小肠的结构及边界润滑模型建立

为了实现内窥镜的无损诊治,提高肠道机器人的行走能力,需构建肠道的结构模型和边界润滑模型.本文以小肠为研究对象,表征了其内部结构,测定了肠道内表面摩擦系数与径向应变、载荷和滑动速度之间关系.结果表明:小肠内表面结构由皱襞、绒毛和微绒毛组成;直径变化是影响其摩擦的首要因素,其次是滑动速度和载荷.运用薄膜理论,根据小肠内部结构特征和摩擦系数的变化规律,构建其结构模型及边界润滑模型,并推断出小肠收缩状态润滑形式为流体动压润滑,摩擦阻力主要由肠黏液表面剪切力决定,膨胀时,润滑形式为薄膜润滑,摩擦阻力由肠黏液表面剪切力、绒毛产生的约束力和吸附力决定.     

肠道内表面形貌对其摩擦性能影响的研究

为了调查肠道内表面形貌对其摩擦性能的影响,本文以家兔小肠为研究对象,表征了其内表面形貌,测试了肠黏液的润滑性;在排除肠道正压力条件下,测试环向应变、载荷、滑动速度与摩擦系数的变化关系.实验结果表明:小肠内表面存在着皱襞、绒毛、微绒毛;肠黏液可将摩擦系数降低到10-2数量级;环向应变10%是摩擦系数变化的临界值,小于10%摩擦系数不受载荷和滑动速度的影响,大于10%摩擦系数随载荷和滑动速度增大而增大.通过分析环向应变、内表面形貌、肠黏液、载荷、滑动速度与摩擦系数之间的关系,得出摩擦系数变化的机理:当环向应变小于10%,润滑形式为液体润滑;当径向应变大于10%,皱襞被拉伸褶皱消失,润滑形式转化为混合润滑.小肠摩擦性能的研究对胶囊内窥镜、肠道机器人外观设计提供了实验数据,对推进微创、无创诊疗有着重大意义.     

一类关节型机器人操作手的迭代学习控制

针对一类机器人操作手，提出了一种设计机器人操作手迭代学习控制的新方法，与其它现有的迭代学习控制方法相比较，当折合到机器人操作手关节轴上的驱动装置惯量足够大时，可以用驱动装置的动力学特性参数确定学习增益，克服了传统迭代学习控制方法由多次尝试选取学习增益的缺点，增强了实用性。在实际机器人操作手上的实验结果充分表明了新提出方法可获得较高学习速度和控制精度的优越性。     

条状润湿表面对面接触限量润滑油膜的影响研究

利用面接触油膜润滑测量系统，研究了条状润湿表面对有限量供油条件下入口区供油分布及润滑油膜厚度的影响. 对玻璃盘润滑轨道两侧进行疏油化处理，形成中央条状润湿区域，在有限量供油条件下测量不同速度下的油膜厚度. 结果表明在表面力驱动下，润滑油向中央条状亲油区域集中，改善了入口区供油，促进了限量供油条件下的油膜形成. 相对油膜厚度随速度的增加呈“S”型变化，同时研究了润滑油黏度及供油量等工作参数对条状润湿轨道作用的影响.      

机场跑道摩擦系数影响因素研究

飞机在起降过程中需要一定的轮胎-跑道表面摩擦力来进行减速和转向控制,飞行员及时获取跑道状况和摩擦系数对飞行安全至关重要。影响机场跑道摩擦系数的因素有很多,最常见的因素有速度和跑道表面存在的水。本文研究了跑道表面水膜厚度、测试车行驶速度对跑道摩擦系数的影响。使用GT测试车和SFT测试车在不同的条件下进行试验,分别进行两种测量方法相关性对比试验、水膜厚度试验和速度试验。结果表明:当速度低于60km/h时,两种测量方法的结果最大相差0.03;随着速度和水膜厚度的增加,跑道摩擦系数呈现下降的趋势,两种因素对跑道摩擦系数具有很大的影响。     

固液润湿性对流体动压润滑薄膜的影响

利用自行开发的微型面接触润滑油膜测量系统,研究了固液润湿性对流体动压润滑油膜厚度的影响.试验中以静止的微型滑块平面和旋转的光学透明圆盘平面形成润滑副.固液的润湿性通过接触角判定,不同材料的微滑块平面和润滑液体形成不同的界面.在保持载荷和面接触楔形角不变的条件下对油膜厚度-速度关系进行了测量.结果表明:对于固液润湿性强的界面,形成的油膜厚度与经典润滑理论有较好的一致性;当固液润湿性明显降低时,测量得到的油膜厚度减小.对于试验中观察到的界面效应,应用界面滑移理论进行了初步分析.     

切应力协同下受热过冷层流液膜的破断特性

针对界面切应力协同下受热过冷层流液膜流动的破断过程, 建立了不同气液流向下的临界液膜厚度和最小润湿量的理论模型, 分析了不同驱动力作用下, 接触角、流体温度、界面切应力和壁面热流密度对液膜破断特性的影响. 研究表明: 临界液膜厚度和最小润湿量均随壁面热流密度的增加而增大; 重力驱动下的接触角影响在不同热流密度下有所不同, 流体温度在不同驱动力下对最小润湿量的影响截然相反; 同向切应力驱动下临界液膜厚度和最小润湿量随切应力增加而减小; 在重力和切应力协同驱动下, 同向切应力对最小润湿量的影响与重力和切应力所起作用的相对大小有关, 反向切应力使得临界液膜厚度和最小润湿量有所增大.      

椭圆接触弹性流体动力润滑的供油条件分析

通过数值求解研究了椭圆接触弹流润滑的供油条件,分析了供油油膜厚度对乏油润滑中心膜厚和最小膜厚的影响,以及中心膜厚和最小膜厚与润滑油膜压力区形成位置的关系.结果表明:当供油油膜厚度较小时,中心膜厚和最小膜厚很小,压力区形成位置距Hertz接触区很近,处于严重乏油状态;当供油油膜的厚度达到一定数值时,中心膜厚和最小膜厚基本不变,多余的润滑油几乎不能进入接触间隙,即达到准充分供油状态;当供油油膜厚度继续增加时,乏油区最终消失,达到充分供油或过量供油状态.     

面接触润滑油膜测量系统滑块倾角的快速计算

在面接触润滑油膜厚度的光干涉测量中,需要确定滑块和玻璃盘所形成的微小倾角.一般通过目测干涉条纹的数量计算倾角,效率低且误差大.根据滑块表面干涉条纹等距,光强呈周期性变化的特点,对滑块面的干涉光强曲线进行傅里叶变换,综合采用Rife-Jane和重叠FFT相位差法进行频率插值,较好地消除了频谱泄漏,较准确计算干涉条纹数量,从而得到滑块与玻璃盘间的倾角.试验证明:当条纹数量大于5时该方法的测量相对误差在1%以下,具有很强的抗干扰能力.对不同倾角下的油膜厚度进行了测量,得出了润滑油膜的无量纲承载量-滑块收敛比曲线.结果表明:膜厚较高时,无量纲载荷最大值出现在收敛比为1.2左右的位置,但当膜厚较低时,无量纲载荷最大值出现在收敛比大于2的位置,偏离了经典理论.     

激波风洞高低压段钢膜片破裂特性研究

激波风洞是用于高超声速飞行器气动外形设计和优化的常用地面试验装置,基于爆轰驱动技术,激波风洞能够在短时间(毫秒级)内产生高温、高压的驱动气体来模拟高超声速试验气流.主膜片位于激波风洞中的爆轰驱动段和激波管段之间,试验时膜片在爆轰脉冲压力下打开,膜片的打开状态和脱落情况对激波风洞气流品质有很大的影响. 同时,膜片也是形成激波的先决条件. 传统的风洞采用铝质膜片进行试验,在激波风洞中需要承压能力更强的膜片, 此时铝质膜片不再适用, 需要采用钢质膜片.因此, 对激波风洞中的钢膜片破裂特性进行研究很有必要.将数值计算结果与试验结果进行比较, 发现数值计算结果与试验结果吻合得比较理想,计算结果具有可靠性. 基于膜片的应力-应变模型, 建立了膜片打开的动力学模型,根据CJ爆轰理论, 采用有限元软件计算模拟了膜片破裂的过程,分析总结了膜片破裂的机制和力学特性规律.采用控制变量法对不同厚度和凹槽长度的膜片进行分析研究,得到了膜片破膜压力和有效破膜时间的变化规律. 在激波风洞试验中,根据膜片总破膜时间设计了适用于JF-12复现风洞的膜片参数.      

Preface: Current research progress on mechanics of high speed rail

The construction and operation of high-speed rail（HSR）grid within the past two decades in China,in terms of the scale,may be possibly comparable to any national-wide construction in the history of China,even the Great Wall.By counting railways with commercial train service at the speed of200 km/h,China has the world’s longest HSR network with over 19 369.8 km of track in service today and this number     

ACTA MECHANICA SINICA 2014 ANNUAL SUBJECT INDEX

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人造地震动合成中的位移误差分析

三角函数级数法是合成人工地震动常用算法之一,但是通过对加速度积分求取位移时,却存在与零线漂移相类似的位移漂移现象。     

Hermitian space-time finite elements for estuarine mass transport

Space-time finite element solutions of the convection–dispersion equation using higher-order nodal continuity and Hermitian polynomial shape functions are described. Five separate elements ranging from a complete linear element with C^0,0 nodal continuity to a complete first-order Hermitian element with C^1,1 nodal continuity are subjected to detailed analysis. Wave deformation analyses identify the source of leading or trailing edge oscillations, trailing edge oscillations being the major source of difficulty. These observations are confirmed by numerical experiments which further demonstrate the potential of higher-order nodal continuity. The performance of the complete first-order Hermitian element is quite satisfactory and measurably superior to the linear element.     

Rainwater rivulets on a cable subject to windFilets d'eau de pluie sur un câble soumis au vent

Rainwater rivulets appear on inclined cables of cable-stayed bridges when wind and rain occur simultaneously. In a restricted range of parameters this is known to cause vibrations of high amplitudes on the cable. The mechanism underlying this effect is still under debate but the role of rainwater rivulets is certain. We use a standard lubrication model to analyse the dynamics of a water film on a cylinder under the effect of gravity and wind load. A simple criterion is then proposed for the appearance and position of rivulets, where the Froude number is the control parameter. Experiments with several geometries of cylinder covered with water in a wind tunnel show the evolution of the rivulets with the Froude number. Comparison of the prediction by the model with these experimental data shows that the main mechanism of rivulet formation and positioning is captured. To cite this article: C. Lemaitre et al., C. R. Mecanique 334 (2006).     

Cristallisation par onde acoustique : le cas de l'héliumCrystallization by acoustic waves: the case of helium

We establish a theoretical model to explain the nucleation of a crystal of helium by an acoustic over-pressure. We explain the interfacial laws for this ultra-fast cristallization, close to the sound speed. Assuming spherical symmetry and taking into account the experimental data, we recover the dynamics of the growth and melting during an over-pressure impulse. To cite this article: M. Ben Amar et al., C. R. Mecanique 331 (2003).     

Structure initiale et propriétés de liquéfaction statique d'un sableInitial structure and static liquefaction properties of sand.

Based on the use of two different preparation procedures for reconstituting triaxial samples of sand, i.e. wet tamping and dry pluviation, significant differences in associated mechanical behaviour are observed on a reference sand with respect to the phenomenon of ‘static’ liquefaction. Wet tamping favours the initiation of liquefaction instability, whereas dry pluviation favours a more stable behaviour, less susceptible to liquefaction. Microscopic observation of corresponding sand specimens allows us to identify two well differentiated structures, i.e., for wet tamping, an irregular structure with predominance of aggregates (aggregated grains) and macropores, very contractant and unstable and, for dry pluviation, a more regular structure, without macropores, more dilatant and more stable. These observations show the importance of further characterization, based on the introduction of appropriate parameters, of the initial structure of sandy materials, strongly dependant upon their mode of formation (natural or artificial). To cite this article: N. Benahmed et al., C. R. Mecanique 332 (2004).     

Sources of Complexity in Human Systems

Complex is a special attribute we can give to many kinds of systems. Although it is used often as a synonym of difficult, it has a specific epistemological meaning, which is going to be shared by the incoming science of complexity. Difficult is an object which, by means of an adequate computational power, can be deterministically or stochastically predictable. On the contrary complex is an object which can not be predictable because of logical impossibility or because its predictability would require a computational power far beyond any physical feasibility, now and forever. For complexity refers to some observing system, it is always subjective, and thus it is defined as observed irreducible complexity. Human systems are affected by several sources of complexity, belonging to three classes, in order of descending restrictivity. Systems belonging to the first class are not predictable at all, those belonging to the second class are predictable only through an infinite computational capacity, and those belonging to the third class are predictable only through a trans-computational capacity. The first class has two sources of complexity: logical complexity, directly deriving from self-reference and Gödel's incompleteness theorems, and relational complexity, resulting in a sort of indeterminacy principle occurring in social systems. The second class has three sources of complexity: gnosiological complexity, which consists of the variety of possible perceptions; semiotic complexity, which represents the infinite possible interpretations of signs and facts; and chaotic complexity, which characterizes phenomena of nonlinear dynamic systems. The third class coincides with computational complexity, which basically coincides with the mathematical concept of intractability. Artificial, natural, biological and human systems are characterized by the influence of different sources of complexity, and the latter appear to be the most complex.