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A learning-based control pipeline for generic motor skills for quadruped robots

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第6期25卷 443-454页

作者： Yecheng SHAO Yongbin JIN Zhilong HUANG Hongtao WANG Wei YANG Center for X-mechanics Zhejiang UniversityHangzhou310027China ZJU-Hangzhou Global Scientific and Technological Innovation Center Hangzhou311200China State Key Laboratory of fluid Power&Mechatronic Systems Zhejiang UniversityHangzhou310058China institute of Applied mechanics Zhejiang UniversityHangzhou310027China

Performing diverse motor skills with a universal controller has been a longstanding challenge for legged *** motion imitation-based reinforcement learning(RL)has shown remarkable performance in reproducing designed motor skills,the trained controller is only suitable for one specific type of *** synthesis has been well developed to generate a variety of different motions for character animation,but those motions only contain kinematic information and cannot be used for *** this study,we introduce a control pipeline combining motion synthesis and motion imitation-based RL for generic motor *** design an animation state machine to synthesize motion from various sources and feed the generated kinematic reference trajectory to the RL controller as part of the *** the proposed method,we show that a single policy is able to learn various motor skills ***,we notice the ability of the policy to uncover the correlations lurking behind the reference motions to improve control *** analyze this ability based on the predictability of the reference trajectory and use the quantified measurements to optimize the design of the *** demonstrate the effectiveness of our method,we deploy the trained policy on hardware and,with a single control policy,the quadruped robot can perform various learned skills,including automatic gait transitions,high kick,and forward jump.

关键词： Quadruped robot Reinforcement learning(RL) Motion synthesis Control

Three-Dimensional Convection in an Inclined porous Layer Subjected to a Vertical Temperature Gradient

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fluid Dynamics & Materials Processing 2024年第9期20卷 1957-1970页

作者： Ivan Shubenkov Tatyana Lyubimova Evgeny Sadilov Computational fluid Dynamics Laboratory Institute of Continuous Media Mechanics UB RASPerm614068Russia Theoretical Physics Department Perm State UniversityPerm614990Russia

In this paper,we study the onset and development of three-dimensional convection in a tilted porous layer saturated with a *** layer is subjected to a gravitational field and a strictly vertical temperature ***,problems of thermal convection in tilted porous media saturated with a liquid are studied by assuming constant different temperatures at the boundaries of the layer,which prevent these systems from supporting conductive(non-convective)*** boundary conditions considered in the present work allow a conductive state and are representative of typical geological *** an earlier work,we carried out a linear stability analysis of the conductive *** was shown that at any layer tilt angles,the most dangerous type of disturbances are longitudinal ***,a non-zero velocity component exists in *** the present work,threedimensional non-linear convection regimes are *** original three-dimensional problem is reduced to two-dimensional one with an analytical expression for the velocity z-component v_(z)=v_(z)(x,y).It is shown that the critical Rayleigh number values obtained through numerical solutions of the obtained 2D problem by a finite difference method for different layer inclination angles,are in a good agreement with those predicted by the linear *** number of convective rolls realized in nonlinear calculations also fits the linear theory predictions for a given cavity *** carried out at low supercriticalities show that a direct bifurcation takes *** increasing supercriticality,no transitions to other convective regimes are *** situation studied in this problem can be observed in oil-bearing rock formations under the influence of a geothermal temperature gradient,where the ensuing fluid convection can affect the distribution of oil throughout the layer.

关键词： Thermal convection inclined layer porous media vertical temperature gradient

Numerical investigation on compressible flow around a cylinder in proximity to the heated wall

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Journal of Hydrodynamics 2024年第3期36卷 519-533页

作者： Yu-lu Liu Jun-wang Qu Yi-zhou Tao Yong-guang Lyu Xiang Qiu Shanghai institute of Technology School of ScienceShanghai201418China Shanghai Key Laboratory of mechanics in Energy Engineering Shanghai Institute of Applied Mathematics and MechanicsSchool of Mechanics and Engineering ScienceShanghai UniversityShanghai200072China

In this study,direct numerical simulations were conducted to investigate the compressible flow around a circular cylinder near a heated wall at a Reynolds number(Re)of 500 and a Mach number(Ma)of *** heating ratio T^(*)ranging from 1.0 to 1.6 represents the different situations of a heated wall,whereas the gap ratio ranges from 0.3 to *** study analyzed the impact of heating effect and wall proximity on flow characteristics and aerodynamic *** results indicated that the stability of the flow was enhanced as the gap ratio decreased or the heating ratio *** the calculation of enstrophy,it was found that the strength of shedding vortices weakens with a decrease in gap ratio or an increase in heating ***,the mean drag coefficient decreases as the heating ratio increases or the gap ratio *** contrast,the mean lift coefficient initially decreases and then increases as the gap ratio ***,the drag reduction mechanism was analyzed by examining the pressure distribution on the surface of the cylinder.

关键词： Compressible flow wall proximity heating effect stability enstrophy

Numerical simulation of three dimensional concrete printing based on a unified fluid and solid mechanics formulation

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Frontiers of Structural and Civil Engineering 2024年第4期18卷 491-515页

作者： Janis REINOLD Koussay DAADOUCH Günther MESCHKE institute for Structural mechanics Ruhr University BochumBochum 44801Germany

Deformation control constitutes one of the main technological challenges in three dimensional(3D)concrete printing,and it presents a challenge that must be addressed to achieve a precise and reliable construction ***-based information of the expected deformations and stresses is required to optimize the construction process in association with the specific properties of the concrete *** this work,a novel thermodynamically consistent finite strain constitutive model for fresh and early-age 3D-printable concrete is *** model is then used to simulate the 3D concrete printing process to assess layer shapes,deformations,forces acting on substrate layers and prognoses of possible structural collapse during the layer-by-layer *** constitutive formulation is based on a multiplicative split of the deformation gradient into elastic,aging and viscoplastic parts,in combination with a hyperelastic potential and considering evolving material properties to account for structural buildup or *** advantage of this model is the stress-update-scheme,which is similar to that of small strain plasticity and therefore enables an efficient integration with existing material *** constitutive model uses the particle finite element method,which serves as the simulation framework,allowing for modeling of the evolving free surfaces during the extrusion *** analyses of three printed layers are used to create deformation plots,which can then be used to control the deformations during 3D concrete *** study offers further investigations,on the structural level,focusing on the potential structural collapse of a 3D printed concrete *** capability of the proposed model to simulate 3D concrete printing processes across the scales—from a few printed layers to the scale of the whole printed structure—in a unified fashion with one constitutive formulation,is demonstrated.

关键词： particle finite element method 3D concrete printing multiplicative split additive manufacturing elastoviscoplasticity

Numerical Analysis of Perforation during Hydraulic Fracture Initiation Based on Continuous-Discontinuous Element Method

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Computer Modeling in Engineering & Sciences 2024年第8期140卷 2103-2129页

作者： Rui Zhang Lixiang Wang Jing Li Chun Feng Yiming Zhang School of Civil and Transportation Engineering Hebei University of TechnologyTianjin300401China Key Laboratory for mechanics in fluid Solid Coupling Systems Institute of MechanicsChinese Academy of SciencesBeijing100190China School of Civil Engineering and Architecture Zhejiang Sci-Tech UniversityHangzhou310018China Jinyun institute Zhejiang Sci-Tech UniversityLishui321400China

Perforation is a pivotal technique employed to establish main flow channels within the reservoir formation at the outset of hydraulic fracturing *** perforation designs is critical for augmenting the efficacy of hydraulic fracturing and boosting oil or gas *** this study,we employ a hybrid finite-discrete element method,known as the continuous–discontinuous element method(CDEM),to simulate the initiation of post-perforation hydraulic fractures and to derive enhanced design *** model incorporates the four most prevalent perforation geometries,as delineated in an engineering technical ***-world perforations deviate from the ideal cylindrical shape,exhibiting variable cross-sectional profiles that typically manifest as an initial constriction followed by an expansion,a feature consistent across all four perforation *** simulations take into account variations in perforation hole geometries,cross-sectional diameters,and perforation *** findings show that perforations generated by the 39g DP3 HMX perforating bullet yield the lowest breakdown pressure,which inversely correlates with increases in sectional diameter and perforation ***,this study reveals the relationship between breakdown pressure and fracture degree,providing valuable insights for engineers and designers to refine perforation strategies.

关键词： Hydraulic fracturing real perforation shape breakdown pressure perforation layout design CDEM

基于折射率匹配实验图像指标的含液颗粒物质系统内部固体体积分数重构

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Acta Mechanica Sinica 2024年第2期40卷 39-53页

作者：孙云辉焦佳珺安翼王晓亮刘青泉 School of Aerospace Engineering Beijing Institute of TechnologyBeijing100081China Key Laboratory for mechanics in fluid Solid Coupling Systems Institute of MechanicsChinese Academy of SciencesBeijing100190China

折射率匹配技术被广泛用于研究颗粒-液体混合流动,但是目前针对其固体体积分数的确定为经验性的且缺乏理论或实验支撑.为了合理确定内部体积分数,本文开展了系统的标定实验来研究固体体积分数和图像指标的关系.结果表明基于面积分数的... 详细信息

折射率匹配技术被广泛用于研究颗粒-液体混合流动,但是目前针对其固体体积分数的确定为经验性的且缺乏理论或实验支撑.为了合理确定内部体积分数,本文开展了系统的标定实验来研究固体体积分数和图像指标的关系.结果表明基于面积分数的模型由于颗粒表观尺寸的不稳定性,会产生较大的误差,传统使用的正比例模型仅在靠近标定点附近的体积分数成立.本文提出了基于Voronoi多边形等效直径的预测模型,结果表明该模型更为准确且稳定,该模型被进一步应用于颗粒-液体斜槽流动中以研究内部体积分数剖面和底部应力.

关键词： Voronoi多边形折射率匹配颗粒物质等效直径标定点比例模型标定实验实验图像

Protective performance of shear stiffening gel-modified foam against ballistic impact:Experimental and numerical study

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Defence Technology（防务技术） 2024年第2期32卷 510-520页

作者： Huan Tu Haowei Yang Pengzhao Xu Zhe Yang Fan Tang Cheng Dong Yuchao Chen Lei Ren Wenjian Cao Chenguang Huang Yacong Guo Yanpeng Wei Key Laboratory for mechanics in fluid Solid Coupling Systems Institute of MechanicsChinese Academy of SciencesBeijing 100190China School of Mechanical Engineering Northwestern Polytechnical UniversityXi'an 710072China Xi'an institute of Electromechanical Information Technology Xi'an 710065China Science and Technology on Transient Impact Laboratory Beijing 102202China School of Engineering Science University of Chinese Academy of SciencesBeijing 100049China

As one of the most widely used personal protective equipment(PPE),body armors play an important role in protecting the human body from the high-velocity impact of bullets or *** body torso and critical organs of the wear may suffer severe behind-armor blunt trauma(BABT)even though the impactor is stopped by the body armor.A type of novel composite material through incorporating shear stiffening gel(STG)into ethylene-vinyl acetate(EVA)foam is developed and used as buffer layers to reduce *** this paper,the protective performance of body armors composed of fabric bulletproof layers and a buffer layer made of foam material is investigated both experimentally and *** effectiveness of STG-modified EVA in damage relief is verified by ballistic *** parallel with the experimental study,numerical simulations are conducted by LS-DYNA®to investigate the dynamic response of each component and capture the key mechanical parameters,which are hardly obtained from field *** fully describe the material behavior under the transient impact,the selected constitutive models take the failure and strain rate effect into consideration.A good agreement between the experimental observations and numerical results is achieved to prove the validity of the modelling *** tests and simulations show that the impact-induced deformation on the human body is significantly reduced by using STG-modified EVA as the buffering *** improvement of protective performance is attributed to better dynamic properties and more outstanding energy absorption capability of the composite foam.

关键词： Ballistic behavior Composite foam Shear stiffening gel Finite element analysis Protective mechanism

Changes in filtration and capacitance properties of highly porous reservoir in underground gas storage:CT-based and geomechanical modeling

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Journal of Rock mechanics and Geotechnical Engineering 2024年第8期16卷 2982-2995页

作者： Valerii Khimulia Vladimir Karev Yury Kovalenko Svyatoslav Barkov Ishlinsky institute for Problems in mechanics RAS Moscow119526Russia

The paper presents the results of comprehensive studies of filtration and capacitance properties of highly porous reservoir rocks of the aquifer of an underground gas storage *** geomechanical part of the research included studying the dependence of rock permeability on the stress-strain state in the vicinity of the wells,and physical modeling of the implementation of the method of increasing the permeability of the wellbore zone-the method of directional unloading of the *** digital part of the research included computed tomography(CT)-based computer analysis of the internal structure,pore space characteristics,and filtration properties before and after the *** to the results of physical modeling of deformation and filtration processes,it is found that the permeability of rocks before fracture depends on the stress-strain state insignificantly,and this influence is ***,when downhole pressure reaches 7-8 MPa,macrocracks in the rock begin to grow,accompanied by irreversible permeability ***,geodesic tortuosity and permeability values were obtained based on digital studies and numerical modeling.A weak degree of transversal anisotropy of the filtration properties of rocks was *** on the analysis of pore size distribution,pressure field and flow velocities,high homogeneity and connectivity of the rock pore space is *** absence of pronounced changes in pore space characteristics and pore permeability after non-uniform triaxial loading rocks was *** the basis of geometrical analysis of pore space,the reasons for weak permeability anisotropy were *** filtration-capacitance properties obtained from the digital analysis showed very good agreement with the results of field and laboratory *** physical modeling has confirmed the efficiency of application of the directional unloading method for the reservoir under *** necessary parameters of its application were calcu

关键词： Permeability anisotropy Reservoir porosity Rocks computed tomography(CT) Digital core analysis Filtration flow numerical modeling

Analytical solutions of turbulent boundary layer beneath forward-leaning waves

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Applied Mathematics and mechanics(English Edition) 2024年第4期45卷 695-710页

作者： Yiqin XIE Jifu ZHOU Xu WANG Jinlong DUAN Yongjun LU Shouqian LI Laboratory for mechanics in fluid Solid Coupling Systems Institute of MechanicsChinese Academy of SciencesBeijing 100190China State Key Laboratory of Simulation and Regulation of Water Cycle in River Basin China Institute of Water Resources and Hydropower ResearchBeijing 100038China School of Engineering Sciences University of Chinese Academy of SciencesBeijing 100049China State Key Laboratory of Hydrology-Water Resources and Hydraulic Engineering Nanjing Hydraulic Research InstituteNanjing 210024China

As a typical nonlinear wave,forward-leaning waves can be frequently encountered in the near-shore areas,which can impact coastal sediment transport ***,it is of significance to describe the characteristics of the boundary layer beneath forward-leaning waves accurately,especially for the turbulent boundary *** this work,the linearized turbulent boundary layer model with a linear turbulent viscosity coefficient is applied,and the novel expression of the near-bed orbital velocity that has been worked out by the authors for forward-leaning waves of arbitrary forward-leaning degrees is further used to specify the free stream boundary condition of the bottom boundary ***,a variable transformation is found so as to make the equation of the turbulent boundary layer model be solved analytically through a modified Bessel ***,an explicit analytical solution of the turbulent boundary layer beneath forward-leaning waves is derived by means of variable separation and variable *** analytical solutions of the velocity profile and bottom shear stress of the turbulent boundary layer beneath forward-leaning waves are verified by comparing the present analytical results with typical experimental data available in the previous literature.

关键词： forward-leaning wave turbulent boundary layer velocity profile bottom shear stress