Geometric methods in determining rigid-body dynamics

This research develops a measurement system using linear accelerometers to determine the three-dimensional, six degrees of freedom, impact response of an anthropomorphic test device (dummy). A procedure using spherical geometric analysis (SGA) was developed. It uses three triaxial accelerometer clusters for determining angular velocity, angular acceleration, and linear acceleration. SGA differs in its calculation of angular velocity from other procedures which determine rigid-body motion. Unlike procedures which use linear accelerometers to determine angular velocity by integration of angular acceleration, SGA uses the topology of the sphere to obtain both angular acceleration and angular velocity through algebraic manipulation of the output from the linear accelerations. The validation of SGA is accomplished by the use of hypothetical as well as experimental data.     

Stochastic Vibration Model of Gear Transmission Systems Considering Speed-Dependent Random Errors

A dynamic and stochastic simulation model is developed for analyzing the vibration of gear transmission systems with consideration of the influence of the time-variant stiffness, loads, and gear transmission errors. The gear transmission system is viewed as a non-linear, time-correlated and stationary stochastic system. The transmission errors of gears are decomposed into harmonic and random components based on the spectral analysis. To simulate the random component, a second order Markov process with time-variant parameters considering influence of rotational speed is proposed and the method to determine the model parameters based on the random error of measured gear transmission error is developed. A simulation system is developed. The input to the simulation system is a white Gaussian noise process and harmonic errors, and the output is the rotational vibration acceleration of gears. Experiments are carried out to verify the proposed model. The influences of the random error on vibration acceleration are examined using the developed simulation system.     

Passenger air-bag study using geometric analysis of rigid-body motion

The goal of this research was to develop a system for measuring the force on the chest of an anthropomorphic test device (dummy) as it penetrates into an inflated-air-bag system during an impact. A spherical geometric analysis (SGA) method was developed to track dummy motion when film documentation was not reasonable, such as during air-bag deployment. The method uses three linear accelero-meter triaxial clusters for assessment of angular velocity and linear acceleration in a three-dimensional sense. From these measurements, angular acceleration and position, and linear velocity and position are derived.     

Spiral Waves in Three-Dimensional Helical Viscous Flows

A study is made of an unbounded viscous incompressible flow in the case in which the vortex lines of the absolute motion coincide with the streamlines of the relative motion; after Joukowsky, this flow is called helical flow. The vector potential of the flow is constructed and the notion of the stream function is generalized to include three-dimensional uniform helical flows in an arbitrary orthogonal coordinate system. It is shown that both axisymmetric and asymmetric waves may propagate in a rotating fluid; the amplitude of these waves decays exponentially with time, the decrement being proportional to the square of the rotational velocity of the fluid and the kinematic viscosity and inversely proportional to the square of the phase velocity.     

Adaptive sliding-mode control for two-wheeled inverted pendulum vehicle based on zero-dynamics theory

The two-wheeled inverted pendulum vehicle yields wide application prospects due to its compact construction, convenient operation, high maneuverability, and low fuel consumption. However, influenced by the underactuated characteristic, it is very difficult to achieve satisfactory control performances besides holding the vehicle body to be stable. In this study, based on the nonlinear dynamic model, the overall system is considered as three subsystems: rotational motion, longitudinal motion, and zero dynamics. Particularly, the tilt angle of the vehicle is treated as zero dynamics where the longitudinal acceleration is taken as the control input. With the control effects, the zero-dynamics subsystem could come up to be stable. Based upon the zero dynamics, the controllers for rotational and longitudinal subsystems are constructed in the following. In addition, the sliding-mode control techniques are used to derive the controllers since their insensitive characteristic to parameter variation and disturbance rejection.     

Rotationally symmetric flow over a rotating disk

The rotationally symmetric flow over a rotating disk in an incompressible viscous fluid is analyzed by a new method when the fluid at infinity is in a state of rigid rotation (in the same or in the opposite sense) about the same axis as that of the disk. Asymptotic expansions for the velocity field over the entire flow field are obtained for the general class of one-parameter rotationally symmetric flows. This method is further extended to the case when a uniform suction or injection is assumed at the rotating disk. Fluid motion induced by oscillatory suction of small amplitude at the rotating disk is also discussed.An initial-value analysis reveals that resonance is possible only when the angular velocity of the rotating fluid is greater than that of the rotating disk.     

Biquaternion solution of the kinematic control problem for the motion of a rigid body and its application to the solution of inverse problems of robot-manipulator kinematics

The problem of reducing the body-attached coordinate system to the reference (programmed) coordinate system moving relative to the fixed coordinate system with a given instantaneous velocity screw along a given trajectory is considered in the kinematic statement. The biquaternion kinematic equations of motion of a rigid body in normalized and unnormalized finite displacement biquaternions are used as the mathematical model of motion, and the dual orthogonal projections of the instantaneous velocity screw of the body motion onto the body coordinate axes are used as the control. Various types of correction (stabilization), which are biquaternion analogs of position and integral corrections, are proposed. It is shown that the linear (obtained without linearization) and stationary biquaternion error equations that are invariant under any chosen programmed motion of the reference coordinate system can be obtained for the proposed types of correction and the use of unnormalized finite displacement biquaternions and four-dimensional dual controls allows one to construct globally regular control laws. The general solution of the error equation is constructed, and conditions for asymptotic stability of the programmed motion are obtained. The constructed theory of kinematic control of motion is used to solve inverse problems of robot-manipulator kinematics. The control problem under study is a generalization of the kinematic problem [1, 2] of reducing the body-attached coordinate system to the reference coordinate system rotating at a given (programmed) absolute angular velocity, and the presentedmethod for solving inverse problems of robotmanipulator kinematics is a development of the method proposed in [3–5].     

Dynamic Analysis of Planar Linkages: A Recursive Approach

In the present study, the equations of motion for generalized planar linkages that consist of a system of rigid bodies with all common types of kinematic joints are derived using a recursive approach. The system of rigid bodies is replaced by a dynamically equivalent constrained system of particles. Then for the resulting equivalent system of particles, the concepts of linear and angular momentums are used to generate the equations of motion without either introducing any rotational coordinates or distributing the external forces and force couples over the particles. For the open loop case, the equations of motion are generated recursively along the open chains. For the closed loop case, the system is transformed to open loops by cutting suitable kinematic joints and introducing cut-joints kinematic constraints. An example of a multi-branch closed-loop system is chosen to demonstrate the generality and simplicity of the proposed method.     

Open-plus-closed-loop control for chaotic motion of 3D rigid pendulum

An open-plus-closed-loop （OPCL） control problem for the chaotic motion of a 3D rigid pendulum subjected to a constant gravitationM force is studied. The 3D rigid pendulum is assumed to be consist of a rigid body supported by a fixed and frictionless pivot with three rotational degrees. In order to avoid the singular phenomenon of Euler＇s angular velocity equation, the quaternion kinematic equation is used to describe the motion of the 3D rigid pendulum. An OPCL controller for chaotic motion of a 3D rigid pendulum at equilibrium position is designed. This OPCL controller contains two parts： the open-loop part to construct an ideal trajectory and the closed-loop part to stabilize the 3D rigid pendulum. Simulation results show that the controller is effective and efficient.     

Dynamic Analysis of Spatial Linkages: A Recursive Approach

In this paper, recursive equations of motion of spatial linkages are presented. The method uses the concepts of linear and angular momentums to generate the rigid body equations of motion in terms of the Cartesian coordinates of a dynamically equivalent constrained system of particles, without introducing any rotational coordinates and the corresponding rotational transformation matrix. For the open-chain system, the equations of motion are generated recursively along the serial chains. Closed-chain system is transformed to open-chain by cutting suitable kinematic joints and introducing cut–joint constraints. An example is chosen to demonstrate the generality and simplicity of the developed formulation.     

一类多体系统非完整运动最优规划的拟牛顿算法

研究带有非完整约束的一类多体系统运动规划问题。多体系统中的非完整约束通常是由不可积的速度约束或不可积的守恒律引起。在系统动量和动量矩守恒情况下,动力学方程降阶为非完整形式约束方程,系统的控制问题可转化为无漂移系统的非完整运动规划问题。文中首先导出具有多体开链系统的非完整运动模型。利用最优控制理论和最优化技术,采用输入参数化的方法将连续的最优控制问题转化为离散的最优控制问题,提出一种非完整多体系统运动规划的拟牛顿算法。最后将该方法用于自由漂浮的空间三连杆机构,仿真结果验证了该方法的有效性。     

Analysis of kinematic data and determination of ground reaction force of foot in slow squat

In the present paper, the ground reaction force (GRF) acting on foot in slow squat was determined through a force measuring system, and at the same time, the kinematic data of human squat were obtained by analyzing the photographed image sequences. According to the height and body weight, six healthy volunteers were selected, three men in one group and the other three women in another group, and the fundamental parameters of subjects were recorded, including body weight, height and age, etc. Based on the anatomy characteristics, some markers were placed on the right side of joints. While the subject squatted at slow speed on the force platform, the ground reaction forces on the forefoot and heel for each foot were obtained through calibrated force platform. The analysis results show that the reaction force on heel is greater than that on forefoot, and double feet have nearly constant force. Moreover, from processing and analyzing the synchronously photographed image sequences in squat, the kinematic data of human squat were acquired, including mainly the curves of angle, angular velocity and angular acceleration varied with time for knee, hip and ankle joints in a sagittal plane. The obtained results can offer instructive reference for photographing and analyzing the movements of human bodies, diagnosing some diseases, and establishing in the future appropriate mathematical models for the human motion.     

Flow of a third grade fluid due to an accelerated disk

The magnetohydrodynamic (MHD) flow induced by non‐coaxial rotation of porous disk and a third grade fluid at infinity is investigated. The disk is moving with uniform acceleration and rotating with a uniform angular velocity. Numerical solution of the governing nonlinear initial and boundary value problem is obtained. The effects of physical parameters on the velocity profiles are examined in detail. The present study shows that the constant acceleration part has a greater influence than the time part of the assumed variable velocity of the disk. Copyright © 2009 John Wiley & Sons, Ltd.     

高精度加速度计分辨率的动态估算方法

高精度定位定向系统和重力测量系统需要高分辨率的加速度计,传统测试方法难以确定高精度加速度计的分辨率。对此,提出了一种使用双轴转台动态估算加速度计分辨率的方法,即匀速旋转调制法。将加速度计安装在双轴转台台面上,待转台调平,台面绕倾斜轴转过一个小角度后锁死,回转轴以一定的角速度旋转调制以对重力加速度分量进行细分,将加速度计的输出采样后进行FFT低通滤波,通过加速度计峰值与谷值处输出变化最大值的分析可以确定加速度计的分辨率。最后,对某型加速度计分辨率进行了实验验证,测试结果表明,当倾斜角度为0.001°,旋转调制角速率为10(°)/s,采样率为32 Hz时,输入的加速度最大变化为9.36×10-8g,加速度计敏感到的加速度变化量为1.05×10-7g。     

On the evolution of rigid-body rotations

The perturbed rotational motion of a rigid body with a nearly Lagrangian mass distribution is studied. It is assumed that the angular velocity of the body is sufficiently high, its direction is close to the axis of dynamic symmetry of the body, and the perturbing moments are small in comparison with the gravity moment. A small parameter is introduced in a special manner and the acceleration method is used. Averaged systems of motion equations are obtained in first and second approximations. The evolution of the precession angle is determined in the second approximation. Odessa Academy of Cold, Ukraine. Translated from Priknadnaya Mekhanika, Vol. 35, No. 1, pp. 98–103, January, 1999.     

A modified incremental harmonic balance method for rotary periodic motions

The determination of periodic solutions is an essential step in the study of dynamic systems. If some of the generalized coordinates describing the configuration of a system are angular positions relative to certain reference axes, the associated periodic motions divide into two types: oscillatory and rotary periodic motions. For an oscillatory periodic motion, all the generalized coordinates are periodic in time. On the other hand, for a rotary periodic motion, some angular coordinates may have unbounded magnitude due to the persistent circulation about their pivots. In this case, although the behaviour of the system is periodic physically, those angular coordinates are not periodic in time. Although various effective methods have been developed for the determination of oscillatory periodic motion, the rotary periodic motion can only be determined by brute force integration. In this paper, the incremental harmonic balance (IHB) method is modified so that rotary periodic motions can be determined as well as oscillatory periodic motions in a unified formulation. This modified IHB method is applied to a practical device, a rotating disk equipped with a ball-type balancer, to show its effectiveness.     

近壁泊肃叶流中活性粒子迁移规律研究

研究活性粒子在剪切流中的迁移规律对实现颗粒分离和过程强化均具有重要意义.基于耗散粒子动力学理论,建立了描述微通道内近壁泊肃叶流中活性粒子迁移运动的数学模型,考察了活性粒子圆周运动角速度、手性诱导角速度、直行运动速度和转向扩散系数对大肠杆菌和常规活性粒子横向迁移速度和受迫转向频率的影响规律,并确定近壁剪切流中活性粒子横向迁移的形成机制.结果表明,近壁剪切流场中大肠杆菌的横向迁移速度随剪切速率增大先快速增加继而趋于稳定;大肠杆菌横向迁移速度随圆周运动角速度增大而减小,随手性诱导角速度、直行运动速度和转向扩散系数的增大而增大;大肠杆菌的受迫转向频率受圆周运动角速度、直行运动速度和转向扩散系数的影响小,而随手性诱导角速度的增大而加快;相比大肠杆菌,常规活性粒子横向迁移速度显著减小、受迫转向频率明显变慢,二者受直行运动速度和转向扩散系数的影响规律与大肠杆菌类似.直行运动是活性粒子形成横向迁移运动的前提,其他运动参数和结构参数均可一定程度促进或抑制活性粒子在近壁剪切流场中的横向迁移.     

Exploration of the rotational power consumption of a rigid flapping wing

The development of Micro Air Vehicles with flapping wings is inspired from the observation and study of natural flyers such as insects and birds. This article explores the rotational power consumption of a flapping wing using a mechanical flapper at Re ≃ 4,500. This mechanical flapper is simplified to a 2D translation and a rotation in a water tank. Moreover, the wing kinematics are reduced to a linear translation and a rotation for the purpose of our study. We introduce the notion of non-ideal flapper and associated non-ideal rotational power. Such non-ideal devices are defined as consuming power for adding and removing mechanical power to and from the flow, respectively. First, we use a traditional symmetrical wing kinematic which is a simplified kinematic inspired from natural flyers. The lift coefficient of this flapping is about C _L ≃ 1.5. This symmetrical wing kinematic is chosen as a reference. Further, wing kinematics with asymmetric rotations are then compared with this one. These new kinematics are built using a differential velocity defined according to the translational kinematics, a time lag and a distance, r _kp. The analogy of this distance is discussed as a key point to follow along the chord. First, the wing kinematics are varied keeping a similar shape for the profiles of the angular velocity. It is shown that when compared to the reference wing kinematic, a 10% reduction in the rotational power is obtained whilst the lift is reduced by 9%. Second, we release the limitation to a similar shape for the profiles of the angular velocity leading to a novel shape for the angular velocity profile named here as “double bump” profile. With these new wing kinematics, we show that a 60% reduction in the non-ideal rotational power can be achieved whilst the lift coefficient is only reduced by 1.7%. Such “double bump kinematics” could then be of interest to increase the endurance of Micro Air Vehicles.     

Evolution of the satellite fast rotation due to the gravitational torque in a dragging medium

We study the fast rotational motion of a dynamically nonsymmetric satellite about the center of mass under the action of the gravitational torque and the drag torque. Orbital motions with arbitrary eccentricity are assumed to be given. The drag torque is assumed to be a linear function of the angular velocity. The system obtained after the averaging over the Euler-Poinsot motion is studied. We discover the following phenomena: the modulus of the angular momentum and the kinetic energy decrease, and there exist quasistationary regimes of motion (along the polhodes). The orientation of the angular momentum vector in the orbital frame of reference is determined. The general case is studied numerically, and an analytic study is performed in a neighborhood of the axial rotation and in the case of small dissipation.     

Reconciling different formulations of viscous water waves and their mass conservation

The viscosity of water induces a vorticity near the free surface boundary. The resulting rotational component of the fluid velocity vector greatly complicates the water wave system. Several approaches to close this system have been proposed. Our analysis compares three common sets of model equations. The first set has a rotational kinematic boundary condition at the surface. In the second set, a gauge choice for the velocity vector is made that cancels the rotational contribution in the kinematic boundary condition, at the cost of rotational velocity in the bulk and a rotational pressure. The third set circumvents the problem by introducing two domains: the irrotational bulk and the vortical boundary layer. This comparison puts forward the link between rotational pressure on the surface and vorticity in the boundary layer, addresses the existence of nonlinear vorticity terms, and shows where approximations have been used in the models. Furthermore, we examine the conservation of mass for the three systems, and how this can be compared to the irrotational case.