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Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking

Hamza KHAN,Jamshed IQBAL,Khelifa BAIZID,Teresa ZIELINSKA

《信息与电子工程前沿（英文）》 2015年 第16卷 第2期   页码 166-172 doi: 10.1631/FITEE.1400183

摘要： This research formulates a path-following control problem subjected to wheel slippage and skid and solves it using a logic-based control scheme for a wheeled mobile robot (WMR). The novelty of the proposed scheme lies in its methodology that considers both longitudinal and lateral slip components. Based on the derived slip model, the controller for longitudinal motion slip has been synthesized. Various control parameters have been studied to investigate their effects on the performance of the controller resulting in selection of their optimum values. The designed controller for lateral slip or skid is based on the proposed side friction model and skid check condition. Considering a car-like WMR, simulation results demonstrate the effectiveness of the proposed control scheme. The robot successfully followed the desired circular trajectory in the presence of wheel slippage and skid. This research finds its potential in various applications involving WMR navigation and control.

关键词： Robot modeling     Robot navigation     Slip and skid control     Wheeled mobile robots    

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Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain

Haitao YU, Haibo GAO, Liang DING, Zongquan DENG

《机械工程前沿（英文）》 2020年 第15卷 第2期   页码 193-208 doi: 10.1007/s11465-019-0569-3

摘要： As a well-explored template that captures the essential dynamical behaviors of legged locomotion on sagittal plane, the spring-loaded inverted pendulum (SLIP) model has been extensively employed in both biomechanical study and robotics research. Aiming at fully leveraging the merits of the SLIP model to generate the adaptive trajectories of the center of mass (CoM) with maneuverability, this study presents a novel two-layered sagittal SLIP-anchored (SSA) task space control for a monopode robot to deal with terrain irregularity. This work begins with an analytical investigation of sagittal SLIP dynamics by deriving an approximate solution with satisfactory apex prediction accuracy, and a two-layered SSA task space controller is subsequently developed for the monopode robot. The higher layer employs an analytical approximate representation of the sagittal SLIP model to form a deadbeat controller, which generates an adaptive reference trajectory for the CoM. The lower layer enforces the monopode robot to reproduce a generated CoM movement by using a task space controller to transfer the reference CoM commands into joint torques of the multi-degree of freedom monopode robot. Consequently, an adaptive hopping behavior is exhibited by the robot when traversing irregular terrain. Simulation results have demonstrated the effectiveness of the proposed method.

关键词： legged robots     spring-loaded inverted pendulum     task space control     apex return map     deadbeat control     irregular terrain negotiation    

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Study on micro-texture and skid resistance of aggregate during polishing

Zhenyu QIAN, Lingjian MENG

《结构与土木工程前沿（英文）》 2017年 第11卷 第3期   页码 346-352 doi: 10.1007/s11709-017-0409-7

摘要： The skid resistance performance of pavement is closely related to the micro-texture of pavement aggregate, while there is very few research on the relationship between micro-texture and the skid resistance. In this paper, the optical microscope is used to acquire the surface morphology of three types of aggregates including basalt, limestone and red sandstone respectively, where a total of 12 indicators are developed based on the surface texture information. The polishing effect on aggregate is simulated by Wehner/Schulze (W/S) device, during the polishing procedure, the skid resistance are measured by British Pendulum Tester (BPT). Based on the results of independent T-test and the polishing resistance analysis, it shows that the surface texture of basalt is significantly different between limestone and red sandstone. Three indicators including the average roughness ( ), the kurtosis of the surface ( ) and the mean summit curvature ( ) are selected to describe the characteristics of aggregate micro-texture based on the correlation analysis. The contribution of micro-texture to the skid resistance can be described with the secondary polynomial regression model by these indicators.

关键词： skid resistance of pavement     micro-texture     aggregates     polishing test    

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Chemically reactive solute transfer in a boundary layer slip flow along a stretching cylinder

Swati Mukhopadhyay

《化学科学与工程前沿（英文）》 2011年 第5卷 第3期   页码 385-391 doi: 10.1007/s11705-011-1101-4

摘要： This paper presents the distribution of a solute undergoing a first order chemical reaction in an axisymmetric laminar boundary layer flow along a stretching cylinder. Velocity slip condition at the boundary is used instead of no-slip condition. Similarity transformations are used to convert the partial differential equations corresponding to momentum and concentration into highly nonlinear ordinary differential equations. Numerical solutions of these equations are obtained by the shooting method. The velocity decreases with increasing slip parameter. The skin friction as well as the mass transfer rate at the surface is larger for a cylinder than for a flat plate.

关键词： boundary layer     stretching cylinder     partial slip     mass transfer     similarity solution    

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Piezoelectric inertial robot for operating in small pipelines based on stick-slip mechanism: modeling

《机械工程前沿（英文）》 2022年 第17卷 第3期 doi: 10.1007/s11465-022-0697-z

摘要： Small pipes exist in industrial and biomedical fields, and require microrobots with high operational precision and large load capacity to inspect or perform functional tasks. A piezoelectric inertial pipeline robot using a “stick-slip” mechanism was proposed to address this requirement. In this study, the driving principle of the proposed robot was analyzed, and the strategy of the design scheme was presented. A dynamics model of the stick-slip system was established by combining the dynamics model of the driving foot system and the LuGre friction model, and the simulation analysis of the effect of system parameters on the operating trajectory was performed. An experimental system was established to examine the output characteristics of the proposed robot. Experimental results show that the proposed pipeline robot with inertial stick-slip mechanism has a great load capacity of carrying 4.6 times (70 g) its own mass and high positioning accuracy. The speed of the pipeline robot can reach up to 3.5 mm/s (3 mm/s) in the forward (backward) direction, with a minimum step distance of 4 μm. Its potential application for fine operation in the pipe is exhibited by a demonstration of contactless transport.

关键词： pipeline robot     piezoelectric     inertial drive     stick-slip     large load capacity     dynamics model     small pipeline    

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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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Magnetohydrodynamic slip flow and diffusion of a reactive solute past a permeable flat plate with suction

Krishnendu BHATTACHARYYA, G. C. LAYEK

《化学科学与工程前沿（英文）》 2011年 第5卷 第4期   页码 471-476 doi: 10.1007/s11705-011-1130-z

摘要： The magnetohydrodynamic (MHD) boundary layer slip flow and solute transfer over a porous plate in the presence of a chemical reaction are investigated. The governing equations were transformed into self-similar ordinary differential equations by adopting the similarity transformation technique. Then the numerical solutions are obtained by a shooting technique using the fourth order Runge-Kutta method. The study reveals that due to the increase in the boundary slip, the concentration decreases and the velocity increases. On the other hand, with an increase in the magnetic field and mass suction, both boundary layer thicknesses decreased. As the Schmidt number and the reaction rate parameter increases, the concentration decreases and the mass transfer increases.

关键词： slip flow     MHD boundary layer     reactive solute diffusion     flat plate     suction/injection    

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simulation for elastic dislocation of the North-Tehran fault: The effects of geologic layering and slip

Pooya ZAKIAN; Hossein ASADI HAYEH

《结构与土木工程前沿（英文）》 2022年 第16卷 第4期   页码 533-549 doi: 10.1007/s11709-022-0802-8

摘要： The present study uses the finite element method for simulating the crustal deformation due to the dislocation of a segment of the North-Tehran fault located in the Karaj metropolis region. In this regard, a geological map of Karaj that includes the fault segment is utilized in order to create the geometry of finite element model. First, finite element analysis of homogeneous counterpart of the fault’s domain with two different sections was performed, and the results were compared to those of Okada’s analytical solutions. The fault was modeled with the existing heterogeneity of the domain having been considered. The influences of both uniform and non-uniform slip distributions were investigated. Furthermore, three levels of simplification for geometric creation of geological layers’ boundaries were defined in order to evaluate the effects of the geometric complexity of the geological layering on the displacement responses obtained with the finite element simulations. In addition to the assessment of slip distribution, layering complexity and heterogeneity, the results demonstrate both the capability and usefulness of the proposed models in the dislocation analysis for the Karaj segment of North-Tehran fault.

关键词： finite element method     fault dislocation     slip distribution     the North-Tehran fault     heterogeneity     geological layering    

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Effects of slip length and hydraulic diameter on hydraulic entrance length of microchannels with superhydrophobic

Wenchi GONG, Jun SHEN, Wei DAI, Zeng DENG, Xueqiang DONG, Maoqiong GONG

《能源前沿（英文）》 2020年 第14卷 第1期   页码 127-138 doi: 10.1007/s11708-020-0661-8

摘要： This paper investigated effects of slip length and hydraulic diameter on the hydraulic entrance length of laminar flow in superhydrophobic microchannels. Numerical investigations were performed for square microchannels with Re ranging between 0.1 and 1000. It is found that superhydrophobic microchannels have a longer hydraulic entrance length than that of conventional ones by nearly 26.62% at a low Re. The dimensionless hydraulic entrance length slightly increases with the increasing slip length at approximately Re<10, and does not vary with the hydraulic diameter. A new correlation to predict the entrance length in square microchannels with different slip lengths was developed, which has a satisfying predictive performance with a mean absolute relative deviation of 5.69%. The results not only ascertain the flow characteristics of superhydrophobic microchannels, but also suggest that super hydrophobic microchannels have more significant advantages for heat transfer enhancement at a low Re.

关键词： laminar flow     hydraulic entrance length     super hydrophobic surface     slip length     hydraulic diameter    

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Improvement of mechanical behavior of buried pipelines subjected to strike-slip faulting using textured

Mahdi IZADI, Khosrow BARGI

《结构与土木工程前沿（英文）》 2019年 第13卷 第5期   页码 1105-1119 doi: 10.1007/s11709-019-0539-1

摘要： The present study investigates the mechanical behavior of a new generation of buried pipelines, dubbed the textured pipeline, which is subjected to strike-slip faulting. In conventional cylindrical pipelines, the axial and bending stresses brought about in their walls as a result of fault movement, lead to local buckling, which is construed as one of the major reasons contributing to pipeline failure. The present study has assessed 3-D numerical models of two kinds of buried textured pipelines, with 6 and 12 peripheral triangular facets, subjected to a strike-slip faulting normal to the axis of the pipelines, with and without internal pressure, with the two kinds of X65 and X80 steel, and with different diameter-to-thickness ratios. The results indicate that, because of specific geometry of this pipeline shell which is characterized by having lower axial stiffness and higher bending stiffness, compared to conventional cylindrical pipeline, they are considerably resistant to local buckling. The results of this study can be conceived of as a first step toward comprehensive seismic studies on this generation of pipelines which aim at replacing the conventional cylindrical pipelines with textured ones in areas subjected to fault movement.

关键词： buried pipeline     textured pipeline     local buckling    

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基于非关联流动法则的滑移线场及上限法研究

郑颖人,邓楚键,王敬林

《中国工程科学》 2010年 第12卷 第8期   页码 56-69

摘要：

当前岩土材料的滑移线场理论及上限法中都广泛采用经典塑性理论中的关联流动法则，由此得出应力特征线与速度滑移线一致的结论。而试验得知，岩土材料并不服从关联流动法则，因而应力特征线与速度滑移线不可能重合。文章分析了基于关联流动法则的滑移线场及上限法中存在的问题，根据广义塑性理论推导了基于非关联流动法则的滑移线场及上限法，消除了现行滑移线场理论及上限法理论中的种种矛盾。

关键词： 滑移线场     上限法     关联流动法则     非关联流动法则     广义塑性理论    

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Improved genetic algorithm and its application to determination of critical slip surface with arbitrary

LI Liang, CHI Shichun, LIN Gao, CHENG Yungming

《结构与土木工程前沿（英文）》 2008年 第2卷 第2期   页码 145-150 doi: 10.1007/s11709-008-0016-8

摘要： In order to overcome the problem of being trapped by the local minima encountered in applying the simple genetic algorithm (GA) to search the critical slip surface of the slope, an improved procedure based on the harmony search algorithm is proposed. In the searching computation, the new solutions are obtained from the whole information of the current generation. The proposed method may be applied to calculate the minimum factors of safety of two complicated soil slopes. Comparison of the results with existing examples given by other authors has shown that the proposed method is feasible for stability analysis of soil slopes.

关键词： information     algorithm     Comparison     generation     feasible    

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engineering measures on displacement and stress field of surrounding rock in tunnels crossing active strike-slip

《结构与土木工程前沿（英文）》 doi: 10.1007/s11709-023-0966-x

摘要： Based on significant improvements in engineering materials, three advanced engineering measures have been proposed—super anchor cables, high-strength concrete anti-fault caverns, and grouting modification using high-strength concrete-to resist fault dislocation in the surrounding rock near tunnels crossing active strike-slip faults. Moreover, single- or multiple-joint advanced engineering measures form the local rock mass-anti-fault (LRAF) method. A numerical method was used to investigate the influence of LRAF methods on the stress and displacement fields of the surrounding rock, and the anti-fault effect was evaluated. Finally, the mechanism of action of the anchor cable was verified using a three-dimensional numerical model. The numerical results indicated that the anchor cable and grouting modification reduced the displacement gradient of the local surrounding rock near the tunnels crossing fault. Furthermore, anchor cable and grouting modifications changed the stress field of the rock mass in the modified area. The tensile stress field of the rock mass in the modified anchor cable area was converted into a compressive stress field. The stress field in the modified grouting area changed from shear stress in the fault slip direction to tensile stress in the axial tunnel direction. The anti-fault cavern resisted the dislocation displacement and reduced the maximum dislocation magnitude, displacement gradient, and shear stress. Among the three advanced engineering measures, the anchor cable was the core of the three advanced engineering measures. An anchor cable, combined with other LRAF measures, can form an artificial safety island at the cross-fault position of the rock mass to protect the tunnel. The research results provide a new supporting idea for the surrounding rock of tunnels crossing active strike-slip faults.

关键词： anti-fault effect     engineering measures     LRAF method     stress and displacement field     tunnel-crossing active faults    

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Laboratory and field evaluation of asphalt pavement surface friction resistance

Zhong WU, Chris ABADIE

《结构与土木工程前沿（英文）》 2018年 第12卷 第3期   页码 372-381 doi: 10.1007/s11709-017-0463-1

摘要：

Pavement surface friction is a significant factor for driving safety and plays a critical role in reducing wet-pavement crashes. However, the current asphalt mixture design procedure does not directly consider friction as a requirement. The objective of this study was to develop a surface friction prediction model that can be used during a wearing course mixture design. To achieve the objective, an experimental study was conducted on the frictional characteristics of typical wearing course mixtures in Louisiana. Twelve wearing course mixtures including dense-graded and open-graded mixes with different combinations of aggregate sources were evaluated in laboratory using an accelerated polishing and testing procedure considering both micro- and macro texture properties. In addition, the surface frictional properties of asphalt mixtures were measured on twenty-two selected asphalt pavement sections using different in situ devices including Dynamic Friction Tester (DFT), Circular Texture Meter (CTM), and Lock-Wheel Skid Trailer (LWST). The results have led to develop a procedure for predicting pavement end-of-life skid resistance based on the aggregate blend polish stone value, gradation parameters, and traffic, which is suited in checking whether the selected aggregates in a wearing course mix design would meet field friction requirements under a certain design traffic polishing.

关键词： friction skid resistance     polishing     PSV     LWST     micro-texture     macro-texture    

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Force fluctuations in sheared granular disks

Mingbo YUAN, Qicheng SUN, Feng JIN

《结构与土木工程前沿（英文）》 2013年 第7卷 第1期   页码 46-49 doi: 10.1007/s11709-013-0189-7

摘要： The internal structure established within granular materials, often observed as force chains, is dominant in controlling bulk mechanical properties. We designed a two-dimensional Hele-Shaw cell to contain photoelastic disks, and two servos were used on the top and right boundaries individually. We experimentally monitored the fluctuations in force on the top plate while slowing the shearing of the well-confined disks and keeping the right boundary at a contact-confined force of 0.2 kN. The particle rearrangements were found to correspond to bulk force drops and were observed in a localized zone with a length of approximately 5 particle diameters. These results help reveal the structure and mechanics of granular materials, and further investigations are ongoing.

关键词： granular matter     force chain     stick and slip    

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标题 作者 时间 类型 操作

Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking

Hamza KHAN,Jamshed IQBAL,Khelifa BAIZID,Teresa ZIELINSKA

期刊论文

Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain

Haitao YU, Haibo GAO, Liang DING, Zongquan DENG

期刊论文

Study on micro-texture and skid resistance of aggregate during polishing

Zhenyu QIAN, Lingjian MENG

期刊论文

Chemically reactive solute transfer in a boundary layer slip flow along a stretching cylinder

Swati Mukhopadhyay

期刊论文

Piezoelectric inertial robot for operating in small pipelines based on stick-slip mechanism: modeling

期刊论文

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

Saleh YAGHOOBI, Ahmad SHOOSHTARI

期刊论文

Magnetohydrodynamic slip flow and diffusion of a reactive solute past a permeable flat plate with suction

Krishnendu BHATTACHARYYA, G. C. LAYEK

期刊论文

simulation for elastic dislocation of the North-Tehran fault: The effects of geologic layering and slip

Pooya ZAKIAN; Hossein ASADI HAYEH

期刊论文

Effects of slip length and hydraulic diameter on hydraulic entrance length of microchannels with superhydrophobic

Wenchi GONG, Jun SHEN, Wei DAI, Zeng DENG, Xueqiang DONG, Maoqiong GONG

期刊论文

Improvement of mechanical behavior of buried pipelines subjected to strike-slip faulting using textured

Mahdi IZADI, Khosrow BARGI

期刊论文

基于非关联流动法则的滑移线场及上限法研究

郑颖人,邓楚键,王敬林

期刊论文

Improved genetic algorithm and its application to determination of critical slip surface with arbitrary

LI Liang, CHI Shichun, LIN Gao, CHENG Yungming

期刊论文

engineering measures on displacement and stress field of surrounding rock in tunnels crossing active strike-slip

期刊论文

Laboratory and field evaluation of asphalt pavement surface friction resistance

Zhong WU, Chris ABADIE

期刊论文

Force fluctuations in sheared granular disks

Mingbo YUAN, Qicheng SUN, Feng JIN

期刊论文