Recursive dynamics simulator (ReDySim): A multibody dynamics solver

Recursive formulations have significantly helped in achieving real-time computations and model-based control laws. The recursive dynamics simulator (ReDySim) is a MATLAB-based recursive solver for dynamic analysis of multibody systems. ReDySim delves upon the decoupled natural orthogonal complement approach originally developed for serial-chain manipulators. In comparison to the commercially available software, dynamic analyses in ReDySim can be performed without creating solid model. The input parameters are specified in MATLAB environment. ReDySim has the capability to incorporate any control algorithm with utmost ease. In this work, the capabilities of ReDySim for solving open-loop and closed-loop systems are shown by examples of robotic gripper, KUKA KR5 industrial manipulator and four-bar mechanism. ReDySim can be downloaded for free from http://www.redysim.co.nr and can be used almost instantly.     

A simplified adaptive Cartesian grid system for solving the 2D shallow water equations

This paper presents a new simplified grid system that provides local refinement and dynamic adaptation for solving the 2D shallow water equations (SWEs). Local refinement is realized by simply specifying different subdivision levels to the cells on a background uniform coarse grid that covers the computational domain. On such a non‐uniform grid, the structured property of a regular Cartesian mesh is maintained and neighbor information is determined by simple algebraic relationships, i.e. data structure becomes unnecessary. Dynamic grid adaptation is achieved by changing the subdivision level of a background cell. Therefore, grid generation and adaptation is greatly simplified and straightforward to implement. The new adaptive grid‐based SWE solver is tested by applying it to simulate three idealized test cases and promising results are obtained. The new grid system offers a simplified alternative to the existing approaches for providing adaptive mesh refinement in computational fluid dynamics. Copyright © 2011 John Wiley & Sons, Ltd.     

Dislocation-density-based constitutive modelling of tensile flow and work-hardening behaviour of P92 steel

The flow and work-hardening behaviour of tempered martensitic P92 steel have been investigated using phenomenological constitutive model in the temperature range 300–873 K for the strain rates ranging from 3.16 × 10^?5 to 1.26 × 10^?3 s^?1. The analysis indicated that the hybrid model reduced to Estrin–Mecking (E–M) one-internal-variable model at intermediate and high temperatures. Further, the analysis also indicated that dislocation dense martensite lath/cell boundaries and precipitates together act as effective barriers to dislocation glide in P92 steel. The flow behaviour of the steel was adequately described by the E–M approach for the range of temperatures and strain rates examined. Three distinct temperature regimes have been obtained for the variations in work-hardening parameters with respect to temperature and strain rate. Signatures of dynamic strain ageing in terms of the anomalous variations in work-hardening parameters at intermediate temperatures and the dominance of dynamic recovery at high temperatures have been observed. The evaluation of activation energy suggested that deformation is controlled by the dominance of cross-slip of dislocations at room and intermediate temperatures, and climb of dislocations at high temperatures.     

一种自适应人工蜂群算法求解U型顺序相依拆卸线平衡问题

产品拆卸过程中零部件之间会相互干扰影响任务作业时间,基于该情形构建了多目标U型SDDLBP优化模型,并提出一种自适应ABC算法。所提算法设计了自适应动态邻域搜索方法,以提高局部开发能力;采用了轮盘赌与锦标赛法结合的分段选择法,以有效评价并选择蜜源进行深度开发;建立了基于当前最优解的变异操作,以提高全局探索能力快速跳出局部最优。最后,通过算例测试和实例分析验证算法的高效性。     

具有学习和退化效应的单机干扰管理问题

针对工件同时具有学习和退化效应、机器具有可用性限制这一问题,建立可预见性单机干扰管理模型。在这一模型中,工件的加工时间是既与工件所排的加工位置又与工件开始加工的时间有关的函数。同时,在生产过程中由于机器发生故障或定期维修等扰动事件导致机器在某段时间内不能加工工件。目标是在同时考虑原目标函数和由扰动造成的偏离函数的情况下,构建一个新的最优时间表序列。根据干扰度量函数的不同研究了两个问题,第一个问题的目标函数是极小化总完工时间与总误工时间的加权和;第二个问题的目标函数是极小化总完工时间与总提前时间的加权和。对于所研究的问题,首先证明了最优排序具有的性质,然后建立了相应的拟多项式时间动态规划算法。     

Stable blow-up dynamics in the -critical and -supercritical generalized Hartree equation

We study stable blow-up dynamics in the generalized Hartree equation with radial symmetry, which is a Schrödinger-type equation with a nonlocal, convolution-type nonlinearity: First, we consider the -critical case in dimensions and obtain that a generic blow-up has a self-similar structure and exhibits not only the square root blowup rate , but also the log-log correction (via asymptotic analysis and functional fitting), thus, behaving similarly to the stable blow-up regime in the -critical nonlinear Schrödinger equation. In this setting, we also study blow-up profiles and show that generic blow-up solutions converge to the rescaled , a ground state solution of the elliptic equation . We also consider the -supercritical case in dimensions . We derive the profile equation for the self-similar blow-up and establish the existence and local uniqueness of its solutions. As in the NLS -supercritical regime, the profile equation exhibits branches of nonoscillating, polynomially decaying (multi-bump) solutions. A numerical scheme of putting constraints into solving the corresponding ordinary differential equation is applied during the process of finding the multi-bump solutions. Direct numerical simulation of solutions to the generalized Hartree equation by the dynamic rescaling method indicates that the is the profile for the stable blow-up. In this supercritical case, we obtain the blow-up rate without any correction. This blow-up happens at the focusing level , and thus, numerically observable (unlike the -critical case). In summary, we find that the results are similar to the behavior of stable self-similar blowup solutions in the corresponding settings for the nonlinear Schrödinger equation. Consequently, one may expect that the form of the nonlinearity in the Schrödinger-type equations is not essential in the stable formation of singularities.     

平板折叠桌的设计模型

根据折叠桌的运动特征,选取折叠桌的四分之一为研究对象,建立任意角度下桌脚点的运动变化模型。考虑到产品稳固性、加工便利性和节约用材三方面对加工参数的影响,对折叠桌进行受力分析,得到多目标组合优化模型,用以确定出折叠桌的最优设计参数。针对用户提出的桌面形状要求,建立桌脚曲线的参数方程。作为模型推广,以椭圆状折叠桌为例,运用Matlab画出了桌脚边缘线在折叠过程中的动态变化示意图。同时,又深入研究Robert van Embricqs的滑动折叠桌,建立了新的桌脚曲线参数方程。最后,运用Matlab对多种形状折叠桌进行仿真,编写多目标优化算法,得出了最优加工参数,并进行了算法描述。     

Stress–Strain Dependence of Segmented Polyurethanes and Polyurethane Ureas

The stress–strain dependences of segmented elastomers based on polyetherurethanes, polyesterurethane ureas, and polybutadieneurethane ureas were investigated. These dependences were adequately described using the generalized approach proposed earlier by the authors for amorphous elastomers. The experimental data obtained for four series of samples with chemical cross-linking confirmed an applicability of this approach for segmented elastomers. Unlike amorphous elastomers, the effective network density value was affected not only by the density of the chemical network, but the contribution of the network formed by the hard domains also needs be taken into account.