A particle nonlinear two-scale kp-εp turbulence model is proposed for simulating the anisotropic turbulent two-phase flow. The particle kinetic energy equation for two-scale fluctuation, particle energy transfer rate...A particle nonlinear two-scale kp-εp turbulence model is proposed for simulating the anisotropic turbulent two-phase flow. The particle kinetic energy equation for two-scale fluctuation, particle energy transfer rate equation for large-scale fluctuation, and particle turbulent kinetic energy dissipation rate equation for small-scale fluctuation are derived and closed. This model is used to simulate gas-particle flows in a sudden-expansion chamber. The simulation is com- pared with the experiment and with those obtained by using another two kinds of tow-phase turbulence model, such as the single-scale k-ε two-phase turbulence model and the particle two-scale second-order moment （USM） two-phase turbulence model. It is shown that the present model gives simulation in much better agreement with the experiment than the single-scale k-ε two-phase turbulence model does and is almost as good as the particle two-scale USM turbu-lence model.展开更多
A two-scale second-order moment two-phase turbulence model accounting for inter-particle collision is developed, based on the concepts of particle large-scale fluctuation due to turbulence and particle small-scale flu...A two-scale second-order moment two-phase turbulence model accounting for inter-particle collision is developed, based on the concepts of particle large-scale fluctuation due to turbulence and particle small-scale fluctuation due to collision and through a unified treatment of these two kinds of fluctuations. The proposed model is used to simulate gas-particle flows in a channel and in a downer. Simulation results are in agreement with the experimental results reported in references and are near the results obtained using the sin- gle-scale second-order moment two-phase turbulence model superposed with a particle collision model （USM-θ model） in most regions.展开更多
The design and analysis of continuum robots have consistently been a prominent research focus in the field of mechanics.However,portable continuum robots with minimal spatial occupancy,which have great potential for a...The design and analysis of continuum robots have consistently been a prominent research focus in the field of mechanics.However,portable continuum robots with minimal spatial occupancy,which have great potential for applications such as search and rescue,are scarcely available.This paper presents a novel helical-coiled multi-segment flexible continuum robot featuring helical deployment and compact design,with an integrated framework for structural design,kinematic modeling,and experimental validation.The design of the helical-coiled multi-segment flexible continuum robot for unstructured environment detection,including a flexible body,an actuation module,a feed module,and a sensing module,is presented systematically.Kinematic models of both single-and multisegment continuum robots were established based on the constant curvature model to analyze the parameter mapping relationship from the end-effector position and orientation to the driving inputs.Furthermore,the feedforward motion of the robot was examined,and an uncoiling strategy based on S-curve compensation was employed to complete the kinematic analysis.Finally,the accuracy of the kinematic model considering the active uncoiling feed motion was validated through experimental analysis,demonstrating the motion characteristics of the continuum robot.Altogether,this study provides a framework for the design and analysis of helical-coiled continuum robots.展开更多
With the two-scale expansion technique proposed by Yoshizawa,the turbulent fluctuating field is expanded around the isotropic field.At a low-order two-scale expansion,applying the mode coupling approximation in the Ya...With the two-scale expansion technique proposed by Yoshizawa,the turbulent fluctuating field is expanded around the isotropic field.At a low-order two-scale expansion,applying the mode coupling approximation in the Yakhot-Orszag renormalization group method to analyze the fluctuating field,the Reynolds-average terms in the Reynolds stress transport equation,such as the convective term,the pressure-gradient-velocity correlation term and the dissipation term,are modeled.Two numerical examples：turbulent flow past a backward-facing step and the fully developed flow in a rotating channel,are presented for testing the efficiency of the proposed second-order model.For these two numerical examples,the proposed model performs as well as the Gibson-Launder （GL） model,giving better prediction than the standard k-ε model,especially in the abilities to calculate the secondary flow in the backward-facing step flow and to capture the asymmetric turbulent structure caused by frame rotation.展开更多
The reaction order plays a crucial role in evaluating the response rate of acid-rock.However,the conventional two-scale model typically assumes that the reaction order is constant as one,which can lead to significant ...The reaction order plays a crucial role in evaluating the response rate of acid-rock.However,the conventional two-scale model typically assumes that the reaction order is constant as one,which can lead to significant deviations from reality.To address this issue,this study proposes a novel multi-order dynamic model for acid-rock reaction by combining rotating disk experimental data with theoretical derivation.Through numerical simulations,this model allows for the investigation of the impact of acidification conditions on different orders of reaction,thereby providing valuable insights for on-site construction.The analysis reveals that higher response orders require higher optimal acid liquid flow rates,and lower optimal H+diffusion coefficients,and demonstrate no significant correlation with acid concentration.Consequently,it is recommended to increase the displacement and use high-viscosity acid for reservoirs with high calcite content,while reducing the displacement and using low-viscosity acid for reservoirs with high dolomite content.展开更多
A two-scale second-order moment two-phase turbulence model accounting for inter-particle collision is developed, based on the concept of particle large-scale fluctuation due to turbulence and particle small-scale fluc...A two-scale second-order moment two-phase turbulence model accounting for inter-particle collision is developed, based on the concept of particle large-scale fluctuation due to turbulence and particle small-scale fluctuation due to collision. The proposed model is used to simulate gas-particle downer reactor flows. The computational results of both particle volume fraction and mean velocity are in agreement with the experimental results. After analyzing effects of empirical coefficient on prediction results, we can come to a conclusion that, inside the limit range of empirical coefficient, the predictions do not reveal a large sensitivity to the empirical coefficient in the downer reactor, but a relatively great change of the constants has important effect on the prediction.展开更多
Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advance...Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advancements have trans-formed their capabilities through novel designs inspired by biological systems,advanced modeling frameworks,sophisti-cated control strategies,and integration into diverse real-world applications.Recent innovations in multifunctional mate-rials and emerging actuation technologies have markedly expanded manipulator performance,reliability,and dexterity.Concurrently,developments in modeling have progressed from simplified geometric methods toward highly accurate physics-based and hybrid data-driven approaches,substantially improving real-time prediction and controllability.Coupled with these developments,adaptive and robust control strategies-including learning-based techniques-have enabled unprec-edented autonomy and precision in challenging application domains such as Minimally Invasive Surgery(MIS),precision agriculture,deep-sea exploration,disaster recovery,and space missions.Despite these remarkable strides,key challenges remain,notably regarding scalability,long-term material durability,robust integrated sensing,and standardized evaluation procedures.This review comprehensively synthesizes recent advances,critically evaluates state-of-the-art methodologies,and systematically identifies existing gaps to provide a clear roadmap and targeted research directions,guiding future developments toward the broader adoption and optimal utilization of soft robotic manipulators.展开更多
A non-linear continuum damage model was presented based on the irreversible thermodynamics framework developed by LEMAITRE and CHABOCHE. The proposed model was formulated by taking into account the influence of loadin...A non-linear continuum damage model was presented based on the irreversible thermodynamics framework developed by LEMAITRE and CHABOCHE. The proposed model was formulated by taking into account the influence of loading frequency on fatigue life. The parameters H and c are constants for frequency-independent materials, but functions of cyclic frequency for frequency-dependent materials. In addition, the expression of the model was discussed in detail at different stress ratios （R）. Fatigue test data of AlZnMgCu1.5 aluminium alloy and AMg6N alloy were used to verify the proposed model. The results showed that the model possesses a good ability of predicting fatigue life at different loading frequencies and stress ratios.展开更多
The research is: by using Wdolkowski's Time Continuum Model throughout a lesson plan enables the teacher to increase students'motivation and help them move closer to success in a learning environment. This res...The research is: by using Wdolkowski's Time Continuum Model throughout a lesson plan enables the teacher to increase students'motivation and help them move closer to success in a learning environment. This research supports the theory that instruction is a network of interactions between the teacher and learner that promotes a successful learning experience. It identifies a three-part learning sequence-a beginning, middle and an end. Each part has two of six key motivational factors that when applied correctly by the teacher will maximize the success and continued motivation of the learner.展开更多
Analysis of the mechanical behavior of nanos- tructures has been very challenging. Surface energy and non- local elasticity of materials have been incorporated into the traditional continuum analysis to create modifie...Analysis of the mechanical behavior of nanos- tructures has been very challenging. Surface energy and non- local elasticity of materials have been incorporated into the traditional continuum analysis to create modified continuum mechanics models. This paper reviews recent advancements in the applications of such modified continuum models in nanostructures such as nanotubes, nanowires, nanobeams, graphenes, and nanoplates. A variety of models for these nanostructures under static and dynamic loadings are men- tioned and reviewed. Applications of surface energy and nonlocal elasticity in analysis of piezoelectric nanomateri- als are also mentioned. This paper provides a comprehensive introduction of the development of this area and inspires fur- ther applications of modified continuum models in modeling nanomaterials and nanostructures.展开更多
Fatigue life and reliability of aero-engine blade are always of important significance to flight safety.The establishment of damage model is one of the key factors in blade fatigue research.Conventional linear Miner＇...Fatigue life and reliability of aero-engine blade are always of important significance to flight safety.The establishment of damage model is one of the key factors in blade fatigue research.Conventional linear Miner＇s sum method is not suitable for aero-engine because of its low accuracy.A back propagation neutral network（BPNN） based on the combination of Levenberg-Marquardt（LM） and finite element method（FEM） is used to describe process of nonlinear damage accumulation behavior in material and predict fatigue life of the blade.Fatigue tests of standard specimen made from TC4 are carried out to obtain material fatigue parameters and S-N curve.A nonlinear continuum damage model（CDM）,based on the BPNN with one hidden layer and ten neurons,is built to investigate the nonlinear damage accumulation behavior,in which the results from the tests are used as training set.Comparing with linear models and previous nonlinear models,BPNN has the lowest calculation error in full load range.It has significant accuracy when the load is below 500 MPa.Especially,when the load is 350 MPa,the calculation error of the BPNN is only 0.4%.The accurate model of the blade is built by using 3D coordinate measurement technology.The loading cycle in fatigue analysis is defined from takeoff to cruise in 10 min,and the load history is obtained from finite element analysis（FEA）.Then the fatigue life of the compressor blade is predicted by using the BPNN model.The final fatigue life of the aero-engine blade is 6.55 104 cycles（10 916 h） based on the BPNN model,which is effective for the virtual design of aero-engine blade.展开更多
This research focused on the three-dimensional(3 D) seepage field simulation of a high concrete-faced rockfill dam(CFRD) under complex hydraulic conditions. A generalized equivalent continuum model of fractured rock m...This research focused on the three-dimensional(3 D) seepage field simulation of a high concrete-faced rockfill dam(CFRD) under complex hydraulic conditions. A generalized equivalent continuum model of fractured rock mass was used for equivalent continuous seepage field analysis based on the improved node virtual flow method. Using a high CFRD as an example, the generalized equivalent continuum range was determined, and a finite element model was established based on the terrain and geological conditions, as well as structural face characteristics of the dam area. The equivalent seepage coefficients of different material zones or positions in the dam foundation were calculated with the Snow model or inverse analysis. Then, the 3 D seepage field in the dam area was calculated under the normal water storage conditions, and the corresponding water head distribution, seepage flow, seepage gradient, and seepage characteristics in the dam area were analyzed. The results show that the generalized equivalent continuum model can effectively simulate overall seepage patterns of the CFRD under complex hydraulic conditions and provide a reference for seepage analysis of similar CFRDs.展开更多
An extended continuum mixture model for macrosegregation is applied to predicting Cu and Mg segregation in large-size ingot of 2024 aluminum alloy during direct chill casting（DC）. A microsegregation model using the ...An extended continuum mixture model for macrosegregation is applied to predicting Cu and Mg segregation in large-size ingot of 2024 aluminum alloy during direct chill casting（DC）. A microsegregation model using the approximate phase diagram data was coupled with macroscopic transport equations for macrosegregation profiles. Then, the impacts of transport mechanisms on the formation of macrosegregation were discussed. It is found that copper and magnesium have a similar segregation configuration from the billet center to surface. Negative segregation is observed in the centerline and subsurface, whereas positive segregation is obtained in the surface and somewhat underestimated positive segregation in the middle radius. Further, the discrepancy between the predicted and experimental results was discussed in detail. The results show that the magnesium to some extent alleviates the copper segregation in ternary alloy, compared with that in binary alloy. The predicted results show good agreement with measured experimental data obtained from literatures.展开更多
The paper investigated the equivalent continuum modeling of beam-like repetitive truss structures considering the flexibility of joints,which models the contact between the truss member and joint by spring-damper with...The paper investigated the equivalent continuum modeling of beam-like repetitive truss structures considering the flexibility of joints,which models the contact between the truss member and joint by spring-damper with six directional stiffnesses and dampings.Firstly,a two-node hybrid joint-beam element was derived for modeling the truss member with flexible end joints,and a condensed model for the repeating element with flexible joints was obtained.Then,the energy equivalence method was adopted to equivalently model the truss structure with flexible joints and material damping as a spatial viscoelastic anisotropic beam model.Afterwards,the equations of motion for the equivalent beam model were derived and solved analytically in the frequency domain.In the numerical studies,the correctness of the presented method was verified by comparisons of the natural frequencies and frequency responses evaluated by the equivalent beam model with the results of the finite element method model.展开更多
A continuum model is adopted to study the macrosegregation phenomena during solidification of large steel ingots.Evolution of temperature,melt velocity,and compositional concentration field during a 22 t steel ingot s...A continuum model is adopted to study the macrosegregation phenomena during solidification of large steel ingots.Evolution of temperature,melt velocity,and compositional concentration field during a 22 t steel ingot solidification are illustrated by using the finite volume method.Numerical results of temperature distribution are validated by experiments.The influence of local permeability relates to the friction that the melt experienced in mushy region is investigated.It is shown that the continuum model is able to predict the temperature field,and the variation of permeability obviously affects the melt flowing behavior and the final compositional distribution.展开更多
Space robotics has been used extensively in complex space missions. Rigid-manipulator space robots may suffer from rigid-body collisions with targets. This collision is likely to cause damage to the space robot and th...Space robotics has been used extensively in complex space missions. Rigid-manipulator space robots may suffer from rigid-body collisions with targets. This collision is likely to cause damage to the space robot and the target. To overcome such a problem, a novel ContinuumManipulator Space Robot(CMSR) for performing on-orbit servicing missions is proposed in this paper. Compared with rigid-manipulator space robots, CMSRs are able to perform compliant operations and avoid rigid-body collisions with a target. The CMSR consists of two kinds of flexible components, including solar arrays and continuum manipulators. The elastic vibrations of these flexible components disturb the position and attitude of CMSRs. The beating phenomenon introduced by the energy transfer among these flexible components can cause damage to solar arrays.The complicated dynamic coupling poses enormous challenges in dynamic modeling and vibration analysis. The dynamic model for CMSRs is derived and the mechanism of the beating phenomenon is analyzed in this paper. Simulation results show that an obvious beating phenomenon occurs and the amplitude of the solar arrays increases significantly when the natural frequencies of two kinds of flexible components are close. A method is provided to avoid the beating phenomenon.展开更多
The phase field crystal method and Continuum Modeling are applied to study the cooperative dislocation motion of the grain boundary(GB)migration,the manner of the nucleation of the grain and of the grain growth in two...The phase field crystal method and Continuum Modeling are applied to study the cooperative dislocation motion of the grain boundary(GB)migration,the manner of the nucleation of the grain and of the grain growth in two dimensions(2 D)under the deviatoric deformation at high temperature.Three types of the nucleation modes of new finding are observed by the phase field crystal simulation:The first mode of the nucleation is generated by the GB splitting into two sub-GBs;the second mode is of the reaction of the sub-GB dislocations,such as,the generation and annihilation of a pair of partial Frank sessile dislocation in 2 D.The process can be considered as the nucleation of dynamic recrystallization;the third mode is caused by two oncoming rows of the dislocations of these sub-GBs,crossing and passing each other to form new gap which is the nucleation place of the new deformed grain.The research is shown that due to the nucleation of different modes the mechanism of the grain growth by means of the sub-GB migration is different,and therefore,the grain growth rates are also different.Under the deviatoric deformation of the applied biaxial strain,the grain growth is faster than that of the grain growth without external applied stress.It is observed that the cooperative dislocation motion of the GB migration under the deviatoric deformation accompanies with local plastic flow and the state of the stress of the system changes sharply.When the system is in the process of recrystallized grain growth,the system energy is in an unstable state due to the release of the strain energy to cause that the reverse movement of the plastic flow occurs.The area growth of the deformed grain is approximately proportional to the strain square and also to the time square.The rule of the time square of the deformed grain growth can also be deduced by establishing the continuum dynamic equation of the biaxial strain-driven migration of the GB.The copper metal is taken as an example of the calculation,and the obtained result is a good agreement with that of the experiment.展开更多
A new non-Euclidean continuum damage model is proposed to investigate the zonal disintegration phenomenon of the surrounding rocks around deep spherical tunnels under hydrostatic pressure condition as well as the tota...A new non-Euclidean continuum damage model is proposed to investigate the zonal disintegration phenomenon of the surrounding rocks around deep spherical tunnels under hydrostatic pressure condition as well as the total elastic stress field distributions.The elastic stress fields of the surrounding rocks around deep spherical tunnels under hydrostatic pressure condition axe obtained.If the elastic stresses of the surrounding rocks satisfy the strength criterion of the deep rock masses,the number,size and location of fractured and nonfractured zones are determined.The effect of physico-mechanical parameters of the surrounding rocks on the zonal disintegration phenomenon is studied and numerical computation is carried out.It is found from numerical results that the number,size and location of fractured and non-fractured zones are sensitive to the physico-mechanical parameters of the surrounding rocks.展开更多
With respect to constitutive models for continuum modeling applications, the post-yield domain remainsthe area of greatest uncertainty. Recent studies based on laboratory testing have led to thedevelopment of a number...With respect to constitutive models for continuum modeling applications, the post-yield domain remainsthe area of greatest uncertainty. Recent studies based on laboratory testing have led to thedevelopment of a number of models for brittle rock dilation, which account for both the plastic shearstrain and confining stress dependencies of this phenomenon. Although these models are useful inproviding an improved understanding of how dilatancy evolves during a compression test, there hasbeen relatively little work performed examining their validity for modeling brittle rock yield in situ. Inthis study, different constitutive models for rock dilation are reviewed and then tested, in the context of anumber of case studies, using a continuum finite-difference approach （FLAC）. The uncertainty associatedwith the modeling of brittle fracture localization is addressed, and the overall ability of mobilizeddilation models to replicate in situ deformation measurements and yield patterns is evaluated. 2014 Institute of Rock and Soil Mechanics, Chinese Academy of Sciences. Production and hosting byElsevier B.V. All rights reserved.展开更多
Continuum robots actuated by flexible rods have large potential applications,such as detection and operation tasks in confined environments,since the push and pull actuation of flexible rods withstand tension and comp...Continuum robots actuated by flexible rods have large potential applications,such as detection and operation tasks in confined environments,since the push and pull actuation of flexible rods withstand tension and compressive force,and increase the structure's rigidity.In this paper,a generalized kinetostatics model for multi-module and multi-segment continuum robots considering the effect of friction based on the Cosserat rod theory is established.Then,the model is applied to a two-module rod-driven continuum robot with winding ropes to analyze its deformation and load characteristics.Four different in-plane configurations under the external load term as S1,S2,C1,and C2 are defined.Taking a bending plane as an example,the tip deformation along thex-axis of these shapes is simulated and compared,which shows that the load capacity of C1 and C2 is generally larger than that of S1 and S2.Furthermore,the deformation experiments and simulations show that the maximum error ratio without external loads relative to the total length is no more than 3%,and it is no more than 4.7%under the external load.The established kinetostatics model is proven sufficient to accurately analyze the rod-driven continuum robot with the consideration of internal friction.展开更多
文摘A particle nonlinear two-scale kp-εp turbulence model is proposed for simulating the anisotropic turbulent two-phase flow. The particle kinetic energy equation for two-scale fluctuation, particle energy transfer rate equation for large-scale fluctuation, and particle turbulent kinetic energy dissipation rate equation for small-scale fluctuation are derived and closed. This model is used to simulate gas-particle flows in a sudden-expansion chamber. The simulation is com- pared with the experiment and with those obtained by using another two kinds of tow-phase turbulence model, such as the single-scale k-ε two-phase turbulence model and the particle two-scale second-order moment （USM） two-phase turbulence model. It is shown that the present model gives simulation in much better agreement with the experiment than the single-scale k-ε two-phase turbulence model does and is almost as good as the particle two-scale USM turbu-lence model.
基金The project supported by the Special Funds for Major State Basic Research,China(G-1999-0222-08)the Postdoctoral Science Foundation(2004036239)
文摘A two-scale second-order moment two-phase turbulence model accounting for inter-particle collision is developed, based on the concepts of particle large-scale fluctuation due to turbulence and particle small-scale fluctuation due to collision and through a unified treatment of these two kinds of fluctuations. The proposed model is used to simulate gas-particle flows in a channel and in a downer. Simulation results are in agreement with the experimental results reported in references and are near the results obtained using the sin- gle-scale second-order moment two-phase turbulence model superposed with a particle collision model （USM-θ model） in most regions.
基金Supported by National Natural Science Foundation of China(Grant Nos.52305003,52175019)National Key R&D Program of China(Grant No.2023YFD2001100)+2 种基金Beijing Natural Science Foundation(Grant No.L222038)Beijing Nova Programme Interdisciplinary Cooperation Project(Grant No.20240484699)Project“Vice President of Science and Technology”of Changping District of Beijing.
文摘The design and analysis of continuum robots have consistently been a prominent research focus in the field of mechanics.However,portable continuum robots with minimal spatial occupancy,which have great potential for applications such as search and rescue,are scarcely available.This paper presents a novel helical-coiled multi-segment flexible continuum robot featuring helical deployment and compact design,with an integrated framework for structural design,kinematic modeling,and experimental validation.The design of the helical-coiled multi-segment flexible continuum robot for unstructured environment detection,including a flexible body,an actuation module,a feed module,and a sensing module,is presented systematically.Kinematic models of both single-and multisegment continuum robots were established based on the constant curvature model to analyze the parameter mapping relationship from the end-effector position and orientation to the driving inputs.Furthermore,the feedforward motion of the robot was examined,and an uncoiling strategy based on S-curve compensation was employed to complete the kinematic analysis.Finally,the accuracy of the kinematic model considering the active uncoiling feed motion was validated through experimental analysis,demonstrating the motion characteristics of the continuum robot.Altogether,this study provides a framework for the design and analysis of helical-coiled continuum robots.
基金supported by the National Natural Science Foundation of China (10872192)
文摘With the two-scale expansion technique proposed by Yoshizawa,the turbulent fluctuating field is expanded around the isotropic field.At a low-order two-scale expansion,applying the mode coupling approximation in the Yakhot-Orszag renormalization group method to analyze the fluctuating field,the Reynolds-average terms in the Reynolds stress transport equation,such as the convective term,the pressure-gradient-velocity correlation term and the dissipation term,are modeled.Two numerical examples：turbulent flow past a backward-facing step and the fully developed flow in a rotating channel,are presented for testing the efficiency of the proposed second-order model.For these two numerical examples,the proposed model performs as well as the Gibson-Launder （GL） model,giving better prediction than the standard k-ε model,especially in the abilities to calculate the secondary flow in the backward-facing step flow and to capture the asymmetric turbulent structure caused by frame rotation.
基金financially supported by the National Natural Science Foundation of China(Project No.51874336)the National Key Technologies Research and Development Program of China during the 13th Five-Year Plan Period(Project No.2017ZX005030005)。
文摘The reaction order plays a crucial role in evaluating the response rate of acid-rock.However,the conventional two-scale model typically assumes that the reaction order is constant as one,which can lead to significant deviations from reality.To address this issue,this study proposes a novel multi-order dynamic model for acid-rock reaction by combining rotating disk experimental data with theoretical derivation.Through numerical simulations,this model allows for the investigation of the impact of acidification conditions on different orders of reaction,thereby providing valuable insights for on-site construction.The analysis reveals that higher response orders require higher optimal acid liquid flow rates,and lower optimal H+diffusion coefficients,and demonstrate no significant correlation with acid concentration.Consequently,it is recommended to increase the displacement and use high-viscosity acid for reservoirs with high calcite content,while reducing the displacement and using low-viscosity acid for reservoirs with high dolomite content.
基金Project supported by China Post-Doctoral Science Foundation(No.2004036239)
文摘A two-scale second-order moment two-phase turbulence model accounting for inter-particle collision is developed, based on the concept of particle large-scale fluctuation due to turbulence and particle small-scale fluctuation due to collision. The proposed model is used to simulate gas-particle downer reactor flows. The computational results of both particle volume fraction and mean velocity are in agreement with the experimental results. After analyzing effects of empirical coefficient on prediction results, we can come to a conclusion that, inside the limit range of empirical coefficient, the predictions do not reveal a large sensitivity to the empirical coefficient in the downer reactor, but a relatively great change of the constants has important effect on the prediction.
基金Open access funding provided by The Science,Technology&Innovation Funding Authority(STDF)in cooperation with The Egyptian Knowledge Bank(EKB).
文摘Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advancements have trans-formed their capabilities through novel designs inspired by biological systems,advanced modeling frameworks,sophisti-cated control strategies,and integration into diverse real-world applications.Recent innovations in multifunctional mate-rials and emerging actuation technologies have markedly expanded manipulator performance,reliability,and dexterity.Concurrently,developments in modeling have progressed from simplified geometric methods toward highly accurate physics-based and hybrid data-driven approaches,substantially improving real-time prediction and controllability.Coupled with these developments,adaptive and robust control strategies-including learning-based techniques-have enabled unprec-edented autonomy and precision in challenging application domains such as Minimally Invasive Surgery(MIS),precision agriculture,deep-sea exploration,disaster recovery,and space missions.Despite these remarkable strides,key challenges remain,notably regarding scalability,long-term material durability,robust integrated sensing,and standardized evaluation procedures.This review comprehensively synthesizes recent advances,critically evaluates state-of-the-art methodologies,and systematically identifies existing gaps to provide a clear roadmap and targeted research directions,guiding future developments toward the broader adoption and optimal utilization of soft robotic manipulators.
文摘A non-linear continuum damage model was presented based on the irreversible thermodynamics framework developed by LEMAITRE and CHABOCHE. The proposed model was formulated by taking into account the influence of loading frequency on fatigue life. The parameters H and c are constants for frequency-independent materials, but functions of cyclic frequency for frequency-dependent materials. In addition, the expression of the model was discussed in detail at different stress ratios （R）. Fatigue test data of AlZnMgCu1.5 aluminium alloy and AMg6N alloy were used to verify the proposed model. The results showed that the model possesses a good ability of predicting fatigue life at different loading frequencies and stress ratios.
文摘The research is: by using Wdolkowski's Time Continuum Model throughout a lesson plan enables the teacher to increase students'motivation and help them move closer to success in a learning environment. This research supports the theory that instruction is a network of interactions between the teacher and learner that promotes a successful learning experience. It identifies a three-part learning sequence-a beginning, middle and an end. Each part has two of six key motivational factors that when applied correctly by the teacher will maximize the success and continued motivation of the learner.
基金project was supported the National Natural Science Foundation of China (Grant 11372086)the Natural Science Foundation of Guangdong Province of China (Grant 2014A030313696)
文摘Analysis of the mechanical behavior of nanos- tructures has been very challenging. Surface energy and non- local elasticity of materials have been incorporated into the traditional continuum analysis to create modified continuum mechanics models. This paper reviews recent advancements in the applications of such modified continuum models in nanostructures such as nanotubes, nanowires, nanobeams, graphenes, and nanoplates. A variety of models for these nanostructures under static and dynamic loadings are men- tioned and reviewed. Applications of surface energy and nonlocal elasticity in analysis of piezoelectric nanomateri- als are also mentioned. This paper provides a comprehensive introduction of the development of this area and inspires fur- ther applications of modified continuum models in modeling nanomaterials and nanostructures.
基金supported by National Natural Science Foundation of China (Grant No. 60879002)Tianjin Municipal Science and Technology Support Plan of China (Grant No. 10ZCKFGX03800)
文摘Fatigue life and reliability of aero-engine blade are always of important significance to flight safety.The establishment of damage model is one of the key factors in blade fatigue research.Conventional linear Miner＇s sum method is not suitable for aero-engine because of its low accuracy.A back propagation neutral network（BPNN） based on the combination of Levenberg-Marquardt（LM） and finite element method（FEM） is used to describe process of nonlinear damage accumulation behavior in material and predict fatigue life of the blade.Fatigue tests of standard specimen made from TC4 are carried out to obtain material fatigue parameters and S-N curve.A nonlinear continuum damage model（CDM）,based on the BPNN with one hidden layer and ten neurons,is built to investigate the nonlinear damage accumulation behavior,in which the results from the tests are used as training set.Comparing with linear models and previous nonlinear models,BPNN has the lowest calculation error in full load range.It has significant accuracy when the load is below 500 MPa.Especially,when the load is 350 MPa,the calculation error of the BPNN is only 0.4%.The accurate model of the blade is built by using 3D coordinate measurement technology.The loading cycle in fatigue analysis is defined from takeoff to cruise in 10 min,and the load history is obtained from finite element analysis（FEA）.Then the fatigue life of the compressor blade is predicted by using the BPNN model.The final fatigue life of the aero-engine blade is 6.55 104 cycles（10 916 h） based on the BPNN model,which is effective for the virtual design of aero-engine blade.
基金supported by the National Natural Science Youth Foundation of China(Grant No.51309101)the Henan Province Major Scientific and Technological Projects(Grant No.172102210372)the Cooperative Project of Production,Teaching and Research in Henan Province(Grant No.18210700031)
文摘This research focused on the three-dimensional(3 D) seepage field simulation of a high concrete-faced rockfill dam(CFRD) under complex hydraulic conditions. A generalized equivalent continuum model of fractured rock mass was used for equivalent continuous seepage field analysis based on the improved node virtual flow method. Using a high CFRD as an example, the generalized equivalent continuum range was determined, and a finite element model was established based on the terrain and geological conditions, as well as structural face characteristics of the dam area. The equivalent seepage coefficients of different material zones or positions in the dam foundation were calculated with the Snow model or inverse analysis. Then, the 3 D seepage field in the dam area was calculated under the normal water storage conditions, and the corresponding water head distribution, seepage flow, seepage gradient, and seepage characteristics in the dam area were analyzed. The results show that the generalized equivalent continuum model can effectively simulate overall seepage patterns of the CFRD under complex hydraulic conditions and provide a reference for seepage analysis of similar CFRDs.
基金Project(51420105005)supported by the Major International(Regional)Joint Research Program of National Natural Science Foundation of ChinaProject(2016YFF0101301)supported by the National Key Research and Development Program of China
文摘An extended continuum mixture model for macrosegregation is applied to predicting Cu and Mg segregation in large-size ingot of 2024 aluminum alloy during direct chill casting（DC）. A microsegregation model using the approximate phase diagram data was coupled with macroscopic transport equations for macrosegregation profiles. Then, the impacts of transport mechanisms on the formation of macrosegregation were discussed. It is found that copper and magnesium have a similar segregation configuration from the billet center to surface. Negative segregation is observed in the centerline and subsurface, whereas positive segregation is obtained in the surface and somewhat underestimated positive segregation in the middle radius. Further, the discrepancy between the predicted and experimental results was discussed in detail. The results show that the magnesium to some extent alleviates the copper segregation in ternary alloy, compared with that in binary alloy. The predicted results show good agreement with measured experimental data obtained from literatures.
基金This work was supported by the National Natural Science Foundation of China(Grants 11702146,11732006 and 11827801)the Equipment Pre-research Foundation(Grant 6140210010202).
文摘The paper investigated the equivalent continuum modeling of beam-like repetitive truss structures considering the flexibility of joints,which models the contact between the truss member and joint by spring-damper with six directional stiffnesses and dampings.Firstly,a two-node hybrid joint-beam element was derived for modeling the truss member with flexible end joints,and a condensed model for the repeating element with flexible joints was obtained.Then,the energy equivalence method was adopted to equivalently model the truss structure with flexible joints and material damping as a spatial viscoelastic anisotropic beam model.Afterwards,the equations of motion for the equivalent beam model were derived and solved analytically in the frequency domain.In the numerical studies,the correctness of the presented method was verified by comparisons of the natural frequencies and frequency responses evaluated by the equivalent beam model with the results of the finite element method model.
基金the National Key Technology Research and Development Program for the 11th Five-Year Plan(No.2007BAF02B01)
文摘A continuum model is adopted to study the macrosegregation phenomena during solidification of large steel ingots.Evolution of temperature,melt velocity,and compositional concentration field during a 22 t steel ingot solidification are illustrated by using the finite volume method.Numerical results of temperature distribution are validated by experiments.The influence of local permeability relates to the friction that the melt experienced in mushy region is investigated.It is shown that the continuum model is able to predict the temperature field,and the variation of permeability obviously affects the melt flowing behavior and the final compositional distribution.
基金supported by the National Natural Science Foundation of China(Nos.91748203,11922203,11772074)。
文摘Space robotics has been used extensively in complex space missions. Rigid-manipulator space robots may suffer from rigid-body collisions with targets. This collision is likely to cause damage to the space robot and the target. To overcome such a problem, a novel ContinuumManipulator Space Robot(CMSR) for performing on-orbit servicing missions is proposed in this paper. Compared with rigid-manipulator space robots, CMSRs are able to perform compliant operations and avoid rigid-body collisions with a target. The CMSR consists of two kinds of flexible components, including solar arrays and continuum manipulators. The elastic vibrations of these flexible components disturb the position and attitude of CMSRs. The beating phenomenon introduced by the energy transfer among these flexible components can cause damage to solar arrays.The complicated dynamic coupling poses enormous challenges in dynamic modeling and vibration analysis. The dynamic model for CMSRs is derived and the mechanism of the beating phenomenon is analyzed in this paper. Simulation results show that an obvious beating phenomenon occurs and the amplitude of the solar arrays increases significantly when the natural frequencies of two kinds of flexible components are close. A method is provided to avoid the beating phenomenon.
基金supported by National Nature Science Foundation of China(Nos.51161003 and 51561031)Nature Science Foundation of Guangxi Province(No.2018GXNSFAA138150)。
文摘The phase field crystal method and Continuum Modeling are applied to study the cooperative dislocation motion of the grain boundary(GB)migration,the manner of the nucleation of the grain and of the grain growth in two dimensions(2 D)under the deviatoric deformation at high temperature.Three types of the nucleation modes of new finding are observed by the phase field crystal simulation:The first mode of the nucleation is generated by the GB splitting into two sub-GBs;the second mode is of the reaction of the sub-GB dislocations,such as,the generation and annihilation of a pair of partial Frank sessile dislocation in 2 D.The process can be considered as the nucleation of dynamic recrystallization;the third mode is caused by two oncoming rows of the dislocations of these sub-GBs,crossing and passing each other to form new gap which is the nucleation place of the new deformed grain.The research is shown that due to the nucleation of different modes the mechanism of the grain growth by means of the sub-GB migration is different,and therefore,the grain growth rates are also different.Under the deviatoric deformation of the applied biaxial strain,the grain growth is faster than that of the grain growth without external applied stress.It is observed that the cooperative dislocation motion of the GB migration under the deviatoric deformation accompanies with local plastic flow and the state of the stress of the system changes sharply.When the system is in the process of recrystallized grain growth,the system energy is in an unstable state due to the release of the strain energy to cause that the reverse movement of the plastic flow occurs.The area growth of the deformed grain is approximately proportional to the strain square and also to the time square.The rule of the time square of the deformed grain growth can also be deduced by establishing the continuum dynamic equation of the biaxial strain-driven migration of the GB.The copper metal is taken as an example of the calculation,and the obtained result is a good agreement with that of the experiment.
基金supported by the National Natural Science Foundation of China(Nos.51279218,51021001 and 51078371)Natural Science Foundation Project of CQ CSTC(No.CSTC,2009BA4046)the Fundamental Research Funds forthe Central Universities(No.CDJZR10205501)
文摘A new non-Euclidean continuum damage model is proposed to investigate the zonal disintegration phenomenon of the surrounding rocks around deep spherical tunnels under hydrostatic pressure condition as well as the total elastic stress field distributions.The elastic stress fields of the surrounding rocks around deep spherical tunnels under hydrostatic pressure condition axe obtained.If the elastic stresses of the surrounding rocks satisfy the strength criterion of the deep rock masses,the number,size and location of fractured and nonfractured zones are determined.The effect of physico-mechanical parameters of the surrounding rocks on the zonal disintegration phenomenon is studied and numerical computation is carried out.It is found from numerical results that the number,size and location of fractured and non-fractured zones are sensitive to the physico-mechanical parameters of the surrounding rocks.
基金funding support from the Natural Sciences and Engineering Research Council of Canada (NSERC)the Center for Excellence in Mining Innovation (CEMI)the Nuclear Waste Management Organization of Canada (NWMO)
文摘With respect to constitutive models for continuum modeling applications, the post-yield domain remainsthe area of greatest uncertainty. Recent studies based on laboratory testing have led to thedevelopment of a number of models for brittle rock dilation, which account for both the plastic shearstrain and confining stress dependencies of this phenomenon. Although these models are useful inproviding an improved understanding of how dilatancy evolves during a compression test, there hasbeen relatively little work performed examining their validity for modeling brittle rock yield in situ. Inthis study, different constitutive models for rock dilation are reviewed and then tested, in the context of anumber of case studies, using a continuum finite-difference approach （FLAC）. The uncertainty associatedwith the modeling of brittle fracture localization is addressed, and the overall ability of mobilizeddilation models to replicate in situ deformation measurements and yield patterns is evaluated. 2014 Institute of Rock and Soil Mechanics, Chinese Academy of Sciences. Production and hosting byElsevier B.V. All rights reserved.
基金Supported by National Natural Science Foundation of China(Grant No.51875033)Fundamental Research Funds for the Central Universities of China(Grant No.2021YJS137).
文摘Continuum robots actuated by flexible rods have large potential applications,such as detection and operation tasks in confined environments,since the push and pull actuation of flexible rods withstand tension and compressive force,and increase the structure's rigidity.In this paper,a generalized kinetostatics model for multi-module and multi-segment continuum robots considering the effect of friction based on the Cosserat rod theory is established.Then,the model is applied to a two-module rod-driven continuum robot with winding ropes to analyze its deformation and load characteristics.Four different in-plane configurations under the external load term as S1,S2,C1,and C2 are defined.Taking a bending plane as an example,the tip deformation along thex-axis of these shapes is simulated and compared,which shows that the load capacity of C1 and C2 is generally larger than that of S1 and S2.Furthermore,the deformation experiments and simulations show that the maximum error ratio without external loads relative to the total length is no more than 3%,and it is no more than 4.7%under the external load.The established kinetostatics model is proven sufficient to accurately analyze the rod-driven continuum robot with the consideration of internal friction.
