In order to analyze the spatial maneuverability of the remotely operated underwater vehicle(ROV),the 6-DOF motion mathematic model of the ROV was founded.Hydrodynamics were analyzed by using the Taylor series.The thru...In order to analyze the spatial maneuverability of the remotely operated underwater vehicle(ROV),the 6-DOF motion mathematic model of the ROV was founded.Hydrodynamics were analyzed by using the Taylor series.The thrusters on the ROV were discussed.This paper considers three cases of motion simulation:vertical motion,rotational motion and Z-shape motion.A series of simulation experiments showed that the 6-DOF motion mathematic model was correct and reliable,and also fit with the scene simulation.展开更多
Many studies have focused on horizontal ground motion, resulting in many coherency functions for horizontal ground motion while neglecting related problems arising from vertical ground motion. However, seismic events ...Many studies have focused on horizontal ground motion, resulting in many coherency functions for horizontal ground motion while neglecting related problems arising from vertical ground motion. However, seismic events have demonstrated that the vertical components of ground motion sometimes govern the ultimate failure of structures. In this paper, a vertical coherency function model of spatial ground motion is proposed based on the Hao model and SMART 1 array records, and the validity of the model is demonstrated. The vertical coherency function model of spatial ground motion is also compared with the horizontal coherency function model, indicating that neither model exhibits isotropic characteristics. The value of the vertical coherency function has little correlation with that of the horizontal coherency function. However, the coherence of the vertical ground motion between a pair of stations decreases with their projection distance and the frequency of the ground motion. When the projection distance in the wave direction is greater than 800 meters, the coherency between the two points can be neglected.展开更多
To explore the influence of spatially varying ground motion on the dynamic behavior of a train passing through a three-tower cable-stayed bridge,a 3D train–track–bridge coupled model is established for accurately si...To explore the influence of spatially varying ground motion on the dynamic behavior of a train passing through a three-tower cable-stayed bridge,a 3D train–track–bridge coupled model is established for accurately simulating the train–bridge interaction under earthquake excitation,which is made up of a vehicle model built by multi-body dynamics,a track–bridge finite element model,and a 3D rolling wheel–rail contact model.A conditional simulation method,which takes into consideration the wave passage effect,incoherence effect,and site-response effect,is adopted to simulate the spatially varying ground motion under different soil conditions.The multi-time-step method previously proposed by the authors is also adopted to improve computational efficiency.The dynamic responses of the train running on a three-tower cablestayed bridge are calculated with differing earthquake excitations and train speeds.The results indicate that(1)the earthquake excitation significantly increases the responses of the train–bridge system,but at a design speed,all the running safety indices meet the code requirements;(2)the incoherence and site-response effects should also be considered in the seismic analysis for long-span bridges though there is no fixed pattern for determining their influences;(3)different train speeds that vary the vibration characteristics of the train–bridge system affect the vibration frequencies of the car body and bridge.展开更多
The spectral representation method （SRM） is widely used to simulate spatially varying ground motions. This study focuses on the approximation approach to the SRM based on root decomposition, which can improve the ef...The spectral representation method （SRM） is widely used to simulate spatially varying ground motions. This study focuses on the approximation approach to the SRM based on root decomposition, which can improve the efficiency of the simulation. The accuracy of the approximation approach may be affected by three factors： matrix for decomposition, distribution of frequency interpolation nodes and elements for interpolation. The influence of these factors on the accuracy of this approach is examined and the following conclusions are drawn. The SRM based on the root decomposition of the lagged coherency matrix exhibits greater accuracy than the SRM based on the root decomposition of the cross spectral matrix. The equal energy distribution of frequency interpolation nodes proposed in this study is more effective than the counter pith with an equal spacing. Elements for interpolation do not have much of an effect on the accuracy, so interpolation of the elements of the decomposed matrix is recommended because it is less complicated from a computational efficiency perspective.展开更多
The limit properties of spatial coherence of seismic ground motion are studied based on the differential relation between rotation and translation in elastic theory, the results show that the empirical mathematical mo...The limit properties of spatial coherence of seismic ground motion are studied based on the differential relation between rotation and translation in elastic theory, the results show that the empirical mathematical model of spatial coherence must satisfy some functional characteristics. It is also indicated that the key problem to estimate rotational power spectrum densities is to obtain precisely the two order derivative of spatial coherence.展开更多
针对当前地震动空间效应下曲线梁桥地震反应分析多采用确定性激励输入且忽略桥梁非线性的情况,采用了多维多点非平稳随机激励对曲线连续梁桥进行弹塑性响应分析。建立非线性有限元模型并降维解耦非平稳地震动非平稳演化功率谱(energy po...针对当前地震动空间效应下曲线梁桥地震反应分析多采用确定性激励输入且忽略桥梁非线性的情况,采用了多维多点非平稳随机激励对曲线连续梁桥进行弹塑性响应分析。建立非线性有限元模型并降维解耦非平稳地震动非平稳演化功率谱(energy power spectral density,EPSD)矩阵,采用绝对位移法对桥梁进行非线性时程分析。考虑不同视波速、场地条件、相干性以及平稳与非平稳地震激励,综合分析了曲线连续梁桥的随机响应及其频域特性和时域特性。结果表明,地震动空间效应和地震动的非平稳性对曲线梁桥随机响应影响很大,其中地震动空间效应对桥梁随机响应大小及其频域分布有显著影响,而非平稳性会对随机响应大小及其时变响应趋势产生重要影响。因此,在曲线连续梁桥抗震分析中需充分考虑地震动空间效应和地震动非平稳性,以避免错误估计桥梁抗震性能。提供了全面的分析结果,对加强曲线连续梁桥的抗震设计和评估,从而提高其抗震性能和可靠性具有重要意义。展开更多
With the problem of robot motion control in dynamic environment represented by mobile obstacles,working pieces and external mechanisms considered, a relevant control actions design procedure has been pro-posed to prov...With the problem of robot motion control in dynamic environment represented by mobile obstacles,working pieces and external mechanisms considered, a relevant control actions design procedure has been pro-posed to provide coordination of robot motions with respect to the moving external objects so that an extension ofrobot spatial motion techniques and active robotic strategies based on approaches of nonlinear control theory canbe achieved.展开更多
基金Supported by Major Projects of Science Research of Ministry of Education(311034)
文摘In order to analyze the spatial maneuverability of the remotely operated underwater vehicle(ROV),the 6-DOF motion mathematic model of the ROV was founded.Hydrodynamics were analyzed by using the Taylor series.The thrusters on the ROV were discussed.This paper considers three cases of motion simulation:vertical motion,rotational motion and Z-shape motion.A series of simulation experiments showed that the 6-DOF motion mathematic model was correct and reliable,and also fit with the scene simulation.
基金Supported by National Natural Science Foundation of China Under Grant No.90715005,No.NCET-07-0186 and No.200802860007
文摘Many studies have focused on horizontal ground motion, resulting in many coherency functions for horizontal ground motion while neglecting related problems arising from vertical ground motion. However, seismic events have demonstrated that the vertical components of ground motion sometimes govern the ultimate failure of structures. In this paper, a vertical coherency function model of spatial ground motion is proposed based on the Hao model and SMART 1 array records, and the validity of the model is demonstrated. The vertical coherency function model of spatial ground motion is also compared with the horizontal coherency function model, indicating that neither model exhibits isotropic characteristics. The value of the vertical coherency function has little correlation with that of the horizontal coherency function. However, the coherence of the vertical ground motion between a pair of stations decreases with their projection distance and the frequency of the ground motion. When the projection distance in the wave direction is greater than 800 meters, the coherency between the two points can be neglected.
基金the National Natural Science Foundation of China(Grant No.51678576)the National Key R&D Program of China(Grant No.2017YFB1201204)+1 种基金China Railway Corporation R&D Project(Grant No.2015G001-G)the Fundamental Research Funds for the Central Universities of Central South University(Grant No.2018zzts031).
文摘To explore the influence of spatially varying ground motion on the dynamic behavior of a train passing through a three-tower cable-stayed bridge,a 3D train–track–bridge coupled model is established for accurately simulating the train–bridge interaction under earthquake excitation,which is made up of a vehicle model built by multi-body dynamics,a track–bridge finite element model,and a 3D rolling wheel–rail contact model.A conditional simulation method,which takes into consideration the wave passage effect,incoherence effect,and site-response effect,is adopted to simulate the spatially varying ground motion under different soil conditions.The multi-time-step method previously proposed by the authors is also adopted to improve computational efficiency.The dynamic responses of the train running on a three-tower cablestayed bridge are calculated with differing earthquake excitations and train speeds.The results indicate that(1)the earthquake excitation significantly increases the responses of the train–bridge system,but at a design speed,all the running safety indices meet the code requirements;(2)the incoherence and site-response effects should also be considered in the seismic analysis for long-span bridges though there is no fixed pattern for determining their influences;(3)different train speeds that vary the vibration characteristics of the train–bridge system affect the vibration frequencies of the car body and bridge.
基金National Natural Science Foundation of China under Grant No.51308191 and Grant No.51278382the Fundamental Research Funds for the Central Universities of China under Grant No.2013B01514+1 种基金the Chang Jiang Scholars Program and the Innovative Research Team Program of the Ministry of Education of China under Grant No.IRT1125the 111 Project(No.B13024)
文摘The spectral representation method （SRM） is widely used to simulate spatially varying ground motions. This study focuses on the approximation approach to the SRM based on root decomposition, which can improve the efficiency of the simulation. The accuracy of the approximation approach may be affected by three factors： matrix for decomposition, distribution of frequency interpolation nodes and elements for interpolation. The influence of these factors on the accuracy of this approach is examined and the following conclusions are drawn. The SRM based on the root decomposition of the lagged coherency matrix exhibits greater accuracy than the SRM based on the root decomposition of the cross spectral matrix. The equal energy distribution of frequency interpolation nodes proposed in this study is more effective than the counter pith with an equal spacing. Elements for interpolation do not have much of an effect on the accuracy, so interpolation of the elements of the decomposed matrix is recommended because it is less complicated from a computational efficiency perspective.
文摘The limit properties of spatial coherence of seismic ground motion are studied based on the differential relation between rotation and translation in elastic theory, the results show that the empirical mathematical model of spatial coherence must satisfy some functional characteristics. It is also indicated that the key problem to estimate rotational power spectrum densities is to obtain precisely the two order derivative of spatial coherence.
文摘针对当前地震动空间效应下曲线梁桥地震反应分析多采用确定性激励输入且忽略桥梁非线性的情况,采用了多维多点非平稳随机激励对曲线连续梁桥进行弹塑性响应分析。建立非线性有限元模型并降维解耦非平稳地震动非平稳演化功率谱(energy power spectral density,EPSD)矩阵,采用绝对位移法对桥梁进行非线性时程分析。考虑不同视波速、场地条件、相干性以及平稳与非平稳地震激励,综合分析了曲线连续梁桥的随机响应及其频域特性和时域特性。结果表明,地震动空间效应和地震动的非平稳性对曲线梁桥随机响应影响很大,其中地震动空间效应对桥梁随机响应大小及其频域分布有显著影响,而非平稳性会对随机响应大小及其时变响应趋势产生重要影响。因此,在曲线连续梁桥抗震分析中需充分考虑地震动空间效应和地震动非平稳性,以避免错误估计桥梁抗震性能。提供了全面的分析结果,对加强曲线连续梁桥的抗震设计和评估,从而提高其抗震性能和可靠性具有重要意义。
基金Sponsored by Russian Foundation of Basic Research (Grant No. 97-01-00432)
文摘With the problem of robot motion control in dynamic environment represented by mobile obstacles,working pieces and external mechanisms considered, a relevant control actions design procedure has been pro-posed to provide coordination of robot motions with respect to the moving external objects so that an extension ofrobot spatial motion techniques and active robotic strategies based on approaches of nonlinear control theory canbe achieved.
