Laboratory experiments were conducted for falling U-chain,but explicit analytic form of the general equations of motion was not presented.Several modeling methods were developed for fish robots,however they just focus...Laboratory experiments were conducted for falling U-chain,but explicit analytic form of the general equations of motion was not presented.Several modeling methods were developed for fish robots,however they just focused on the whole fish’s locomotion which does little favor to understand the detailed swimming behavior of fish.Udwadia-Kalaba theory is used to model these two multi-body systems and obtain explicit analytic equations of motion.For falling U-chain,the mass matrix is non-singular.Second-order constraints are used to get the constraint force and equations of motion and the numerical simulation is conducted.Simulation results show that the chain tip falls faster than the freely falling body.For fish robot,two-joint Carangiform fish robot is focused on.Quasi-steady wing theory is used to approximately calculate fluid lift force acting on the caudal fin.Based on the obtained explicit analytic equations of motion(the mass matrix is singular),propulsive characteristics of each part of the fish robot are obtained.Through these two cases of U chain and fish robot,how to use Udwadia-Kalaba equation to obtain the dynamical model is shown and the modeling methodology for multi-body systems is presented.It is also shown that Udwadia-Kalaba theory is applicable to systems whether or not their mass matrices are singular.In the whole process of applying Udwadia-Kalaba equation,Lagrangian multipliers and quasi-coordinates are not used.Udwadia-Kalaba theory is creatively applied to dynamical modeling of falling U-chain and fish robot problems and explicit analytic equations of motion are obtained.展开更多
The Baiyun （白云） sag in the southern Pearl River Mouth basin is the largest and deepest sag in deepwater northern South China Sea. Researches and exploration in this sag have revealed many distinct features of the ...The Baiyun （白云） sag in the southern Pearl River Mouth basin is the largest and deepest sag in deepwater northern South China Sea. Researches and exploration in this sag have revealed many distinct features of the sag. This article reports its Idling history through backstripping of depth data of interpreted sequence boundaries. Maps of sediment rates of 10 sequences from 49 Ma to the present were constructed, showing the spatio-temporal variation of the sediment rate. Three stages of sediment infilling, 49-17.5 Ma, 17.5-10.5 Ma, and 10.5-0 Ma, were divided by abrupt changes of sedimentary patterns. If the breakup of the South China Sea took place at -30 Ma, significant post-breakup acceleration of sedimentation was observed at 17.5-15.5 Ma and 13.8-12.5 Ma, indicating acceleration of subsidence at these times. We propose that the onset of strong post-breakup subsidence at ～17.5 Ma was an important tectonic event that changed the pattern of sedimentation from discrete and medium-rate deposition centers in both main and south subsags to restricted but high-rate deposition in the main subsag. The cause and implications of this newly recognized event need to be investigated.展开更多
A new water falling film dielectric barrier discharge was applied to the degradation of sulfadiazine in the aqueous solution. The various parameters that affect the degradation of sulfadiazine and the proposed evoluti...A new water falling film dielectric barrier discharge was applied to the degradation of sulfadiazine in the aqueous solution. The various parameters that affect the degradation of sulfadiazine and the proposed evolutionary process were investigated. The results indicated that the inner concentrations of 10 mg/L sulfadiazine can be all removed within 30 min. The optimum pH value was 9.10 and both strong acidic and alkaline solution conditions were not suitable for the degradation. The degradation of sulfadiazine can be enhanced by the addition of hydrogen radical scavengers, but be inhibited by adding hydroxyl radical scavengers. The water falling film dielectric barrier discharge was rather ineffective in mineralization, because of the intermediates were recalcitrant to be degraded. The existence of Fe2＋ and CCI4 in the liquid phase can promote the degradation and mineralization of sulfadiazine. It was found that the degradation of SDZ was enhanced by CC14 was mainly because of the increase of＇OH due to the reaction of CC14 with ＊H that reduce the chances of their recombination with ＂OH. Based on the 8 intermediate products identified by LC-MS, the proposed evolution of the degradation process was investigated.展开更多
文摘Laboratory experiments were conducted for falling U-chain,but explicit analytic form of the general equations of motion was not presented.Several modeling methods were developed for fish robots,however they just focused on the whole fish’s locomotion which does little favor to understand the detailed swimming behavior of fish.Udwadia-Kalaba theory is used to model these two multi-body systems and obtain explicit analytic equations of motion.For falling U-chain,the mass matrix is non-singular.Second-order constraints are used to get the constraint force and equations of motion and the numerical simulation is conducted.Simulation results show that the chain tip falls faster than the freely falling body.For fish robot,two-joint Carangiform fish robot is focused on.Quasi-steady wing theory is used to approximately calculate fluid lift force acting on the caudal fin.Based on the obtained explicit analytic equations of motion(the mass matrix is singular),propulsive characteristics of each part of the fish robot are obtained.Through these two cases of U chain and fish robot,how to use Udwadia-Kalaba equation to obtain the dynamical model is shown and the modeling methodology for multi-body systems is presented.It is also shown that Udwadia-Kalaba theory is applicable to systems whether or not their mass matrices are singular.In the whole process of applying Udwadia-Kalaba equation,Lagrangian multipliers and quasi-coordinates are not used.Udwadia-Kalaba theory is creatively applied to dynamical modeling of falling U-chain and fish robot problems and explicit analytic equations of motion are obtained.
基金supported by the National Natural Science Foundation of China (Nos. 40576027, 40238060)the High-Tech R&D Program of China (No. 2008AA09Z306)
文摘The Baiyun （白云） sag in the southern Pearl River Mouth basin is the largest and deepest sag in deepwater northern South China Sea. Researches and exploration in this sag have revealed many distinct features of the sag. This article reports its Idling history through backstripping of depth data of interpreted sequence boundaries. Maps of sediment rates of 10 sequences from 49 Ma to the present were constructed, showing the spatio-temporal variation of the sediment rate. Three stages of sediment infilling, 49-17.5 Ma, 17.5-10.5 Ma, and 10.5-0 Ma, were divided by abrupt changes of sedimentary patterns. If the breakup of the South China Sea took place at -30 Ma, significant post-breakup acceleration of sedimentation was observed at 17.5-15.5 Ma and 13.8-12.5 Ma, indicating acceleration of subsidence at these times. We propose that the onset of strong post-breakup subsidence at ～17.5 Ma was an important tectonic event that changed the pattern of sedimentation from discrete and medium-rate deposition centers in both main and south subsags to restricted but high-rate deposition in the main subsag. The cause and implications of this newly recognized event need to be investigated.
基金supported by the State Key Laboratory of Pollution Control&Resources Reuse
文摘A new water falling film dielectric barrier discharge was applied to the degradation of sulfadiazine in the aqueous solution. The various parameters that affect the degradation of sulfadiazine and the proposed evolutionary process were investigated. The results indicated that the inner concentrations of 10 mg/L sulfadiazine can be all removed within 30 min. The optimum pH value was 9.10 and both strong acidic and alkaline solution conditions were not suitable for the degradation. The degradation of sulfadiazine can be enhanced by the addition of hydrogen radical scavengers, but be inhibited by adding hydroxyl radical scavengers. The water falling film dielectric barrier discharge was rather ineffective in mineralization, because of the intermediates were recalcitrant to be degraded. The existence of Fe2＋ and CCI4 in the liquid phase can promote the degradation and mineralization of sulfadiazine. It was found that the degradation of SDZ was enhanced by CC14 was mainly because of the increase of＇OH due to the reaction of CC14 with ＊H that reduce the chances of their recombination with ＂OH. Based on the 8 intermediate products identified by LC-MS, the proposed evolution of the degradation process was investigated.
