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Tracked robot with underactuated tension-driven RRP transformable mechanism:ideas and design

Frontiers of Mechanical Engineering 2024年第1期19卷 85-104页

作者： ran XU chao liu School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China Key Laboratory of Vehicle Advanced Manufacturing Measuring and Control Technology(Ministry of Education)Beijing Jiaotong UniversityBeijing 100044China

Robots with transformable tracked mechanisms are widely used in complex terrains because of their high adaptability,and many studies on novel locomotion mechanisms have been conducted to make them able to climb higher *** underactuated transformable mechanisms for tracked robots could decrease the number of actuators used while maintaining the flexibility and obstacle-crossing capability of these robots,and increasing their cost ***,the underactuated tracked robots have appreciable research *** this paper,a novel tracked robot with a newly proposed underactuated revolute‒revolute‒prismatic(RRP)transformable mechanism,which is inspired by the sit-up actions of humans,was *** newly proposed tracked robot has only two actuators installed on the track pulleys for moving and does not need extra actuators for ***,it could concentrate the track belt’s tension toward one side,and the unbalanced tension would drive the linkage mechanisms to change its *** this method,the proposed underactuated design could change its external shape to create support points with the terrain and move its center of mass actively at the same time while climbing obstacles or crossing other kinds of terrains,thus greatly improving the climbing capability of the *** geometry and kinematic relationships of the robot and the crossing strategies for three kinds of typical obstacles are *** the basis of such crossing motions,the parameters of links in the robot are designed to make sure the robot has sufficient stability while climbing ***-crossing dynamic simulations were run and analyzed to prove the feasibility of the robot.A prototype was built and *** show that the proposed robot could climb platforms with heights up to 33.3%of the robot’s length or cross gaps with widths up to 43.5%of the robot’s length.

关键词： mechanical design tracked robot underactuated mechanisms RRP mechanism obstacle crossing strategy

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A creep model for ultra-deep salt rock considering thermal-mechanical damage under triaxial stress conditions

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Journal of Rock Mechanics and Geotechnical Engineering 2024年第2期16卷 588-596页

作者： chao Liang Jianfeng liu Jianxiong Yang Huining Xu Zhaowei Chen Lina ran College of Water Resource and Hydropower Sichuan UniversityChengdu610065China CNPC Key Laboratory of Oil and Gas Underground Storage Engineering Langfang065007China CNPC Engineering Technology R&D Company Limited Beijing102206China

To investigate the specific creep behavior of ultra-deep buried salt during oil and gas exploitation,a set of triaxial creep experiments was conducted at elevated temperatures with constant axial pressure and unloading confining pressure *** results show that the salt sample deforms more significantly with the increase of applied temperature and deviatoric *** accelerated creep phase is not occurring until the applied temperature reaches 130℃,and higher temperature is beneficial to the occurrence of accelerated *** describe the specific creep behavior,a novel three-dimensional(3D)creep constitutive model is developed that incorporates the thermal and mechanical variables into mechanical ***,the standard particle swarm optimization(SPSO)method is adopted to fit the experimental data,and the sensibility of key model parameters is analyzed to further illustrate the model *** a result,the model can accurately predict the creep behavior of salt under the coupled thermo-mechanical effect in deep-buried *** on the research results,the creep mechanical behavior of wellbore shrinkage is predicted in deep drilling projects crossing salt layer,which has practical implications for deep rock mechanics problems.

关键词： Creep experiments Creep model Thermal and mechanical damage Fractional derivative

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Zircon U-Pb age evidence of the Mesoarchean(2.9–3.2 Ga)crustal remnant in the Southern Dabie Orogen,South China

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China Geology 2023年第1期6卷 174-176页

作者： Da-liang Xu Lian-hong Peng Xin Deng chao-ran liu Le Wan Xiao-ming Zhao Research Center for Petrogenesis and Mineralization of Granitoid Rocks China Geological SurveyWuhan 430205China Wuhan Center of China Geological Survey(China Central South China Innovation Center for Geosciences) Ministry of Natural ResourcesWuhan 430205China China University of Geosciences Beijing 100083China School of Earth Science China University of GeoscienceWuhan 430074China Institute of Karst Geology CAGSGuilin 541004China

*** Unlike the North China Plate where Archean and Paleoproterozoic crustal rocks are widely distributed,Early Precambrian basement rocks in the Yangtze Block of South China are locally exposed(Fig.1a),such as in the Kongling Complex,the Zhongxiang Complex,and the Douling Complex(Zhao GC and Cawood PA,2012).The Dabie Orogen is the eastward extension of the Qinling Orogen.

关键词： crustal Dabie South

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Prescribed-time stabilization and inverse optimal control of stochastic high-order nonlinear systems

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Science China(Information Sciences) 2024年第2期67卷 144-156页

作者： ran liu Hui WANG Wuquan LI School of Mathematics and Statistics Science Ludong University

This paper investigates the prescribed-time state-feedback stabilization and prescribed-time inverse optimality problems for stochastic high-order nonlinear systems. First, a time-varying controller is designed by developing scaled quartic Lyapunov functions, which can guarantee that the system has a unique strong solution almost surely on the prescribed interval for any system initial conditions and that the states and the control converge to the origin in a mean-square form within the prescribed time. Then, the controller is redesigned to address the problem of prescribed-time inverse optimal mean-square stabilization. Finally,a concrete example is provided to confirm the efficiency of the proposed design schemes.

关键词： stochastic high-order nonlinear systems prescribed-time stabilization the scaled design inverse optimality

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Optimization study of spherical tuyere based on BP neural network and new evaluation index

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Building Simulation 2024年第2期17卷 223-234页

作者： Mengchao liu ran Gao Yi Wang Angui Li School of Building Services Science and Engineering Xi’an University of Architecture and TechnologyXi’an710055China

The energy consumption of heating,ventilation,and air conditioning(HVAC)systems holds a significant position in building energy usage,accounting for about 65%of the total energy ***,with the advancement of building automation,the energy consumption of ventilation systems continues to *** study focuses on improving the performance of spherical tuyeres in HVAC *** primarily utilizes neural networks and multi-island genetic algorithms(MIGA)for multi-parameter *** employing methods such as structural parameterization,accurate and fast computational fluid dynamics(CFD)simulations,a minimized sample space,and a rational optimization strategy,the time cycle of the optimization process is ***,a new comprehensive evaluation index is proposed in this research to describe the performance of spherical tuyeres,which can be used to more accurately assess spherical tuyeres with different *** results show that by establishing a neural network prediction model and combining it with the multi-island genetic algorithm,a novel spherical tuyere design was successfully *** optimized novel spherical tuyeres achieved a 27.05%reduction in the spherical tuyeres effective index(STEI)compared to the traditional spherical ***,the resistance decreased by 15.68%,and the jet length increased by 7.57%.The experimental results demonstrate that our proposed optimization method exhibits high accuracy,good generalization capability,and excellent agreement at different Reynolds numbers.

关键词： spherical tuyeres STEI CFD ventilation

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Constructing the Impossible Differential of Type-II GFN with Boolean Function and Its Application to WARP

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Chinese Journal of Electronics 2024年第1期33卷 80-89页

作者： Jiali SHI Guoqiang liu chao LI College of Liberal Arts and Sciences National University of Defense Technology Hunan Engineering Research Center of Commercial Cryptography Theory and Technology Innovation State Key Laboratory of Information Security Institute of Information Engineering

Type-Ⅱ generalized Feist el network(GFN) has attracted a lot of attention for its simplicity and high *** differential attack is one of the powerful cryptanalytic approaches for word-oriented block ciphers such as Feistel-like *** deduce the impossible differential of Type-Ⅱ GFN by analyzing the Boolean function in the middle *** main idea is to investigate the expression with the variable representing the plaintext(ciphertext) difference words for the internal state *** adopting the miss-in-the-middle approach,we can construct the impossible differential of Type-Ⅱ *** an illustration,we apply this approach to WARP,a lightweight 128-bit block cipher with a 128-bit key which was presented by Banik et *** SAC *** structure of WARP is a 32-branch Type-Ⅱ ***,we find two 21-round truncated impossible differentials and implement a 32-round key recovery attack on *** the 32-round key recovery attack on WARP,some observations are used to mount an effective *** the advantage of the early abort technique,the data,time,and memory complexities are 2125.69chosen plaintexts,2126.6832-round encryptions,and 2100-bit,*** the best of our knowledge,this is the best attack on WARP in the single-key scenario.

关键词： Ciphers Boolean functions Parallel processing Complexity theory

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Rapid prediction of damaged ship roll motion responses in beam waves based on stacking algorithm

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Journal of Hydrodynamics 2024年第2期36卷 394-405页

作者： Xin-ran liu Ting-qiu Li Zi-ping Wang School of Naval Architecture Ocean and Energy Power EngineeringWuhan University of TechnologyWuhan430063China

Accurate modeling for highly non-linear coupling of a damaged ship with liquid sloshing in waves is still of considerable interest within the computational fluid dynamics(CFD)and AI *** paper describes a data-driven Stacking algorithm for fast prediction of roll motion response amplitudes in beam waves by constructing a hydrodynamics model of a damaged ship based on the dynamic overlapping grid CFD *** general idea is to optimize various parameters varying with four types of classical base models like multi-layer perception,support vector regression,random forest,and hist gradient boosting *** offers several attractive properties in terms of accuracy and efficiency by choosing the standard DTMB 5415 model with double damaged compartments for *** is clearly demonstrated that the predicted response amplitude operator(RAO)in the regular beam waves agrees well with the experimental data available,which verifies the accuracy of the established damaged ship hydrodynamics *** high-quality CFD samples,therefore,implementation of the designed Stacking algorithm with its optimal combination can predict the damaged ship roll motion amplitudes effectively and accurately(e.g.,the coefficient of determination 0.9926,the average absolute error 0.0955 and CPU 3s),by comparison of four types of typical base models and their various ***,the established Stacking algorithm provides one potential that can break through problems involving the time-consuming and low efficiency for large-scale lengthy CFD simulations.

关键词： Ship motion damaged ship computational fluid dynamics(CFD) machine learning stacking algorithm

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Selective synthesis of the B_(11)H_(14)^(-) and B_(12)H_(12)^(2-) borane derivatives and the general mechanisms of the B-H bond condensation

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Science China Chemistry 2024年第3期67卷 876-881页

作者： Yi Jing Xinghua Wang Hui Han Xin-ran liu Xing-chao Yu Xi-Meng Chen Donghui Wei Lai-Sheng Wang Xuenian Chen College of Chemistry Green Catalysis CenterZhengzhou UniversityZhengzhou 450001China School of Chemistry and Chemical Engineering Henan Key Laboratory of Boron Chemistry and Advanced Energy MaterialsHenan Normal UniversityXinxiang 453007China Department of Chemistry Brown UniversityProvidenceRI 02912USA

Polyhedral boranes are a class of well-known boron molecular clusters with unique physical and chemical properties,and great efforts have been made in the past decades to find more effective synthetic ***,the established synthetic methods suffer from low efficiency and low selectivity because the mechanism of the B-H bond condensation reaction,critical for the synthesis of the polyhedral boranes,is not well *** we report highly selective and efficient synthetic methods of the salts of the tetradecahydridoundecaborate(1-)(B_(11)H^(-)_(14)) and dodecahydrido-dodecaborates(2-)(B_(12)H_(12)^(2-)) anions by employing commercially available and inexpensive starting *** theoretical and experimental investigations are carried out to elucidate the reaction *** have found that the nature of the B-H bond condensation is the dihydrogen bonding interaction in which the positively charged hydrogens(bridged hydrogens) play a crucial *** current study has not only led to more effective and selective synthetic methods for B_(11)H^(-)_(14) and B_(12)H_(12)^(2-) but also unveiled the nature of the B-H bond condensation and the general formation mechanisms of polyhedral *** finding will facilitate the development of more effective synthetic methods for polyhedral boranes and spur their wide application.

关键词： Boranes polyhedral boranes dihydrogen bond nucleophilicity

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Formation mechanism of Fe-based amorphous powders produced by spark erosion

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Journal of Materials Science & Technology 2024年第3期170卷 33-46页

作者： Chekai liu ran Li Jiazi Bi Ding Ma Xiaobin liu Tao Zhang School of Materials Science and Engineering Key Laboratory of Aerospace Materials and Performance(Ministry of Education)Beihang UniversityBeijing 100191China

Spark erosion is a convenient,flexible,and low-cost method to quickly produce fine powders of metals,alloys,and semiconductors in size ranging from nearly a hundred micrometers to submicrometer by repetitive spark *** to the complexity of the powder-forming journey,normally accompanied by high temperature,high pressure,decomposition,diffusion and rapid quenching caused by discharge plasma,the mechanisms of powder formation and possible contaminant infiltration are still controversial,posing a significant challenge to control particle size and chemical composition of the powder produced by this *** this study,Fe-based amorphous powders in different particle-size distributions with high sphericity were fabricated by spark erosion under different discharge-energy *** max-imum particle size of the resultant powders can be correlated with discharge parameters,crater depth,and crater radius,respectively.A multi-ring-breakup model is proposed to reveal the particle-size distribution of the powder formed from the electrode melt under a single-pulse ***,a dielectric-element infiltration model is provided to quantitatively evaluate the infiltration mass ratio of the contaminant elements,stemming from the decomposed products of dielectric liquid,in the resultant powder with different particle *** models verified through the experimental data are significant for the development of high-performance fine Fe-based amorphous powder with controlled particle size and chemical composition.

关键词： Amorphous alloy Particle Spark erosion Infiltration Modeling

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Compensated acceleration feedback based active disturbance rejection control for launch vehicles

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Chinese Journal of Aeronautics 2024年第4期37卷 464-478页

作者： Xiaoyan ZHANG Wenchao XUE Zibo liu ran ZHANG Huifeng LI Key Laboratory of Systems and Control Institute of Systems ScienceAcademy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China School of Mathematical Sciences University of Chinese Academy of SciencesBeijing 100049China School of Astronautics Beihang UniversityBeijing 100191China

In this paper, the attitude tracking and load relief control problems against wind disturbances and uncertain aerodynamics as well as the engine thrust of launch vehicles are ***, a framework of Compensated Acceleration Feedback based Active Disturbance Rejection Control(CAF-ADRC) is established to achieve both desired attitude tracking and load relief performances. In particular, the total disturbance that includes the effects caused by both aerocoefficient perturbations and disturbances is estimated by constructing an Extended State Observer(ESO) to achieve attitude tracking. Furthermore, combined with the normal acceleration due to the engine thrust, the accelerometer measurement is also compensated to enhance the load relief ***, the quantitative analysis of ESO and the entire closed-loop system are studied. It can be concluded that the desired attitude tracking and load relief performances can be achieved simultaneously under the proposed approach. Besides, tuning laws of the proposed approach are systematically given, which are divided into ESO, Proportional Derivative(PD) and Compensated Acceleration Feedback(CAF) modules. Moreover, the performances under CAF-ADRC approach can be better than those under CAF based PD(CAF-PD) approach by tuning load relief ***, the approach presented is applied to a typical control problem of launch vehicles with wind disturbances and parameter uncertainties.

关键词： Launch vehicles Uncertainty analysis Active disturbance rejection control(ADRC) Load relief control Extended state observer(ESO)

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