A control algorithm for improving vehicle handling was proposed by applying right angle to the steering wheel,based on the nonlinear adaptive optimal control(NAOC).A nonlinear 4-DOF model was initially developed,then ...A control algorithm for improving vehicle handling was proposed by applying right angle to the steering wheel,based on the nonlinear adaptive optimal control(NAOC).A nonlinear 4-DOF model was initially developed,then it was simplified to a 2-DOF model with reasonable assumptions to design observer and optimal controllers.Then a simplified model was developed for steering system.The numerical simulations were carried out using vehicle parameters for standard maneuvers in dry and wet road conditions.Moreover,the hardware in the loop method was implemented to prove the controller ability in realistic conditions.Simulation results obviously show the effectiveness of NAOC on vehicle handling and reveal that the proposed controller can significantly improve vehicle handling during severe maneuvers.展开更多
An iterative method is introduced successfully to solve the inverse kinematics of a 6-DOF manipulator of a tunnel drilling rig based on dual quaternion, which is difficult to get the solution by Denavit-Hartenberg(D-H...An iterative method is introduced successfully to solve the inverse kinematics of a 6-DOF manipulator of a tunnel drilling rig based on dual quaternion, which is difficult to get the solution by Denavit-Hartenberg(D-H) based methods. By the intuitive expression of dual quaternion to the orientation of rigid body, the coordinate frames assigned to each joint are established all in the same orientation, which does not need to use the D-H procedure. The compact and simple form of kinematic equations, consisting of position equations and orientation equations, is also the consequence of dual quaternion calculations. The iterative process is basically of two steps which are related to solving the position equations and orientation equations correspondingly. First, assume an initial value of the iterative variable; then, the position equations can be solved because of the reduced number of unknown variables in the position equations and the orientation equations can be solved by applying the solution from the position equations, which obtains an updated value for the iterative variable; finally, repeat the procedure by using the updated iterative variable to the position equations till the prescribed accuracy is obtained. The method proposed has a clear geometric meaning, and the algorithm is simple and direct. Simulation for 100 poses of the end frame shows that the average running time of inverse kinematics calculation for each demanded pose of end-effector is 7.2 ms on an ordinary laptop, which is good enough for practical use. The iteration counts 2-4 cycles generally, which is a quick convergence. The method proposed here has been successfully used in the project of automating a hydraulic rig.展开更多
Reasons and realities such as being non-linear of dynamical equations,being lightweight and unstable nature of quadrotor,along with internal and external disturbances and parametric uncertainties,have caused that the ...Reasons and realities such as being non-linear of dynamical equations,being lightweight and unstable nature of quadrotor,along with internal and external disturbances and parametric uncertainties,have caused that the controller design for these quadrotors is considered the challenging issue of the day.In this work,an adaptive sliding mode controller based on neural network is proposed to control the altitude of a quadrotor.The error and error derivative of the altitude of a quadrotor are the inputs of neural network and altitude sliding surface variable is its output.Neural network estimates the sliding surface variable adaptively according to the conditions of quadrotor and sets the altitude of a quadrotor equal to the desired value.The proposed controller stability has been proven by Lyapunov theory and it is shown that all system states reach to sliding surface and are remaining in it.The superiority of the proposed control method has been proven by comparison and simulation results.展开更多
Based on the distribution characteristic of magnetic field along the polish wheel,the four-axis linkage technique is advanced to replace a standard five-axis one to figure low-gradient optical surfaces with a raster t...Based on the distribution characteristic of magnetic field along the polish wheel,the four-axis linkage technique is advanced to replace a standard five-axis one to figure low-gradient optical surfaces with a raster tool-path in magnetorheological finishing(MRF).After introducing the fundaments of such simplification,the figuring reachability of a four-axis system for the low-gradient optics was theoretically analyzed.Further validation including magnetic field intensity and influence function characteristic was performed to establish its application.To demonstrate the correctness,feasibility and applicability of such technique,a K4 spherical part was figured by two iterations of MRF with surface form error improved to 0.219λPV and 0.027λRMS.Meanwhile,the surface roughness was also improved a lot in MRF process.These theoretical analyses and experimental results both indicate that high form accuracy and excellent surface quality can be obtained by using the four-axis linkage technique in the process of figuring low-gradient optical elements,and the four-axis linkage system undoubtedly is much more easy to control and much more economical.展开更多
Electrodeposition of aluminum from benzene-tetrahydrofuran-Al Cl3-Li Al H4 was studied at room temperature. Galvanostatic electrolysis was used to investigate the effect of various parameters on deposit morphology and...Electrodeposition of aluminum from benzene-tetrahydrofuran-Al Cl3-Li Al H4 was studied at room temperature. Galvanostatic electrolysis was used to investigate the effect of various parameters on deposit morphology and crystal size, including current density, temperature, molar ratio of benzene/tetrahydrofuran and stirring speed. The deposit microstructure was adjusted by changing the parameters, and the optimum operating conditions were determined. Dense, bright and adherent aluminum coatings were obtained over a wide range of current densities(10-25 m A/cm2), molar ratio of benzene and tetrahydrofuran(4:1 to 7:8) and stirring speeds(200-500 r/min). Smaller grain sizes and well-adhered deposits were obtained at lower temperatures. Aluminum-magnesium alloys could potentially be used as hydrogen storage materials. A novel method for Al-Mg deposition was proposed by using pure Mg anodes in the organic solvents system benzene-tetrahydrofuran-Al Cl3-Li Al H4. XRD shows that the aluminum-magnesium alloys are mainly Al3Mg2 and Al12Mg17.展开更多
The unsaturated undisturbed quaternary system middle pleistocene loess,a typical unsaturated soil,often occurs in the implementation of western development strategy.To obtain the shearing strength characteristics of t...The unsaturated undisturbed quaternary system middle pleistocene loess,a typical unsaturated soil,often occurs in the implementation of western development strategy.To obtain the shearing strength characteristics of this unsaturated undisturbed loess,based on the analysis of mineral composition,the triaxial shear test of undisturbed quaternary system middle pleistocene loess under different moisture contents is conducted with the specialized triaxial instrument for unsaturated soil.The test results show that the mainly mineral composition of undisturbed quaternary system middle pleistocene loess is quartz and albite.Under the same confining pressure,the matric suction increases with the decrease of moisture content.The smaller the moisture content,the larger the matric suction;the higher the moisture content,the lower the matric suction.Under the same moisture content,the matric suction increases with the confining pressure and reaches a maximum when the confining pressure is 100 kPa,and then decreases with the increase of confining pressure.This phenomenon is closely related to the grain contact tightness of soil mass under high confining pressure.According to the triaxial test of loess,the sample of loess experiences 4 stages from loading to failure:1) compaction stage;2) compression stage;3) microcrack developing stage;4) shear failure stage.The test sample is of brittle failure(weak softening)under low moisture content and confining pressure.With the decrease of matric suction and the increase of consolidated confining pressure,the stress-strain curve changes from softening type to ideal plastic type.In the shearing strength parameters of unsaturated undisturbed loess,the influence of moisture content on internal friction angle is small,but that on cohesive force is obvious.Therefore,the shearing strength of unsaturated undisturbed loess is higher than that of saturated undisturbed loess and varies with the moisture content.展开更多
The electronic structure and optical properties of the tetragonal phase quaternary arsenide oxides YZnAsO and LaZnAsO were studied using density-functional theory(DFT) within generalized gradient approximation(GGA).Th...The electronic structure and optical properties of the tetragonal phase quaternary arsenide oxides YZnAsO and LaZnAsO were studied using density-functional theory(DFT) within generalized gradient approximation(GGA).The band structure along the higher symmetry axes in the Brillouin zone,the density of states(DOS) and the partial density of states(PDOS) were presented.The calculated energy band structures show that both YZnAsO and LaZnAsO are indirect gap semiconductors with band gap of 1.173 1 eV and 1.166 5 eV,respectively.The DOS and PDOS show the hybridization of Y-O/La-O atom orbits and Zn-As atom orbits.The dielectric function,reflectivity,absorption coefficient,refractive index,electron energy-loss function and optical conductivity were presented in an energy range from 0 to 25 eV for discussing the optical properties of YZnAsO and LaZnAsO.展开更多
According to the concept of virtual bending force,a rational explanation for SHOHET's model was presented. Considering the deformation characters of the work rolls in four-high mill,the deformation model of the wo...According to the concept of virtual bending force,a rational explanation for SHOHET's model was presented. Considering the deformation characters of the work rolls in four-high mill,the deformation model of the work roll was regarded as a cantilever beam and new influence coefficients were deduced.The effect of the bending force was taken into account independently. Therefore,the contribution to work roll deflection caused by rolling load,rolling pressure between rolls and bending force can be got from the new formulas.To validate the accuracy of the formulas,the results obtained from the new formulas were compared with those from SHOHET's formulas.It is found that they highly coincide,which illustrates that the formulas are reliable.展开更多
Compared to the rank reduction estimator （RARE） based on second-order statistics （called SOS-RARE）, the RARE employing fourth-order cumulants （referred to as FOC-RARE） is capable of dealing with more sources and...Compared to the rank reduction estimator （RARE） based on second-order statistics （called SOS-RARE）, the RARE employing fourth-order cumulants （referred to as FOC-RARE） is capable of dealing with more sources and mitigating the negative influences of the Gaussian colored noise. However, in the presence of unexpected modeling errors, the resolution behavior of the FOC-RARE also deteriorate significantly as SOS-RARE, even for a known array covariance matrix. For this reason, the angle resolution capability of the FOC-RARE was theoretically analyzed. Firstly, the explicit formula for the mathematical expectation of the FOC-RARE spatial spectrum was derived through the second-order perturbation analysis method. Then, with the assumption that the unexpected modeling errors were drawn from complex circular Gaussian distribution, the theoretical formulas for the angle resolution probability of the FOC-RARE were presented. Numerical experiments validate our analytical results and demonstrate that the FOC-RARE has higher robustness to the unexpected modeling en＇ors than that of the SOS-RARE from the resolution point of view.展开更多
Four-point bending tests were conducted up to failure on eleven reinforced concrete (RC) beams and strengthening beams to study the effectiveness of externally pouring ultra high toughness cementitious composites (UHT...Four-point bending tests were conducted up to failure on eleven reinforced concrete (RC) beams and strengthening beams to study the effectiveness of externally pouring ultra high toughness cementitious composites (UHTCC) on improving the flexural behavior of existing RC beams.The strengthening materials included UHTCC and high strength grade concrete.The parameters,such as thickness and length of strengthening layer and reinforcement in post-poured layer,were analyzed.The flexural behavior,failure mode and crack propagation of composite beams were investigated.The test results show that the strengthening layer improves the cracking and ultimate load by increasing the cross section area.Introducing UHTCC material into strengthening not only improves the bearing capacity of the original specimens,but also disperses larger cracks in upper concrete into multiple tightly-spaced fine cracks,thus prolonging the appearance of harm surface cracks and increasing the durability of existing structures.Compared with post-poured concrete,UHTCC is more suitable for working together with reinforcement.The load?deflection plots obtained from three-dimensional finite-element model (FEM) analyses are compared with those obtained from the experimental results,and show close correlation.展开更多
文摘A control algorithm for improving vehicle handling was proposed by applying right angle to the steering wheel,based on the nonlinear adaptive optimal control(NAOC).A nonlinear 4-DOF model was initially developed,then it was simplified to a 2-DOF model with reasonable assumptions to design observer and optimal controllers.Then a simplified model was developed for steering system.The numerical simulations were carried out using vehicle parameters for standard maneuvers in dry and wet road conditions.Moreover,the hardware in the loop method was implemented to prove the controller ability in realistic conditions.Simulation results obviously show the effectiveness of NAOC on vehicle handling and reveal that the proposed controller can significantly improve vehicle handling during severe maneuvers.
基金Project(2013CB035504)supported by the National Basic Research Program of China
文摘An iterative method is introduced successfully to solve the inverse kinematics of a 6-DOF manipulator of a tunnel drilling rig based on dual quaternion, which is difficult to get the solution by Denavit-Hartenberg(D-H) based methods. By the intuitive expression of dual quaternion to the orientation of rigid body, the coordinate frames assigned to each joint are established all in the same orientation, which does not need to use the D-H procedure. The compact and simple form of kinematic equations, consisting of position equations and orientation equations, is also the consequence of dual quaternion calculations. The iterative process is basically of two steps which are related to solving the position equations and orientation equations correspondingly. First, assume an initial value of the iterative variable; then, the position equations can be solved because of the reduced number of unknown variables in the position equations and the orientation equations can be solved by applying the solution from the position equations, which obtains an updated value for the iterative variable; finally, repeat the procedure by using the updated iterative variable to the position equations till the prescribed accuracy is obtained. The method proposed has a clear geometric meaning, and the algorithm is simple and direct. Simulation for 100 poses of the end frame shows that the average running time of inverse kinematics calculation for each demanded pose of end-effector is 7.2 ms on an ordinary laptop, which is good enough for practical use. The iteration counts 2-4 cycles generally, which is a quick convergence. The method proposed here has been successfully used in the project of automating a hydraulic rig.
基金authorities of East Tehran Branch,Islamic Azad University,Tehran,Iran,for providing support and necessary facilities
文摘Reasons and realities such as being non-linear of dynamical equations,being lightweight and unstable nature of quadrotor,along with internal and external disturbances and parametric uncertainties,have caused that the controller design for these quadrotors is considered the challenging issue of the day.In this work,an adaptive sliding mode controller based on neural network is proposed to control the altitude of a quadrotor.The error and error derivative of the altitude of a quadrotor are the inputs of neural network and altitude sliding surface variable is its output.Neural network estimates the sliding surface variable adaptively according to the conditions of quadrotor and sets the altitude of a quadrotor equal to the desired value.The proposed controller stability has been proven by Lyapunov theory and it is shown that all system states reach to sliding surface and are remaining in it.The superiority of the proposed control method has been proven by comparison and simulation results.
基金Project(91023042)supported by the National Natural Science Foundation of ChinaProject(2011CB013200)supported by the National Basic Research Program of China+1 种基金Project(B090302)supported by the Fund of Innovation,Graduate School of National University of Defense Technology,ChinaProject(CX2009B004)supported by the Hunan Provincial Innovation Foundation for Postgraduate,China
文摘Based on the distribution characteristic of magnetic field along the polish wheel,the four-axis linkage technique is advanced to replace a standard five-axis one to figure low-gradient optical surfaces with a raster tool-path in magnetorheological finishing(MRF).After introducing the fundaments of such simplification,the figuring reachability of a four-axis system for the low-gradient optics was theoretically analyzed.Further validation including magnetic field intensity and influence function characteristic was performed to establish its application.To demonstrate the correctness,feasibility and applicability of such technique,a K4 spherical part was figured by two iterations of MRF with surface form error improved to 0.219λPV and 0.027λRMS.Meanwhile,the surface roughness was also improved a lot in MRF process.These theoretical analyses and experimental results both indicate that high form accuracy and excellent surface quality can be obtained by using the four-axis linkage technique in the process of figuring low-gradient optical elements,and the four-axis linkage system undoubtedly is much more easy to control and much more economical.
基金Projects(51101104,51372156)supported by the National Natural Science Foundation of ChinaProject(LJQ2015074)supported by the Program for Liaoning Excellent Talents in University,China
文摘Electrodeposition of aluminum from benzene-tetrahydrofuran-Al Cl3-Li Al H4 was studied at room temperature. Galvanostatic electrolysis was used to investigate the effect of various parameters on deposit morphology and crystal size, including current density, temperature, molar ratio of benzene/tetrahydrofuran and stirring speed. The deposit microstructure was adjusted by changing the parameters, and the optimum operating conditions were determined. Dense, bright and adherent aluminum coatings were obtained over a wide range of current densities(10-25 m A/cm2), molar ratio of benzene and tetrahydrofuran(4:1 to 7:8) and stirring speeds(200-500 r/min). Smaller grain sizes and well-adhered deposits were obtained at lower temperatures. Aluminum-magnesium alloys could potentially be used as hydrogen storage materials. A novel method for Al-Mg deposition was proposed by using pure Mg anodes in the organic solvents system benzene-tetrahydrofuran-Al Cl3-Li Al H4. XRD shows that the aluminum-magnesium alloys are mainly Al3Mg2 and Al12Mg17.
基金Project(51108485)supported by the National Natural Science Foundation of ChinaProject(20110191120033)supported by the Specialized Research Fund for the Doctoral Program of Higher Education of China+1 种基金Projects(106112013CDJZR200001,CDJZR12200012)supported by the Fundamental Research Funds for the Central Universities,ChinaProject(cstc2013jcyjA30005)supported by the Natural Science Foundation of Chongqing,China
文摘The unsaturated undisturbed quaternary system middle pleistocene loess,a typical unsaturated soil,often occurs in the implementation of western development strategy.To obtain the shearing strength characteristics of this unsaturated undisturbed loess,based on the analysis of mineral composition,the triaxial shear test of undisturbed quaternary system middle pleistocene loess under different moisture contents is conducted with the specialized triaxial instrument for unsaturated soil.The test results show that the mainly mineral composition of undisturbed quaternary system middle pleistocene loess is quartz and albite.Under the same confining pressure,the matric suction increases with the decrease of moisture content.The smaller the moisture content,the larger the matric suction;the higher the moisture content,the lower the matric suction.Under the same moisture content,the matric suction increases with the confining pressure and reaches a maximum when the confining pressure is 100 kPa,and then decreases with the increase of confining pressure.This phenomenon is closely related to the grain contact tightness of soil mass under high confining pressure.According to the triaxial test of loess,the sample of loess experiences 4 stages from loading to failure:1) compaction stage;2) compression stage;3) microcrack developing stage;4) shear failure stage.The test sample is of brittle failure(weak softening)under low moisture content and confining pressure.With the decrease of matric suction and the increase of consolidated confining pressure,the stress-strain curve changes from softening type to ideal plastic type.In the shearing strength parameters of unsaturated undisturbed loess,the influence of moisture content on internal friction angle is small,but that on cohesive force is obvious.Therefore,the shearing strength of unsaturated undisturbed loess is higher than that of saturated undisturbed loess and varies with the moisture content.
基金Project(50474051) supported by the National Natural Science Foundation of China
文摘The electronic structure and optical properties of the tetragonal phase quaternary arsenide oxides YZnAsO and LaZnAsO were studied using density-functional theory(DFT) within generalized gradient approximation(GGA).The band structure along the higher symmetry axes in the Brillouin zone,the density of states(DOS) and the partial density of states(PDOS) were presented.The calculated energy band structures show that both YZnAsO and LaZnAsO are indirect gap semiconductors with band gap of 1.173 1 eV and 1.166 5 eV,respectively.The DOS and PDOS show the hybridization of Y-O/La-O atom orbits and Zn-As atom orbits.The dielectric function,reflectivity,absorption coefficient,refractive index,electron energy-loss function and optical conductivity were presented in an energy range from 0 to 25 eV for discussing the optical properties of YZnAsO and LaZnAsO.
基金Project(20050216007) supported by the Specialized Research Fund for the Doctoral Program of Higher Education of China
文摘According to the concept of virtual bending force,a rational explanation for SHOHET's model was presented. Considering the deformation characters of the work rolls in four-high mill,the deformation model of the work roll was regarded as a cantilever beam and new influence coefficients were deduced.The effect of the bending force was taken into account independently. Therefore,the contribution to work roll deflection caused by rolling load,rolling pressure between rolls and bending force can be got from the new formulas.To validate the accuracy of the formulas,the results obtained from the new formulas were compared with those from SHOHET's formulas.It is found that they highly coincide,which illustrates that the formulas are reliable.
基金Project(61201381)supported by the National Nature Science Foundation of ChinaProject(YP12JJ202057)supported by the Future Development Foundation of Zhengzhou Information Science and Technology College,China
文摘Compared to the rank reduction estimator （RARE） based on second-order statistics （called SOS-RARE）, the RARE employing fourth-order cumulants （referred to as FOC-RARE） is capable of dealing with more sources and mitigating the negative influences of the Gaussian colored noise. However, in the presence of unexpected modeling errors, the resolution behavior of the FOC-RARE also deteriorate significantly as SOS-RARE, even for a known array covariance matrix. For this reason, the angle resolution capability of the FOC-RARE was theoretically analyzed. Firstly, the explicit formula for the mathematical expectation of the FOC-RARE spatial spectrum was derived through the second-order perturbation analysis method. Then, with the assumption that the unexpected modeling errors were drawn from complex circular Gaussian distribution, the theoretical formulas for the angle resolution probability of the FOC-RARE were presented. Numerical experiments validate our analytical results and demonstrate that the FOC-RARE has higher robustness to the unexpected modeling en＇ors than that of the SOS-RARE from the resolution point of view.
基金Project(50438010) supported by the National Natural Science Foundation of China
文摘Four-point bending tests were conducted up to failure on eleven reinforced concrete (RC) beams and strengthening beams to study the effectiveness of externally pouring ultra high toughness cementitious composites (UHTCC) on improving the flexural behavior of existing RC beams.The strengthening materials included UHTCC and high strength grade concrete.The parameters,such as thickness and length of strengthening layer and reinforcement in post-poured layer,were analyzed.The flexural behavior,failure mode and crack propagation of composite beams were investigated.The test results show that the strengthening layer improves the cracking and ultimate load by increasing the cross section area.Introducing UHTCC material into strengthening not only improves the bearing capacity of the original specimens,but also disperses larger cracks in upper concrete into multiple tightly-spaced fine cracks,thus prolonging the appearance of harm surface cracks and increasing the durability of existing structures.Compared with post-poured concrete,UHTCC is more suitable for working together with reinforcement.The load?deflection plots obtained from three-dimensional finite-element model (FEM) analyses are compared with those obtained from the experimental results,and show close correlation.
