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下肢外骨骼机器人；人机交互；运动学习；轨迹生成；运动基元；黑盒优化 1

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土壤水盐定向迁移及排盐新模式研究

周和平,彭立新,徐小波

《中国工程科学》 2007年第9卷第11期页码 120-126

摘要：

综述了我国盐碱地改良技术现状；研究了干旱地区节水灌溉条件下农田不同地面条件土壤水盐定向迁移特征，提出了“盐分上移地表排”的排盐模式，对我国干旱农业灌区盐碱地改良治理新方法的研究探索具有现实意义。

关键词：土壤水盐定向迁移排盐新模式旱区

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Experimental study on average movement characteristics of bed-load particles

Limo TANG, Xingkui WANG,

《结构与土木工程前沿（英文）》 2009年第3卷第4期页码 435-439 doi: 10.1007/s11709-009-0050-1

摘要： The three-dimensional movements of bed-load particles in an open channel with different grain diameters and different specific gravities under the conditions of different hydraulic gradient are measured by means of particle tracking velocimetry (PTV) technique. The average movement characteristics of the particles are analyzed by statistics. The results show that the longitudinal average velocities of the particles neither agree with the law suggested by Einstein nor obey the law assumed by Bagnold. Einstein’s law is that the particle velocity is equal to 11.6 times of shear velocity, and the Bagnold’s law assumes the velocity equal to the difference between flow velocity at corresponding water depth and settling velocity of particle. Two formulas for determining the velocity of particle in the forms of expression given by Einstein and Bagnold are obtained according to the statistical results of experimental data, respectively.

关键词： different longitudinal three-dimensional particle Bagnold

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Multi-scale investigation of active failure for various modes of wall movement

《结构与土木工程前沿（英文）》 2021年第15卷第4期页码 961-979 doi: 10.1007/s11709-021-0738-4

摘要： Retained backfill response to wall movement depends on factors that range from boundary conditions to the geometrical characteristic of individual particles. Hence, mechanical understanding of the problem warrants multi-scale analyses that investigate reciprocal relationships between macro and micro effects. Accordingly, this study attempts a multi-scale examination of failure evolution in cohesionless backfills. Therefore, the transition of retained backfills from at-rest condition to the active state is modeled using the discrete element method (DEM). DEM allows conducting virtual experiments, with which the variation of particle and boundary properties is straightforward. Hence, various modes of wall movement (translation and rotation) toward the active state are modeled using two different backfills with distinct particle shapes (spherical and nonspherical) under varying surcharge. For each model, cumulative rotations of single particles are tracked, and the results are used to analyze the evolution of shear bands and their geometric characteristics. Moreover, dependencies of lateral pressure coefficients and coordination numbers, as respective macro and micro behavior indicators, on particle shape, boundary conditions, and surcharge levels are investigated. Additionally, contact force networks are visually determined, and their influences on pressure distribution and deformation mechanisms are discussed with reference to the associated modes of wall movement and particle shapes.

关键词： discrete-element modelling granular materials retaining walls particle shape arching

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大尺度地层内的分层运动

许绍燮

《中国工程科学》 2006年第8卷第6期页码 14-22

摘要：

报告了观察到大尺度地层内分层运动的新发现，以及大尺度层块活动的直接证据——大尺度地层垂向同步运动，其层块的尺度可大到数千公里洲际尺度。分析了我国超长周期（360～3000s）地震监测台站记录中的层块活动局域性高强颤振事件。发现格尔木台（2001年11月份）记录到的高强颤振事件与发生在其附近（2001.11.14）昆仑山口西M8.1大震有一定关系。这些信息对于探索地震预测，以及认识大地构造动力具有重要意义。

关键词：大尺度地层内的分层运动高强颤振事件地震预测

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大尺度空间中烟气运动工程分析的多单元区域模拟方法

胡隆华,霍然,李元洲,王浩波

《中国工程科学》 2003年第5卷第8期页码 59-63

摘要：

在大尺度空间中，仍然将整个空间划分上部热烟气层和下部的冷空气层直接进行区域模拟是不合适的。提出了一种将大尺度空间划分若干常规子单元，再在各个子单元中采用上下层区域模拟的方法，并以CFAST4.02为工具，对两种典型的大尺度空间的烟气运动过程进行分析和比较。结果表明，在大尺度空间中，这种多单元区域模拟的方法相比于传统的区域模拟方法具有较好的适用性。

关键词：大尺度空间烟气运动多单元区域模拟区域模拟

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GIS-based numerical simulation of Amamioshima debris flow in Japan

Jian WU, Guangqi CHEN, Lu ZHENG, Yingbin ZHANG

《结构与土木工程前沿（英文）》 2013年第7卷第2期页码 206-214 doi: 10.1007/s11709-013-0198-6

摘要： Debris flow is a rapid flow which could lead to severe flooding with catastrophic consequences such as damage to properties and loss of human lives. It is important to study the movement of debris flow. Since during a debris flow process, the erosion and deposition processes are important, the no entrainment assumption is not acceptable. In this study, first we considered the debris flow as equivalent fluid and adopted the depth-averaged govern equations to simulate the movements and evolution of river bed. Secondly, the set of partial differential equations was solved numerically by means of explicit staggered leap-frog scheme that is accurate in space and time. The grid of difference scheme was derived from GIS raster data. Then the simulation results can be displayed by GIS and easily used to form the hazard maps. Finally, the numerical model coupled with GIS is applied to simulate the debris flow occurred on Oct. 20th, 2010, in Amamioshima City, Japan. The simulation reproduces the movement, erosion and deposition. The results are shown to be consistent with the field investigation.

关键词： debris flow numerical simulation GIS movement erosion deposition

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Dynamics simulation of bottom high-sediment sea water movement under waves

Xueyi YOU , Wei LIU , Houpeng XIAO ,

《结构与土木工程前沿（英文）》 2009年第3卷第3期页码 312-315 doi: 10.1007/s11709-009-0037-y

摘要： The movement of bottom high-sediment sea water under water waves, especially that of the high-sediment water layer close to the sea bottom, is important to the resuspension and settlement of sediment. Supposing that the high-sediment sea water is a Newtonian fluid, based on Navier-Stokes (N-S) theory, the movement of the interfaces of air-water and water-sediment water was tracked by the volume of fluid (VOF) method. The velocity field of sediment water was simulated by considering the effect of water waves. The results show that the movement of sediment water is very different from that of sea water, which provides a solid basis for understanding the resuspension and settlement of sediment and the formation of bottom stripe, and the VOF method can trace the movement of the two interfaces simultaneously; the movement of the air-water interface has a strong effect on that of the water-sediment water interface, while the effect of the water-sediment water interface movement on the air-water interface is not obvious.

关键词： volume of fluid (VOF) method high sediment sea water numerical simulation interface trace Navier-Stokes (N-S) theory

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Toward energy finance market transition: Does China’s oil futures shake up global spots market?

《工程管理前沿（英文）》页码 409-424 doi: 10.1007/s42524-022-0207-3

摘要： China is breaking through the petrodollar system, establishing RMB-dominating crude oil futures market. The country is achieving a milestone in its transition to energy finance market internationalization. This study explores the price leadership of China’s crude oil futures and identifies its price co-movement to uncover whether it truly shakes up the global oil spots market. First, we find that for oil spots under different gravities, China’s oil futures is only a net price information receiver from light-, medium-, and heavy-gravity oil spots, but it has a relatively stronger price co-movement with these three spots. Second, for oil spots under different sulfur contents, China’s oil futures still has weak price leadership in sweet, neutral, and sour oil spots, but it has strong co-movement with them. Third, for oil spots under different geographical origins, China’s oil futures shows price leadership in East Asian and Australian oil spots at the medium- and long-run time scales and strong price co-movement with East Asian, Middle Eastern, Latin American and Australian oil spots. China’s oil futures may not have good price leadership in global spots market, but it features favorable price co-movement.

关键词： China’s oil futures price information spillover price co-movement BK spillover index BDECO model

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海洋二号卫星工程研制及在轨运行简介

张庆君,张健,张欢,王睿,贾宏

《中国工程科学》 2013年第15卷第7期页码 12-18

摘要：

海洋二号卫星是我国首颗海洋动力环境探测卫星，也是目前国际上唯一一颗可全天候、全天时同步获取全球海面高度、有效波高、海面风场、海面风速、海面温度、大气水汽含量、云中液水含量等多种遥感数据的卫星。海洋二号卫星配置4种主、被动微波遥感载荷，采用全新遥感体制，实现关键部件国产化，具有精密测定轨、电磁兼容、高精度姿态控制等技术特点。海洋二号卫星作为国内首颗综合型微波遥感卫星，其工程实现意义重大。本文从系统组成与功能、研制阶段划分、大型试验验证、在轨测试与应用成果展示几个方面进行了介绍。

关键词：海洋二号微波遥感工程研制在轨运行应用成果

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基于图像测量技术的高速铁路有砟道床道砟颗粒运动分析 Article

边学成, 蔡文清, 罗政, 赵闯, 陈云敏

《工程（英文）》 2023年第27卷第8期页码 161-177 doi: 10.1016/j.eng.2022.08.006

摘要：

有砟轨道是国内外高速铁路主要轨道形式之一，由级配碎石组成的道砟层在高速列车荷载下会产生比普通铁路更明显的道砟颗粒运动，易于引发过大的道床沉降，对列车安全运行产生不利影响。但由于缺乏有效测量手段和分析方法，道砟颗粒的运动行为研究仍不多见。本课题基于数码相机和图形识别方法，在全比尺模型试验中开发了道砟颗粒运动追踪技术，将1274个道床层表层道砟染色并设定为追踪目标；在试验中以垂直向下的角度陆续拍摄道砟层照片，通过追踪目标显示的像素变化特征，对表层道砟颗粒运动进行追踪，定量地分析了不同列车速度和轴重工况下道砟颗粒的运动行为。试验结果表明：表层道砟颗粒运动在低速列车荷载作用下较微弱且主要集中于轨枕附近，但当列车时速提升至360 km时，道砟运动明显加剧并扩展至整个道床层；此外，经统计发现道砟颗粒位移和旋转的发展规律类似；轨道振动会诱发道砟颗粒运动，竖向加速度和水平加速度分别是轨道中心和轨道边缘附近道砟颗粒运动产生的主要原因。道砟颗粒运动和轨道沉降在长期加载中的发展趋势相似，两者同时达到稳定状态；轨道服役性能（如振动特性、累积沉降与轨枕支承刚度）在高速列车荷载的长期作用下会部分劣化，其与道砟颗粒流动的方向和分布密切相关。

关键词：高速铁路全比尺模型试验图像测量技术道砟颗粒运动轨道振动累积沉降

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Research on constraint-based virtual assembly technologies

YANG Rundang, WU Dianliang, FAN Xiumin, YAN Juanqi

《机械工程前沿（英文）》 2007年第2卷第2期页码 243-249 doi: 10.1007/s11465-007-0043-5

摘要： To realize a constraint-based virtual assembly operation, the unified representations of the assembly constraint, the equivalent relation between the constraint and the degree of freedom (DOF), and the movement DOF reduction in a virtual environment are proposed. Several algorithms about the constraint treatment are submitted. First, the automatic recognition algorithm based on the assembly relation is used to determine the position and orientation relation between two geometry elements of constraint whether they meet the given errors. Second, to satisfy the new constraint, according to the positing solving algorithm, the position and orientation of an active part are modified with minimal adjustment after the part has satisfied the affirmed constraints. Finally, the algorithm of movement navigation based on the generalized coordinate system is put forward, and the part movement is guided. These algorithms have been applied to the integrated virtual assembly environment (IVAE) system. Experiments have indicated that these algorithms have well supported constraint treatments in the IVAE and realized the closer combination of the virtual and the real assembly processes.

关键词： movement DOF recognition algorithm assembly orientation combination

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急倾斜煤层开采对地表构筑物影响的预计

高明中,王列平

《中国工程科学》 2007年第9卷第11期页码 142-146

摘要：

针对淮南某矿急倾斜煤层开采复杂的采矿地质条件，运用概率积分法对优化后的开采方案所引起的地表沉陷进行研究，总结出急倾斜煤层开采重复采动所引起的厚冲积层地表沉陷的相关参数。所得结果对现场开采及地表沉陷治理具有一定的指导作用，对于同类地质和开采条件的矿区具有重要参考价值。

关键词：急倾斜煤层地表移动与变形概率积分法预计

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深海采矿扬矿管横向运动动态分析

刘江,毛纪陵,刘北英

《中国工程科学》 2001年第3卷第11期页码 74-79

摘要：

运用非线性有限元方法对深海采矿扬矿管的横向运动特性进行了研究；对影响扬矿管横向变形和动态应力的各种因素作出详细的分析，提出了“位移滞后期”的概念，并分析了影响位移滞后的因素。

关键词：深海采矿扬矿管动态应力位移滞后期非线性有限单元法

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Rolling-element bearings in China: From ancient times to the 20th century

Lie SUN,Ang LI

《机械工程前沿（英文）》 2016年第11卷第1期页码 33-43 doi: 10.1007/s11465-016-0373-2

摘要：

The development of rolling-element bearings in China has spanned a long period. Based on several typical and important cases, the present article reconstructs the history of rolling-element bearings in China by dividing it into four stages according to the various characteristics of the bearings. The first stage represents the origin of rolling bearings in China, which remains controversial because of several suspected races and cages that were likely the components of bearings more than a millennium ago. At the second stage, a type of simple roller bearing was used for astronomical instruments not later than the 13th century based on clear philological and physical evidence. A similar bearing was also applied to an abridged armillary in the 17th century. Another type of spherical thrust bearings with rolling elements, which is a key component of a traditional Chinese windmill, could support a rotating shaft that moves rotationally and at an angle. At the third stage, the Chinese began studying and using the so-called European-style bearing since the 17th century. Moreover, over the last 100 years, the modern rolling bearing industry was gradually established in China, particularly because of the technology transfer from the Soviet Union in the 1950s. At the fourth stage, the Chinese government initiated the relatively rapid development of bearing technology. The government launched the “bearing movement” from the 1950s to the 1960s to establish the modern bearing industry and to promote rolling bearings as replacement for traditional sliding bearings. Furthermore, a number of large professional factories and institutions in China have continually introduced advanced technology and equipment. At present, these companies and institutions play a significant role in the international bearing industry.

关键词： bearing movement rolling-element bearing China early rolling bearings technology transfer

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针对下肢外骨骼机器人的基于概率运动基元的黑盒优化运动学习 Research Article

王嘉琪,高永卓,吴冬梅,董为

《信息与电子工程前沿（英文）》 2023年第24卷第1期页码 104-116 doi: 10.1631/FITEE.2200065

摘要：外骨骼作为一种可穿戴的机器人，通过拟人化的构型直接传递机械动力来辅助或增强穿戴者运动。当外骨骼用于促进穿戴者的运动时，运动生成过程通常在高层控制中发挥重要作用。该领域的主要挑战之一是实时生成符合人类意图且可以适应不同情况的参考轨迹。在本文中，我们首先提出了一种基于概率运动基元（ProMP）的下肢外骨骼运动建模方法，它是一种用于生成运动轨迹的新型且强大的代表性工具。为了在不同穿戴者使用外骨骼时使轨迹适应不同情况，我们接着提出了一种基于黑盒优化PIBB结合ProMP的新型运动学习方案。运动模型首先由ProMP离线学习，它可以生成参考轨迹供外骨骼控制器在线使用，再采用PIBB在线学习和更新模型，提供了系统的自适应能力，消除了不确定性的影响。使用下肢外骨骼HEXO对六名受试者进行的模拟和实验证明了所提出方法的有效性。

关键词：下肢外骨骼机器人；人机交互；运动学习；轨迹生成；运动基元；黑盒优化

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标题作者时间类型操作

土壤水盐定向迁移及排盐新模式研究

周和平,彭立新,徐小波

期刊论文

Experimental study on average movement characteristics of bed-load particles

Limo TANG, Xingkui WANG,

期刊论文

Multi-scale investigation of active failure for various modes of wall movement

期刊论文

大尺度地层内的分层运动