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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 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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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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An experimental characterization of human torso motion

Daniele CAFOLLA,I-Ming CHEN,Marco CECCARELLI

《机械工程前沿（英文）》 2015年第10卷第4期页码 311-325 doi: 10.1007/s11465-015-0352-z

摘要：

The torso plays an important role in the human-like operation of humanoids. In this paper, a method is proposed to analyze the behavior of the human torso by using inertial and magnetic sensing tools. Experiments are conducted to characterize the motion performance of the human torso during daily routine operations. Furthermore, the forces acting on the human body during these operations are evaluated to design and validate the performance of a humanoid robot.

关键词： experimental biomechanics human torso analysis inertial sensor characterization

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Joint slip investigation based on finite element modelling verified by experimental results on wind turbine

Saleh YAGHOOBI, Ahmad SHOOSHTARI

《结构与土木工程前沿（英文）》 2018年第12卷第3期页码 341-351 doi: 10.1007/s11709-017-0393-y

摘要：

Slippage corresponds to the relative displacement of a bolted joint subjected to shear loads since the construction clearance between the bolt shank and the bolthole at assembly can cause joint slip. Deflections of towers with joint slippage effects is up to 1.9 times greater than the displacements obtained by linear analytical methods. In this study, 8 different types of joints are modelled and studied in the finite element program, and the results are verified by the experimental results which have been done in the laboratory. Moreover, several types of joints have been modelled and studied and load-deformation curves have also been presented. Finally, joint slip data for different types of angles, bolt diameter and bolt arrangements are generated. Thereupon, damping ratios (z) for different types of connections are reported. The study can be useful to help in designing of wind turbine towers with a higher level of accuracy and safety.

关键词： Joint slip cyclic loading Finite element modelling Experimental joint behavior damping ratios (

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New experimental technique to determine coal self-ignition duration

ZHANG Xinhai, XI Guang, ZHANG Xinhai

《能源前沿（英文）》 2008年第2卷第4期页码 479-483 doi: 10.1007/s11708-008-0058-6

摘要： An artificial neural network (ANN) model was adopted to simulate the relationship between self-ignition duration and sulfur content, ash content, oxygen consumption rate, carbon monoxide as well as carbon dioxide generation rate of coal at different temperatures of self heating process. The data from spontaneous combustion experiments were used for ANN training to obtain the connection strength between nerve cells. An oil-bath programmed temperature experiment device was designed and the experimental condition and the size of the test tube were determined for testing the oxygen consumption and the gases generation rate of coal during self-heating process. The sulfur content, the ash content and the data from the oil-bath experiment were taken as ANN inputs to calculate the experiment self-ignition duration of coal. Compared with spontaneous combustion experiment, less than 1% of coal sample and 10% of time are required with an error of less than 3 days to test self-ignition duration of coal.

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Water pumping analysis and experimental validation of beach well infiltration intake system in a seawater

Huan ZHANG,Shu LIU,Xuejing ZHENG,Gaofeng CHEN

《能源前沿（英文）》 2015年第9卷第3期页码 335-342 doi: 10.1007/s11708-015-0365-7

摘要： Based on energy conservation equation and Darcy’s law, a model of beach well infiltration intake system applied in a seawater source heat pump system was established. The model consists of the seawater seepage and the heat transfer process. A porous medium model in a software named FLUENT was applied to simulate the seepage and the heat transfer process. This model was also validated by field experiment conducted on the seashore in Tianjin, China. The maximum relative error between simulation results and experimental results was 2.1% (less than 5%), which was acceptable in engineering application. The porosity and coefficient of thermal conductivity of the aquifer soil were determined to be 0.49 W/(m·K) and 1.46 W/(m·K), respectively in the simulation. In addition, the influencing factors of pumping water of beach well were also analyzed. The pumping water was found to increase when the distance between the beach well and the impervious boundary becomes longer, when the distance between the beach well and the supplying water source shortens, when the diameter of the beach well enlarges, and the drawdown enlarges.

关键词： water pumping analysis experimental validation infiltration intake system seawater source heat pump

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consistent geometric decomposition theorem to dynamic finite element of 3D composite beam based on experimental

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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Experimental research on cyclone performance at high temperature

LI Wenqi, CHEN Jianyi

《机械工程前沿（英文）》 2007年第2卷第3期页码 310-317 doi: 10.1007/s11465-007-0055-1

摘要： To predict the influence of operating temperatures on cyclone performance, an experimental investigation was conducted on particle separation in a reverse flow, tangential volute-inlet cyclone separator with a diameter of 300 mm and with air heated up to 973 K. The test powder silica has a mass median diameter of 10 um, while inlet velocity range was 12-36 m/s. Both the separation efficiency and pressure drop of the cyclone were measured as a function of the inlet velocity and operating temperature. At the same inlet velocity, both the separation efficiency and pressure drop decrease with increasing temperature. In addition, optimum inlet velocity, at which the cyclone has its highest separation efficiency, tends to increase with a rise in temperature. An analysis on our own data and published results has shown that the fractional efficiency of a cyclone is a definite function of dimensionless numbers such as the Stokes number, the Reynolds number, the Froude number, dimensionless cyclone inlet area, and dimensionless outlet diameter. A nondimensional experimental correlation of the cyclone performance, including the influence of temperature, was obtained on the basis of our own previous work. The prediction of the influence of temperature on separation efficiencies and pressure drops is in fairly good agreement with experimental results.

关键词： diameter definite function nondimensional experimental cyclone performance influence

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An experimental study on the flexural behavior of heavily steel reinforced beams with high-strength concrete

Yasser SHARIFI, Ali Akbar MAGHSOUDI

《结构与土木工程前沿（英文）》 2014年第8卷第1期页码 46-56 doi: 10.1007/s11709-014-0237-y

摘要： In recent years, an emerging technology termed high-strength concrete (HSC) has become popular in construction industry. Present study describes an experimental research on the behavior of high-strength concrete beams in ultimate and service state. Six simply supported beams were tested, by applying comprising two symmetric concentrated loads. Tests are reported in this study on the flexural behavior of high-strength reinforced concrete (HSRC) beams made with coarse and fine aggregate together with Microsilica. Test parameter considered includes effect of being compressive reinforcement. Based on the obtained results, the behavior of such members is more deeply reviewed. Also a comparison between theoretical and experimental results is reported here. The beams were made from concrete having compressive strength of 66.81–77.72 N/mm and percentage reinforcement ratio ( / ) in the range of 0.56% – 1.20%. The ultimate moment for the tested beams was found to be in a good agreement with that of the predicted ultimate moment based on ACI 318-11, ACI 363 and CSA-04 provisions. The predicted deflection based classical formulation based on code provisions for serviceability requirements is found to underestimate the maximum deflection of HSC reinforced beams at service load.

关键词： high-strength concrete (HSC) members flexural behavior reinforced concrete experimental results ultimate moment

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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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An experimental analysis of human straight walking

Tao LI, Marco CECCARELLI

《机械工程前沿（英文）》 2013年第8卷第1期页码 95-103 doi: 10.1007/s11465-013-0357-4

摘要：

In this paper, an experimental analysis of human straight walking has been presented. Experiments on human walking were carried out by using Cassino tracking system which is a passive cable-based measuring system. This system is adopted because it is capable of both pose and wrench measurements with fairly simple monitoring of operation. By using experimental results, trajectories of a human limb extremity and its posture have been analyzed; forces that are exerted against cables by the limb of a person under test have been measured by force sensors as well. Furthermore, by using experimental tests, modeling and characterization of the human straight walking gait have been proposed.

关键词： human locomotion walking gait characterization humanoid robot biped robot

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美国实验生物学会议（Experimental Biology Annual Meeting）

会议日期： 2019年04月06日

会议地点：美国/佛罗里达/奥兰多

主办单位：美国实验生物学联合会(Federation of America Societies for Experimental Biology)

NOx removal by non-thermal plasma reduction: experimental and theoretical investigations

《化学科学与工程前沿（英文）》 2022年第16卷第10期页码 1476-1484 doi: 10.1007/s11705-022-2165-z

摘要： Green and efficient

N O x

removal at low temperature is still desired.

N O x

removal via non-thermal plasma (NTP) reduction is one of such technique. This work presents the experimental and theoretical study on the

N O x

removal via NTP reduction (NTPRD) in dielectric barrier discharge reactor (DBD). The effect of

O 2

molar fraction on

N O x

species in the outlet of DBD, and effects of

N H 3

/NO molar ratio and discharge power of DBD on

N O x

removal efficiency are investigated. Results indicate that anaerobic condition and higher discharge power is beneficial to direct removal of

N O x

, and the

N O x

removal efficiency can be up to 98.5% under the optimal operating conditions. It is also found that adding

N H 3

is favorable for the reduction of

N O x

N 2

at lower discharge power. In addition, the

N O x

removal mechanism and energy consumption analysis for the NTPRD process are also studied. It is found that the reduced active species (

N ∗

N −

, N⁺,

N 2 ∗

N H 2 +

, etc.) generated in the NTPRD process play important roles for the reduction of

N O x

N 2

. Our work paves a novel pathway for

N O x

removal from anaerobic gas in industrial application.

关键词： ${\rm{NO}}_x $ removal NTP reduction mechanism energy consumption

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magnetic stimulation causes significant changes of chemical substances in the brain of rabbits with experimental

GUO Tiecheng, CAO Xuebing, XIA Limin

《医学前沿（英文）》 2008年第2卷第4期页码 406-409 doi: 10.1007/s11684-008-0078-y

摘要： More and more studies have reported the usefulness of repetitive transcranial magnetic stimulation (rTMS) in the treatment of stroke patients. This article is to explore if rTMS can cause changes of such chemical substances as N-acetylaspartate (NAA), choline (Cho) and creatine (Cr) in the surrounding area of experimental intracerebral hematoma of rabbits. A total of 36 rabbits were randomly divided into 3 groups: a control group (group A), a sham rTMS group (group B) and an rTMS group (group C). The experimental intracerebral hemorrhage (ICH) was induced by intracerebral injection of self-body blood of the animals in groups B and C, while those of the group A serving as controls were injected with normal saline. The rabbits of groups B and C were treated with sham and real rTMS, respectively, but those of group A were not. The contents of chemical substances including NAA, Cho and Cr in the perihematomal brain tissues were measured by using H-magnetic resonance spectroscopy (H-MRS) 12 hours, 72 hours, 1 week and 2 weeks after the experimental ICH was induced. The results show that the contents of NAA, Cr and NAA/Cr ratio were decreased significantly, but Cho, Cho/Cr increased significantly in groups B and C ( < 0.01) as compared against those in group A. A comparison between the groups B and C revealed that the contents of NAA, Cr, NAA/Cr were higher, but Cho and Cho/Cr were significantly lower in group C than those in group B ( < 0.01). It is concluded that rTMS could result in changes of the chemical substance contents in perihematomal brain tissues, which leads to neuroprotective effects in the brain.

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

期刊论文

Numerical and experimental analyses of methane leakage in shield tunnel

期刊论文

An experimental characterization of human torso motion

Daniele CAFOLLA,I-Ming CHEN,Marco CECCARELLI

期刊论文