A free gait algorithm for quadrupedal walking machines

A free gait is a computer generated, rule-based gait for a walking machine to walk on rough terrain. Based on a given terrain map, the gait algorithm selects footholds for leg placements and determines the movements of legs and body. In the past, a few free gaits for hexapods have been developed. For quadrupeds, the only report on free gait was briefly mentioned in a paper by Hirose [Int. J. Robotics Res., 3(2) (1984)]. In this paper, a free gait algorithm for a quadrupedal walking chair is developed. For quadrupeds, the stability margin is small due to a small number of legs and the choices of a leg to be lifted are limited. Hence, deadlock situations may occur quite often. Many special techniques are incorporated into the algorithm in order to reduce deadlocks. This free gait algorithm adopts the wave-crab gaits as the primary gait because they are periodic and can provide good stability. The algorithm also adopts a non-periodic free gait to handle terrain with higher concentration of forbidden areas. This algorithm is evaluated under different terrain conditions using computer simulations. The results show that the performance is satisfactory on randomly generated rough terrain and needs improvement on manually generated rough terrain.     

结构动力响应的时间有限元全域算法

利用状态方程将二阶结构动力学方程组变成一阶线性微分方程组,并采用加权残值伽辽金法将一阶线性微分方程组离散成线性方程组.该方法是一种全域算法,是真正意义上的时间有限元算法.数值算例表明:该方法有很好的计算精度,与解析解吻合较好.     

一种基于遗传算法的时域内稳态动载荷识别方法

为避免传统载荷识别过程中产生的矩阵求逆病态和对初值敏感及累计误差等问题,将遗传算法应用到载荷识别过程中,将此动力学的反问题转化为结构动力学正计算,并且利用遗传算法进行寻优得到最优参数,从而得到待识别载荷时间历程的估计。通过仿真计算,所识别载荷计算振动响应与测量响应的误差为7%,结果表明本文提出的识别方法是有效的。     

A contact searching algorithm for contact-impact problems

A new contact searching algorithm for contact-impact systems is proposed in this paper. In terms of the cell structure and the linked-list, this algorithm solves the problem of sorting and searching contacts in three dimensions by transforming it to a retrieving process from two one-dimensional arrays, and binary searching is no longer required. Using this algorithm, the cost of contact searching is reduced to the order ofO(N) instead ofO(Nlog₂ N) for traditional ones, whereN is the node number in the system. Moreover, this algorithm can handle contact systems with arbitrary mesh layouts. Due to the simplicity of this algorithm it can be easily implemented in a dynamic explicit finite element program. Our numerical experimental result shows that this algorithm is reliable and efficient for contact searching of three dimensional systems. The project supported by the National Natural Science Foundation of China (59875045), and the State Key Laboratory of Automobile Safety and Energy Saving (K9705)     

Modified dynamic minimization algorithm for parameter estimation of chaotic system from a time series

This paper proposes a modified dynamic minimization algorithm for parameter estimation of chaotic systems, based on a scalar time series. Comparing with the previous design proposed by Maybhate and Amritkar (Phys. Rev. E 59:284?C293, 1999), two important new design concepts related to the feedback control and the auxiliary functions for parametric updating laws are introduced. Two different types of estimates can then be derived, and numerical simulations confirm their superior performances to the designs based on the original dynamic minimization algorithm or other existing approaches. Furthermore, a circuit experiment is carried out to demonstrate the robustness and practicability of the proposed design.     

气体钻井中接触非线性问题的数值算法研究

根据动量守恒和钻柱力学的基本理论,建立了气体钻井三维弯曲井眼钻柱动力学模型和钻柱与井壁接触碰撞模型;提出了一种求解钻柱与井壁接触非线性有限元方程的元胞自动机算法。该方法具有编程简单、收敛速度快等优点,以实际工况为例进行仿真模拟,选取有代表性节点的仿真计算结果并加以分析。仿真结果表明:该方法较好地解决了三维弯曲井眼中钻柱与井壁接触碰撞的复杂边界条件问题,在解决气体钻井钻柱与井壁接触非线性问题的研究中具有良好的应用前景。     

A three-parameter single-step time integration method for structural dynamic analysis

The existing three-parameter single-step time integration methods, such as the Generalized-a method, improve numerical dissipation by modifying equilibrium equation at time points, which cause them to lose accuracy due to the interpolation of load vectors. Moreover, these three-parameter methods do not present an available formulation applied to a general secondorder non linear differential equatio n. To solve these problems, this paper proposes an innovative three-parameter single-step method by introducing an additional variable into update equations. Although the present method is spectrally identical to the Generalized-cx method for undamped systems, it possesses higher accuracy since it strictly satisfies the equilibrium equation at time points, and can be readily used to solve nonlinear equations. By the analysis of accuracy, stability, numerical dissipation and dispersion, the optimal second-order implicit and explicit schemes are generated, which can maximize low-frequency accuracy when high-frequency dissipation is specified. To check the performance of the proposed method, several numerical experiments are conducted and the proposed method is compared with a few up-to-date methods.     

高动态载体高精度捷联惯导算法

捷联惯导系统的精度是导航的关键.传统的捷联惯导算法受惯性传感器更新速率限制,其精度和实时性在高动态下受到极大影响.在研究传统捷联惯导算法的基础上,建立了统一的捷联惯导微分方程,并提出了基于一次采样的四阶龙格库塔捷联算法,降低了惯性器件采样频率对捷联解算周期的限制.利用设计的基于DSP的半物理仿真系统验证表明,该算法能有效满足高动态下捷联惯导算法的实时性要求,定位精度提高约1倍,具有重要的工程应用价值.     

An experimental method for determining the dynamic contact law

An experimental method is investigated whereby the strain response from an impacted beam is sufficient to determine the contacting force. Once the force is known, it is shown how the contact law can be determined. Experimental results for an impacted aluminum beam are demonstrated.     

A combined programming and iteration algorithm for finite element analysis of three-dimensional contact problems

Comparing with two-dimensional contact problems, three-dimensional frictional contact problems are more difficult to deal with, because of the unknown slip direction of the tangential force and enormous computing time. In order to overcome these difficulties, a combined PQP (Parametric Quadratic Programming) and iteration method is derived in this paper. The iteration algorithm, which alleviates the difficulty of unknown slip direction, is used along with the PQP method to cut down computing costs. Numerical example is given to demonstrate the validity of the present algorithm. The project supported by the Machinary and Electronics Ministry of China     

A time integral formulation and algorithm for structural dynamics with nonlinear stiffness

A newly-developed numerical algorithm, which is called the new Generalized-α (G-α) method, is presented for solving structural dynamics problems with nonlinear stiffness. The traditional G-α method has undesired overshoot properties as for a class of α-method. In the present work, seven independent parameters are introduced into the single-step three-stage algorithmic formulations and the nonlinear internal force at every time interval is approximated by means of the generalized trapezoidal rule, and then the algorithm is implemented based on the finite difference theory. An analysis on the stability, accuracy, energy and overshoot properties of the proposed scheme is performed in the nonlinear regime. The values or the ranges of values of the seven independent parameters are determined in the analysis process. The computational results obtained by the new algorithm show that the displacement accuracy is of order two, and the acceleration can also be improved to a second order accuracy by a suitable choice of parameters. Obviously, the present algorithm is zero-stable, and the energy conservation or energy decay can be realized in the high-frequency range, which can be regarded as stable in an energy sense. The algorithmic overshoot can be completely avoided by using the new algorithm without any constraints with respect to the damping force and initial conditions.The English text was polished by Keren Wang.     

A contact force model in the dynamic analysis of contactable cracks

In this paper a finite element method in the time domain is proposed to analyze the dynamic response of contactable cracks. By this method, the contact normal stress caused by impact or contact of the crack faces can be directly obtained and then the motion of the model containing the contactable cracks can be calculated, and the processes of contact, slip and separation of the crack faces can also be correctly determined and simulated. The method proposed can be used to study the scattering problems of an elastic wave caused by the crack and the dynamic extension problems of the crack arising from impact or cyclic loading. Numerical examples indicate that the method is efficient and accurate enough. It is also shown that the effect of dynamic contact of crack faces on the motion of itself and the area near the crack is significant by comparing the results with the contact considered and neglected.     

一种改进的高动态捷联惯导解算算法

针对高动态环境下较大的不可交换误差难以精确补偿的问题,提出了一种改进的等效旋转矢量三子样多回路迭代姿态解算算法.首先分析了高动态环境给捷联惯导系统带来的影响,阐述了捷联解算的基本过程;然后对比分析了几种主要的姿态解算算法,针对一般算法难以较好地补偿不可交换误差问题,在旋转矢量多子样二次迭代优化算法的基础上,从提高解算精度和减小计算复杂度两方面进行考虑,研究了一种改进的等效旋转矢量三子样多回路迭代算法;最后,对改进的算法的性能进行了深入的分析.实验结果表明,在低动态条件下改进的算法和毕卡四元数法姿态解算精度相当,在高动态条件下其精度较毕卡四元数提高约3个数量级.     

Modified smoothed particle hydrodynamics approach for modelling dynamic contact angle hysteresis

Dynamic wetting plays an important role in the physics of multiphase flow, and has a significant influence on many industrial and geotechnical applications. In this work, a modified smoothed particle hydrodynamics (SPH) model is employed to simulate surface tension, contact angle and dynamic wetting effects at meso-scale. The wetting and dewetting phenomena are simulated in a capillary tube, where the liquid particles are raised or withdrawn by a shifting substrate. The SPH model is modified by introducing a newly developed viscous force formulation at the liquid-solid interface to reproduce the rate-dependent behaviour of the moving contact line. Dynamic contact angle simulations with the interfacial viscous force are conducted to verify the effectiveness and accuracy of this new formulation. In addition, the influence of interfacial viscous forces with different magnitude on the contact angle dynamics is examined by empirical power-law correlations;the derived constants suggest that the dynamic contact angle changes monotonically with the interfacial viscous force. The simulation results are consistent with experimental observations and theoretical predictions, implying that the interfacial viscous force can be associated with the slip length of flow and the microscopic surface roughness. This work demonstrates that the modified SPH model can successfully account for the rate-dependent effects of a moving contact line, and can be used for realistic multiphase flow simulations under dynamic conditions.     

A new simple method of implicit time integration for dynamic problems of engineering structures

This paper presents a new simple method of implicit time integration with two control parameters for solving initial-value problems of dynamics such that its accuracy is at least of order two along with the conditional and unconditional stability regions of the parameters. When the control parameters in the method are optimally taken in their regions, the accuracy may be improved to reach of order three. It is found that the new scheme can achieve lower numerical amplitude dissipation and period dispersion than some of the existing methods, e.g. the Newmark method and Zhai’s approach, when the same time step size is used. The region of time step dependent on the parameters in the new scheme is explicitly obtained. Finally, some examples of dynamic problems are given to show the accuracy and efficiency of the proposed scheme applied in dynamic systems. The project supported by the National Key Basic Research and Development Foundation of the Ministry of Science and Technology of China (G2000048702, 2003CB716707), the National Science Fund for Distinguished Young Scholars (10025208), the National Natural Science Foundation of China (Key Program) (10532040), the Research Fund for Oversea Chinese (10228028). The English text was polished by Keren Wang.     

A new computational algorithm for contact friction modeling of large plastic deformation in powder compaction processes

In this paper, the large deformation frictional contact of powder forming process is modeled based on a new computational algorithm by imposing the contact constraints and modifying the contact properties of frictional slip. A simple and efficient numerical algorithm is presented for imposing the contact constraints and frictional contact properties based on the node-to-surface contact technique to simulate the large deformation contact problem in the compaction process of powder. The Coulomb friction law is used to simulate the friction between the rigid punch and the workpiece by the use of penalty approach. A double-surface cap plasticity model is employed together with the nonlinear contact friction algorithm within the framework of large FE deformation in order to predict the non-uniform relative density distribution during large deformation of powder die-pressing. Finally, the numerical schemes are examined for accuracy and efficiency in modeling of a set of powder components.     

针对高动态载体应用的高精度捷联惯导姿态算法优化方法

提高高动态条件下捷联惯导姿态算法的解算精度和解算实时性是提高高精度捷联惯导系统实用性能的重要基础。特别是针对高超飞行器等高速高动态载体的高精度实时导航需求,需要采用较高的惯性器件采样率,以提高高动态条件下的姿态解算精度。由于传统捷联指北姿态算法中器件采样率的增加会导致算法运算量的大幅增加,影响算法的实时性。基于此,提出了基于捷联算法优化编排原理的双速姿态解算方法和工程实现编排方法。该方法在增加惯性器件采样率的同时并不会显著增加计算量,能有效满足高速高动态载体的实时性导航解算需求。仿真试验结果表明,在高动态仿真条件下,双速优化姿态编排算法与传统指北算法相比,更能有效满足高动态下捷联惯导算法的实时性和高精度解算要求。