Dynamic model of underwater snake-like robot using Kane’s method

In this paper, a dynamic model for an underwater snake-like robot is developed based on Kane＇s dynamic equations. This methodology allows construction of the dynamic model simply and incrementally. The partial velocity is deduced. The forces which contribute to dynamics are determined by Kane＇s approach. The generalized active forces and the generalized inertia forces are deduced. The model developed in this paper includes inertia force, inertia moment, gravity, control torques, and three major hydrodynamic forces： added mass, profile drag and buoyancy. The equations of hydrodynamic forces are deduced. Kane＇s method provides a direct approach for incorporating external environmental forces into the model. The dynamic model developed in this paper is obtained in a closed form which is well suited for control purposes. It is also computationally efficient and has physical insight into what forces really influence the system dynamics. The simulation result shows that the proposed method is feasible.     

Simulation platform for the underwater snake-like robot swimming based on Kane’s dynamic model and central pattern generator

A systematic method for swimming control of the underwater snake-like robot is still lacking. We construct a simulation platform of the underwater snake-like robot swimming based on Kane＇s dynamic model and central pattern generator （CPG）. The partial velocity is deduced. The forces which contribute to dynamics are determined by Kane＇s approach. Hydrodynamic coefficients are determined by experiments. Then, we design a CPG-based control architecture implemented as the system of coupled nonlinear oscillators. The CPG, like its biological counterpart, can produce coordinated patterns of rhythmic activity while being modulated by simple control parameters. The relations between the CPG parameters and the speed of the underwater snake-like robot swimming are investigated. Swimming in a straight line, turning, and switching between swimming modes are implemented in our simulation platform to prove the feasibility of the proposed simulation platform. The results show that the simulation platform can imitate different swimming modes of the underwater snake-like robot.     

Dynamic Analysis of the Biped Ice-skater Robot of Passive Wheel Type

A new passive wheel type of biped ice-skater robot （BISR） subjected to nonholonomic constraints was presented on the basis of ice-skating principle. Its motion principle and construction were discussed. After the model was simplified and the coordinate systems were established, the motion differential equations of the robot were obtained with the generalized Lagrange-Maggi equation when the nonholonomic constraints existed. Actual examples were given and the result was simulated on computer.     

Nonlinear Dynamic Buckling of Damaged Composite Cylindrical Shells

Based on the first order shear deformation theory(FSDT), the nonlinear dynamic equations involving transverse shear deformation and initial geometric imperfections were obtained by Hamilton's philosophy. Geometric deformation of the composite cylindrical shell was treated as the initial geometric imperfection in the dynamic equations, which were solved by the semi-analytical method in this paper. Stiffness reduction was employed for the damaged sub-layer, and the equivalent stiffness matrix was obtained for the delaminated area. By circumferential Fourier series expansions for shell displacements and loads and by using Galerkin technique, the nonlinear partial differential equations were transformed to ordinary differential equations which were finally solved by the finite difference method. The buckling was judged from shell responses by B-R criteria, and critical loads were then determined. The effect of the initial geometric deformation on the dynamic response and buckling of composite cylindrical shell was also discussed, as well as the effects of concomitant delamination and sub-layer matrix damages.     

Dynamic Stress and Pore Pressure Around Circular Cavity in Saturated Porous Elastic Half-space Under Harmonic Plane Dilatational Waves

Dynamic stress concentration and pore pressure concentration around an infinitely long cylindrical cavity of circular cross-section subjected to harmonic plane dilatational waves in fluid-saturated porous elastic half-space were obtained by a complex function method based on potential function and multi-polar coordinate. The steady state Biot‘s dynamic field equations of porous elastic solid with a viscous liquid were uncoupled into Helmholtz equations via given potential functions. A circular cavity with large radius is used to replace the straight boundary of the saturated porous elastic half-space. The stresses and pore pressures were obtained by using complex functions in multi-polar coordinates with certain boundary conditions of the solid matrix and the fluid matrix. The approximate solutions were compared to existing numerical solutions. Then the variations of the coefficients of dynamic stress concentration and the pore pressures concentration on boundaries of the cavity were discussed with different parameter conditions. The results of the given numerical example indicate that the method used is useful and efficient to the scattering and dynamic stress concentration of plane dilatational waves in saturated porous elastic half-space.     

Coupled Vibration of Long-Span Railway Curved Girder Bridges and Vehicles

The structure of a long curved girder bridge is represented with a three-dimensional curved finite element model. Each 4-axle vehicle is modeled by a dynamic system of 35 degrees of freedom. The random irregularities of the track are generated from a power spectral density function under the given track condition. The dynamic interaction between the bridge and train is realized through the contact forces between the wheels and track. Then based on these models, the coupled equations of motion are solved by applying the time-integration and iteration techniques to the coupled system. The proposed formulation and the associated computer program are then applied to a real curved girder bridge. The dynamic responses of the bridge-vehicle system and the derailments and offload factors related to the riding and running safeties of vehicles are computed. The results show that the formulation presented in this paper can well predict dynamic behaviors of both bridge and train with reasonable computation efforts.     

An improved dynamic hysteretic model for soils

A dynamic hysteretic constitutive model for soil dynamics, Ramberg-Osgood model, is introduced and improved in the paper. Since the model is inherently 1D and is assumed to apply to shear components only, other components of the deviatorie stress and strain and their relations in 3D case could not be fully described. Two parameters, the equivalent shear stress and the equivalent shear strain, are defined to reasonably establish relations between each of stress and strain components respectively. The constitutive equations of the initial Ramberg-Osgood model are extended to generalize the theory into multidimensional cases. Difficulties of the definition of load reversal in 3D are also addressed and solved. The improved constitutive model for soil dynamics is verified by comparisons with different soil dynamic testing data covering both sands and clays. Results show that the dynamic nonlinear hysteretie behaviors of soils can be well predicted with the improved constitutive model.     

Dynamic Analysis of Micro-machined Diamagnetic Stable Permanent Magnet Levitation System

A novel micro-machined diamagnetic stable levitation system (MDSLS) which is composed of a free permanent magnetic rotor, a ring lifting permanent magnet and two diamagnetic stabilizers was presented. The static and dynamic stable characters of MDSLS were analyzed. The coupled non-linear differential equations were used to describe six-degree-of-freedom motion of the levitated rotor, and the equivalent surface current and combined diamagnetic image current method were utilized to model the interaction forces and torques between the lifting permanent magnet and rotor permanent magnet and also between the rotor permanent magnet and diamagnetic substrates. Because of difficulty to get analytical solution, the numerical calculation based on Runge-Kutta method was used to solve the dynamic model. The vibration frequencies were identified by fast Fourier transform (FFT) analysis. According to their resonance characteristics and parameters, the translational and angular dynamic stiffness were also calculated. The results show that the levitation of the rotor in MDSLS is stable, and the MDSLS is potential for the application in levitation inertial sensor.     

Analysis of interaction factors between two piles

A rigorous analytical method is presented for calculating the interaction factor between two identical piles subjected to vertical loads. Following the technique proposed by Muki and Sternberg, the problem is decomposed into an extended soil mass and two fictitious piles characterized respectively by Young＇s modulus of the soil and that of the difference between the pile and soil. The unknown axial forces along fictitious piles are determined by solving a Fredholm integral equation of the second kind, which imposes the compatibility condition that the axial strains of the fictitious piles are equal to those corresponding to the centroidal axes of the extended soil. The real pile forces and displacements can subequally be calculated based on the determined fictitious pile forces, and finally, the validity of the proposed approach and desired pile interaction factors may be obtained. Results confirm the portray the influence of the governing parameters on the pile interaction.     

Structural Performance Evaluation Procedure for Large Flexible Airship of HALE Stratospheric Platform Conception

Basic loads applied on the airship envelope were analyzed.The resultant forces,the static bending moment and the dynamic bending moment were formulated.Based on classic linear elastic membrane theory,the procedures to calculate the minimum pressure were proposed for sufficient rigidity evaluation.The limit load capacity was further investigated,and the related formula were developed.Finally,the stress and internal forces analysis was carried out for cylindrical and non-cylindrical approximations of envelope hull of airship.The present research is very valuable to the overall preliminary design of airship and further research.     

A total generalized optimal velocity model and its numerical tests

A car-following model named total generalized optimal velocity model （TGOVM） was developed with a consideration of an arbitrary number of preceding vehicles before current one based on analyzing the previous models such as optimal velocity model （OVM）, generalized OVM （GOVM） and improved GOVM （IGOVM）. This model describes the physical phenomena of traffic flow more exactly and realistically than previous models. Also the performance of this model was checked out by simulating the acceleration and deceleration process for a small delay time. On a single circular lane, the evolution of the traffic congestion was studied for a different number of headways and relative velocities of the preceding vehicles being taken into account. The simulation results show that TGOVM is reasonable and correct.     

Research on the dynamic performance of low-yield-strength shear panel damper for bridge application

This study seeks to develop a scientific understanding of the effects of dynamic loading history on the low-yield-strength shear panel damper(LYSPD) mechanical properties and fatigue performance.The LYSPD model is supposed as perfect elastic-plastic without strength deterioration.By adjusting the damper strength with the above supposition in the DYMO software,the serial earthquake response waves of the LYSPD under different soil conditions are obtained firstly.Subsequently,several waves,the most prone to damage at each soil condition, are selected as dynamic loading waves to verify the LYSPD dynamic performances experimentally.The test results suggest that the dynamic loading histories have no influence on the LYSPD strength or the supposed model while they affect the fatigue performance.The applicability and accuracy of three fatigue evaluation methods, cumulative plastic shear strain,cumulative energy absorption and Miner rule,are also compared according to the test results.     

Study on launch dynamics of the tank marching fire

As an army main battle equipment, it is required that the tank should have high firing accuracy and high first round hit probability during marching. The initial disturbance of the projectile is the premier factor that takes effect on the marching fire accuracy of the tank. And the marching fire accuracy of the tank depends on the launch dynamics behaviors of the tank. In this paper, the launch dynamics theory of a tank marching fire is studied, and its launch dynamics model is established. Based on the transfer matrix method for multibody system(MSTMM) and the automatic deduction theorem of overall transfer equations, the overall transfer equation and the overall transfer matrix of a tank multibody system are deduced; the launch dynamics equations of the tank marching fire are deduced, and the dynamic response of the tank system, the motion of projectile in barrel, the initial disturbance of the projectile and the vertical target dispersion are exactly simulated; meanwhile, the results of simulation are verified by tests. This work provides both theoretical foundation and simulation approaches for improving the marching fire accuracy of the tank.     

A generalized self-consistent model for interfacial debonding behavior of fiber reinforced rubber matrix sealing composites

This paper presents an experimental and numerical study of short-fiber-reinforced rubber matrix sealing composites(SFRC). The transverse tensile stress-strain curves of SFRC are obtained by experiments. Based on the generalized self-consistent method, a representative volume element(RVE) model is established, and the cohesive zone model is employed to investigate the interfacial failure behavior. The effect of interphase properties on the interfacial debonding behavior of SFRC is numerically investigated. The results indicate that an interphase thickness of 0.3 μm and an interphase elastic modulus of about 502 MPa are optimal to restrain the initiation of the interfacial debonding. The interfacial debonding of SFRC mainly occurs between the matrix/interphase interface,which agrees well with results by scanning electron microscope(SEM).     

Central pattern generator based gait control for planar quadruped robots

In this paper, a gait control scheme is presented for planar quadruped robots based on a biologic concept, namely central pattern generator （CPG）. A CPG is modeled as a group of the coupled nonlinear oscillators with an interaction weighting matrix which determines the gait patterns. The CPG model, mapping functions and a proportional-differential （PD） joint controller compose the basic gait generator. By using the duty factor of gait patterns as a tonic signal, the activity of the CPG model can be modulated, and as a result, a smooth transition between different gait patterns is achieved. Moreover, by tuning the parameters of the CPG model and mapping functions, the proposed basic gait generator can realize adaptive workspace trajectories for the robot to suit different terrains. Simulation results illustrate and validate the effectiveness of the proposed gait controllers.     

Experimental study on mechanical properties of weathered rock covered by loess

Based on dynamic triaxial test, the mechanical properties of the weathered rock covered by loess were studied. The cohesion value of weathered mudstone is far below that of the weathered sandstone, while the internal friction angle values are basically equivalent, about 30°. Compared with the undisturbed sample, the cohesion value of remodeling weathered rock sample decreases significantly. With the increase of moisture content, the strength of weathered mudstone is obviously decreased due to the influence of the water softening effect. This results illustrate that the bearing stratum is not easily affected by external disturbance in comparison to weathered mudstone. In the engineering, in order to ensure the good mechanical properties of the soil, more attention should be paid to keeping the water content constant, even to reducing the water content. The experiments show that the relations between shear stress and strain of weathered rock were nonlinear and the behavior of weathered rock can be expressed by the hyperbolic model. The initial modulus of undisturbed weathered rock, under the same consolidation conditions, is much greater than that of remodeling samples. Meanwhile, the initial dynamic elastic modulus of sandstone is also greater than that of the mudstone. The dynamic shear modulus ratios of the undisturbed sandstone, the undisturbed mudstone, as well as the remodeling mudstone have the normalization characteristics with the increase of dynamic shear strain. The damping ratio of mudstone is larger than that of the sandstone, and the damping ratio of remolding sample is also greater than that of the undisturbed mudstone. The mudstone has the bad mechanical properties as bearing stratum.     

Finite Element Modeling of a Fluid Filled Cylindrical Shell with Active Constrained Layer Damping

On the basis of the piezoelectric theory, Mindlin plate theory, viscoelastic theory and ideal fluid equation, the finite element modeling of a fluid-filled cylindrical shell with active constrained layer damping （ACLD） was discussed. Energy methods and Lagrange＇s equation were used to obtain dynamic equations of the cylindrical shell with ACLD treatments, which was modeled as well with the finite element method. The GHM （Golla-Hughes-McTavish） method was applied to model the frequency dependent damping of viscoelastic material. Ideal and incompressible fluid was considered to establish the dynamic equations of the fluid-filled cylindrical shell with ACLD treatments, Numerical results obtained from the finite element analysis were compared with those from an experiment. The comparison shows that the proposed modeling method is accurate and reliable.     

Rigid-liquid-flexible dynamic formulation for a two-dimensional tank undergoing translational and rotational motion

Considering rigid-liquid-flexible coupling effect, dynamic formulation for a two-dimensional rectangular tank with liquid sloshing connected to a flexible beam is proposed. Differing from the traditional formulation which considered either the rotational motion or the translational motion of the tank, this formulation can be applied for rigid-liquid-flexible coupling dynamic analysis of tank undergoing translational and rotational motion based on the theorem of momentum and the theorem of moment of momentum. Furthermore, stiffening terms are included in the dynamics equations of the flexible beam. Firstly, the dynamic equations of the rigid-liquid coupling system and the flexible beam are derived, respectively, and then by introducing the Lagrange-multipliers, the rigid-liquid-flexible coupling equations can be combined with acceleration constraint equations. Finally, the mix differential-algebraic equations are solved to investigate the rigid-liquid-flexible coupling dynamic performance of the system.     

Dynamic Responses of Long-Span Transmission Tower-Line System Subjected to Broken Wires

A macroscopic finite element modeling approach was proposed to calculate the vibration of a tower-line system subjected to broken wires with software ANSYS/LS-DYNA. In the finite element model, not only the nonlinearity of wires and suspension insulators are considered, but also the support towers are included. The incremental and iterative approaches are combined by applying the unbalanced loads incrementally during each iteration cycle. The approach was illustrated with an example of a Hanjiang-River long-span transmission line system subjected to a shield wire and a conductor failure, respectively. The analysis results showed that the proposed dynamic simulation approach can demonstrate the kinetic process of the tower-line system subjected to wire ruptures: The frequencies of line components were lower and densely distributed, but the frequencies of tower components were higher and sparsely distributed. Anyhow, the dynamic effects of wire ruptures on tower-line system could not be ignored in analysis of tower-line system subjected wire failures.     

Phase Behaviors in Bi-phase Simulation of Powder Segregation in Metal Injection Molding

Powder segregation induced by mold filling is an important phenomenon that affects the final quality of metal injection molding （MIM）. The prediction of segregation in MIM requires a bi-phase flow model to describe distinctly the flows of metallic powder and polymer binder. Viscous behaviors for the flows of each phase should hence be determined. The coefficient of interaction between the flows of two phases should also be evaluated. However, only viscosity of the mixed feedstock is measurable by capillary tests. Wall sticking is supposed in the traditional model for capillary tests, while the wall slip is important to be taken into account in MIM injection. Objective of the present paper is to introduce the slip effect in bi-phase simulation, and search the suitable way to determine the viscous behaviors for each phase with the consideration of wall slip in capillary tests. Analytical and numerical methods were proposed to realize such a specific purpose. The proposed method is based on the mass conservation between the capillary flows in mono-phase model for the mixed feedstock and in bi-phase model for the flows of two phases. Examples of the bi-phase simulation in MIM were realized with the software developed by research team. The results show evident segregation, which is valuable for improving the mould designs.