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Stiffness analysis and experimental validation of robotic systems

Giuseppe CARBONE

《机械工程前沿（英文）》 2011年 第6卷 第2期   页码 182-196 doi: 10.1007/s11465-011-0221-3

摘要：

Stiffness can be considered of primary importance in order to guarantee the successful use of any robotic system for a given task. Therefore, this paper proposes procedures for carrying out both numerical and experimental estimations of stiffness performance for multibody robotic systems. The proposed numerical procedure is based on models with lumped parameters for deriving the Cartesian stiffness matrix. Stiffness performance indices are also proposed for comparing stiffness performance. Then, an experimental procedure for the evaluation stiffness performance is proposed as based on a new measuring system named as Milli-CATRASYS (Milli Cassino Tracking System) and on a trilateration technique. Cases of study are reported to show the soundness and engineering feasibility of both the proposed numerical formulation for stiffness analysis and experimental validation of stiffness performance.

关键词： robotics     stiffness performance     numerical and experimental estimations    

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Numerical and experimental analyses of methane leakage in shield tunnel

《结构与土木工程前沿（英文）》   页码 1011-1020 doi: 10.1007/s11709-023-0956-z

摘要： Tunnels constructed in gas-bearing strata are affected by the potential leakage of harmful gases, such as methane gas. Based on the basic principles of computational fluid dynamics, a numerical analysis was performed to simulate the ventilation and diffusion of harmful gases in a shield tunnel, and the effect of ventilation airflow speed on the diffusion of harmful gases was evaluated. As the airflow speed increased from 1.8 to 5.4 m/s, the methane emission was diluted, and the methane accumulation was only observed in the area near the methane leakage channels. The influence of increased ventilation airflow velocity was dominant for the ventilation modes with two and four fans. In addition, laboratory tests on methane leakage through segment joints were performed. The results show that the leakage process can be divided into “rapid leakage” and “slight leakage”, depending on the leakage pressure and the state of joint deformation. Based on the numerical and experimental analysis results, a relationship between the safety level and the joint deformation is established, which can be used as guidelines for maintaining utility tunnels.

关键词： shield tunnel     harmful gas leakage     numerical analysis     laboratory test    

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consistent geometric decomposition theorem to dynamic finite element of 3D composite beam based on experimentaland numerical analyses

Iman FATTAHI, Hamid Reza MIRDAMADI, Hamid ABDOLLAHI

《结构与土木工程前沿（英文）》 2020年 第14卷 第3期   页码 675-689 doi: 10.1007/s11709-020-0625-4

摘要： Analyzing static and dynamic problems including composite structures has been of high significance in research efforts and industrial applications. In this article, equivalent single layer approach is utilized for dynamic finite element procedures of 3D composite beam as the building block of numerous composite structures. In this model, both displacement and strain fields are decomposed into cross-sectional and longitudinal components, called consistent geometric decomposition theorem. Then, the model is discretized using finite element procedures. Two local coordinate systems and a global one are defined to decouple mechanical degrees of freedom. Furthermore, from the viewpoint of consistent geometric decomposition theorem, the transformation and element mass matrices for those systems are introduced here for the first time. The same decomposition idea can be used for developing element stiffness matrix. Finally, comprehensive validations are conducted for the theory against experimental and numerical results in two case studies and for various conditions.

关键词： composite beam     dynamic finite element     degrees of freedom coupling     experimental validation     numerical validation    

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On braced trapezoidal corrugated steel shear panels: An experimental and numerical study

《结构与土木工程前沿（英文）》 2023年 第17卷 第3期   页码 396-410 doi: 10.1007/s11709-023-0934-5

摘要： In this study, a new system consisting of a combination of braces and steel infill panels called the braced corrugated steel shear panel (BCSSP) is presented. To obtain the hysteretic behavior of the proposed system, the quasi-static cyclic performances of two experimental specimens were first evaluated. The finite element modeling method was then verified based on the obtained experimental results. Additional numerical evaluations were carried out to investigate the effects of different parameters on the system. Subsequently, a relationship was established to estimate the buckling shear strength of the system without considering residual stresses. The results obtained from the parametric study indicate that the corrugated steel shear panel (CSSP) with the specifications of a = 30 mm, t = 2 mm, and θ = 90° had the highest energy dissipation capacity and ultimate strength while the CSSP with the specifications of a = 30 mm, t = 2 mm, and θ = 30° had the highest initial stiffness. It can thus be concluded that the latter CSSP has the best structural performance and that increasing the number of corrugations, corrugation angle, and plate thickness and decreasing the sub-panel width generally enhance the performance of CSSPs in terms of the stability of their hysteretic behaviors.

关键词： trapezoidal corrugated plate     steel shear panel     braced steel shear panel     experimental study     buckling resistance.    

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Numerical simulation and experimental research on the wheel brush sampling process of an asteroid sampler

《机械工程前沿（英文）》 2023年 第18卷 第2期 doi: 10.1007/s11465-022-0732-0

摘要： To examine the environmental characteristics of the microgravity force and the weathered layer on an asteroid surface, a symmetric wheel brush asteroid sampler is proposed for the collection of particles on the asteroid surface. To study the influence of the wheel brush rotation speed on the sampling efficiency and the driving torque required for the wheel brush, the contact dynamics model between particles and sampling wheel brushes is established and a simulation and experimental verification of the sampling process are conducted. The parameter calibration of the sampled particles is studied first, and the calibrated particle parameters are used in the numerical simulation of the sampling process. The sampling results and the particle stream curves are obtained for the working conditions of different rotation speeds, and the effects of different parameter settings on the sampling efficiency are analyzed. In addition, a set of rotating symmetrical sampling wheel brush devices is built for the ground test, and the dynamic torque sensor is used to test the torque change of the wheel brush during the sampling process. The relationship between the speed of the wheel brush and the driving torque of the wheel brush motor is determined by comparing the simulation results with the test results. Results indicate that when the rotating speed of the wheel brush is faster, the sampling efficiency is higher, and the driving torque required for the sampling wheel brush is greater. Moreover, a numerical simulation analysis of the sampling process of the wheel brush sampler in a microgravity environment is conducted to determine the optimal speed condition, and the brushing test of the wheel brush sampler in the microgravity environment is verified with the drop tower method. This research proposes the structural optimization design and motor selection of a wheel brush asteroid sampler, which provides important reference value and engineering significance.

关键词： asteroid sampling     wheel brush sampler     discrete element method     parameter calibration     experimental research    

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A new approach for fuel injection into a solar receiver/reactor: Numerical and experimental investigation

M Helal Uddin, Nesrin Ozalp, Jens Heylen, Cedric Ophoff

《化学科学与工程前沿（英文）》 2018年 第12卷 第4期   页码 683-696 doi: 10.1007/s11705-018-1782-z

摘要：

An innovative and efficient design of solar receivers/reactors can enhance the production of clean fuels via concentrated solar energy. This study presents a new jet-type burner nozzle for gaseous feedstock injection into a cavity solar receiver inspired from the combustion technology. The nozzle design was adapted from a combustion burner and successfully implemented into a solar receiver and studied the influence of the nozzle design on the fluid mixing and temperature distribution inside the solar receiver using a 7 kW solar simulator and nitrogen as working fluid. Finally, a thorough computational fluid dynamics (CFD) analysis was performed and validated against the experimental results. The CFD results showed a variation of the gas flow pattern and gas mixing after the burner nozzle adaptation, which resulted an intense effect on the heat transfer inside the solar receiver.

关键词： solar reactor     nozzle     CFD     heat transfer     mixing and recirculation    

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Experimental and numerical study on microcrack detection using contact nonlinear acoustics

Xiaojia CHEN, Yuanlin WANG

《结构与土木工程前沿（英文）》 2009年 第3卷 第2期   页码 137-141 doi: 10.1007/s11709-009-0028-z

摘要： This paper introduces a non-classical nonlinear acoustic theory for microcrack detection in materials, comparing contact nonlinearity with material nonlinearity. The paper’s main work concentrates on the experimental and numerical verification of the effectivity of contact nonlinear acoustic detection by using the contact nonlinear parameter , which can be represented by the ratio of the second-harmonic amplitude to the square of the first-harmonic amplitude. Both experiments and numerical tests are performed. The results show that is sensitive to the initiation of microcracks and varies with the development of the microcracks. The numerical test illustrates the decline of when microcracks penetrate each other.

关键词： microcrack detection     contact nonlinearity     numerical analysis    

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mechanical properties of steel- and polypropylene-reinforced ultra-high-performance concrete through numericalanalyses and experimental multi-target digital image correlation

《结构与土木工程前沿（英文）》   页码 1228-1248 doi: 10.1007/s11709-023-0931-8

摘要： This study presents experimental and numerical investigations on the mechanical properties of ultra-high-performance concrete (UHPC) reinforced with single and hybrid micro- and macro-steel and polypropylene fibers. For this purpose, a series of cubic, cylindrical, dog-bone, and prismatic beam specimens (total fiber by volume = 1%, and 2%) were tested under compressive, tensile, and flexural loadings. A method, namely multi-target digital image correlation (MT-DIC) was used to monitor the displacement and deflection values. The obtained experimental data were subsequently used to discuss influential parameters, i.e., flexural strength, tensile strength, size effect, etc. Numerical analyses were also carried out using finite element software to account for the sensitivity of different parameters. Furthermore, nonlinear regression analyses were conducted to obtain the flexural load-deflection curves. The results showed that the MT-DIC method was capable of estimating the tensile and flexural responses as well as the location of the crack with high accuracy. In addition, the regression analyses showed excellent consistency with the experimental results, with correlation coefficients close to unity. Furthermore, size-effect modeling revealed that modified Bazant theory yielded the best estimation of the size-effect phenomenon compared to other models.

关键词： UHPC     MT-DIC     flexural behavior     tensile behavior     steel fiber     polypropylene fiber    

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Experimental and numerical analysis of beam to column joints in steel structures

Gholamreza ABDOLLAHZADEH, Seyed Mostafa SHABANIAN

《结构与土木工程前沿（英文）》 2018年 第12卷 第4期   页码 642-661 doi: 10.1007/s11709-017-0457-z

摘要： The behaviors such as extreme non-elastic response, constant changes in roughness and resistance, as well as formability under extreme loads such as earthquakes are the primary challenges in the modeling of beam-to-column connections. In this research, two modeling methods including mechanical and neural network methods have been presented in order to model the complex hysteresis behavior of beam-to-column connections with flange plate. First, the component-based mechanical model will be introduced in which every source of transformation has been shown only with geometrical and material properties. This is followed by the investigation of a neural network method for direct extraction of information out of experimental data. For the validation of behavioral curves as well as training of the neural network, the experiments were carried out on samples with real dimensions of beam-to-column connections with flange plate in the laboratory. At the end, the combinational modeling framework is presented. The comparisons reveal that the combinational modeling is able to display the complex narrowed hysteresis behavior of the beam-to-column connections with flange plate. This model has also been successfully employed for the prediction of the behavior of a newly designed connection.

关键词： beam to column connections     experiments     component method     neural network model     combinational modeling    

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Numerical analysis and experimental investigation of modal properties for the gearbox in wind turbine

Pengxing YI,Peng HUANG,Tielin SHI

《机械工程前沿（英文）》 2016年 第11卷 第4期   页码 388-402 doi: 10.1007/s11465-016-0404-z

摘要：

Wind turbine gearbox (WTG), which functions as an accelerator, ensures the performance and service life of wind turbine systems. This paper examines the distinctive modal properties of WTGs through finite element (FE) and experimental modal analyses. The study is performed in two parts. First, a whole system model is developed to investigate the first 10 modal frequencies and mode shapes of WTG using flexible multi-body modeling techniques. Given the complex structure and operating conditions of WTG, this study applies spring elements to the model and quantifies how the bearings and gear pair interactions affect the dynamic characteristics of WTGs. Second, the FE modal results are validated through experimental modal analyses of a 1.5 WM WTG using the frequency response function method of single point excitation and multi-point response. The natural frequencies from the FE and experimental modal analyses show favorable agreement and reveal that the characteristic frequency of the studied gearbox avoids its eigen-frequency very well.

关键词： wind turbine gearbox     modal analysis     finite element analysis     modal frequency     bearing equivalence    

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Numerical simulation and experimental verification of chemical reactions for SCR DeNO

Qiang ZHANG, Yonglin FAN, Wenyan LI

《化学科学与工程前沿（英文）》 2010年 第4卷 第4期   页码 523-528 doi: 10.1007/s11705-010-0520-y

摘要： Selective catalytic reduction (SCR) is a major commercial technology for NO removal in power plants. There are a lot of complex chemical reactions in SCR reactors, and it is of great significance to understand the internal process of chemical reactions for SCR DeNO and study the impact of various factors on NO removal efficiency. In this paper, the impact of reaction temperature, ammonia-nitrogen molar ratio and resident time in the catalyst bed layer on NO removal efficiency were studied by simulation of chemical reactions. Then calculated results were compared with catalyst activity test data in a power plant, which proved that the simulated results were accurate. As a result, the reaction conditions were optimized in order to get the best removal efficiency of NO, so that we can provide a reference for optimal running of SCR in power plants.

关键词： SCR     NOx     removal efficiency     chemical reactions     simulation    

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Combination form analysis and experimental study of mechanical properties on steel sheet glass fiber

《结构与土木工程前沿（英文）》 2021年 第15卷 第4期   页码 834-850 doi: 10.1007/s11709-021-0743-7

摘要： The concept of steel sheet glass fiber reinforced polymer (GFRP) composite bar (SSGCB) was put forward. An optimization plan was proposed in the combined form of SSGCB. The composite principle, material selection, and SSGCB preparation technology have been described in detail. Three-dimensional finite element analysis was adopted to perform the combination form optimization of different steel core structures and different steel core contents based on the mechanical properties. Mechanical tests such as uniaxial tensile, shear, and compressive tests were carried out on SSGCB. Parametric analysis was conducted to investigate the influence of steel content on the mechanical properties of SSGCB. The results revealed that the elastic modulus of SSGCB had improvements and increased with the rise of steel content. Shear strength was also increased with the addition of steel content. Furthermore, the yield state of SSGCB was similar to the steel bar, both of which indicated a multi-stage yield phenomenon. The compressive strength of SSGCB was lower than that of GFRP bars and increased with the increase of the steel core content. Stress-strain curves of SSGCB demonstrated that the nonlinear-stage characteristics of SSGCB-8 were much more obvious than other bars.

关键词： steel sheet GFRP composite bar     combination form     numerical modeling     mechanical properties test     strength    

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Experimental and numerical investigations of the compressive behavior of carbon fiber-reinforced polymer-strengthened

Peng DENG, Boyi YANG, Xiulong CHEN, Yan LIU

《结构与土木工程前沿（英文）》 2020年 第14卷 第5期   页码 1215-1231 doi: 10.1007/s11709-020-0663-y

摘要： A method for strengthening damaged tubular steel T-joints under axial compression by wrapping them with carbon fiber-reinforced polymer (CFRP) sheets was proposed and evaluated. The influence of the CFRP strengthening on the failure mode and load capacity of T-joints with different degrees of damage was investigated using experiments and finite element analyses. Five T-joints were physically tested: one bare joint to obtain the peak load and corresponding displacement ( ), two reinforced joints to provide a reference, and two pre-damaged then retrofitted joints to serve as the primary research objects. The ratio of the pre-loaded specimen chord displacement to the value of was considered to be the degree of damage of the two retrofitted joints, and was set to 0.80 and 1.20. The results demonstrate that the maximum capacity of the retrofitted specimen was increased by 0.83%–15.06% over the corresponding unreinforced specimens. However, the capacity of the retrofitted specimen was 2.51%–22.77% lesser compared with that of the directly reinforced specimens. Next, 111 numerical analysis models (0.63≤ ≤0.76, 9.70≤ ≤16.92) were established to parametrically evaluate the effects of different geometric and strengthening parameters on the load capacity of strengthened tubular T-joints under different degrees of damage. The numerical analysis results revealed that the development of equivalent plastic strain at the selected measuring points was moderated by strengthening with CFRP wrapping, and indicated the optimal CFRP strengthening thickness and wrapping orientation according to tubular T-joint parameters. Finally, reasonable equations for calculating the load capacity of CFRP-strengthened joints were proposed and demonstrated to provide accurate results. The findings of this study can be used to inform improved CFRP strengthening of damaged tubular steel structures.

关键词： tubular T-joint     carbon fiber-reinforced polymer     degree of damage     numerical analysis     equivalent plastic strain    

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Numerical and experimental research of the characteristics of concentration solar cells

Zilong WANG, Hua ZHANG, Binlin DOU, Weidong WU, Guanhua ZHANG

《能源前沿（英文）》 2021年 第15卷 第2期   页码 279-291 doi: 10.1007/s11708-019-0637-8

摘要： The development of automatic tracking solar concentrator photovoltaic systems is currently attracting growing interest. High concentration photovoltaic systems (HCPVs) combining triple-junction InGaP/lnGaAs/Ge solar cells with a concentrator provide high conversion efficiencies. The mathematical model for triple-junction solar cells, having a higher efficiency and superior temperature characteristics, was established based on the one-diode equivalent circuit cell model. A paraboloidal concentrator with a secondary optic system and a concentration ratio in the range of 100X–150X along with a sun tracking system was developed in this study. The GaInP/GalnAs/Ge triple-junction solar cell, produced by AZUR SPACE Solar Power, was also used in this study. The solar cells produced by Shanghai Solar Youth Energy (SY) and Shenzhen Yinshengsheng Technology Co. Ltd. (YXS) were used as comparison samples in a further comparative study at different concentration ratios (200X–1000X). A detailed analysis on the factors that influence the electrical output characteristics of the InGaP/lnGaAs/Ge solar cell was conducted with a dish-style concentrating photovoltaic system. The results show that the short-circuit current ( ) and the open-circuit voltage ( ) of multi-junction solar cells increases with the increasing concentration ratio, while the cell efficiency ( ) of the solar cells increases first and then decreases with increasing concentration ratio. With increasing solar cell temperature, increases, while and decrease. A comparison of the experimental and simulation results indicate that the maximum root mean square error is less than 10%, which provides a certain theoretical basis for the study of the characteristics of triple-junction solar cell that can be applied in the analysis and discussion regarding the influence of the relevant parameters on the performance of high concentration photovoltaic systems.

关键词： concentration     three-junction solar cell     mathematical model     electrical properties     solar energy    

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Design and Experimental Research on a New Pipe Rupture Valve

HU Guo-liang, XU Bing, YANG Hua-yong, ZHANG Yi-ding

《机械工程前沿（英文）》 2006年 第1卷 第1期   页码 26-32 doi: 10.1007/s11465-005-0009-4

摘要：

A new pipe rupture valve for hydraulic elevator is designed. Mathematical models established for the hydraulic elevator system are used in numerical simulations on the Simulink environment of Matlab kits. The effects of different viscous damping diameters, inlet pressures of pipe rupture valve, and elevator loads on the hydraulic elevator system s dynamic performance are analyzed. Experimental research is also carried out using a hydraulic elevator experiment rig. The numerical simulations accord with experimental results in general. Dynamic performance indexes are assessed by the EN81-2 standard. The results show that the newly designed pipe rupture valve meets the designing requirement for hydraulic elevators.

关键词： Mathematical     designing requirement     numerical     hydraulic elevator     EN81-2 standard    

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标题 作者 时间 类型 操作

Stiffness analysis and experimental validation of robotic systems

Giuseppe CARBONE

期刊论文

Numerical and experimental analyses of methane leakage in shield tunnel

期刊论文

consistent geometric decomposition theorem to dynamic finite element of 3D composite beam based on experimentaland numerical analyses

Iman FATTAHI, Hamid Reza MIRDAMADI, Hamid ABDOLLAHI

期刊论文

On braced trapezoidal corrugated steel shear panels: An experimental and numerical study

期刊论文

Numerical simulation and experimental research on the wheel brush sampling process of an asteroid sampler

期刊论文

A new approach for fuel injection into a solar receiver/reactor: Numerical and experimental investigation

M Helal Uddin, Nesrin Ozalp, Jens Heylen, Cedric Ophoff

期刊论文

Experimental and numerical study on microcrack detection using contact nonlinear acoustics

Xiaojia CHEN, Yuanlin WANG

期刊论文

mechanical properties of steel- and polypropylene-reinforced ultra-high-performance concrete through numericalanalyses and experimental multi-target digital image correlation

期刊论文

Experimental and numerical analysis of beam to column joints in steel structures

Gholamreza ABDOLLAHZADEH, Seyed Mostafa SHABANIAN

期刊论文

Numerical analysis and experimental investigation of modal properties for the gearbox in wind turbine

Pengxing YI,Peng HUANG,Tielin SHI

期刊论文

Numerical simulation and experimental verification of chemical reactions for SCR DeNO

Qiang ZHANG, Yonglin FAN, Wenyan LI

期刊论文

Combination form analysis and experimental study of mechanical properties on steel sheet glass fiber

期刊论文

Experimental and numerical investigations of the compressive behavior of carbon fiber-reinforced polymer-strengthened

Peng DENG, Boyi YANG, Xiulong CHEN, Yan LIU

期刊论文

Numerical and experimental research of the characteristics of concentration solar cells

Zilong WANG, Hua ZHANG, Binlin DOU, Weidong WU, Guanhua ZHANG

期刊论文

Design and Experimental Research on a New Pipe Rupture Valve

HU Guo-liang, XU Bing, YANG Hua-yong, ZHANG Yi-ding

期刊论文