Force modeling for needle insertion into soft tissue based on mechanical properties and geometric parameters

The force model during needle insertion into soft tissue is important for accurate percutaneous intervention.In this paper,a force model for needle insertion into a tissue-equivalent material is presented and a series of experiments are conducted to acquire data from needle soft-tissue interaction process.In order to build a more accurate insertion force model,the interaction force between a surgical needle and soft tissue is divided into three parts：stiffness force,friction force,and cutting force.The stiffness force is modeled on the basis of contact mechanics model.The friction force model is presented using a modified Winkler＇s foundation model.The cutting force is viewed as a constant depending on a given tissue.The proposed models in the paper are established on the basis of the mechanical properties and geometric parameters of the needle and soft tissue.The experimental results illustrate that the force models are capable of predicting the needle-tissue interaction force.The force models of needle insertion can provide real-time haptic feedback for robot-assisted procedures,thereby improving the accuracy and safety of surgery.     

Synergic Motion Trajectory Planning for Airplane Docking Based on 6PURU Parallel Mechanism

Motion planning issues encountered in assembling airplanes by employing the 6PURU parallel mechanism are analyzed in this paper. A sine curve of the change rate of acceleration, which is called as jerk in the following text, is proposed for uniaxial flexible acceleration and deceleration planning based on the optimal time and velocity and acceleration constraints. Compared with other curves, the proposed curve can realize a continuous n-order derivative and the smooth change of the speed and acceleration. The method is computationally simple and suitable for programming. In addition, a multiaxial coordinated movement scheme is proposed. The motion trajectory is no longer simply split into many single-direction trajectories nor are all single-direction planning trajectories combined directly. The multiaxial coordinated movement scheme aims to achieve synergic movement in multiple directions to ensure smoothness of the movement in the event of a kinematic error when maintaining a stable value. If the movement fails to achieve this goal, driving force mutations will deteriorate the effect of synergic movement. A physical model of the parallel mechanism is developed in sim Mechanics, and a holistic system model is completed in SIMULINK. The feasibility of the new planning algorithm is simulated and tested, and then, the multiaxial synergic movement planning method is proposed and verified.     

Finite Element Simulation of Metal Quenching

The evolution of the phase transformation and the resulting internal stresses and strains in metallic parts during quenching were modeled numerically. The numerical simulation of the metal quenching process was based on the metallo-thermo-mechanical theory using the finite element method to couple the temperature, phase transformation, and stress-strain fields. The numerical models are presented for the heat treatment and kinetics of the phase transformation. The finite element models and the phase transition kinetics accurately predict the distribution of the microstructure volume fractions, the temperature, the distortion, and the stress-strain relation during quenching. The two examples used to validate the models are the quenching of a small gear and of a large turbine rotor. The simulation results for the martensite phase volume fraction, the stresses, and the distortion in the gear agree well with the experimental data. The models can be used to optimize the quenching conditions to ensure product quality.     

Natural Frequency of Planetary Transmission with Thin-Walled Ring Gear on Elastic Supports

A lumped parameter-rigid elastic coupled dynamic model of two-stage planetary gears for a hybrid car is established through the inter-stage coupled method,in which the supports of the ring gear of planet set Ⅱ are represented as an elastic foundation with radial and tangential uniform distributed stiffness,and the ring gear of planet set Ⅱ is modeled as an elastic continuum body. The natural frequencies based on the eigenvalue problem of dynamic model of planetary transmission are solved and the associated vibration modes are discussed. The rules are revealed which are the influences of the ring gear elastic supports stiffness and rim thickness on natural frequencies of planetary transmission. The theoretical analysis indicates that the vibration modes of planetary transmission with thin-walled ring gear on elastic supports are classified into seven types: Ⅰ/Ⅱ stage coupled rotational mode,Ⅰ stage translational mode,Ⅰ stage planet mode,Ⅱ stage translational mode,Ⅱ stage degenerate planet mode,Ⅱ stage distinct planet mode and purely ring gear mode. For each vibration mode, its properties are summarized. The numerical solutions show that the elastic supports stiffness and rim thickness of the ring gear of planet set Ⅱ have different influences on natural frequencies.     

The Simulation Study of HEV Under Electric Assist Control Strategy （EACS）

Hybrid Electric Vehicle (HEV) becomes a popular research project all over the world because of its high efficiency and low emissions. HEV is driven by Internal Combustion (IC) engine and electric motor,and its powertrain is more complex than conventional vehicle. Therefore, the complexity of a HEV power-train demands a rehable control strategy be developed to guarantee stable and consistent operation. In this paper, EACS is proposed which takes IC engine as a main power unit and the electric motor as an assis-tant one. Because the fuel consumption of HEV mainly depends on IC engine, EACS restricts the IC en-gine to operate under the condition with favorable fuel economy. In the paper several control parameters are described such as the maximum torque, the lowest and highest desired battery state of charge (SOC),whose values will affect the performance of HEV remarkably. In addition, the test models of power units for HEV, mathematical models of transmission and vehicle dynamics for HEV are estabhshed. A forward-facing simulation software (i.e. driver-to-wheel) based on MATLAB/Simulink is developed to test the performance of EACS and determine the proper value of the control parameters. The simulation results and conclusion are also shown in the paper.     

Finds in Testing Experiments for Model Evaluation

To evaluate the fault location and the failure prediction models, simulation-based and codebased experiments were conducted to collect the required failure data. The PIE model was applied to simulate failures in the simulation-based experiment. Based on syntax and semantic level fault injections, a hybrid fault injection model is presented. To analyze the injected faults, the difficulty to inject (DTI) and difficulty to detect (DTD) are introduced and are measured from the programs used in the code-based experiment. Three interesting results were obtained from the experiments: 1) Failures simulated by the PIE model without consideration of the program and testing features are unreliably predicted; 2) There is no obvious correlation between the DTI and DTD parameters; 3) The DTD for syntax level faults changes in a different pattern to that for semantic level faults when the DTI increases. The results show that the parameters have a strong effect on the failures simulated, and the measurement of DTD is not strict.     

Study on estimate method of wave velocity and quality factor to fault seals

Based on ultrasonic test of fault rocks, the responses for wave velocity and quality factor （Q value） to lithology, porosity and permeability of fault rocks and mechanical property of faults are studied. In this paper, a new quantitative estimate method of fault seals is originally offered. The conclusions are as follows： （1） Wave velocity and Q value increase and porosity decreases with the increase in stress perpendicular to joint; （2） In compressive and compresso-shear fault rocks that are obviously anisotropic compared with their original rocks, the wave velocity and Q value are greater in the direction parallel with foliation, and usually less perpendicular to it. In tensile and tenso-shear fault rocks that are not obviously anisotropic, the wave velocity and Q value are under that of original rocks; （3） In foliated fault rocks, the direction with minimal wave velocity and Q value is the best direction for sealing; on the contrary it is the best for flowing; （4） Structural factures develop mainly along foliation, the minimal wave velocity and Q value reflect the flowing capacity in parallel direction to foliation, and the maximal wave velocity as well as Q value reflect the sealing capacity in normal direction to foliation. The new estimate method is based upon contrast of wave velocity and Q value between fault rocks and their original rocks, and is divided into three parts that are respectively to identify rock＇s lithology, to judge mechanic property of faults and to Judge sealing capacity of faults. Although there is vast scale effect between ultrasonic wave and seismic wave, they have similar regularity of response to fabric and porosity of faults. This research offers new application for seismic data and petrophysical basis for seismological estimation of fault seals. The estimate precision will be improved with the enhancement of three-dimensional seismic prospecting work.     

Dynamic characteristics of the planetary gear train excited by time-varying meshing stiffness in the wind turbine

Wind power has attracted increasing attention as a renewable and clean energy. Gear fault frequently occurs under extreme environment and complex loads. The time-varying meshing stiffness is one of the main excitations. This study proposes a 5 degree-of-freedom torsional vibration model for the planetary gear system. The influence of some parameters (e.g., contact ratio and phase difference) is discussed under different conditions of a single teeth pair and double pairs of teeth. The impact load caused by the teeth face fault, ramped load induced by the complex wind conditions, and the harmonic excitation are investigated. The analysis of the time-varying meshing stiffness and the dynamic meshing force shows that the dynamic design under different loads can be made to avoid resonance, can provide the basis for the gear fault location of a wind turbine, and distinguish the fault characteristics from the vibration signals.     

Numerical simulation of dense particle-gas two-phase flow using the minimal potential energy principle

A simulation method of dense particle-gas two-phase flow has been developed. The binding force is introduced to present the impact of particle clustering and its expression is deduced according to the principle of minimal potential energy. The cluster collision, break-up and coalescence models are proposed based on the assumption that the particle cluster are treated as one discrete phase. These models are used to numerically study the two-phase flow field in a circulating fluidized bed (CFB). Detailed results of the cluster structure, cluster size, particle volume fraction, gas velocity, and particle velocity are obtained. The correlation between the simulation results and experimental data justifies that these models and algorithm are reasonable, and can be used to efficiently study the dense particle-gas two-phase flow.     

Analysis and Simulation for Planetary Gear Fault of Helicopter Based on Vibration Signal

Fault diagnosis for helicopter’s main gearbox based on vibration signals by experiments always requires high costs. To solve this problem,a helicopter’s planetary gear system is taken as an example. Firstly,a simulation model is established by McFadden,and analyzed under ideal condition. Then this model is developed and improved as the delay-time model of the vibration signal which determines the phase-change of sidebands when the system is running. The cause and change-rules of planetary gear system’s vibration signal are analyzed to establish the fault diagnosis model.At the same time,the vibration signal of fault condition is simulated and analyzed. This simulation method can provide a reference for fault monitoring and diagnosis for planetary gear system.     

A mathematical model and numerical simulation of pressure wave in horizontal gas-liquid bubbly flow

By using an ensemble-averaged two-fluid model,with valid closure conditions of interfacial momentum exchange due to virtual mass force,viscous shear stress and drag force,a model for pressure wave propagation in a horizontal gas-liquid bubbly flow is proposed.According to the small perturbation theory and solvable condition of one-order linear uniform equations,a dispersion equation of pressure wave is induced.The pressure wave speed calculated from the model is compared and in good agreement with existing data.According to the dispersion equation,the propagation and attenuation of pressure wave are investigated systemically.The factors affecting pressure wave,such as void fraction,pressure,wall shear stress,perturbation frequency,virtual mass force and drag force,are analyzed.The result shows that the decrease in system pressure,the increase in void fraction and the existence of wall shear stress,will cause a decrease in pressure wave speed and an increase in the attenuation coefficient in the horizontal gas-liquid bubbly flow.The effects of perturbation frequency,virtual mass and drag force on pressure wave in the horizontal gas-liquid bubbly flow at low perturbation frequency are different from that at high perturbation frequency.     

THE SELECTION OF CROWNING VALUES FOR HELICAL GEAR DRIVES

Gear crowning takes an important part in alleviating the concentration of local stresses when misalignment of the flanks exists. It is known that an excessive crowning will lead to a high local stress while an insufficient value will not be able to compensate the alignment error resulting in concentration. The selection of the crowning value is always based on empirical estimation. This paper deals with a theoretical method to determine the crowning value. The distribution forms of contact stresses on the flanks of a crowned pinion and a gear are treated as a series of complete or portions of semi-ellipsoids with the same size. The total volume of which equals the whole contact load. From this point of view a series of equations for the computation of the maximum stress is obtained. The calculation of contact stresses considering the existence of alignment errors gives insight into the selection ora proper crowning value for a gear drive.     

Hacking the optical diffraction limit: Review on recent developments of fluorescence nanoscopy

Subject to the diffraction limit, the resolution of conventional optical microscopy is constrained to about 200 and 500 nm in the lateral and axial planes, respectively. The advantage of optical microscopy in the life sciences over electronic microscopy, especially fluorescence microscopy, drives scientists to develop novel "hacks" to reach nanoscale resolutions by optical means. In this review, three aspects of the techniques are discussed: (1) lateral super-resolution; (2) axial super-resolution; (3) super-resolution in three dimensions. The principles of how the methods achieve the cross-barrier resolution are discussed, and recent advances in current techniques are described. With these methods, the use of fluorescence microscopy is growing quickly toward a new era: fluorescence nanoscopy that will reveal 2 orders of magnitude more information on cellular structure and dynamics.     

A novel permanent magnetic bearing and its anti-wear effect in impeller total artificial heart

A novel permanent magnetic bearing has been developed, which consists of two magnetic rings with differenl dimensions in the same direction of axial magnetization, located concentrically. Because of the effect of magnetic field, the magnetic rings keep a distance axially from each other. If the distance between the two rings changes, a rehabilitalion force is produced to return to the original po-sition. When this distance decreases, a repeiling force will be generated; its component in axial direction can be used as a magnetic spring and its radial component can function as a bearing. With this novel permanent magnetic bearing, an impeller totai artificial beart (TAH) is designed, manufactured and tested. The rotation is driven radially. On the left and right sides of the rotor magnets, two small magnetic rings are fixed onto the rotor, coupling with two big magnetic rings on both sides of the motor coil, to form the magnetic bearings. Hereby the bearings are used for wear reduction rather than rotor l     

Analog Circuit Testability for Fault Diagnosis

In every field of engineering, testing is a fundamental step for the validation of design, being the most direct way to verify that a product meets its specifications. If the desired performance is not achieved, testing should identify all the causes of malfunctioning and indicate suitable corrective actions. Different algorithms relying on the symbolic approach have been presented in the past by the authors and in this work noteworthy improvements on these algorithms are proposed. However, how the testability is designed to maintain devices during its lifetime is discussed lack at present. Furthermore, this problem concerns needing more times on testing and fault diagnosis, and wasting more manpower and material resources. Especially in the army devices field, it is very important that maintenance and indemnificatory are advanced. In this paper, the parameters in testability design for fault detection and diagnosis will be given. The detailed contents of testability will be proposed, including the dividing of circuit module in equipment, technology material needed for detection and requirement of specifications used for testing.     

Viscosity and aggregation structure of nanocolloidal dispersions

In this work,the effects of nanoparticle size,particle volume fraction and pH on the viscosity of silicon dioxide nanocolloidal dispersions are investigated.Both size and pH are found to significantly affect nanocolloid viscosity.Two models are used to study the effect of aggregate structure on the viscosity of the nanocolloidal dispersion.The fractal concept is introduced to describe the irregular and dynamic aggregate structure.The structure of aggregates,which is considered to play an important role in viscosity,is affected by both intermolecular and electrostatic forces.The particle interaction is primarily affected by particle distance and becomes stronger with decreasing particle size and increasing volume fraction.The aggregate structure is also affected by the pH of the solution.Studying the relationship between pH and zeta-potential shows that with the neutralization of charges on the particle surface and decreasing electrical repulsion force,the particle interaction becomes dominated by attractive forces and the aggregates form a more compact structure.     

The Liner Formulas between the Supporting Force and Axis Warp of Large-scale Rotary Kiln with Multi-support

Kilns are the key equipment in the metallurgy,architectural and chemistry industry. It is the statically indeterminate system with over load, large torque and multi-support. The kiln move axis warp resulting in that the load distribution is asymmetry, cause many mechanical failure and safe accidents and the interruption of the produce, which bring a great losses. Treating the distribution of the kiln load and the complexity of the stiffness change, the all-purpose model and matrix, used to solve the variable-stiffness beam upon complex load, are established in this paper. The resultant force of kiln in vertical and horizontal direction is calculated. Accordingly, the liner formulas for calculating the supporting force of the support wheels are obtained, and the wheel supporting force also can be easily obtained based on each shell warp. This will provide theory conference for safety management and rational maintenance.     

Stator Winding Turn Faults Diagnosis for Induction Motor by Immune Memory Dynamic Clonal Strategy Algorithm

Quick detection of a small initial fault is important for an induction motor to prevent a consequent large fault.The mathematical model with basic motor equations among voltages,currents,and fluxes is analyzed and the motor model equations are described.The fault related features are extracted.An immune memory dynamic clonal strategy （IMDCS） system is applied to detecting the stator faults of induction motor.Four features are obtained from the induction motor,and then these features are given to the IMDCS system.After the motor condition has been learned by the IMDCS system,the memory set obtained in the training stage can be used to detect any fault.The proposed method is experimentally implemented on the induction motor,and the experimental results show the applicability and effectiveness of the proposed method to the diagnosis of stator winding turn faults in induction motors.     

Retrospect and prospect: advances and future strategies in climate research

A brief review of the progress in climate research and a prospect on its further development in the 21st century is presented. Some key findings including the concept of climate system, the discovery of climatic multi-equilibrium and abrupt climate changes, and the recognition of human activities as an important force of climate change made breakthroughs in climatology possible during last few decades. The adaptation to climatic and global change emerged as a new aspect of climatic research during the 1990s. Climate research will break through in the observation of the global system, in the analysis of mass data, in the deepening of research on the mechanism of climatic change, and in the improvement of models. In the applied fields of climate research, there will be substantial progress in the research on adaptation to global change and sustainable development, on orderly human activities, and climate modification.     

Experimental research of overburden movement and subsurface water seeping in shallow seam mining

Shallow seam coal field has the largest coal reserve in China. Mining in shallow depth causes serious problems, and subsurface dewatering is a major issue. In this paper, the physical simulating models were prepared to study overburden movement and aquiclude stability in the shallow seam mining of Yushuwan Coalfield, China. According to the characteristic of clay aquiclude and bedrock in the overburden, the proper simulation materials for simulating the plastic clay aquiclude layers and brittle bedrock layers were determined by the stress-strain tests and hydrophilic tests. The physical simulating models of solid medium and two phases of solid-liquid medium were carried out to simulate the failure and caving process of the roof and overburden, as well as the subsurface water seeping. Based on the simulation, it was found that the movement of clay aquiclude follows the movement of the underlying bedrock layers. The stability of aquiclude is mainly affected by cracks in fracture zone. The tests also showed that the best way to control the stability of aquiclude is to reduce the subsiding gradient, and there is a possibility of ground water conservation under longwall mining in Yushuwan Mine. This research provides a foundation for further study on mining dewatering and water conservation.