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Contact detection with multi-information fusion for quadruped robot locomotion under unstructured terrain

《机械工程前沿（英文）》 2023年第18卷第3期 doi: 10.1007/s11465-023-0760-4

摘要： Reliable foot-to-ground contact state detection is crucial for the locomotion control of quadruped robots in unstructured environments. To improve the reliability and accuracy of contact detection for quadruped robots, a detection approach based on the probabilistic contact model with multi-information fusion is presented to detect the actual contact states of robotic feet with the ground. Moreover, a relevant control strategy to address unexpected early and delayed contacts is planned. The approach combines the internal state information of the robot with the measurements from external sensors mounted on the legs and feet of the prototype. The overall contact states are obtained by the classification of the model-based predicted probabilities. The control strategy for unexpected foot-to-ground contacts can correct the control actions of each leg of the robot to traverse cluttered environments by changing the contact state. The probabilistic model parameters are determined by testing on the single-leg experimental platform. The experiments are conducted on the experimental prototype, and results validate the contact detection and control strategy for unexpected contacts in unstructured terrains during walking and trotting. Compared with the body orientation under the time-based control method regardless of terrain, the root mean square errors of roll, pitch, and yaw respectively decreased by 60.07%, 54.73%, and 64.50% during walking and 73.40%, 61.49%, and 61.48% during trotting.

关键词： multi-information fusion contact detection quadruped robot probabilistic contact model unstructured terrain

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Probabilistic model for vessel-bridge collisions in the Three Gorges Reservoir

Bo GENG , Hong WANG , Junjie WANG ,

《结构与土木工程前沿（英文）》 2009年第3卷第3期页码 279-285 doi: 10.1007/s11709-009-0044-z

摘要： Based on a field observation on vessel transit path of three bridges over the Yangtze River in the Three Gorges Reservoir, and an analysis of the geometric probabilistic model of transiting vessels in collision probability calculation, the aberrancy angle and vessel velocity probabilistic model related with impact force, a probabilistic model is established and also verified by goodness-of-fit test. The vessel transit path distribution can be expressed by the normal distribution model. For the Three Gorges Reservoir, the mean and standard deviation adopt 0.2 and 0.1, respectively ( is the channel width). The aberrancy angle distribution of vessels accepts maximum I distribution model, and its distribution parameters can be taken as 0.314 and 4.354. The velocity distribution of up-bound and down-bound vessels can also be expressed by the normal distribution model.

关键词： vessel-bridge collision probabilistic model parameter statistics

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Modelling of dynamic contact length in rail grinding process

null

《机械工程前沿（英文）》 2014年第9卷第3期页码 242-248 doi: 10.1007/s11465-014-0305-y

摘要：

Rails endure frequent dynamic loads from the passing trains for supporting trains and guiding wheels. The accumulated stress concentrations will cause the plastic deformation of rail towards generating corrugations, contact fatigue cracks and also other defects, resulting in more dangerous status even the derailment risks. So the rail grinding technology has been invented with rotating grinding stones pressed on the rail with defects removal. Such rail grinding works are directed by experiences rather than scientifically guidance, lacking of flexible and scientific operating methods. With grinding control unit holding the grinding stones, the rail grinding process has the characteristics not only the surface grinding but also the running railway vehicles. First of all, it’s important to analyze the contact length between the grinding stone and the rail, because the contact length is a critical parameter to measure the grinding capabilities of stones. Moreover, it’s needed to build up models of railway vehicle unit bonded with the grinding stone to represent the rail grinding car. Therefore the theoretical model for contact length is developed based on the geometrical analysis. And the calculating models are improved considering the grinding car’s dynamic behaviors during the grinding process. Eventually, results are obtained based on the models by taking both the operation parameters and the structure parameters into the calculation, which are suitable for revealing the process of rail grinding by combining the grinding mechanism and the railway vehicle systems.

关键词： rail grinding contact length dynamic model Hamiltonian system grinding stone rail grinding car

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Model reduction of contact dynamics simulation using a modified Lyapunov balancing method

Jianxun LIANG, Ou MA, Caishan LIU

《机械工程前沿（英文）》 2011年第6卷第4期页码 383-391 doi: 10.1007/s11465-011-0244-9

摘要：

Finite element models are often used to simulate impact and contact dynamics responses of multibody dynamical systems. However, such a simulation remains very inefficient because very small integration time step must be used when solving the involved differential equations, especially when the involved contact stiffness is high. Although many model reduction techniques have been available to improve the efficiency of finite element based simulations, these techniques cannot be readily applied to contact dynamics simulations due to the high nonlinearity of the contact dynamics models. This paper presents a model reduction approach for finite-element based multibody contact dynamics simulation, based on a modified Lyapunov balanced truncation method. An example is presented to demonstrate that, by applying the model reduction the simulation process is significantly speeded up and the resulting error is bounded within an acceptable level. The performance of the method with respect to some influential factors such as element size, shape and contact stiffness is also investigated.

关键词： contact dynamics dynamic simulation model reduction finite element method

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A simplified model of direct-contact heat transfer in desalination system utilizing LNG cold energy

Qingqing SHEN, Wensheng LIN, Anzhong GU, Yonglin JU

《能源前沿（英文）》 2012年第6卷第2期页码 122-128 doi: 10.1007/s11708-012-0175-0

摘要： With the increasingly extensive utilization of liquefied natural gas (LNG) in China today, sustainable and effective using of LNG cold energy is becoming increasingly important. In this paper, the utilization of LNG cold energy in seawater desalination system is proposed and analyzed. In this system, the cold energy of the LNG is first transferred to a kind of refrigerant, i.e., butane, which is immiscible with water. The cold refrigerant is then directly injected into the seawater. As a result, the refrigerant droplet is continuously heated and vaporized, and in consequence some of the seawater is simultaneously frozen. The formed ice crystal contains much less salt than that in the original seawater. A simplified model of the direct-contact heat transfer in this desalination system is proposed and theoretical analyses are conducted, taking into account both energy balance and population balance. The number density distribution of two-phase bubbles, the heat transfer between the two immiscible fluids, and the temperature variation are then deduced. The influences of initial size of dispersed phase droplets, the initial temperature of continuous phase, and the volumetric heat transfer coefficient are also clarified. The calculated results are in reasonable agreement with the available experimental data of the R114/water system.

关键词： liquefied natural gas (LNG) cold energy utilization desalination direct-contact heat transfer

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Proposal of a probabilistic assessment of structural collapse concomitantly subject to earthquake and

Gholamreza ABDOLLAHZADEH, Hadi FAGHIHMALEKI

《结构与土木工程前沿（英文）》 2018年第12卷第3期页码 425-437 doi: 10.1007/s11709-017-0427-5

摘要：

In recent decades, many public buildings, located in seismic-prone residential areas, had to grapple with abnormal loads against which the structures were unguarded. In this piece of research, an ordinary three dimensional reinforced concrete building is selected as case study. The building is located in an earthquake-prone region; however, it is designed according to seismic building codes. Yet, it is not shielded against abnormal loads, such as blasts. It is assumed that the building suffers a blast load, due to mechanical/thermal installation failure during or after intense seismic oscillations. These two critical incidents are regarded codependent and compatible. So the researchers developed scenarios and tried to assess different probabilities for each scenario and carried out an analysis to ensure if progressive collapse had set in or not. In the first step, two analysis models were used for each scenario; a non-linear dynamic time history analysis and a blast local dynamic analysis. In the second step, having the structural destructions of the first step in view, a pushdown analysis was carried out to determine the severity of progressive collapse and assess building robustness. Finally, the annual probability of structural collapse under simultaneous earthquake and blast loads was estimated and offered.

关键词： gas blast pushdown analysis progressive collapse annual probability of structural collapse 3D model of structure

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An improved algorithm for McDowell’s analytical model of residual stress

null

《机械工程前沿（英文）》 2014年第9卷第2期页码 150-155 doi: 10.1007/s11465-014-0295-9

摘要：

The analytical model for two-dimensional elastoplastic rolling/sliding contact proposed by McDowell is an important tool for predicting residual stress in rolling/sliding processes. In application of the model, a problem of low predicting precision near the surface layer of the component is found. According to the volume-constancy of plastic deformation, an improved algorithm for McDowell’s model is proposed in order to improve its predicting accuracy of the surface residual stress. In the algorithm, a relationship between three normal stresses perpendicular to each other at any point within the component is derived, and the relationship is applied to McDowell’s model. Meanwhile, an unnecessary hypothesis proposed by McDowell can be eliminated to make the model more reasonable. The simulation results show that the surface residual stress predicted by modified method is much closer to the FEM results than the results predicted by McDowell’s model under the same simulation conditions.

关键词： residual stress McDowell’s model volume-constancy of plastic deformation FEM elastoplastic rolling/sliding contact

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Novel probabilistic rolling regular tetrahedron mechanism

Yonghan GUAN, Yan’an YAO, Chao LIU, Ruiming LI

《机械工程前沿（英文）》 2021年第16卷第2期页码 363-378 doi: 10.1007/s11465-020-0628-9

摘要： With recent relevant publications on stochastic motion robots in , , and other journals, research on such robots has gained increasing attention. However, theoretical and applied research on stochastic motion in the field of robotics and mechanisms face many challenges due to the uncertainty of stochastic motion. Currently, a large gap remains in the research of stochastic motion mechanism. In this study, a novel mechanism that can conduct probabilistic rolling is proposed to reach a designated position and achieve overlying movement over a particular area. The mechanism consists of a regular tetrahedron frame, a central node, and four connecting linear actuators. According to mobility and kinematic analyses, the mechanism can implement probabilistic rolling. Each rolling gait has three probable rolling directions, and the mechanism rolls in one of the three directions in probability. A kinematic simulation is conducted, and a control method is proposed on the basis of the moving path analysis. Furthermore, the mathematical principle of probabilistic rolling is revealed in terms of probability theory and statistics. Lastly, a prototype is fabricated. To achieve the rolling function, the design of the linear actuators is improved, and the extension ratio is increased from 0.58 to 1.13. Then, tests are conducted. In a 4 m test site, the mechanism makes 11 moves to reach the target position and covers 29.25% of the site.

关键词： mobile mechanism probabilistic motion rolling mechanism stochastic motion

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Risk-based probabilistic thermal-stress analysis of concrete arch dams

Narjes SOLTANI, Mohammad ALEMBAGHERI, Mohammad Houshmand KHANEGHAHI

《结构与土木工程前沿（英文）》 2019年第13卷第5期页码 1007-1019 doi: 10.1007/s11709-019-0521-y

摘要： The probabilistic risk of arch dam failure under thermal loading is studied. The incorporated uncertainties, which are defined as random variables, are associated with the most affecting structural (material) properties of concrete and thermal loading conditions. Karaj arch dam is selected as case study. The dam is numerically modeled along with its foundation in three-dimensional space; the temperature and thermal stress distribution is investigated during the operating phase. The deterministic thermal finite element analysis of the dam is combined with the structural reliability methods in order to obtain thermal response predictions, and estimate the probability of failure in the risk analysis context. The tensile overstressing failure mode is considered for the reliability analysis. The thermal loading includes ambient air and reservoir temperature variations. The effect of solar radiation is considered by an increase in the ambient temperatures. Three reliability methods are employed: the first-order second-moment method, the first-order reliability method, and the Monte-Carlo simulation with Latin Hypercube sampling. The estimated failure probabilities are discussed and the sensitivity of random variables is investigated. Although most of the studies in this line of research are used only for academic purposes, the results of this investigation can be used for both academic and engineering purposes.

关键词： arch dams probabilistic analysis thermal stress sensitivity reliability

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Thin-liquid-film evaporation at contact line

Hao WANG, Zhenai PAN, Zhao CHEN

《能源前沿（英文）》 2009年第3卷第2期页码 141-151 doi: 10.1007/s11708-009-0020-2

摘要： When a liquid wets a solid wall, the extended meniscus near the contact line may be divided into three regions: a nonevaporating region, where the liquid is adsorbed on the wall; a transition region or thin-film region, where effects of long-range molecular forces (disjoining pressure) are felt; and an intrinsic meniscus region, where capillary forces dominate. The thin liquid film, with thickness from nanometers up to micrometers, covering the transition region and part of intrinsic meniscus, is gaining interest due to its high heat transfer rates. In this paper, a review was made of the researches on thin-liquid-film evaporation. The major characteristics of thin film, thin-film modeling based on continuum theory, simulations based on molecular dynamics, and thin-film profile and temperature measurements were summarized.

关键词： meniscus thin film contact line disjoining pressure evaporation

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Application of probabilistic risk assessment at a coking plant site contaminated by Polycyclic Aromatic

XIA Tianxiang,JIANG Lin,JIA Xiaoyang,ZHONG Maosheng,LIANG Jing

《环境科学与工程前沿（英文）》 2014年第8卷第3期页码 441-450 doi: 10.1007/s11783-013-0572-6

摘要： Application of Probabilistic Risk Assessment (PRA) and Deterministic Risk Assessment (DRA) at a coking plant site was compared. By DRA, Hazard Quotient (HQ) following exposure to Naphthalene (Nap) and Incremental Life Cancer Risk (ILCR) following exposure to Benzo(a)pyrene (Bap) were 1.87 and 2.12 × 10 . PRA revealed valuable information regarding the possible distribution of risk, and risk estimates of DRA located at the 99.59th and 99.76th percentiles in the risk outputs of PRA, which indicated that DRA overestimated the risk. Cleanup levels corresponding acceptable HQ level of 1 and ILCR level of 10 were also calculated for both DRA and PRA. Nap and Bap cleanup levels were 192.85 and 0.14 mg·kg by DRA, which would result in only 0.25% and 0.06% of the exposed population to have a risk higher than the acceptable risk, according to the outputs of PRA. The application of PRA on cleanup levels derivation would lift the cleanup levels 1.9 times for Nap and 2.4 times for Bap than which derived by DRA. For this coking plant site, the remediation scale and cost will be reduced in a large portion once the method of PRA is used. Sensitivity analysis was done by calculating the contribution to variance for each exposure parameter and it was found that contaminant concentration in the soil ( ), exposure duration ( ), total hours spent outdoor per day ( ), soil ingestion rate ( ), the air breathing rate ( ) and bodyweight ( ) were the most important parameters for risk and cleanup levels calculations.

关键词： Probabilistic Risk Assessment (PRA) a coking plant risk cleanup level sensitivity analysis polycyclic aromatic hydrocarbons (PAHs)

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Cumulant-based correlated probabilistic load flow considering photovoltaic generation and electric vehicle

Nitesh Ganesh BHAT, B. Rajanarayan PRUSTY, Debashisha JENA

《能源前沿（英文）》 2017年第11卷第2期页码 184-196 doi: 10.1007/s11708-017-0465-7

摘要： This paper applies a cumulant-based analytical method for probabilistic load flow (PLF) assessment in transmission and distribution systems. The uncertainties pertaining to photovoltaic generations and aggregate bus load powers are probabilistically modeled in the case of transmission systems. In the case of distribution systems, the uncertainties pertaining to plug-in hybrid electric vehicle and battery electric vehicle charging demands in residential community as well as charging stations are probabilistically modeled. The probability distributions of the result variables (bus voltages and branch power flows) pertaining to these inputs are accurately established. The multiple input correlation cases are incorporated. Simultaneously, the performance of the proposed method is demonstrated on a modified Ward-Hale 6-bus system and an IEEE 14-bus transmission system as well as on a modified IEEE 69-bus radial and an IEEE 33-bus mesh distribution system. The results of the proposed method are compared with that of Monte-Carlo simulation.

关键词： battery electric vehicle extended cumulant method photovoltaic generation plug-in hybrid electric vehicle probabilistic load flow

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control strategy using tuned liquid dampers to reduce displacement demands of base-isolated structures: a probabilistic

Parham SHOAEI, Houtan Tahmasebi OROMI

《结构与土木工程前沿（英文）》 2019年第13卷第4期页码 890-903 doi: 10.1007/s11709-019-0524-8

摘要： This paper investigates a hybrid structural control system using tuned liquid dampers (TLDs) and lead-rubber bearing (LRB) systems for mitigating earthquake-induced vibrations. Furthermore, a new approach for taking into account the uncertainties associated with the steel shear buildings is proposed. In the proposed approach, the probabilistic distributions of the stiffness and yield properties of stories of a set of reference steel moment frame structures are derived through Monte-Carlo sampling. The approach is applied to steel shear buildings isolated with LRB systems. The base isolation systems are designed for different target base displacements by minimizing a relative performance index using Genetic Algorithm. Thereafter, the base-isolated structures are equipped with TLDs and a combination of the base and TLD properties is sought by which the maximum reduction occurs in the base displacement without compromising the performance of the system. In addition, the effects of TLD properties on the performance of the system are studied through a parametric study. Based on the analyses results, the base displacement can be reduced 23% by average, however, the maximum reduction can go beyond 30%.

关键词： tuned liquid damper lead-rubber bearing system probabilistic framework steel shear building relative performance index Monte-Carlo sampling

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An interval joint-probabilistic programming method for solid waste management: a case study for the city

Yi XU, Shunze WU, Hongkuan ZANG, Guiguang HOU

《环境科学与工程前沿（英文）》 2014年第8卷第2期页码 239-255 doi: 10.1007/s11783-013-0536-x

摘要： Currently, environmental protection and resources conservation continue to be challenges faced by solid-waste managers in China. These challenges are being further compounded by rapid socioeconomic development and population growth associated with increased waste generation rates and decreased waste disposal capacities. In response to these challenges, an interval joint-probabilistic mixed-integer programming (IJMP) method is developed for supporting long-term planning of waste management activities in the city of Tianjin, which is one of the largest municipalities in the northern part of China. In the IJMP, joint probabilistic constraints are introduced into an interval-parameter mixed-integer programming framework, such that uncertainties presented in terms of interval values and random variables can be reflected. Moreover, a number of violation levels for the waste-management-capacity constraints are examined, which can facilitate in-depth analyses of tradeoffs among economic objective and system-failure risk. The results indicate that reasonable solutions have been generated. They are valuable for supporting the adjustment of the city’s existing waste-management practices and the long-term planning of the city’s waste-management facilities.

关键词： interval analysis mixed integer joint probabilistic constraint planning uncertainty waste management

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On the applicability of different adhesion models in adhesive particulate flows

Guanqing LIU, Shuiqing LI, Qiang YAO,

《能源前沿（英文）》 2010年第4卷第2期页码 280-286 doi: 10.1007/s11708-009-0062-5

摘要： An adhesion map provides quantitative criteria for the appropriate selection of adhesion models applicable to a specific adhesive contact problem of fine particles in complex particulate flows. In this paper, three different general adhesion models are used to construct adhesion maps. The applicable regimes on the adhesion map for different approximate adhesion models are determined according to their underlying limitations. It is found that the choice of general model has limited influence on the structure of a constructed adhesion map. On the contrary, the regime of application for each approximate model is sensitive to the approximation level. A three-dimensional, more intuitive adhesion map based on physical parameters of particles is also built. Finally, recent applications of adhesion models in discrete element method (DEM) investigations of fine-particle flow dynamics are briefly discussed.

关键词： adhesive contact van der Waals force adhesion model adhesion map DEM