Stable dynamic walking over uneven terrain

We propose a constructive control design for stabilization of non-periodic trajectories of underactuated robots. An important example of such a system is an underactuated "dynamic walking" biped robot traversing rough or uneven terrain. The stabilization problem is inherently challenging due to the nonlinearity, open-loop instability, hybrid (impact) dynamics, and target motions which are not known in advance. The proposed technique is to compute a transverse linearization about the desired motion: a linear impulsive system which locally represents "transversal" dynamics about a target trajectory. This system is then exponentially stabilized using a modified receding-horizon control design, providing exponential orbital stability of the target trajectory of the original nonlinear system. The proposed method is experimentally verified using a compass-gait walker: a two-degree-of-freedom biped with hip actuation but pointed stilt-like feet. The technique is, however, very general and can be applied to a wide variety of hybrid nonlinear systems. © The Author(s) 2011.

The rocking response of large flexible structures to earthquakes

The rocking response of structures subjected to strong ground motions is a problem of 'several scales'. While small structures are sensitive to acceleration pulses acting successively, large structures are more significantly affected by coherent low frequency components of ground motion. As a result, the rocking response of large structures is more stable and orderly, allowing effective isolation from the ground without imminent danger of overturning. This paper aims to characterize and predict the maximum rocking response of large and flexible structures to earthquakes using an idealized structural model. To achieve this, the maximum rocking demand caused by different earthquake records was evaluated using several ground motion intensity measures. Pulse-type records which typically have high peak ground velocity and lower frequency content caused large rocking amplitudes, whereas non-pulse type records caused random rocking motion confined to small rocking amplitudes. Coherent velocity pulses were therefore identified as the primary cause of significant rocking motion. Using a suite of pulse-type ground motions, it was observed that idealized wavelets fitted to velocity pulses can adequately describe the rocking response of large structures. Further, a parametric analysis demonstrates that pulse shape parameters affect the maximum rocking response significantly. Based on these two findings, a probabilistic analysis method is proposed for estimating the maximum rocking demand to pulse-type earthquakes. The dimensionless demand maps, produced using these methods, have predictive power in the near-field provided that pulse period and amplitude can be estimated a priori. Use of this method within a probabilistic seismic demand analysis framework is briefly discussed. © 2013 Springer Science+Business Media Dordrecht.

Characterizing the class of local metal sheet thickening processes

The need to create high-value products for specialist applications, and the search for efficient forming routes that obviate the need for some machining steps, is driving Interest In a novel class of forming processes aiming to create locally thickened features within sheet work- pieces. A number of novel forming processes have been proposed to meet this need, but it is as yet unclear which processes will be most effective in creating local thickening of various geometries, and many process configurations have yet to be tried. This paper aims to provide some basic principles for designing and characterising process behaviour. A simplified generic description of sheet thickening processes is provided, with two tools of variable operating on a sheet workpiece in plane strain, with different tool separations and motions parameterised. A comprehensive numerical study of the behaviour of this class of processes is conducted in Abaqus to predict the main characteristics of the material flow in each configuration. The results are used to classify the different basic behaviours that can be achieved by the sheet-bulk thickening processes and to give guidance on future process development, capability and applicability. © 2011 Wiley-VCH Verlag GmbH & Co. KGaA. Weinheim.

Superluminal radio source PKS 0420-014

The very long baseline interferometry result of a superluminal radio source PKS 0420-014 at 5 GHz with Shanghai (China), Urumqi (China), Note (Italy), and HartRAO (South Africa) telescopes is presented. Proper motions of the relativistic jet components in the source are calculated. Based on the Self-Compton emission in a uniform spherical model, the beaming parameters of the source are estimated. The results show that PKS 0420-014 has a high Doppler factor of 9.3, a Lorentz factor of 6.5, and a small angle of 5.5 degrees to the line of sight.

Bending of jets in the QSO NRAO 530

We present radio images of NRAO 530 on scales ranging from pc to kpc. The observations include the EVN at 5 GHz, the VLBA at 1.6, 8.6 and 15 GHz, the MERLIN at 1.6 and 5 GHz, and the VLA at 5, 8.4, 15, 22, and 43 GHz. The VLBI images show a core-jet structure with an oscillating trajectory on a scale of about 30 mas north of the strongest compact component (core). Superluminal motions are detected in five of the jet components with apparent velocities in the range of 13.6 to 25.2c. A new component is detected at 15 GHz with the VLBA observations, which appears to be associated with the outburst in 2002. Significant polarized emission is detected around the core with the VLBA observations at 15 GHz. Rapid variations of the polarization intensity and angle are found between the epochs in 2002 and 2004. On the kpc-scale, a distant component (labelled as WL) located 11 aresec west (PA=-86 degrees) of the core is detected beyond the core-jet structure which extended to several hundreds of mas in the north-west direction (-50 degrees). A significant emission between the core-jet structure and the WL is revealed. A clump of diffuse emission (labelled EL, 12 arcsec long) at PA 70 degrees to the core, is also detected in the VLA observations, suggesting the presence of double lobes in the source. The core component shows a flat spectrum, while the distant components WL and EL have steep spectra. The steep spectra of the distant components and the detection of the arched emission suggest that the distant components are lobes or hot-spots powered by the core of NRAO 530. The morphologies from pc- to kpc-scales and the bending of jets are investigated. The observed radio morphology from pc to kcp appears to favor the model in which precession or wobbling of the nuclear disk drives the helical motion of the radio plasma and produces the S-shaped structure on kpc scale.

复杂微通道中的液滴控制(英文)

<正>The problem of controlling the droplet motions in multiphase flows on the microscale has gained increasing attention.It is critical to understand the relevant physics on droplet hydrodynamics and thus control the generation,motion,splitting,and coalescence of droplets in

Bubble Dynamics and Heat Transfer in Microgravity Pool Boiling

Boiling is an extremely complicated and illusive process. Microgravity experiments offer a unique opportunity to study the complex interactions without external forces, such as buoyancy, which can affect the bubble dynamics and the related heat transfer. Furthermore, they can also provide a means to study the actual influence of gravity on the boiling. Two research projects on pool boiling in microgravity have been conducted aboard the Chinese recoverable satellites. Ground-based experiments both in normal gravity and in short-term microgravity in the Drop Tower Beijing and numerical simulations have also been performed. Steady boiling of R113 on thin platinum wires was studied with a temperature-controlled heating method, while quasi-steady boiling of FC-72 on a plane plate was investigated with an exponentially increasing heating voltage. It was found that the bubble dynamics in microgravity has a distinct difference from that in normal gravity, and that the heat transfer characteristic is depended upon the bubble dynamics. Lateral motions of bubbles on the heaters were observed before their departure in microgravity. The surface oscillation of the merged bubbles due to lateral coalescence between adjacent bubbles drove it to detach from the heaters. Slight enhancement of heat transfer on wires is observed in microgravity, while diminution is evident for high heat flux in the plate case.

Hydroelastic dynamic characteristics of a slender axis-symmetric body

The slender axis-symmetric submarine body moving in the vertical plane is the object of our investigation. A coupling model is developed where displacements of a solid body as a Euler beam (consisting of rigid motions and elastic deformations) and fluid pressures are employed as basic independent variables, including the interaction between hydrodynamic forces and structure dynamic forces. Firstly the hydrodynamic forces, depending on and conversely influencing body motions, are taken into account as the governing equations. The expressions of fluid pressure are derived based on the potential theory. The characteristics of fluid pressure, including its components, distribution and effect on structure dynamics, are analyzed. Then the coupling model is solved numerically by means of a finite element method (FEM). This avoids the complicacy, combining CFD (fluid) and FEM (structure), of direct numerical simulation, and allows the body with a non-strict ideal shape so as to be more suitable for practical engineering. An illustrative example is given in which the hydroelastic dynamic characteristics, natural frequencies and modes of a submarine body are analyzed and compared with experimental results. Satisfactory agreement is observed and the model presented in this paper is shown to be valid.

Multi-mode Vortex-induced Vibration of Slender Cable Experiencing Shear Flow

The dynamic characteristics of slender cable often present serried modes with low frequencies due to large structure flexibility resulted from high aspect ratio (ratio of length to diameter of cable), while the flow velocity distributes non-uniformly along the cable span actually in practical engineering. Therefore, the prediction of the vertex-induce vibration of slender cable suffered from multi-mode and high-mode motions becomes a challenging problem. In this paper a prediction approach based on modal energy is developed to deal with multi-mode lock-in. Then it is applied to the modified wake-oscillator model to predict the VIV displacement and stress responses of cable in non-uniform flow field. At last, illustrative examples are given of which the VIV response of flexible cable in nonlinear shear flow field is analyzed. The effects of flow velocity on VIV are explored. Our results show that both displacement and stress responses become larger as the flow velocity increasing; especially higher stress response companied with higher frequency vibration should be paid enough attention in practical design of SFT because of its remarkable influence on structure fatigue life.

Plasma and electrode emissions from a 1 kW hydrogen-nitrogen arcjet thruster

Arc root behavior affects the energy transfer and nozzle erosion in an arcjet thruster. To investigate the development of arc root attachment in 1 kW class N2 and H2-N2 arcjet thrusters from the time of ignition to the stably working condition, a kinetic series of end-on view images of the nozzle obtained by a high-speed video camera was analyzed. The addition of hydrogen leads to higher arc voltage levels and the determining factor for the mode of arc root attachment was found to be the nozzle temperature. At lower nozzle temperatures, constricted type attachment with unstable motions of the arc root was observed, while a fully diffused and stable arc root was observed at elevated nozzle temperatures.

Sand storms: CFD analysis of Reynolds stress and collision stress of particles near sand bed

Sand storm is a serious environmental threat to humans. Sand particles are transported by saltation and suspension, causing soil erosion in one place and deposition in another. In order to prevent and predict sand storms, the causes and the manners of particle motions must be studied in detail. In this paper a standard k-epsilon model is used for the gas phase simulation and the discrete element method (DEM) is used to predict the movements of particles using an in-house procedure. The data are summarized in an Eulerian-Eulerian regime after simulation to get the statistical particle Reynolds stress and particle collision stress. The results show that for the current case the Reynolds stress and the air shear stress predominate in the region 20-250 mm above the initial sand bed surface. However, in the region below 3 mm, the collision stress must be taken into account in predicting particle movement. (C) 2010 Chinese Society of Particuology and Institute of Process Engineering, Chinese Academy of Sciences. Published by Elsevier B.V. All rights reserved.

Experimental study on energy dissipation in a 1 kW arcjet thruster

As a simple and reliable propulsion system, arcjet thrusters have been used in multiple satellite missions. In order to improve the efficiency of arcjet thrusters, energy dissipation study was carried out in a 1 kW arcjet thruster with pure N2, H2-N2 and H2 as the propellant. Using a 698 nm interference filter, thermal radiation was isolated from arc and plume emissions and the internal nozzle temperature was obtained by converting the thermal radiation signals. Results show that the addition of hydrogen leads to higher nozzle temperature, which is the determining factor for the mode of arc root attachment. At lower nozzle temperatures, constricted type attachment with unstable motions of the arc root was observed, while a fully diffused and stable arc root was observed at elevated nozzle temperatures. Output energy distribution analysis shows that losses from frozen flow and exhaust thermal losses are the main parts in limiting the efficiency of arcjet thrusters.

Experimental study on energy dissipation in a 1 kW arcjet thruster

As a simple and reliable propulsion system, arcjet thrusters have been used in multiple satellite missions. In order to improve the efficiency of arcjet thrusters, energy dissipation study was carried out in a 1 kW arcjet thruster with pure N2, H2-N2 and H2 as the propellant. Using a 698 nm interference filter, thermal radiation was isolated from arc and plume emissions and the internal nozzle temperature was obtained by converting the thermal radiation signals. Results show that the addition of hydrogen leads to higher nozzle temperature, which is the determining factor for the mode of arc root attachment. At lower nozzle temperatures, constricted type attachment with unstable motions of the arc root was observed, while a fully diffused and stable arc root was observed at elevated nozzle temperatures. Output energy distribution analysis shows that losses from frozen flow and exhaust thermal losses are the main parts in limiting the efficiency of arcjet thrusters.

Topological objects in the O(3) nonlinear sigma model

We study the topological defects in the nonlinear O(3) sigma model in terms of the decomposition of U(1) gauge potential. Time-dependent baby skyrmions are discussed in the (2 + 1)-dimensional spacetime with the CP1 field. Furthermore, we show that there are three kinds of topological defects-vortex lines, point defects and knot exist in the (3 + 1)-dimensional model, and their topological charges, locations and motions are determined by the phi-mapping topological current theory.

ZnO clusters encapsulated inside micropores of zeolites studied by UV Raman and laser-induced luminescence spectroscopies

Using microporous zeolites as host, sub-nanometric ZnO clusters were prepared in the micropores of the host by the incipient wetness impregnation method. A small amount of sub-nanometric ZnO clusters were introduced into the channels of HZSM-5 zeolite, whereas a large quantity of sub-nanometric ZnO clusters can be accommodated in the supercages of HY zeolite and no macrocrystalline ZnO exists on the extra surface of the HY material. The vibrations of the zeolite framework and ZnO were characterized by UV Raman spectroscopy. The optical properties of these ZnO clusters were studied by UV-visible absorption spectroscopy and laser-induced luminescence spectroscopy. It is found that there are strong host-guest interactions between the framework oxygen atoms of zeolite and ZnO clusters influencing the motions of the framework oxygen atoms. The interaction may be the reason why ZnO clusters are stabilized in the pores of zeolites. Different from bulk ZnO materials, these sub-nanometric ZnO clusters exhibit their absorption onset below 265 nm and show a purple luminescence band (centered at 410-445 nm) that possesses high quantum efficiency and quantum size effect. This purple luminescence band most likely originates from the coordinatively unsaturated Zn sites in sub-nanometric ZnO clusters. On the other hand, the differences in the pore structure between HZSM-5 and HY zeolites cause the absorption edge and the purple luminescence band of ZnO clusters in ZnO/HZSM-5 show a red shift in comparison with those of ZnO clusters in ZnO/HY.