Search Results (135)

To explore the influence of mine roof on the damage and failure of sandstone surrounding rock under different pressure rates, mechanical experiments with different strain rates were carried out on sandstone rock samples. The strength, deformation, failure, energy and damage characteristics of rock samples with different strain rates were also discussed. The research results show that with the increases in the strain rate, peak stress, and elastic modulus show a monotonically increasing trend, while the peak strain decreases in the reverse direction. At a low strain rate, the proportion of the mass fraction of complete rock blocks in the rock sample is relatively high, and the shape integrity is good, while rock samples with a high strain rate retain more small-sized fragmented rock blocks. This indicates that under high-rate loading, the bifurcation phenomenon of secondary cracks is obvious. The rock samples undergo a failure form dominated by small-sized fragments, with severe damage to the rock samples and significant fractal characteristics of the fragments. At the initial stage of loading, the primary fractures close, and the rock samples mainly dissipate energy in the forms of frictional slip and mineral fragmentation. In the middle stage of loading, the residual fractures are compacted, and the dissipative strain energy keeps increasing continuously. In the later stage of loading, secondary cracks accelerate their expansion, and elastic strain energy is released sharply, eventually leading to brittle failure of the rock sample. Under a low strain rate, secondary cracks slowly expand along the clay–quartz interface and cause intergranular failure of the rock sample. However, a high strain rate inhibits the stress relaxation of the clay, forces the energy to transfer to the quartz crystal, promotes the penetration of secondary cracks through the quartz crystal, and triggers transgranular failure. A constitutive model based on energy damage was further constructed, which can accurately characterize the nonlinear hardening characteristics and strength-deformation laws of rock samples with different strain rates. The evolution process of its energy damage can be divided into the unchanged stage, the slow growth stage, and the accelerated growth stage. The characteristics of this stage reveal the sudden change mechanism from the dissipation of elastic strain energy of rock samples to the unstable propagation of secondary cracks, clarify the cumulative influence of strain rate on damage, and provide a theoretical basis for the dynamic assessment of surrounding rock damage and disaster early warning when the mine roof comes under pressure. Full article

In this paper, a biologically congruent parallel mechanism (PM) inspired by the masticatory system of human beings has been proposed to recreate complete chewing behaviours in three-dimensional space. The mechanism is featured by direct constraints from the base (DCFB) to its end effector at two higher kinematic pairs (HKPs), which greatly raise its topological complexity. Meanwhile, friction effects occur at HKPs and actuators, causing wear and then reducing motion accuracy. Regarding these, an inverse dynamic model that can raise the computational efficiency and the modelling fidelity is proposed, being prepared to be applied to realise accurate real-time motion and/or force control. In it, Euler parameters are employed to express the motions of the constrained end effector, and Newton–Euler’s law is applied, which can conveniently incorporate friction effects at both HKPs and actuators into the dynamic model. Numerical results show that the time consumption of the model using Euler parameters is only approximately 23% of that of the model using Euler angles, and friction effects significantly increase the model’s nonlinearity. Further, from the comparison between the models of the target PM and its counterpart free of DCFB, these constraints sharply raise the modelling complexity in terms of the transformation between Euler parameters and Euler angles in the end effector and the computational cost of inverse dynamics. Full article

In long-distance, large-section rectangular pipe jacking operations, machine deviation is an inevitable factor that poses substantial challenges to the accurate prediction of frictional resistance. To address this issue, a novel methodology is proposed to analyze the dynamic interactions at the pipe–soil–slurry interfaces. This approach integrates real-time alignment monitoring with the Winkler elastic foundation theory to enhance predictive accuracy. A comprehensive predictive framework is developed for excavation profiles and pipeline deflection curves under varying thrust distances, enabling the quantification of complex contact states. By applying Newton’s law of friction and the Navier–Stokes fluid mechanics equations, calculation methods for the frictional resistance of pipe–soil contact and pipe–mud contact are systematically derived. Furthermore, a predictive model for the jacking force in long-distance rectangular pipe jacking, accounting for complex contact conditions, is successfully established. The jacking force monitoring data from the 233.6-m utility tunnel pipe jacking project case is utilized to validate the reliability of the proposed theoretical prediction method. Parametric analyses demonstrate that doubling the subgrade reaction coefficient enhances peak resistance by 80%, while deviation amplitude exerts a 70% greater influence on performance compared to cycle parameters. Slurry viscosity emerges as a critical factor governing pipe–slurry interaction resistance, with each doubling of viscosity causing up to a 56% increase in resistance. The developed methodology proves adaptable across five distinct operational phases—machine advancement, initial jacking, stable jacking, deviation accumulation, and final jacking—establishing a robust theoretical framework for the design and precision control of ultra-long pipe jacking projects. Full article

The Second Law of Thermodynamics states that entropy S increases in a spontaneous process in an ideal isothermal and isolated system. Real systems are influenced by external forces and fields, including the temperature field. In this case, only entropy is not enough, and we suggest using a new function, $L_s$, which is analogous to the Lagrangian in classical mechanics. It includes total potential energy but instead of mechanical kinetic energy, $L_s$ includes the product ST, and the system always evolves towards increasing this modified Lagrangian. It reaches an equilibrium when total potential force is balanced by both entropic and thermal forces. All forces have the same units, Newton/mol, and may be added or subtracted. For condensed systems with friction forces, it is a molecular transport velocity, and not acceleration, which is proportional to the acting force. Our approach has several advantages compared to Onsager’s non-equilibrium thermodynamics with its thermodynamic forces, which may have different units, including 1/T for energy transport. For isolated systems, the description is reduced to Second Law and Clausius inequality. It easily explains diffusion, Dufour effect, and Soret thermodiffusion. The combination of electric, thermal, and entropic forces explains thermoelectric phenomena, including Peltier–Seebeck and Thomson (Lord Kelvin) effects. Gravitational and entropic forces together inside a black hole may lead to a steady state or the black hole evaporation. They are also involved in and influenced by solar atmospheric processes. Full article

The process of convergence and the aggregation of polyamide granules and clusters on a water surface has been studied. These granules are widely used to visualize flows on the surface and in the bulk of the water. It is shown that the law of particle motion during convergence corresponds to electrostatic interaction. Like other polymers, polyamide particles are easily charged owing to friction. The quantitative estimation of the surface charge of the granules gives values close to the results of other authors. The range of action of electrostatic forces is fractions of a millimeter, and the maximum velocities of the clusters and granules measured in the experiment do not exceed 1 mm/s when converging. Therefore, when studying flows, electrostatic interaction does not distort the velocity field if the concentration of the granules is low and the velocities of the flows are rather high. Full article

Friction has a significant impact on chip formation, so modeling it accurately is crucial in numerical cutting simulations. However, there is still controversy regarding the application scope and effectiveness of various friction models. A two-dimensional orthogonal cutting thermomechanical coupled finite element model is established. Critical strain values, recrystallization temperature, and recrystallization flow stress are introduced, and a power-law-modified softening coefficient is used to modify the standard Johnson–Cook constitutive model to simulate material mechanical properties. Zorev’s friction model, velocity-dependent friction model, and temperature-dependent friction model are separately employed to describe the friction behavior between the tool and workpiece. The contact and friction characteristics between the workpiece and tool, material damage, and temperature field are evaluated. Predicted cutting forces are compared and analyzed with experimental values. The friction coefficient can adjust the contact length between the tool and chip, the high-temperature range on the tool surface, and the fluctuation of temperature throughout the entire cutting process. The friction coefficient is more sensitive to sliding velocity, and the temperature distribution is more sensitive to the friction model than to different working conditions. Whether by modifying the friction coefficient or maximum friction shear stress, and regardless of whether adding parameters affected by velocity or temperature changes the fluctuation range, period, and local peaks of the cutting force prediction curve, improving the accuracy of predictions within certain working condition ranges to some extent. However, the overall trend of error fluctuations obtained from these friction models is similar, and the accuracy of predictions from these friction models tends to become more inaccurate with increasing cutting thickness. Full article

Modeling of friction stir welding (FSW) is challenging, as there are large gradients in both strain rate and temperature (typically between 450 and 500 °C in aluminum alloys) that must be accounted for in the constitutive law of the material being joined. Constitutive laws are most often calibrated using flow stresses from hot compression or hot torsion testing, where strain rates are much lower than those seen in the stir zone of the FSW process. As such, the current work employed a recently developed method to measure flow stresses at high strain rates and temperatures in AA 2219-T67, and these data were used in the development of a finite element (FE) simulation of FSW. Because heat generation during FSW is primarily a function of friction between the rapidly spinning tool and the plate, the choice of friction law and associated parameters were also studied with respect to FE model predictions. It was found that the Norton viscoplastic friction law provided the most accurate modeling results, for both the transient and steady-state phases of an FSW plunge experiment. It is likely that the superior performance of the Norton law was its ability to account for temperature and rate sensitivity of the plate material sheared by the tool, while the Tresca-limited Coulomb law favored contact pressure, with essentially no temperature or rate dependence of the local material properties. With optimized friction parameters and more accurate flow stresses for the weld zone, as measured by a high-pressure shear test, a 65% overall reduction in model error was achieved, compared to a model that employed a material law calibrated with hot compression or hot torsion test results. Model error was calculated as an equally weighted comparison of temperatures, torques, and forces with experimentally measured values. Full article

Soil-structure interface properties play an essential role in geotechnical engineering. The interface shear test is widely used to measure the interface properties. However, in the traditional interface shear test (TIST), distribution of shear stresses along contact surface is not uniform due to boundary effects. Thus, average mechanical response of the whole interface measured by TIST cannot be used to evaluate interface friction properties. In this paper, a novel interface shear apparatus (MIDST) is presented to investigate the shear behaviours of the soil-structure interface. A series of shear tests were conducted on Fujian standard sand-steel interface. Two shear force sensors simultaneously monitor the shear force along the interface: a pre-embedded sensor inside the interface/steel plate (responding to MIDST), while the other outside the interface (responding to TIST). Laboratory test results show that the pre-embedded internal sensor successfully detects the weakening characteristics of the interface, while the external sensor monitors the hardening law. The interface shear strength measured by internal sensor is significantly higher than that monitored by external sensor. A commercial DEM software Version 5.0, Particle Flow Code in Two Dimensions (PFC^2D), is employed to study the soil-structure interaction mechanism, and numerical test results show that the main reasons for the internal and external differences are the uneven shear stress distribution at the soil-structure interface and the boundary effect. In addition, numerical test results agree with the laboratory test results, indicating that the shear behaviours monitored by MIDST are relatively accurate and can provide a reference for engineering design. Full article

Since the early 20th century, dimensional analysis and similarity arguments have provided a critical tool for the analysis of scientific, engineering, and thermodynamic systems. Traditionally, the resulting dimensionless groups are categorized into those defined by (i) geometric similarity, involving ratios of length scales; (ii) kinematic similarity, involving ratios of velocities or accelerations, and (iii) dynamic similarity, involving ratios of forces. This study considers an additional category based on entropic similarity, with three variants defined by the following: (i) ratios of global or local entropy production terms Π entrop = σ ˙ 1 / σ ˙ 2 or Π ^ entrop = σ ˙ ^ 1 / σ ˙ ^ 2 ; (ii) ratios of entropy flow rates Π entrop = F S , 1 / F S , 2 or magnitudes of entropy fluxes Π ^ entrop = | | j S 1 | | / | | j S 2 | | ; and (iii) the ratio of a fluid velocity to that of a carrier of information Π info = U / c . Given that all phenomena involving work against friction, dissipation, spreading, chemical reaction, mixing, separation, or the transmission of information are governed by the second law of thermodynamics, these are more appropriately analyzed directly in terms of competing entropic phenomena and the dominant entropic regime, rather than indirectly using ratios of forces. This work presents the entropic dimensionless groups derived for a wide range of diffusion, chemical reaction, dispersion, and wave phenomena, revealing an entropic interpretation for many known dimensionless groups and many new dimensionless groups. Full article

This study analyzed the influence of the mechanical properties of two-step backfill on the stability of mining sites. The study focused on the one-step adhesive backfill of segmented backfill mining in a mine in Shandong Province, where the front wall was exposed and the back wall was compressed. A three-dimensional mechanical model of the front wall exposed, back wall compressed cemented filling material considering the mechanical properties of the two-step weakly cemented filling material was established through theoretical analysis. On this basis, considering the influence of different mechanical properties (elastic modulus, internal friction angle, cohesion, and Poisson’s ratio) of two-step weakly cemented filling on one-step cemented filling, FLAC 3D 6.00.60 numerical simulation software was used to study the influence of various factors on the horizontal displacement distribution of cemented filling under single-sided exposure conditions using numerical simulation methods. The results show that the adhesive filling material exposed on one side is subjected to lateral pressure from adjacent weak adhesive filling materials, and its stability is affected by the contact area and mechanical properties of the weak adhesive filling material. Increasing the elastic modulus of the two-step weak adhesive filling material from 100 MPa to 500 MPa can reduce the maximum horizontal displacement of the one-step adhesive filling material from 116 mm to 32 mm, a decrease of about 72%. Similarly, increasing the cohesive force from 0.09 MPa to 0.21 MPa can reduce displacement from 96 mm to 33 mm, a decrease of 66%. Improving the mechanical properties of the two-step weakly cemented filling material can reduce the tendency of tailings to slide and collapse, and can reduce the lateral pressure applied by the cemented filling material. The horizontal displacement law of the two-step cemented filling material with front wall exposure and rear wall compression is basically similar under different mechanical properties of the one-step weakly cemented filling material. In the vertical direction, as the height of the filling material increases, the horizontal displacement first slowly increases to the maximum value and then slowly decreases. As the mechanical properties of the two-step weakly cemented filling increase, the horizontal displacement of the one-step cemented filling decreases. Full article

Direct-drive servo systems are extensively applied in biomimetic robotics and other bionic applications, but their performance is susceptible to uncertainties and disturbances. This paper proposes an adaptive disturbance rejection Zeta-backstepping control scheme with adjustable damping ratios to enhance system robustness and precision. An iron-core permanent magnet linear synchronous motor (PMLSM) was employed as the experimental platform for the development of a dynamic model that incorporates compensation for friction and cogging forces. To address model parameter uncertainties, an indirect parameter adaptation strategy based on a recursive least squares algorithm was introduced. It updates parameters based on the system state instead of output error, ensuring robust parameter convergence. An integral sliding mode observer (ISMO) was constructed to estimate and compensate for residual uncertainties, achieving finite-time state estimation. The proposed Zeta-backstepping controller enables adjustable damping ratios through parameterized control laws, offering flexibility in achieving desired dynamic performance. System stability and bounded tracking performance were validated via a second-order Lyapunov function analysis. Experimental results on a real PMLSM platform demonstrated that, while achieving adjustable damping ratio dynamic characteristics, there is a significant improvement in tracking accuracy and disturbance suppression. This underscores the scheme’s potential for advancing precision control in biomimetic robotics and other direct-drive system applications. Full article

A high-speed valve (HSV) is used to control the friction plate accurately and flexibly in the shifting stages of an automatic transmission. In the past, the transient modeling and dynamic improvement of HSVs neglected fluid–solid coupling and motion-induced fluid force (MIFF), which made it difficult to improve the response performance and kinetic energy efficiency of HSVs. In order to fully represent the MIFF and internal flow field features, a novel general approximate model for HSVs with a more accurate fidelity unsteady computational fluid dynamics (CFD) analysis is built in this paper. In addition, the experimental data of HSVs when the sphere is moving in oil-free or oil-immersed media are collected to verify the proposed model. In order to validate the model, the mechanism law of buffer groove towards the MIFF is tracked at length. The motion-induced added mass with buffer groove is reduced by 43.9%. The experimental results show that under the working pressure of 1 MPa (rated pressure), the opening time is shortened to 0.90 ms, which is 11.8% shorter than the original structure. The closing time is shortened from 1.5 ms to 1.34 ms, which represents a decrease of 10.7%. The buffer groove improves the kinetic energy efficiency from 41.91% to 46.70% in the start-up phase and from 41.98% to 56.75% in the close-up phase. This study provides a new perspective for improving the dynamic performance and energy efficiency of the system in terms of the MIFF. Full article

Skid-steer mobile robots (SSMRs) are ubiquitous in indoor and outdoor applications. Their accurate trajectory tracking control is quite challenging due to the uncertainties arising from the complex behavior of frictional force, external disturbances, and fluctuations in the instantaneous center of rotation (ICR) during turning maneuvers. These uncertainties directly disturb velocities, hindering the robot from tracking the velocity command. This paper proposes a nonsingular terminal sliding mode control (NTSMC) based on backstepping for a four-wheel SSMR to cope with the aforementioned challenges. The strategy seeks to mitigate the impacts of external disturbances and model uncertainties by developing an adaptive law to estimate the integrated lumped outcome. The finite time stability of the closed-loop system is proven using Lyapunov’s theory. The designed NTSMC input is continuous and avoids noticeable chattering. It was noted in the simulation analysis that the proposed control strategy is strongly robust against disturbance and modeling uncertainties, demonstrating effective trajectory tracking performance in the presence of disturbance and modeling uncertainties. Full article

In collapsible loess sites, large-scale collapsible settlement may occur after water immersion, which will reduce the bearing capacity of existing highway bridge pile foundations and pose serious potential safety hazards. Given this, a large-scale field pile foundation immersion–loading test was conducted in a collapsible loess site. The settlement law of collapsible loess during the immersion was obtained, the bearing characteristics of pile foundations under the loading and immersion–loading conditions were compared and analyzed, and the formation mechanism of negative skin friction was discussed. The results show that the degree of collapsible deformation is related to the duration of immersion, external load, boundary conditions, and soil layer depth. Whether the collapsible loess site is immersed or not can only change the value and transfer rate of the axial force of the pile foundation but cannot change its transfer law. The collapsible deformation will increase the utilization rate of the pile tip resistance. During the collapsible settlement process, part of the gravity of the soil around the pile will be transferred to the pile, generating negative skin friction on the pile shaft. On this basis, eight preventive measures for reducing the negative skin friction of pile foundations in collapsible loess sites were proposed. The research findings can serve as a valuable reference for the design and construction of highway bridge pile foundations in collapsible loess areas. Full article

The article aims to describe the design and operation of a fundamentally new self-regulating planetary transmission, which, without a control system, changes the gear ratio under the influence of a variable external load. A self-regulating transmission can be created based on a kinematic chain with two degrees of freedom, having only one input. According to the laws of mechanics, such a chain has no definability of motion, since the number of inputs must be equal to the number of degrees of freedom. The equilibrium of a two-movable chain with one input can obtained by creating an additional constraint that substitutes a reaction in the instantaneous center of the intermediate link velocities by the friction moment in the hinge of the intermediate link. The friction moment creates a force constraint, which is taken into account in the equilibrium condition. The obtained equilibrium conditions ensure the definiteness of motion and the ability of self-regulation in the form of an inversely proportional dependence of the speed of the output link on the variable external load. The described method makes it possible to create a fundamentally new class of self-regulating mechanisms in all branches of technology. The interaction of kinematic and force parameters and the construction of parameter graphs was performed using the SolidWorks 2021 program with certain additions. The experimental studies performed confirm the reliability of the theoretical developments. Full article