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.     

A nonlocal beam model for out-of-plane static analysis of circular nanobeams

In this paper, out-of-plane static behavior of circular nanobeams with point loads is investigated. Inclusion of small length scales such as lattice spacing between atoms, surface properties, grain size etc. are considered in the analysis by employing Eringen’s nonlocal elasticity theory in the formulations. The nonlocal equations are arranged in cylindrical coordinates and applied to the beam theory. The effect of shear deformation is considered. The governing differential equations are solved exactly by using the initial value method. The displacements, rotation angle about the normal and tangential axes and the force resultants are established and the analytical expressions are presented. The predicted trends of the size effect at the nano scale agree with those given in the experiments. The results can be used for designing nanoelectromechanical systems (NEMS) where the curved nanobeams are used as a basic component.     

Why a mosquito leg possesses superior load-bearing capacity on water: Experimentals

Mosquitoes possess the striking ability to walk on water because each of their legs has a huge water supporting force(WSF) that is 23 times their body weight.Aiming at a full understanding of the origins of this extremely large force,in this study,we concentrate on two aspects of it:the intrinsic properties of the leg surface and the active control of the initial stepping angle of the whole leg.Using a measurement system that we developed ourselves,the WSFs for the original leg samples are compared with those whose surface wax and microstructures have been removed and with those of a different stiffness.The results show that leg f exibility plays a dominant role over surface wax and microstructures on the leg surface in creating the supporting force.Moreover,we discuss the dependence relationship between the maximum WSF and the initial stepping angle,which indicates that the mosquito can regulate this angle to increase or decrease the WSF during landing or takeoff.These finding are helpful for uncovering the locomotion mechanism of aquatic insects and for providing inspiration for the design of microfluids miniature boats,biomimetic robots,and microsensors.     

基于动量原理的大坡度沥青路面动水压力计算及影响因素分析Calculation and influence factors analysis for hydrodynamic pressure of asphalt pavement with large slope based on momentum theorem

在多雨地区长大纵坡沥青路面是雨天事故多发区域。应用动量定理,建立了沥青路面动水压力的力学计算模型,并系统分析了车辆荷载、行车速度和道路纵坡对动水压力的影响。结果表明,当水膜厚度＜3 mm时,动水压力随车速及车辆荷载的增大而增大,上坡时,动水压力随着纵坡坡度的增大而增大,下坡时,动水压力随着纵坡坡度的增大而减小。当水膜厚度＞3 mm时,动水压力随车速、车辆荷载增大而增大,上坡时,动水压力随着纵坡坡度的增大而增大,下坡时,动水压力随着纵坡坡度的增大呈先缓慢增加然后又缓慢减小的变化趋势;无论是上坡还是下坡,动水压力都随着车轮半径的增大而增大。本研究成果为多雨地区长大纵坡沥青路面重载交通高速行车易发生交通事故提供了理论分析依据。     

基于光谱分析与角度斜率指数的植被含水量研究

植被含水量是植被生长状态的重要指示因子,是农业、生态和水文等研究中的重要参数,其诊断对于监测自然植被群落的干旱状况、预报森林火灾等都具有重要意义。通过对植被光谱反射率与植被含水量的相关性分析,发现植被波谱不同波段的光谱反射率与植被含水量的相关性差异很大,其中可见光红光波段(620～700 nm)、近红外波段(800～1 350, 1 600～1 950, 2 200～2 400 nm)的光谱反射率与植被含水量具有较好的相关性,选取了660,850,1 630和2 200 nm的光谱反射率作为RED,NIR,SWIR1和SWIR2的波段值来建立角度斜率指数;分析了植被含水量与角度斜率指数的关系,将角度斜率指数(SANI,SASI,ANIR)作为反演植被含水量的参量,建立植被含水量与角度斜率指数之间线性回归模型。通过对近红外角度指数ANIR改进,提出了近红外角度归一化指数NANI(near infrared angle normalized index)与近红外角度斜率指数NASI(near infrared angle slope index),建立植被含水量与NANI和NASI之间线性回归模型,结果显示：NANI与Palacios-Orueta等提出的角度斜率指数(SANI,SASI,ANIR)相比有一定的优势,模型可决系数R2从原最高0.791提高到0.853,RMSE也从原最小0.047降低到0.039。确定了NANI为反演植被含水量的最佳角度斜率指数,并建立了植被含水量反演模型。该研究主要创新点：在前人研究成果基础上,通过对原角度斜率指数的改进,提出了NANI和NASI角度斜率指数,使其在植被含水量反演上具有更高的精度。     

岩质边坡稳定性及预应力锚固分析现状

本文首先对目前常用的各类边坡稳定性分析方法的主要特点进行了评述,包括定性方法类的历史分析法、工程地质类比法、图解法、专家系统法,定量分析方法类的确定性模型法,如极限平衡法,应力应变分析法;非确定性模型法,如可靠性分析法、灰色系统理论法及模糊综合评判法等;及两类方法结合而成的随机有限元法。其次,对预应力锚固边坡的设计及稳定性分析作了阐述。     

Research on the Longitudinal Section of River Restoration Using Probabilistic Theory

Since the 1960s, many rivers have been destroyed as a consequence of the process of rapid urbanization. As accurate figures are important to repair rivers, there have been many research reports on methods to obtain the exact river slope and elevation. Until now, many research efforts have analyzed the river using measured river topographic factors, but when the flow velocity changes rapidly, such as during a flood, surveying is not easy; and due to cost, frequent measurements are difficult. Previous research has focused on the cross section of the river, so the information on the river longitudinal profile is insufficient. In this research, using informational entropy theory, equations are presented that can calculate the average river slope, river slope, and river longitudinal elevation for a river basin in real time. The applicability was analyzed through a comparison with the measured data of river characteristic factors obtained from the river plan. The parameters were calculated using informational entropy theory and nonlinear regression analysis using actual data, and then the longitudinal elevation entropy equation for each river and the average river slope were calculated. As a result of analyzing the applicability of the equations presented in this study by R² and Root Mean Square Error, all R² values were over 0.80, while RMSE values were analyzed to be between 0.54 and 2.79. Valid results can be obtained by calculating river characteristic factors.     

Microwave generation analysis with higher order dispersion parameters in two cascaded Mach-Zehnder modulators

Dispersion is one of the major limiting factors for microwave/millimeter wave generation in microwave photonics. In this paper, we analyze the individual and combined effect of second order-, third order-, fourth order and fifth order dispersion parameter on microwave/millimeter wave generation. We have used the two cascaded Mach-Zehnder modulators in our proposed model, which have been not discussed earlier. Intensity at the output of photodetector versus modulation depth (β) with effects of dispersion parameters have been discussed and it has been found that output intensity of photodetector reduces when dispersion term up to fifth order are added.     

语音清晰度和平均混响时间在车内声学中的应用

乘用车的车内声学性能直接影响人的主观感受,但仅靠主观评价来判定是不够的;必须通过引入有力的客观参量来刻画车内听觉的舒适度效果。而如何来设计车内噪声试验方案来诊断和改善声学水平则成了一个重要的环节。在乘用车车内噪声品质的开发过程中,综合应用语音清晰度和平均混响时间两个指标对车内吸声性能进行了对比分析。通过对实车主观评价和客观测试,讨论了语音清晰度、车内平均混响时间、吸声系数和声压衰减斜率的概念及相互关系,从而确定了高速道路行驶工况下的语音清晰度主要取决于车内吸声材料的性能。提出了将车内相关部位进行材料吸声改进作为改善语音清晰度的主要措施之一。     

Effects of initial stress on the reflection and transmission waves at the interface between two piezoelectric half spaces

The effects of initial stress on the reflection and transmission waves at the interface between two piezoelectric half spaces are studied in this paper. First, the secular equations in the traverse isotropic piezoelectric half space are derived from the general dynamic equation with initial stress taken into consideration. Then, the interface conditions that displacement, stress, electric potential, and electric displacement are continuous across interface are required to be satisfied by three sets of coupled waves, namely, quasi-longitudinal wave, quasi-transverse wave and the electric–acoustic wave. The algebraic equations resulting from the interface conditions are solved to obtain the amplitude ratio of various waves and furthermore the energy reflection and transmission coefficients of various waves. The numerical results are shown graphically and the effects of initial stress are discussed.