A dynamic terramechanic model for small lightweight vehicles with rigid wheels and grousers operating in sandy soil

This paper presents a validated dynamic terramechanic model for rigid wheels with grousers that may be used for planetary and terrestrial mobile robots operating in loose sandy soil. The proposed model is based on established analytical terramechanic theories and incorporates two new dimensionless empirical coefficients. The additional terms in the model are based on existing soil mechanic theories that vary as a function of soil properties, slip conditions, and vehicle loading. The proposed model was able to capture and predict the dynamic oscillations observed in experimental data from a single-wheel testbed for the sinkage, drawbar pull and normal load. For the operating conditions tested in this research the simulation results using the proposed model show an improvement over traditional terramechanic models for capturing the dynamic effects of grousers.     

On the response of rubbers at high strain rates—II. Shock waves

In this series of papers, we examine the propagation of waves of finite deformation in rubbers through experiments and analysis; in the present paper, Part II, attention is focused on the propagation of one-dimensional tensile shock waves in strips of latex and nitrile rubber. Tensile wave propagation experiments were conducted at high strain rates by holding one end fixed and displacing the other end at a constant velocity. A high-speed video camera was used to monitor the motion and to determine the evolution of strain and particle velocity in rubber strips. Shock waves have been generated under tensile impact in prestretched rubber strips; analysis of the response yields the tensile shock adiabat for rubbers. The propagation of shocks is analyzed by developing an analogy with the theory of detonation; it is shown that the condition for shock propagation can be determined using the Chapman-Jouguet shock condition.     

Termination of the starting problem of dynamic expansion of a spherical cavity in an infinite elastic-perfectly-plastic medium

Perhaps the simplest non-trivial problem in small deformation dynamic plasticity is expansion of a spherical cavity in an infinite elastic-perfectly-plastic medium. Here, example problems are considered with two boundary conditions at the cavity's surface: constant velocity and constant pressure. Attempts to obtain analytical solutions are complicated by the fact that, in general, the elastic-plastic boundary propagates with variable speed. However, it is known that the elastic-plastic boundary propagates at constant speed for the starting problem when the shocks due to the applied loads are large enough to cause inelastic response at the instant they are applied. When the value of the applied pressure equals the shock pressure due to the applied velocity the solutions of the two boundary value problems are initially identical and can be compared. The objective of this paper is to review the literature and to examine the termination conditions for the starting problem. Specifically, the starting problem terminates when either the jump in radial stress at the elastic-plastic boundary or the loading condition for plasticity vanishes there. These termination conditions depend on the applied load and on Poisson's ratio.     

Time-harmonic P-waves engulfing a rectangular limited-permeable crack in piezoelectric medium: Energy density and energy release

The dynamic behavior of a limited-permeable rectangular crack in a transversely isotropic piezoelectric material is impinged by to a P-wave. The generalized Almansi theorem and the Schmidt method are used to determine the stress intensity factor and energy density factor as the primary fracture criterion of failure. The mixed boundary value problem entails the evaluation of the appropriate crack edge stress singularities that are characteristics of the fundamental functions. The stress and electric displacement intensity factors are also used to find the energy release rate that can be computed numerically and compared with the results corresponding to those of the stress intensity factor, and energy density factor. Graphical presentation shows that the energy release rate is always negative for the boundary conditions considered while the energy density factors always remain positive. Under certain conditions, the stress and electric displacement intensity factors can be negative and subject to physical limitations. Piezoelectric material boundary value problem solutions should therefore be qualified by the application of failure criteria by fracture of otherwise, particularly when the mechanical and electrical energy can release by creating free surface at the macroscopic and microscopic scales. Negative energy release rate found for the piezoelectric medium in this work can be a case in point.Positive definiteness of the energy density factor can be applied to mutliscale fracture. This is not true for the stress intensity factor nor the energy release rate. Hence, crack initiation behavior for the permittivity of a rectangular crack due to the wave propagation effects may be studied. In particular, the initiation of micro-cracks may be identified with certain critical stress wave frequency band. Negative stress intensity factor may not enhance macrocracking but it does not exclude microcrack initiation.     

一种结合Roe格式的高精度半拉氏方法

针对守恒形式的欧拉方程组, 构造了一种结合Roe格式的守恒型有限体 积形式的半拉氏方法. 通过发展一种基于Roe特征速度的拉氏质点回溯方法, 由此来计算 半点的流量并作为边界通量的近似, 使得这种半拉氏方法在时空离散上达到二阶精度, 并 且保证了守恒性. 其中回溯点处物理量采用本质无振荡格式(ENO)方法进行插值重 构得到, 不需要增加人工黏性且避免了有限体积多矩半拉氏方法中限制器选择的问题, 又能够达到时空的高阶精度. 方法简便, 易于实现, 兼具拉氏方法和欧拉方法的优点. 一维和二维数值算例表明, 此方法对激波和接触间断都取得了满意的模拟效果, 可用于可压缩复杂流动问题的计算.     

周期性多孔材料等效剪切模量与尺寸效应研究

提出了以圆筒扭转力学模型为基础, 预测周期性多孔材料等效剪切模量及其研究尺寸效 应的一种简单有效计算方法. 以方形孔和圆形孔两种典型多孔材料为例进行了数值计算求解; 同时, 建立了几何参数随体胞尺寸缩放因子$n$的解析关系, 证明了两种构型的周期性多孔材 料的等效剪切模量均随尺寸缩放因子$n$的增大而减小. 当$n \to \infty $时, 即体胞尺寸相对整体结构无限小时, 多孔材料的等效剪切模量趋近收敛于一个恒定值; 当体胞的材料体分比增大时, 多孔材料等效剪切模量也随之增大. 此外, 依据周 期性多孔材料的结构对称特性, 使用体胞子结构有限元计算模型进行等效剪切模量及其尺寸 效应的预测, 极大地提高了计算效率.     

Improved state space relaxation for constrained two-dimensional guillotine cutting problems

Christofides and Hadjiconstantinou (1995) introduced a dynamic programming state space relaxation for obtaining upper bounds for the Constrained Two-dimensional Guillotine Cutting Problem. The quality of those bounds depend on the chosen item weights, they are adjusted using a subgradient-like algorithm. This paper proposes Algorithm X, a new weight adjusting algorithm based on integer programming that provably obtains the optimal weights. In order to obtain even better upper bounds, that algorithm is generalized into Algorithm X2 for obtaining optimal two-dimensional item weights. We also present a full hybrid method, called Algorithm X2D, that computes those strong upper bounds but also provides feasible solutions obtained by: (1) exploring the suboptimal solutions hidden in the dynamic programming matrices; (2) performing a number of iterations of a GRASP based primal heuristic; and (3) executing X2H, an adaptation of Algorithm X2 to transform it into a primal heuristic. Extensive experiments with instances from the literature and on newly proposed instances, for both variants with and without item rotation, show that X2D can consistently deliver high-quality solutions and sharp upper bounds. In many cases the provided solutions are certified to be optimal.     

Randomized filtering and Bellman equation in Wasserstein space for partial observation control problem

We study a stochastic optimal control problem for a partially observed diffusion. By using the control randomization method in Bandini et al. (2018), we prove a corresponding randomized dynamic programming principle (DPP) for the value function, which is obtained from a flow property of an associated filter process. This DPP is the key step towards our main result: a characterization of the value function of the partial observation control problem as the unique viscosity solution to the corresponding dynamic programming Hamilton–Jacobi–Bellman (HJB) equation. The latter is formulated as a new, fully non linear partial differential equation on the Wasserstein space of probability measures. An important feature of our approach is that it does not require any non-degeneracy condition on the diffusion coefficient, and no condition is imposed to guarantee existence of a density for the filter process solution to the controlled Zakai equation. Finally, we give an explicit solution to our HJB equation in the case of a partially observed non Gaussian linear–quadratic model.