Search results

To control one of the joints during the actual movement of the hydraulically driven quadruped robot, all the other joints in the leg need to be locked. Once the joints are unlocked, there is a coupling effect among the joints. Therefore, during the normal exercise of the robot, the movement of each joint is affected by the coupling of other joints. This brings great difficulties to the coordinated motion control of the multi-joints of the robot. Therefore, it is necessary to reduce the influence of the coupling of the hydraulically driven quadruped robot.

To solve the coupling problem with the joints of the hydraulic quadruped robot, based on the principle of mechanism dynamics and hydraulic control, the dynamic mathematical model of the single leg mechanism of the hydraulic quadruped robot is established. On this basis, the coupling dynamics model of the two joints of the thigh and the calf is derived. On the basis of the multivariable decoupling theory, a neural network (NN) model reference decoupling controller is designed.

The simulation and prototype experiment are carried out between the thigh joint and the calf joint of the hydraulic quadruped robot, and the results show that the proposed NN model reference decoupling control method is effective, and this method can reduce the cross-coupling between the thigh and the calf and improve the dynamic characteristics of the single joint of the leg.

The proposed method provides technical support for the mechanical–hydraulic cross-coupling among the joints of the hydraulic quadruped robot, achieving coordinated movement of multiple joints of the robot and promoting the performance and automation level of the hydraulic quadruped robot.

On the basis of the theory of multivariable decoupling, a new decoupling control method is proposed, in which the mechanical–hydraulic coupling is taken as the coupling behavior of the hydraulic foot robot. The method reduces the influence of coupling of system, improves the control precision, realizes the coordinated movement among multiple joints and promotes the popularization and use of the hydraulically driven quadruped robot.

In this paper, the uncertainties important components and the structure status are obtained by using the condition monitoring, expert groups and multiple membership functions by creating a fuzzy system in MATLAB software.

In the form of fuzzy type, the average structural safety must be followed to replace the damages or to absolutely control the decision-making. Uncertainty in the functionality of hydraulic automated guided vehicles (AGVs), without knowing the reliability of pieces, can cause failure in the manufacturing process. It can be controlled by the condition monitoring pieces done by measurement errors and ambiguous boundaries.

As a result, this monitoring could increase productivity with higher quality in delivery in flexible manufacturing systems with an increase of 70% reliability mutilation for the hydraulic AGV parts.

Hydraulic AGVs play a vital role in flexible manufacturing in recent years. Lately, several strategies for maintenance and repairing of hydraulic AGVs exist in the industry but are still confronted with many uncertainties. The hydraulic AGV is faced with uncertainty after 10 years of working in terms of reliability. Reconstruction of the old parts with the new parts may not have the quality and durability.

The multi-scale numerical simulation method, able to represent the complexity of the random structures and capture phase degradation, is an effective way to investigate the long-term behavior of concrete in service and bridges the gap between research on the material and on the structural level. However, the combined chemical-physical deterioration mechanisms of concrete remain a challenging task. The purpose of this paper is to investigate the degradation mechanism of concrete at the waterline in cold regions induced by combined calcium leaching and frost damage.

With the help of the NIST’s three-dimensional (3D) hydration model and the random aggregate model, realistic 3D representative volume elements (RVEs) of concrete at the micro-, the meso-, and the macro-scales can be reconstructed. The boundary problem method is introduced to compute the homogenized mechanical properties for both sound and damaged RVEs. According to the damage characteristics, the staggering method including a random dissolution model and a thermo-mechanical coupling model is developed to simulate the synergy deterioration effects of interacted calcium leaching and frost attacks. The coupled damage procedure for the frost damage process is based on the hydraulic pressure theory and the ice lens growth theory considering the relationship between the frozen temperature and the radius of the capillary pore. Finally, regarding calcium leaching as the leading role in actual engineering, the numerical methodology for combined leaching and frost damage on concrete property is proposed using a successive multi-scale method.

On the basis of available experimental data, this methodology is employed to explore the deterioration process. The results agree with the experimental ones to some extent, chemical leaching leads to the nucleation of some micro-cracks (i.e. damage), and consequently, to the decrease of the frost resistance.

It is demonstrated that the multi-scale numerical methodology can capture potential aging and deterioration evolution processes, and can give an insight into the macroscopic property degradation of concrete under long-term aggressive conditions.

Hexahedral meshing is one of the most important steps in performing an accurate simulation using the finite element analysis (FEA). However, the current hexahedral meshing method in the industry is a nonautomatic and inefficient method, i.e. manually decomposing the model into suitable blocks and obtaining the hexahedral mesh from these blocks by mapping or sweeping algorithms. The purpose of this paper is to propose an almost automatic decomposition algorithm based on the 3D frame field and model features to replace the traditional time-consuming and laborious manual decomposition method.

The proposed algorithm is based on the 3D frame field and features, where features are used to construct feature-cutting surfaces and the 3D frame field is used to construct singular-cutting surfaces. The feature-cutting surfaces constructed from concave features first reduce the complexity of the model and decompose it into some coarse blocks. Then, an improved 3D frame field algorithm is performed on these coarse blocks to extract the singular structure and construct singular-cutting surfaces to further decompose the coarse blocks. In most modeling examples, the proposed algorithm uses both types of cutting surfaces to decompose models fully automatically. In a few examples with special requirements for hexahedral meshes, the algorithm requires manual input of some user-defined cutting surfaces and constructs different singular-cutting surfaces to ensure the effectiveness of the decomposition.

Benefiting from the feature decomposition and the 3D frame field algorithm, the output blocks of the proposed algorithm have no inner singular structure and are suitable for the mapping or sweeping algorithm. The introduction of internal constraints makes 3D frame field generation more robust in this paper, and it can automatically correct some invalid 3–5 singular structures. In a few examples with special requirements, the proposed algorithm successfully generates valid blocks even though the singular structure of the model is modified by user-defined cutting surfaces.

The proposed algorithm takes the advantage of feature decomposition and the 3D frame field to generate suitable blocks for a mapping or sweeping algorithm, which saves a lot of simulation time and requires less experience. The user-defined cutting surfaces enable the creation of special hexahedral meshes, which was difficult with previous algorithms. An improved 3D frame field generation method is proposed to correct some invalid singular structures and improve the robustness of the previous methods.

This paper aims to describe a theoretical and experimental research concerning influence of recess shape on comprehensive lubrication performance of high speed and heavy load hydrostatic thrust bearing with a constant flow.

The lubrication performance of a hydrostatic thrust bearing with different recess shape under the working conditions of high speed and heavy load has been simulated by using computational fluid dynamics and finite volume method.

It is found that the comprehensive lubrication performance of a hydrostatic thrust bearing with circular recess is optimal. The results demonstrate that recess shape has a great influence on the lubrication performance of the hydrostatic thrust bearing.

The simulation results indicate that to get an improved performance from a hydrostatic thrust bearing with constant flow, a proper selection of the recess shape is essential.

The purpose of this paper is to study thermal-fluid-solid coupling deformation and friction failure mechanism of bearing friction pairs under the working conditions of high speed and heavy load.

The deformation is simulated based on thermal-fluid-solid coupling method, its deformation distribution law is revealed and the relationships of deformation of friction pairs, rotational speed and bearing weight are obtained.

The results prove that the oil film temperature rises sharply, the lubricating oil viscosity decreases rapidly, the film thickness becomes thinner, the deformation increases, the whole deformation is uneven and the boundary lubrication or dry friction are caused with the increase in rotational speed and bearing load.

The conclusions provide theoretical method for deformation solution and friction failure mechanism of hydrostatic thrust bearing.

The purpose of this work is to apply the Fourier–Ritz method to study the vibration behavior of the moderately thick functionally graded (FG) parabolic and circular panels and shells of revolution with general boundary conditions.

The modified Fourier series is chosen as the basis function of the admissible functions of the structure to eliminate all the relevant discontinuities of the displacements and their derivatives at the edges, and the vibration behavior is solved by means of the Ritz method. The complete shells of revolution can be achieved by using the coupling spring technique to imitate the kinematic compatibility and physical compatibility conditions of FG parabolic and circular panels at the common meridian of θ = 0 and 2π. The convergence and accuracy of the present method are verified by other contributors.

Some new results of FG panels and shells with elastic restraints, as well as different geometric and material parameters, are presented and the effects of the elastic restraint parameters, power-law exponent, circumference angle and power-law distributions on the free vibration characteristic of the panels are also presented, which can be served as benchmark data for the designers and engineers to avoid the unpleasant, inefficient and structurally damaging resonant.

The paper could provide the reference for the research about the moderately thick FG parabolic and circular panels and shells of revolution with general boundary conditions. In addition, the change of the boundary conditions can be easily achieved by just varying the stiffness of the boundary restraining springs along all the edges of panels without making any changes in the solution procedure.

This study aims to provide a review for scour in complex rivers and streams with coarser bed material, steep longitudinal bed slopes and dynamic environments, in the interest of the safety and the economy of hydraulic structures. The knowledge of scour in such geographical complexities is very crucial for a comprehensive understanding of scour failures and for establishing definitive criteria to bridge this major research gap.

The existing available literature shows significant work done in case of silt, sand and small sized coarser bed material but any substantial work for bed material of gravel size or above is lacking, resulting in a wide gap. Though some researchers have attempted to explore possibilities of refining the existing models by adding pier size, shape, sediment non-uniformity and armouring effects, which otherwise have been given a miss by the various researchers, including the pioneer in the field Lacey–Inglis (1930). But still, a rational model for scour estimation in such complex conditions for global use is yet to come. This is because all the parameters governing the scour have not been studied properly till date as is evident from the globally available literature and is witnessed in the field too, in recurrent failure of hydraulic structures especially bridges.

The researchers presume that the finer materials move only as a result of erosion. However, in actual field conditions, it has been observed that the large-sized stones also roll down and cause huge erosion along the river bed and damage the hydraulic structures, especially in the steep river/stream beds along hilly slopes. This fact has been overlooked in the models available globally and has been highlighted only in the current work in an attempt to recognize this major research gap. A study carried out on a number of streams globally and in Jammu and Kashmir, India also, has shown that in steep river and stream beds with bed material consisting of gravel size or greater than gravel, large scour holes ranging from 1 m to 5 m were created by furious floods, and due to other unknown forces along the channel path and near foundations of hydraulic structures.

To the best of the authors’ knowledge, this work is purely original.

Pipe cooling is an important measure for controlling the temperature in mass concrete. Since the temperature field in mass concrete containing cooling pipes is unsteady and three‐dimensional, and there are huge quantities of the cooling pipes in the concrete, the study of efficient and reliable algorithm is crucial. The purpose of this paper is to develop the composite element method (CEM) for the temperature field in mass concrete containing cooling pipes.

Each cooling pipe segment is looked at as a special sub‐element having definite thermal characteristics, which is located explicitly within the composite element. By the variational principle, the governing equation for the composite element containing cooling pipes is established.

One of the remarkable advantages of the method proposed is that each cooling pipe can be simulated explicitly while the difficulty of mesh generation around cooling pipes can be avoided.

The paper demonstrates how composite elements containing cooling pipes are degenerated to the conventional finite elements automatically when the first stage artificial cooling finished, and conversely, the conventional finite elements can also be transformed to the composite elements automatically when the second stage artificial cooling started. The comparison of the numerical example using FEM and CEM shows the rationality of the proposed method.

The unstable dynamic propagation of multistage hydrofracturing fractures leads to uneven development of the fracture network and research on the mechanism controlling this phenomenon indicates that the stress shadow effects around the fractures are the main mechanism causing this behaviour. Further studies and simulations of the stress shadow effects are necessary to understand the controlling mechanism and evaluate the fracturing effect.

In the process of stress-dependent unstable dynamic propagation of fractures, there are both continuous stress fields and discontinuous fractures; therefore, in order to study the stress-dependent unstable dynamic propagation of multistage fracture networks, a series of continuum-discontinuum numerical methods and models are reviewed, including the well-developed extended finite element method, displacement discontinuity method, boundary element method and finite element-discrete element method.

The superposition of the surrounding stress field during fracture propagation causes different degrees of stress shadow effects between fractures and the main controlling factors of stress shadow effects are fracture initiation sequence, perforation cluster spacing and well spacing. The perforation cluster spacing varies with the initiation sequence, resulting in different stress shadow effects between fractures; for example, the smaller the perforation cluster spacing and well spacing are, the stronger the stress shadow effects are and the more seriously the fracture propagation inhibition arises. Moreover, as the spacing of perforation clusters and well spacing increases, the stress shadow effects decrease and the fracture propagation follows an almost straight pattern. In addition, the computed results of the dynamic distribution of stress-dependent unstable dynamic propagation of fractures under different stress fields are summarised.

A state-of-art review of stress shadow effects and continuum-discontinuum methods for stress-dependent unstable dynamic propagation of multiple hydraulic fractures are well summarized and analysed. This paper can provide a reference for those engaged in the research of unstable dynamic propagation of multiple hydraulic structures and have a comprehensive grasp of the research in this field.