半平面弹性体受梯形分布荷载作用下的沉陷计算

本文利用符拉芒（Ｆｌａｍａｎｔ）公式导出半平面弹性体在边界上受梯形分布荷载作用下的沉陷公式，同时，还给出了受任意分布荷载作用下的沉陷计算方法。与现行方法相比，提高了计算精度。     

竖直平面激波与水平热层作用后流场的理论计算方法研究

围绕竖直平面激波与固壁附近水平热层作用问题,提出了流动进入准自相似阶段后固壁附近流场参量的理论计算方法。与已有的Mirels方法相比,本文的方法在下列三个方面进行了改进:（1）舍弃“热层内激波速度与入射激波速度相等”的假定,分析了热层内激波的传播过程,并基于几何激波动力学理论计算热层内激波强度;（2）假定在与入射激波后流体而非入射激波阵面固连的坐标系中,波后流体在定常等熵波作用下,形成沿固壁运动的“活塞”,驱动其前方的热层气体运动;（3）“活塞”内流体与其毗邻的热层气体满足压力和速度连续,不再引入速度比例系数。利用改进后的方法,对于马赫数为2.00的竖直平面激波,在不同热层密度条件下进行计算。本文方法得到的热层内激波强度以及物质界面处的压力、速度和密度等参量,与数值模拟结果偏差均小于10%,优于Shreffler和Mirels计算方法。对于马赫数为1.36的竖直平面激波,当其传播速度小于热层内气体声速时,Shreffler和Mirels计算方法不再适用,而本文中提出的方法得到的计算结果与数值模拟结果和已有实验数据基本吻合,最大偏差约20%。上述结果表明,本文中提出的理论计算方法提高了现有方法的合理性,扩大了适用范围。     

一种全耦合多相流分析的并行计算方法

研究了孔隙介质中热、水和汽流全耦合分析的并行计算方法．模型中采用了考虑毛细压力关系的修正有效应力概念,并考虑了相变和潜热传递．基本变量为位移、毛细压力、汽压和温度．并行程序是在国家高性能计算中心（北京）的曙光１０００Ａ上借助ＰＶＭ（ＰａｒａｌｅｌＶｉｒｔｕａｌＭａｃｈｉｎｅ）软件系统实现的,考题显示出较高的并行加速比和效率     

变长度弹性伸缩腿双足机器人动力学与控制

研究了半被动双足机器人的平面稳定行走的控制问题．基于弹簧质点模型，采用拉格朗日方法分别得到双足机器人单支撑阶段与双支撑阶段的动力学方程，对机器人系统的动力学方程求得周期解．应用非线性系统状态反馈线性化理论，在双足机器人的单支撑阶段和双支撑阶段中，通过控制双足机器人的腿长度，实现稳定的周期行走．在理论分析的基础上，对控制算法进行了仿真与研究．结果表明：在周期行走过程中，文中采用的变长度控制算法可以使双足机器人克服外界的干扰，并具有较强的抗干扰性．     

侧向稀疏对PZT—95／5陶瓷冲击去极化影响的研究

采用平面冲击波加载，对样品在不同封装介绍（不同侧向稀疏程度的情况下）和几何尺寸条件下进行冲击去极化实验，结果表明侧向稀疏导致电荷释放以近乎线性关系减小；根据实验条件拟合出物理计算模型，利用流体弹塑性模型，采用有限元计算方法对样品中的冲击压力进行三维计算，计算结果能很好地解释实验现象。     

飞艇尾翼脉动压力特性实验研究

在中航气动院FL-9低速风洞中,进行了飞艇尾翼脉动压力特性实验研究。测量了尾翼的脉动压力,着重分析了各测量点的脉动压力系数、频谱和相关性系数等特性。结果表明:脉动压力系数由尾翼前缘向后缘逐渐增大。尾翼的中部和前缘脉动压力系数随迎角无明显变化,在迎角超过8°以后,尾翼后缘的脉动压力系数随迎角增大而急剧增加。连续变迎角测量结果与固定迎角测量结果相比,脉动压力系数产生了明显的迟滞特性。尾翼上表面脉动压力的自相关系数和互相关系数从前缘到后缘逐渐降低,且前缘表现出显著自相关性,下翼面脉动压力基本互不相关。     

基于压力传感器辅助的行人室内定位零速修正方法

针对现有行人室内定位导航系统定位精度差的问题,设计了一种压力传感器辅助微惯性测量单元的多条件约束零速修正方法。将微惯性测量单元和压力传感器固连在鞋上,用来测量人体脚部运动信息。在经典捷联解算基础上通过对行走时微惯性测量单元和压力传感器的统计特性进行分析,对加速度模值、滑动方差、角速度模值、足底压力设定阈值,用以检测行走过程中的零速区间,通过基于零速修正的卡尔曼滤波估计姿态误差、速度误差和位置误差,反馈校正后对微惯性测量单元的累积误差进行修正。最后通过对比试验证明了压力传感器辅助下的零速修正方法提高了系统导航定位精度,步行和跑动时的水平定位精度优于1%D。     

Fuzzy-PID设计及控制性能分析

分析了PID、Fuzzy-PID和FLC（Fuzzy Logic Controller）的相关性和内在联系，介绍了一种由PID参数间接推导出Fuzzy-PID参数的方法。以典型二阶线性系统为例进行了仿真研究，同时利用遗传算法优化控制器参数，并对比分析了Fuzzy-PID和PID、FLC这三种控制器的控制性能，验证了方法的有效性和实用性。     

平面问题转轴公式适用性的讨论

平面应力（应变）转轴公式是材料力学应力（应变）分析部分的主要教学内容,尽管转轴公式基于特定的应力（应变）状态导出,但在后续的应用,包括例题与习题中的引用并没有限定于平面应力（应变）状态。为了澄清学生常见疑惑,本文使用简单的方式对该问题进行说明,供教师教学时参考。     

用均匀化理论分析蜂窝结构的等效弹性参数

在线弹性范围内,根据均匀化理论,并结合有限元方法推导出适用于二维周期性结构的均匀化的有限元格式（Homo FEM）,计算出不同相对密度下的规则蜂窝结构的等效弹性模量Ee和泊松比νe.同时,利用蜂窝结构的代表胞元模型,用常规的有限元方法（FEM）模拟计算出相应的等效弹性参数.最后将两种数值计算结果与己有的理论公式进行了比较和分析讨论.结果表明:在考察的相对密度全场范围内（0～0.4）,HOmO FEM得到的蜂窝结构的 Ee和νe 与 FEM使用平面实体单元模拟计算得到的结果一致吻合,反映出 Homo FEM数值方法的客观准确性和可行性.而 Gibson公式和 W-K得到的等效弹性模量值 Ee只是在较小相对密度的情况下（小于0.15）与数值计算结果吻合.当结构的相对密度较大时,必须考虑胞棱附近区域由应力集中导致的复杂的应力和应变分布的影响.     

Impactless biped walking on a slope

Walking without impacts has been considered in dynamics as a motion/force control problem. In order to avoid impacts, an approach for both the specified motion of the biped and its ground reaction forces was presented yielding a combined motion and force control problem. As an application, a walker on a horizontal plane has been considered. In this paper, it is shown how the control of the ground reaction forces and the energy consumption depend on the gradient of a slope. The biped dynamics and the constraints within the biped system and on the ground are discussed. A motion control synthesis is developed using the inverse dynamics principle proven to be most efficient for human walking research, too. The impactless walking with controlled legs is illustrated by a seven-link biped. The “flying” biped has nine degrees of freedom, with six control inputs. During locomotion, the standing leg has three scleronomic constraints, and the trunk has three rheonomic constraints. However, there are three rheonomic constraints for the prescribed leg motion or three scleronomic constraints for reaction forces of the trailing leg, respectively. The nominal control action for impactless walking can be precomputed and stored. The model proposed allows the investigation of several problems: uphill and downhill walking, optimization of step length, stiction of the feet on the slope and many more. All these findings are also of interest in biomechanics.     

Experimental investigation on tip vortices and aerodynamics

The tip vortices and aerodynamics of a NACA0012 wing in the vicinity of the ground were studied in a wind tunnel. The wing tip vortex structures and lift/drag forces were measured by a seven-hole probe and a force balance, respectively. The evolution of the flow structures and aerodynamics with a ground height were analyzed. The vorticity of tip vortices was found to reduce with the decreasing of the ground height, and the position of vortex-core moved gradually to the outboard of the wing tip. Therefore, the down-wash flow induced by the tip vortices was weakened. However, vortex breakdown occurred as the wing lowered to the ground. From the experimental results of aerodynamics, the maximum lift-to-drag ratio was observed when the angle of attack was 2.5° and the ground clearance was 0.2.     

Numerical modeling of the impact pressure in a compressible liquid medium: application to the slap phase of the locomotion of a basilisk lizard

The forces acting on a solid body just at the time of impact on the surface of a medium with very low compressibility, such as water, can be quantified at acoustic time scales. This is necessary in wide range of applications varying from large-scale ship designs to the walking or running mechanisms of small creatures such as the basilisk lizard. In order to characterize such forces, a numerical model is developed in this study and is validated using analytical expressions of pressure as a function of the speed of sound-wave propagation in water. The computational results not only accurately match the analytical values but are also able to effectively capture the propagation of acoustic waves in water. The model is further applied to a case study wherein the impact impulse required by the basilisk lizard to assist in its walking on the water surface is evaluated. The numerical results are found to be in agreement with the closest available experimental data. The model and approach are thus proposed to evaluate impact forces for wide range of applications.     

用于截瘫FES行走的三维上肢力动态测量系统

功能性电刺激(FES)技术已被广泛用于截瘫病人行走能力的恢复,但作为评估截瘫FES行走效率的重要指标,三维上肢力状况的研究至今仍十分有限,亟待深入开展。本文研制出了一套可用于截瘫FES行走的三维上肢力动态测量系统,该系统在一个标准步行器框架上装备有 12个应力应变片电桥,通过专用的隔离放大及A/D转换装置与计算机相连,经过标定后,截瘫FES行走时的上肢支撑力数据就可以被系统实时获得并显示。测力系统在应变片位置的确定以及“冗余-优化”方法的采用等多个方面保证了测量的可靠性和准确性,后续的校准实验显示系统的非线性、交互干扰和力学精度误差分别小于 2. 901%, 3. 188%和 1. 01%。研究中,一例截瘫患者作为志愿者按照正常的FES行走训练程序进行了相关测试,以验证新系统在行走能力评估方面的临床前景,结果表明其可用于: 1)截瘫FES行走效率的评估; 2)病人自我训练的控制指导; 3)作为反馈信号选择一种有效的FES模式和阵列。     

双圆柱气囊缓冲性能分析

基于有限元法和控制体积法,建立了双圆柱气囊缓冲系统的有限元模型。以着陆速度为6.7m/s,高为2m,直径为1m的圆柱形气囊为例,利用LS-DYNA软件计算气囊缓冲过程中空投设备的速度和加速度,并对影响气囊缓冲性能的织物弹性模量、排气孔开口面积以及气囊初始内压进行了分析。结果表明:(1)当气囊织物的弹性模量E≤0.5GPa时,增大弹性模量可以显著提高气囊的缓冲性能;当气囊织物的弹性模量E0.5GPa时,增大弹性模量对气囊缓冲性能的影响很小。(2)在不超过排气阀门值的范围内,增大气囊的初始内压可以有效地提高气囊的缓冲性能。     

局部与整体水压法在水下饱和边坡稳定分析中的应用

针对以考虑土条侧向条间力来提高瑞典条分法的计算精度方法, 作者基于物理学思想, 提出了局部与整体水压法以进行水下饱和边坡稳定分析, 并采用该法对瑞典条分法中一对相互矛盾的"真假李逵" 式进行了辨析. 指出李鬼式精度低的原因在于直接提取土条顶面和底面水压力沿着竖向的分量来建立平衡, 而忽略了其沿着水平方向分力的影响, 并证明了局部与整体水压法在提高有水边坡计算精度和便捷度时具有的普适性.     

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.     

福州轨道交通建设中的岩土工程问题

由于福州盆地工程地质条件的复杂性以及隧道工程的特殊性,在福州轨道交通建设过程中将遇到大量环境岩土工程问题。主要的环境岩土工程问题有:(1)隧道掘进范围内的承压含水层。承压含水层富水性、透水性强,由于开挖深度大,必须考虑下部承压水的影响,避免产生基坑突涌问题。砂砾卵石层直接覆盖于基岩裂隙热水上,受热水构造带高温热水的直接补给以及热传导,地下轨道交通建设对地热场是否存在影响以及地热对轨道交通的影响需要深入研究。(2)软土的大变形与低强度。导致地基失稳与土体结构强度破坏。(3)深大基坑开挖施工引发的可能灾变。基坑开挖易产生滑塌、流泥、突水(涌)、地表沉陷等问题,必须采取有效的支护措施,避免基坑失稳而影响工程安全及周边环境。对这些环境岩土工程问题,应加强勘察新技术的应用,查明建设场地岩土工程地质条件; 采用人工地层冻结法、桩基托换技术进行施工; 开发和利用适合本地区岩土条件的新技术、新工艺,如新型桩、新的止水、降水措施等基坑支护新技术,以及采用信息化施工新技术。     

Toward more rational criteria for determination of design earthquake forces

The preliminary design of most buildings is based on equivalent static forces specified by the governing building code. The height wise distribution of these static forces seems to be based implicitly on the elastic vibration modes. Therefore, the employment of such a load pattern in seismic design of normal structures does not guarantee the optimum use of materials. This paper presents a new method for optimization of dynamic response of structures subjected to seismic excitation. This method is based on the concept of uniform distribution of deformation. In order to obtain the optimum distribution of structural properties, an iterative optimization procedure has been adopted. In this approach, the structural properties are modified so that inefficient material is gradually shifted from strong to weak areas of a structure. This process is continued until a state of uniform deformation is achieved. It is shown that the seismic performance of such a structure is optimal, and behaves generally better than those designed by conventional methods. By conducting this algorithm on shear-building models with various dynamic characteristics subjected to 20 earthquake ground motions, more adequate load patterns are introduced with respect to the period of the structure and the target ductility demand.     

基于P-M谱的波浪荷载数值模拟及其对跨海斜拉桥的冲击响应规律研究

针对深水桥梁在海洋中面对波浪的冲击问题,以某跨海斜拉桥为例,设定P-M谱为目标谱,依据Welch算法对海浪功率谱进行验证,基于以上理论采用fluent软件建立数值波浪水槽,根据重现期为10年、50年和100年分别计算对应的波高为6.4 m,7.2 m和9.6 m的波浪力,并将波浪力导入斜拉桥进行动力响应计算。综合分析大桥的动力响应, 结果表明,(1) 纵桥向波浪力是由横桥向波浪冲击桥墩出现绕射效应而产生,所以斜拉桥所受横桥向波浪力远大于纵桥向波浪力;(2) 随着波高的增大,斜拉桥的动力响应峰值逐渐增大,主跨跨中和塔顶动力响应峰值随波高的增长率最快,次边跨跨中动力响应峰值随波高的增长率次之,边跨跨中动力响应峰值随波高的增长率最慢;(3) 随着波浪荷载的增大,塔顶横向位移响应增幅显著,塔顶位移响应峰值最大达到0.0598 m。相关研究对大跨度深水桥梁的设计和动力分析有一定的参考意义。