Using the finite element code ANSYS/LS-DYNA, a dynamic finite element modelwith an elastic-linear-kinematic-hardening plastic material is established to analyzeelastic-plastic stresses in the railhead in the impact pr...Using the finite element code ANSYS/LS-DYNA, a dynamic finite element modelwith an elastic-linear-kinematic-hardening plastic material is established to analyzeelastic-plastic stresses in the railhead in the impact process of wheel and rail occurring at thegap of rail joint. The model is based on the discrete elastic support condition of the rails, whichis suitable for the actual situation of wheel/track rolling contact. In the analysis the influencesof axle load, yield stress and tangent modulus of rail material on the stresses and strains areinvestigated in detail. The distribution of stresses and strains in the jointed railhead are given.It is found that the axle load, yield stress and tangent modulus of rail material greatly affect thestresses and strains in the railhead during impacting. The study provides a reliable method anduseful datum for the further research on fatigue and wear of railhead and improving the rail jointmode.展开更多
Passivity-based controllers are widely used to facilitate physical interaction between humans and elastic joint robots,as they enhance the stability of the interaction system.However,the joint position tracking perfor...Passivity-based controllers are widely used to facilitate physical interaction between humans and elastic joint robots,as they enhance the stability of the interaction system.However,the joint position tracking performance can be limited by the structures of these controllers when the system is faced with uncertainties and rough high-order system state measurements(such as joint accelerations and jerks).This study presents a variable structure passivity(VSP)control method for joint position tracking of elastic joint robots,which combines the advantages of passive control and variable structure control.This method ensures the tracking error converges in a finite time,even when the system faces uncertainties.The method also preserves the passivity of the system.Moreover,a cascaded observer,called CHOSSO,is also proposed to accurately estimate high-order system states,relying only on position and velocity signals.This observer allows independent implementation of disturbance compensation in the acceleration and jerk estimation channels.In particular,the observer has an enhanced ability to handle fast time-varying disturbances in physical human-robot interaction.The effectiveness of the proposed method is verified through simulations and experiments on a lower limb rehabilitation robot equipped with elastic joints.展开更多
Fractured hydrate-bearing reservoirs show significantly anisotropic geophysical properties. The joint application of seismic and electromagnetic explorations is expected to accurately assess hydrate resources in the f...Fractured hydrate-bearing reservoirs show significantly anisotropic geophysical properties. The joint application of seismic and electromagnetic explorations is expected to accurately assess hydrate resources in the fractured reservoirs. However, the anisotropic joint elastic-electrical properties in such reservoirs that are the key to the successful application of the joint explorations, remain poorly understood. To obtain such knowledge, we designed and implemented dedicated laboratory experiments to study the anisotropic joint elastic-electrical properties in fractured artificial silica sandstones (with fracture density of about 6.2%, porosity of approximately 25.7%, and mean grainsize of 0.089 mm) with evolving methane hydrate. The experimental results showed that the anisotropic compressional wave velocities respectively increased and decreased with the forming and dissociating hydrate, and the variation in the increasing trend and the decreasing extent of the velocity perpendicular to the fractures were more significant than that parallel to the fractures, respectively. The experimental results also showed that the overall decreasing trend of the electrical conductivity parallel to the fractures was steeper than that perpendicular to the fractures during hydrate formation, and the general variations of the two conductivities with complex trend were similar during hydrate dissociation. The variations in the elastic and electrical anisotropic parameters with forming and dissociating hydrate were also found to be distinct. Interpretation of the experimental results suggested that the hydrate binding to the grains evolved to bridge the surfaces of fractures when saturation exceeded 10% during hydrate formation, and the bridging hydrate gradually evolved to floating in fractures during dissociation. The experimental results further showed that the anisotropic velocities and electrical conductivities were correlated with approximately consistent trends of different slopes during hydrate formation, and the joint e展开更多
基金National Natural Science Foundation of China(No.599355100)Foundation for Excellent PhD Thesis of University of Ministry of Education of China (No.200048)
文摘Using the finite element code ANSYS/LS-DYNA, a dynamic finite element modelwith an elastic-linear-kinematic-hardening plastic material is established to analyzeelastic-plastic stresses in the railhead in the impact process of wheel and rail occurring at thegap of rail joint. The model is based on the discrete elastic support condition of the rails, whichis suitable for the actual situation of wheel/track rolling contact. In the analysis the influencesof axle load, yield stress and tangent modulus of rail material on the stresses and strains areinvestigated in detail. The distribution of stresses and strains in the jointed railhead are given.It is found that the axle load, yield stress and tangent modulus of rail material greatly affect thestresses and strains in the railhead during impacting. The study provides a reliable method anduseful datum for the further research on fatigue and wear of railhead and improving the rail jointmode.
基金supported by the National Natural Science Foundation of China(Grant Nos.91648112,52375506)。
文摘Passivity-based controllers are widely used to facilitate physical interaction between humans and elastic joint robots,as they enhance the stability of the interaction system.However,the joint position tracking performance can be limited by the structures of these controllers when the system is faced with uncertainties and rough high-order system state measurements(such as joint accelerations and jerks).This study presents a variable structure passivity(VSP)control method for joint position tracking of elastic joint robots,which combines the advantages of passive control and variable structure control.This method ensures the tracking error converges in a finite time,even when the system faces uncertainties.The method also preserves the passivity of the system.Moreover,a cascaded observer,called CHOSSO,is also proposed to accurately estimate high-order system states,relying only on position and velocity signals.This observer allows independent implementation of disturbance compensation in the acceleration and jerk estimation channels.In particular,the observer has an enhanced ability to handle fast time-varying disturbances in physical human-robot interaction.The effectiveness of the proposed method is verified through simulations and experiments on a lower limb rehabilitation robot equipped with elastic joints.
基金financial supports received from the National Natural Science Foundation of China(42174136,41821002 and 41874151)the Shandong Provincial Natural Science Foundation,China(ZR2021JQ14).
文摘Fractured hydrate-bearing reservoirs show significantly anisotropic geophysical properties. The joint application of seismic and electromagnetic explorations is expected to accurately assess hydrate resources in the fractured reservoirs. However, the anisotropic joint elastic-electrical properties in such reservoirs that are the key to the successful application of the joint explorations, remain poorly understood. To obtain such knowledge, we designed and implemented dedicated laboratory experiments to study the anisotropic joint elastic-electrical properties in fractured artificial silica sandstones (with fracture density of about 6.2%, porosity of approximately 25.7%, and mean grainsize of 0.089 mm) with evolving methane hydrate. The experimental results showed that the anisotropic compressional wave velocities respectively increased and decreased with the forming and dissociating hydrate, and the variation in the increasing trend and the decreasing extent of the velocity perpendicular to the fractures were more significant than that parallel to the fractures, respectively. The experimental results also showed that the overall decreasing trend of the electrical conductivity parallel to the fractures was steeper than that perpendicular to the fractures during hydrate formation, and the general variations of the two conductivities with complex trend were similar during hydrate dissociation. The variations in the elastic and electrical anisotropic parameters with forming and dissociating hydrate were also found to be distinct. Interpretation of the experimental results suggested that the hydrate binding to the grains evolved to bridge the surfaces of fractures when saturation exceeded 10% during hydrate formation, and the bridging hydrate gradually evolved to floating in fractures during dissociation. The experimental results further showed that the anisotropic velocities and electrical conductivities were correlated with approximately consistent trends of different slopes during hydrate formation, and the joint e
