Autonomous underwater vehicles (AUVs) navigating in complex sea conditions usually require a strong control system to keep the fastness and stability. The nonlinear trajectory tracking control system of a new AUV in c...Autonomous underwater vehicles (AUVs) navigating in complex sea conditions usually require a strong control system to keep the fastness and stability. The nonlinear trajectory tracking control system of a new AUV in complex sea conditions was presented. According to the theory of submarines,the six-DOF kinematic and dynamic models were decomposed into two mutually non-coupled vertical and horizontal plane subsystems. Then,different sliding mode control algorithms were used to study the trajectory tracking control. Because the yaw angle and yaw angle rate rather than the displacement of the new AUV can be measured directly on the horizontal plane,the sliding mode control algorithm combining cross track error method and line of sight method was used to fulfill its high-precision trajectory tracking control in the complex sea conditions. As the vertical displacement of the new AUV can be measured,in order to achieve the tracking of time-varying depth signal,a stable sliding mode controller was designed based on the single-input multi-state system,which took into account the characteristic of the hydroplane and the amplitude and rate constraints of the hydroplane angle. Moreover,the application of dynamic boundary layer can improve the robustness and control accuracy of the system. The computational results show that the designed sliding mode control systems of the horizontal and vertical planes can ensure the trajectory tracking performance and accuracy of the new AUV in complex sea conditions. The impacts of currents and waves on the sliding mode controller of the new AUV were analyzed qualitatively and quantitatively by comparing the trajectory tracking performance of the new AUV in different sea conditions,which provides an effective theoretical guidance and technical support for the control system design of the new AUV in real complex environment.展开更多
Stiffness degradation will occur due to the generation of accumulated pore pressure in saturated soft clays under cyclic loading. The soil static-dynamic multi-purpose triaxial and torsional shear apparatus in Dalian ...Stiffness degradation will occur due to the generation of accumulated pore pressure in saturated soft clays under cyclic loading. The soil static-dynamic multi-purpose triaxial and torsional shear apparatus in Dalian University of Technology was employed to perform different types of test on the saturated soft marine clay in the Yangtze Estuary. Undisturbed samples of the clay were subjected to undrained cyclic vertical and torsional coupling shear and cyclic torsional shear after three-directional anisotropic consolidation with different initial consolidation parameters. Investigated were the effects of the initial orientation angle of the major principal stress, initial ratio of deviatoric stress, initial coefficient of intermediate principal stress and continuous rotation of principal stress axes on the stiffness degradation. It is found that the degradation index decreases （or degradation degree increases） significantly with increasing initial orientation angle of the major principal stress and initial ratio of deviatoric stress. Compared with the effects of the initial orientation angle of the major principal stress and initial ratio of deviatoric stress, the effect of initial coefficient of intermediate principal stress is less evident and this trend is more clearly reflected by the results of the cyclic torsional shear tests than those of the cyclic coupling shear tests. At the same cycle number, the degradation index obtained from the cyclic torsional shear test is higher than that from the cyclic coupling shear test. The main reason is that the continuous rotation in principal stress directions during cyclic coupling shear damages the original structure of the soil more than the cyclic torsional shear does.Based on a series of experiments, a mathematical model for stiffness degradation is proposed and the relevant parameters are determined.展开更多
The methods combined by test, field monitoring and theoretical analysis were adopted to do the systemic research on the rock mass from micro-structure to macro-deformation, and rheological model of Jinchuan rock mass ...The methods combined by test, field monitoring and theoretical analysis were adopted to do the systemic research on the rock mass from micro-structure to macro-deformation, and rheological model of Jinchuan rock mass was established to discuss the reasonable supporting time. Resuhs show that supporting after suitable stress and displacement release can benefit for the long-term stability of surrounding rock.展开更多
Improvement of the fluidity and setting time of grouting materials has been recognized as an effective approach of seepage prevention in foundation works, and it is quite common to be used for handling severe leakages...Improvement of the fluidity and setting time of grouting materials has been recognized as an effective approach of seepage prevention in foundation works, and it is quite common to be used for handling severe leakages in complex ground conditions, such as loose, broken and fully fissured stratum. For the purposed of better meeting the engineering requirements, experimental studies were conducted in this study with focus on the nanocomposite grouting materials and the related controlled grouting technology. As compared with the commonly used silicate-sulpho-aluminate composite cement, which is characterized by relatively poor rheological property, quick setting time and low strength, the most suitable nano-material with proper reactants were selected intentionally to improve the mentioned attributes of composite cement. Due to the setting time and strength of the targeted cement slurry behaving with poor performance of harmonization to engineering construction problems, hydration synergistic effect of these composites were investigated in our experiments. Results showed that the properties of grouting materials, including initial fluidity, setting time, ideal right-angle thickening, and early strength and late strength were sufficient to produce an expected grouting application. It is therefore advocated that the refined grouting material could provide a better solution to fix grouting problems in complex ground cementing operations.展开更多
The mobility of the vectored thruster AUV in different environment is the important premise of control system design. The new type of autonomous underwater vehicle (AUV) equipped with rudders and vectored thrusters wh...The mobility of the vectored thruster AUV in different environment is the important premise of control system design. The new type of autonomous underwater vehicle (AUV) equipped with rudders and vectored thrusters which are combined to control the course is studied. Firstly, Euler angles representation and quaternion method are applied to establish six-DOF kinematic model respectively, then Newton second law and Lagrangian approach are used to deduce the vectored thruster AUV’s nonlinear dynamic equations with six degrees of freedom (DOF) respectively in complex sea conditions based on the random wave theory according to the structural and kinetic characteristics of the vectored thruster AUV in this paper. The kinematic models and dynamic models based on different theories have the same expression and conclusion, which shows that the kinematic models and dynamic models of the vectored thruster AUV are accurate. The Runge-Kutta arithmetic is used to solve the dynamic equations, which not only can simulate the motions such as cruise and hover but also can describe the vehicle’s low-frequency and high-frequency motion. The results of computation show that the mobility of the vectored thruster AUV in interference-free environment and the integrated signals including low-frequency motion signal and high-frequency motion signal in environmental disturbance accord with practical situation, which not only solve the problem of especial singularities when the pitch angle θ = ±90° but also clears up the difficulties of computation and display of the coupled nonlinear motion equations in complex sea conditions. Moreover, the high maneuverability of the vectored thruster AUV equipped with rudders and vectored thrusters is validated, which lays a foundation for the control system design.展开更多
Flexible conductive fibers are essential for wearable electronics and smart electronic textiles.However,in complex operating conditions,conductive fibers will inevitably fracture or damage.Herein,we have developed an ...Flexible conductive fibers are essential for wearable electronics and smart electronic textiles.However,in complex operating conditions,conductive fibers will inevitably fracture or damage.Herein,we have developed an elastic conductive self-healable fiber(C-SHF),of which the electrical and mechanical properties can efficiently heal in a wide operating range,including room temperature,underwater,and low temperature.This advantage can be owed to the combination of reversible covalent imine bond and disulfide bond,as well as the instantaneous self-healing ability of liquid metal.The C-SHF,with stretchability,conductivity stability,and universal self-healing properties,can be used as an electrical signal transmission line at high strain and under different operating conditions.Besides,C-SHF was assembled into a double-layer capacitor structure to construct a self-healable sensor,which can effectively respond to pressure as a wearable motion detector.展开更多
The application of advanced high strength steel （AHSS） has an important significance in the development of the lightweight of automobile, but the parts made of AHSS usually have defects, such as fracture and large a...The application of advanced high strength steel （AHSS） has an important significance in the development of the lightweight of automobile, but the parts made of AHSS usually have defects, such as fracture and large amount of springback, etc. In this paper, a model of multi-pass roll form- ing and springback process of AHSS is established with finite element software ABAQUS. Then a roll forming experiment is performed, and simulation and experimental results have been compared and analyzed. The model is established under complex contact conditions, including self-contact condi- tion. The results shows that during the process of sheet bending, large Mises stresses appear at ben- ding corners. The smaller the bending radius is, the larger the Mises stress and strain are. Thick- ness of sheet metal changes exceeds a certain limit, the differently if the bending radius is different. When the bending radius change tendency of the sheet thickness turns from increase to decrease.展开更多
There exists a critical cyclic stress ratio when sand or clay is subjected to cyclic loading. It is an index dis-tinguishing stable state or failure state. The soil static and dynamic universal triaxial and torsional ...There exists a critical cyclic stress ratio when sand or clay is subjected to cyclic loading. It is an index dis-tinguishing stable state or failure state. The soil static and dynamic universal triaxial and torsional shear apparatus de-veloped by Dalian University of Technology in China was employed to perform different types of tests on saturated soft marine clay in the Yangtze estuary. Undisturbed samples were subjected to undrained cyclic vertical and torsional coupling shear and cyclic torsional shear after three-directional anisotropic consolidation with different initial consoli-dation parameters. The effects of initial orientation angle of major principal stress, initial ratio of deviatoric stress,initial coefficient of intermediate principal stress and stress mode of cyclic shear on the critical cyclic stress ratio wereinvestigated. It is found that the critical cyclic stress ratio decreases significantly with increasing initial orientation angle of major principal stress and initial ratio of deviatoric stress. Compared with the effects of the initial orientationangle of major principal stress and initial ratio of deviatoric stress, the effect of initial coefficient of intermediate prin-cipal stress is less evident. Under the same consolidation condition, the critical cyclic stress ratio from the cyclic cou-pling shear test is lower than that from the cyclic torsional shear test, indicating that the stress mode of cyclic shear has an obvious effect on the critical cyclic stress ratio. The main reason is that the continuous rotation in principal stressdirections during cyclic coupling shear damages the original structure of soil more than the cyclic torsional shear does.展开更多
The further development of society depends on the support of energy. Based on China's economic construction system, the importance of coal mines can not be ignored. With the increasing demand for coal, the demand ...The further development of society depends on the support of energy. Based on China's economic construction system, the importance of coal mines can not be ignored. With the increasing demand for coal, the demand for mining is also increasing. Therefore, it is necessary to maintain the safety and stability of coal mining with the help of tunneling support technology, and complete the core goal of coal mining under complex geological conditions. Based on this, this paper explores the efficient coal mine excavation support technology in complex terrain, hoping to provide some feasible reference opinions for the majority of colleagues.展开更多
Complex conditional statement is one of the bad code smells, which affects the quality of the code and design of software. In the proposed approach, two commonly-used design patterns for handling complex conditional s...Complex conditional statement is one of the bad code smells, which affects the quality of the code and design of software. In the proposed approach, two commonly-used design patterns for handling complex conditional statements are selected, and they are the factory method pattern and the strategy pattem. Two pattern-directed refactoring approaches based on the two design patterns are proposed. Each approach contains a refactoring opportunities identification algorithm and an automated refactoring algorithm. After parsing the abstract syntax tree generated from source code, the refactoring opportunities are identified effectively and automatically. Then, for candidate code, refactoring algorithms are executed automatically, which are used to simplify or remove complex conditional statements. By empirical analysis and quality assessment, the code after refactoring has better maintainability and extensibility, and the proposed approach for automated pattern-directed refactoring succeeds to reduce code size and complexity of classes.展开更多
This foundation pit project is located in the flood plain area of the Yangtze River in Hexi, Nanjing, with complicated geological conditions, high underground water level, ultra-thick sand layer and rock entry. The fo...This foundation pit project is located in the flood plain area of the Yangtze River in Hexi, Nanjing, with complicated geological conditions, high underground water level, ultra-thick sand layer and rock entry. The foundation pit adopts a 50m-deep TRD underground water soil mixing wall and a 15m-deep MJS construction pile as the waterproof curtain outside the foundation pit. This paper discusses the construction technology of TRD combined with MJS waterproof curtain and the technical measures such as design optimization, equipment configuration, main process parameters, construction points, construction difficulties and treatment measures in the construction process, which largely solves the difficult problems of crossing ultra-deep fine sand layer, gravel layer and eventually entering rock, and the construction is difficult, and achieves good construction effect.展开更多
With the reform and improvement of China's economic system, the domestic economic level has been effectively improved, while the construction of urban infrastructure is also more perfect. In order to effectively s...With the reform and improvement of China's economic system, the domestic economic level has been effectively improved, while the construction of urban infrastructure is also more perfect. In order to effectively solve the problem of urban traffic congestion and speed up urban development, most cities in our country have opened subway traffic to improve traffic conditions through the construction of underground traffic. As there are many subway construction methods, shield method, as a key construction technology, has the advantage that it does not need to excavate a foundation pit, so it does not have a direct impact on the ground transportation, and it can also reduce the relocation of pipelines, and it also has certain advantages in controlling settlement and deformation. However, the complicated geological environment in the underground construction poses new challenges to the subway construction. This paper mainly analyzes the shield construction technology of subway under complicated geological conditions and explores effective solutions.展开更多
The mechanical behaviors of deep rocks have always posed a challenge for the implementation and safe operation of major underground engineering projects.To this end,this study modified the existing mainstream rock mec...The mechanical behaviors of deep rocks have always posed a challenge for the implementation and safe operation of major underground engineering projects.To this end,this study modified the existing mainstream rock mechanics instruments equipped with a dynamic disturbance loading system and developed a second‐generation TFD‐2000/D triaxial instrument.The first‐generation device is equipped with an independent disturbance system and an advanced EDC‐580 all‐digital servo controller,which can apply disturbing load independently,implement the function of cyclic disturbance,and combine dynamic and static disturbances.The instrument was found to be reliable for use in analyzing the damage process of rocks in the disturbance test of marbles.The second‐generation instrument tackles three limitations of the first‐generation instrument:(i)it upgrades the strain measurement system and uses extensometers with linear variable differential transformers to accurately measure deformation;(ii)it uses the self‐balanced chamber to replace the Hoek–Franklin triaxial cell and auto‐balancing triaxial pressure chamber;and(iii)the loading rod is independently equipped with an EDC‐580 all‐digital servo controller,which measures precise loads.The experimental findings confirmed that the second‐generation instrument can be used for rock mechanics testing under cyclic disturbance loading,the disturbance–stress relaxation cycle,and the creep–fatigue cycle.In this sense,the second‐generation instrument can be a useful addition to deep rock mechanical instruments and provide a valuable reference.展开更多
Pipeline transport of hydrogen is one of today’s economic and environmental challenges.In order to find safe and reliable application of both existing gas and build new pipelines,it is essential to carry out tests on...Pipeline transport of hydrogen is one of today’s economic and environmental challenges.In order to find safe and reliable application of both existing gas and build new pipelines,it is essential to carry out tests on full-scale pipeline section,including the potentially more dangerous places than the main pipe,the girth welds.For the investigations,pipeline sections of P355NH steel with girth welds were prepared and exposed to pure hydrogen at twice the maximum allowable operating pressure for 41 days.Subsequently,full-scale burst tests were carried out and specimens were cut and prepared from the typical locations of the failed pipeline sections for mechanical,and macro-and microstructural investigations.The results obtained were evaluated and compared with data from previous full-scale tests on pipeline sections without hydrogen exposure.The results showed differences in the behavior of pipeline sections loaded in different ways,with different characteristics of the materials and the welded joints,both in the cases without hydrogen exposure and in the cases exposed to hydrogen.展开更多
Levee or dam failure can cause a significant disaster in most cases. A good prediction of the flood process especially in a real complex terrain is necessary for working out emergency plans for levee or dam breaches. ...Levee or dam failure can cause a significant disaster in most cases. A good prediction of the flood process especially in a real complex terrain is necessary for working out emergency plans for levee or dam breaches. Numerical simulations of levee or dam breach flow were carried out often with constant flow parameters and in relatively simple channels rather than in natural rivers with complex boundaries. This article presents our dedicated studies on the 2-D numerical model of levee or dam breach hydraulics with finite difference schemes. The good performance of the model is demonstrated by comparisons with the theoretical solution of an idealized dam-break flow over a frictionless flat rectangular channel. The model is also validated through its stability and conservation properties. The model is applied to simulate the flood propagation under complex boundary conditions, and the unsteady flood process in a river and in the dry floodplain with a complex bed terrain simultaneously. Furthermore, with respect to engineering practice, the numerical solutions can give special guidance to the effects of parameters such as the flood depth at different sites and the inundated area at different time periods after the levee breach and the travel time of the flood waves, which may be very important for practicing engineers in an efficient flood management.展开更多
As the mission needs of the autonomous underwater vehicles(AUV) have become increasingly varied and complex,the AUVs are developing in the direction of systematism, multifunction, and clustering technology, which prom...As the mission needs of the autonomous underwater vehicles(AUV) have become increasingly varied and complex,the AUVs are developing in the direction of systematism, multifunction, and clustering technology, which promotes the progress of key technologies and proposes a series of technical problems. Therefore, it is necessary to make systemic analysis and in-depth study for the progress of AUV's key technologies and innovative applications. The multi-functional mission needs and its key technologies involved in complex sea conditions are pointed out through analyzing the domestic and foreign technical programs, functional characteristics and future development plans. Furthermore, the overall design of a multi-moving state AUV is proposed. Then, technical innovations of the key technologies, such as thrust vector, propeller design, kinematics and dynamics, navigation control, and ambient flow field characteristics, are made, combining with the structural characteristics and motion characteristics of the new multi-moving state AUV. The results verify the good performance of the multi-moving state AUV and provide a theoretical guidance and technical support for the design of new AUV in real complex sea conditions.展开更多
The transient tribological phenomenon and premature lubricant breakdown have been widely observed in metal forming,leading to excessive friction at the contact interfaces.In this research,the transient tribological be...The transient tribological phenomenon and premature lubricant breakdown have been widely observed in metal forming,leading to excessive friction at the contact interfaces.In this research,the transient tribological behaviour of a two-phase lubricant were studied under complex loading conditions,featuring abrupt interfacial temperature,contact load,and sliding speed changes,thus representing the severe interfacial conditions observed in warm/hot metal forming applications.The strong experimental evidence indicates that the evolution of friction was attributed to the physical diminution and chemical decomposition effects.As such,a visco-mechanochemical interactive friction model was developed to accurately predict the transient tribological behaviour of the two-phase lubricant under complex loading conditions.The new friction model exhibited close agreements between the modelling and experimental results.展开更多
Locating the marine target in a quick and precise way is the crucial point of implementing SAR （search and rescue） at sea, which involves aspects of developing SAR strategy and detects the marine targets. As the eff...Locating the marine target in a quick and precise way is the crucial point of implementing SAR （search and rescue） at sea, which involves aspects of developing SAR strategy and detects the marine targets. As the effect of marine target detection restricts the SAR result directly, the study has focused on reviewing the previous research about marine target detection, especially dim marine target detection. What＇s more, small target detection under complex sea status is one of the severe challenges which is research＇s hotspot and needs more endeavor. Current research results and future research directions are discussed in the paper. The findings can provide systematic view of implementing maritime search and rescue for field researchers and governors.展开更多
Accurate boundary conditions of composite material plates with different holes are founded to settle boundary condition problems of complex holes by conformal mapping method upon the nonhomogeneous anisotropic elastic...Accurate boundary conditions of composite material plates with different holes are founded to settle boundary condition problems of complex holes by conformal mapping method upon the nonhomogeneous anisotropic elastic and complex function theory. And then the two stress functions required were founded on Cauchy integral by boundary conditions. The final stress distributions of opening structure and the analytical solution on composite material plate with rectangle hole and wing manholes were achieved. The influences on hole-edge stress concentration factors are discussed under different loads and fiber direction cases, and then contrast calculates are carried through FEM.展开更多
Due to the influence of multiple factors such as internal and external formation and mechanical pressure, medium corrosion and construction operation environment, a tubing collapse failure occurred in an oil well. In ...Due to the influence of multiple factors such as internal and external formation and mechanical pressure, medium corrosion and construction operation environment, a tubing collapse failure occurred in an oil well. In order to determine the failure cause of the tubing, physical and chemical tests and mechanical properties analysis were carried out on the failed tubing sample and the intact tubing. The results show that the chemical composition, ultrasonic and magnetic particle inspection, metallographic test, Charpy impact energy and external pressure mechanical property test of the failed tubing all meet the requirements of API Spec 5CT-2021 standard, but the yield strength of the failed tubing does not meet the requirements of API Spec 5CT-2021 standard. Through the analysis of the working conditions, it can be seen that the anti-extrusion strength of the tubing collapse does not meet the API 5C3 anti-extrusion strength standard. The failure type of the well tubing is tubing collapse caused by large internal and external pressure difference.展开更多
基金Project(2006AA09Z235) supported by the National High Technology Research and Development Program of ChinaProject(CX2009B003) supported by Hunan Provincial Innovation Foundation For Postgraduates,China
文摘Autonomous underwater vehicles (AUVs) navigating in complex sea conditions usually require a strong control system to keep the fastness and stability. The nonlinear trajectory tracking control system of a new AUV in complex sea conditions was presented. According to the theory of submarines,the six-DOF kinematic and dynamic models were decomposed into two mutually non-coupled vertical and horizontal plane subsystems. Then,different sliding mode control algorithms were used to study the trajectory tracking control. Because the yaw angle and yaw angle rate rather than the displacement of the new AUV can be measured directly on the horizontal plane,the sliding mode control algorithm combining cross track error method and line of sight method was used to fulfill its high-precision trajectory tracking control in the complex sea conditions. As the vertical displacement of the new AUV can be measured,in order to achieve the tracking of time-varying depth signal,a stable sliding mode controller was designed based on the single-input multi-state system,which took into account the characteristic of the hydroplane and the amplitude and rate constraints of the hydroplane angle. Moreover,the application of dynamic boundary layer can improve the robustness and control accuracy of the system. The computational results show that the designed sliding mode control systems of the horizontal and vertical planes can ensure the trajectory tracking performance and accuracy of the new AUV in complex sea conditions. The impacts of currents and waves on the sliding mode controller of the new AUV were analyzed qualitatively and quantitatively by comparing the trajectory tracking performance of the new AUV in different sea conditions,which provides an effective theoretical guidance and technical support for the control system design of the new AUV in real complex environment.
基金supported bythe National Natural Science Foundation of China(Grant Nos.50579006,50639010 and 50909014)
文摘Stiffness degradation will occur due to the generation of accumulated pore pressure in saturated soft clays under cyclic loading. The soil static-dynamic multi-purpose triaxial and torsional shear apparatus in Dalian University of Technology was employed to perform different types of test on the saturated soft marine clay in the Yangtze Estuary. Undisturbed samples of the clay were subjected to undrained cyclic vertical and torsional coupling shear and cyclic torsional shear after three-directional anisotropic consolidation with different initial consolidation parameters. Investigated were the effects of the initial orientation angle of the major principal stress, initial ratio of deviatoric stress, initial coefficient of intermediate principal stress and continuous rotation of principal stress axes on the stiffness degradation. It is found that the degradation index decreases （or degradation degree increases） significantly with increasing initial orientation angle of the major principal stress and initial ratio of deviatoric stress. Compared with the effects of the initial orientation angle of the major principal stress and initial ratio of deviatoric stress, the effect of initial coefficient of intermediate principal stress is less evident and this trend is more clearly reflected by the results of the cyclic torsional shear tests than those of the cyclic coupling shear tests. At the same cycle number, the degradation index obtained from the cyclic torsional shear test is higher than that from the cyclic coupling shear test. The main reason is that the continuous rotation in principal stress directions during cyclic coupling shear damages the original structure of the soil more than the cyclic torsional shear does.Based on a series of experiments, a mathematical model for stiffness degradation is proposed and the relevant parameters are determined.
文摘The methods combined by test, field monitoring and theoretical analysis were adopted to do the systemic research on the rock mass from micro-structure to macro-deformation, and rheological model of Jinchuan rock mass was established to discuss the reasonable supporting time. Resuhs show that supporting after suitable stress and displacement release can benefit for the long-term stability of surrounding rock.
基金funded by National Natural Science of China (Grant Nos.41672362)Key Projects of Sichuan Provincial Department of Education (Grant No.16ZA0099)the State Key Laboratory of Geohazard Prevention & Geoenvironment Protection (Grant No.SKLGP2017Z011)
文摘Improvement of the fluidity and setting time of grouting materials has been recognized as an effective approach of seepage prevention in foundation works, and it is quite common to be used for handling severe leakages in complex ground conditions, such as loose, broken and fully fissured stratum. For the purposed of better meeting the engineering requirements, experimental studies were conducted in this study with focus on the nanocomposite grouting materials and the related controlled grouting technology. As compared with the commonly used silicate-sulpho-aluminate composite cement, which is characterized by relatively poor rheological property, quick setting time and low strength, the most suitable nano-material with proper reactants were selected intentionally to improve the mentioned attributes of composite cement. Due to the setting time and strength of the targeted cement slurry behaving with poor performance of harmonization to engineering construction problems, hydration synergistic effect of these composites were investigated in our experiments. Results showed that the properties of grouting materials, including initial fluidity, setting time, ideal right-angle thickening, and early strength and late strength were sufficient to produce an expected grouting application. It is therefore advocated that the refined grouting material could provide a better solution to fix grouting problems in complex ground cementing operations.
基金supported by National Hi-tech Research and Development Program of China(863 Program, Grant No. 2006AA09Z235)Hunan Provincial Innovation Foundation For Postgraduate of China(Grant No. CX2009B003)
文摘The mobility of the vectored thruster AUV in different environment is the important premise of control system design. The new type of autonomous underwater vehicle (AUV) equipped with rudders and vectored thrusters which are combined to control the course is studied. Firstly, Euler angles representation and quaternion method are applied to establish six-DOF kinematic model respectively, then Newton second law and Lagrangian approach are used to deduce the vectored thruster AUV’s nonlinear dynamic equations with six degrees of freedom (DOF) respectively in complex sea conditions based on the random wave theory according to the structural and kinetic characteristics of the vectored thruster AUV in this paper. The kinematic models and dynamic models based on different theories have the same expression and conclusion, which shows that the kinematic models and dynamic models of the vectored thruster AUV are accurate. The Runge-Kutta arithmetic is used to solve the dynamic equations, which not only can simulate the motions such as cruise and hover but also can describe the vehicle’s low-frequency and high-frequency motion. The results of computation show that the mobility of the vectored thruster AUV in interference-free environment and the integrated signals including low-frequency motion signal and high-frequency motion signal in environmental disturbance accord with practical situation, which not only solve the problem of especial singularities when the pitch angle θ = ±90° but also clears up the difficulties of computation and display of the coupled nonlinear motion equations in complex sea conditions. Moreover, the high maneuverability of the vectored thruster AUV equipped with rudders and vectored thrusters is validated, which lays a foundation for the control system design.
文摘Flexible conductive fibers are essential for wearable electronics and smart electronic textiles.However,in complex operating conditions,conductive fibers will inevitably fracture or damage.Herein,we have developed an elastic conductive self-healable fiber(C-SHF),of which the electrical and mechanical properties can efficiently heal in a wide operating range,including room temperature,underwater,and low temperature.This advantage can be owed to the combination of reversible covalent imine bond and disulfide bond,as well as the instantaneous self-healing ability of liquid metal.The C-SHF,with stretchability,conductivity stability,and universal self-healing properties,can be used as an electrical signal transmission line at high strain and under different operating conditions.Besides,C-SHF was assembled into a double-layer capacitor structure to construct a self-healable sensor,which can effectively respond to pressure as a wearable motion detector.
基金Supported by the National Natural Science Foundation of China(No.51205004,51475003)Beijing Natural Science Foundation(No.3152010)Beijing Education Committee Science and Technology Program(No.KM201510009004)
文摘The application of advanced high strength steel （AHSS） has an important significance in the development of the lightweight of automobile, but the parts made of AHSS usually have defects, such as fracture and large amount of springback, etc. In this paper, a model of multi-pass roll form- ing and springback process of AHSS is established with finite element software ABAQUS. Then a roll forming experiment is performed, and simulation and experimental results have been compared and analyzed. The model is established under complex contact conditions, including self-contact condi- tion. The results shows that during the process of sheet bending, large Mises stresses appear at ben- ding corners. The smaller the bending radius is, the larger the Mises stress and strain are. Thick- ness of sheet metal changes exceeds a certain limit, the differently if the bending radius is different. When the bending radius change tendency of the sheet thickness turns from increase to decrease.
基金Supported by National Natural Science Foundation of China (No. 50639010, 50779003 and 50909014)
文摘There exists a critical cyclic stress ratio when sand or clay is subjected to cyclic loading. It is an index dis-tinguishing stable state or failure state. The soil static and dynamic universal triaxial and torsional shear apparatus de-veloped by Dalian University of Technology in China was employed to perform different types of tests on saturated soft marine clay in the Yangtze estuary. Undisturbed samples were subjected to undrained cyclic vertical and torsional coupling shear and cyclic torsional shear after three-directional anisotropic consolidation with different initial consoli-dation parameters. The effects of initial orientation angle of major principal stress, initial ratio of deviatoric stress,initial coefficient of intermediate principal stress and stress mode of cyclic shear on the critical cyclic stress ratio wereinvestigated. It is found that the critical cyclic stress ratio decreases significantly with increasing initial orientation angle of major principal stress and initial ratio of deviatoric stress. Compared with the effects of the initial orientationangle of major principal stress and initial ratio of deviatoric stress, the effect of initial coefficient of intermediate prin-cipal stress is less evident. Under the same consolidation condition, the critical cyclic stress ratio from the cyclic cou-pling shear test is lower than that from the cyclic torsional shear test, indicating that the stress mode of cyclic shear has an obvious effect on the critical cyclic stress ratio. The main reason is that the continuous rotation in principal stressdirections during cyclic coupling shear damages the original structure of soil more than the cyclic torsional shear does.
文摘The further development of society depends on the support of energy. Based on China's economic construction system, the importance of coal mines can not be ignored. With the increasing demand for coal, the demand for mining is also increasing. Therefore, it is necessary to maintain the safety and stability of coal mining with the help of tunneling support technology, and complete the core goal of coal mining under complex geological conditions. Based on this, this paper explores the efficient coal mine excavation support technology in complex terrain, hoping to provide some feasible reference opinions for the majority of colleagues.
文摘Complex conditional statement is one of the bad code smells, which affects the quality of the code and design of software. In the proposed approach, two commonly-used design patterns for handling complex conditional statements are selected, and they are the factory method pattern and the strategy pattem. Two pattern-directed refactoring approaches based on the two design patterns are proposed. Each approach contains a refactoring opportunities identification algorithm and an automated refactoring algorithm. After parsing the abstract syntax tree generated from source code, the refactoring opportunities are identified effectively and automatically. Then, for candidate code, refactoring algorithms are executed automatically, which are used to simplify or remove complex conditional statements. By empirical analysis and quality assessment, the code after refactoring has better maintainability and extensibility, and the proposed approach for automated pattern-directed refactoring succeeds to reduce code size and complexity of classes.
文摘This foundation pit project is located in the flood plain area of the Yangtze River in Hexi, Nanjing, with complicated geological conditions, high underground water level, ultra-thick sand layer and rock entry. The foundation pit adopts a 50m-deep TRD underground water soil mixing wall and a 15m-deep MJS construction pile as the waterproof curtain outside the foundation pit. This paper discusses the construction technology of TRD combined with MJS waterproof curtain and the technical measures such as design optimization, equipment configuration, main process parameters, construction points, construction difficulties and treatment measures in the construction process, which largely solves the difficult problems of crossing ultra-deep fine sand layer, gravel layer and eventually entering rock, and the construction is difficult, and achieves good construction effect.
文摘With the reform and improvement of China's economic system, the domestic economic level has been effectively improved, while the construction of urban infrastructure is also more perfect. In order to effectively solve the problem of urban traffic congestion and speed up urban development, most cities in our country have opened subway traffic to improve traffic conditions through the construction of underground traffic. As there are many subway construction methods, shield method, as a key construction technology, has the advantage that it does not need to excavate a foundation pit, so it does not have a direct impact on the ground transportation, and it can also reduce the relocation of pipelines, and it also has certain advantages in controlling settlement and deformation. However, the complicated geological environment in the underground construction poses new challenges to the subway construction. This paper mainly analyzes the shield construction technology of subway under complicated geological conditions and explores effective solutions.
基金financial support from the National Natural Science Foundation of China(52278351 and 51978292).
文摘The mechanical behaviors of deep rocks have always posed a challenge for the implementation and safe operation of major underground engineering projects.To this end,this study modified the existing mainstream rock mechanics instruments equipped with a dynamic disturbance loading system and developed a second‐generation TFD‐2000/D triaxial instrument.The first‐generation device is equipped with an independent disturbance system and an advanced EDC‐580 all‐digital servo controller,which can apply disturbing load independently,implement the function of cyclic disturbance,and combine dynamic and static disturbances.The instrument was found to be reliable for use in analyzing the damage process of rocks in the disturbance test of marbles.The second‐generation instrument tackles three limitations of the first‐generation instrument:(i)it upgrades the strain measurement system and uses extensometers with linear variable differential transformers to accurately measure deformation;(ii)it uses the self‐balanced chamber to replace the Hoek–Franklin triaxial cell and auto‐balancing triaxial pressure chamber;and(iii)the loading rod is independently equipped with an EDC‐580 all‐digital servo controller,which measures precise loads.The experimental findings confirmed that the second‐generation instrument can be used for rock mechanics testing under cyclic disturbance loading,the disturbance–stress relaxation cycle,and the creep–fatigue cycle.In this sense,the second‐generation instrument can be a useful addition to deep rock mechanical instruments and provide a valuable reference.
基金supported by the European Union and the Hungarian State,co-financed by the European Structural and Investment Funds in the framework of the GINOP-2.3.4-15-2016-00004 project。
文摘Pipeline transport of hydrogen is one of today’s economic and environmental challenges.In order to find safe and reliable application of both existing gas and build new pipelines,it is essential to carry out tests on full-scale pipeline section,including the potentially more dangerous places than the main pipe,the girth welds.For the investigations,pipeline sections of P355NH steel with girth welds were prepared and exposed to pure hydrogen at twice the maximum allowable operating pressure for 41 days.Subsequently,full-scale burst tests were carried out and specimens were cut and prepared from the typical locations of the failed pipeline sections for mechanical,and macro-and microstructural investigations.The results obtained were evaluated and compared with data from previous full-scale tests on pipeline sections without hydrogen exposure.The results showed differences in the behavior of pipeline sections loaded in different ways,with different characteristics of the materials and the welded joints,both in the cases without hydrogen exposure and in the cases exposed to hydrogen.
基金supported by the National Basic Research and Development Program of China (973 Program,Grant No.2007CB714100)
文摘Levee or dam failure can cause a significant disaster in most cases. A good prediction of the flood process especially in a real complex terrain is necessary for working out emergency plans for levee or dam breaches. Numerical simulations of levee or dam breach flow were carried out often with constant flow parameters and in relatively simple channels rather than in natural rivers with complex boundaries. This article presents our dedicated studies on the 2-D numerical model of levee or dam breach hydraulics with finite difference schemes. The good performance of the model is demonstrated by comparisons with the theoretical solution of an idealized dam-break flow over a frictionless flat rectangular channel. The model is also validated through its stability and conservation properties. The model is applied to simulate the flood propagation under complex boundary conditions, and the unsteady flood process in a river and in the dry floodplain with a complex bed terrain simultaneously. Furthermore, with respect to engineering practice, the numerical solutions can give special guidance to the effects of parameters such as the flood depth at different sites and the inundated area at different time periods after the levee breach and the travel time of the flood waves, which may be very important for practicing engineers in an efficient flood management.
基金Project(ZR2014EEP019) supported by the Natural Science Foundation of Shandong Province,ChinaProject(51505491) supported by the National Natural Science Foundation of China
文摘As the mission needs of the autonomous underwater vehicles(AUV) have become increasingly varied and complex,the AUVs are developing in the direction of systematism, multifunction, and clustering technology, which promotes the progress of key technologies and proposes a series of technical problems. Therefore, it is necessary to make systemic analysis and in-depth study for the progress of AUV's key technologies and innovative applications. The multi-functional mission needs and its key technologies involved in complex sea conditions are pointed out through analyzing the domestic and foreign technical programs, functional characteristics and future development plans. Furthermore, the overall design of a multi-moving state AUV is proposed. Then, technical innovations of the key technologies, such as thrust vector, propeller design, kinematics and dynamics, navigation control, and ambient flow field characteristics, are made, combining with the structural characteristics and motion characteristics of the new multi-moving state AUV. The results verify the good performance of the multi-moving state AUV and provide a theoretical guidance and technical support for the design of new AUV in real complex sea conditions.
文摘The transient tribological phenomenon and premature lubricant breakdown have been widely observed in metal forming,leading to excessive friction at the contact interfaces.In this research,the transient tribological behaviour of a two-phase lubricant were studied under complex loading conditions,featuring abrupt interfacial temperature,contact load,and sliding speed changes,thus representing the severe interfacial conditions observed in warm/hot metal forming applications.The strong experimental evidence indicates that the evolution of friction was attributed to the physical diminution and chemical decomposition effects.As such,a visco-mechanochemical interactive friction model was developed to accurately predict the transient tribological behaviour of the two-phase lubricant under complex loading conditions.The new friction model exhibited close agreements between the modelling and experimental results.
基金The authors appreciate the project support from China Scholarship Council, and the National Natural Science Foundation of China （51579143, 51379121, 61304230）, Shanghai Shuguang Plan Project （No： 15SG44） and China Postdoctoral Foundation （No. 2015M581585）.
文摘Locating the marine target in a quick and precise way is the crucial point of implementing SAR （search and rescue） at sea, which involves aspects of developing SAR strategy and detects the marine targets. As the effect of marine target detection restricts the SAR result directly, the study has focused on reviewing the previous research about marine target detection, especially dim marine target detection. What＇s more, small target detection under complex sea status is one of the severe challenges which is research＇s hotspot and needs more endeavor. Current research results and future research directions are discussed in the paper. The findings can provide systematic view of implementing maritime search and rescue for field researchers and governors.
基金This project is supported by National Natural Science Foundation of China(No.50175031).
文摘Accurate boundary conditions of composite material plates with different holes are founded to settle boundary condition problems of complex holes by conformal mapping method upon the nonhomogeneous anisotropic elastic and complex function theory. And then the two stress functions required were founded on Cauchy integral by boundary conditions. The final stress distributions of opening structure and the analytical solution on composite material plate with rectangle hole and wing manholes were achieved. The influences on hole-edge stress concentration factors are discussed under different loads and fiber direction cases, and then contrast calculates are carried through FEM.
文摘Due to the influence of multiple factors such as internal and external formation and mechanical pressure, medium corrosion and construction operation environment, a tubing collapse failure occurred in an oil well. In order to determine the failure cause of the tubing, physical and chemical tests and mechanical properties analysis were carried out on the failed tubing sample and the intact tubing. The results show that the chemical composition, ultrasonic and magnetic particle inspection, metallographic test, Charpy impact energy and external pressure mechanical property test of the failed tubing all meet the requirements of API Spec 5CT-2021 standard, but the yield strength of the failed tubing does not meet the requirements of API Spec 5CT-2021 standard. Through the analysis of the working conditions, it can be seen that the anti-extrusion strength of the tubing collapse does not meet the API 5C3 anti-extrusion strength standard. The failure type of the well tubing is tubing collapse caused by large internal and external pressure difference.
