Reusable and flexible capturing of space debris is highly required in future aerospace technologies.A tendon-actuated flexible robotic arm is therefore proposed for capturing floating targets in this paper.Firstly,an ...Reusable and flexible capturing of space debris is highly required in future aerospace technologies.A tendon-actuated flexible robotic arm is therefore proposed for capturing floating targets in this paper.Firstly,an accurate dynamic model of the flexible robotic arm is established by using the absolute nodal coordinate formulation(ANCF)in the framework of the arbitrary Lagrangian-Eulerian(ALE)description and the natural coordinate formulation(NCF).The contact and self-contact dynamics of the flexible robotic arm when bending and grasping an object are considered via a fast contact detection approach.Then,the dynamic simulations of the flexible robotic arm for capturing floating targets are carried out to study the influence of the position,size,and mass of the target object on the grasping performance.Finally,a principle prototype of the tendon-actuated flexible robotic arm is manufactured to validate the dynamic model.The corresponding grasping experiments for objects of various shapes are also conducted to illustrate the excellent performance of the flexible robotic arm.展开更多
Resource management must attach importance to effective resource deployment.Aiming at the research of resource deployment system,firstly,as an important factor of resource deployment system,corporate technological inn...Resource management must attach importance to effective resource deployment.Aiming at the research of resource deployment system,firstly,as an important factor of resource deployment system,corporate technological innovation social responsibility(CISR)is analyzed.Based on this,this paper constructs a system dynamics model to analyze the changes in resource deployment system affected by CISR.The simulation model is developed using Venism personal learning edition(PLE).The results show that CISR,acted as a new factor affecting the resource deployment system,has a positive effect on resource deployment system performance.Moreover,when CISR exceeds the threshold value,the resource deployment system performance increases significantly faster,reflecting that the resource deployment system becomes more efficient.The results show that the method proposed in this paper is feasible and efficient.This research provides theoretical and practical implications for resource deployment system research.展开更多
As the performance of the box-type multiple launch rocket system(BMLRS)improves,its mechanical structures,particularly the plane clearance design between the slider on the rocket and the guide inside the launch canist...As the performance of the box-type multiple launch rocket system(BMLRS)improves,its mechanical structures,particularly the plane clearance design between the slider on the rocket and the guide inside the launch canister,have grown increasingly complex.However,deficiencies still exist in the current launch modeling theory for BMLRS.In this study,a multi-rigid-flexible-body launch dynamics model coupling the launch platform and rocket was established using the multibody system transfer matrix method and the Newton-Euler formulation.Furthermore,considering the bending of the launch canister,a detection algorithm for slider-guide plane clearance contact was proposed.To quantify the contact force and friction effect between the slider and guide,the contact force model and modified Coulomb model were introduced.Both the modal and launch tests were conducted.Additionally,the modal convergence was verified.By comparing the modal experiments and simulation results,the maximum relative error of the eigenfrequency is 3.29%.thereby verifying the accuracy of the developed BMLRS dynamics model.Furthermore,the launch test validated the proposed plane clearance contact model.Moreover,the study investigated the influence of various model parameters on the dynamic characteristics of BMLRS,including launch canister bending stiffness,slider and guide material,slider-guide clearance,slider length and layout.This analysis of influencing factors provides a foundation for future optimization in BMLRS design.展开更多
The launch dynamics theory for multibody systems emerges as an innovative and efficacious approach for the study of launch dynamics,capable of addressing the challenges of complex modeling,diminished computational eff...The launch dynamics theory for multibody systems emerges as an innovative and efficacious approach for the study of launch dynamics,capable of addressing the challenges of complex modeling,diminished computational efficiency,and imprecise analyses of system dynamic responses found in the dynamics research of intricate multi-rigid-flexible body systems,such as self-propelled artillery.This advancement aims to enhance the firing accuracy and launch safety of self-propelled artillery.Recognizing the shortfall of overlooking the band engraving process in existing theories,this study introduces a novel coupling calculation methodology for the launch dynamics of a self-propelled artillery multibody system.This method leverages the ABAQUS subroutine interface VUAMP to compute the dynamic response of the projectile and barrel during the launch process of large-caliber self-propelled artillery.Additionally,it examines the changes in projectile resistance and band deformation in relation to projectile motion throughout the band engraving process.Comparative analysis of the computational outcomes with experimental data evidences that the proposed method offers a more precise depiction of the launch process of self-propelled artillery,thereby enhancing the accuracy of launch dynamics calculations for self-propelled artillery.展开更多
In this study,circular dichroism(CD)and molecular dynamics(MD)simulation were used to investigate the thermal unfolding pathway of staphylococcal enterotoxin B(SEB)at temperatures of 298–371 and 298–500 K,and the re...In this study,circular dichroism(CD)and molecular dynamics(MD)simulation were used to investigate the thermal unfolding pathway of staphylococcal enterotoxin B(SEB)at temperatures of 298–371 and 298–500 K,and the relationship between the experimental and simulation results were explored.Our computational findings on the secondary structure of SEB showed that at room temperature,the CD spectroscopic results were highly consistent with the MD results.Moreover,under heating conditions,the changing trends of helix,sheet and random coil obtained by CD spectral fitting were highly consistent with those obtained by MD.In order to gain a deeper understanding of the thermal stability mechanism of SEB,the MD trajectories were analyzed in terms of root mean square deviation(RMSD),secondary structure assignment(SSA),radius of gyration(R_(g)),free energy surfaces(FES),solvent-accessible surface area(SASA),hydrogen bonds and salt bridges.The results showed that at low heating temperature,domain Ⅰ without loops(omitting the mobile loop region)mainly relied on hydrophobic interaction to maintain its thermal stability,whereas the thermal stability of domain Ⅱ was mainly controlled by salt bridges and hydrogen bonds.Under high heating temperature conditions,the hydrophobic interactions in domain Ⅰ without loops were destroyed and the secondary structure was almost completely lost,while domain Ⅱ could still rely on salt bridges as molecular staples to barely maintain the stability of the secondary structure.These results help us to understand the thermodynamic and kinetic mechanisms that maintain the thermal stability of SEB at the molecular level,and provide a direction for establishing safer and more effective food sterilization processes.展开更多
Improving the energy conversion efficiency in metallic fuel(e.g.,Al)combustion is always desirable but challenging,which often involves redox reactions of aluminum(Al)with various mixed oxidizing environments.For inst...Improving the energy conversion efficiency in metallic fuel(e.g.,Al)combustion is always desirable but challenging,which often involves redox reactions of aluminum(Al)with various mixed oxidizing environments.For instance,Al-O reaction is the most common pathway to release limited energy while Al-F reaction has received much attentions to enhance Al combustion efficiency.However,microscopic understanding of the Al-O/Al-F reaction dynamics remains unsolved,which is fundamentally necessary to further improve Al combustion efficiency.In this work,for the first time,Al-O/Al-F reaction dynamic effects on the combustion of aluminum nanoparticles(n-Al)in oxygen/fluorine containing environments have been revealed via reactive molecular dynamics(RMD)simulations meshing together combustion experiments.Three RMD simulation systems of Al core/O_(2)/HF,n-Al/O_(2)/HF,and n-Al/O_(2)/CF4 with oxygen percentage ranging from 0%to 100%have been performed.The n-Al combustion in mixed O_(2)/CF_4 environments have been conducted by constant volume combustion experiments.RMD results show that Al-O reaction exhibits kinetic benefits while Al-F reaction owns thermodynamic benefits for n-Al combustion.In n-Al/O_(2)/HF,Al-O reaction gives faster energy release rate than Al-F reaction(1.1 times).The optimal energy release efficiency can be achieved with suitable oxygen percentage of 10%and 50%for n-Al/O_(2)/HF and n-Al/O_(2)/CF_4,respectively.In combustion experiments,90%of oxygen percentage can optimally enhance the peak pressure,pressurization rate and combustion heat.Importantly,Al-O reaction prefers to occur on the surface regions while Al-F reaction prefers to proceed in the interior regions of n-Al,confirming the kinetic/thermodynamic benefits of Al-O/Al-F reactions.The synergistic effect of Al-O/Al-F reaction for greatly enhancing n-Al combustion efficiency is demonstrated at atomicscale,which is beneficial for optimizing the combustion performance of metallic fuel.展开更多
To investigate the effect of void defects on the shock response of hexanitrohexaazaisowurtzitane(CL-20)co-crystals,shock responses of CL-20 co-crystals with energetic materials ligands trinitrotoluene(TNT),1,3-dinitro...To investigate the effect of void defects on the shock response of hexanitrohexaazaisowurtzitane(CL-20)co-crystals,shock responses of CL-20 co-crystals with energetic materials ligands trinitrotoluene(TNT),1,3-dinitrobenzene(DNB),solvents ligands dimethyl carbonate(DMC) and gamma-butyrolactone(GBL)with void were simulated,using molecular dynamics method and reactive force field.It is found that the CL-20 co-crystals with void defects will form hot spots when impacted,significantly affecting the decomposition of molecules around the void.The degree of molecular fragmentation is relatively low under the reflection velocity of 2 km/s,and the main reactions are the formation of dimer and the shedding of nitro groups.The existence of voids reduces the safety of CL-20 co-crystals,which induced the sensitivity of energetic co-crystals CL-20/TNT and CL-20/DNB to increase more significantly.Detonation has occurred under the reflection velocity of 4 km/s,energetic co-crystals are easier to polymerize than solvent co-crystals,and are not obviously affected by voids.The results show that the energy of the wave decreases after sweeping over the void,which reduces the chemical reaction frequency downstream of the void and affects the detonation performance,especially the solvent co-crystals.展开更多
Based on the system dynamic model, a full system dynamics estimation method is proposed for a chain shell magazine driven by a permanent magnet synchronous motor(PMSM). An adaptive extended state observer(AESO) is pro...Based on the system dynamic model, a full system dynamics estimation method is proposed for a chain shell magazine driven by a permanent magnet synchronous motor(PMSM). An adaptive extended state observer(AESO) is proposed to estimate the unmeasured states and disturbance, in which the model parameters are adjusted in real time. Theoretical analysis shows that the estimation errors of the disturbances and unmeasured states converge exponentially to zero, and the parameter estimation error can be obtained from the extended state. Then, based on the extended state of the AESO, a novel parameter estimation law is designed. Due to the convergence of AESO, the novel parameter estimation law is insensitive to controllers and excitation signal. Under persistent excitation(PE) condition, the estimated parameters will converge to a compact set around the actual parameter value. Without PE signal, the estimated parameters will converge to zero for the extended state. Simulation and experimental results show that the proposed method can accurately estimate the unmeasured states and disturbance of the chain shell magazine, and the estimated parameters will converge to the actual value without strictly continuous PE signals.展开更多
As the simplest hydrogen-bonded alcohol,liquid methanol has attracted intensive experimental and theoretical interest.However,theoretical investigations on this system have primarily relied on empirical intermolecular...As the simplest hydrogen-bonded alcohol,liquid methanol has attracted intensive experimental and theoretical interest.However,theoretical investigations on this system have primarily relied on empirical intermolecular force fields or ab initio molecular dynamics with semilocal density functionals.Inspired by recent studies on bulk water using increasingly accurate machine learning force fields,we report a new machine learning force field for liquid methanol with a hybrid functional revPBE0 plus dispersion correction.Molecular dynamics simulations on this machine learning force field are orders of magnitude faster than ab initio molecular dynamics simulations,yielding the radial distribution functions,selfdiffusion coefficients,and hydrogen bond network properties with very small statistical errors.The resulting structural and dynamical properties are compared well with the experimental data,demonstrating the superior accuracy of this machine learning force field.This work represents a successful step toward a first-principles description of this benchmark system and showcases the general applicability of the machine learning force field in studying liquid systems.展开更多
In order to research the feasibility of using the selective adsorption principle to achieve automatic shaping of nano patterns,in this study,using the liquid gallium as the conductive ink and graphene as the printing ...In order to research the feasibility of using the selective adsorption principle to achieve automatic shaping of nano patterns,in this study,using the liquid gallium as the conductive ink and graphene as the printing plate surface,by changing the surface wettability of patterned areas on the nanoscale of graphene printed boards,the automatic formation of liquid gallium patterns on the graphene printed plate surface was simulated.The results indicated that liquid gallium can achieve automatic patterning on the surface of graphene patterned areas;the greater the interaction energy between gallium and carbon atoms,the clearer the pattern;gallium liquid is prone to remain in complex local positions of the pattern,making it difficult to shape the pattern;if the spacing between adjacent pattern lines is too large or too small,it will result in residual gallium liquid between the lines;increasing the thickness of the gallium film will cause the pattern to expand beyond the boundary,but increasing the thickness of the gallium film can also enhance the thickness and uniformity of the pattern lines.In summary,the principle of selective adsorption can be used to achieve the automatic formation of nano patterns,and the pattern formation effect is influenced by factors such as atomic interaction energy and pattern configuration.展开更多
Appropriate drying process with optimized controlling of drying parameters plays a vital role in the improvement of the quality and performance of propellant products.However,few research on solvent transport dynamics...Appropriate drying process with optimized controlling of drying parameters plays a vital role in the improvement of the quality and performance of propellant products.However,few research on solvent transport dynamics within NC-based propellants was reported,and its effect on the evolution of mechanical properties was not interpreted yet.This study is conducted to gain a comprehensive understanding of hot-air drying for NC-based propellants and clarify the effect of temperature on solvent transport behavior and further the change of mechanical properties during drying.The drying kinetic curves show the drying time required is decreased but the steady solvent content is increased and the drying rate is obviously increased with the increase of hot-air temperatures,indicating hot-air temperatures have a significant effect on drying kinetics.A modified drying model was established,and results show it is more appropriate to describe solvent transport behavior within NC-based propellants.Moreover,two linear equations were established to exhibit the relationship between solvent content and its effect on the change of tensile properties,and the decrease of residual solvent content causes an obvious increase of tensile strength and tensile modulus of propellant products,indicating its mechanical properties can be partly improved by adjustment of residual solvent content.The outcomes can be used to clarify solvent transport mechanisms and optimize drying process parameters of double-based gun propellants.展开更多
To solve the finite-time error-tracking problem in mis-sile guidance,this paper presents a unified design approach through error dynamics and free-time convergence theory.The proposed approach is initiated by establis...To solve the finite-time error-tracking problem in mis-sile guidance,this paper presents a unified design approach through error dynamics and free-time convergence theory.The proposed approach is initiated by establishing a desired model for free-time convergent error dynamics,characterized by its independence from initial conditions and guidance parameters,and adjustable convergence time.This foundation facilitates the derivation of specific guidance laws that integrate constraints such as leading angle,impact angle,and impact time.The theoretical framework of this study elucidates the nuances and synergies between the proposed guidance laws and existing methodologies.Empirical evaluations through simulation comparisons underscore the enhanced accuracy and adaptability of the proposed laws.展开更多
It is of great scientific significance to construct a 3D dynamic structural color with a special color effect based on the microlens array.However,the problems of imperfect mechanisms and poor color quality need to be...It is of great scientific significance to construct a 3D dynamic structural color with a special color effect based on the microlens array.However,the problems of imperfect mechanisms and poor color quality need to be solved.A method of 3D structural color turning on periodic metasurfaces fabricated by the microlens array and self-assembly technology was proposed in this study.In the experiment,Polydimethylsiloxane(PDMS)flexible film was used as a substrate,and SiO2 microspheres were scraped into grooves of the PDMS film to form 3D photonic crystal structures.By adjusting the number of blade-coated times and microsphere concentrations,high-saturation structural color micropatterns were obtained.These films were then matched with microlens arrays to produce dynamic graphics with iridescent effects.The results showed that by blade-coated two times and SiO2 microsphere concentrations of 50%are the best conditions.This method demonstrates the potential for being widely applied in the anticounterfeiting printing and ultra-high-resolution display.展开更多
The mechanical properties of secondary cells are crucial to the safety and reliability of battery packs,which can fail due to extrusion and vibration in a vehicle crash.To analyze the structural response of the second...The mechanical properties of secondary cells are crucial to the safety and reliability of battery packs,which can fail due to extrusion and vibration in a vehicle crash.To analyze the structural response of the secondary cell and its other dynamic behaviors,the experiment and some numerical simulations were carried out based on single reference impact testing.Then,an equivalent constitutive relationship of the secondary cell was proposed to reveal the dynamic properties and used to guide the safety estimation of the battery pack.As the input parameter to the finite element model,the equivalent constitutive relationship,including but not limited to the elastic modulus and stain-stress curve,determines the simulation precision of the battery packs.Compared to the experimental results of the natural frequency of the battery pack,the simulation error is below 2%when the elastic modulus of the secondary cell in the battery pack has been verified.展开更多
This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only b...This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only be obtained by some USVs.In order to achieve semi-encirclement tracking of noncooperative targets under maritime security conditions,a fixed-time tracking control method based on dynamic surface control(DSC)is proposed in this paper.Firstly,a novel TACC architecture with decoupled kinematic control law and decoupled kinetic control law was designed to reduce the complexity of control system design.Secondly,the proposed DSC-based target-guided kinematic control law including tracking points pre-allocation strategy and sigmoid artificial potential functions(SigAPFs)can avoid collisions during tracking process and optimize kinematic control output.Finally,a fixed-time TACC system was proposed to achieve fast convergence of kinematic and kinetics errors.The effectiveness of the proposed TACC approach in improving target tracking safety and reducing control output chattering was verified by simulation comparison results.展开更多
Dynamic compression experiments were conducted on red sandstone utilizing a split Hopkinson pressure bar(SHPB)to study the loading rate and high temperatures on their mechanically deformed properties and ultimate fail...Dynamic compression experiments were conducted on red sandstone utilizing a split Hopkinson pressure bar(SHPB)to study the loading rate and high temperatures on their mechanically deformed properties and ultimate failure modes,and to analyze the correlation between the strain rate,temperature,peak strength,and ultimate failure modes.The results show that the mass decreases with the increase of treatment temperature,and the pattern of the stress−strain curves is not impacted by the increase of impact velocity.Under a fixed temperature,the higher the impact velocity,the higher the strain rate and dynamical compression strength,indicating a strain rate hardening effect for red sandstone.With an increasing treatment temperature,the strain rate gradually increases when the impact loading remains unchanged,suggesting a rise in the deformability of red sandstone under high-temperature environment.Raise in both impact velocity and treatment temperature leads to an intensification of the damage features of the red sandstone.Similarly,higher strain rates lead to the intensification of the final damage mode of red sandstone regardless of the change in treatment temperature.Moreover,a dynamic damage constitutive model that considers the impacts of strain rate and temperature is proposed based on experimental results.展开更多
Metal Additive Manufacturing(MAM) technology has become an important means of rapid prototyping precision manufacturing of special high dynamic heterogeneous complex parts. In response to the micromechanical defects s...Metal Additive Manufacturing(MAM) technology has become an important means of rapid prototyping precision manufacturing of special high dynamic heterogeneous complex parts. In response to the micromechanical defects such as porosity issues, significant deformation, surface cracks, and challenging control of surface morphology encountered during the selective laser melting(SLM) additive manufacturing(AM) process of specialized Micro Electromechanical System(MEMS) components, multiparameter optimization and micro powder melt pool/macro-scale mechanical properties control simulation of specialized components are conducted. The optimal parameters obtained through highprecision preparation and machining of components and static/high dynamic verification are: laser power of 110 W, laser speed of 600 mm/s, laser diameter of 75 μm, and scanning spacing of 50 μm. The density of the subordinate components under this reference can reach 99.15%, the surface hardness can reach 51.9 HRA, the yield strength can reach 550 MPa, the maximum machining error of the components is 4.73%, and the average surface roughness is 0.45 μm. Through dynamic hammering and high dynamic firing verification, SLM components meet the requirements for overload resistance. The results have proven that MEM technology can provide a new means for the processing of MEMS components applied in high dynamic environments. The parameters obtained in the conclusion can provide a design basis for the additive preparation of MEMS components.展开更多
Coal seam water injection in tunnels is an effective technical measure for preventing coal mine rock bursts.This study used the improved split Hopkinson pressure bar(SHPB)to apply three equal static stresses to water-...Coal seam water injection in tunnels is an effective technical measure for preventing coal mine rock bursts.This study used the improved split Hopkinson pressure bar(SHPB)to apply three equal static stresses to water-saturated coal to simulate the initial stress environment of coal at different depths.Then,dynamic mechanical experiments were conducted on the saturated coal at different depths to investigate the effects of water saturation and depth on the coal samples’dynamic mechanical properties.Under uniaxial compression and without lateral compression,the strength of coal samples decreased to varying degrees in the saturated state;under different depth conditions,the dynamic strength of coal in the saturated state decreased compared with that in the natural state.However,compared with that at 0 m,the reduction in the strength of coal under the saturated condition at 200,400,600,and 800 m was significantly reduced.The findings of this study provide a basic theoretical foundation for the prevention and control of dynamic coal mine disasters.展开更多
Dynamic soaring,inspired by the wind-riding flight of birds such as albatrosses,is a biomimetic technique which leverages wind fields to enhance the endurance of unmanned aerial vehicles(UAVs).Achieving a precise soar...Dynamic soaring,inspired by the wind-riding flight of birds such as albatrosses,is a biomimetic technique which leverages wind fields to enhance the endurance of unmanned aerial vehicles(UAVs).Achieving a precise soaring trajectory is crucial for maximizing energy efficiency during flight.Existing nonlinear programming methods are heavily dependent on the choice of initial values which is hard to determine.Therefore,this paper introduces a deep reinforcement learning method based on a differentially flat model for dynamic soaring trajectory planning and optimization.Initially,the gliding trajectory is parameterized using Fourier basis functions,achieving a flexible trajectory representation with a minimal number of hyperparameters.Subsequently,the trajectory optimization problem is formulated as a dynamic interactive process of Markov decision-making.The hyperparameters of the trajectory are optimized using the Proximal Policy Optimization(PPO2)algorithm from deep reinforcement learning(DRL),reducing the strong reliance on initial value settings in the optimization process.Finally,a comparison between the proposed method and the nonlinear programming method reveals that the trajectory generated by the proposed approach is smoother while meeting the same performance requirements.Specifically,the proposed method achieves a 34%reduction in maximum thrust,a 39.4%decrease in maximum thrust difference,and a 33%reduction in maximum airspeed difference.展开更多
Inspired by the thermal stability mechanism of thermophilic protein,which presents ionic bonds that have better stability at higher temperatures,this paper proposes the introduction of electrostatic interactions by ad...Inspired by the thermal stability mechanism of thermophilic protein,which presents ionic bonds that have better stability at higher temperatures,this paper proposes the introduction of electrostatic interactions by adding carboxyl-modified silica(C-SiO2),PAA,and CaCl_(2) to achieve higher viscosity over 25℃.The rheological behavior of C-SiO_(2)-based shear thickening fluid(CS-STF)was investigated at a temperature range of 25–55℃.Unlike SiO_(2)-based STF,which exhibits single-step thickening and a negative correlation between viscosity and temperature.As the C-SiO_(2) content was 41%(w/w)and the mass ratio of PAA:CaCl_(2):C-SiO_(2) was 3:1:10,the CS-STF displayed a double-thickening behavior,and the peak viscosity reached 1330 Pa·s at 35℃.From the yarn pull-out test,the inter-yarn force was significantly increased with the increasing CS-STF content.Treating UHMWPE fabrics with CS-STF improved the impact resistance effectively.In the blunt impact test,the U-CS fabrics with high CS-STF content(121.45 wt%)experienced penetration failure under high impact energy(18 J)due to stress concentration caused by the shear thickening behavior.The knife stabbing test demonstrated that U-CS fabrics with appropriate content(88.38 wt%)have the best stabbing resistance in various impact energies.Overall,this study proposed a high-performence STF showing double-thickening and enhancing shear-thickening behavior at a wide temperature range,the composite fabrics with the performance of resisting both the blunt and stab impact had broad application prospects in the field of personal protection.展开更多
基金funded by the"14th Five-Year Plan"Civil Aerospace Pre-research Project of China(Grant No.D010301).
文摘Reusable and flexible capturing of space debris is highly required in future aerospace technologies.A tendon-actuated flexible robotic arm is therefore proposed for capturing floating targets in this paper.Firstly,an accurate dynamic model of the flexible robotic arm is established by using the absolute nodal coordinate formulation(ANCF)in the framework of the arbitrary Lagrangian-Eulerian(ALE)description and the natural coordinate formulation(NCF).The contact and self-contact dynamics of the flexible robotic arm when bending and grasping an object are considered via a fast contact detection approach.Then,the dynamic simulations of the flexible robotic arm for capturing floating targets are carried out to study the influence of the position,size,and mass of the target object on the grasping performance.Finally,a principle prototype of the tendon-actuated flexible robotic arm is manufactured to validate the dynamic model.The corresponding grasping experiments for objects of various shapes are also conducted to illustrate the excellent performance of the flexible robotic arm.
基金supported by the National Natural Science Foundation of China(72072047)the Fundamental Research Funds for the Central Universities(HIT.HSS.ESD202310)+3 种基金the Research Project on Graduates’Education and Teaching Reform of HIT(23MS011)the research Project on Higher Education of Heilongjiang Higher Education Association(23GJYBC011)the Natural Science Foundation of Shandong Province(ZR2023QG010)the Shandong Philosophy and Social Science Research Project(22CSDJ03).
文摘Resource management must attach importance to effective resource deployment.Aiming at the research of resource deployment system,firstly,as an important factor of resource deployment system,corporate technological innovation social responsibility(CISR)is analyzed.Based on this,this paper constructs a system dynamics model to analyze the changes in resource deployment system affected by CISR.The simulation model is developed using Venism personal learning edition(PLE).The results show that CISR,acted as a new factor affecting the resource deployment system,has a positive effect on resource deployment system performance.Moreover,when CISR exceeds the threshold value,the resource deployment system performance increases significantly faster,reflecting that the resource deployment system becomes more efficient.The results show that the method proposed in this paper is feasible and efficient.This research provides theoretical and practical implications for resource deployment system research.
基金supported by National Natural Science Foundation of China(Grant No.92266201).
文摘As the performance of the box-type multiple launch rocket system(BMLRS)improves,its mechanical structures,particularly the plane clearance design between the slider on the rocket and the guide inside the launch canister,have grown increasingly complex.However,deficiencies still exist in the current launch modeling theory for BMLRS.In this study,a multi-rigid-flexible-body launch dynamics model coupling the launch platform and rocket was established using the multibody system transfer matrix method and the Newton-Euler formulation.Furthermore,considering the bending of the launch canister,a detection algorithm for slider-guide plane clearance contact was proposed.To quantify the contact force and friction effect between the slider and guide,the contact force model and modified Coulomb model were introduced.Both the modal and launch tests were conducted.Additionally,the modal convergence was verified.By comparing the modal experiments and simulation results,the maximum relative error of the eigenfrequency is 3.29%.thereby verifying the accuracy of the developed BMLRS dynamics model.Furthermore,the launch test validated the proposed plane clearance contact model.Moreover,the study investigated the influence of various model parameters on the dynamic characteristics of BMLRS,including launch canister bending stiffness,slider and guide material,slider-guide clearance,slider length and layout.This analysis of influencing factors provides a foundation for future optimization in BMLRS design.
基金supported by the National Natural Science Foundation of China (Grant Number:12372093)。
文摘The launch dynamics theory for multibody systems emerges as an innovative and efficacious approach for the study of launch dynamics,capable of addressing the challenges of complex modeling,diminished computational efficiency,and imprecise analyses of system dynamic responses found in the dynamics research of intricate multi-rigid-flexible body systems,such as self-propelled artillery.This advancement aims to enhance the firing accuracy and launch safety of self-propelled artillery.Recognizing the shortfall of overlooking the band engraving process in existing theories,this study introduces a novel coupling calculation methodology for the launch dynamics of a self-propelled artillery multibody system.This method leverages the ABAQUS subroutine interface VUAMP to compute the dynamic response of the projectile and barrel during the launch process of large-caliber self-propelled artillery.Additionally,it examines the changes in projectile resistance and band deformation in relation to projectile motion throughout the band engraving process.Comparative analysis of the computational outcomes with experimental data evidences that the proposed method offers a more precise depiction of the launch process of self-propelled artillery,thereby enhancing the accuracy of launch dynamics calculations for self-propelled artillery.
文摘In this study,circular dichroism(CD)and molecular dynamics(MD)simulation were used to investigate the thermal unfolding pathway of staphylococcal enterotoxin B(SEB)at temperatures of 298–371 and 298–500 K,and the relationship between the experimental and simulation results were explored.Our computational findings on the secondary structure of SEB showed that at room temperature,the CD spectroscopic results were highly consistent with the MD results.Moreover,under heating conditions,the changing trends of helix,sheet and random coil obtained by CD spectral fitting were highly consistent with those obtained by MD.In order to gain a deeper understanding of the thermal stability mechanism of SEB,the MD trajectories were analyzed in terms of root mean square deviation(RMSD),secondary structure assignment(SSA),radius of gyration(R_(g)),free energy surfaces(FES),solvent-accessible surface area(SASA),hydrogen bonds and salt bridges.The results showed that at low heating temperature,domain Ⅰ without loops(omitting the mobile loop region)mainly relied on hydrophobic interaction to maintain its thermal stability,whereas the thermal stability of domain Ⅱ was mainly controlled by salt bridges and hydrogen bonds.Under high heating temperature conditions,the hydrophobic interactions in domain Ⅰ without loops were destroyed and the secondary structure was almost completely lost,while domain Ⅱ could still rely on salt bridges as molecular staples to barely maintain the stability of the secondary structure.These results help us to understand the thermodynamic and kinetic mechanisms that maintain the thermal stability of SEB at the molecular level,and provide a direction for establishing safer and more effective food sterilization processes.
基金support by the National Natural Science Foundation of China(NSFC,Grant Nos.12002324,12372341,12172342)。
文摘Improving the energy conversion efficiency in metallic fuel(e.g.,Al)combustion is always desirable but challenging,which often involves redox reactions of aluminum(Al)with various mixed oxidizing environments.For instance,Al-O reaction is the most common pathway to release limited energy while Al-F reaction has received much attentions to enhance Al combustion efficiency.However,microscopic understanding of the Al-O/Al-F reaction dynamics remains unsolved,which is fundamentally necessary to further improve Al combustion efficiency.In this work,for the first time,Al-O/Al-F reaction dynamic effects on the combustion of aluminum nanoparticles(n-Al)in oxygen/fluorine containing environments have been revealed via reactive molecular dynamics(RMD)simulations meshing together combustion experiments.Three RMD simulation systems of Al core/O_(2)/HF,n-Al/O_(2)/HF,and n-Al/O_(2)/CF4 with oxygen percentage ranging from 0%to 100%have been performed.The n-Al combustion in mixed O_(2)/CF_4 environments have been conducted by constant volume combustion experiments.RMD results show that Al-O reaction exhibits kinetic benefits while Al-F reaction owns thermodynamic benefits for n-Al combustion.In n-Al/O_(2)/HF,Al-O reaction gives faster energy release rate than Al-F reaction(1.1 times).The optimal energy release efficiency can be achieved with suitable oxygen percentage of 10%and 50%for n-Al/O_(2)/HF and n-Al/O_(2)/CF_4,respectively.In combustion experiments,90%of oxygen percentage can optimally enhance the peak pressure,pressurization rate and combustion heat.Importantly,Al-O reaction prefers to occur on the surface regions while Al-F reaction prefers to proceed in the interior regions of n-Al,confirming the kinetic/thermodynamic benefits of Al-O/Al-F reactions.The synergistic effect of Al-O/Al-F reaction for greatly enhancing n-Al combustion efficiency is demonstrated at atomicscale,which is beneficial for optimizing the combustion performance of metallic fuel.
基金supported by the National Natural Science Foundation of China (22275018)the Project of State Key Laboratory of Explosion Science and Technology (Beijing Institute of Technology)(Grant No.QNKT20-04)。
文摘To investigate the effect of void defects on the shock response of hexanitrohexaazaisowurtzitane(CL-20)co-crystals,shock responses of CL-20 co-crystals with energetic materials ligands trinitrotoluene(TNT),1,3-dinitrobenzene(DNB),solvents ligands dimethyl carbonate(DMC) and gamma-butyrolactone(GBL)with void were simulated,using molecular dynamics method and reactive force field.It is found that the CL-20 co-crystals with void defects will form hot spots when impacted,significantly affecting the decomposition of molecules around the void.The degree of molecular fragmentation is relatively low under the reflection velocity of 2 km/s,and the main reactions are the formation of dimer and the shedding of nitro groups.The existence of voids reduces the safety of CL-20 co-crystals,which induced the sensitivity of energetic co-crystals CL-20/TNT and CL-20/DNB to increase more significantly.Detonation has occurred under the reflection velocity of 4 km/s,energetic co-crystals are easier to polymerize than solvent co-crystals,and are not obviously affected by voids.The results show that the energy of the wave decreases after sweeping over the void,which reduces the chemical reaction frequency downstream of the void and affects the detonation performance,especially the solvent co-crystals.
文摘Based on the system dynamic model, a full system dynamics estimation method is proposed for a chain shell magazine driven by a permanent magnet synchronous motor(PMSM). An adaptive extended state observer(AESO) is proposed to estimate the unmeasured states and disturbance, in which the model parameters are adjusted in real time. Theoretical analysis shows that the estimation errors of the disturbances and unmeasured states converge exponentially to zero, and the parameter estimation error can be obtained from the extended state. Then, based on the extended state of the AESO, a novel parameter estimation law is designed. Due to the convergence of AESO, the novel parameter estimation law is insensitive to controllers and excitation signal. Under persistent excitation(PE) condition, the estimated parameters will converge to a compact set around the actual parameter value. Without PE signal, the estimated parameters will converge to zero for the extended state. Simulation and experimental results show that the proposed method can accurately estimate the unmeasured states and disturbance of the chain shell magazine, and the estimated parameters will converge to the actual value without strictly continuous PE signals.
基金supported by the CAS Project for Young Scientists in Basic Research(YSBR-005)the National Natural Science Foundation of China(22325304,22221003 and 22033007)We acknowledge the Supercomputing Center of USTC,Hefei Advanced Computing Center,Beijing PARATERA Tech Co.,Ltd.,for providing high-performance computing services。
文摘As the simplest hydrogen-bonded alcohol,liquid methanol has attracted intensive experimental and theoretical interest.However,theoretical investigations on this system have primarily relied on empirical intermolecular force fields or ab initio molecular dynamics with semilocal density functionals.Inspired by recent studies on bulk water using increasingly accurate machine learning force fields,we report a new machine learning force field for liquid methanol with a hybrid functional revPBE0 plus dispersion correction.Molecular dynamics simulations on this machine learning force field are orders of magnitude faster than ab initio molecular dynamics simulations,yielding the radial distribution functions,selfdiffusion coefficients,and hydrogen bond network properties with very small statistical errors.The resulting structural and dynamical properties are compared well with the experimental data,demonstrating the superior accuracy of this machine learning force field.This work represents a successful step toward a first-principles description of this benchmark system and showcases the general applicability of the machine learning force field in studying liquid systems.
文摘In order to research the feasibility of using the selective adsorption principle to achieve automatic shaping of nano patterns,in this study,using the liquid gallium as the conductive ink and graphene as the printing plate surface,by changing the surface wettability of patterned areas on the nanoscale of graphene printed boards,the automatic formation of liquid gallium patterns on the graphene printed plate surface was simulated.The results indicated that liquid gallium can achieve automatic patterning on the surface of graphene patterned areas;the greater the interaction energy between gallium and carbon atoms,the clearer the pattern;gallium liquid is prone to remain in complex local positions of the pattern,making it difficult to shape the pattern;if the spacing between adjacent pattern lines is too large or too small,it will result in residual gallium liquid between the lines;increasing the thickness of the gallium film will cause the pattern to expand beyond the boundary,but increasing the thickness of the gallium film can also enhance the thickness and uniformity of the pattern lines.In summary,the principle of selective adsorption can be used to achieve the automatic formation of nano patterns,and the pattern formation effect is influenced by factors such as atomic interaction energy and pattern configuration.
基金the National Natural Science Foundation of China(Grant No.22075146).
文摘Appropriate drying process with optimized controlling of drying parameters plays a vital role in the improvement of the quality and performance of propellant products.However,few research on solvent transport dynamics within NC-based propellants was reported,and its effect on the evolution of mechanical properties was not interpreted yet.This study is conducted to gain a comprehensive understanding of hot-air drying for NC-based propellants and clarify the effect of temperature on solvent transport behavior and further the change of mechanical properties during drying.The drying kinetic curves show the drying time required is decreased but the steady solvent content is increased and the drying rate is obviously increased with the increase of hot-air temperatures,indicating hot-air temperatures have a significant effect on drying kinetics.A modified drying model was established,and results show it is more appropriate to describe solvent transport behavior within NC-based propellants.Moreover,two linear equations were established to exhibit the relationship between solvent content and its effect on the change of tensile properties,and the decrease of residual solvent content causes an obvious increase of tensile strength and tensile modulus of propellant products,indicating its mechanical properties can be partly improved by adjustment of residual solvent content.The outcomes can be used to clarify solvent transport mechanisms and optimize drying process parameters of double-based gun propellants.
基金supported by the National Natural Science Foundation of China(12002370).
文摘To solve the finite-time error-tracking problem in mis-sile guidance,this paper presents a unified design approach through error dynamics and free-time convergence theory.The proposed approach is initiated by establishing a desired model for free-time convergent error dynamics,characterized by its independence from initial conditions and guidance parameters,and adjustable convergence time.This foundation facilitates the derivation of specific guidance laws that integrate constraints such as leading angle,impact angle,and impact time.The theoretical framework of this study elucidates the nuances and synergies between the proposed guidance laws and existing methodologies.Empirical evaluations through simulation comparisons underscore the enhanced accuracy and adaptability of the proposed laws.
文摘It is of great scientific significance to construct a 3D dynamic structural color with a special color effect based on the microlens array.However,the problems of imperfect mechanisms and poor color quality need to be solved.A method of 3D structural color turning on periodic metasurfaces fabricated by the microlens array and self-assembly technology was proposed in this study.In the experiment,Polydimethylsiloxane(PDMS)flexible film was used as a substrate,and SiO2 microspheres were scraped into grooves of the PDMS film to form 3D photonic crystal structures.By adjusting the number of blade-coated times and microsphere concentrations,high-saturation structural color micropatterns were obtained.These films were then matched with microlens arrays to produce dynamic graphics with iridescent effects.The results showed that by blade-coated two times and SiO2 microsphere concentrations of 50%are the best conditions.This method demonstrates the potential for being widely applied in the anticounterfeiting printing and ultra-high-resolution display.
基金supported by the 2019 Postdoctoral Research Project funded by Hefei Municipal Bureau of Human Resources and Social Security and the National key R&D Program of China(2017YFB0102101).
文摘The mechanical properties of secondary cells are crucial to the safety and reliability of battery packs,which can fail due to extrusion and vibration in a vehicle crash.To analyze the structural response of the secondary cell and its other dynamic behaviors,the experiment and some numerical simulations were carried out based on single reference impact testing.Then,an equivalent constitutive relationship of the secondary cell was proposed to reveal the dynamic properties and used to guide the safety estimation of the battery pack.As the input parameter to the finite element model,the equivalent constitutive relationship,including but not limited to the elastic modulus and stain-stress curve,determines the simulation precision of the battery packs.Compared to the experimental results of the natural frequency of the battery pack,the simulation error is below 2%when the elastic modulus of the secondary cell in the battery pack has been verified.
文摘This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only be obtained by some USVs.In order to achieve semi-encirclement tracking of noncooperative targets under maritime security conditions,a fixed-time tracking control method based on dynamic surface control(DSC)is proposed in this paper.Firstly,a novel TACC architecture with decoupled kinematic control law and decoupled kinetic control law was designed to reduce the complexity of control system design.Secondly,the proposed DSC-based target-guided kinematic control law including tracking points pre-allocation strategy and sigmoid artificial potential functions(SigAPFs)can avoid collisions during tracking process and optimize kinematic control output.Finally,a fixed-time TACC system was proposed to achieve fast convergence of kinematic and kinetics errors.The effectiveness of the proposed TACC approach in improving target tracking safety and reducing control output chattering was verified by simulation comparison results.
基金Project(BZ2024023)supported by the Jiangsu Province International Collaboration Program-Key National Industrial Technology Research and Development Cooperation,China。
文摘Dynamic compression experiments were conducted on red sandstone utilizing a split Hopkinson pressure bar(SHPB)to study the loading rate and high temperatures on their mechanically deformed properties and ultimate failure modes,and to analyze the correlation between the strain rate,temperature,peak strength,and ultimate failure modes.The results show that the mass decreases with the increase of treatment temperature,and the pattern of the stress−strain curves is not impacted by the increase of impact velocity.Under a fixed temperature,the higher the impact velocity,the higher the strain rate and dynamical compression strength,indicating a strain rate hardening effect for red sandstone.With an increasing treatment temperature,the strain rate gradually increases when the impact loading remains unchanged,suggesting a rise in the deformability of red sandstone under high-temperature environment.Raise in both impact velocity and treatment temperature leads to an intensification of the damage features of the red sandstone.Similarly,higher strain rates lead to the intensification of the final damage mode of red sandstone regardless of the change in treatment temperature.Moreover,a dynamic damage constitutive model that considers the impacts of strain rate and temperature is proposed based on experimental results.
基金funded by the National Natural Science Foundation of China Youth Fund(Grant No.62304022)Science and Technology on Electromechanical Dynamic Control Laboratory(China,Grant No.6142601012304)the 2022e2024 China Association for Science and Technology Innovation Integration Association Youth Talent Support Project(Grant No.2022QNRC001).
文摘Metal Additive Manufacturing(MAM) technology has become an important means of rapid prototyping precision manufacturing of special high dynamic heterogeneous complex parts. In response to the micromechanical defects such as porosity issues, significant deformation, surface cracks, and challenging control of surface morphology encountered during the selective laser melting(SLM) additive manufacturing(AM) process of specialized Micro Electromechanical System(MEMS) components, multiparameter optimization and micro powder melt pool/macro-scale mechanical properties control simulation of specialized components are conducted. The optimal parameters obtained through highprecision preparation and machining of components and static/high dynamic verification are: laser power of 110 W, laser speed of 600 mm/s, laser diameter of 75 μm, and scanning spacing of 50 μm. The density of the subordinate components under this reference can reach 99.15%, the surface hardness can reach 51.9 HRA, the yield strength can reach 550 MPa, the maximum machining error of the components is 4.73%, and the average surface roughness is 0.45 μm. Through dynamic hammering and high dynamic firing verification, SLM components meet the requirements for overload resistance. The results have proven that MEM technology can provide a new means for the processing of MEMS components applied in high dynamic environments. The parameters obtained in the conclusion can provide a design basis for the additive preparation of MEMS components.
基金Projects(52225403,52074112)supported by the National Natural Science Foundation of ChinaProject(2022CFD009)supported by the Hubei Natural Science Foundation Innovation and Development Joint Fund Key Project,China+2 种基金Project(SDGZK2423)supported by the State Key Laboratory of Intelligent Construction and Healthy Operation and Maintenance of Deep Underground Engineering,ChinaProject(HJZKYBKT2024111)supported by the Xiangyang Federation of Social Sciences“Hanjiang Think Tank”Project,ChinaProject supported by the Hubei Superior and Distinctive Discipline Group of“New Energy Vehicle and Smart Transportation”,China。
文摘Coal seam water injection in tunnels is an effective technical measure for preventing coal mine rock bursts.This study used the improved split Hopkinson pressure bar(SHPB)to apply three equal static stresses to water-saturated coal to simulate the initial stress environment of coal at different depths.Then,dynamic mechanical experiments were conducted on the saturated coal at different depths to investigate the effects of water saturation and depth on the coal samples’dynamic mechanical properties.Under uniaxial compression and without lateral compression,the strength of coal samples decreased to varying degrees in the saturated state;under different depth conditions,the dynamic strength of coal in the saturated state decreased compared with that in the natural state.However,compared with that at 0 m,the reduction in the strength of coal under the saturated condition at 200,400,600,and 800 m was significantly reduced.The findings of this study provide a basic theoretical foundation for the prevention and control of dynamic coal mine disasters.
基金support received by the National Natural Science Foundation of China(Grant Nos.52372398&62003272).
文摘Dynamic soaring,inspired by the wind-riding flight of birds such as albatrosses,is a biomimetic technique which leverages wind fields to enhance the endurance of unmanned aerial vehicles(UAVs).Achieving a precise soaring trajectory is crucial for maximizing energy efficiency during flight.Existing nonlinear programming methods are heavily dependent on the choice of initial values which is hard to determine.Therefore,this paper introduces a deep reinforcement learning method based on a differentially flat model for dynamic soaring trajectory planning and optimization.Initially,the gliding trajectory is parameterized using Fourier basis functions,achieving a flexible trajectory representation with a minimal number of hyperparameters.Subsequently,the trajectory optimization problem is formulated as a dynamic interactive process of Markov decision-making.The hyperparameters of the trajectory are optimized using the Proximal Policy Optimization(PPO2)algorithm from deep reinforcement learning(DRL),reducing the strong reliance on initial value settings in the optimization process.Finally,a comparison between the proposed method and the nonlinear programming method reveals that the trajectory generated by the proposed approach is smoother while meeting the same performance requirements.Specifically,the proposed method achieves a 34%reduction in maximum thrust,a 39.4%decrease in maximum thrust difference,and a 33%reduction in maximum airspeed difference.
基金the Major Science and Technology Demonstration Projects in Jiangsu Province(Grant No.BE2022608).
文摘Inspired by the thermal stability mechanism of thermophilic protein,which presents ionic bonds that have better stability at higher temperatures,this paper proposes the introduction of electrostatic interactions by adding carboxyl-modified silica(C-SiO2),PAA,and CaCl_(2) to achieve higher viscosity over 25℃.The rheological behavior of C-SiO_(2)-based shear thickening fluid(CS-STF)was investigated at a temperature range of 25–55℃.Unlike SiO_(2)-based STF,which exhibits single-step thickening and a negative correlation between viscosity and temperature.As the C-SiO_(2) content was 41%(w/w)and the mass ratio of PAA:CaCl_(2):C-SiO_(2) was 3:1:10,the CS-STF displayed a double-thickening behavior,and the peak viscosity reached 1330 Pa·s at 35℃.From the yarn pull-out test,the inter-yarn force was significantly increased with the increasing CS-STF content.Treating UHMWPE fabrics with CS-STF improved the impact resistance effectively.In the blunt impact test,the U-CS fabrics with high CS-STF content(121.45 wt%)experienced penetration failure under high impact energy(18 J)due to stress concentration caused by the shear thickening behavior.The knife stabbing test demonstrated that U-CS fabrics with appropriate content(88.38 wt%)have the best stabbing resistance in various impact energies.Overall,this study proposed a high-performence STF showing double-thickening and enhancing shear-thickening behavior at a wide temperature range,the composite fabrics with the performance of resisting both the blunt and stab impact had broad application prospects in the field of personal protection.
