基于ADAMS和MATLAB的双足机器人运动轨迹规划和控制的联合仿真

相比ADAMS仿真的不稳定性,利用ADAMS和MATLAB联合仿真对双足机器人运动轨迹规划和控制设计的可靠性及高效性进行了研究。首先绘制双足机器人三维参数模型进行逆运动学分析,验证其合理性后导入ADAMS中添加约束,进行动力学仿真。基于此,在MATLAB中使用多项式插值法完成模型的步态规划。最后利用Simulink试验台建立控制系统的框图,由ADAMS输入关节角之后控制台输出关节的驱动力矩,完成双足机器人ADAMS和MATLAB的联合仿真。仿真结果显示,联合仿真相较于ADAMS仿真的波动性所获得的数据更加稳定,此法高效可行,可作为下一步设计双足机器人的控制系统电机选型的重要理论依据。     

Gyrotactic microorganisms bioconvection in combined convective magnetohydrodynamic Casson nanofluid flow over a vertically surfaced saturated porous media with variable viscosity

The current article focuses on mass and thermal transfer analysis of a two-dimensional immovable combined convective nanofluid flow including motile microorganisms with temperature-dependent viscosity on top of a vertical plate through a porous medium, and a model has been developed to visualize the velocity slip impacts on a nonlinear partial symbiotic flow. The governed equations include all of the above physical conditions, and suitable nondimensional transfigurations are utilized to transfer the governed conservative equations to a nonlinear system of differential equations and obtain numerical solutions by using the Shooting method. Numerical studies have been focusing on the effects of intricate dimensionless parameters, namely, the Casson fluid parameter, Brownian motion parameter, thermophoresis parameter, Peclet number, bioconvection parameter, and Rayleigh number, which have all been studied on various profiles such as momentum, thermal, concentration, and density of microorganisms. The concentration boundary layer thickness and density of microorganisms increased as the Casson fluid parameter, Brownian and thermophoresis parameters increased, whereas the bioconvection parameter, Peclet number, and Rayleigh number increased. The thermal boundary layer thickness, concentration boundary layer thickness, and density of microorganisms all decreased. The velocity distribution decreases as the Peclet number, bioconvection, and thermophoresis parameters rise but rises as the Rayleigh number, Brownian motion parameter, and Casson fluid parameter rise. These are graphed via plots along with divergent fluid parameters.     

Squeezed MHD tangent hyperbolic fluid flow across a sensor surface

In the present numerical study, the combined effect of temperature-dependent thermal conductivity, linear thermal radiation, and magnetic effect on shear-thinning tangent hyperbolic fluid past a sensor surface has been studied. After converting the modelled partial differential equations into ordinary differential equations by using similarity transformation, the system of equations is tackled with the aid of the shooting method. The influence of important parameters on the fluid motion and energy distribution is displayed graphically and analyzed in detail. The presented simulations depict that a significant rise in fluid velocity is noticed for an enhancement in the magnetic parameter while an opposite trend is observed for the temperature distribution. Moreover, the skin friction coefficient decreases as the squeezed flow index is increased.     

Analytical modeling of complex contact behavior between rock mass and lining structure

Based on the nondestructive test data of operating railway tunnels in China, this paper summarizes the basic characteristics of the complex contact behavior between the rock mass and lining structure. The contact modes are classified into dense contact, local non-contact, and loose contact. Subsequently, the corresponding mechanical model for each contact mode is developed according to its mechanical characteristics using the complex variable method. In the proposed mechanical model, a special algorithm is introduced to detect whether the local non-contact zone is re-contacted. Besides, a novel conformal mapping method is also proposed to accurately calculate the mechanical response of the concrete lining. Finally, the accuracy of the proposed method is verified by comparing it with the finite element method (FEM). Several parameter investigations are conducted to analyze the effects of different contact modes on the rock–lining interaction. The results show that: (i) the height of the local non-contact area does not have a significant effect on the contact stress distribution if no re-contact occurs; (ii) backfill grouting can reduce the local stress concentration caused by poor contact modes; and (iii) reducing the friction coefficient of the interface can lead to a more uniform distribution of internal forces in the concrete lining.     

A CCD-ADI method for two-dimensional linear and nonlinear hyperbolic telegraph equations with variable coefficients

In this paper, a combined compact finite difference method (CCD) together with alternating direction implicit (ADI) scheme is developed for two-dimensional linear and nonlinear hyperbolic telegraph equations with variable coefficients. The proposed CCD-ADI method is second-order accurate in time variable and sixth-order accurate in space variable. For the linear hyperbolic equation, the CCD-ADI method is shown to be unconditionally stable by using the Von Neumann stability analysis. Numerical results for both linear and nonlinear hyperbolic equations are presented to illustrate the high accuracy of the proposed method.     

Self-consistent kinetic theory with nonlinear wave-particle resonances

We have developed, based on the oscillating-center transformation, a general theoretical approach for self-consistent plasma dynamics including, explicitly, effects of nonlinear(higherorder) wave-particle resonances. A specific example is then given for low-frequency responses of trapped particles in axisymmetric tokamaks. Possible applications to transport as well as nonlinear wave growth/damping are also briefly discussed.     

电磁场作用下球形磁极辅助研磨弯管内表面研究

弯管弯曲成形后,在弯折处易产生微裂纹、褶皱等表面质量缺陷问题。本文通过采用六自由度机械手拖动电磁场发生装置沿加工轨迹往复运动,电磁场发生装置驱动球形辅助磁极绕管件内壁转动,实现了对弯管内表面的光整加工。在此基础上,通过对弯管轮廓采集及曲线拟合,重新构建了弯管中心线并转换为新的研磨加工轨迹。采用超景深3D电子显微镜和触针式表面粗糙度测量仪对研磨试验前后弯管内表面的形貌和粗糙度进行了对比分析。结果表明,通过重新构建研磨加工轨迹,试验装置有效解决了研磨弯折处的干涉与研磨不均匀等问题。研磨55 min后,表面粗糙度由原始的0.713μm降低到0.194μm,铜合金弯管内表面原始质量缺陷基本去除,表面纹理较为致密均匀。该方法有效避免了未规划研磨轨迹时出现的犁耕等纹理缺陷,提高了弯管的服役可靠性。     

高瓦斯矿井U型通风工作面瓦斯治理技术

针对李雅庄煤矿U型通风工作面上隅角及回风流瓦斯浓度高、瓦斯治理难度大的问题，根据工作面瓦斯来源及在采空区三带的运移储存规律，李雅庄煤矿开展了本煤层抽采工艺优化和裂隙带抽采技术研究。对本煤层钻孔封孔深度、联孔工艺、管路连接方式等进行优化，钻孔抽采浓度由抽采4个月后降低到9%提高到抽采10个月后维持在19%；通过调整裂隙带钻孔布置方式、优化钻孔布孔层位、采取下筛管护孔等技术措施，裂隙带钻场最高瓦斯抽采纯流量达13.6 m³/min，平均瓦斯抽采纯流量达8 m³/min，2个钻场联合抽采瓦斯纯流量在13 m³/min以上；取消了瓦斯措施巷、井下移动泵和上隅角风帘，上隅角和回风流平均瓦斯浓度分别控制在0.5%和0.4%以下，对高瓦斯矿井U型通风工作面瓦斯治理有借鉴意义。     

Scheduling distributed flowshops with flexible assembly and set-up time to minimise makespan

The scheduling problems under distributed production or flexible assembly settings have achieved increasing attention in recent years. This paper considers scheduling the integration of these two environments and proposes an original distributed flowshop scheduling problem with flexible assembly and set-up time. Distributed production stage is deployed several homogeneous flowshop factories that process the jobs to be assembled into final products in the flexible assembly stage. The objective is to find a schedule, including a production subschedule for jobs and an assembly subschedule for products, to minimise the makespan. Such a scheduling problem involves four successive decisions: assigning jobs to production factories, sequencing jobs at every factory, designating an assembly machine for each product and sequencing products on each assembly machine. The computational model is first established, and then a constructive heuristic (TPHS) and two hybrid metaheuristics (HVNS and HPSO) are proposed. Numerical experiments have been carried out and results validate the algorithmic feasibility and effectiveness. TPHS can obtain reasonable solutions in a shorter time, while metaheuristics can report better solutions using more yet acceptable time. HPSO is statistically comparable yet less robust compared with HVNS for small-scale instances. For the large-scale case, HPSO outperforms HVNS on both effectiveness and robustness.     

An up to date review of continuously variable speed wind turbines with mechatronic variable transmissions

As a promising and potential alternative to conventional fixed or variable speed wind turbines, continuously variable speed wind turbines (CVSWTs) with variable transmissions offer improved power efficiency and enhanced power control capabilities. The CVSWTs can be generally achieved by adapting mechatronic variable transmissions in the turbine drive train for continuously variable speed operations for wind turbines. Therefore, this paper serves to provide an up to date and exhaustive review of the CVSWTs with mechatronic variable transmissions such as mechanical variable transmission, electrical variable transmission, and power splitting transmission. In this paper, the analysis of CVSWTs with different mechatronic transmission topologies is performed regarding basic configurations, dynamic characteristics, control principles, and experimental or simulation results. Review results indicate the feasibility of applying CVSWTs with such mechatronic transmissions and highlight superiorities of the CVSWTs with power splitting transmission. The CVSWT with power splitting transmission will be particularly suitable for megawatt‐scale turbine systems and will hence increase the economic competitiveness of these turbines due to its large power capacity and high reliability. The directions or challenges for future investigations of CVSWTs with such mechatronic transmissions are also presented to foster in‐depth understanding of such CVSWTs and their control strategies.