Existing mobile robots mostly use graph search algorithms for path planning,which suffer from relatively low planning efficiency owing to high redundancy and large computational complexity.Due to the limitations of th...Existing mobile robots mostly use graph search algorithms for path planning,which suffer from relatively low planning efficiency owing to high redundancy and large computational complexity.Due to the limitations of the neighborhood search strategy,the robots could hardly obtain the most optimal global path.A global path planning algorithm,denoted as EDG*,is proposed by expanding nodes using a well-designed expanding disconnected graph operator(EDG)in this paper.Firstly,all obstacles are marked and their corners are located through the map pre-processing.Then,the EDG operator is designed to find points in non-obstruction areas to complete the rapid expansion of disconnected nodes.Finally,the EDG*heuristic iterative algorithm is proposed.It selects the candidate node through a specific valuation function and realizes the node expansion while avoiding collision with a minimum offset.Path planning experiments were conducted in a typical indoor environment and on the public dataset CSM.The result shows that the proposed EDG*reduced the planning time by more than 90%and total length of paths reduced by more than 4.6%.Compared to A*,Dijkstra and JPS,EDG*does not show an exponential explosion effect in map size.The EDG*showed better performance in terms of path smoothness,and collision avoidance.This shows that the EDG*algorithm proposed in this paper can improve the efficiency of path planning and enhance path quality.展开更多
Based on feature modeling and mathematical analysis methods,a process-oriented and modular parametric design system for advanced turbine cooling blade is developed with UG API,aiming at the structural complexity and h...Based on feature modeling and mathematical analysis methods,a process-oriented and modular parametric design system for advanced turbine cooling blade is developed with UG API,aiming at the structural complexity and high design difficulty of aero-engine cooling turbine blade.The relationship between the external and internal body features,the body attached feature is analyzed as viewed from the feature and parameter terms.The parametric design processes and design examples of the external body shape,tenon,platform and internal body shape,ribs,pin fins are introduced.The system improves the design efficiency of cooling turbine blade and establishes the foundation of multidisciplinary design optimization procedure for it.展开更多
Fatigue crack propagation behavior of K40S cobalt-base superalloy under ambient atmosphere at 700 ℃ and 900 ℃ was investigated. The detailed fatigue crack propagation and fracture mechanism under the alternating loa...Fatigue crack propagation behavior of K40S cobalt-base superalloy under ambient atmosphere at 700 ℃ and 900 ℃ was investigated. The detailed fatigue crack propagation and fracture mechanism under the alternating loads were studied. The results show that, there is a defined threshold for K40S alloy at elevated temperatures. The fatigue threshold is 23.9 MPa·m 1/2 at 700 ℃ and 12 MPa·m 1/2 at 900 ℃. The significant decrease of the threshold with increasing temperature is associated with the oxidation induced embrittlement at crack tip. Observation on the fatigue fracture surfaces indicates a ductile fracture mechanism related to the fatigue crack growth.展开更多
Dynamic stress intensity factors are evaluated for thick-walled cylinder with a radial edge crack under internal impulsive pressure. Firstly, the equation for stress intensity factors under static uniform pressure is ...Dynamic stress intensity factors are evaluated for thick-walled cylinder with a radial edge crack under internal impulsive pressure. Firstly, the equation for stress intensity factors under static uniform pressure is used as the reference case, and then the weight function for a thick-walled cylinder containing a radial edge crack can be worked out. Secondly, the dynamic stresses in uncracked thick-walled cylinders are solved under internal impulsive pressure by using mode shape function method. The solution consists of a quasi-static solution satisfying inhomogeneous boundary conditions and a dynamic solution satisfying homogeneous boundary condi- tions, and the history and distribution of dynamic stresses in thick-walled cylinders are derived in terms of Fourier-Bessel series. Finally, the dynamic stress intensity factor equations for thick-walled cylinder containing a radial edge crack sub- jected to internal impulsive pressure are given by dynamic weight function method. The finite element method is utilized to verify the results of numerical examples, showing the validity and feasibility of the proposed method.展开更多
Experiments were conducted on a typical rotor-stator system where air entered through an annular slot at low radius and flowed out of the cavity axially through a rim seal between the rotor and the stator.For the seal...Experiments were conducted on a typical rotor-stator system where air entered through an annular slot at low radius and flowed out of the cavity axially through a rim seal between the rotor and the stator.For the seal in this rotor-stator system,the stationary shroud overlapped the rotating one.Pressure distributions at the stator surface and flow resistance coefficients of the rotor-stator cavity with a maximum gap of 67mm were measured under different dimensionless mass flow rates from 1.32×104 to 4.87×104 with a large range of rotational Reynolds numbers from 0.418×106 to 2.484×106.The results show that pressure on the stator surface decreases with the increase of rotational Reynolds number when the dimensionless mass flow rate is below 1.3×104;when the dimensionless mass flow rate is above 3.034×104,the trend reverses.This is the so-called"pressure inversion effect".However,dimensionless pressure does not show the same changes when rotational dynamic pressure is chosen as the denominator.The resistance coefficient of the rotor-stator cavity is determined by the dimensionless mass flow rate and rotational Reynolds number;for practical application,the resistance coefficient can also be estimated by the turbulent flow parameter in the range of turbulent parameter from 0.1to 1.6.展开更多
基金Supported by National Key Research and Development Program of China(Grant No.2022YFB4700402).
文摘Existing mobile robots mostly use graph search algorithms for path planning,which suffer from relatively low planning efficiency owing to high redundancy and large computational complexity.Due to the limitations of the neighborhood search strategy,the robots could hardly obtain the most optimal global path.A global path planning algorithm,denoted as EDG*,is proposed by expanding nodes using a well-designed expanding disconnected graph operator(EDG)in this paper.Firstly,all obstacles are marked and their corners are located through the map pre-processing.Then,the EDG operator is designed to find points in non-obstruction areas to complete the rapid expansion of disconnected nodes.Finally,the EDG*heuristic iterative algorithm is proposed.It selects the candidate node through a specific valuation function and realizes the node expansion while avoiding collision with a minimum offset.Path planning experiments were conducted in a typical indoor environment and on the public dataset CSM.The result shows that the proposed EDG*reduced the planning time by more than 90%and total length of paths reduced by more than 4.6%.Compared to A*,Dijkstra and JPS,EDG*does not show an exponential explosion effect in map size.The EDG*showed better performance in terms of path smoothness,and collision avoidance.This shows that the EDG*algorithm proposed in this paper can improve the efficiency of path planning and enhance path quality.
文摘Based on feature modeling and mathematical analysis methods,a process-oriented and modular parametric design system for advanced turbine cooling blade is developed with UG API,aiming at the structural complexity and high design difficulty of aero-engine cooling turbine blade.The relationship between the external and internal body features,the body attached feature is analyzed as viewed from the feature and parameter terms.The parametric design processes and design examples of the external body shape,tenon,platform and internal body shape,ribs,pin fins are introduced.The system improves the design efficiency of cooling turbine blade and establishes the foundation of multidisciplinary design optimization procedure for it.
文摘Fatigue crack propagation behavior of K40S cobalt-base superalloy under ambient atmosphere at 700 ℃ and 900 ℃ was investigated. The detailed fatigue crack propagation and fracture mechanism under the alternating loads were studied. The results show that, there is a defined threshold for K40S alloy at elevated temperatures. The fatigue threshold is 23.9 MPa·m 1/2 at 700 ℃ and 12 MPa·m 1/2 at 900 ℃. The significant decrease of the threshold with increasing temperature is associated with the oxidation induced embrittlement at crack tip. Observation on the fatigue fracture surfaces indicates a ductile fracture mechanism related to the fatigue crack growth.
基金supported by the China Aviation Industry Corporation I Program (ATPD-1104-02).
文摘Dynamic stress intensity factors are evaluated for thick-walled cylinder with a radial edge crack under internal impulsive pressure. Firstly, the equation for stress intensity factors under static uniform pressure is used as the reference case, and then the weight function for a thick-walled cylinder containing a radial edge crack can be worked out. Secondly, the dynamic stresses in uncracked thick-walled cylinders are solved under internal impulsive pressure by using mode shape function method. The solution consists of a quasi-static solution satisfying inhomogeneous boundary conditions and a dynamic solution satisfying homogeneous boundary condi- tions, and the history and distribution of dynamic stresses in thick-walled cylinders are derived in terms of Fourier-Bessel series. Finally, the dynamic stress intensity factor equations for thick-walled cylinder containing a radial edge crack sub- jected to internal impulsive pressure are given by dynamic weight function method. The finite element method is utilized to verify the results of numerical examples, showing the validity and feasibility of the proposed method.
文摘Experiments were conducted on a typical rotor-stator system where air entered through an annular slot at low radius and flowed out of the cavity axially through a rim seal between the rotor and the stator.For the seal in this rotor-stator system,the stationary shroud overlapped the rotating one.Pressure distributions at the stator surface and flow resistance coefficients of the rotor-stator cavity with a maximum gap of 67mm were measured under different dimensionless mass flow rates from 1.32×104 to 4.87×104 with a large range of rotational Reynolds numbers from 0.418×106 to 2.484×106.The results show that pressure on the stator surface decreases with the increase of rotational Reynolds number when the dimensionless mass flow rate is below 1.3×104;when the dimensionless mass flow rate is above 3.034×104,the trend reverses.This is the so-called"pressure inversion effect".However,dimensionless pressure does not show the same changes when rotational dynamic pressure is chosen as the denominator.The resistance coefficient of the rotor-stator cavity is determined by the dimensionless mass flow rate and rotational Reynolds number;for practical application,the resistance coefficient can also be estimated by the turbulent flow parameter in the range of turbulent parameter from 0.1to 1.6.
