Separating viscoelasticity and poroelasticity of gels with diferent length and time scales简

Viscoelasticity and poroelasticity commonly coexist as time-dependent behaviors in polymer gels. Engineering applications often require knowledge of both behaviors separated; however, few methods exist to decouple viscoelastic and poroelastic properties of gels. We propose a method capable of separating viscoelasticity and poroelasticity of gels in various mechanical tests. The viscoelastic char- acteristic time and the poroelastic diffusivity of a gel define an intrinsic material length scale of the gel. The experimen- tal setup gives a sample length scale, over which the solvent migrates in the gel. By setting the sample length to be much larger or smaller than the material length, the viscoelasticity and poroelasticity of the gel will dominate at different time scales in a test. Therefore, the viscoelastic and poroelastic properties of the gel can be probed separately at different time scales of the test. We further validate the method by finite-element models and stress-relaxation experiments.     

Linear stability of a fluid channel with a porous layer in the center简

We perform a Poiseuille flow in a channel linear stability analysis of a inserted with one porous layer in the centre, and focus mainly on the effect of porous filling ratio. The spectral collocation technique is adopted to solve the coupled linear stability problem. We investigate the effect of permeability, σ, with fixed porous filling ratio ψ = 1/3 and then the effect of change in porous filling ratio. As shown in the paper, with increasing σ, almost each eigenvalue on the upper left branch has two subbranches at ψ = 1/3. The channel flow with one porous layer inserted at its middle （ψ = 1/3） is more stable than the structure of two porous layers at upper and bottom walls with the same parameters. By decreasing the filling ratio ψ, the modes on the upper left branch are almost in pairs and move in opposite directions, especially one of the two unstable modes moves back to a stable mode, while the other becomes more instable. It is concluded that there are at most two unstable modes with decreasing filling ratio ψ. By analyzing the relation between ψ and the maximum imaginary part of the streamwise phase speed, Cimax, we find that increasing Re has a destabilizing effect and the effect is more obvious for small Re, where ψ a remarkable drop in Cimax can be observed. The most unstable mode is more sensitive at small filling ratio ψ, and decreasing ψ can not always increase the linear stability. There is a maximum value of Cimax which appears at a small porous filling ratio when Re is larger than 2 000. And the value of filling ratio 0 corresponding to the maximum value of Cimax in the most unstable state is increased with in- creasing Re. There is a critical value of porous filling ratio （= 0.24） for Re = 500; the structure will become stable as ψ grows to surpass the threshold of 0.24; When porous filling ratio ψ increases from 0.4 to 0.6, there is hardly any changes in the values of Cimax. We have also observed that the critical Reynolds number is especially sensitive for small ψ where the fastest drop is observed, and there may be a wide range in which the porous filling ratio has less effect on the stability （ψ ranges from 0.2 to 0.6 at σ = 0.002）. At larger permeability, σ, the critical Reynolds number tends to converge no matter what the value of porous filling ratio is.     

Shape analysis and damped oscillatory solutions for a class of nonlinear wave equation with quintic term简

This paper aims at analyzing the shapes of the bounded traveling wave solu- tions for a class of nonlinear wave equation with a quintic term and obtaining its damped oscillatory solutions. The theory and method of planar dynamical systems are used to make a qualitative analysis to the planar dynamical system which the bounded traveling wave solutions of this equation correspond to. The shapes, existent number, and condi- tions are presented for all bounded traveling wave solutions. The bounded traveling wave solutions are obtained by the undetermined coefficients method according to their shapes, including exact expressions of bell and kink profile solitary wave solutions and approxi- mate expressions of damped oscillatory solutions. For the approximate damped oscillatory solution, using the homogenization principle, its error estimate is given by establishing the integral equation, which reflects the relation between the exact and approximate so- lutions. It can be seen that the error is infinitesimal decreasing in the exponential form.     

Mechanical properties of double-stranded DNA biofilm with Gaussian distribution简

In microcantilever-based label-free biodetection technologies, deflection changes induced by adsorptions of double-stranded DNA （dsDNA） molecules on Au-layer surface are greatly affected by the mechanical, thermal and electrical properties of DNA biofilm. In this paper, the elastic properties of dsDNA biofilm are studied. First, the Parsegian＇s empirical potential based on a mesoscopic liq- uid crystal theory is employed to describe the interaction energy among coarse-grained DNA cylinders. Then, con- sidering a Gaussian distribution of DNA interaxial distance, the thought experiment method is used to derive an analyti- cal expression for Young＇s modulus of DNA biofilm with a stochastic packing pattern for the first time. Results show that Young＇s modulus of DNA biofilm is on the order of 10 MPa. These findings could provide a simple and effective method to evaluate the mechanical properties of soft biofilm on snbstrate.     

Viscoelastic analysis of single-component and composite PEG and alginate hydrogels简

Hydrogels, three-dimensional hydrophilic polymer networks, are appealing candidate materials for study- ing the cellular microenvironment as their substantial water content helps to better mimic soft tissue. However, hydrogels can lack mechanical stiffness, strength, and tough- ness. Composite hydrogel systems have been shown to improve upon mechanical properties compared to their single- component counterparts. Poly （ethylene glycol） dimethacrylate （PEGDMA） and alginate are polymers that have been used to form hydrogels for biological applications. Single- component and composite PEGDMA and alginate systems were fabricated with a range of total polymer concentrations. Bulk gels were mechanically characterized using spherical indentation testing and a viscoelastic analysis framework. An increase in shear modulus with increasing polymer con- centration was demonstrated for all systems. Alginate hydro- gels were shown to have a smaller viscoelastic ratio than the PEGDMA gels, indicating more extensive relaxation over time. Composite alginate and PEGDMA hydrogels exhib- ited a combination of the mechanical properties of the con- stituents, as well as a qualitative increase in toughness. Additionally, multiple hydrogel systems were produced that had similar shear moduli, but different viscoelastic behaviors. Accurate measurement of the mechanical properties of hydrogels is necessary in order to determine what parameters are key in modeling the cellular microenvironment.     

Nanoscale viscoelastic properties and adhesion of polydimethylsiloxane for tissue engineering简

It has shown that altering crosslink density of biopolymers will regulate the morphology of Mesenchymal Stem Cells （MSCs） and the subsequent MSCs differentia- tion. These observations have been found in a wide range of biopolymers. However, a recent work published in Nature Materials has revealed that MSCs morphology and differen- tiation was unaffected by crosslink density of polydimethyl- siloxane （PDMS）, which remains elusive. To understand such unusual behaviour, we use nanoindentation tests and modelling to characterize viscoelastic properties and sur- face adhesion of PDMS with different base：crosslink ratio varied from 50：1 （50D） to 10：1 （10D）. It has shown that lower crosslink density leads to lower elastic moduli. De- spite lower nanoindentation elastic moduli, PDMS with lowest crosslink density has higher local surface adhesion which would affect cell-biomaterials interactions. This work suggests that surface adhesion is likely another important physical cue to regulate cell-biomaterials interactions.     

Bending of simply-supported circular timber beam strengthened with fiber reinforced polymer简

The bending behavior of the circular cross-section timber beam strengthened with a fiber reinforced polymer (FRP) sheet is investigated. The tight bonding is on the interface between the surface of a timber beam and the reinforcement layer of the FRP sheet. An analytical expression for the bending moment-curvature relation is presented, and its failure modes are analyzed. The governing equation for nonlinear small deflection of the FRP-strengthened circular timber beam is established, and the corresponding numerical method is given. The bending deformation of the simply-supported circular timber beam strengthened with the carbon fiber reinforced polymer (CFRP) sheet subject to a uniform load is studied numerically. The influence of the angle and thickness of the CFRP layer as well as the timber strength on the bending deflection of the FRP-strengthened circular timber beam is examined. It is revealed that, with the increases of the thickness and angle, the deflection of the CFRP-strengthened circular timber beam is decreased, and its carrying capacity and ductility are increased. However, when the angle of the layer reaches a certain value, the deflection will no longer decrease with the increase of the angle. At the same time, the nonlinear bending moment-curvature relation of the CFRP-strengthened circular timber beam is simplified as an approximate bilinear constitutive model. The approximate deflections of the simply-supported circular timber beam strengthened with the CFRP sheet are obtained. The results are compared with the linearly elastic bending and nonlinear bending models, showing that the mid-span deflections of a CFRP-strengthened circular timber beam with the approximate bilinear constitutive model are greater than those with the nonlinear constitutive model. The results of its stiffness analysis are on the safe side.     

Vibration analysis of axisymmetric functionally graded viscothermoelastic spheres简

The present study focuses on the analysis of free vibrations of axisymmetric functionally graded hollow spheres. The material is assumed to be graded in radial di- rection with a simple power law. Matrix Frrbenious method of extended power series is employed to derive the analytical solutions for displacement, temperature, and stresses. The dispersion relations for the existence of various types of pos- sible modes of vibrations in the considered hollow sphere are derived in a compact form. In order to explore the character- istics of vibrations, the secular equations are further solved by using fixed point iteration numerical technique with the help of MATLAB software. The numerical results have been presented graphically for polymethyl methecrylate materials in respect of natural frequencies, frequency shift, inverse quality factor, displacement, temperature change, and radial stress.     

Adaptive neural network control for coordinated motion of a dual-arm space robot system with uncertain parameters

Control of coordinated motion between the base attitude and the arm joints of a free-floating dual-arm space robot with uncertain parameters is discussed. By combining the relation of system linear momentum conversation with the Lagrangian approach, the dynamic equation of a robot is established. Based on the above results, the free-floating dual-arm space robot system is modeled with RBF neural networks, the GL matrix and its product operator. With all uncertain inertial system parameters, an adaptive RBF neural network control scheme is developed for coordinated motion between the base attitude and the arm joints. The proposed scheme does not need linear parameterization of the dynamic equation of the system and any accurate prior-knowledge of the actual inertial parameters. Also it does not need to train the neural network offline so that it would present real-time and online applications. A planar free-floating dual-arm space robot is simulated to show feasibility of the proposed scheme.     

An adaptive critic neural network for motion control of a wheeled mobile robot

In this paper, we propose a new application of the adaptive critic methodology for the feedback control of wheeled mobile robots, based on a critic signal provided by a neural network (NN). The adaptive critic architecture uses a high-level supervisory NN adaptive critic element (ACE), to generate the reinforcement signal to optimise the associative search element (ASE), which is applied to approximate the non-linear functions of the mobile robot. The proposed tracking controller is derived from Lyapunov stability theory and can guarantee tracking performance and stability. A series of computer simulations have been used to emulate the performance of the proposed solution for a wheeled mobile robot.     

空间机器人执行器自适应分散容错控制算法设计

针对执行器发生部分失效故障的漂浮基空间机器人系统,提出了一种自适应H_∞分散容错控制算法。利用拉格朗日第二类方程建立了系统的动力学模型。根据分散原理将系统分解为以基座或臂杆为单元的多个子系统,并将表示执行器控制能力的有效因子融入到每个子系统,使得单个子系统的执行器故障不会影响相邻执行器的正常运行。通过对每个故障子系统设计形式一致的自适应容错算法实现对整个系统的容错控制。仿真结果表明,与现有某非奇异终端滑模容错算法相比,本文算法具有更快的跟踪速度和更高的跟踪精度。     

空间连续型机器人自适应鲁棒容错控制

针对空间连续型机器人系统三臂节执行器并发故障的问题,提出一种自适应鲁棒容错控制算法.采用非奇异快速终端滑模控制器,并通过自适应RBF(Radial Basis Function)神经网络在线调整控制器的切换项增益,使控制器在模型参数摄动和外部干扰下依旧具有较高的跟踪精度和较强的鲁棒性.基于Lyapunov稳定性理论,证...     

柔性关节-柔性臂空间机器人的神经网络自适应反演控制及双重柔性振动抑制

空间机器人系统的柔性主要体现在空间机器人的臂杆和连接各臂杆之间的铰关节。由于空间机器人系统结构的复杂性,以往研究人员对同时具有柔性关节和柔性臂的系统关注不够。为此探讨了参数未知柔性关节-柔性臂空间机器人系统的动力学模拟、轨迹跟踪控制算法设计和关节、臂杆双重柔性振动的主动抑制问题。首先,采用多体动力学建模方法并结合漂浮基空间机器人固有的线动量和角动量守恒动力学特性,推导了系统的动力学方程。以此为基础,考虑到空间机器人实际应用中各关节铰具有较强柔性的情况,引入一种关节柔性补偿控制器解决了传统奇异摄动法应用受关节柔性限制问题,导出了适用于控制系统算法设计的数学模型。然后,利用该模型,基于反演思想在慢时标子系统中设计神经网络自适应控制算法来补偿系统参数未知和柔性关节引起的转动误差,实现系统运动轨迹跟踪性能;针对快时标子系统,设计了鲁棒最优控制算法抑制因柔性关节及柔性臂引起的系统双重弹性振动,保证系统的稳定性。最后,通过仿真对比实验验证了所设计控制算法的有效性。     

漂浮基柔性关节空间机器人自适应滑模运动控制及振动主动抑制

讨论了关节柔性且系统参数不确定的漂浮基空间机器人系统的动力学建模过程、运动轨迹跟踪控制算法设计及系统柔性振动的主动抑制问题。利用系统动量、动量矩守恒关系和拉格朗日法对系统动力学进行分析,并建立系统动力学方程。基于奇异摄动法将系统分解为表示系统刚性运动部分的慢变子系统和表示系统柔性运动部分的快变子系统。针对慢变子系统提出了一种自适应滑模控制算法。该控制算法是由基于滑模面的等效控制项、自适应控制项和PID反馈控制项组成。因此,它集合了滑模控制、自适应算法和PID技术的优点,且弥补了三种算法各自的缺点。该控制算法能够有效地补偿系统的转动误差和不确定参数,提高控制系统的精度。针对快变子系统,提出基于速度差值的反馈控制算法来抑制柔性关节引起的系统柔性振动,保证系统的稳定性。最后,通过仿真实验证明了提出的混合控制算法的有效性。     

Synchronization in a fractional-order dynamic network with uncertain parameters using an adaptive control strategy

This paper studies synchronization of all nodes in a fractional-order complex dynamic network. An adaptive control strategy for synchronizing a dynamic network is proposed. Based on the Lyapunov stability theory, this paper shows that tracking errors of all nodes in a fractional-order complex network converge to zero. This simple yet practical scheme can be used in many networks such as small-world networks and scale-free networks. Unlike the existing methods which assume the coupling configuration among the nodes of the network with diffusivity, symmetry, balance, or irreducibility, in this case, these assumptions are unnecessary, and the proposed adaptive strategy is more feasible. Two examples are presented to illustrate effectiveness of the proposed method.     

空间机器人捕获卫星操作基于柔顺装置的无源模糊避撞柔顺控制

讨论了漂浮基空间机器人在轨捕获非合作卫星过程避免关节受冲击及过载破坏的避撞柔顺控制问题。在关节电机与机械臂之间配置了一种柔顺装置——旋转型串联弹性执行器(RSEA),其作用一是在捕获阶段,通过其内置弹簧的变形来缓冲捕获过程中被捕获卫星对空间机器人关节产生的冲击能量;二是在捕获完成后的镇定运动阶段,结合所设计的避撞柔顺策略来适时开关关节电机以保证关节冲击力矩受限在安全范围。首先,根据拉格朗日法及牛顿-欧拉法分别建立了含柔顺装置空间机器人与目标卫星系统的动力学方程;之后,结合整个系统动量守恒关系、系统运动几何及位置约束关系,建立了捕获操作后两者形成混合体系统的动力学方程。在此基础上,针对捕获操作后不稳定的混合体系统,提出了一种基于无源性理论的避撞柔顺模糊控制方案以实现其镇定控制。最后,通过仿真实验验证了所提避撞柔顺策略的有效性。     

带有末端角度和轨迹路径点约束的MPSC制导律设计

针对多约束制导问题,给出了一种同时满足末端角度约束和飞行轨迹路径点约束的模型预测扩展控制制导方法,该制导方法通过满足飞行轨迹路径点约束实现灵活调节飞行轨迹,可以大大缩短目标防御反应时间。模型预测扩展控制制导方法是基于非线性最优控制理论,给出了控制量表达式以二次形式近似时制导律的设计过程。模型预测扩展控制制导方法只能对末端时刻输出量进行约束,通过对该制导方法进行扩展,使其还可以满足飞行轨迹路径点约束。仿真结果表明,考虑飞行轨迹路径点约束时,导弹经过设定的路径点并以给定的弹道倾角命中目标。     

Adaptive nonlinear model predictive control design of a flexible-link manipulator with uncertain parameters

This paper presents a novel adaptive nonlinear model predictive control design for trajectory tracking of flexible-link manipulators consisting of feedback lineariza-tion, linear model predictive control, and unscented Kalman filtering. Reducing the nonlinear system to a linear system by feedback linearization simplifies the optimization prob-lem of the model predictive controller significantly, which, however, is no longer linear in the presence of parame-ter uncertainties and can potentially lead to an undesired dynamical behaviour. An unscented Kalman filter is used to approximate the dynamics of the prediction model by an online parameter estimation, which leads to an adaptation of the optimization problem in each time step and thus to a better prediction and an improved input action. Finally, a detailed fuzzy-arithmetic analysis is performed in order to quantify the effect of the uncertainties on the control structure and to derive robustness assessments. The control structure is applied to a serial manipulator with two flexible links containing uncertain model parameters and acting in three-dimensional space.