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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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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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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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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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Influence of Vanes and Blades on Ingress in Axial Rim Seal for Turbine Stages

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Journal of Thermal Science 2024年第3期33卷 833-846页

作者： REN ran DU Qiang liu Guang ZENG yanlian XIE Lei Institute of Engineering Thermophysics Chinese Academy of SciencesBeijing100190China National Key Laboratory of Science and Technology on Advanced Light-duty Gas-turbine Beijing100190China School of Aeronautics and Astronautics University of Chinese Academy of SciencesBeijing100190China

Hot gas ingestion refers to the phenomenon of mainstream hot gas flowing into the space cavity of a turbine *** studies have found that mainstream annulus pressure distribution plays an important role in hot gas ingestion,but due to its complexity,the mechanism of the interaction between mainstream flow and hot gas ingestion remains *** paper adopts the UranS method,and three sealing flow rates are considered,named C_(w)=0,C_(w)=500,and C_(w)=*** time-averaged annulus pressure distribution shows that an increase in the sealing flow decreases the pressure value,and the effects of the sealing flow on the pressure distribution of the leading edge of the blade are much more influential than that of the trailing edge of the *** unsteady pressure time-space distribution in the annulus indicates that a time-space tilted distribution of pressure at the rim exits when the sealing flow *** phenomenon is mainly due to the strong feedback mechanism of the sealing flow to the annulus pressure field.A comparison of the pressure and mean radial velocity distribution of the mainstream shows that the ingestion mainly occurs on the blade side,where the pressure is lower than on the vane *** flow characteristics at the wheel rim are analyzed with a sealing flow rate C_(w)=5000,and under these conditions,both pressure-induced ingestion and ingestion caused by a passage vortex can be *** three-dimensional and inertial effects of the mainstream at the wheel rim lead to the generation of separation vortices on the blade side,and the presence of separation vortices leads to ingestion along the blade *** the same time,pressure on the blade side will cause the fluid to have a radial inward flow tendency,which will promote the formation of separation vortices,leading to more serious ingestion in the high-pressure region on the blade *** blade pressure field can be more significant than the vane trailing pressure field in the rim sea

关键词： separation vortex unsteady rim seal the effect of blade on ingestion

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Hydrochemical Characterization,Controlling Factors and Water Quality of Surface Water in Shandong Province,North China

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Journal of Earth Science 2024年第1期35卷 155-166页

作者： ran An Jiutan liu Zongjun Gao Changsuo Li yuming Peng School of Earth Sciences and Resources China University of GeosciencesBeijing 100083China College of Earth Science and Engineering Shandong University of Science and TechnologyQingdao 266590China 801 Institute of Hydrogeology and Engineering Geology Shandong Provincial Bureau of Geology&Mineral ResourcesJinan 250014China Key Laboratory of Groundwater Resources and Environment Shandong Provincial Bureau of Geology&Mineral ResourcesJinan 250014China Shandong Engineering Research Center for Groundwater Environmental Protection and Remediation Jinan 250014China

In this study,90 surface water samples were collected from Shandong Province(SDP)in the dry and wet seasons and analyzed using statistical analysis,hydrochemical methods and water quality index(WQI).The content of main ions showed seasonal variations,with a higher average value in the dry season than in the wet *** points exhibiting high contents of the main chemical components were mainly distributed in areas southwest of SDP,north of Weifang,and around *** saturation index of carbonate minerals was greater than zero,while that of evaporite minerals was less than *** hydrochemical characteristics of surface water are mainly dominated by rock weathering as well as cation *** addition,surface water in SDP has significantly been affected by anthropogenic *** of the surface water could be classified as weakly alkaline soft-fresh water,with the hydrochemical types of SO_(4)·Cl-Ca·Mg and SO_(4)·*** terms of WQI,47.88% and 37.88% of the water samples in SDP were classified as poor water in the dry and wet seasons,*** the whole,the water quality is higher in the wet season than in the dry season,and surface water in SDP is generally suitable for agricultural irrigation.

关键词： surface water hydrochemical characteristics controlling factors water quality Shandong Province

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Relationship between the Stratospheric Arctic Vortex and Surface Air Temperature in the Midlatitudes of the Northern Hemisphere

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Journal of Meteorological Research 2024年第1期38卷 39-52页

作者： Xue ran Dingzhu HU yang ZHANG Mei-Chen liu Key Laboratory of Meteorological Disaster Ministry of Education(KLME)/Joint International Research Laboratory of Climate and Environmental Change(ILCEC)/Collaborative Innovation Center on Forecast and Evaluation of Meteorological Disasters(CIC-FEMD)Nanjing University of Information Science&TechnologyNanjing 210044 School of Atmospheric Sciences Nanjing UniversityNanjing 210023

It is known that different relationships exist between the strength and displacement of the stratospheric polar vortex(SPV),and the surface air temperature(SAT)patterns in Eurasia and North America,but the mechanisms behind these relationships remain unclear,especially on an interannual *** on empirical orthogonal function(EOF)analysis using NCEP reanalysis data over 1958–2018,this study attempts to ascertain the relationship between the SPV intensity and displacement over the Arctic and the SATs in the midlatitudes of the Northern *** results indicate that a strengthened SPV corresponds to an SAT increase in Eurasia and a decrease in eastern North America and *** the SPV is shifted towards Eurasia,however,a corresponding SAT increase occurs in both North America and Eurasia,with a larger increase in North America than in ***,a strengthened SPV tends to correspond to a positive North Atlantic Oscillation-like circulation in the troposphere with negative geopotential height(GH)anomalies in Greenland and eastern North American continent and positive GH anomalies to the north of 45°N in Eurasia,which corresponds to lower SATs in North America than in ***,when the SPV shifted towards Eurasia,it was accompanied by a positive Pacific/North American-like pattern with a deepened Aleutian low,which corresponds to the increasing SATs in North *** tropospheric circulation changes are related to the response of tropospheric planetary wave activity to the SPV.A strengthened SPV corresponds to the weakening of tropospheric planetary wave-1 waves,which is accompanied by a negative GH in North America but a positive GH in *** the SPV shifted towards Eurasia,the tropospheric planetary wave-1(-2)waves strengthened(weakened),and the combined effects of the planetary wave-1 and wave-2 waves would cause positive GH anomalies in both Eurasia and North America.

关键词： stratospheric polar vortex surface air temperature teleconnection patterns planetary waves

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Solidification/Stabilization of Chromium in Red Mud-based Geopolymer

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Journal of Wuhan University of Technology(Materials Science) 2024年第4期39卷 819-830页

作者：田崇霏 LUO Zhongtao liu Lei liu Xiaohai 张美香陈萌 HAI ran School of Materials Science and Engineering Zhengzhou UniversityZhengzhou 450001China Henan Renbang Technology Co. Ltd.Luoyang 471700China School of Water Conservancy and Civil Engineering Zhengzhou UniversityZhengzhou 450001China School of Architectural and Civil Engineering Zhongyuan University of TechnologyZhengzhou 450007China

Up to 1.5wt%of Cr(Ⅲ)salts(CrCl_(3),and Cr_(2)O_(3))and Cr(Ⅵ)salts(Na_(2)CrO_(4),and CaCr_(2)O_(7))were incorporated into red mud-based geopolymers,*** solidification/stabilization,compressive strength,and durability of the Cr-containing geopolymers were *** experimental results indicate that the red mud-based geopolymer could effectively solidify/stabilize different types of Cr salts with solidification/stabilization rates of above 99.61%.Geopolymers are environmentally safe when the dosage of CaCr_(2)O_(7)is≤1.0wt%,or the dosage of CrCl_(3),Cr_(2)O_(3),and Na_(2)CrO_(4)is≤1.5wt%,*** effects of Cr salts on the compressive strength varies with the type and content of Cr *** freeze-thaw cycle is more destructive to geopolymer properties than sulfate attack or acid rain *** solidification/stabilization of Cr is mainly attributed to the following reasons:a)The chemical binding of Cr is related to the formation of Cr-containing hydrates(eg,magnesiochromite((Mg,Fe)(Cr,Al)_(2)O_(4)))and doping into N-A-S-H gel and C-A-S-H gel framework;b)The physical effect is related to the encapsulation by the hydration products(e g,N-A-S-H gel and C-A-S-H gel).This study provides a reference for the treatment of hazardous Cr-containing wastes by solid waste-based geopolymers.

关键词： chromium solidification/stabilization geopolymer red mud durability

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