H_∞ Autopilot Design for Autonomous Underwater Vehicles

The design approach of H∞ autopilot for autonomous underwater vehicles (AUVs) is proposed. Comprised by the three sub-controllers,i.e. speed,heading and depth controllers,the designed autopilot has advantage over existing H∞ control of AUVs. The overshoot in speed,heading and depth control systems under step commands is restricted by refining the weighting function for robust stability. The dynamic performance of heading and depth control systems is improved by feeding back yaw rate and pitch angle,respecti...     

Mechanical behaviors of the foot after individual releases of plantar fascia and ligaments during the balanced standing

To quantify mechanical effects of plantar fascia and ligaments on the arch structure, a 3D finite element model of the foot was created to simulate the balanced standing posture. Four cases after individual releases of plantar fascia, spring ligament, long and short plantar ligaments were simulated respectively to compare their consequences to the predictions of the intact structure. It was founded that the foot arch didn’t collapse obviously after any individual release of these structures. As plantar fascia was released, tensions of plantar ligaments were largely increased. Long and short plantar ligaments performed mutual compensation functions.     

Dynamic investigation on composite flexible multi-body system considering thermal effect

The dynamic performance of composite flexible multi-body system under the simultaneous action of thermal fields and driving constraint is analyzed. Based on strain-displacement relation of the Mindlin plate theory which includes transverse shear deformation, and considering thermal effect, variation equations of laminated plate are derived by the principle of virtual work. The finite element method is used for discretization. According to kinematics constraint relation, dynamic equations for spatial slider-crank system are established. Simulation results show that spatial deformation (torsion deformation) appears in the multi-layered composite slider-crank mechanism which is simulated with planar motions. Furthermore, the influence of coupling between thermal expansion and flexible deformations of non-symmetrical composite plates on the large overall motion under the uniform temperature field is investigated. Finally, significant change in constraint force due to the spatial deformation is shown.     

Novel mesh technique and its application in the wind field simulation for flexible spatial structure

In this paper, novel mesh techniques are proposed for wind field simulation of flexible spatial structure. For mesh generation, an interpolation strategy is presented to obtain a mesh system with variable density. Two spatial structure examples are used to examine the efficiency and applicability of this technique. Then based on the structured mesh system generated by the technique, the mesh nodal coordinates are updated to adapt the moving boundary conditions by means of the mapping interpolation functions and some examples are given to verify the effectiveness. Furthermore, the constrained counterforce distribution technique and projection interpolation strategy are developed to implement the data exchange on the interaction surface of wind and structure. Finally, the computational accuracy is numerically validated.     

Numerical analysis and experimental study of the effect of workpiece thickness on flow field in laser cutting

Based on Navier-Stokes equation and renormalization group (RNG) onflow model, the 3D symmetrical impinging jet model of laser cutting is established by adopting a taper nozzle and a convergence nozzle. Numerical simulation of gas flow in laser cutting is used to investigate the effect of workpiece thickness on flow field of assist gas in cutting slot. The isolines of static pressure as well as the distributions of static pressure and velocity are analyzed in details with different workpiece thickness, and the trend of dynamics characteristics of gas jet is shown in the study. For taper nozzles and convergence nozzles, the dynamic structure of assist gas being close to the lower surface of workpiece is exacerbated while the cutting quality and cutting efficiency become worse with the increasing of workpiece thickness. The parallel degree between assist gas and the axis of convergence nozzle is better than that of taper nozzle after the gas goes out of the nozzles. Two typical subsonic nozzles are designed for the cutting experiment at the end of the paper.     

Fully secure revocable attribute-based encryption

Distributed information systems require complex access control which depends upon attributes of protected data and access policies. Traditionally, to enforce the access control, a file server is used to store all data and act as a reference to check the user. Apparently, the drawback of this system is that the security is based on the file server and the data are stored in plaintext. Attribute-based encryption (ABE) is introduced first by Sahai and Waters and can enable an access control mechanism over encrypted data by specifying the users’ attributes. According to this mechanism, even though the file server is compromised, we can still keep the security of the data. Besides the access control, user may be deprived of the ability in some situation, for example paying TV. More previous ABE constructions are proven secure in the selective model of security that attacker must announce the target he intends to attack before seeing the public parameters. And few of previous ABE constructions realize revocation of the users’ key. This paper presents an ABE scheme that supports revocation and has full security in adaptive model. We adapt the dual system encryption technique recently introduced by Waters to ABE to realize full security.     

Study on dynamic characteristics of vehicle gearbox under multi-boundary conditions

With the development of vehicle gearbox to high-power-density and high-speed, how to predict and optimize the dynamic characteristics of vehicle gearbox becomes increasingly prominent. Aiming at the vehicle gearbox, this paper comprehensively and deeply studies the dynamic characteristics under the multi-boundary conditions. The generation mechanism of the multi-source excitations triggering the gearbox vibration is analyzed firstly. The vibration transfer path of the gearbox is explored. Secondly, the engine excitation, the gear meshing excitation and the bearing support load are numerically calculated. According to the finite element method, a fluid-solid coupling finite element model of the gearbox body is established to predict the gearbox dynamic responses based on the Galerkin method and the Hamiltonian variational principle. Finally, the effects of the excitation condition, oil height and reinforcement forms on the vibration responses of the gearbox body are thoroughly studied by simulation. The analysis indicates that it not only helps to modify and improve the method of forecasting the gearbox dynamic response, and also provides the theoretical and technical guidance for the gearbox design and optimization.     

Geometric calibration algorithm of polarization camera using planar patterns

Polarization pattern provides additional information besides spectral signatures. It can be used in many applications, such as navigation, defect detection and object identification. A novel polarization camera composed of four synchronized cameras is proposed, and it can realize real-time polarization measurement. This study particularly concentrates on the geometric calibration of the system. The projection model is analyzed and the multi-camera calibration algorithm is proposed. Firstly, each camera is calibrated separately using planar patterns, and then the geometric calibration algorithms are performed. Due to the geometrical constraint, a global optimization method results in smaller estimation uncertainties. A mean rotation error of 0.025° and a mean translation error of 0.26mm are achieved after geometric calibration. The images are rectified to establish a correspondence among cameras and are combined to acquire the polarization measurement. The polarization pattern of the skylight is measured by the system and the results are consistent with the previous studies.     

Research of legal affair simulation based on Petri net

Legal affair simulation is on the basis of information technology, and can simulate legal scene. College students do legal experiments with virtual reality scene. This helps to train college students. Petri net has not only strict math definition to analyze the dynamic behavior of models, but also intuitive graphic expression. Petri net is used to model for legal process. Reduction rules of Petri net are used to analyze the correctness of the system. At last Java Business Process Management (JBPM) technology is used to realize legal affair simulation models, models are transformed into flow charts. Simulation software deduces processes of legal affair. Many college students have improved their ability with the software, the fact proves that the method is effective.     

Compensation of pressure enthalpy effects on temperature fields for throttling of high-pressure real gas

For the pressure enthalpy of high pressure pneumatics, the computational fluid dynamics (CFD) simulation based on ideal gas assumption fails to obtain the real temperature information. Therefore, we propose a method to compensate the pressure enthalpy of throttling for CFD simulation based on ideal gas assumption. Firstly, the pressure enthalpy is calculated for the pressure range of 0.101 to 30 MPa and the temperature range of 190 to 298 K based on Soave-Redlich-Kwong (S-R-K) equation. Then, a polynomial fitting equation is applied to practical application in the above mentioned range. The basic idea of the compensation method is to convert the pressure enthalpy difference between inlet air and nodes into the compensation temperature. In the above temperature and pressure range, the compensated temperature is close to the real one, and the relative temperature drop error is below 10%. This error is mainly caused by the velocity difference of the orifice between the real and ideal gas models. Finally, this compensation method performs an icing analysis for practical high pressure slide pilot valve.