筒体结构连续化模型的弹性动力时程分析

本文用连续化模型对高层筒体结构在地震作用下的动力时程反应进行分析．     

一次国际设计竞赛的尝试--多维住宅设计

在后工业时代，建筑设计已经冲破了西方思维所惯用的二元对立方式的约束，呈现出日新月异的景象，建筑表皮的创作尤为突出。这个住宅设计是从四维分解到四维连续的一种大胆尝试，并引入拓扑学的基本方法处理动态空间。     

The Effect of Temperature on the Strength of Adhesively-Bonded Composite-Aluminium Joints

Different materials have different coefficients of thermal expansion, which is a measure of the change in length for a given change in temperature. When different materials are combined structurally, as in a bonded joint, a temperature change leads to stresses being set up. These stresses are present even in an unloaded joint which has been cured at say 150°C and cooled to room temperature. Further stresses result from operations at even lower temperatures.

In addition to temperature-induced stresses, account also has to be taken of changes in adhesive properties. Low temperatures cause the adhesive to become more brittle (reduced strain to failure), while high temperatures cause the adhesive to become more ductile, but make it less strong and more liable to creep.

Theoretical predictions are made of the strength of a series of aluminium/CFRP joints using three different adhesives at 20°C and 55°C. Various failure criteria are used to show good correlation with experimental results.     

Soft Robotics: Morphology and Morphology-inspired Motion Strategy

Robotics has aroused huge attention since the 1950s. Irrespective of the uniqueness that industrial applications exhibit, conventional rigid robots have displayed noticeable limitations, particularly in safe cooperation as well as with environmental adaption. Accordingly, scientists have shifted their focus on soft robotics to apply this type of robots more effectively in unstructured environments. For decades, they have been committed to exploring sub-fields of soft robotics (e.g., cutting-edge techniques in design and fabrication, accurate modeling, as well as advanced control algorithms). Although scientists have made many different efforts, they share the common goal of enhancing applicability. The presented paper aims to brief the progress of soft robotic research for readers interested in this field, and clarify how an appropriate control algorithm can be produced for soft robots with specific morphologies. This paper, instead of enumerating existing modeling or control methods of a certain soft robot prototype, interprets for the relationship between morphology and morphology-dependent motion strategy, attempts to delve into the common issues in a particular class of soft robots, and elucidates a generic solution to enhance their performance.      

基于独立连续变量和复合指数函数的位移约束平面连续体结构拓扑优化

为了进一步研究连续体结构拓扑优化模型的合理性和可行性,基于独立、连续、映射( independent continuous mapping,ICM)方法,在满足结构位移约束的条件下,通过引入复合指数形式过滤函数对位移约束下质量最小化( minimum weight with a displacement constraint,MWDC)模型进行了改进,建立了基于独立连续变量和复合指数函数的位移约束平面连续体结构拓扑优化模型,并进行了优化求解。同时,利用M语言,基于Matlab软件平台,开发了相应的拓扑优化计算程序,并针对4种典型平面连续体结构进行了数值验证,分别比较分析了体积约束下的柔顺度最小化( minimum compliance with a volume constraint,MCVC)模型、MWDC模型以及改进的MWDC模型所得到的最优拓扑结构。数值结果表明：采用复合指数形式过滤函数改进的MWDC优化模型迭代次数更少,优化求解计算效率更高。     

A decoupled sliding mode control for a continuum arm

The paper treats the control problem of a class of robots constituted by a chain of continuum segments. The technological model basis is a central, long and thin, highly flexible and elastic backbone. The segment control system is a decoupled one. The main parameters of the arm control are determined by the curvature and curvature gradient. The dynamic model is inferred. The primary benefit of the proposed method is that the dynamic equations are represented by a set of ODE’s in time instead of PDE’s in time and space, and the new curvature gradient lumped parameter model is used. A sliding mode control system is used in order to achieve the desired shape of the arm. The stability of the closed-loop control system is proven. Numerical simulations and an experimental platform are also provided to verify the effectiveness of the presented approach.     

Conformational Modeling of Continuum Structures in Robotics and Structural Biology: A Review

Hyper-redundant (or snakelike) manipulators have many more degrees of freedom than required to position and orient an object in space. They have been employed in a variety of applications ranging from search-and-rescue to minimally invasive surgical procedures, and recently they even have been proposed as solutions to problems in maintaining civil infrastructure and the repair of satellites. The kinematic and dynamic properties of snakelike robots are captured naturally using a continuum backbone curve equipped with a naturally evolving set of reference frames, stiffness properties, and mass density. When the snakelike robot has a continuum architecture, the backbone curve corresponds with the physical device itself. Interestingly, these same modeling ideas can be used to describe conformational shapes of DNA molecules and filamentous protein structures in solution and in cells. This paper reviews several classes of snakelike robots: (1) hyper-redundant manipulators guided by backbone curves; (2) flexible steerable needles; and (3) concentric tube continuum robots. It is then shown how the same mathematical modeling methods used in these robotics contexts can be used to model molecules such as DNA. All of these problems are treated in the context of a common mathematical framework based on the differential geometry of curves, continuum mechanics, and variational calculus. Both coordinate-dependent Euler–Lagrange formulations and coordinate-free Euler–Poincaré approaches are reviewed.     

Electronic Raman scattering of superconducting YBa2Cu3Oy single crystals

TheA _1g andB _1g low-energy Raman continua of YBa₂Cu₃O _y (Y123) single crystals, withy=7.0, 6.99, and 6.93, have been investigated. It is found that the peak frequency of theA _1g continuum is equal to 310±10 cm^–1 and independent of oxygen concentration fory in the above range. The central frequency of the broad peak in theB _1g continuum, however, shifts from about 470 cm^–1 fory7.0 to 550 cm^–1 fory6.93. Thus, a relatively small change in oxygen concentration results in a significant redistribution of the states contributing to theB _1g continuum. Assuming the low-energy portions of the continua are electronic in origin, the Raman spectra have been calculated and the results compared to the experimental spectra. It is suggested that the Raman continua arise, at least in part, from scattering across a spin fluctuation-induced pseudogap.     

基于特征建模的连续体机械臂自适应鲁棒控制技术研究

针对连续体机械臂动力学建模困难,控制难度大的问题,使用特征建模的方法,用简化等价的特征模型设计了自适应鲁棒控制器。首先,通过对机械臂系统进行分析,使用特征建模得到等价的动力学模型,然后采用递推最小二乘法进行参数辨识,得到该特征模型的特征参数,最后,利用模型与辨识得到的参数设计了一种结合滑模控制的自适应控制器。通过仿真实验对本文方法与传统PID方法进行对比,仿真结果表明,本文的方法对于末端角度控制的跟踪精度高,同时对于末端扰动有着良好的自适应能力和鲁棒性。     

Continuum structural topological optimizations with stress constraints based on an active constraint technique

Stress‐related problems have not been given the same attention as the minimum compliance topological optimization problem in the literature. Continuum structural topological optimization with stress constraints is of wide engineering application prospect, in which there still are many problems to solve, such as the stress concentration, an equivalent approximate optimization model and etc. A new and effective topological optimization method of continuum structures with the stress constraints and the objective function being the structural volume has been presented in this paper. To solve the stress concentration issue, an approximate stress gradient evaluation for any element is introduced, and a total aggregation normalized stress gradient constraint is constructed for the optimized structure under the r?th load case. To obtain stable convergent series solutions and enhance the control on the stress level, two p‐norm global stress constraint functions with different indexes are adopted, and some weighting p‐norm global stress constraint functions are introduced for any load case. And an equivalent topological optimization model with reduced stress constraints is constructed,being incorporated with the rational approximation for material properties, an active constraint technique, a trust region scheme, and an effective local stress approach like the qp approach to resolve the stress singularity phenomenon. Hence, a set of stress quadratic explicit approximations are constructed, based on stress sensitivities and the method of moving asymptotes. A set of algorithm for the one level optimization problem with artificial variables and many possible non‐active design variables is proposed by adopting an inequality constrained nonlinear programming method with simple trust regions, based on the primal‐dual theory, in which the non‐smooth expressions of the design variable solutions are reformulated as smoothing functions of the Lagrange multipliers by using a novel smoothing function. Finally, a two‐level optimization design scheme with active constraint technique, i.e. varied constraint limits, is proposed to deal with the aggregation constraints that always are of loose constraint (non active constraint) features in the conventional structural optimization method. A novel structural topological optimization method with stress constraints and its algorithm are formed, and examples are provided to demonstrate that the proposed method is feasible and very effective. © 2016 The Authors. International Journal for Numerical Methods in Engineering published by John Wiley & Sons Ltd.