This paper reviews the development of forced motion apparatuses(FMAs) and their applications in wind engineering. A kind of FMA has been developed to investigate nonlinear and nonstationary aerodynamic forces consider...This paper reviews the development of forced motion apparatuses(FMAs) and their applications in wind engineering. A kind of FMA has been developed to investigate nonlinear and nonstationary aerodynamic forces considering the coupled effects of multiple degrees of freedom(DOFs). This apparatus can make section models to vibrate in a prescribed displacement defined by a numerical signal in time domain, including stationary and nonstationary movements with time-variant amplitudes and frequencies and even stochastic displacements. A series of validation tests show that the apparatus can re-illustrate various motions with enough precision in 3 D coupled states of two linear displacements and one torsional displacement. To meet the requirement of aerodynamic modeling, the flutter derivatives of a box girder section are identified, verifying its accuracy and feasibility by comparing with previously reported results. By simulating the nonstationary vibration with time-variant amplitude, the phenomena of frequency multiplication and memory effects are examined. In addition to studying the aerodynamics of a bluff body under large amplitudes and nonstationary vibrations, some potential applications of the proposed FMA are discussed in vehicle-bridge-wind dynamic analysis, pile-soil interaction, and line-tower coupled vibration aerodynamics in structural engineering.展开更多
The differential equations of motion of a comtlaint system with parameters and variable mass, of a system with variable mass and servo constraints and those for the control problem on the forced motion of constraint s...The differential equations of motion of a comtlaint system with parameters and variable mass, of a system with variable mass and servo constraints and those for the control problem on the forced motion of constraint systems with variable mass are given respectively. Finally, an example is presented.展开更多
In this paper,a framework of model predictive optimization and control for quadruped whole-body locomotion is presented,which enables dynamic balance and minimizes the control effort.First,we propose a hierarchical co...In this paper,a framework of model predictive optimization and control for quadruped whole-body locomotion is presented,which enables dynamic balance and minimizes the control effort.First,we propose a hierarchical control scheme consisting of two modules.The first layer is to find an optimal ground reaction force(GRF)by employing inner model predictive control(MPC)along a full motor gait cycle,ensuring the minimal energy consumption of the system.Based on the output GRF of inner layer,the second layer is designed to prioritize tasks for motor execution sequentially using an outer model predictive control.In inner MPC,an objective function about GRF is designed by using a model with relatively long time horizons.Then a neural network solver is used to obtain the optimal GRF by minimizing the objective function.By using a two-layered MPC architecture,we design a hybrid motion/force controller to handle the impedance of leg joints and robotic uncertainties including external perturbation.Finally,we perform extensive experiments with a quadruped robot,including the crawl and trotting gaits,to verify the proposed control framework.展开更多
This paper carries out a comprehensive and systematic comparison study on the kinematic performance of four six degrees of freedom(6-DOF)parallel mechanisms with different topologies,i.e.,6-UPS,3-(2-UPR)U,3-(2-UCR)U,a...This paper carries out a comprehensive and systematic comparison study on the kinematic performance of four six degrees of freedom(6-DOF)parallel mechanisms with different topologies,i.e.,6-UPS,3-(2-UPR)U,3-(2-UCR)U,and 3-R(2-RPR)U.The research begins by elaborating in detail the similarities and differences among these four parallel mechanisms.By standardizing the definition of the coordinate system for each mechanism,the inverse kinematics and the Jacobian matrix of these four mechanisms are systematically derived.Employing a set of motion/force transmission indices,which are directly obtained from the Jacobian matrix,the kinematic performances of the four mechanisms are thoroughly analyzed and compared within the given workspaces while maintaining the same dimensional parameters for all cases.The comparison study of these four parallel mechanisms extends beyond local transmission indices to also include global transmission indices,covering both position and orientation workspaces,as well as assessments at both the local and global workspace levels.This comprehensive approach ensures a detailed and fair evaluation of their respective kinematic capabilities.The results indicate that the comprehensive kinematic performances of the four parallel mechanisms are similar,and providing a solid theoretical foundation for innovative design and practical guidance for selecting optimal architectures based on specific application requirements.展开更多
A compliant landing strategy for a trotting quadruped robot on unknown rough terrains based on contact force control is presented. Firstly, in order to lower the disturbance caused by the landing impact force, a landi...A compliant landing strategy for a trotting quadruped robot on unknown rough terrains based on contact force control is presented. Firstly, in order to lower the disturbance caused by the landing impact force, a landing phase is added between the swing phase and the stance phase, where the desired contact force is set as a small positive constant. Secondly, the joint torque optimization of the stance legs is formulated as a quadratic programming(QP) problem subject to equality and inequality/bound constraints. And a primal-dual dynamical system solver based on linear variational inequalities(LVI) is applied to solve this QP problem. Furthermore, based on the optimization results, a hybrid motion/force robust controller is designed to realize the tracking of the contact force, while the constraints of the stance feet landing angles are fulfilled simultaneously. Finally, the experiments are performed to validate the proposed methods.展开更多
Magnetic force transmission of a reciprocating motion is studied by theoretical analysis and experiment. A mathematical model for calculating the magnetic force is derived using the theory of equivalent magnetic charg...Magnetic force transmission of a reciprocating motion is studied by theoretical analysis and experiment. A mathematical model for calculating the magnetic force is derived using the theory of equivalent magnetic charges. An experimental rig is constructed to test the transmission and the model is verified by experiment. Effect of the transmission parameters on the magnetic force is analyzed theoretically from the model, and characteristic of the transmission is studied experimentally. Since the transmission is without direct contact between two elements, it is suitable for application in an organism.展开更多
The maximum predicting error of the commonly used passive truncated mooring system method may reach 30%due to the difference of dynamic characteristics between the truncated and full-depth mooring line.In this paper,t...The maximum predicting error of the commonly used passive truncated mooring system method may reach 30%due to the difference of dynamic characteristics between the truncated and full-depth mooring line.In this paper,the experimental strategy called three-parameter(displacement,velocity and acceleration)active control method at the truncated point of mooring line is established to implement the synchronous equivalent of motion and force,and the realization of active truncated mooring system for model test is studied theoretically.The influences of threeparameter and one-parameter(displacement)active control strategies on the compensation effects are compared by numerical study.The results show that the established three-parameter active control method can feasibly realize the static and dynamic equivalent of truncated and full-depth mooring system,laying a good foundation for the following physical model test of active truncated mooring system.展开更多
The free surface flow generated by twin-cylinders in forced motion submerged beneath the free surface is studied based on the boundary element method. Two relative locations, namely, horizontal and vertical, are exami...The free surface flow generated by twin-cylinders in forced motion submerged beneath the free surface is studied based on the boundary element method. Two relative locations, namely, horizontal and vertical, are examined for the twin cylinders. In both cases, the twin cylinders are starting from rest and ultimately moving with the same constant speed through an accelerating process. Assuming that the fluid is inviscid and incompressible and the flow to be irrotational, the integral Laplace equation can be discretized based on the boundary element method. Fully-nonlinear boundary conditions are satisfied on the unknown free surface and the moving body surface. The free surface is traced by a Lagrangian technique. Regriding and remeshing are applied, which is crucial to quality of the numerical results. Single circular cylinder and elliptical cylinder are calculated by linear method and fully nonlinear method for accuracy checking and then fully nonlinear method is conducted on the twin cylinder cases, respectively. The generated wave elevation and the resultant force are analysed to discuss the influence of the gap between the two cylinders as well as the water depth. It is found that no matter the kind of distribution, when the moving cylinders are close to each other, they suffer hydrodynamic force with large absolute value in the direction of motion. The trend of force varying with the increase of gap can be clearly seen from numerical analysis. The vertically distributed twin cylinders seem to attract with each other while the horizontally distributed twin cylinders are opposite when they are close to each other.展开更多
Variable acceleration linear motion is an important motion model in senior high school. This paper analyzes five common variable acceleration linear motion models in senior high school physics, and summarizes the crit...Variable acceleration linear motion is an important motion model in senior high school. This paper analyzes five common variable acceleration linear motion models in senior high school physics, and summarizes the critical state in the process of object motion, as well as solutions to common problems in the models.展开更多
A novel compliant mechanism with RPR degrees of freedom(DOF)is proposed where R and P represent rotation and translation DOFs,respectively.The proposed compliant mechanism is obtained from dimension synthesizing a 2-R...A novel compliant mechanism with RPR degrees of freedom(DOF)is proposed where R and P represent rotation and translation DOFs,respectively.The proposed compliant mechanism is obtained from dimension synthesizing a 2-RPU-UPR rigid parallel mechanism with the method of optimization of motion/force transfer characteristic.R,P and U represent rotation,translation and universal pairs,respectively.Firstly,inverse kinematics and Jacobian matrix are analyzed for the dimensional synthesis.Then,output transmission indexes of branches in the parallel mechanism are given.Dimensional synthesis is completed based on the normalized design parameter.And optimization of flexure joints based on constrained energy is carried out.Afterwards,the novel compliant mechanism is obtained by direct replacing method.Mechanical model of the compliant mechanism including static stiffness and input stiffness is built based on the pseudo-rigid body modeling method and virtual work principle.Finally,FEA simulation by Ansys Workbench is carried out to verify DOF,effectiveness of the dimension synthesis,and compliant model.Optimization of motion/force transfer characteristic is first applied for the design of compliant mechanisms to suppress drift of rotation axis in the paper.展开更多
Walking without impacts has been considered in dynamics as a motion/force control problem. In order to avoid impacts, an approach for both the specified motion of the biped and its ground reaction forces was presented...Walking without impacts has been considered in dynamics as a motion/force control problem. In order to avoid impacts, an approach for both the specified motion of the biped and its ground reaction forces was presented yielding a combined motion and force control problem. As an application, a walker on a horizontal plane has been considered. In this paper, it is shown how the control of the ground reaction forces and the energy consumption depend on the gradient of a slope. The biped dynamics and the constraints within the biped system and on the ground are discussed. A motion control synthesis is developed using the inverse dynamics principle proven to be most efficient for human walking research, too. The impactless walking with controlled legs is illustrated by a seven-link biped. The ＂flying＂ biped has nine degrees of freedom, with six control inputs. During locomotion, the standing leg has three scleronomic constraints, and the trunk has three rheonomic constraints. However, there are three rheonomic constraints for the prescribed leg motion or three scleronomic constraints for reaction forces of the trailing leg, respectively. The nominal control action for impactless walking can be precomputed and stored. The model proposed allows the investigation of several problems： uphill and downhill walking, optimization of step length,stiction of the feet on the slope and many more. All these findings are also of interest in biomechanics. C 2013 The Chinese Society of Theoretical and Applied Mechanics. [doi：10.1063/2.1301302]展开更多
The hydrodynamic behaviors of a floating breakwater consisting of a rectangular pontoon and horizontal plates are studied theoretically. The fluid motion is idealized as two-dimensional linear potential flow. The moti...The hydrodynamic behaviors of a floating breakwater consisting of a rectangular pontoon and horizontal plates are studied theoretically. The fluid motion is idealized as two-dimensional linear potential flow. The motions of the floating breakwater are assumed to be two-dimensional in sway, heave, and roll. The solution to the fluid motion is derived by transforming the governing differential equation into the integral equation on the boundary in time domain with the Green＇s function method. The motion equations of the floating breakwater are established and solved with the fourth-order Runge-Kutta method to obtain the displacement and velocity of the breakwater. The mooring forces are computed with the static method. The computational results of the wave transmission coefficient, the motion responses, and the mooring forces of the pontoon-plate floating breakwater are given. It is indicated that the relative width of the pontoon is an important factor influencing the wave transmission coefficient of the floating breakwater. The transmission coefficient decreases obviously as the relative width of the pontoon increases. The horizontal plates help to reduce the wave transmission over the floating breakwater. The motion responses and the mooring forces of the pontoon-plate floating breakwater are less than those of the pontoon floating breakwater. The mooring force at the offshore side is larger than that at the onshore side.展开更多
The new view denies the existence of fundamental particles in matter, and instead states that any particle and matter is a dynamic superposition of three natural elements, motion, force, and emptiness. This paper prop...The new view denies the existence of fundamental particles in matter, and instead states that any particle and matter is a dynamic superposition of three natural elements, motion, force, and emptiness. This paper proposes a new theory of the structure of matter and the unification of the four forces. A correct understanding of the logic of material structure will enable atomic energy and nuclear physics to generate new manufacturing ideas. The dissertation expounds the natural distribution of dynamics and forces in space and the new deterministic theory of dynamic relationship. This theory solves problems such as the unity of the four forces and the dynamic laws of the material structure. In practical applications, it can provide new theoretical guidance for industrial manufacturing such as nuclear energy, fusion engineering, new energy, new materials, battery energy storage, new-generation reactors, etc., and then adopt effective means in line with the laws of natural power to make the substances needed by human beings. The supply of resources and energy is perfectly satisfied. Applying this theoretical model of material structure to all aspects of the manufacturing industry will surely open up a new era of material civilization for human beings.展开更多
The problem of lifting the foot of the walking propulsion device of an underwater mobile robot is considered,taking into account the additional"compression""force acting on it.A mathematical model has b...The problem of lifting the foot of the walking propulsion device of an underwater mobile robot is considered,taking into account the additional"compression""force acting on it.A mathematical model has been developed for the detachment of a propulsion foot from the ground,based on Henry's laws establishing the concentration of dissolved air in a liquid,the law of gas expansion at a constant temperature,Darcy's law on fluid filtration,and the theorem on the motion of the center of mass of a solid body.The linearized model allows to obtain and analytical solutions.Based on the solution of the variat ional problem,optimal modes of lifting the foot of the walking propulsion of an underwater mobile robot are established.展开更多
Plate tectonics describes the horizontal motions of lithospheric plates,the Earths outer shell,and interactions among them across the Earths surface.Since the establishment of the theory of plate tectonics about half ...Plate tectonics describes the horizontal motions of lithospheric plates,the Earths outer shell,and interactions among them across the Earths surface.Since the establishment of the theory of plate tectonics about half a century ago,considerable debates have remained regarding the driving forces for plate motion.The early"Bottom up"view,i.e.,the convecting mantledriven mechanism,states that mantle plumes originating from the core-mantle boundary act at the base of plates,accelerating continental breakup and driving plate motion.Toward the present,however,the"Top down"idea is more widely accepted,according to which the negative buoyancy of oceanic plates is the dominant driving force for plate motion,and the subducting slabs control surface tectonics and mantle convection.In this regard,plate tectonics is also known as subduction tectonics."Top down"tectonics has received wide supports from numerous geological and geophysical observations.On the other hand,recent studies indicate that the acceleration/deceleration of individual plates over the million-year timescale may reflect the effects of mantle plumes.It is also suggested that surface uplift and subsidence within stable cratonic areas are correlated with plumerelated magmatic activities over the hundred-million-year timescale.On the global scale,the cyclical supercontinent assembly and breakup seem to be coupled with superplume activities during the past two billion years.These correlations over various spatial and temporal scales indicate the close relationship and intensive interactions between plate tectonics and plume tectonics throughout the history of the Earth and the considerable influence of plumes on plate motion.Indeed,we can acquire a comprehensive understanding of the driving forces for plate motion and operation mechanism of the Earth's dynamic system only through joint analyses and integrated studies on plate tectonics and plume tectonics.展开更多
This paper is devoted to the problem of modeling and adaptive motion/force tracking for a class of nonholonomic dynamic systems with affine constraints(NDSAC): a vertical wheel on a rotating table. Prior to the develo...This paper is devoted to the problem of modeling and adaptive motion/force tracking for a class of nonholonomic dynamic systems with affine constraints(NDSAC): a vertical wheel on a rotating table. Prior to the development of tracking controller,the dynamic model of the wheel in question is derived in a meticulous manner. A continuously differentiable friction model is also considered in the modeling. By exploiting the inherent cascade interconnected structure of the wheel dynamics, an adaptive motion/force tracking controller is presented guaranteeing that the trajectory tracking errors asymptotically converge to zero while the contact force tracking errors can be made small enough by tuning design parameters. Simulation results are provided to validate the effectiveness of the proposed tracking methodology.展开更多
Optimal design is one of the most important issues in robots. Since the very beginning, the concepts of the Jacobian matrix, manipulability and condition number, which are used successfully in the field of serial robo...Optimal design is one of the most important issues in robots. Since the very beginning, the concepts of the Jacobian matrix, manipulability and condition number, which are used successfully in the field of serial robots, have been applied to parallel robots. Unlike serial robots, parallel robots are good for motion/force transmission. Their performance evaluation and design should be correspondingly dif- ferent. This paper is an attempt to optimally design a novel spatial three-degree-of-freedom (3-DOF) parallel robot by using the concept of motion/force transmission. Accordingly, three indices are defined. The suggested indices are independent of any coordinate frame and could be applied to the analysis and design of a parallel robot whose singularities can be identified wholly by using the relative angle between the output and adjacent links, and by using the relative angle between the input and adjacent links.展开更多
Owing to the constraints of unstructured environments,it is difficult to ensure safe,accurate,and smooth completion of tasks using autonomous robots.Moreover,for small-batch and customized tasks,autonomous operation r...Owing to the constraints of unstructured environments,it is difficult to ensure safe,accurate,and smooth completion of tasks using autonomous robots.Moreover,for small-batch and customized tasks,autonomous operation requires path planning for each task,thus reducing efficiency.We propose a human-robot shared control system based on a 3D point cloud and teleoperation for a robot to assist human operators in the performance of dangerous and cumbersome tasks.The system leverages the operator’s skills and experience to deal with emergencies and perform online error correction.In this framework,a depth camera acquires the 3D point cloud of the target object to automatically adjust the end-effector orientation.The operator controls the manipulator trajectory through a teleoperation device.The force exerted by the manipulator on the object is automatically adjusted by the robot,thus reducing the workload for the operator and improving the efficiency of task execution.In addition,hybrid force/motion control is used to decouple teleoperation from force control to ensure that force and position regulation will not interfere with each other.The proposed framework was validated using the ELITE robot to perform a force control scanning task.展开更多
基金supported by the National Key Research and Development Program of China(Nos.2018YFC0809600 and 2018YFC0809604)the National Natural Science Foundation of China(No.51678451)the Independent Subject of State Key Laboratory of Disaster Reduction in Civil Engineering(No.SLDRCE19-B-11),Tongji University,China。
文摘This paper reviews the development of forced motion apparatuses(FMAs) and their applications in wind engineering. A kind of FMA has been developed to investigate nonlinear and nonstationary aerodynamic forces considering the coupled effects of multiple degrees of freedom(DOFs). This apparatus can make section models to vibrate in a prescribed displacement defined by a numerical signal in time domain, including stationary and nonstationary movements with time-variant amplitudes and frequencies and even stochastic displacements. A series of validation tests show that the apparatus can re-illustrate various motions with enough precision in 3 D coupled states of two linear displacements and one torsional displacement. To meet the requirement of aerodynamic modeling, the flutter derivatives of a box girder section are identified, verifying its accuracy and feasibility by comparing with previously reported results. By simulating the nonstationary vibration with time-variant amplitude, the phenomena of frequency multiplication and memory effects are examined. In addition to studying the aerodynamics of a bluff body under large amplitudes and nonstationary vibrations, some potential applications of the proposed FMA are discussed in vehicle-bridge-wind dynamic analysis, pile-soil interaction, and line-tower coupled vibration aerodynamics in structural engineering.
文摘The differential equations of motion of a comtlaint system with parameters and variable mass, of a system with variable mass and servo constraints and those for the control problem on the forced motion of constraint systems with variable mass are given respectively. Finally, an example is presented.
基金supported in part by the National Natural Science Foundation of China(62133013,U22A2060)Dreams Foundation of Jianghuai Advance Technology Center(2023-ZM01Z024)。
文摘In this paper,a framework of model predictive optimization and control for quadruped whole-body locomotion is presented,which enables dynamic balance and minimizes the control effort.First,we propose a hierarchical control scheme consisting of two modules.The first layer is to find an optimal ground reaction force(GRF)by employing inner model predictive control(MPC)along a full motor gait cycle,ensuring the minimal energy consumption of the system.Based on the output GRF of inner layer,the second layer is designed to prioritize tasks for motor execution sequentially using an outer model predictive control.In inner MPC,an objective function about GRF is designed by using a model with relatively long time horizons.Then a neural network solver is used to obtain the optimal GRF by minimizing the objective function.By using a two-layered MPC architecture,we design a hybrid motion/force controller to handle the impedance of leg joints and robotic uncertainties including external perturbation.Finally,we perform extensive experiments with a quadruped robot,including the crawl and trotting gaits,to verify the proposed control framework.
基金Supported by National Natural Science Foundation of China(Grant Nos.52325501,U24B2047).
文摘This paper carries out a comprehensive and systematic comparison study on the kinematic performance of four six degrees of freedom(6-DOF)parallel mechanisms with different topologies,i.e.,6-UPS,3-(2-UPR)U,3-(2-UCR)U,and 3-R(2-RPR)U.The research begins by elaborating in detail the similarities and differences among these four parallel mechanisms.By standardizing the definition of the coordinate system for each mechanism,the inverse kinematics and the Jacobian matrix of these four mechanisms are systematically derived.Employing a set of motion/force transmission indices,which are directly obtained from the Jacobian matrix,the kinematic performances of the four mechanisms are thoroughly analyzed and compared within the given workspaces while maintaining the same dimensional parameters for all cases.The comparison study of these four parallel mechanisms extends beyond local transmission indices to also include global transmission indices,covering both position and orientation workspaces,as well as assessments at both the local and global workspace levels.This comprehensive approach ensures a detailed and fair evaluation of their respective kinematic capabilities.The results indicate that the comprehensive kinematic performances of the four parallel mechanisms are similar,and providing a solid theoretical foundation for innovative design and practical guidance for selecting optimal architectures based on specific application requirements.
基金Project(61473304)supported by the National Natural Science Foundation of ChinaProject(2015AA042202)supported by Hi-tech Research and Development Program of China
文摘A compliant landing strategy for a trotting quadruped robot on unknown rough terrains based on contact force control is presented. Firstly, in order to lower the disturbance caused by the landing impact force, a landing phase is added between the swing phase and the stance phase, where the desired contact force is set as a small positive constant. Secondly, the joint torque optimization of the stance legs is formulated as a quadratic programming(QP) problem subject to equality and inequality/bound constraints. And a primal-dual dynamical system solver based on linear variational inequalities(LVI) is applied to solve this QP problem. Furthermore, based on the optimization results, a hybrid motion/force robust controller is designed to realize the tracking of the contact force, while the constraints of the stance feet landing angles are fulfilled simultaneously. Finally, the experiments are performed to validate the proposed methods.
文摘Magnetic force transmission of a reciprocating motion is studied by theoretical analysis and experiment. A mathematical model for calculating the magnetic force is derived using the theory of equivalent magnetic charges. An experimental rig is constructed to test the transmission and the model is verified by experiment. Effect of the transmission parameters on the magnetic force is analyzed theoretically from the model, and characteristic of the transmission is studied experimentally. Since the transmission is without direct contact between two elements, it is suitable for application in an organism.
基金financially supported by the National Natural Science Foundation of China(Grant No.51979030)the Natural Science Foundation of Liaoning Province(Grant No.2021-KF-16-01)the Fundamental Research Funds for the Central Universities。
文摘The maximum predicting error of the commonly used passive truncated mooring system method may reach 30%due to the difference of dynamic characteristics between the truncated and full-depth mooring line.In this paper,the experimental strategy called three-parameter(displacement,velocity and acceleration)active control method at the truncated point of mooring line is established to implement the synchronous equivalent of motion and force,and the realization of active truncated mooring system for model test is studied theoretically.The influences of threeparameter and one-parameter(displacement)active control strategies on the compensation effects are compared by numerical study.The results show that the established three-parameter active control method can feasibly realize the static and dynamic equivalent of truncated and full-depth mooring system,laying a good foundation for the following physical model test of active truncated mooring system.
基金Foundation item： Supported by the Lloyd＇s Register Foundation, the Fundamental Research Funds for the Central Universities （Gram No. HEUCF140115）, the National Natural Science Foundation of China （11102048, 11302057）, the Research Funds for State Key Laboratory of Ocean Engineering in Shanghai Jiao Tong University （Grant No. 1310）, and the Specialized Research Fund for the Doctoral Program of Higher Education of China （20132304120028）.
文摘The free surface flow generated by twin-cylinders in forced motion submerged beneath the free surface is studied based on the boundary element method. Two relative locations, namely, horizontal and vertical, are examined for the twin cylinders. In both cases, the twin cylinders are starting from rest and ultimately moving with the same constant speed through an accelerating process. Assuming that the fluid is inviscid and incompressible and the flow to be irrotational, the integral Laplace equation can be discretized based on the boundary element method. Fully-nonlinear boundary conditions are satisfied on the unknown free surface and the moving body surface. The free surface is traced by a Lagrangian technique. Regriding and remeshing are applied, which is crucial to quality of the numerical results. Single circular cylinder and elliptical cylinder are calculated by linear method and fully nonlinear method for accuracy checking and then fully nonlinear method is conducted on the twin cylinder cases, respectively. The generated wave elevation and the resultant force are analysed to discuss the influence of the gap between the two cylinders as well as the water depth. It is found that no matter the kind of distribution, when the moving cylinders are close to each other, they suffer hydrodynamic force with large absolute value in the direction of motion. The trend of force varying with the increase of gap can be clearly seen from numerical analysis. The vertically distributed twin cylinders seem to attract with each other while the horizontally distributed twin cylinders are opposite when they are close to each other.
文摘Variable acceleration linear motion is an important motion model in senior high school. This paper analyzes five common variable acceleration linear motion models in senior high school physics, and summarizes the critical state in the process of object motion, as well as solutions to common problems in the models.
基金National Natural Science Foundation of China(Grant No.51975007).
文摘A novel compliant mechanism with RPR degrees of freedom(DOF)is proposed where R and P represent rotation and translation DOFs,respectively.The proposed compliant mechanism is obtained from dimension synthesizing a 2-RPU-UPR rigid parallel mechanism with the method of optimization of motion/force transfer characteristic.R,P and U represent rotation,translation and universal pairs,respectively.Firstly,inverse kinematics and Jacobian matrix are analyzed for the dimensional synthesis.Then,output transmission indexes of branches in the parallel mechanism are given.Dimensional synthesis is completed based on the normalized design parameter.And optimization of flexure joints based on constrained energy is carried out.Afterwards,the novel compliant mechanism is obtained by direct replacing method.Mechanical model of the compliant mechanism including static stiffness and input stiffness is built based on the pseudo-rigid body modeling method and virtual work principle.Finally,FEA simulation by Ansys Workbench is carried out to verify DOF,effectiveness of the dimension synthesis,and compliant model.Optimization of motion/force transfer characteristic is first applied for the design of compliant mechanisms to suppress drift of rotation axis in the paper.
基金supported by Overseas Training Program for Young Backbone Teachers from Tongji University, China(2010)
文摘Walking without impacts has been considered in dynamics as a motion/force control problem. In order to avoid impacts, an approach for both the specified motion of the biped and its ground reaction forces was presented yielding a combined motion and force control problem. As an application, a walker on a horizontal plane has been considered. In this paper, it is shown how the control of the ground reaction forces and the energy consumption depend on the gradient of a slope. The biped dynamics and the constraints within the biped system and on the ground are discussed. A motion control synthesis is developed using the inverse dynamics principle proven to be most efficient for human walking research, too. The impactless walking with controlled legs is illustrated by a seven-link biped. The ＂flying＂ biped has nine degrees of freedom, with six control inputs. During locomotion, the standing leg has three scleronomic constraints, and the trunk has three rheonomic constraints. However, there are three rheonomic constraints for the prescribed leg motion or three scleronomic constraints for reaction forces of the trailing leg, respectively. The nominal control action for impactless walking can be precomputed and stored. The model proposed allows the investigation of several problems： uphill and downhill walking, optimization of step length,stiction of the feet on the slope and many more. All these findings are also of interest in biomechanics. C 2013 The Chinese Society of Theoretical and Applied Mechanics. [doi：10.1063/2.1301302]
基金supported by the National Natural Science Foundation of China (Grant No. 51009032)the Scientific Research Foundation of Third Institute of Oceanography, SOA (Grant No. 201003)the Open Research Fund Program of Hunan Province Key Laboratory of Water, Sediment Science & Flood Hazard Prevention (Grant No. 2010SS03)
文摘The hydrodynamic behaviors of a floating breakwater consisting of a rectangular pontoon and horizontal plates are studied theoretically. The fluid motion is idealized as two-dimensional linear potential flow. The motions of the floating breakwater are assumed to be two-dimensional in sway, heave, and roll. The solution to the fluid motion is derived by transforming the governing differential equation into the integral equation on the boundary in time domain with the Green＇s function method. The motion equations of the floating breakwater are established and solved with the fourth-order Runge-Kutta method to obtain the displacement and velocity of the breakwater. The mooring forces are computed with the static method. The computational results of the wave transmission coefficient, the motion responses, and the mooring forces of the pontoon-plate floating breakwater are given. It is indicated that the relative width of the pontoon is an important factor influencing the wave transmission coefficient of the floating breakwater. The transmission coefficient decreases obviously as the relative width of the pontoon increases. The horizontal plates help to reduce the wave transmission over the floating breakwater. The motion responses and the mooring forces of the pontoon-plate floating breakwater are less than those of the pontoon floating breakwater. The mooring force at the offshore side is larger than that at the onshore side.
文摘The new view denies the existence of fundamental particles in matter, and instead states that any particle and matter is a dynamic superposition of three natural elements, motion, force, and emptiness. This paper proposes a new theory of the structure of matter and the unification of the four forces. A correct understanding of the logic of material structure will enable atomic energy and nuclear physics to generate new manufacturing ideas. The dissertation expounds the natural distribution of dynamics and forces in space and the new deterministic theory of dynamic relationship. This theory solves problems such as the unity of the four forces and the dynamic laws of the material structure. In practical applications, it can provide new theoretical guidance for industrial manufacturing such as nuclear energy, fusion engineering, new energy, new materials, battery energy storage, new-generation reactors, etc., and then adopt effective means in line with the laws of natural power to make the substances needed by human beings. The supply of resources and energy is perfectly satisfied. Applying this theoretical model of material structure to all aspects of the manufacturing industry will surely open up a new era of material civilization for human beings.
文摘The problem of lifting the foot of the walking propulsion device of an underwater mobile robot is considered,taking into account the additional"compression""force acting on it.A mathematical model has been developed for the detachment of a propulsion foot from the ground,based on Henry's laws establishing the concentration of dissolved air in a liquid,the law of gas expansion at a constant temperature,Darcy's law on fluid filtration,and the theorem on the motion of the center of mass of a solid body.The linearized model allows to obtain and analytical solutions.Based on the solution of the variat ional problem,optimal modes of lifting the foot of the walking propulsion of an underwater mobile robot are established.
基金supported by the National Natural Science Foundation of China (Grant Nos. 91855207 and 41688103)the Strategic Priority Research Program (A) of the Chinese Academy of Sciences (Grant No. XDA20070302)the independent project of the State Key Laboratory of the Lithospheric Evolution, IGGCAS (Grant No. SKLZ201704-11712180)
文摘Plate tectonics describes the horizontal motions of lithospheric plates,the Earths outer shell,and interactions among them across the Earths surface.Since the establishment of the theory of plate tectonics about half a century ago,considerable debates have remained regarding the driving forces for plate motion.The early"Bottom up"view,i.e.,the convecting mantledriven mechanism,states that mantle plumes originating from the core-mantle boundary act at the base of plates,accelerating continental breakup and driving plate motion.Toward the present,however,the"Top down"idea is more widely accepted,according to which the negative buoyancy of oceanic plates is the dominant driving force for plate motion,and the subducting slabs control surface tectonics and mantle convection.In this regard,plate tectonics is also known as subduction tectonics."Top down"tectonics has received wide supports from numerous geological and geophysical observations.On the other hand,recent studies indicate that the acceleration/deceleration of individual plates over the million-year timescale may reflect the effects of mantle plumes.It is also suggested that surface uplift and subsidence within stable cratonic areas are correlated with plumerelated magmatic activities over the hundred-million-year timescale.On the global scale,the cyclical supercontinent assembly and breakup seem to be coupled with superplume activities during the past two billion years.These correlations over various spatial and temporal scales indicate the close relationship and intensive interactions between plate tectonics and plume tectonics throughout the history of the Earth and the considerable influence of plumes on plate motion.Indeed,we can acquire a comprehensive understanding of the driving forces for plate motion and operation mechanism of the Earth's dynamic system only through joint analyses and integrated studies on plate tectonics and plume tectonics.
基金supported by the National Natural Science Foundation of China(6127309161403227+3 种基金61403228)the Ph.D.Programs Foundation of Ministry of Education of Chinathe Fundamental Research Funds for the Central Universities(KYLX15 0116)the Project of Taishan Scholar of Shandong Province of China
文摘This paper is devoted to the problem of modeling and adaptive motion/force tracking for a class of nonholonomic dynamic systems with affine constraints(NDSAC): a vertical wheel on a rotating table. Prior to the development of tracking controller,the dynamic model of the wheel in question is derived in a meticulous manner. A continuously differentiable friction model is also considered in the modeling. By exploiting the inherent cascade interconnected structure of the wheel dynamics, an adaptive motion/force tracking controller is presented guaranteeing that the trajectory tracking errors asymptotically converge to zero while the contact force tracking errors can be made small enough by tuning design parameters. Simulation results are provided to validate the effectiveness of the proposed tracking methodology.
基金Supported by the National Natural Science Foundation of China (Grant No. 50775118)High Technology Research and Development Program of China (863 Program) (Grant No. 2006AA04Z227)National Basic Research Program of China (973 Program) (Grant No. 2007CB714000)
文摘Optimal design is one of the most important issues in robots. Since the very beginning, the concepts of the Jacobian matrix, manipulability and condition number, which are used successfully in the field of serial robots, have been applied to parallel robots. Unlike serial robots, parallel robots are good for motion/force transmission. Their performance evaluation and design should be correspondingly dif- ferent. This paper is an attempt to optimally design a novel spatial three-degree-of-freedom (3-DOF) parallel robot by using the concept of motion/force transmission. Accordingly, three indices are defined. The suggested indices are independent of any coordinate frame and could be applied to the analysis and design of a parallel robot whose singularities can be identified wholly by using the relative angle between the output and adjacent links, and by using the relative angle between the input and adjacent links.
基金supported by the National Natural Science Foundation of China(NSFC)(Grant No.U20A20200)the Major Research(Grant No.92148204)+1 种基金the Guangdong Basic and Applied Basic Research Foundation(Grant Nos.2019B1515120076 and 2020B1515120054)the Industrial Key Technologies R&D Program of Foshan(Grant Nos.2020001006308and 2020001006496)。
文摘Owing to the constraints of unstructured environments,it is difficult to ensure safe,accurate,and smooth completion of tasks using autonomous robots.Moreover,for small-batch and customized tasks,autonomous operation requires path planning for each task,thus reducing efficiency.We propose a human-robot shared control system based on a 3D point cloud and teleoperation for a robot to assist human operators in the performance of dangerous and cumbersome tasks.The system leverages the operator’s skills and experience to deal with emergencies and perform online error correction.In this framework,a depth camera acquires the 3D point cloud of the target object to automatically adjust the end-effector orientation.The operator controls the manipulator trajectory through a teleoperation device.The force exerted by the manipulator on the object is automatically adjusted by the robot,thus reducing the workload for the operator and improving the efficiency of task execution.In addition,hybrid force/motion control is used to decouple teleoperation from force control to ensure that force and position regulation will not interfere with each other.The proposed framework was validated using the ELITE robot to perform a force control scanning task.
