Search Results (34)

Hydraulic oscillator tools (HOTs) are effective solutions for mitigating excessive drag encountered during sliding drilling in horizontal wells. However, their field performance remains unpredictable due to theoretical limitations in modeling nonlinear friction behavior under axial vibration. To address this gap, a series of friction tests was conducted on sandstone–steel pairs under water-based mud lubrication. Experimental results demonstrate that steady-state sliding friction follows the velocity-dependent Dieterich–Ruina model, while vibration–sliding coupled friction is accurately described by the Dahl model. Integrating these findings, a comprehensive drillstring dynamic model was developed. The model was solved using an explicit central difference method and validated against field hook load data from Well XX-1, with prediction errors below 9%. Parametric studies further quantified HOT performance, revealing that excitation force amplitude and HOT placement significantly impact drag reduction, whereas vibration frequency exerts a relatively modest influence. Meanwhile, the effective propagation distance induced by the hydraulic oscillator is relatively limited, resulting in a drag reduction rate of no more than 30% even under optimal parameter conditions. This work establishes a validated theoretical framework for optimizing hydraulic oscillator parameters in horizontal drilling. Full article

Land subsidence in the Yellow River Floodplain, approaching 60 mm/year, is severely exacerbated by annual groundwater oscillations of 3 to 8 m. Conventional hydro-mechanical models, which primarily rely on effective stress principles, often struggle to fully capture the moisture-induced structural degradation of calcareous cemented soils under such hydraulic disturbances. To address this theoretical gap, we conducted a multifactor orthogonal triaxial experiment to quantitatively decouple the macroscopic factors governing the hydro-mechanical degradation. The results reveal that moisture content acts as the absolute dominant driver, accounting for 81.65% of the variance in macroscopic shear strength variance and completely overwhelming the mechanical advantages provided by initial compaction. A generalized dual-path water-sensitive damage model was explicitly derived, mathematically uncovering a fundamental asynchronous degradation mechanism. Cohesion exhibits an inward-concave, brittle fracture trajectory, which is macroscopically inferred to be associated with the water-induced softening of calcareous bonds (phase-transition parameter 0.81, maximum allocation 75.1%). Conversely, the internal friction angle demonstrates an outward-convex, hysteretic decline (parameter 1.59), maintaining structural interlocking until severe water-film lubrication occurs. By decoupling highly state-dependent initial strength parameters from invariant degradation operators, the modified Mohr–Coulomb model achieved exceptional forward blind-prediction accuracy. Validations across distinct initial skeletal structures constrained relative prediction errors strictly between −19.3% and +13.7% without any subjective parameter recalibration. The quantified extreme vulnerability theoretically proves that minor water infiltration can instantly eradicate over 75% of cohesive strength, necessitating a paradigm shift from shallow mechanical compaction to stringent waterproofing in regional engineering practices. Full article

Precise and smooth actuation is a central requirement in surgical robotics, where small tracking errors or oscillations can directly affect task quality and safety. This paper studies the control of an induction-motor-driven surgical joint using a sliding-mode strategy enhanced by fractional-order operators and implemented within a DTC–SVM structure. The motivation is to improve motion smoothness and disturbance rejection without sacrificing the fast dynamic response offered by direct torque control. A dynamic model of the actuator is developed by combining the electrical equations of the induction motor with the mechanical dynamics of a robotic joint, including inertia, viscous friction, gravity-induced torque, and Coulomb friction. Fractional-order sliding surfaces are introduced for both position and flux regulation, and the closed-loop stability is examined through Lyapunov-based arguments. Simulation results show accurate trajectory tracking with limited overshoot and smooth transient responses. The motor speed remains well regulated, while stator flux and currents stay within admissible bounds. The electromagnetic torque adapts to load variations with reduced ripple, and the rotor pulsation remains bounded. Within the limits of numerical evaluation, these results indicate that the proposed fractional-order sliding-mode DTC–SVM scheme is suitable for precision-oriented surgical robotic actuation. Full article

Two types of high-frequency water-level oscillations, wind waves and gravity waves in Batemans Bay, New South Wales, Australia, were analyzed by observed water-level and significant wave height data combined with numerical modelling output. The high-frequency wind waves were closely correlated with the tidal-depth change, giving strong evidence of wave–tide coupling and its phase-locked manner. This was supported by modelling the effect of bottom friction induced by a sandbar southeast of the water-level measurement site. The lower-frequency quarter wave, a type of gravity wave, oscillated across the whole bay. Its frequency of approximately 1 h was close to the theoretical value based on the bay dimensions. The topographic and geometric settings of the bay are the principal reasons for the characteristics of these waves. This observation has significant implications for the bay–shelf water exchange and induced hydrodynamics in similar embayments elsewhere in the world. Full article

Laminar separation bubbles (LSBs) on low-Reynolds-number airfoils are sustained by intrinsic unsteadiness driven by Kelvin–Helmholtz (K-H) growth in the separated shear layer. Using incompressible 2D URANS with the SA-$\gamma$ transition model for a NACA 0012 airfoil at $Re=5.3\times {10}^4$, we reveal that numerical dissipation behaves as a critical bifurcation parameter. Validated against the recent Jardin (2025) experimental benchmark, the physical state correctly resolves the LSB-induced pressure plateau ($C_p$) and local negative skin friction ($C_f<0$). However, when numerical dissipation exceeds the K-H instability growth rate, the physical limit-cycle oscillation collapses into a spurious fixed-point attractor—a phenomenon defined as numerical quenching. This pseudo-convergence triggers a catastrophic ∼30% deficit in mean lift ($C_l$). Furthermore, at $\alpha =6^{\circ }$, a drag-mechanism inversion is identified: while the physical branch is dominated by LSB-induced pressure (form) drag, the quenched branch exhibits a non-physical drag surge that exceeds the fully turbulent baseline. Phase portraits and power spectral densities ($St\approx 0.2$) provide objective diagnostics, demonstrating that standard residual convergence is a deceptive indicator of physical fidelity in transitional separated aerodynamics. Full article

Pumped-storage power stations (PSPSs) are vital for grid stability, yet pump-turbines (PTs) operating in the S-shaped region often induce severe hydraulic instability. To reveal the mechanism of these self-excited oscillations, this study establishes a nonlinear mathematical model based on rigid water column theory and a cubic polynomial approximation of the PT’s nonlinear characteristics. Both analytical derivations and numerical simulations were conducted. Analytical results indicate that, in the absence of surge tanks, self-excited oscillations occur when the PT’s negative hydraulic impedance modulus exceeds the pipeline impedance. With a single surge tank, the system behaves analogously to the Van der Pol oscillator, exhibiting oscillations that converge to a stable limit cycle governed by system parameters. Numerical simulations for a dual-surge-tank system further reveal that, due to initial negative damping, the PT transitions to alternative stable equilibria. Crucially, the transition direction is governed by the polarity of the initial disturbance: negative perturbations lead to the regular turbine region, while positive ones lead to the reverse pump region. Additionally, pipe friction causes the steady-state discharge to deviate slightly from the theoretical static value, with deviations remaining below 2.96%. This work provides a theoretical basis for stability prediction in PSPSs. Full article

The use of vibrational transport for granular materials has significantly increased in the technological industry due to its reliability, operational efficiency, cost-effectiveness, and relatively uncomplicated technological setup. These transportation methods typically utilize various forms of asymmetry, such as kinematic, temporal (time), wave, and power asymmetry, to induce controlled motion on oscillating surfaces. This study analyses the motion of the granular materials on an inclined plane, where the central innovation lies in the creation of an additional system asymmetry of frictional conditions that enables the granular materials to move upward. This asymmetry is created by introducing dry friction dynamic manipulations. A mathematical model has been developed to describe the motion of particles under these conditions. The modelling results proved that in an inclined transportation system, the asymmetry of frictional conditions during the oscillation cycle—created through dynamic dry friction manipulations—generates a net frictional force exceeding the gravitational force, thereby enabling the upward movement of granular particles. Additionally, the findings highlighted the key control parameters governing the motion of granular particles. λ, which represents the segment of the sinusoidal period over which the friction is dynamically louvered, serves as a parameter that controls the velocity of a moving particle on an inclined surface. The phase shift ϕ serves as a parameter that controls the direction of the particle’s motion at various inclination angles. Experimental investigations were conducted to assess the practicality of this method. The experimental results confirmed that the granular particles can be transported upward along the inclined surface with an inclination angle of up to 6 degrees, as well as provided both qualitative and quantitative validation of the model by illustrating that motion parameters exhibit comparable responses to the control parameters, and strongly agree with the theoretical findings. The primary advantage of the proposed vibrational transport method is the capacity for precise control of both the direction and velocity of granular particle transport using relatively simple mechanical setups. This method offers mechanical simplicity, low cost, and high reliability. It is well-suited to assembly line and manufacturing environments, as well as to industries involved in the processing and handling of granular materials, where controlled transport, repositioning, or recirculation of granular materials or small discrete components is required. Full article

Asymmetric friction, that is, different friction forces resisting sliding in opposing directions, works as a rectifier, transferring the applied oscillations into unidirectional motion. Locomotion of devices based on asymmetric friction is investigated by considering a model system consisting of an asymmetric friction block connected to a symmetric friction block by a spring. The symmetric friction block models the resistance to the movement by the environment. It is found that under harmonic oscillation, the system displays two distinct types of motion: Recurrent Movement (stick-slip-type movement) and Sub-Frictional Movement. The Recurrent Movement occurs when the inertia force is sufficient to overcome the frictional force. In this case, the system with asymmetric friction exhibits unidirectional locomotion, while the system with only symmetric friction oscillates about a fixed point. The Sub-Frictional Movement occurs when the inertia is insufficient to overcome the frictional force. Then the symmetric friction block moves against the asymmetric friction block and sufficiently loads the spring to enable some movement of the system. Thus, motion is generated even when the external forces are below the static friction threshold. These types of motion have been found to exhibit different types of spectral fallout: while the Recurrent Movement produces a typically observed frictional fallout 1/ω, where ω is the frequency, the Sub-Frictional Movement produces a stronger 1/ω² fallout, only observed in the development of an oblique fracture in rocks under compression. This discovery can shed light on mechanisms of rock failure in compression. Understanding of the unidirectional movement induced by asymmetric friction can be instrumental in designing novel locomotion devices that can move in narrow channels or fractures in the Earth’s crust or in extraterrestrial bodies utilising the (renewable) energy of external vibrations. Full article

This paper investigates the stabilization problem of a class of nonlinear systems characterized by non-minimum phase behavior within each subsystem, with a focus on an application to a gantry crane system that employs friction to control its swing angle. In practical crane operations, the demand for accelerated system response is critical to improving productivity; however, this often induces significant variations in the swing angle, potentially destabilizing the system. To overcome this challenge, we propose a hybrid control approach that combines the concept of multi-diffeomorphism with symmetry considerations to enhance the smoothness of transient responses. Unlike classical input–output feedback linearization, which typically relies on a single diffeomorphism and may compromise the zero dynamics stability, the proposed method distributes the transformation across multiple diffeomorphisms, ensuring balanced and coordinated transient behavior. The design involves the simultaneous development of subsystem-dependent feedback controllers, which collaboratively guarantee the global stability of the overall closed-loop nonlinear gantry crane system. The Lyapunov stability framework is employed to rigorously demonstrate that the tracking errors converge asymptotically to meet the desired performance specifications. In addition, the simulation results demonstrate that the developed hybrid control approach notably enhances the system’s responsiveness while preserving both symmetry and the stability of the zero dynamics. Specifically, the swing angle decreases by over 90% in less than 2 s, highlighting the method’s efficiency in minimizing oscillations during fast operations. This study highlights the practical benefits of integrating symmetry-aware multi-diffeomorphism techniques into nonlinear control design. Such techniques are found to be particularly effective for underactuated mechanical systems like gantry cranes. Full article

With advancements in mobile robot technology, wheel-legged robots have emerged as promising next-generation mobile solutions, reducing design costs and enhancing adaptability in unstructured environments. As underactuated systems, their balance control has become a prominent research focus. Despite there being numerous control approaches, challenges remain. Balance control methods for wheel-legged robots are influenced by hardware characteristics, such as motor friction, which can induce oscillations and hinder dynamic convergence. This paper presents a friction feedforward Linear Quadratic Regulator (LQR) balance control method. Specifically, a basic LQR controller is developed based on the dynamics model of the wheel-legged robot, and a Stribeck friction model is established to characterize motor friction. A constant-speed excitation trajectory is designed to gather data for friction identification, and the Particle Swarm Optimization (PSO) algorithm is applied to determine the optimal friction parameters. The identified friction model is subsequently incorporated as feedforward compensation for the LQR controller’s torque output, resulting in the proposed friction feedforward LQR balance control algorithm. The minimum standard deviation for friction identification is approximately 0.30, and the computed friction model values closely match the actual values, indicating effective and accurate identification results. Balance experiments demonstrate that under diverse conditions—such as flat ground, single-sided bridges, and disturbance scenarios—the convergence performance of the friction feedforward LQR algorithm markedly surpasses that of the baseline LQR, effectively reducing oscillations, accelerating convergence, and improving the robot’s stability and robustness. Full article

In recent years, there have been many studies focused on improving the performance of active materials; however, applying these materials to active machines still presents significant challenges. In this study, we introduce a light-powered self-translation system for an asymmetric friction slider using a liquid crystal elastomer (LCE) string oscillator. The self-translation system was composed of a hollow slide, two LCE fibers, and a mass ball. Through the evolution of photothermal-induced contraction, we derived the governing equations for the system. Numerical simulations revealed two distinct motion modes: the static mode and the self-translation mode. As the mass ball moved, the LCE fibers alternated between illuminated and non-illuminated states, allowing them to effectively harvest light energy to compensate for the energy dissipation within the system. Unlike traditional self-oscillating systems that oscillate around a fixed position, the asymmetric friction enabled the slider to advance continuously through the oscillator’s symmetric self-sustained oscillation. Furthermore, we explored the critical conditions necessary for initiating self-translation as well as key system parameters that influence the frequency and amplitude of the oscillator and average speed of the slider. This self-translation system, with its simple design and ease of control, holds promising potential for applications in various fields including soft robotics, energy harvesting, and active machinery. Full article

Frictionally induced vibrations in rubber are readily triggered due to their lower stiffness and higher elasticity. This study developed a numerical model to investigate the frictional vibration of a rubber block with a groove on its side surface against an aluminum disc. The results indicate that a backside groove (GB) on the block significantly enhances vibration attenuation, with a decay time 0.6 s faster than a non-grooved (NG) block, despite a potentially higher initial vibrational amplitude. In contrast, a frontside groove (GF) results in persistent frictional oscillations, with the steady-state time being similar for both GB and GF configurations. The underlying mechanism is attributed to the GB’s effectiveness in reducing the maximum energy imparted to the block initially, dissipating vibrational energy more swiftly, and distributing the contact stress more uniformly. The discrepancies in frictional forces between the conducted experiment and the simulation for the NG, GB and GF cases were 11.3%, 9.3% and 12.1%, respectively, quantitatively indicating the moderate precision of the results from the simulation. The insights gained from this study hold promise for enriching methods of mitigating vibrations arising from rubber friction. Full article

Optimal control is a critical tool for mechanical robotic systems, facilitating the precise manipulation of dynamic processes. These processes are described through differential equations governed by a control function, addressing a time-optimal problem with bilinear characteristics. Our study utilizes the classical approach complemented by Pontryagin’s Maximum Principle (PMP) to explore this inverse optimal problem. The objective is to develop an exact piecewise control function that effectively manages trajectory control while considering the effects of viscous friction. Our simulations demonstrate that the proposed control law markedly diminishes oscillations induced by boundary conditions. This research not only aims to delineate the reachability set but also strives to determine the minimal time required for the process. The findings include an exact analytical solution for the stated control problem. Full article

The compressibility of air, the uncertainty of dynamic models, and the existence of friction make pneumatic servo systems exhibit strong nonlinearity. Furthermore, the confluence of pneumatic-system nonlinearity and interference from the position system induces oscillations within the system, thereby posing a formidable challenge for achieving precise torque control. This study ensures precise torque control in a pneumatic actuator amid interference from the position system and proposes a novel active disturbance-rejection controller integrated with a Kalman filter. Firstly, in response to the oscillation stemming from the inherent nonlinearity of the pneumatic system and interference from the position system, this paper designs an active disturbance-rejection controller (ADRC) with robust anti-interference capabilities aimed at mitigating system oscillations. Secondly, to address the issue of sensor noise interfering with the ADRC and causing system oscillation, a first-order Kalman filter is designed to provide real-time and more accurate state estimation, effectively reducing oscillations and improving the robustness of the system. Finally, using the Lyapunov stability theory, the effectiveness of both the nonlinear extended observer and the convergence of the nonlinear error-state controller in the ADRC is proven. Experimental results indicate that the proposed controller reduces system oscillations and improves control accuracy. Full article

Magnetic hysteresis is a manifestation of non-equilibrium state of magnetic domain walls trapped in local energy minima. Using two types of experiments we show that, after application of a magnetic field to a ferromagnet, acoustic oscillations excited in the latter can “equilibrate” metastable magnetic domain structure by triggering the motion of domain walls into more stable configurations. Single crystals of archetypal Ni₂MnGa magnetic shape memory alloy in the cubic phase were used in the experiments. The magnetomechanical absorption of ultrasound versus strain amplitude was studied after step-like changes of a polarizing magnetic field. One-time hysteresis was observed in strain amplitude dependences of magnetomechanical internal friction after step-like variations of a polarizing field. We distinguish two ingredients of the strain amplitude hysteresis that are found in the ranges of linear and non-linear internal friction and show qualitatively different behavior for increasing and decreasing applied polarizing fields. The uncovered effect is interpreted in terms of three canonical magnetomechanical internal friction terms (microeddy, macroeddy and hysteretic) and attributed to “triggering” by acoustic oscillations of the irreversible motion of domain walls trapped in the metastable states. To confirm the suggested interpretation we determine the coercive field of magnetization hysteresis through the measurements of the reversible Villari effect. We show that the width of the hysteresis loops decreases when acoustic oscillations in the non-linear range of domain wall motion are excited in the crystal. The observed “equilibration” of the magnetic domain structure by acoustic oscillations is attributed to the periodic stress anisotropy field induced by oscillatory mechanical stress. Full article