar dust on the surface of the material,and provide suitable materials for future lunar exploration and manned lunar missions.
基金supported by the MSIT(Ministry of Science and ICT),Republic of Korea,under the Convergence Security Core Talent Training Business Support Program(IITP-2024-RS-2024-00423071)supervised by the IITP(Institute of Information&Communications Technology Planning&Evaluation)supported by Sichuan Science and Technology Program(2023YFSY0026,2023YFH0004).
文摘Force feedback bilateral teleoperation represents a pivotal advancement in control technology,finding widespread application in hazardous material transportation,perilous environments,space and deep-sea exploration,and healthcare domains.This paper traces the evolutionary trajectory of force feedback bilateral teleoperation from its conceptual inception to its current complexity.It elucidates the fundamental principles underpinning interaction forces and tactile exchanges,with a specific emphasis on the crucial role of tactile devices.In this review,a quantitative analysis of force feedback bilateral teleoperation development trends from 2011 to 2024 has been conducted,utilizing published journal article data as the primary source of information.The review accentuates classical control frameworks and algorithms,while also delving into existing research advancements and prospec-tive breakthrough directions.Moreover,it explores specific practical scenarios ranging from intricate surgeries to hazardous environment exploration,underscoring the technology’s potential to revolutionize industries by augmenting human manipulation of remote systems.This underscores the pivotal role of force feedback bilateral teleoperation as a transformative human-machine interface,capable of shaping flexible control strategies and addressing technological bottlenecks.Future research endeavors in force feedback bilateral teleoperation are expected to prioritize the creation of more immersive experiences,overcoming technical hurdles,fortifying human-machine collaboration,and broadening application domains,particularly within the realms of medical intervention and hazardous environments.With the continuous progression of technology,the integration of human intelligence and robotic capabilities is expected to produce more innovations and breakthroughs in the field of automatic control.
基金support by Hong Kong RGC General Research Fund(16217824,16213825,16203923,and 16217824)National Natural Science Foundation of China(N_HKUST638/23)+1 种基金Research Grants Council Joint Research Scheme(62361166630)Guangdong Basic and Applied Basic Research Foundation(2023B1515130007).
文摘Human skin exhibits a remarkable capability to perceive contact forces and environmental temperatures,providing complex information that is essential for its subtle control.Despite recent advancements in soft tactile sensors,accurately decoupling signals—specifically separating forces from directional orientation and temperature—remains a challenge thus resulting in failure to meet the advanced application requirements of robots.This study proposes,F3T,a multilayer soft sensor unit designed to achieve isolated measurements and mathematical decoupling of normal pressure,omnidirectional tangential forces,and temperature.We developed a circular coaxial magnetic film featuring a floating mount multilayer capacitor that facilitated the physical decoupling of normal and tangential forces in all directions.Additionally,we incorporated an ion gel-based temperature-sensing film into the tactile sensor.The proposed sensor was resilient to external pressures and deformations,and could measure temperature and significantly eliminate capacitor errors induced by environmental temperature changes.In conclusion,our novel design allowed for the decoupled measurement of multiple signals,laying the foundation for advancements in high-level robotic motion control,autonomous decision-making,and task planning.
文摘Purpose–This study aims to propose a novel identification method to accurately estimate linear and nonlinear dynamics in permanent magnet synchronous linear motor(PMSLM)based on the time-domain analysis of relay feedback.Design/methodology/approach–A mathematical model of the PMSLM-based servo-mechanical system was first established,incorporating the aforementioned nonlinearities.The model’s velocity response was derived by analyzing its behavior as a first-order system under arbitrary input.To induce oscillatory dynamics,an ideal relay with artificially introduced dead-time components was then integrated into the servo-mechanism.Depending on the oscillations and the time-domain analysis,nonlinear formulas were deduced according to the velocity response of the servo-mechanism.Afterwards,the unknown model parameters can be solved on account of the cost function which utilizes the discrepancy between nominal position characteristics and temporary position characteristics,both of which are extracted from the oscillations.The proposed recognition method was validated through a twostage process:(1)numerical simulation and calculation,followed by(2)real-time experimental verification on a direct-drive servo platform.Subsequently,leveraging the identification results,a novel control strategy was developed and its tracking performance was benchmarked against conventional control schemes.Findings–Simulation results demonstrate that the proposed method achieves estimation accuracy within 8%.Building on this,a novel control strategy is developed by incorporating both friction pulsation and force pulsation identification results into the feedforward compensator.Comparative experiments reveal that this strategy significantly enhances tracking and positioning performance over traditional control schemes.In a word,this new identification method can be used in different process control and servo control systems.Moreover,parameter auto-tuning,feed forward compensation or disturbance observer can be investigated based on the obtained information to improve the system stability and control accuracy.Originality/value–It is of great significance for the performance improvement of rail transit motor control equipment,such as electro-mechanical braking systems.By enhancing the efficiency of motor control,the performance of the product will be more outstanding.
基金supported by the Ministry of Science and Higher Education of the Russian Federation(No.075-15-2024-535)。
文摘The purpose of this article is to provide,from the perspective of deformable solid mechanics,a correct justification for the expressions of all forces acting on the surface of a ferromagnetic material in a magnetic field,initiated only by this field.It is shown that the moment of force applied to any closed body surface S,corresponding to the asymmetric part TAof the stress tensor T(denoted as the force pA),balances the mass magnetic moment Lmagacting in the volume V bounded by the surface S.The emergence of the asymmetric part TAof the stress tensor arises as a consequence of a special case within the moment theory of elasticity,the use of which is necessary for accurately describing the behavior of a ferromagnetic material in a magnetic field.The force pa acts in a plane tangential to the surface S at any point,while,in addition to this force,the normal force pn also acts on the body surface.It is shown in the article that the latter force arises as a result of a jump in the normal component of the magnetic field strength appearing at the body surface,and its expression is defined by the mass' s(ponderomotive) magnetic forces Fmag.Usually,this force is introduced based on the Maxwell stress tensor,which is used in the classical electromagnetism to represent the interaction between electromagnetic forces and mechanical momentum.However,as we believe and justify this in the article,such an approach is unacceptable in deformable solid mechanics.
基金the State Key Laboratory of Deep Geotechnical Mechanics and Underground Engineering(SKLGDUEK2124)of China University of Mining and Technology(Beijing)for its support for this research。
文摘In the realm of slope monitoring and reinforcement,traditional prestressing anchor cables are extensively used.However,these conventional methods often face limitations when applied to loess slopes,such as potential issues with stress concentration and insufficient adaptability to the unique mechanical properties of loess,which may lead to challenges in ensuring long-term stability and effective reinforcement.Negative Poisson's ratio(NPR)anchor cables with constant resistance have emerged as a promising alternative,which can better match the engineering demands of loess slopes by providing more uniform stress distribution and adaptive deformation characteristics.The NPR cable's ability to maintain a constant resistance during deformation offers a distinct advantage over traditional methods as it can more effectively accommodate the complex and variable conditions of loess slopes.To investigate the anchoring performance of NPR cables in loess slope,the stress characteristics of NPR cable in loess medium were simulated and analysed by ABAQUS finite element software.First,static and general quasi-static analysis methods were used to simulate the NPR cable under static tensile conditions.The consistency of the simulated constant resistance deformation characteristics with experimental results found in the literature was verified.Second,the interaction model between the NPR cable coupled with the loess medium was established.Its constant resistance was calculated to be about 24.08%larger than that of NPR anchor cable while its plastic deformation was reduced by about 37.14%.The compressive stress on the contact surface between NPR cable and loess was concentrated near the free end of the sleeve,which indicated that the loess was prone to severe damage at the free end.The research results reveal the typical shear failure mechanism of NPR cable in loess medium,which provides an important theoretical basis for prevention of landslides and monitoring of loess slopes.
基金supported in part by the National Natural Science Foundation of China(No.11972192).
文摘In order to explore the opening force variation rules and influencing factors of parafoil opening process,a dynamic model for parafoil opening process is established in this paper.The performance of the parafoil opening process is calculated using the RungeKutta method.The calculation results are consistent with the patterns of the existing literatures,showing a maximum opening force error of 4.8%.Based on this,simulations are conducted for 20 different operating conditions of the parafoil system,and the rules governing the changes in system motion speed and parafoil opening force are obtained.The influence of the parafoil parameters and opening conditions on the opening force is also investigated.The results indicate that the opening force is positively correlated with the load mass,the opening speed,and trajectory angle,while it is negatively correlated with the opening height.The peak time of the opening force is affected by aerodynamic force and decelerating inertia force.As the weight and the opening height increase,the system deceleration becomes slower,and the peak time of the opening force is delayed.The aerodynamic force increases with the canopy area and the opening speed,leading to an advancement in the peak time of the opening force.Finally,the Sobol global sensitivity analysis method is employed to obtain the firstorder sensitivity and total sensitivity coefficients of the parafoil parameters and opening conditions on parafoil maximum opening force.The results show that the opening speed and the load mass significantly affect the maximum opening force.The firstorder sensitivity coefficients of 0.4107 and 0.3136,respectively;and the total sensitivity coefficients of 0.4775 and 0.3752,respectively.The sensitivity of the canopy area is at a moderate level,with the firstorder and total sensitivity coefficients of 0.0749 and 0.0851,respectively.The sensitivity coefficients for the opening height and the opening angle are close to zero,indicating that fluctuations in their values have little effect on the maximum opening force.
