A new solution to the inverse position analysis of the redundant serial robot

A new solution to the inverse position analysis of the redundant serial robot is presented. The inverse position analysis problem of the redundant serial robot is transformed into a minimization problem and then the optimization method is adopted to solve the nonlinear least square problem with the analytic form of a new Jacobi matrix. In this way, the inverse solution of the redundant serial robot can be searched out quickly under the desired precision when the positions of the three non-collinear end effector points are given. The inverse position analysis of the 7R redundant serial robot is illustrated as an example and the simulation results verify the efficiency of the proposed algorithm.     

Iterative algorithm of steered minimum variance and its application in weak targets detection

The steered covariance matrix (STCM) and its inverse matrix should be calculated in each beam for steered minimum variance (STMV). The inverse matrix needs complex computation and restricts its application in engineering. Combining the integration character of one-phase regressive filter with the iterative formula of inverse matrix, an STMV iterative algorithm is proposed. The computational cost of the iterative algorithm is reduced approximately to be 2/M times of the original one when there are M sensors, and is more advantaged for the realization of the algorithm in real time. Simulation results show that the STMV iterative algorithm can preserve the characters of STMV on high azimuth resolution and weak target detection while the computational cost reduced sharply. The analysis on sea trial data proves that the proposed algorithm can estimate each target’s azimuth even when the source powers differ in large scales or their bearings are very approximate.     

Gas turbulence modulation model for gas-solid flows in two-fluid approach

Turbulence enhancement by particle wake effect is studied by numerical simulation of gas turbulent flows passing over particle under various particle sizes, inlet gas velocities, gas viscosity, gas density and the distance of particles. By performing dimension analysis and using the form of gas-particle interaction source term for reference, a new semi-empirical turbulence enhancement model by the particle-wake effect is proposed. The turbulence model is then incorporated into second-order moment model for simulating gas-particle flows in a horizontal channel with different wall roughness and a sudden-expansion chamber. The results show that this model is with higher calculating accuracy than another two turbulence models in comparison with the experimental results.     

Numerical procedure for static and dynamic analysis of fluid-conveying submarine pipeline span on linear elastic seabed

Based on the Hamilton principle, dynamic differential equation of the submarine pipeline span, under the interaction of internal flow and external environmental loads, is established. A constraint-equivalent method is used to deal with the boundary conditions of pipeline span on the linear elastic seabed. Effects of the internal flow velocity and seabed stiffness on the pipeline’s lateral deformation and bending stress are studied by the static analysis, while the preliminary relationships between the internal flow velocity and the foundation stiffness to the natural frequency of pipeline span are investigated by the dynamic analysis. It is found that the lateral deformation increases with the increment of internal flow velocity, but decreases with the increment of seabed stiffness. The bending stress at the ends of span increases with the increment of internal fluid velocity and the seabed stiffness, however the stress at the middle of the span shows the converse tendency. Moreover, increasing the seabed stiffness or decreasing the internal flow velocity can lead to higher natural frequency. The dynamics response of midpoint of span at different foundations and internal fluid velocities are also given in this paper.     

Numerical hydro-acoustic prediction of marine propeller noise

A source-to-far-field computation procedure aiming at predicting the noise generated by the underwater propeller was presented. Detached eddy simulation (DES) was used to resolve the unsteady flow field, which was taken as input data as noise propagation. Far-field sound radiation was performed by means of Ffowcs Williams-Hawkings (FW-H) equation. The computation procedure was finally applied to a typical marine propeller, David Taylor Model Basin (DTMB) 4118. The sound pressure and directivity patterns of this propeller were discussed.     

Numerical study of damage potential in buildings due to excavations

Evaluation industrial factory building damage potential due to ground movements caused by excavations inside the building is a critical design consideration when reconstructing the underground equipment of the industrial factory building. In this paper,the behavior of a support system for a reconstruction project of underground equipment of the industrial factory building in Shanghai and its effects on a pile-foundation supported building are presented. The 8.1 m deep excavation is made through soft clay to...     

Vertical bearing behavior of cast-in-place diaphragm wall in Shanghai

When diaphragm wall is used as the permanent vertical bearing structure,design standard of the bored pile adopted has to induce the risk or iste. The vertical load transfer mechanism and bearing capacity of the diaphragm wall are examined by a field testing program at the site in Shanghai soft clays. Test results indicate that the diaphragm wall almost behaves as a rigid body under the vertical load. It induces that the skin friction and the toe resistance of the wall develop simultaneously. The skin fricti...     

Research on flow loss of inlet duct of marine waterjets

In the process of performance prediction of waterjet system,the flow loss of inlet duct is usually reckoned by the rule of thumb. But its value is often overestimated to some extent,resulting in error of prediction accuracy. This paper introduces a new method to determine the flow loss by means of computational fluid dynamic (CFD). Firstly,the fluid field around waterjet system is simulated by solving the Reynolds Averaged Navier-Stokes (RANS) equations using commercial CFD code Fluent. Then an additional U...     

Coupled analysis of multi-body motions in offshore connecting process

The coupled dynamic responses of two pontoons while connecting with each other in irregular waves are calculated by means of 3D potential flow theory. The computation is used to find the optimal status for connecting at certain sea state. On the basis of the relative motion of two pontoons in irregular waves,visual FORTRAN programming language,as well as open graphics library (OpenGL),is used to develop a set of virtual reality system,which is fully interactive and with realistic effect. The transfinite int...     

Development of a twin-accumulator hydro-pneumatic suspension

A twin-accumulator hydro-pneumatic suspension has been developed based on the off-road vehicle in order to meet the requirements of ride comfort. The working principle and elements construct of the developed suspension are studied. And then,a mathematical model of the developed suspension is built. The influence of twin-accumulator hydro-pneumatic suspension parameters on the vehicle body vertical acceleration,suspension travel and dynamic tyre load is studied by simulation based on a quarter off-road vehic...