A Re-Configurable Test Apparatus for Complex Nonlinear Dynamic Systems

This paper reports the results of an analytical and experimental study to design, analyze, construct, test, and evaluate a re-configurable test-bed to allow the convenient performance of sophisticated experiments in a laboratory setting for investigating a broad category of important nonlinear, time-varying phenomena that are widely encountered in the applied mechanics field. The essential elements of the test apparatus include an electro-dynamic exciter that drives an oscillating mass whose restoring force is easily adjustable from one resembling a linear SDOF mass-spring-damper system with constant coefficients, to one that can represent systems with nonlinear elastic forces, to one that models systems possessing hysteretic properties with precisely-controlled time-varying characteristics. The apparatus design is economical to fabricate, convenient to manipulate, and it provides results that can be accurately replicated under repeated test combinations of system parameters and dynamic loads. The utility of the apparatus to provide an investigational tool for studying the dynamic response of systems with time-varying dry-friction forces that give rise to hysteretic phenomena is demonstrated. Sophisticated on-line system-identification techniques are used to estimate the parameters of reduced-order models that capture the dominant features of the physical model. It is shown that the apparatus under discussion is a useful research tool for investigators conducting studies in physics-based models of generic nonlinear dynamic systems.     

Hybrid approach for dynamic model identification of an electro-hydraulic parallel platform

In this paper, a hybrid optimization algorithm is proposed to identify the dynamic parameters of a 6-DOF electro-hydraulic parallel platform. The dynamic model of a parallel platform with arbitrary geometry, inertia distribution and frictions is obtained based on a structured Boltzmann–Hamel–d’Alembert formulation, and then the estimation equations are explicitly expressed in terms of a linear form with respect to the identified inertial and the friction coefficients in accordance with a linear friction model. However, when nonlinear friction models are considered, the parameter identification of the electro-hydraulic parallel platform is considered as an optimization process with an objective function minimizing the errors between the measurement and identification, and then an effective combination of the particle swarm optimization (PSO) method and the local quasi-Newton method is proposed to solve the identification problem. Experimental identification processes are carried out for the identified parameters, and the identified models are compared by the predicted forces between the LS method and the optimization technique as well as between the linear and nonlinear friction models.     

A General Method for Estimating Dynamic Parameters of Spatial Mechanisms

Dynamic equations of motion require a large number of parameters for each element of the system. These can include for each part their mass, location of center of mass, moment of inertia, spring stiffnesses and damping coefficients. This paper presents a technique for estimating these parameters in spatial mechanisms using any joint type, based on measurements of displacements, velocities and accelerations and of external forces and torques, for the purpose of building accurate multibody models of mechanical systems. A form of the equations of spatial motion is derived, which is linear in the dynamic parameters and based on multibody simulation code methodologies. Singular value decomposition is used to find the essential parameter set, and minimum parameter set. It is shown that a simulation of a four-bar mechanism (with spherical, universal, and revolute joints) and based on the estimated parameters gives accurate response.     

Numerical experiments on the transient motions of a flapping foil

The flow field generated by a foil during transient motions is investigated by means of numerical experiments. The numerical simulations have some advantages with respect to laboratory experiments. Indeed, having access to the velocity and pressure fields both in space and in time, it is possible to 'measure' quantities like vorticity, forces and torques which are quite difficult to obtain in laboratory. Moreover, data can be easily gained for different foil kinematics. The obtained results show that the time history of the propulsive force strongly depends on the details of the kinematics of the foil. Moreover, the numerical simulations have allowed to understand the main mechanisms employed by fish to propel themselves during fast starts and to identify the values of the parameters providing optimal propulsive performances.     

Flutter instability and other singularity phenomena in symmetric systems via combination of mass distribution and weak damping

The local dynamic instability of autonomous conservative, lumped-mass (discrete) systems, is thoroughly discussed when negligibly small dissipative forces are included. It is shown that such small forces may change drastically the response of these systems. Hence, existing, widely accepted, findings based on the omission of damping could not be valid if damping, being always present in actual systems, is included. More specifically the conditions under which the above systems may experience dynamic bifurcations associated either with a degenerate or a generic Hopf bifurcation are examined in detail by studying the effect of the structure of the damping matrix on the Jacobian eigenvalues. The case whereby this phenomenon may occur before divergence is discussed in connection with the individual or coupling effect of non-uniform mass and stiffness distribution. Jump phenomena in the critical dynamic loading at a certain mass distribution are also assessed. Numerical results verified by a non-linear dynamic analysis using 2-DOF and 3-DOF models confirm the validity of the theoretical findings as well as the efficiency of the technique proposed herein.     

Estimation of net traction for differential-steered wheeled robots

We present a method for estimating the net traction and resistive wheel torques for a suspensionless, differential-steered robot on rigid or deformable terrain. The method, based on extended Kalman-Bucy filtering (EKBF), determines time histories of net traction and resistive wheel torques and wheel slips during steady or transient maneuvers. This method assumes good knowledge of the vehicle dynamics and treats the unknown forces and moments due to terrain response as random variables to be estimated. A proprioceptive sensor suite renders a subset of the unknown forces and associated wheel slip and slip angles observable. This methodology decouples semi-empirical terramechanics models from the net effect of the vehicle-terrain interaction, namely the net traction developed by the vehicle on the terrain. By collecting sensor data and processing data off-line, force-slip characteristics are identified irrespective of the underlying terramechanics. These characteristics can in turn support development or validation of terramechanics models for the vehicle-terrain system. For autonomous robots, real-time estimates of force-slip characteristics can provide setpoints for traction and steering control, increasing vehicle performance, speed, and maneuverability. Finally, force-slip estimation is the first step in identifying terrain parameters during normal maneuvering. The methodology is demonstrated through both simulation and physical testing using a 13-kg robot.     

A quasi-static approach to the stability of the path of heavy bodies falling within a viscous fluid

We consider the gravity-driven motion of a heavy two-dimensional rigid body freely falling in a viscous fluid. We introduce a quasi-static linear model of the forces and torques induced by the possible changes in the body velocity, or by the occurrence of a nonzero incidence angle or a spanwise rotation of the body. The coefficients involved in this model are accurately computed over a full range of Reynolds number by numerically resolving the Navier–Stokes equations, considering three elementary situations where the motion of the body is prescribed. The falling body is found to exhibit three distinct eigenmodes which are always damped in the case of a thin plate with uniform mass loading or a circular cylinder, but may be amplified for other geometries, such as in the case of a square cylinder.     

Analytic solution of the problem of rotation of a sphere in a rarefied molecular gas with allowance for the accommodation coefficients

In the case of the slip flow regime expressions both for the mass velocity of a rarefied molecular gas entrained by a rotating sphere and for the moment of the friction forces exerted on the sphere by the gas are obtained with allowance for the second-order correction with respect to the Knudsen number. It is demonstrated that these quantities depend on the Prandtl number and the accommodation coefficients of the tangential impulse of the gas molecules and its flux toward the sphere surface. The results are compared with analogous results obtained in the case of diffuse reflection of the gas molecules by the sphere surface.     

Input torque sensitivity to uncertain parameters in biped robot

Input torque is the main power to maintain bipedal walking of robot, and can be calculated from trajectory planning and dynamic modeling on biped robot. During bipedal walking, the input torque is usually required to be adjusted due to some uncertain parameters arising from objective or subjective factors in the dynamical model to maintain the pre-planned stable trajectory. Here, a planar 5-link biped robot is used as an illustrating example to investigate the effects of uncertain parameters on the input torques. Kine-matic equations of the biped robot are firstly established by the third-order spline curves based on the trajectory planning method, and the dynamic modeling is accomplished by taking both the certain and uncertain parameters into account. Next, several evaluation indices on input torques are intro-duced to perform sensitivity analysis of the input torque with respect to the uncertain parameters. Finally, based on the Monte Carlo simulation, the values of evaluation indices on input torques are presented, from which all the robot param-eters are classified into three categories, i.e., strongly sensi-tive, sensitive and almost insensitive parameters.     

An extended thermodynamics modeling of non-Fickian diffusion

The problem of non-Fickian diffusion in a two-component mixture at uniform temperature is studied in the framework of extended irreversible thermodynamics (EIT). The basic idea underlying this formalism is to complement the space of classical variables (here the mass density, mass concentration and barycentric velocity) by dissipative fluxes (here the diffusion flux). The evolution equation for this extra variable is derived by using the Lagrange multipliers method of Liu. After solving the problem in the case of the linear regime, we extend our analysis to a non-linear situation. In the linear case, one recovers the classical Fick’s law and the Cattaneo–Maxwell equation for the diffusion flux. In the non-linear case, our results are comparable with those obtained by using a Hamiltonian formalism.     

A Phenomenological Approach to Modeling Transport in Porous Media

The objective of this article is to make use of the phenomenological approach to construct models for the transport of extensive quantities, such as mass of a fluid phase, mass of a component of a fluid phase, momentum of a phase and energy, in porous medium domains. Special attention is devoted to express the fluxes of these extensive quantities, especially the non-advective ones, as functions of their relevant driving forces, obeying the principle of minimum entropy production. It is shown that for each extensive quantity, we have a linear diffusive flux term, a non-linear diffusive term, and a dispersive flux term. The latter is shown to be proportional to the velocity squared. In each case, the number of moduli that describe fluid and porous matrix properties is determined. The momentum balance equation for a porous medium domain, which is the “motion equation,” is analyzed and simplified for special cases, leading to Darcy’s law and to Brinkman’s equation.     

Control torque components of center-of-mass motions in hammer throwing

Summary Modified Newton's law and Euler's equation of motion giving the internal or control forces and torques in the thrower's joints are derived. It is considered that all the forces and torques, acting on any part of the thrower's body producing motion, are due to linear and angular velocity changes and to the external forces such as gravity and friction with the ground. Unfortunately, any estimation of the thrower's joints' internal or control forces and torques from this mechanical model is complicated by the asymmetric nature of the resultant equations of motion.A simplified bi-mass model is worked out as an application of this approach. Using experimental data for the center of mass paths of the hammer and the thrower the body main control driving torques at the various points in the movement pattern are evaluated, and the thrower's balance is further studied.

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Drehmomentenregelung der Massenmittelpunktsbewegung beim Hammerwurf

Übersicht Zur Bestimmung der inneren Kräfte und Momente in den Gelenken eines Hammerwerfers werden die Bewegungsgleichungen aufgestellt. Es wird angenommen, daß alle Kräfte und Momente in den Körperteilen des Sportlers, die die Bewegung erzeugen, von Geschwindigkeits- und Winkelgeschwindigkeitsänderungen sowie äußeren Kräften wie Schwerkraft und Reibkontakt mit dem Untergrund herrühren. Allerdings ist die Bestimmung der Gelenkbeanspruchungen mit diesem mechanischen Modell kompliziert. Deshalb wird vereinfachend ein Zwei-Massen-Modell behandelt. Mit Hilfe experimenteller Daten über die Bewegung des Hammers und des Körperschwerpunktes wird das wesentliche, den Antrieb regelnde innere Moment für verschiedene Zeitpunkte des Bewegungsablaufs bestimmt.

     

Two non-probabilistic set-theoretical models for dynamic response and buckling failure measures of bars with unknown-but-bounded initial imperfections

This paper is concerned with the problem of comparison of two non-probabilistic set-theoretical models for dynamic response and buckling failure measures of bars with unknown-but-bounded initial imperfections. Two kinds of non-probabilistic set-theoretical models are convex models and interval analysis models. In convex models and interval analysis models, the uncertain quantities are considered to be unknown except that they belong to given sets in an appropriate vector space. In this case, all information about the dynamic response and buckling failure measures of bars is provided by the set of dynamic responses and buckling failure measures consistent with the constraints on the uncertain quantities. The dynamic response estimate is actually a set in appropriate response space rather than a single vector. The set estimate is the smallest calculable set which contains the uncertain dynamic response, but it is usually impractical to calculate this set. Two set estimate methods are developed which can calculate the time varying box or hyperrectangle, i.e. interval vector in the response space that contains the true dynamic response. Comparison between convex models and interval analysis models in mathematical proofs and numerical calculations shows that, under the condition of the outer enclosed ellipsoid from a hyperrectangle or an interval vector, the set dynamic response predicted by interval analysis models is smaller than that yielded by convex models; under the condition of the outer enclosed hyperrectangle or an interval vector from an ellipsoid, the dynamic response set calculated by convex models is smaller than that obtained by interval analysis models.     

An electrically conducting interface crack with a contact zone in a piezoelectric bimaterial

A plane problem for an electrically conducting interface crack in a piezoelectric bimaterial is studied. The bimaterial is polarized in the direction orthogonal to the crack faces and loaded by remote tension and shear forces and an electrical field parallel to the crack faces. All fields are assumed to be independent of the coordinate co-directed with the crack front. Using special presentations of electromechanical quantities via sectionally-analytic functions, a combined Dirichlet–Riemann and Hilbert boundary value problem is formulated and solved analytically. Explicit analytical expressions for the characteristic mechanical and electrical parameters are derived. Also, a contact zone solution is obtained as a particular case. For the determination of the contact zone length, a simple transcendental equation is derived. Stress and electric field intensity factors and, also, the contact zone length are found for various material combinations and different loadings. A significant influence of the electric field on the contact zone length, stress and electric field intensity factors is observed. Electrically permeable conditions in the crack region are considered as well and matching of different crack models has been performed.     

The simulation of oscillatory pipe flow on an analogue computer

Summary A formulation of equations governing oscillatory flow of a fluid in a circular pipe is given. The equations are then cast in a form suitable for analogue computation and a corresponding programming diagram suitable for use with an EAI 680 Analogue Computer is provided. Results have been obtained forNewtonian flow for a range ofReynolds numbers and for combinations of the realReynolds number, and the ratio of elastic to viscous forces in the case of linear viscoelastic fluids.The displacement profiles given in this work do not depend upon specific rheological models and are therefore of universal validity for linear fluids.     

Statics and dynamics of simply supported polygonal Reissner-Mindlin plates by analogy

Summary Free and forced vibrations of moderately thick, transversely isotropic plates loaded by lateral forces and hydrostatic (isotropic) in-plane forces are analyzed in the frequency domain. Influences of shear, rotatory inertia, transverse normal stress and of a two-parameter Pasternak foundation are taken into account. First-order shear-deformation theories of the Reissner–Mindlin type are considered. These theories are written in a unifying manner using tracers to account for the various influencing parameters. In the case of a general polygonal shape of the plate and hard-hinged support conditions, the Reissner-Mindlin deflections are shown to coincide with the results of the classical Kirchhoff theory of thin plates. The background Kirchhoff plate, which has effective (frequency-dependent) stiffness and mass, is loaded by effective lateral and in-plane forces and by imposed fictitious “thermal” curvatures. These deflections are further split into deflections of linear elastic prestressed membranes with effective stiffness, mass and load. This analogy for the deflections is confirmed by utilizing D'Alembert's dynamic principle in the formulation of Lagrange, which yields an integral equation. Furthermore, the analogy is extended in order to include shear forces and bending moments. It is shown that in the static case, with no in-plane prestress taken into account, the stress resultants for certain groups of Reissner-type shear-deformable plates are identical with those resulting from the Kirchhoff theory of the background. Finally, results taken from the literature for simply supported rectangular and polygonal Mindlin plates are yielded and verified by analogy in a quick and simple manner. Received 29 September 1998; accepted for publication 22 June 1999     

Identification of stiffness, dissipation and input parameters of randomly excited non-linear systems: Capability of restricted potential models (RPM)

A dynamic identification technique in the time domain for time invariant systems under random external forces is presented. This technique is based on the use of the class of restricted potential models (RPM), which are characterized by a non-linear stiffness and a special form of damping, that is a product of the input power spectral density (PSD) matrix and the velocity gradient of a non-linear function of the total mechanical energy. By applying stochastic differential calculus and by specific analytical manipulations, some algebraic equations, depending on the response statistics and on the mechanic parameters that characterize RPM, are obtained. These equations can be used for the dynamic identification of the above mechanic parameters once the response statistics of the system to be identified are evaluated. The proposed technique allows one to identify single-degree-of-freedom or multi-degrees-of-freedom systems in the case of unmeasurable input. Further, the probabilistic characteristics of the external forces can be completely estimated in terms of PSD matrix.     

Optimal disturbances of a dusty-gas plane-channel flow with a nonuniform distribution of particles

The classical stability theory for multiphase flows, based on an analysis of one (most unstable) mode, is generalized. A method for studying an algebraic (non-modal) instability of a disperse medium, which consists in examining the energy of linear combinations of three-dimensional modes with given wave vectors, is proposed. An algebraic instability of a dusty-gas flow in a plane channel with a nonuniform particle distribution in the form of two layers arranged symmetrically with respect to the flow axis is investigated. For all possible values of governing parameters, the optimal disturbances of the disperse flow have zero wavenumber in the flow direction, which indicates their banded structure (“streaks”). The presence of dispersed particles in the flow increases the algebraic instability, since the energy of optimal disturbances in the disperse medium exceeds that for the pure-fluid flow. It is found that for a homogeneous particle distribution the increase in the energy of optimal perturbations is proportional to the square of the sum of unity and the particle mass concentration and is almost independent of particle inertia. For a non-uniform distribution of the dispersed phase, the largest increase in the initial energy of disturbances is achieved in the case when the dust layers are located in the middle between the center line of the flow and the walls.