Biomechanical and dynamic mechanism of locust take-off

The biomimetic locust robot hopping vehicle has promising applications in planet exploration and reconnaissance. This paper explores the bionic dynamics model of locust jumping by using high-speed video and force analysis. This paper applies hybrid rigid-flexible mechanisms to bionic locust hopping and studies its dynamics with emphasis laid on the relationship between force and jumping performance. The hybrid rigid-flexible model is introduced in the analysis of locust mechanism to address the principles of dynamics that govern locust joints and mechanisms during energy storage and take-off. The dynamic response of the biomimetic mechanism is studied by considering the flexi- bility according to the locust jumping dynamics mechanism. A multi-rigid-body dynamics model of locust jumping is established and analyzed based on Lagrange method; elastic knee and tarsus mechanisms that were proposed in previous works are analyzed alongside the original bionic joint configurations and their machinery principles. This work offers primary theories for take-off dynamics and establishes a theoretical basis for future studies and engineering applications.     

Dynamic behavior of an agricultural power take-off driveline for rattle noise reduction: Part 1. Effect of spline tolerance on the power take-off rattle noise

An agricultural tractor has a power take-off (PTO) driveline that is directly connected to the engine to improve its power transmission efficiency. The PTO driveline comprises various mechanical components coupled by a spline joint. The spline coupling tolerance causes collisions between various mechanical parts of the PTO driveline and affects gear collision, thereby causing rattle noise. Therefore, the aim of this study is to conduct a dynamic behavior analysis to predict the gear rattle noise level of a PTO driveline. The dynamic behavior of the PTO driveline was analyzed through 1D simulations, and the results confirmed that the dynamic behavior changes according to rotation speed. Experimental verification of the dynamic behavior analysis results confirmed that the dynamic behavior changes as the main engine excitation-component amplification changes and then decreases at a relatively high rotation speed. Additionally, the dynamic behavior changes of the PTO driveline resulted in a jumping phenomenon that occurs rapidly at a specific rotation speed. The amplification of the engine’s main components was reduced from 3 to 4 times to 1.2 times owing to the jumping phenomenon; the noise level of the gear rattle was also reduced by approximately 10.9 dB(A).     

冰雪运动雪上摩擦学与雪蜡研究现状

冬奥冰雪运动摩擦阻力影响运动健儿成绩,减少滑雪板与雪面之间摩擦阻力,有助于提升滑雪时的行进速度,提高运动员成绩排名. 研究冰雪表面摩擦学,有助于认识冰雪表面水润滑机理,为设计高性能滑雪板和雪蜡材料提供相关的研究基础. 因此,本文作者从冰雪表面摩擦学开始,简要介绍冰雪表面水润滑机理及影响冰雪表面摩擦学性能的影响因素,如环境参数(运动环境的温度/湿度)、雪基参数(雪面硬度、密度,雪面温度/湿度、冰晶大小、雪面污染物)、滑雪板基底参数及雪蜡的使用等;着重介绍了滑雪运动必备的材料-滑雪板减阻蜡的作用和分类,含氟雪蜡对人员环境的危害,雪蜡的选择与打蜡方式对雪板减阻性能的影响以及国内外现有的冰雪摩擦测试装置. 最后,对我国现有冰雪摩擦学基础研究,冰雪运动摩擦学及雪蜡材料的应用开发研究提出了几点建议和期望.      

单足机器人周期跳跃控制的虚拟约束方法

 研究单足机器人周期跳跃控制问题．弹簧支撑倒立摆模型可以比较准确地描述动物的跳跃行为，但无控制的自然跳跃抗干扰能力较差，一般采用轨迹跟踪控制方法实现单足机器人周期跳跃．当系统存在比较大的误差时，传统的时间轨迹跟踪控制方法存在明显的不足．引入虚拟约束技术，采用基于空间路径跟踪的控制方法可以克服时间轨迹跟踪的不足．采用点足机器人模型，并通过控制腿伸缩的方式为系统提供动力，将跳跃过程分为地面摆动和腾空飞行两个阶段，并通过起飞和着陆两个事件完成两个阶段之间的转换，整个系统模型属于欠驱动非光滑动力学系统．根据简化的动力学方程获得系统的虚拟约束解析表达式，并采用部分反馈线性化方法结合PD 控制设计系统的控制律．分析了系统的混合零动力学方程，并证明了闭环系统的临界稳定性．仿真结果表明，提出的控制方法可以实现单足机器人的周期跳跃控制，并且对外部干扰具有较强的鲁棒性．     

Mode jumping in the buckling of struts and plates: a comparative study

A detailed investigation of the phenomenon of mode jumping in compressed struts on stiffening foundations and elastic plates of varying lengths is performed, with emphasis on the effects of altering boundary conditions. The variety of possible modal interactions is presented in a concise form using the parameter space of Arnol'd tongues, borrowed from non-linear dynamical systems theory. For the strut system, a full range of end conditions from simply supported to clamped is examined. For the plate, simply supported and clamped flexural conditions along both long (unloaded) and short (loaded) edges are considered, together with in-plane conditions ranging from free to pull in, to fully restrained. For each system, simply supported end conditions are found to provide protection against early mode jumping in a so-called “safety envelope”, but this is eroded as the end conditions are systematically altered from simply supported to clamped. For the plate system, mode jumping is induced at an earlier stage in the loading process by restricting the long (unloaded) edges against in-plane movement, but is delayed by clamping the same edges against rotation.     

矿井提升绳弦横振动及跳绳现象分析

 文章考虑轴向运动分析了提升绳弦段的横向非线性振动特征，讨论了跳绳事故发生的几何条件，结论指出，弦的横振动振型畸变是引发跳绳事故的主要原因     

机器人单足系统沙土跳跃刚?散耦合动力学分析

在行星探索过程中涉及探测器在星壤上着陆、运动以及收集、存储某些样本材料等问题, 因此需要建立探测机器人在沙土上运动的动力学模型, 从而优化其系统构型. 近年来, 对跳跃型探测机器人研究得到了越多越多的关注. 本文采用离散元法对颗粒场进行建模, 以及采用多体动力学方法对机械系统进行建模, 对机器人单足系统在沙土上的跳跃问题进行耦合动力学仿真分析. 基于经典土力学Prandtl-Reissne理论, 从颗粒场受压分层的形式和动量传递出发, 对描述颗粒侵入阻力的惯性力动阻力项进行了修正, 提出了一种修正的Poncelet公式. 通过与离散元仿真结果对比, 说明所提出修正公式比原始的Poncelet公式更准确地计算了机械足受到的沙土侵入阻力, 尤其在达到一定侵入深度表现出更好的收敛性. 最后分析了机械腿足部的不同尺寸和形状对沙土中跳跃效果的影响, 给出了锥形足部和柱形足部的体积对跳跃效果影响的近似计算公式. 本研究将拓展刚?散耦合动力学理论, 并且为新型探测器在行星土壤上运动的系统设计提供技术支撑.      

Numerical study on the dynamics of a two-raft wave energy conversion device

This paper presents a dynamic analysis of a two-raft wave energy conversion device based on the three-dimensional wave radiation-diffraction method. The device consists of two hinged cylindrical rafts of elliptical cross section and a power take-off system at the joint. The effect of raft length, linear damping and spring coefficient in the power take off (PTO) system, axis ratio (ratio of minor axis to major axis of raft elliptical cross section) and raft radius of gyration on wave energy capture factor has been investigated in frequency domain, while the effects of a nonlinear Coulomb power take-off, raft radius of gyration and latching control have been studied in time domain. The difference in the performance of a raft-typed device obtained using a linear damping and a Coulomb damping is also illustrated.     

Exponential stability in the mean square for stochastic neural networks with mixed time-delays and Markovian jumping parameters

In this paper, the stability analysis problem is considered for a class of stochastic neural networks with mixed time-delays and Markovian jumping parameters. The mixed delays include discrete and distributed time-delays, and the jumping parameters are generated from a continuous-time discrete-state homogeneous Markov process. The aim of this paper is to establish some criteria under which the delayed stochastic neural networks are exponentially stable in the mean square. By constructing suitable Lyapunov functionals, several stability conditions are derived on the basis of inequality techniques and the stochastic analysis. An example is also provided in the end of this paper to demonstrate the usefulness of the proposed criteria.     

On the jumping problems of a circular thin plate with initial deflection

In this paper, the jumping problems of a circular thin plate with initial deflection are studied by using the method of two variables^[3],[4] proposed by Jiang Fu-ru and the method of the normal perturbation (in this paper (1.1), (1.2)). We obtain Nth-order uniformly valid asymptotic expansion of the solution of this problem ((1.66), (1.67)). When the initial deflection vanishes the solution of a circular thinplate with initial deflection is reduced to the solution of the problems of the nonlinear bending of a circular thin plate^[6]. If the initial deflection is largish and the signs of the initial deflection with the intensity of the transverse load are opposite, when the intensity of the transverse load reaches a certain value, the circular thin plate with initial deflection should produce the jumping phenomenon^[8].     

Estimation of the largest Lyapunov exponent from?the?perturbation vector and its derivative dot product

Nowadays, the largest Lyapunov exponent (LLE) is employed in many different areas of the scientific research. Thus, there is still need to elaborate fast and simple methods of LLE calculation. The new method of the LLE estimation is presented in this paper. The method (LLEDP) applies the perturbation vector and its derivative dot product to calculate Lyapunov exponent in the direction of disturbance. Value of this exponent is the LLE. The theoretical improvement was introduced. Results of the numerical simulations were shown and compared with the Stefański method (Stefański in Chaos Solitons Fractals 11(15):2443–2451, 2000; Stefański and Kapitaniak in Chaos Solitons Fractals 15:233–244, 2003; Stefański et al. in Chaos Solitons Fractals 23:1651–1659, 2005; Stefański in J. Theor. Appl. Mech. 46:665–678, 2008). Investigations of the Duffing oscillators with external excitation and three Duffing oscillators coupled in ring scheme without external excitation were made with use of the presented method. Fast time LLE estimation results convergence was shown.     

Wing/body kinematics measurement and force and moment analyses of the takeoff flight of fruitflies

In the paper, we present a detailed analysis of the takeoff mechanics of fruitflies which perform voluntary takeoff flights. Wing and body kinematics of the insects during takeoff were measured using high-speed video techniques.Based on the measured data, inertia force acting on the insect was computed and aerodynamic force and moment of the wings were calculated by the method of computational fluid dynamics. Subtracting the aerodynamic force and the weight from the inertia force gave the leg force. The following has been shown. In its voluntary takeoff, a fruitfly jumps during the first wingbeat and becomes airborne at the end of the first wingbeat. When it is in the air, the fly has a relatively large "initial" pitch-up rotational velocity(more than5 000°/s) resulting from the jumping, but in about 5 wingbeats, the pitch-up rotation is stopped and the fly goes into a quasi-hovering flight. The fly mainly uses the force of jumping legs to lift itself into the air(the force from the flapping wings during the jumping is only about 5%–10% of the leg force). The main role played by the flapping wings in the takeoff is to produce a pitch-down moment to nullify the large "initial" pitch-up rotational velocity(otherwise, the fly would have kept pitching-up and quickly fallen down).     

传统Spar平台垂荡主共振时非线性耦合响应的研究

考虑瞬时波面影响,建立了Spar平台垂荡-纵摇运动的参数激励耦合运动方程,应用多尺度法导出了波浪频率接近垂荡固有频率时响应方程的一阶摄动解并做数值验证。计算结果显示:当波浪高度达到一定值时,纵摇运动中出现大量的亚谐频率成分;随着波浪高度进一步增大,纵摇运动将出现明显的幅值跳跃现象。研究结果表明,能量渗透现象是纵摇运动失稳的主要原因,波浪激励力矩对于纵摇本身的贡献很小。由于垂荡模态存在能量饱和现象,多余的垂荡能量将会向纵摇模态转移,导致出现大幅值的纵摇运动。     

JUMPING INSTABILITIES IN THE POST-BUCKLING OF A BEAM ON A PARTIAL NONLINEAR FOUNDATION

Mode jumping is an instability phenomenon in the post-buckling region, which causes a sudden change in the equilibrium configuration and is thus harmful to structure. The con- figuration of a partial elastic foundation can directly induce mode coupling from the buckling stage and through the whole post-buckling region. The mode coupling effect due to the configuration of partial foundation on mode jumping is investigated and demonstrated to be an important factor of determining mode jumping. By properly choosing the partial elastic foundation configuration, mode jumping can be avoided.     

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列举了自然界中的种种现象以证明最小作用量的普适性. 同时运用最小作用量原理阐述了表 面浸润现象的本质,并指出能量提法与微分提法对于浸润现象的等价性关系. 运用最小作用 量原理合理地解释了诸如荷叶的超疏水、水黾水面的自由跑跳、液滴的定向运动以 及毛细黏 附等物理现象. 本文也对最小作用量原理的哲学意义作了一些探讨.     

Exponential synchronization of Markovian jumping complex dynamical networks with randomly occurring parameter uncertainties

This paper investigates the mean-square exponential synchronization problem of complex dynamical networks with Markovian jumping and randomly occurring parameter uncertainties. The considered Markovian transition rates are assumed to be partially unknown. The parameter uncertainties are considered to be random occurrence and norm-bounded, and the randomly occurring parameter uncertainties obey certain Bernoulli-distributed white noise sequences. Based on the Lyapunov method and stochastic analysis, by designing mode-dependent feedback controller, some sufficient conditions are presented to ensure the mean-square exponential synchronization of Markovian jumping complex dynamical networks with partly unknown transition rates and randomly occurring parameter uncertainties. Numerical examples are given to demonstrate the validity of the theoretical results.     

Sand particle dislodgement in windblown sand

The incipient motion of sand particle from sand bed plays a very important role in the prediction of windblown sand.In this paper,we proposed a new method for predicting the incipient motion of sand particle based on wind speed fluctuation as follows,when the wind speed is larger than the critical wind speed,if the total impulse on sand particle is larger than the critical impulse,incipient motion of sand particle would take place,otherwise if not.Furthermore,from the analysis of entrainment in the rolling and lifting modes,we come to the following conclusion.When the average wind speed is smaller than the critical wind speed,if the average wind speed is used to judge the incipient motion of sand particle,one will underestimate the number of sand particles jumping from the bed,if the instantaneous wind speed is used to judge incipient motion of sand particle,one will overestimate the number of sand particles jumping from the bed;When the average wind speed is larger than the critical wind speed,either the average or the instantaneous wind speeds is used to judge the incipientmotion of sand particles,one will overestimate the number of sand particles jumping from the bed.     

Delayed impulsive synchronization of nonlinearly coupled Markovian jumping complex dynamical networks with stochastic perturbations

Nonlinear Dynamics - This paper focuses on the exponential synchronization of nonlinearly coupled Markovian jumping complex dynamical networks with stochastic perturbations under delayed impulsive...     

State estimation for Markovian jumping recurrent neural networks with interval time-varying delays

The paper is concerned with the state estimation problem for a class of neural networks with Markovian jumping parameters. The neural networks have a finite number of modes and the modes may jump from one to another according to a Markov chain. The main purpose is to estimate the neuron states, through available output measurements such that for all admissible time-delays, the dynamics of the estimation error are globally stable in the mean square. A new type of Markovian jumping matrix P _i is introduced in this paper. The discrete delay is assumed to be time-varying and belong to a given interval, which means that the lower and upper bounds of interval time-varying delays are available. Based on the new Lyapunov–Krasovskii functional, delay-interval dependent stability criteria are obtained in terms of linear matrix inequalities (LMIs). Finally, numerical examples are provided to demonstrate the less conservatism and effectiveness of the proposed LMI conditions.     

基于遗传退火混合算法的弹性地基上框架结构参数识别研究

对传统的简单遗传算法(GA)进行了改进,融合模拟退火技术(SA)的思想,建立了遗传模拟退火算法(GASA)的串行结构.GA采用群体并行搜索,通过概率意义下基于"优胜劣汰"思想的群体遗传操作来实现优化.SA采用串行优化结构,赋予搜索过程一种时变最终趋于零的概率突跳性,避免局部极小并最终趋于全局最优.两者的结合提高了遗传算法的全局搜索能力.本文对一实验室中弹性地基上框架结构进行了逐层模态实验研究,得到了四种工况下的模态频率和振型.首先对利用GASA算法对退火参数进行了优选,SA部分中的退温参数g和扰动幅度参数η对搜索效率及全局搜索能力具有重要的影响;然后对四种工况下混凝土的弹性模量和地基的动剪模量进行了识别,并与灵敏方法识别结果进行了对比,得到了结构物理参数随着结构浇注层数的增加而上升的规律,识别得到的弹性模量比回弹法结果偏大,与结构的静模量和动模量的区别有关.以上方法及其应用对于结构的健康监控具有现实的意义.