轮式机器人和履带式机器人各有优缺点,为了综合运用2种机器人的行走机构,设计一种共用同一驱动装置的新型轮履复合式机器人,实现轮式行走和履带式行走的切换。在Solid Worsks对机器人进行三维建模,在Solid Works Simuation中对机器人底...轮式机器人和履带式机器人各有优缺点,为了综合运用2种机器人的行走机构,设计一种共用同一驱动装置的新型轮履复合式机器人,实现轮式行走和履带式行走的切换。在Solid Worsks对机器人进行三维建模,在Solid Works Simuation中对机器人底盘进行静应力分析,同时通过高位双目摄像头完成对机器人周围环境的采集,经过视差计算后,在Matlab 3D中进行环境建模,完成对机器人在复杂环境下的路径规划。展开更多
The dynamic analysis of a generalized linear elastic body undergoing large rigid rotations is investigated. The generalized linear elastic body is described in kine- matics through translational and rotational deforma...The dynamic analysis of a generalized linear elastic body undergoing large rigid rotations is investigated. The generalized linear elastic body is described in kine- matics through translational and rotational deformations, and a modified constitutive relation for the rotational deformation is proposed between the couple stress and the curvature tensor. Thus, the balance equations of momentum and moment are used for the motion equations of the body. The floating frame of reference formulation is applied to the elastic body that conducts rotations about a fixed axis. The motion-deformation coupled model is developed in which three types of inertia forces along with their incre- ments are elucidated. The finite element governing equations for the dynamic analysis of the elastic body under large rotations are subsequently formulated with the aid of the constrained variational principle. A penalty parameter is introduced, and the rotational angles at element nodes are treated as independent variables to meet the requirement of C1 continuity. The elastic body is discretized through the isoparametric element with 8 nodes and 48 degrees-of-freedom. As an example with an application of the motion- deformation coupled model, the dynamic analysis on a rotating cantilever with two spatial layouts relative to the rotational axis is numerically implemented. Dynamic frequencies of the rotating cantilever are presented at prescribed constant spin velocities. The maximal rigid rotational velocity is extended for ensuring the applicability of the linear model. A complete set of dynamical response of the rotating cantilever in the case of spin-up maneuver is examined, it is shown that, under the ultimate rigid rotational velocities less than the maximal rigid rotational velocity, the stress strength may exceed the material strength tolerance even though the displacement and rotational angle responses are both convergent. The influence of the cantilever layouts on their responses and the multiple displacement trajectories observed 展开更多
Objective The lateral extrusion of southeastern edge of the crustal materials around the Tibetan Plateau since the Oligocene is believed to be one of the main inducements of-1300 km latitudinal crustal convergence in...Objective The lateral extrusion of southeastern edge of the crustal materials around the Tibetan Plateau since the Oligocene is believed to be one of the main inducements of-1300 km latitudinal crustal convergence in the Tibetan Plateau, since the collision of India and Eurasia in the Paleogene. Two end-member models were used to describe the process of lateral extrusion of crustal material on the southeastern edge of the Tibetan Plateau. The ＂tectonic escape＂ model suggests the Indochina Block, Chuandian Fragment and Shan-Thai Block have experienced lateral extrusion along strike-slip fault systems, and the ＂crustal flow＂ model suggests that the upper crust has undergone southeastward escape in the form of ductile deformation, driven by viscous lower crustal flow channels. In addition, the GPS observations surrounding the Tibetan Plateau indicate that crustal materials currently experience clockwise rotation around the Eastern Himalaya syntaxis. This work conducted paleomagnetic studies in the Cretaceous and Paleogene red-beds along the southeastern margin of Tibetan Plateau,展开更多
Hard-magnetic soft materials have attracted broad interests because of their flexible programmability,non-contact activation and rapid response in various applications such as soft robotics,biomedical devices and flex...Hard-magnetic soft materials have attracted broad interests because of their flexible programmability,non-contact activation and rapid response in various applications such as soft robotics,biomedical devices and flexible electronics.Such multifunctional materials consist of a soft matrix embedded with hard-magnetic particles,and can exhibit large deformations under external magnetic stimuli.Here,we develop a three-dimensional(3D)rod model to predict spatial deformations(extension,bending and twist)of slender hard-magnetic elastica.The model follows Kirchhoff hypothesis and thus reduces the 3D magneto-elastic energy function to a one-dimensional(1D)form.Besides,the co-rotational formulation is applied to describe rigid body motion,and explicit time integration is adopted for the nonlinear resolution.Moreover,we explore finite bending,post-buckling and twisting of hard-magnetic elastica under external magnetic fields with different directions and amplitudes.Representative examples with various configurations show superior efficiency and accuracy of the model(the difference less than 1%with only a small number of elements)compared to conventional solid element.Our model could be used to guide rational designs on programmable shape morphing of ferromagnetic slender structures.展开更多
Based on the first-order shear deformation theory,a 3-node co-rotational triangular finite element formulation is developed for large deformation modeling of non-smooth,folded and multi-shell laminated composite struc...Based on the first-order shear deformation theory,a 3-node co-rotational triangular finite element formulation is developed for large deformation modeling of non-smooth,folded and multi-shell laminated composite structures.The two smaller components of the mid-surface normal vector of shell at a node are defined as nodal rotational variables in the co-rotational local coordinate system.In the global coordinate system,two smaller components of one vector,together with the smallest or second smallest component of another vector,of an orthogonal triad at a node on a non-smooth intersection of plates and/or shells are defined as rotational variables,whereas the two smaller components of the mid-surface normal vector at a node on the smooth part of the plate or shell(away from non-smooth intersections)are defined as rotational variables.All these vectorial rotational variables can be updated in an additive manner during an incremental solution procedure,and thus improve the computational efficiency in the nonlinear solution of these composite shell structures.Due to the commutativity of all nodal variables in calculating of the second derivatives of the local nodal variables with respect to global nodal variables,and the second derivatives of the strain energy functional with respect to local nodal variables,symmetric tangent stiffness matrices in local and global coordinate systems are obtained.To overcome shear locking,the assumed transverse shear strains obtained from the line-integration approach are employed.The reliability and computational accuracy of the present 3-node triangular shell finite element are verified through modeling two patch tests,several smooth and non-smooth laminated composite shells undergoing large displacements and large rotations.展开更多
The multi-particle states and rotational properties of the two-particle bands in 254No are investigated by the cranked shell model with pairing correlations treated by the particle number conserving method. The rotati...The multi-particle states and rotational properties of the two-particle bands in 254No are investigated by the cranked shell model with pairing correlations treated by the particle number conserving method. The rotational bands on top of the two-particle Kπ= 3+, 8- and 10+ states and the pairing reduction are studied theoretically in 254No for the first time. The experimental excitation energies and moments of inertia of the multi-particle states are reproduced well by the calculations. Better agreement with the data is achieved by including the high-order deformation ε6,J（1） in these two-particle bands compared with the ground state band is attributed to the pairing reduction due to the Pauli blocking effect.展开更多
文摘轮式机器人和履带式机器人各有优缺点,为了综合运用2种机器人的行走机构,设计一种共用同一驱动装置的新型轮履复合式机器人,实现轮式行走和履带式行走的切换。在Solid Worsks对机器人进行三维建模,在Solid Works Simuation中对机器人底盘进行静应力分析,同时通过高位双目摄像头完成对机器人周围环境的采集,经过视差计算后,在Matlab 3D中进行环境建模,完成对机器人在复杂环境下的路径规划。
基金supported by the Joint Fund of the National Natural Science Foundation of Chinathe China Academy of Engineering Physics(No.11176035)+1 种基金the National Natural Science Foundation of China(No.11072276)the National Basic Research Program of China(No.2011CB612211)
文摘The dynamic analysis of a generalized linear elastic body undergoing large rigid rotations is investigated. The generalized linear elastic body is described in kine- matics through translational and rotational deformations, and a modified constitutive relation for the rotational deformation is proposed between the couple stress and the curvature tensor. Thus, the balance equations of momentum and moment are used for the motion equations of the body. The floating frame of reference formulation is applied to the elastic body that conducts rotations about a fixed axis. The motion-deformation coupled model is developed in which three types of inertia forces along with their incre- ments are elucidated. The finite element governing equations for the dynamic analysis of the elastic body under large rotations are subsequently formulated with the aid of the constrained variational principle. A penalty parameter is introduced, and the rotational angles at element nodes are treated as independent variables to meet the requirement of C1 continuity. The elastic body is discretized through the isoparametric element with 8 nodes and 48 degrees-of-freedom. As an example with an application of the motion- deformation coupled model, the dynamic analysis on a rotating cantilever with two spatial layouts relative to the rotational axis is numerically implemented. Dynamic frequencies of the rotating cantilever are presented at prescribed constant spin velocities. The maximal rigid rotational velocity is extended for ensuring the applicability of the linear model. A complete set of dynamical response of the rotating cantilever in the case of spin-up maneuver is examined, it is shown that, under the ultimate rigid rotational velocities less than the maximal rigid rotational velocity, the stress strength may exceed the material strength tolerance even though the displacement and rotational angle responses are both convergent. The influence of the cantilever layouts on their responses and the multiple displacement trajectories observed
基金supported by the National Natural Science Foundation of China(grants No.41202162 and 41572183)
文摘Objective The lateral extrusion of southeastern edge of the crustal materials around the Tibetan Plateau since the Oligocene is believed to be one of the main inducements of-1300 km latitudinal crustal convergence in the Tibetan Plateau, since the collision of India and Eurasia in the Paleogene. Two end-member models were used to describe the process of lateral extrusion of crustal material on the southeastern edge of the Tibetan Plateau. The ＂tectonic escape＂ model suggests the Indochina Block, Chuandian Fragment and Shan-Thai Block have experienced lateral extrusion along strike-slip fault systems, and the ＂crustal flow＂ model suggests that the upper crust has undergone southeastward escape in the form of ductile deformation, driven by viscous lower crustal flow channels. In addition, the GPS observations surrounding the Tibetan Plateau indicate that crustal materials currently experience clockwise rotation around the Eastern Himalaya syntaxis. This work conducted paleomagnetic studies in the Cretaceous and Paleogene red-beds along the southeastern margin of Tibetan Plateau,
基金This work was supported by the National Natural Science Foundation of China(Grants Nos.12122204,11872150,and 11890673)Shanghai Pilot Program for Basic Research-Fudan University(Grant No.21TQ1400100-21TQ010)+2 种基金Shanghai Shuguang Program(Grant No.21SG05)Shanghai Rising-Star Program(Grant No.19QA1400500)Young Scientist Project of Ministry of Education Innovation Platform.
文摘Hard-magnetic soft materials have attracted broad interests because of their flexible programmability,non-contact activation and rapid response in various applications such as soft robotics,biomedical devices and flexible electronics.Such multifunctional materials consist of a soft matrix embedded with hard-magnetic particles,and can exhibit large deformations under external magnetic stimuli.Here,we develop a three-dimensional(3D)rod model to predict spatial deformations(extension,bending and twist)of slender hard-magnetic elastica.The model follows Kirchhoff hypothesis and thus reduces the 3D magneto-elastic energy function to a one-dimensional(1D)form.Besides,the co-rotational formulation is applied to describe rigid body motion,and explicit time integration is adopted for the nonlinear resolution.Moreover,we explore finite bending,post-buckling and twisting of hard-magnetic elastica under external magnetic fields with different directions and amplitudes.Representative examples with various configurations show superior efficiency and accuracy of the model(the difference less than 1%with only a small number of elements)compared to conventional solid element.Our model could be used to guide rational designs on programmable shape morphing of ferromagnetic slender structures.
基金This work was supported by National Natural Science Foundation of China under Grant 11672266.
文摘Based on the first-order shear deformation theory,a 3-node co-rotational triangular finite element formulation is developed for large deformation modeling of non-smooth,folded and multi-shell laminated composite structures.The two smaller components of the mid-surface normal vector of shell at a node are defined as nodal rotational variables in the co-rotational local coordinate system.In the global coordinate system,two smaller components of one vector,together with the smallest or second smallest component of another vector,of an orthogonal triad at a node on a non-smooth intersection of plates and/or shells are defined as rotational variables,whereas the two smaller components of the mid-surface normal vector at a node on the smooth part of the plate or shell(away from non-smooth intersections)are defined as rotational variables.All these vectorial rotational variables can be updated in an additive manner during an incremental solution procedure,and thus improve the computational efficiency in the nonlinear solution of these composite shell structures.Due to the commutativity of all nodal variables in calculating of the second derivatives of the local nodal variables with respect to global nodal variables,and the second derivatives of the strain energy functional with respect to local nodal variables,symmetric tangent stiffness matrices in local and global coordinate systems are obtained.To overcome shear locking,the assumed transverse shear strains obtained from the line-integration approach are employed.The reliability and computational accuracy of the present 3-node triangular shell finite element are verified through modeling two patch tests,several smooth and non-smooth laminated composite shells undergoing large displacements and large rotations.
基金Supported by the National Natural Science Foundation of China(11775112,11535004,11875027,11761161001)the Priority Academic Program Development of Jiangsu Higher Education Institutions
文摘The multi-particle states and rotational properties of the two-particle bands in 254No are investigated by the cranked shell model with pairing correlations treated by the particle number conserving method. The rotational bands on top of the two-particle Kπ= 3+, 8- and 10+ states and the pairing reduction are studied theoretically in 254No for the first time. The experimental excitation energies and moments of inertia of the multi-particle states are reproduced well by the calculations. Better agreement with the data is achieved by including the high-order deformation ε6,J（1） in these two-particle bands compared with the ground state band is attributed to the pairing reduction due to the Pauli blocking effect.
