A flexible hingeless control surface model was proposed for motion control of Underwater Vehicles (UVs),which is inspiredby the flexible bending control surfaces of underwater creatures,such as fish and squid.Computat...A flexible hingeless control surface model was proposed for motion control of Underwater Vehicles (UVs),which is inspiredby the flexible bending control surfaces of underwater creatures,such as fish and squid.Computational Fluid Dynamics(CFD) simulation demonstrates that,in comparison with the hinged or rigid control surface,the proposed flexible bendingcontrol surface can suppress the flow separation so as to improve the turning performance.A prototype of the flexible controlsurface was fabricated,in which Shape Memory Alloy (SMA) wires were selected as the actuators.The elastic energy storageand exchange mechanism was incorporated into the actuation of the control surface to improve the efficiency.Thermal analysisof SMA wires was performed to find proper actuating condition.Open-loop bending experiments were carried out.The resultsshow that the proposed control surface can achieve the maximum bending angle of 104°.Moreover,the power and energyconsumption under different pulse conditions were compared.展开更多
The safety factor of roof under deep high stress is a quantitative index for evaluating roof stability.Based on the failure mode of surrounding rock of stope roof,the mechanics model of goaf roof is constructed,and th...The safety factor of roof under deep high stress is a quantitative index for evaluating roof stability.Based on the failure mode of surrounding rock of stope roof,the mechanics model of goaf roof is constructed,and the internal force of roof is deduced by the theory of hingeless arch.The calculation method of roof safety factor(K)under the environment of deep mining is proposed in view of compression failure and shear failure of roof.The calculation formulas of shear safety factor(K1),compression safety factor(K2)and comprehensive safety factor(K)of roof are given.The influence of stope span and roof thickness on roof stability is considered in this paper.The results show that when the roof thickness remains constant,the roof safety factor decreases with the increasing of the stope span;when the stope span remains constant,the roof safety factor increases with the increasing of the roof thickness.The deep mining example shows that when the stope span is 30 m and the roof thickness is 10 m,the roof comprehensive safety factor is 1.12,which indicates the roof is in a stable state.展开更多
基金supported by the Self-Planned Task (No.SKLRS200805C) of State Key Laboratory of Robotics and System (HIT)the National Natural Science Foundation of China (Grant No.50775049)
文摘A flexible hingeless control surface model was proposed for motion control of Underwater Vehicles (UVs),which is inspiredby the flexible bending control surfaces of underwater creatures,such as fish and squid.Computational Fluid Dynamics(CFD) simulation demonstrates that,in comparison with the hinged or rigid control surface,the proposed flexible bendingcontrol surface can suppress the flow separation so as to improve the turning performance.A prototype of the flexible controlsurface was fabricated,in which Shape Memory Alloy (SMA) wires were selected as the actuators.The elastic energy storageand exchange mechanism was incorporated into the actuation of the control surface to improve the efficiency.Thermal analysisof SMA wires was performed to find proper actuating condition.Open-loop bending experiments were carried out.The resultsshow that the proposed control surface can achieve the maximum bending angle of 104°.Moreover,the power and energyconsumption under different pulse conditions were compared.
基金Projects(51974135,51704094)supported by the National Natural Science Foundation of ChinaProject(2016YFC0600802)supported by the National Key Research and Development Program of ChinaProject(2020M672226)supported by the China Postdoctoral Science Foundation。
文摘The safety factor of roof under deep high stress is a quantitative index for evaluating roof stability.Based on the failure mode of surrounding rock of stope roof,the mechanics model of goaf roof is constructed,and the internal force of roof is deduced by the theory of hingeless arch.The calculation method of roof safety factor(K)under the environment of deep mining is proposed in view of compression failure and shear failure of roof.The calculation formulas of shear safety factor(K1),compression safety factor(K2)and comprehensive safety factor(K)of roof are given.The influence of stope span and roof thickness on roof stability is considered in this paper.The results show that when the roof thickness remains constant,the roof safety factor decreases with the increasing of the stope span;when the stope span remains constant,the roof safety factor increases with the increasing of the roof thickness.The deep mining example shows that when the stope span is 30 m and the roof thickness is 10 m,the roof comprehensive safety factor is 1.12,which indicates the roof is in a stable state.
