Search Results (64)

Simulation is an important technical tool in corn threshing operations, and the establishment of the corn kernel model is the core part of the simulation process. The existing modeling method is to treat the whole kernel as a rigid body, which cannot be crushed during the simulation process, and the calculation of the crushing rate needs to be considered through multiple criteria such as the contact force, the number of collisions, and so on. Aiming at the issue that kernel crushing during maize threshing cannot be accurately modeled in discrete element simulations, in this study, a sub-area crushing model was constructed; representative samples with 26%, 30% and 34% moisture content were selected from a double-season maturing region in China; based on the physical dimensions and biological structure of the maize kernel, three stress regions were defined; and mechanical property tests were conducted on each of the three stress regions using a texturometer as a way to determine the different crushing forces due to the heterogeneity of the maize structure. The correctness of the model was verified by stacking angle and mechanical property experiments. A discrete element model of corn kernels was established using the Bonding V2 method and sub-area modeling. Bonding parameters were calculated by combining stacking angle tests and mechanical property tests. The flattened corn kernel was used as a prototype, and the bonding parameters were determined through size and mechanical property tests. A 22-ball bonding model was developed using dimensional parameters, and the kernel density was recalculated. Results showed that the relative error between the stacking angle test and the measured mean value was 0.31%. The maximum deviation of axial compression simulation results from the measured mean value was 22.8 N, and the minimum deviation was 3.67 N. The errors between simulated and actual rupture forces at the three force areas were 5%, 10%, and 0.6%, respectively. The decreasing trend of the maximum rupture force for the three moisture levels in the simulation matched that of the actual rupture force. The discrete element model can accurately reflect the rupture force, energy relationship, and rupture process on both sides, top, and bottom of the grain, and it can solve the error problem caused by the contact between the threshing element and the grain line in the actual threshing process to achieve the design optimization of the threshing drum. The modeling method provided in this study can also be applied to breakable discrete element models for wheat and soybean, and it provides a reference for optimizing the design of subsequent threshing devices. Full article

Porous media have great application prospects, such as transpiration cooling for the aerospace industry. The main challenge for the prediction of gas permeability includes the geometrical complexity and high Knudsen number of gas flow at the nano-scale to micro-scale, leading to failure of the conventional Darcy’s law. To address these issues, the Quartet Structure Generation Set (QSGS) method is improved to construct anisotropic and heterogeneous three-dimensional porous media, and the lattice Boltzmann method (LBM) with the multiple relaxation time (MRT) collision operator is adopted. Using MRT-LBM, the pressure boundary conditions at the inlet and outlet are firstly dealt with using the moment-based boundary conditions, demonstrating good agreement with the analytical solutions in two benchmark tests of three-dimensional Poiseuille flow and flow through a body-centered cubic array of spheres. Combined with the Bosanquet-type effective viscosity model and Maxwellian diffuse reflection boundary condition, the gas flow at high Knudsen (Kn) numbers in three-dimensional porous media is simulated to study the relationship between pore-scale anisotropy, heterogeneity and Kn, and permeability and micro-scale slip effects in porous media. The slip factor is positively correlated with the anisotropic factor, which means that the high Kn effect is stronger in anisotropic structures. There is no obvious correlation between the slip factor and heterogeneity factor. Full article

To address the shortcomings of existing robot collision detection algorithms that use six-dimensional force sensors, a force compensation algorithm based on Kane’s dynamics is proposed, along with a collision detection algorithm that uses the six-dimensional force sensor data combined with the robot’s outer surface equations to derive the robot body’s collision point coordinates. Firstly, a collision detection model for a joint-type collaborative robot is presented. Secondly, based on Kane’s dynamics equations, a force compensation model for the joint-type collaborative robot is established and the corresponding force compensation algorithm is derived. Thirdly, a collision detection algorithm is derived, and an example using a cylindrical joint robot with a link’s outer surface equation is used to solve the collision point. The collision is categorized into nine cases, and the coordinates of the collision point are solved for each case. Finally, force compensation and collision detection experiments are conducted on an AUBO-I5 joint-type collaborative robot. The results of the force compensation show that the comparison curves for forces/torques in three directions are consistent, and the relative error is below 5.6%. The collision detection results indicate that the computed collision positions match the actual collision positions, thus verifying the correctness of the theoretical analysis of the force compensation and collision detection algorithms. The research results provide a theoretical basis for ensuring safety in human–robot collaboration. Full article

This study numerically explores the dynamics of the photogravitational circular restricted three-body problem, where an infinitesimal particle moves under the gravitational influence of two primary bodies connected by a massless rod. These primary masses revolve in circular orbits around their common center of mass, which remains fixed at the origin of the coordinate system. The distance between the two masses remains constant, independent of their rotation period. The third body, being infinitesimally small compared to the primary masses, has a negligible effect on their motion. The primary mass is considered as a radiating body, while the secondary is modeled as an elongated one comprising two hypothetical point masses separated by a fixed distance. The analysis focuses on determining the number, location, and stability of equilibrium points, as well as examining the structure of zero-velocity curves under the influence of system parameters such as mass and force ratio, radiation pressure and geometric configuration of the secondary body. The system is found to allow up to six equilibria: four collinear and two non-collinear. Their number and positions are significantly affected by variations in the system’s parameters. Stability analysis reveals that the two non-collinear equilibrium points can exhibit stability under specific parameter configurations, while the four collinear points are typically unstable. An exception is the innermost collinear equilibrium point, which can be stable for certain parameter values. Our numerical investigation on periodic orbits around the collinear equilibrium points of the asteroid triple-system 2001SN₂₆₃ show that a variation, either to the values of radiation or the force ratio parameters, influence their special characteristics such as period and stability. Also, their continuation in the space of initial conditions shows that all families terminate naturally at collision orbits with either the primary or the secondary. Full article

With the rapid development and accelerated utilization of marine resources, multi-body floating systems have become extensively used in practical applications. This study examines the coupled motions of a side-by-side anchoring system for five fishing vessels in a harbor using ANSYS-AQWA. The system is connected by hawsers and equipped with fenders to reduce collisions between the vessels. It is designed to operate in the sheltered wind-wave combined environment within Ningbo Zhoushan Port, China. Considering the diverse types and quantities of fishing vessels in the anchorage area, this paper proposes a mixed arrangement of three large-scale fishing vessels in the middle and two small-scale vessels on both sides. The time-domain analysis is performed on this system under the combined effects of wind and waves, calculating the motion responses of the five fishing vessels along with the mechanical loads at the hawsers, fenders, and moorings. The results indicate that the maximum loads on these mechanical components remain well within the safe working limits, ensuring reliable operation. In addition, the impact of varying wind-wave angles on the coupled motions of the fishing vessel system are studied. As the wind-wave angle increases, the surge motion of the fishing vessels gradually decreases, while the sway motion intensifies. The forces on the hawsers, fenders, and mooring system exhibit distinct characteristics at different angles. Full article

This study aims to examine how the collision angle affects the Cu-Ta weld generated by the explosive welding method using molecular dynamics modeling. When two blocks collide, the metallic substrates melt rapidly. Subsequently, when heat energy dissipates to the surrounding areas, the weld interface begins rapidly cooling. Eventually, the weld joint’s surface shape and temperature stabilize. A meta-solid solution state between Cu and Ta could develop under extreme collision conditions of explosive welding through a dynamic diffusion mechanism. Furthermore, the plastic deformation process of the face-centered cubic (FCC) matrix after the explosive collision causes twin boundary scattering in the Cu substrate. The stress evolution experiences three stages: quick increasing, spreading out, and stabling. The stress mainly concentrates on the weld joint. Due to its dynamic recrystallization mechanism, the Cu substrate has a lower residual stress level than the Ta substrate. The atomic strain of the Cu-Ta weld joint improves dramatically as the impact angle increases. The high-strain zone extends toward the lower Ta block between 5° and 15°. Furthermore, the atomic strain and amorphous structure rates increase when the impact angles increase from 5° to 15°. After further improvement up to 20°, they then suffer a decrease. The Cu-Ta weld achieves a tensile strength ranging from 6.37 to 8.94 GPa. The Cu/Cu-Ta/Cu welding joint’s interface is coherent, transforming from an amorphous to a body-centered cubic (BCC) structure. Because of the dynamic diffusion mechanism at the interface, which creates an almost identical atomic rate between Cu and Ta atoms, combined with the dynamic recrystallization phenomenon, explosive welding provides the advantage of combining two low-solubility solid-solution metals. Full article

Robots are becoming an integral part of space facilities construction and maintenance, and may need to move to and from different work locations. Robotic arms that are widely employed, which are mounted on fixed bases, have difficulty coping with increasingly complex missions. The challenge discussed in this paper is the problem of the efficient locomotion of robotic systems. Inspired by the gliding motion of a flying snake launched from a tree and combined with the weightlessness of the space environment, we design similar motions for the robot, including the following three steps. First, the robot folds its body like a snake and initiates flight by accelerating the global center of mass (CM), focusing on the movement direction and generating suitable momentum. Then, during the flight (free-floating) phase, the joint motions are planned using a nonlinear optimization technique, considering the nonholonomic constraints introduced by the momentum conservation and the system states at the initial and final states of the floating. Meanwhile, the difficulties caused by long-distance flights are addressed to reduce the motion computational cost and energy consumption by introducing the phase plane analysis method. Finally, the landing motion is designed to avoid rigid collisions and rollover on the radial plane. The numerical simulations illustrate that the three phases of maneuvers are smooth and continuous, which can help the space robots efficiently traverse the environment. Full article

To solve the problem of the high loss rate of threshing devices during the mechanical harvesting of ratoon rice, we propose a method using the principle of rigid–flexible coupling in this paper to reduce losses. Through analysis of the forces and collisions on ratoon rice grains during the threshing process, it has been confirmed that changing the structure and materials of the threshing contact components can effectively reduce grain loss. A rigid–flexible coupling rod tooth was designed, and the overall structural parameters of the device were determined based on force analysis results and dimensional boundary conditions. The MBD-DEM coupling method was used to simulate the threshing process, and the force conditions of the threshing rod teeth and threshing drum were obtained. The influence of the feeding amount and of the flexible body thickness on the crushing of ratoon rice grains was analyzed. In order to obtain the device’s optimal parameter combination, a three-factor quadratic regression orthogonal rotation combination experiment was conducted with drum speed, flexible body thickness, and rod tooth length as experimental factors. The optimization results showed that when the drum speed, flexible body thickness, and rod tooth length were 684 r/min, 3.86 mm, and 72.7 mm, respectively, the crushing rate, entrainment loss rate, and uncleaned rate were 1.260%, 2.132%, and 1.241%, respectively. The bench test showed that it is feasible to use the MBD–DEM coupling method to measure the motion and force of ratoon rice. The rigid–flexible coupling threshing device can reduce the grain crushing rate while ensuring grain cleanliness. Compared with traditional threshing devices, the crushing rate and entrainment loss rate of the rigid–flexible coupling threshing device were reduced by 55.7% and 27.5%, respectively. The research results can provide a reference for the design of threshing devices for ratoon rice harvesters. Full article

This paper focuses on improving vehicle collision simulations using finite element analysis (FEA) to examine interactions between reinforced concrete barriers and bridge decks. Three scenarios are explored: treating the barrier as a rigid body, analyzing reinforcement with a fixed base, and including the bridge deck’s cantilever portion beneath the barrier. Except for the rigid body model, a node-independent approach models the complex interactions between reinforcement and concrete in barriers on the bridge deck. This study evaluates barrier strength, occupant risk, and post-collision vehicle safety. Strength is assessed by examining stress in reinforcement and concrete, while occupant risk is measured using Theoretical Head Impact Velocity (THIV) and Post-impact Head Deceleration (PHD). Vehicle trajectory during collisions is also analyzed for stability. The results show significant differences in stress distribution and failure patterns when the bridge deck is considered compared to scenarios without it. Occupant risk evaluations suggest more flexible responses when the bridge deck is included. However, vehicle trajectory post-collision showed no significant differences across scenarios. These findings indicate that modeling efficiency varies based on evaluation criteria, suggesting a more realistic and effective approach for assessing barriers on bridges. Full article

Cell printing is a promising technology in tissue engineering, with which the complex three-dimensional tissue constructs can be formed by sequentially printing the cells layer by layer. Though some cell printing experiments with commercial inkjet printers show the possibility of this idea, there are some problems, such as cell damage due the mechanical impact during cell direct writing, which include two processes of cell ejection and cell landing. Cell damage observed during the bioprinting process is often simply attributed to interactions between cells and substrate. However, in reality, cell damage can also arise from complex mechanical effects caused by collisions between cell droplets during continuous printing processes. The objective of this research is to numerically simulate the collision effects between continuously printed cell droplets within the bioprinting process, with a particular focus on analyzing the consequent cell droplet deformation and stress distribution. The influence of gravity force was ignored, cell droplet landing was divided into four phases, the first phase is cell droplet free falling at a certain velocity; the second phase is the collision between the descending cell droplet and the pre-existing cell droplets that have been previously printed onto the substrate. This collision results in significant deformation of the cell membranes of both cell droplets in contact; the third phase is the cell droplet hitting a rigid body substrate; the fourth phase is the cell droplet being bounced. We conducted a qualitative analysis of the stress and strain of cell droplets during the cell printing process to evaluate the influence of different parameters on the printing effect. The results indicate that an increase in jet velocity leads to an increase in stress on cell droplets, thereby increasing the probability of cell damage. Adding cell droplet layers on the substrate can effectively reduce the impact force caused by collisions. Smaller droplets are more susceptible to rupture at higher velocities. These findings provide a scientific basis for optimizing cell printing parameters. Full article

Three-body recombination reactions, in which two particles form a bound state while a third one bounces off after the collision, play significant roles in many fields, such as cold and ultracold chemistry, astrochemistry, atmospheric physics, and plasma physics. In this work, the dynamics of the recombination reaction for the N₃ system over a wide temperature range (5000–20,000 K) are investigated in detail using the quasi-classical trajectory (QCT) method based on recently developed full-dimensional potential energy surfaces. The recombination products are N₂(X) + N(⁴S) in the 1⁴A″ state, N₂(A) + N(⁴S) in the 2⁴A″ state, and N₂(X) + N(²D) in both the 1²A″ and 2²A″ states. A three-body collision recombination model involving two sets of relative translational energies and collision parameters and a time-delay parameter is adopted in the QCT calculations. The recombination process occurs after forming an intermediate with a certain lifetime, which has a great influence on the recombination probability. Recombination processes occurring through a one-step three-body collision mechanism and two distinct two-step binary collision mechanisms are found in each state. And the two-step exchange mechanism is more dominant than the two-step transfer mechanism at higher temperatures. N₂(X) formed in all three related states is always the major recombination product in the temperature range from 5000 K to 20,000 K, with the relative abundance of N₂(A) increasing as temperature decreases. After hyperthermal collisions, the formed N₂(X/A) molecules are distributed in highly excited rotational and vibrational states, with internal energies mainly distributed near the dissociation threshold. Additionally, the rate coefficients for this three-body recombination reaction in each state are determined and exhibit a negative correlation with temperature. The dynamic insights presented in this work might be very useful to further simulate non-equilibrium dynamic processes in plasma physics involving N₃ systems. Full article

Compared to traditional multi-robot path planning problems, multi-chain robot path planning (MCRPP) is more challenging because it must account for collisions between robot units and between the bodies of a chain and the leading unit during towing. To address MCRPP more efficiently, we propose a novel algorithm called Multi-Train Safe Interval Path Planning (MT-SIPP). Based on safe interval path planning principles, we categorize conflicts in the multi-train planning process into three types: travel conflicts, waiting conflicts, and station conflicts. To handle travel conflicts, we use an improved k-robust method to ensure trains avoid collisions with other trains during movement. To resolve waiting conflicts, we apply a time correction method to ensure the safety of positions occupied by trains during waiting periods. To address station conflicts, we introduce node constraints to prevent other trains from occupying the station positions of trains that have reached their target stations and are stopped. Experimental results on three benchmark maps show that the MT-SIPP algorithm achieves about a 30% improvement in solution success rate and nearly a 50% increase in the maximum number of solvable instances compared to existing methods. These results confirm the effectiveness of MT-SIPP in addressing the challenges of MCRPP. Full article

Rocking structures exhibit significant collapse resistance during earthquakes. In studies of rocking rigid bodies, the collision restitution coefficient is typically determined based on the classical model of the rocking rigid bodies. However, during the rocking process, the collision restitution coefficient, influenced by the uncontrollable error in collision energy dissipation between the rigid body and the ground, indirectly impacts the final results of the equations of motion. Therefore, the rationality and reliability of the collision restitution coefficient are crucial for seismic analysis of rocking rigid bodies and self-centering members. This paper introduces a phasic energy dissipation and kinetic energy redistribution model specifically designed for the rocking rigid body within the system of mass point. This model divides the collision into three distinct stages, incorporating energy dissipation considerations in the first two stages to calculate the total kinetic energy of the rigid body. In the third stage, the remaining kinetic energy is redistributed to precisely determine the analytical solution for the collision restitution coefficient of an ideal, homogeneous rectangular rigid body during collision. Lastly, the validity and reliability of the proposed model are confirmed through comparisons with experimental data. Full article

We present Python Quasi-classical atom–molecule scattering (PyQCAMS v0.1.0), a new Python package for atom–diatom scattering within the quasi-classical trajectory approach. The input consists of the mass, collision energy, impact parameter, and pair-wise/three-body interactions. As the output, the code provides the vibrational quenching, dissociation, and reactive cross sections along with the rovibrational energy distribution of the reaction products. We benchmark the program for a reaction involving a molecular ion in a high-density ultracold gas, RbBa⁺ + Rb. Furthermore, we treat H₂ + Ca → CaH + H reactions as a prototypical example to illustrate the properties and performance of the software. Finally, we study the parallelization performance of the code by looking into the speedup of the program as a function of the number of CPUs used. Full article

Large-caliber and long-barrel weapons are important experimental devices for exploring the impact resistance and reliability of warheads. The force of impact of the muzzle jet has a significant influence on the overload resistance of the warhead and surrounding devices. The mechanism of motion of the body inside the tube cannot be ignored owing to the high kinetic energy at the muzzle. In this study, we designed the relevant experiment and a simulation model to analyze the structural characteristics and mechanism of evolution of the shock wave and the vortex structure in a muzzle jet. The aim was to examine the evolution of the shock wave with initial jet-induced interference. And we established three other simulation models to compare the similarities and differences between the results of the models. The results showed that, in the original complex model, the initial jet restricted the free expansion of the muzzle jet, and this led to many shock–shock collisions that retarded the development of the shock waves. Multiple reflected shock waves were thus formed under a high local pressure that distorted the shock structure, while the structure of the shock wave in the simplified models was clear and simple. The parameters of motion of the body changed by a little when the initial jet-induced interference was ignored. The difference in values of the strongest impact force measured at monitoring points far from the muzzle was small, with an error of about 2%, such that the simplified model without the initial jet could be used in place of the original complex model. The other simplified models yielded significant differences. Our results provide an important theoretical basis for further research on the muzzle jet and its applications in engineering. Full article