A compliant landing strategy for a trotting quadruped robot on unknown rough terrains based on contact force control is presented. Firstly, in order to lower the disturbance caused by the landing impact force, a landi...A compliant landing strategy for a trotting quadruped robot on unknown rough terrains based on contact force control is presented. Firstly, in order to lower the disturbance caused by the landing impact force, a landing phase is added between the swing phase and the stance phase, where the desired contact force is set as a small positive constant. Secondly, the joint torque optimization of the stance legs is formulated as a quadratic programming(QP) problem subject to equality and inequality/bound constraints. And a primal-dual dynamical system solver based on linear variational inequalities(LVI) is applied to solve this QP problem. Furthermore, based on the optimization results, a hybrid motion/force robust controller is designed to realize the tracking of the contact force, while the constraints of the stance feet landing angles are fulfilled simultaneously. Finally, the experiments are performed to validate the proposed methods.展开更多
Nowadays,force sensors play an important role in industrial production,electronic information,medical health,and many other fields.Two-dimensional material-based filed effect transistor(2D-FET)sensors are competitive ...Nowadays,force sensors play an important role in industrial production,electronic information,medical health,and many other fields.Two-dimensional material-based filed effect transistor(2D-FET)sensors are competitive with nano-level size,lower power consumption,and accurate response.However,few of them has the capability of impulse detection which is a path function,expressing the cumulative effect of the force on the particle over a period of time.Herein we fabricated the flexible polymethyl methacrylate(PMMA)gate dielectric MoS_(2)-FET for force and impulse sensor application.We systematically investigated the responses of the sensor to constant force and varying forces,and achieved the conversion factors of the drain current signals(I_(ds))to the detected impulse(I).The applied force was detected and recorded by I_(ds)with a low power consumption of~30 nW.The sensitivity of the device can reach~8000%and the 4×1 sensor array is able to detect and locate the normal force applied on it.Moreover,there was almost no performance loss for the device as left in the air for two months.展开更多
In a recent article, we have corrected the traditional derivation of the Schwarzschild metric, thus obtaining the formulation of the correct Schwarzschild metric, which is different from the traditional Schwarzschild ...In a recent article, we have corrected the traditional derivation of the Schwarzschild metric, thus obtaining the formulation of the correct Schwarzschild metric, which is different from the traditional Schwarzschild metric. Then, in another article by starting from this correct Schwarzschild metric, we have corrected also the Reissner-Nordstrøm, Kerr and Kerr-Newman metrics. On the other hand, in a third article, always by starting from this correct Schwarzschild metric, we have obtained the formulas of the correct gravitational potential and of the correct gravitational force in the case described by this metric. Now, in this article, by starting from these correct Reissner-Nordstrøm, Kerr and Kerr-Newman metrics and proceeding in a manner analogous to this third article, we obtain the formulas of the correct gravitational potential and of the correct gravitational force in the cases described by these metrics. Moreover, we analyze these correct results and their consequences. Finally, we propose some possible crucial experiments between the commonly accepted theory and the same theory corrected according to this article.展开更多
Astronomical extreme events or phenomena include black holes as well as nebulae systems that resemble the Milky Way. Meteorological extreme events or phenomena include tornadoes and tropical cyclones. The new high ene...Astronomical extreme events or phenomena include black holes as well as nebulae systems that resemble the Milky Way. Meteorological extreme events or phenomena include tornadoes and tropical cyclones. The new high energy state of matter expanding outwards by spin jets from the two poles of an astronomical black hole, the new high energy state of matter in a funnel-shaped vortex showed a meteorological tornado expanding downwards from a rotated disk of cumulonimbus clouds, the new high energy state of matter in a tropical cyclone and the new high energy state of a nebulae system converging celestial materials are phenomena across disciplines and multiple time-space scales that have not yet been physically explained. In this paper, the theory of orthogonal collision in the rotational contraction continuum is used to unify the understanding of diverse extreme events or phenomena through a single dynamical mechanism, offering insights into natural processes across disciplines. In the field of astronomy, the orthogonal collision of two-beam rotating and contracting particles or stars associated with centripetal forces forms a new high-energy state of matter at the collision point and the new high-energy particles have expanding forces outward to both sides of the collision plane. In the field of meteorology, the orthogonal collision of multiple horizontally rotating and contracting airflows associated with centripetal forces forms a new high energy state of matter at the collision point as well as an updraft force and a downdraft force vertically. The updraft force and downdraft force formed by the collision of anomalous wet airflows in the lower atmosphere can well indicate tornado, thunderstorm and extreme precipitation. The orthogonal collision theory can be applied to explain new states of matter in disciplines from the astronomical scale to the meteorological scale and the Planck scale.展开更多
Vascular smooth muscle cells (VSMCs) in the arterial walls play important roles in regulating vascular contraction and dilation. VSMCs actively remodel the arterial walls and dedifferentiate from the contractile to th...Vascular smooth muscle cells (VSMCs) in the arterial walls play important roles in regulating vascular contraction and dilation. VSMCs actively remodel the arterial walls and dedifferentiate from the contractile to the synthetic phenotype under pathological conditions. The mechanism underlying phenotypic transition of VSMCs is important for understanding its role in the pathophysiology of disease. Although numerous studies have reported various biochemical pathways that stimulate the phenotypic transition of VSMCs, very little is known about relation between their phenotypic transition and cellular traction force, which affects many cellular functions. In this study, we induced the differentiation of cultured VSMCs from the synthetic to the contractile phenotype by a low-serum cultivation and investigated changes in the cell traction forces using traction force microscopy technique. The expression of α-SMA, a contractile phenotype marker protein, was significantly upregulated with maturation of actin stress fibers in the low-serum culture, indicating VSMC differentiation was promoted in our experiments. The cells changed their morphology to an elongated bipolar shape, and the direction of the cell traction forces tended to align in the direction of the cell’s major axis. Despite the promotion of contractile differentiation in VSMCs, the overall cell traction forces were significantly reduced, indicating that excessive cell mechanical tension, which might induce cell proliferation and migration, was suppressed during contractile differentiation. These results suggest that suppression of cell traction force and enhanced force polarity might be key factors in VSMC differentiation induced by low serum culture.展开更多
Rail weld irregularities are one of the primary excitation sources for vehicle-track interaction dynamics in modern high-speed railways.They can cause significant wheel-rail dynamic interactions,leading to wheel-rail ...Rail weld irregularities are one of the primary excitation sources for vehicle-track interaction dynamics in modern high-speed railways.They can cause significant wheel-rail dynamic interactions,leading to wheel-rail noise,component damage,and deterioration.Few researchers have employed the vehicle-track interaction dynamic model to study the dynamic interactions between wheel and rail induced by rail weld geometry irregularities.However,the cosine wave model used to simulate rail weld irregularities mainly focuses on the maximum value and neglects the geometric shape.In this study,novel theoretical models were developed for three categories of rail weld irregularities,based on measurements of the high-speed railway from Beijing to Shanghai.The vertical dynamic forces in the time and frequency domains were compared under different running speeds.These forces generated by the rail weld irregularities that were measured and modeled,respectively,were compared to validate the accuracy of the proposed model.Finally,based on the numerical study,the impact force due to rail weld irrregularity is modeled using an Artificial Neural Network(ANN),and the optimum combination of parameters for this model is found.The results showed that the proposed model provided a more accurate wheel/rail dynamic evaluation caused by rail weld irregularities than that established in the literature.The ANN model used in this paper can effectively predict the impact force due to rail weld irrregularity while reducing the computation time.展开更多
Objective: To compare the stress distribution in the periodontal ligament under different orthodontic forces during canine distalization using long-arm brackets, and to determine the optimal force value for this devic...Objective: To compare the stress distribution in the periodontal ligament under different orthodontic forces during canine distalization using long-arm brackets, and to determine the optimal force value for this device in orthodontic treatment. Methods: A finite element model was constructed after extracting the mandibular first premolar, and a long-arm bracket with a traction height of 6 mm was placed on the labial side of the mandibular canine. Three working conditions of 50 g, 100 g, and 150 g were simulated, and the magnitude and distribution of von Mises stress in the periodontal ligament were compared for each condition. Results: The maximum von Mises stress in the periodontal ligament was 0.013281 MPa in the 50 g condition, 0.02536 MPa in the 100 g condition, and 0.035549 MPa in the 150 g condition. As the orthodontic force increased, the stress distribution area in the periodontal ligament also expanded. Conclusion: A 100 g orthodontic force is the most suitable when using long-arm brackets, providing a relatively uniform stress distribution in the periodontal ligament and keeping the stress within a reasonable range.展开更多
Force feedback bilateral teleoperation represents a pivotal advancement in control technology,finding widespread application in hazardous material transportation,perilous environments,space and deep-sea exploration,an...Force feedback bilateral teleoperation represents a pivotal advancement in control technology,finding widespread application in hazardous material transportation,perilous environments,space and deep-sea exploration,and healthcare domains.This paper traces the evolutionary trajectory of force feedback bilateral teleoperation from its conceptual inception to its current complexity.It elucidates the fundamental principles underpinning interaction forces and tactile exchanges,with a specific emphasis on the crucial role of tactile devices.In this review,a quantitative analysis of force feedback bilateral teleoperation development trends from 2011 to 2024 has been conducted,utilizing published journal article data as the primary source of information.The review accentuates classical control frameworks and algorithms,while also delving into existing research advancements and prospec-tive breakthrough directions.Moreover,it explores specific practical scenarios ranging from intricate surgeries to hazardous environment exploration,underscoring the technology’s potential to revolutionize industries by augmenting human manipulation of remote systems.This underscores the pivotal role of force feedback bilateral teleoperation as a transformative human-machine interface,capable of shaping flexible control strategies and addressing technological bottlenecks.Future research endeavors in force feedback bilateral teleoperation are expected to prioritize the creation of more immersive experiences,overcoming technical hurdles,fortifying human-machine collaboration,and broadening application domains,particularly within the realms of medical intervention and hazardous environments.With the continuous progression of technology,the integration of human intelligence and robotic capabilities is expected to produce more innovations and breakthroughs in the field of automatic control.展开更多
Flutter and forced response, as two main branches of aeroelasticity, can lead to high-cycle fatigue failure of turbomachinery blades. Efficiently and accurately assessing aeroelastic performance of turbomachinery blad...Flutter and forced response, as two main branches of aeroelasticity, can lead to high-cycle fatigue failure of turbomachinery blades. Efficiently and accurately assessing aeroelastic performance of turbomachinery blades is essential in the routine design. In this work, the Time Collocation Method (TCM) which uses the cubic B-spline to approximate flow variables is first thoroughly studied and then combined with the moving grid technique to analyze aeroelastic flow fields. To showcase its advantage over the Harmonic Balance (HB) method which uses a truncated Fourier series to approximately represent flow variables, a matrix analysis of the one-dimensional advection equation is first performed. The results of stability analysis are verified by two test cases: the Durham linear oscillating turbine cascade and a two-blade-row transonic compressor. The vibration of the blade of the first case is driven by a motor while the excitation force of the second case comes from blade row interaction. The results show that the time collocation method has a faster convergence rate and is more stable than the harmonic balance method, especially for cases with a large maximum grid reduced frequency. More importantly, the time collocation method is capable of accurately predicting aeroelastic performance of turbomachinery blades.展开更多
Moles exhibit highly effective capabilities due to their unique body structures and digging techniques,making them ideal models for biomimetic research.However,a major challenge for mole-inspired robots lies in overco...Moles exhibit highly effective capabilities due to their unique body structures and digging techniques,making them ideal models for biomimetic research.However,a major challenge for mole-inspired robots lies in overcoming resistance in granular media when burrowing with forelimbs.In the absence of effective forepaw design strategies,most robotic designs rely on increased power to enhance performance.To address this issue,this paper employs Resistive Force Theory to optimize mole-inspired forepaws,aiming to enhance burrowing efficiency.By analyzing the relationship between geometric parameters and burrowing forces,we propose several forepaw design variations.Through granular resistance assessments,an effective forepaw configuration is identified and further refined using parameters such as longitudinal and transverse curvature.Subsequently,the Particle Swarm Optimization algorithm is applied to determine the optimal forepaw design.In force-loading tests,the optimized forepaw demonstrated a 79.44%reduction in granular lift force and a 22.55%increase in propulsive force compared with the control group.In robotic burrowing experiments,the optimized forepaw achieved the longest burrow displacement(179.528 mm)and the lowest burrowing lift force(0.9355 mm/s),verifying its effectiveness in reducing the lift force and enhancing the propulsive force.展开更多
The press-fit connector is a typical plug-and-play solderless connection,and it is widely used in signal transmission in fields such as communication and automotive devices.This paper focuses on inverse designing and ...The press-fit connector is a typical plug-and-play solderless connection,and it is widely used in signal transmission in fields such as communication and automotive devices.This paper focuses on inverse designing and optimization of geometric structure,as well as insertion-withdrawal forces of press-fit connector using artificial neural network(ANN)-assisted optimization method.The ANN model is established to approximate the relationship between geometric parameters and insertion-withdrawal forces,of which hyper-parameters of neural network are optimized to improve model performance.Two numerical methods are proposed for inverse designing structural parameters(Model-I)and multi-objective optimization of insertion-withdrawal forces(Model-II)of press-fit connector.In Model-I,a method for inverse designing structure parameters is established,of which an ANN model is coupled with single-objective optimization algorithm.The objective function is established,the inverse problem is solved,and effectiveness is verified.In Model-II,a multi-objective optimization method is proposed,of which an ANN model is coupled with genetic algorithm.The Pareto solution sets of insertion-withdrawal forces are obtained,and results are analyzed.The established ANN-coupled numerical optimization methods are beneficial for improving the design efficiency,and enhancing the connection reliability of the press-fit connector.展开更多
Forced imbibition,the invasion of a wetting fluid into porous rocks,plays an important role in the effective exploitation of hydrocarbon resources and the geological sequestration of carbon dioxide.However,the interfa...Forced imbibition,the invasion of a wetting fluid into porous rocks,plays an important role in the effective exploitation of hydrocarbon resources and the geological sequestration of carbon dioxide.However,the interface dynamics influenced by complex topology commonly leads to non-wetting fluid trapping.Particularly,the underlying mechanisms under viscously unfavorable conditions remain unclear.This study employs a direct numerical simulation method to simulate forced imbibition through the reconstructed digital rocks of sandstone.The interface dynamics and fluid–fluid interactions are investigated through transient simulations,while the pore topology metrics are introduced to analyze the impact on steady-state residual fluid distribution obtained by a pseudo-transient scheme.The results show that the cooperative pore-filling process promoted by corner flow is dominant at low capillary numbers.This leads to unstable inlet pressure,mass flow,and interface curvature,which correspond to complicated interface dynamics and higher residual fluid saturation.During forced imbibition,the interface curvature gradually increases,with the pore-filling mechanisms involving the cooperation of main terminal meniscus movement and arc menisci filling.Complex topology with small diameter pores may result in the destabilization of interface curvature.The residual fluid saturation is negatively correlated with porosity and pore throat size,and positively correlated with tortuosity and aspect ratio.A large mean coordination number characterizing global connectivity promotes imbibition.However,high connectivity characterized by the standardized Euler number corresponding to small pores is associated with a high probability of non-wetting fluid trapping.展开更多
Desiccant regeneration through saline evaporation is critical and major energy consumer in liquid desiccant dehumidification systems(LDDS)for indoor air conditioning.This study investigated the coupled heat and mass t...Desiccant regeneration through saline evaporation is critical and major energy consumer in liquid desiccant dehumidification systems(LDDS)for indoor air conditioning.This study investigated the coupled heat and mass transfer behavior of saline droplet evaporation under forced convection,focusing on the enhancement effects of sweeping air(SA)and Marangoni effect.In-situ measurements and numerical simulations were performed,developing semi-empirical equations correlating evaporation rates with desiccant conditions and SA flowrates.By employing the equations considering SA’s impact on regeneration temperature,EnergyPlus simulation was conducted to evaluate the energy consumption of a typical office building in Guangzhou equipped with a temperature-humidity-independent control system incorporating LDDS.Results showed that SA significantly lowered the temperature required for high evaporation rates.At desiccant temperature of above 70℃,a strong thermal Marangoni effect resulted in enhanced evaporation,which increased with SA flowrates.At lower temperatures,forced convection still facilitates evaporation,though to a lesser extent,while also helping to prevent desiccant crystallization.EnergyPlus simulations revealed that if SA was incorporated into regeneration,substantial annual energy savings of up to 18.30%for LDDS can be achieved,with hourly savings ranging from 7.83 to 8.40 kW,peaking in August.Optimizing the SA flowrate is crucial,with ideal rates of around 3.5 m/s in high-humidity and 2.5 m/s in low-humidity conditions.This study deepens the understanding of non-isothermal droplet evaporation under forced convection,and establishes a significant bridge between saline evaporation and LDDS energy consumption assessment in practical buildings.展开更多
This paper investigates control synthesis for motion planning under conditions of uncertainty,specifically in robot motion and environmental properties,which are modeled using a probabilistic labeled Markov decision p...This paper investigates control synthesis for motion planning under conditions of uncertainty,specifically in robot motion and environmental properties,which are modeled using a probabilistic labeled Markov decision process(PL-MDP).To address this,a model-free reinforcement learning(RL)approach is designed to produce a finite-memory control policy that meets complex tasks specified by linear temporal logic(LTL)formulas.Recognizing the presence of uncertainties and potentially conflicting objectives,this study centers on addressing infeasible LTL specifications.A relaxed LTL constraint enables the agent to adapt its motion plan,allowing for partial satisfaction by accounting for necessary task violations.Additionally,a new automaton structure is introduced to increase the density of accepting rewards,facilitating deterministic policy outcomes.The proposed RL framework is rigorously analyzed and prioritizes two key objectives:(1)satisfying the acceptance condition of the relaxed product MDP,and(2)minimizing long-term violation costs.Simulation and experimental results are presented to demonstrate the framework’s effectiveness and robustness.展开更多
The fracture behavior of superconducting tapes with central and edge oblique cracks subject to electromagnetic forces is investigated. Maxwell's equations and the critical state-Bean model are used to analytically...The fracture behavior of superconducting tapes with central and edge oblique cracks subject to electromagnetic forces is investigated. Maxwell's equations and the critical state-Bean model are used to analytically determine the magnetic flux density and electromagnetic force distributions in superconducting tapes containing central and edge oblique cracks. The distributed dislocation technique(DDT) transforms the mixed boundary value problem into a Cauchy singular integral equation, which is then solved by the Gauss-Chebyshev quadrature method to determine the stress intensity factors(SIFs).The model's accuracy is validated by comparing the calculated electromagnetic force distribution for the edge oblique crack and the SIFs for both crack types with the existing results. The findings indicate that the current and electromagnetic forces are significantly affected by the crack length and oblique angle. Specifically, for central oblique cracks, a smaller oblique angle enhances the risk of crack propagation, and a higher initial magnetization intensity poses greater danger under field cooling(FC) excitation. In contrast, for edge oblique cracks, a larger angle increases the likelihood of tape fractures. This study provides important insights into the fracture behavior and mechanical failure mechanisms of superconducting tapes with oblique cracks.展开更多
Nanostructured dielectric metasurfaces offer unprecedented opportunities to control light-matter momentum exchange,and thereby the forces and torques that light can exert on matter.Here we introduce optical metasurfac...Nanostructured dielectric metasurfaces offer unprecedented opportunities to control light-matter momentum exchange,and thereby the forces and torques that light can exert on matter.Here we introduce optical metasurfaces as components of ultracompact untethered microscopic metaspinners capable of efficient light-induced rotation in a liquid environment.Iluminated by weakly focused light,a metaspinner generates torque via photon recoil through the metasurfaces'ability to bend light towards high angles despite their sub-wavelength thickness,thereby creating orbital angular momentum.We find that a metaspinner is subject to an anomalous transverse lateral optical gradient force that acts in concert with the classical gradient force.Consequently,when two or more metaspinners are trapped together in a laser beam,they collectively orbit the optical axis in the opposite direction to their spinning motion,in stark contrast to rotors coupled through hydrodynamic or mechanical interactions.The metaspinners delineated herein not only serve to llustrate the vast possibilities of utilizing optical metasurfaces for fundamental exploration of optical torques,but they also represent potential building-blocks of artificial active matter systems,light-driven micromachinery,and general-purpose optomechanical devices.展开更多
In this letter,the motion of small gas bubbles within sessile water drops on a vibrating substrate is investigatednumerically using a two-phase diffuse interface method.Depending on the amplitude of the plate vibratio...In this letter,the motion of small gas bubbles within sessile water drops on a vibrating substrate is investigatednumerically using a two-phase diffuse interface method.Depending on the amplitude of the plate vibration,themotion of the gas bubbles falls into three distinct regimes:oscillating within the drop,sticking to the substrate,orescaping from the drop.In particular,the motion of oscillating bubbles follows a harmonic function,and is foundto be closely related to a combined effect of the deformation of the sessile drop and the vibration of the plate.Tointerpret the underlying mechanism,we analyze the dominant forces acting on the bubbles in the non-inertialframework fixed to the plate,and take account of the periodic deformation of the drop,which effectively inducesflow acceleration inside the drop.As a result,we establish a theoretical model to predict the bubble motion,andcorrelate the amplitude and phase difference of the bubble with the Bond and Strouhal numbers.The theoreticalprediction agrees with our numerical results.These findings and theoretical analysis provide new insights intocontrolling bubble motion in sessile drops.展开更多
基金Project(61473304)supported by the National Natural Science Foundation of ChinaProject(2015AA042202)supported by Hi-tech Research and Development Program of China
文摘A compliant landing strategy for a trotting quadruped robot on unknown rough terrains based on contact force control is presented. Firstly, in order to lower the disturbance caused by the landing impact force, a landing phase is added between the swing phase and the stance phase, where the desired contact force is set as a small positive constant. Secondly, the joint torque optimization of the stance legs is formulated as a quadratic programming(QP) problem subject to equality and inequality/bound constraints. And a primal-dual dynamical system solver based on linear variational inequalities(LVI) is applied to solve this QP problem. Furthermore, based on the optimization results, a hybrid motion/force robust controller is designed to realize the tracking of the contact force, while the constraints of the stance feet landing angles are fulfilled simultaneously. Finally, the experiments are performed to validate the proposed methods.
基金financially supported by the National Natural Science Foundation of China(Nos.52272160,U2330112,and 52002254)Sichuan Science and Technology Foundation(Nos.2020YJ0262,2021YFH0127,2022YFH0083,2022YFSY0045,and 2023YFSY0002)+1 种基金the Chunhui Plan of Ministry of Education,Fundamental Research Funds for the Central Universities,China(No.YJ201893)the Foundation of Key Laboratory of Lidar and Device,Sichuan Province,China(No.LLD2023-006)。
文摘Nowadays,force sensors play an important role in industrial production,electronic information,medical health,and many other fields.Two-dimensional material-based filed effect transistor(2D-FET)sensors are competitive with nano-level size,lower power consumption,and accurate response.However,few of them has the capability of impulse detection which is a path function,expressing the cumulative effect of the force on the particle over a period of time.Herein we fabricated the flexible polymethyl methacrylate(PMMA)gate dielectric MoS_(2)-FET for force and impulse sensor application.We systematically investigated the responses of the sensor to constant force and varying forces,and achieved the conversion factors of the drain current signals(I_(ds))to the detected impulse(I).The applied force was detected and recorded by I_(ds)with a low power consumption of~30 nW.The sensitivity of the device can reach~8000%and the 4×1 sensor array is able to detect and locate the normal force applied on it.Moreover,there was almost no performance loss for the device as left in the air for two months.
文摘In a recent article, we have corrected the traditional derivation of the Schwarzschild metric, thus obtaining the formulation of the correct Schwarzschild metric, which is different from the traditional Schwarzschild metric. Then, in another article by starting from this correct Schwarzschild metric, we have corrected also the Reissner-Nordstrøm, Kerr and Kerr-Newman metrics. On the other hand, in a third article, always by starting from this correct Schwarzschild metric, we have obtained the formulas of the correct gravitational potential and of the correct gravitational force in the case described by this metric. Now, in this article, by starting from these correct Reissner-Nordstrøm, Kerr and Kerr-Newman metrics and proceeding in a manner analogous to this third article, we obtain the formulas of the correct gravitational potential and of the correct gravitational force in the cases described by these metrics. Moreover, we analyze these correct results and their consequences. Finally, we propose some possible crucial experiments between the commonly accepted theory and the same theory corrected according to this article.
文摘Astronomical extreme events or phenomena include black holes as well as nebulae systems that resemble the Milky Way. Meteorological extreme events or phenomena include tornadoes and tropical cyclones. The new high energy state of matter expanding outwards by spin jets from the two poles of an astronomical black hole, the new high energy state of matter in a funnel-shaped vortex showed a meteorological tornado expanding downwards from a rotated disk of cumulonimbus clouds, the new high energy state of matter in a tropical cyclone and the new high energy state of a nebulae system converging celestial materials are phenomena across disciplines and multiple time-space scales that have not yet been physically explained. In this paper, the theory of orthogonal collision in the rotational contraction continuum is used to unify the understanding of diverse extreme events or phenomena through a single dynamical mechanism, offering insights into natural processes across disciplines. In the field of astronomy, the orthogonal collision of two-beam rotating and contracting particles or stars associated with centripetal forces forms a new high-energy state of matter at the collision point and the new high-energy particles have expanding forces outward to both sides of the collision plane. In the field of meteorology, the orthogonal collision of multiple horizontally rotating and contracting airflows associated with centripetal forces forms a new high energy state of matter at the collision point as well as an updraft force and a downdraft force vertically. The updraft force and downdraft force formed by the collision of anomalous wet airflows in the lower atmosphere can well indicate tornado, thunderstorm and extreme precipitation. The orthogonal collision theory can be applied to explain new states of matter in disciplines from the astronomical scale to the meteorological scale and the Planck scale.
文摘Vascular smooth muscle cells (VSMCs) in the arterial walls play important roles in regulating vascular contraction and dilation. VSMCs actively remodel the arterial walls and dedifferentiate from the contractile to the synthetic phenotype under pathological conditions. The mechanism underlying phenotypic transition of VSMCs is important for understanding its role in the pathophysiology of disease. Although numerous studies have reported various biochemical pathways that stimulate the phenotypic transition of VSMCs, very little is known about relation between their phenotypic transition and cellular traction force, which affects many cellular functions. In this study, we induced the differentiation of cultured VSMCs from the synthetic to the contractile phenotype by a low-serum cultivation and investigated changes in the cell traction forces using traction force microscopy technique. The expression of α-SMA, a contractile phenotype marker protein, was significantly upregulated with maturation of actin stress fibers in the low-serum culture, indicating VSMC differentiation was promoted in our experiments. The cells changed their morphology to an elongated bipolar shape, and the direction of the cell traction forces tended to align in the direction of the cell’s major axis. Despite the promotion of contractile differentiation in VSMCs, the overall cell traction forces were significantly reduced, indicating that excessive cell mechanical tension, which might induce cell proliferation and migration, was suppressed during contractile differentiation. These results suggest that suppression of cell traction force and enhanced force polarity might be key factors in VSMC differentiation induced by low serum culture.
基金supported by Natural Science Foundation of China(52178441)the Scientific Research Projects of the China Academy of Railway Sciences Co.,Ltd.(Grant No.2022YJ043).
文摘Rail weld irregularities are one of the primary excitation sources for vehicle-track interaction dynamics in modern high-speed railways.They can cause significant wheel-rail dynamic interactions,leading to wheel-rail noise,component damage,and deterioration.Few researchers have employed the vehicle-track interaction dynamic model to study the dynamic interactions between wheel and rail induced by rail weld geometry irregularities.However,the cosine wave model used to simulate rail weld irregularities mainly focuses on the maximum value and neglects the geometric shape.In this study,novel theoretical models were developed for three categories of rail weld irregularities,based on measurements of the high-speed railway from Beijing to Shanghai.The vertical dynamic forces in the time and frequency domains were compared under different running speeds.These forces generated by the rail weld irregularities that were measured and modeled,respectively,were compared to validate the accuracy of the proposed model.Finally,based on the numerical study,the impact force due to rail weld irrregularity is modeled using an Artificial Neural Network(ANN),and the optimum combination of parameters for this model is found.The results showed that the proposed model provided a more accurate wheel/rail dynamic evaluation caused by rail weld irregularities than that established in the literature.The ANN model used in this paper can effectively predict the impact force due to rail weld irrregularity while reducing the computation time.
文摘Objective: To compare the stress distribution in the periodontal ligament under different orthodontic forces during canine distalization using long-arm brackets, and to determine the optimal force value for this device in orthodontic treatment. Methods: A finite element model was constructed after extracting the mandibular first premolar, and a long-arm bracket with a traction height of 6 mm was placed on the labial side of the mandibular canine. Three working conditions of 50 g, 100 g, and 150 g were simulated, and the magnitude and distribution of von Mises stress in the periodontal ligament were compared for each condition. Results: The maximum von Mises stress in the periodontal ligament was 0.013281 MPa in the 50 g condition, 0.02536 MPa in the 100 g condition, and 0.035549 MPa in the 150 g condition. As the orthodontic force increased, the stress distribution area in the periodontal ligament also expanded. Conclusion: A 100 g orthodontic force is the most suitable when using long-arm brackets, providing a relatively uniform stress distribution in the periodontal ligament and keeping the stress within a reasonable range.
基金supported by the MSIT(Ministry of Science and ICT),Republic of Korea,under the Convergence Security Core Talent Training Business Support Program(IITP-2024-RS-2024-00423071)supervised by the IITP(Institute of Information&Communications Technology Planning&Evaluation)supported by Sichuan Science and Technology Program(2023YFSY0026,2023YFH0004).
文摘Force feedback bilateral teleoperation represents a pivotal advancement in control technology,finding widespread application in hazardous material transportation,perilous environments,space and deep-sea exploration,and healthcare domains.This paper traces the evolutionary trajectory of force feedback bilateral teleoperation from its conceptual inception to its current complexity.It elucidates the fundamental principles underpinning interaction forces and tactile exchanges,with a specific emphasis on the crucial role of tactile devices.In this review,a quantitative analysis of force feedback bilateral teleoperation development trends from 2011 to 2024 has been conducted,utilizing published journal article data as the primary source of information.The review accentuates classical control frameworks and algorithms,while also delving into existing research advancements and prospec-tive breakthrough directions.Moreover,it explores specific practical scenarios ranging from intricate surgeries to hazardous environment exploration,underscoring the technology’s potential to revolutionize industries by augmenting human manipulation of remote systems.This underscores the pivotal role of force feedback bilateral teleoperation as a transformative human-machine interface,capable of shaping flexible control strategies and addressing technological bottlenecks.Future research endeavors in force feedback bilateral teleoperation are expected to prioritize the creation of more immersive experiences,overcoming technical hurdles,fortifying human-machine collaboration,and broadening application domains,particularly within the realms of medical intervention and hazardous environments.With the continuous progression of technology,the integration of human intelligence and robotic capabilities is expected to produce more innovations and breakthroughs in the field of automatic control.
基金supported by the Science Center for Gas Turbine Project,China(No.P2022-C-II-001-001)the National Science and Technology Major Project,China and the Innovation Foundation for Doctor Dissertation of Northwestern Polytechnical University,China(No.CX2022045).
文摘Flutter and forced response, as two main branches of aeroelasticity, can lead to high-cycle fatigue failure of turbomachinery blades. Efficiently and accurately assessing aeroelastic performance of turbomachinery blades is essential in the routine design. In this work, the Time Collocation Method (TCM) which uses the cubic B-spline to approximate flow variables is first thoroughly studied and then combined with the moving grid technique to analyze aeroelastic flow fields. To showcase its advantage over the Harmonic Balance (HB) method which uses a truncated Fourier series to approximately represent flow variables, a matrix analysis of the one-dimensional advection equation is first performed. The results of stability analysis are verified by two test cases: the Durham linear oscillating turbine cascade and a two-blade-row transonic compressor. The vibration of the blade of the first case is driven by a motor while the excitation force of the second case comes from blade row interaction. The results show that the time collocation method has a faster convergence rate and is more stable than the harmonic balance method, especially for cases with a large maximum grid reduced frequency. More importantly, the time collocation method is capable of accurately predicting aeroelastic performance of turbomachinery blades.
基金financially supported in-part by the National Natural Science Foundation of China(52275011)the Natural Science Foundation of Guangdong Province(2023B1515020080)+3 种基金the Natural Science Foundation of Guangzhou(2024A04J2552)the Fundamental Research Funds for the Central Universities,the Young Elite Scientists Sponsorship Program by the China Association for Science and Technology(CAST)(2021QNRC001)the Guangdong Basic and Applied Basic Research Foundation(Grant No.2023A1515011253)the Higher Education Institution Featured Innovation Project of Department of Education of Guangdong Province(GrantNo.2023KTSCX138).
文摘Moles exhibit highly effective capabilities due to their unique body structures and digging techniques,making them ideal models for biomimetic research.However,a major challenge for mole-inspired robots lies in overcoming resistance in granular media when burrowing with forelimbs.In the absence of effective forepaw design strategies,most robotic designs rely on increased power to enhance performance.To address this issue,this paper employs Resistive Force Theory to optimize mole-inspired forepaws,aiming to enhance burrowing efficiency.By analyzing the relationship between geometric parameters and burrowing forces,we propose several forepaw design variations.Through granular resistance assessments,an effective forepaw configuration is identified and further refined using parameters such as longitudinal and transverse curvature.Subsequently,the Particle Swarm Optimization algorithm is applied to determine the optimal forepaw design.In force-loading tests,the optimized forepaw demonstrated a 79.44%reduction in granular lift force and a 22.55%increase in propulsive force compared with the control group.In robotic burrowing experiments,the optimized forepaw achieved the longest burrow displacement(179.528 mm)and the lowest burrowing lift force(0.9355 mm/s),verifying its effectiveness in reducing the lift force and enhancing the propulsive force.
基金supported by the National Natural Science Foundation of China(No.52005378)the opening project fund of Materials Service Safety Assessment Facilities(No.MSAF-2021-107).
文摘The press-fit connector is a typical plug-and-play solderless connection,and it is widely used in signal transmission in fields such as communication and automotive devices.This paper focuses on inverse designing and optimization of geometric structure,as well as insertion-withdrawal forces of press-fit connector using artificial neural network(ANN)-assisted optimization method.The ANN model is established to approximate the relationship between geometric parameters and insertion-withdrawal forces,of which hyper-parameters of neural network are optimized to improve model performance.Two numerical methods are proposed for inverse designing structural parameters(Model-I)and multi-objective optimization of insertion-withdrawal forces(Model-II)of press-fit connector.In Model-I,a method for inverse designing structure parameters is established,of which an ANN model is coupled with single-objective optimization algorithm.The objective function is established,the inverse problem is solved,and effectiveness is verified.In Model-II,a multi-objective optimization method is proposed,of which an ANN model is coupled with genetic algorithm.The Pareto solution sets of insertion-withdrawal forces are obtained,and results are analyzed.The established ANN-coupled numerical optimization methods are beneficial for improving the design efficiency,and enhancing the connection reliability of the press-fit connector.
基金supported by the National Natural Science Foundation of China(Grant Nos.42172159 and 42302143)the Postdoctora Fellowship Program of the China Postdoctoral Science Foundation(CPSF)(Grant No.GZB20230864).
文摘Forced imbibition,the invasion of a wetting fluid into porous rocks,plays an important role in the effective exploitation of hydrocarbon resources and the geological sequestration of carbon dioxide.However,the interface dynamics influenced by complex topology commonly leads to non-wetting fluid trapping.Particularly,the underlying mechanisms under viscously unfavorable conditions remain unclear.This study employs a direct numerical simulation method to simulate forced imbibition through the reconstructed digital rocks of sandstone.The interface dynamics and fluid–fluid interactions are investigated through transient simulations,while the pore topology metrics are introduced to analyze the impact on steady-state residual fluid distribution obtained by a pseudo-transient scheme.The results show that the cooperative pore-filling process promoted by corner flow is dominant at low capillary numbers.This leads to unstable inlet pressure,mass flow,and interface curvature,which correspond to complicated interface dynamics and higher residual fluid saturation.During forced imbibition,the interface curvature gradually increases,with the pore-filling mechanisms involving the cooperation of main terminal meniscus movement and arc menisci filling.Complex topology with small diameter pores may result in the destabilization of interface curvature.The residual fluid saturation is negatively correlated with porosity and pore throat size,and positively correlated with tortuosity and aspect ratio.A large mean coordination number characterizing global connectivity promotes imbibition.However,high connectivity characterized by the standardized Euler number corresponding to small pores is associated with a high probability of non-wetting fluid trapping.
基金supported by National Natural Science Foundation of China(52122605,51936005)supported by the Fundamental Research Funds for the Central Universities(2023ZYGXZR027).
文摘Desiccant regeneration through saline evaporation is critical and major energy consumer in liquid desiccant dehumidification systems(LDDS)for indoor air conditioning.This study investigated the coupled heat and mass transfer behavior of saline droplet evaporation under forced convection,focusing on the enhancement effects of sweeping air(SA)and Marangoni effect.In-situ measurements and numerical simulations were performed,developing semi-empirical equations correlating evaporation rates with desiccant conditions and SA flowrates.By employing the equations considering SA’s impact on regeneration temperature,EnergyPlus simulation was conducted to evaluate the energy consumption of a typical office building in Guangzhou equipped with a temperature-humidity-independent control system incorporating LDDS.Results showed that SA significantly lowered the temperature required for high evaporation rates.At desiccant temperature of above 70℃,a strong thermal Marangoni effect resulted in enhanced evaporation,which increased with SA flowrates.At lower temperatures,forced convection still facilitates evaporation,though to a lesser extent,while also helping to prevent desiccant crystallization.EnergyPlus simulations revealed that if SA was incorporated into regeneration,substantial annual energy savings of up to 18.30%for LDDS can be achieved,with hourly savings ranging from 7.83 to 8.40 kW,peaking in August.Optimizing the SA flowrate is crucial,with ideal rates of around 3.5 m/s in high-humidity and 2.5 m/s in low-humidity conditions.This study deepens the understanding of non-isothermal droplet evaporation under forced convection,and establishes a significant bridge between saline evaporation and LDDS energy consumption assessment in practical buildings.
基金supported by the National Natural Science Foundation of China under Grant 62173314.
文摘This paper investigates control synthesis for motion planning under conditions of uncertainty,specifically in robot motion and environmental properties,which are modeled using a probabilistic labeled Markov decision process(PL-MDP).To address this,a model-free reinforcement learning(RL)approach is designed to produce a finite-memory control policy that meets complex tasks specified by linear temporal logic(LTL)formulas.Recognizing the presence of uncertainties and potentially conflicting objectives,this study centers on addressing infeasible LTL specifications.A relaxed LTL constraint enables the agent to adapt its motion plan,allowing for partial satisfaction by accounting for necessary task violations.Additionally,a new automaton structure is introduced to increase the density of accepting rewards,facilitating deterministic policy outcomes.The proposed RL framework is rigorously analyzed and prioritizes two key objectives:(1)satisfying the acceptance condition of the relaxed product MDP,and(2)minimizing long-term violation costs.Simulation and experimental results are presented to demonstrate the framework’s effectiveness and robustness.
基金Project supported by the National Natural Science Foundation of China (Nos. 12232005 and 12072101)the Ningxia Natural Science Foundation of China (No. 2024AAC04004)。
文摘The fracture behavior of superconducting tapes with central and edge oblique cracks subject to electromagnetic forces is investigated. Maxwell's equations and the critical state-Bean model are used to analytically determine the magnetic flux density and electromagnetic force distributions in superconducting tapes containing central and edge oblique cracks. The distributed dislocation technique(DDT) transforms the mixed boundary value problem into a Cauchy singular integral equation, which is then solved by the Gauss-Chebyshev quadrature method to determine the stress intensity factors(SIFs).The model's accuracy is validated by comparing the calculated electromagnetic force distribution for the edge oblique crack and the SIFs for both crack types with the existing results. The findings indicate that the current and electromagnetic forces are significantly affected by the crack length and oblique angle. Specifically, for central oblique cracks, a smaller oblique angle enhances the risk of crack propagation, and a higher initial magnetization intensity poses greater danger under field cooling(FC) excitation. In contrast, for edge oblique cracks, a larger angle increases the likelihood of tape fractures. This study provides important insights into the fracture behavior and mechanical failure mechanisms of superconducting tapes with oblique cracks.
基金Open access funding provided by Chalmers University of Technology.
文摘Nanostructured dielectric metasurfaces offer unprecedented opportunities to control light-matter momentum exchange,and thereby the forces and torques that light can exert on matter.Here we introduce optical metasurfaces as components of ultracompact untethered microscopic metaspinners capable of efficient light-induced rotation in a liquid environment.Iluminated by weakly focused light,a metaspinner generates torque via photon recoil through the metasurfaces'ability to bend light towards high angles despite their sub-wavelength thickness,thereby creating orbital angular momentum.We find that a metaspinner is subject to an anomalous transverse lateral optical gradient force that acts in concert with the classical gradient force.Consequently,when two or more metaspinners are trapped together in a laser beam,they collectively orbit the optical axis in the opposite direction to their spinning motion,in stark contrast to rotors coupled through hydrodynamic or mechanical interactions.The metaspinners delineated herein not only serve to llustrate the vast possibilities of utilizing optical metasurfaces for fundamental exploration of optical torques,but they also represent potential building-blocks of artificial active matter systems,light-driven micromachinery,and general-purpose optomechanical devices.
基金supported by the National Natural Science Foundation of China(Grant Nos.11932019,12388101,and 12102426).
文摘In this letter,the motion of small gas bubbles within sessile water drops on a vibrating substrate is investigatednumerically using a two-phase diffuse interface method.Depending on the amplitude of the plate vibration,themotion of the gas bubbles falls into three distinct regimes:oscillating within the drop,sticking to the substrate,orescaping from the drop.In particular,the motion of oscillating bubbles follows a harmonic function,and is foundto be closely related to a combined effect of the deformation of the sessile drop and the vibration of the plate.Tointerpret the underlying mechanism,we analyze the dominant forces acting on the bubbles in the non-inertialframework fixed to the plate,and take account of the periodic deformation of the drop,which effectively inducesflow acceleration inside the drop.As a result,we establish a theoretical model to predict the bubble motion,andcorrelate the amplitude and phase difference of the bubble with the Bond and Strouhal numbers.The theoreticalprediction agrees with our numerical results.These findings and theoretical analysis provide new insights intocontrolling bubble motion in sessile drops.
