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Single-gait crawling robot:A solution for improving mobility and payload of soft locomotor via simple structure and easy control

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science china(Technological sciences) 2024年第11期67卷 3626-3628页

作者： MA Hao HAO TianZe MA JiChao SUN ZhenHao LI Xiang LIU YiBo XIAO HuaPing LIU ShuHai College of Mechanical and Transportation Engineering China University of Petroleum-BeijingBeijing 102249China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of TechnologyTianjin 300384China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education(Tianjin University of Technology) Tianjin 300384China

Motion performance,including movement speed,adaptability to various environments,and load-carrying capability,is crucial for soft crawling robots,tasked with field exploration and the transporting material in often complex and unstructured environments.A wide variety of soft crawling robots,which are driven by electricity[1],chemical power[2],and pressurized fluid[3]to move forward via cyclic deformation,have thus far been inspired by the mobile patterns of soft-bodied animals,such as worms[4],snake[5],octopus[6],*** performance of soft robots in terms of speed and load has developed impressively in recent years.

关键词： robot payload environments

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Effect of Different Laser Energy Nitriding on the Fretting Wear Performance of Zr Alloy

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摩擦学学报（中英文） 2024年第9期44卷 1306-1321页

作者： NING Chuangming TANG Guocan YU Shijia ZHOU Junbo REN Quanyao ZENG Bing CAI Zhenbing Key Laboratory of Advanced Technologies of Materials Tribology Research InstituteSouthwest Jiaotong UniversitySichuan Chengdu 610031China School of Mechanical and Electrical Engineering Chengdu University of TechnologySichuan Chengdu 610031China Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of ChinaSichuan Chengdu 610213China

The zirconium(Zr)alloy fuel cladding is one of the key structural components of a nuclear reactor and the first and most important line of defense for accommodating fission *** the operation of nuclear reactors,Zr alloy fuel cladding is subjected to extreme harsh environments,such as high temperature,high pressure and high flow rate for a long period of *** wear and corrosion resistance of Zr alloys is important for the safe operation of nuclear *** modification can effectively improve the corrosion and wear resistance of fuel *** with coating technology,nitriding technology does not have problems for bonding between the coating and the *** research on surface nitriding of Zr alloys mainly focuses on plasma nitriding and ion implantation *** on laser nitriding of Zr alloy surfaces and their fretting wear characteristics is *** this study,the surface of Zr alloy was treated with laser nitriding at different laser *** microstructure of Zr alloy treated with different laser energies and its fretting wear performance were *** results showed that after nitriding with different laser energies,the surface of the Zr alloy showed a typical molten state after melting,vaporizing and cooling under the thermal effect of the laser,and this state was more obvious with the increase of the laser *** the same time,doping of N atoms and formation of the ZrN phase led to different cooling rates in the molten zone that produced large tensile stresses after *** led to cracks on the surface of Zr alloys after laser nitriding at different energies,and the crack density increased with increasing laser *** also led to an increase in the surface roughness of the Zr alloy with increasing laser energy after laser nitriding *** to the presence of water in the industrial nitrogen,nitrides were generated on the surface of the sample along with some *** the laser

关键词： zirconium alloy fretting wear laser nitriding delamination laser energy

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Parallelism or Fairness? How to Be Friendly for SSDs in Cloud Environments

Parallelism or Fairness? How to Be Friendly for SSDs in Clou...

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2024 IEEE International Conference on Cluster Computing, CLUSTER 2024

作者： Zhou, Yang Wang, Fang Shi, Zhan Feng, Dan Engineering Research Center of Data Storage Systems and Technology Ministry of Education of China Wuhan National Laboratory for Optoelectronics Key Laboratory of Information Storage System Wuhan China School of Computer Science and Technology Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9798350358711

Modern SSDs achieve low latency and high throughput by utilizing multiple levels of SSD parallelism. Fairness is also a critical design consideration in cloud environments and has inspired great interest in recent years to study it. However, we find that excessive striving for SSD parallelism can inadvertently harm the SSD fairness due to the striped data layout. We observe from our experimental analysis that some common access patterns in cloud loads (e.g., high-intensity I/O) are not addressed by SSD parallelism, which can affect both SSD parallelism and fairness. In this paper, we analyze two address mapping policies with orthogonal characteristics from SSD parallelism and fairness perspectives. Based on extensive experiments and observations, we schedule a hybrid address mapping policy to achieve fairness of SSDs in cloud environments by distinguishing different I/O access modes and cold/hot data, while ensuring SSD performance. Experimental results on the latest block-level I/O traces show that our approach significantly improves performance and fairness by up to 77.3% and 62.8%, respectively, over the previous schemes with negligible cost. Meanwhile, it can also reduce the write amplification by 23.5% to 33.5%. © 2024 IEEE.

关键词： Cloud platforms

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Molecular transport under extreme confinement

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science china(Physics,Mechanics & Astronomy) 2022年第6期65卷 1-10页

作者： FengChao Wang JianHao Qian JingCun Fan JinChuan Li HengYu Xu HengAn Wu CAS Key Laboratory of Mechanical Behavior and Design of Materials Department of Modern MechanicsCAS Center for Excellence in Complex System MechanicsUniversity of Science and Technology of ChinaHefei 230027China

Mass transport through the nanoporous medium is ubiquitous in nature and *** the macroscale transport phenomena which have been well understood by the theory of continuum mechanics,the relevant physics and mechanics on the nanoscale transport still remain *** developments in fabrication of slit-like nanocapillaries with precise dimensions and atomically smooth surfaces have promoted the fundamental research on the molecular transport under extreme *** this review,we summarized the contemporary progress in the study of confined molecular transport of water,ions and gases,based on both experiments and molecular dynamics *** liquid exhibits a pronounced layered structure that extends over several intermolecular distances from the solid surface,which has a substantial influence on static properties and transport behaviors under *** studies have also shown that those molecular details could provide some new understanding on the century-old classical theory in this field.

关键词： confined mass transport nanocapillary solid-liquid interface confinement effect

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Dynamics Modeling and Simulation of Configuration in Corotating Twin Screw Extruder 2nd

Dynamics Modeling and Simulation of Configuration in Corotat...

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2nd International Conference of Mechanical system Dynamics, ICMSD 2023

作者： Xiao, Zhanhong Rong, Bao Rui, Xiaoting Zhao, Pu Institute of Launch Dynamics Nanjing University of Science and Technology Nanjing China National Key Laboratory of Complex Multibody System Dynamics Nanjing China

ISBN: (纸本)9789819980475

Twin-screw extrusion technology, characterized by its continuity, flexibility, and automation, has become increasingly important in the production process of energetic materials. However, traditional civil twin-screw extruders are unsuitable for producing energetic materials with high mechanical and temperature sensitivity due to process and safety limitations. It is imperative to design and optimize a twin-screw extruder suitable for the production process of energetic materials. In this study, nine groups of screw configurations were designed using Ludovic Software, based on an existing twin-screw extruder in a factory. The effect of screw configuration on the critical stimulus of single-base propellant extrusion process was investigated, and the optimal screw configuration was selected. The results indicate that the peak pressure decreases with the reduction of compression segments, while the peak temperature increases with the increase of variable pitch threads. Moreover, the mean residence time increases with the increase of mixing segments. The proportion of viscous heat increases with the increase of compression sections and exhibits different changing trends at different temperatures under the barrel. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Extrusion

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Three-Dimensional Solid Shaft Super-Element Transfer Matrix Method for Steady-State Response Analysis of Isotropic Rotor-Bearing system 2nd

Three-Dimensional Solid Shaft Super-Element Transfer Matrix ...

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2nd International Conference of Mechanical system Dynamics, ICMSD 2023

作者： Fu, Jiangtao Wang, Jinghong He, Bin Xie, Kai Feng, Yu Institute of Launch Dynamics Nanjing University of Science and Technology Nanjing China National Key Laboratory of Complex Multibody System Dynamics Nanjing China

ISBN: (纸本)9789819980475

The harmonic response calculation of rotor system is an important part of the analysis and design of rotating machinery, which has attracted the attention of engineers and designers. This study focuses on the problem that the single harmonic response of the full-order finite element model is computationally intensive and it is not easy to quickly obtain the harmonic response map of the system. Firstly, the full-order finite element dynamic model of three-dimensional isotropic solid shaft is established, and the super-element is generated by CB modal synthesis method. Based on the idea of transfer matrix method, the transfer equation and transfer matrix of solid shaft super-element for steady-state response analysis of rotor system are derived, and the transfer matrix method of solid shaft super-element for steady-state response analysis of isotropic rotor system is formed. Taking the harmonic response calculation of a typical isotropic solid rotor system as an example, the results show that under the premise of ensuring the calculation accuracy, the super-element transfer matrix method of the proposed CB modal synthesis method can greatly improve the calculation efficiency and shorten the calculation time while giving full play to the low calculation scale of the transfer matrix method, which provides an efficient analysis theory and method for the harmonic response calculation of isotropic rotor system. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Transfer matrix method

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FE–BE Couple Method of 3D Electromagnetic Launch Dynamics Analysis 2nd

FE–BE Couple Method of 3D Electromagnetic Launch Dynamics A...

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2nd International Conference of Mechanical system Dynamics, ICMSD 2023

作者： Wang, Jiawei He, Bin Yu, Hailong Wu, Nan Institute of Launch Dynamics Nanjing University of Science and Technology Nanjing China National Key Laboratory of Complex Multibody System Dynamics Nanjing China

ISBN: (纸本)9789819980475

Railgun is one of the representatives of future launch technology, its dynamic simulation and design are key issues in engineering research. In order to solve the electromagnetic field evolution calculation problem during the dynamic launch process, based on the Maxwell equations of the quasi-static field, the governing equation of the three-dimensional transient eddy current field is derived with the vector potential A and the scalar potential φ as state variables. The solution domain and its surface are discretized using the FEM and the BEM, respectively. Solve the simultaneous FE and BE dynamic equations using the implicit difference scheme. Develop a transient dynamics solver for electromagnetic railguns to obtain the parameters such as current density, magnetic induction, and Lorentz force in the time domain. This method has been verified by commercial software, without to establish air domain grids, and has high calculation accuracy, which provides theoretical and technical support for the dynamic design of electromagnetic railguns. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Maxwell equations

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Steady-State Response Analysis of Double-Beam system Based on the Reduced Multibody system Transfer Matrix Method 2nd

Steady-State Response Analysis of Double-Beam System Based o...

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2nd International Conference of Mechanical system Dynamics, ICMSD 2023

作者： Liu, Zhengquan Wang, Guoping Rui, Xiaoting Hu, Shaoheng Institute of Launch Dynamics Nanjing University of Science and Technology Nanjing China National Key Laboratory of Complex Multibody System Dynamics Nanjing China

ISBN: (纸本)9789819980475

Double-beam systems are widely used in modeling and analyzing engineering structures. Accurately determining their steady-state response is crucial for structural design and stability analysis. The steady-state response of double-beam systems, connected by multiple discrete elastic supports, is analyzed using the linear reduced multibody system transfer matrix method. The double-beam segments and the elastic supports are considered as independent elements. The reduced transfer equations for the root marker are directly derived from the basic equations of the elastic support element. The explanation is provided on how the reduced transfer equations for the root marker of double-beam elements are derived from the transfer equations of a single beam element. Through the linear RMSTMM, boundary value problems are addressed in a recursive process, bypassing the need for successive multiplication of transfer matrices, thereby enhancing computational stability. Finally, a numerical calculation of the steady-state response of the double-beam system is carried out. This paper introduces a novel and effective method for the analysis of the steady-state response of double-beam systems. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Transfer matrix method

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Gas Leakage-based Fault Prediction for a Boron-coated Proportional counter 15

Gas Leakage-based Fault Prediction for a Boron-coated Propor...

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15th IEEE Global Reliability and Prognostics and Health Management Conference, PHM-Beijing 2024

作者： Wang, Miao Wei, Wenbin Wan, Bo Huang, Qichang Sun, Shangqing Lu, Weiwei Wu, Chenlu Hong, Shixin Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu China CNNP Guodian Zhangzhou Energy Co. Ltd. China Nuclear Power Engineering Co. Ltd. Zhangzhou China

ISBN: (数字)9798350354010

ISBN: (纸本)9798350354010

Large reaction cross-sections, low operating voltage, extended lifespan, good stability, and suitability for high-temperature and intense gamma radiation settings are among the features of boron-coated proportional counter tubes. Consequently, it has been extensively employed in the nuclear-measuring system outside of the reactor, where the source range detector is a boron-coated proportional counter tube. This paper studies boron-coated proportional counter tubes using a comprehensive approach that combines Monte Carlo simulation with lifespan prediction in health management. The wavelet packet decomposition approach was used to extract feature information from the pulse signals of the boron-coated proportional counter tube. A counter tube defect prediction model was established based on a multi-kernel correlation vector machine, where the impact of different wavelet packets and correlation vector machine kernel functions on the model's prediction performance was examined. The study's findings demonstrated that the particle swarm optimization algorithm-optimized multi-kernel correlation vector machine model exhibited superior prediction accuracy for the counter tubes' future operating conditions. The primary goal is to comprehend how gas loss affects gas pressure and to determine the lifespan of detectors within a detector system. © 2024 IEEE.

关键词： Proportional counters

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An Integrated design Method Combined Electromagnetic Field and Damping Force for Magnetorheological Dampers 2nd

An Integrated Design Method Combined Electromagnetic Field a...

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2nd International Conference of Mechanical system Dynamics, ICMSD 2023

作者： Wei, Min Rui, Xiaoting Gu, Lilin Institute of Launch Dynamics Nanjing University of Science and Technology Nanjing China National Key Laboratory of Complex Multibody System Dynamics Nanjing China

ISBN: (纸本)9789819980475

The magnetorheological damper has advantages of high damping force, low energy consumption, rapid response, and fail-safe safety. It has shown great potential for application in various fields such as vehicles, machinery, construction, and medical industries. In order to improve the design efficiency, this paper proposes an integrated design method combined electromagnetic field and damping force for magnetorheological dampers. A linear magnetorheological damper is introduced. By introducing the coil space parameters, the original coil design is transformed into coil geometric space design. The damping force model considering the coil space parameters is established. The electromagnetic analysis model considering the coil space parameters is derived. Furtherly, the influence of coil space parameters on structural design and magnetic field design is analysed. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Electromagnetic fields

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