Experimental Investigation on the Hydraulic Characteristics of the Two-Phase Flow in the Intersecting Rock Fractures

An appropriate understanding of the hydraulic characteristics of the two-phase flow in the rock fracture network is important in many engineering applications. To investigate the two-phase flow in the fracture network, a study on the two-phase flow characteristics in the intersecting fractures is necessary. In order to describe the two-phase flow in the intersecting fractures quantitatively, in this study, a gas-water two-phase flow experiment was conducted in a smooth 3D model with intersecting fractures. The results in this specific 3D model show that the flow structures in the intersecting fractures were similar to those of the stratified wavy flow in pipes. The nonlinearity induced by inertial force and turbulence in the intersecting fractures cannot be neglected in the two-phase flow, and the Martinelli-Lockhart model is effective for the two-phase flow in intersecting fractures. Delhaye’s model can be adapted for the cases in this experiment. The turbulence of the flow can be indicated by the values of C in Delhaye’s model, but resetting the appropriate range of the values of C is necessary.

Dynamic Modeling and Experimental Validation of a Water Hydraulic Soft Manipulator Based on an Improved Newton—Euler Iterative Method

Compared with rigid robots, soft robots have better adaptability to the environment because of their pliability. However, due to the lower structural stiffness of the soft manipulator, the posture of the manipulator is usually decided by the weight and the external load under operating conditions. Therefore, it is necessary to conduct dynamics modeling and movement analysis of the soft manipulator. In this paper, a fabric reinforced soft manipulator driven by a water hydraulic system is firstly proposed, and the dynamics of both the soft manipulator and hydraulic system are considered. Specifically, a dynamic model of the soft manipulator is established based on an improved Newton–Euler iterative method, which comprehensively considers the influence of inertial force, elastic force, damping force, as well as combined bending and torsion moments. The dynamics of the water hydraulic system consider the effects of cylinder inertia, friction, and water response. Finally, the accuracy of the proposed dynamic model is verified by comparing the simulation results with the experimental data about the steady and dynamic characteristics of the soft manipulator under various conditions. The results show that the maximum sectional error is about 0.0245 m and that the maximum cumulative error is 0.042 m, which validate the effectiveness of the proposed model.

Experimental Study on the Evolution Mechanism of Landslide with Retaining Wall Locked Segment

The failure of locked segment-type slopes is often affected by rainfall, earthquake, and other external loads. Rainfall scours the slope and weakens the mechanical properties of rock-soil mass. At the same time, rainfall infiltrates into cracks of slope rock mass. Under the action of in situ stress, hydraulic fracturing leads to the development and expansion of rock cracks, which increases the risk of slope instability. Under seismic force, the slope will be subjected to large horizontal inertial force, resulting in slope instability. In this paper, a self-developed loading device was used to simulate the external loads such as rainfall and earthquake, and the model tests are carried out to study the evolution mechanism of landslide with retaining wall locked segment. Three-dimensional laser scanner, microearth pressure sensors, and high-definition camera are applied for the high-precision monitoring of slope shape, deformation, and stress. Test results show that the retaining wall locked segment has an important control effect on landslide stability. The characteristics of deformation evolution and stress response of landslide with retaining wall locked segment are analyzed and studied by changing the slope shape, earth pressure, and the displacement cloud map. The evolutionary process of landslide with retaining wall locked segment is summarized. Experimental results reveal that as the landslide with retaining wall locked segment is at failure, the upper part of the landslide thrusts and slides and the retaining wall produces a locking effect; the middle part extrudes and uplifts, which is accompanied with shallow sliding; and compression-shear fracture of the locked segment leads to the landslide failure.

Payload Identification and Gravity/Inertial Compensation for Six-Dimensional Force/Torque Sensor with a Fast and Robust Trajectory Design Approach

In the robot contact operation, the robot relies on the multi-dimensional force/torque sensor installed at the end to sense the external contact force. When the effective load and speed of the robot are large, the gravity/inertial force generated by it will have a non-negligible impact on the output of the force sensor, which will seriously affect the accuracy and effect of the force control. The existing identification algorithm time is often longer, which also affects the efficiency of force control operations. In this paper, a self-developed multi-dimensional force sensor with integrated gravity/inertial force sensing function is used to directly measure the resultant force. Further, a method for the rapid identification of payload based on excitation trajectory is proposed. Firstly, both a gravity compensation algorithm and an inertial force compensation algorithm are introduced. Secondly, the optimal spatial recognition pose based on the excitation trajectory was designed, and the excitation trajectory of each joint is represented by a finite Fourier series. The least square method is used to calculate the identification parameters of the load, the gravity, and inertial force. Finally, the experiment was verified on the robot. The experimental results show that the algorithm can quickly identify the payload, and it is faster and more accurate than other algorithms.

IPGM: Inertial Proximal Gradient Method for Convolutional Dictionary Learning

Inspired by the recent success of the proximal gradient method (PGM) and recent efforts to develop an inertial algorithm, we propose an inertial PGM (IPGM) for convolutional dictionary learning (CDL) by jointly optimizing both an ℓ2-norm data fidelity term and a sparsity term that enforces an ℓ1 penalty. Contrary to other CDL methods, in the proposed approach, the dictionary and needles are updated with an inertial force by the PGM. We obtain a novel derivative formula for the needles and dictionary with respect to the data fidelity term. At the same time, a gradient descent step is designed to add an inertial term. The proximal operation uses the thresholding operation for needles and projects the dictionary to a unit-norm sphere. We prove the convergence property of the proposed IPGM algorithm in a backtracking case. Simulation results show that the proposed IPGM achieves better performance than the PGM and slice-based methods that possess the same structure and are optimized using the alternating-direction method of multipliers (ADMM).

Dynamic behavior of pile-supported wharves by slope failure during earthquake via centrifuge tests

The effects of earthquakes on pile-supported wharves include damage to piles by inertial forces acting on the superstructure, and damage caused by horizontal displacement of retaining walls. Piles can also be damaged through kinematic forces generated by slope failure. Such forces are significant but it is difficult to clearly explain pile damage during slope failure since the inertial force of superstructure and the kinematic force by slope failure can occur simultaneously during an earthquake. In this study, dynamic centrifuge model tests were performed to evaluate the effect of the kinematic force of the ground due to slope failure during earthquake on the behavior of a pile-supported wharf structure. Experimental results indicate that the slope failure in the inclined-ground model caused the deck plate acceleration and pile moment to be up to 24% and 31% respectively greater than those in the horizontal-ground model due to the kinematic force of the ground.

On the distribution of the atomic planes in an elastic single-crystal bar under the action of volumetric forces

A theoretical study of the behaviour of atomic planes in an elastic single-crystal rod under the action of volumetric forces such as the inertial force and the force of gravity has been carried out. The regularity of the linear distribution density of atomic planes in a single-crystal rod has been established in frames of continuous and discrete approaches. The obtained distribution function is of independent interest, and it can be used, for example, in studying the behaviour of a metal rod under conditions of an external induced electric field.

Numerical Investigation of Pool Boiling Under Ocean Condition with Lattice Boltzmann Simulation. Part Ⅱ: Rolling Condition

Rolling motion caused by ocean condition will induce more complicated inertial forces with their force directions changing all the time, which results more complex bubble behaviors and unique heat transfer characteristics. In this work, pool boiling under rolling condition is numerically simulated using multiple relaxation time phase change lattice Boltzmann method (LBM). Pool boiling patterns, boiling curve of time-averaged heat flux, transient heat flux and rolling effects on different pool boiling regions are investigated. The results show that pool boiling curve of time-averaged heat flux between rolling condition and static condition are not obvious until close to critical heat flux, and 9.3% higher CHF is achieved under rolling condition while worse heat transfer is discovered at film boiling. Moreover, distinct fluctuation of transient heat flux of pool boiling under rolling condition is found for all boiling regimes, and its variation pattern along with the rolling motion and bubble behavior is investigated. Furthermore, tangential inertial force caused by rolling motion has positive influence on heat transfer of pool boiling, while the centrifugal force has negative influence on heat transfer, since it is opposite to the gravity and hence decreases the buoyancy force. Besides, larger rolling amplitude and smaller rolling period will induce larger additional inertial forces, and thus make greater influences on the bubbles’ behavior and pool boiling heat transfer.