Nonlinear dynamic characteristics of a large-scale tilting pad journal bearing-rotor system

In this work, the nonlinear dynamic characteristics of a large-scale tilting pad journal bearings-rotor system with oil-film force model are investigated. The oil-film force of the 4-tilting-pad journal bearings considering oil cavitation is studied, and it is indicated that preload coefficient, wrapping and swing angle of pad have effects on the force. The system state trajectory, Poincaré maps, frequency spectra and bifurcation diagram are constructed to analyse the nonlinear dynamic characteristics of the double cantilever rotor supported by the tilting pad journal bearings in a large-scale turbo expander. The result from the numerical analysis is in agreement with behaviors of the turbo expander, and it is shown that the tilting pad journal bearings are more stable because of better oil-film distribution and larger oil-film force than that of the conventional plain bearing. Oil whirl and oil whip have an important influence on vibration of the rotor system. The study makes sense to improvement of the turbo expander and may contribute to a further understanding of its nonlinear dynamics

Online Bridge Crack Monitoring with Smart Film

Smart film crack monitoring method, which can be used for detecting initiation, length, width, shape, location, and propagation of cracks on real bridges, is proposed. Firstly, the fabrication of the smart film is developed. Then the feasibility of the method is analyzed and verified by the mechanical sensing character of the smart film under the two conditions of normal strain and crack initiation. Meanwhile, the coupling interference between parallel enameled wires of the smart film is discussed, and then low-frequency detecting signal and the custom communication protocol are used to decrease interference. On this basis, crack monitoring system with smart film is designed, where the collected crack data is sent to the remote monitoring center and the cracks are simulated and recurred. Finally, the monitoring system is applied to six bridges, and the effects are discussed

Initial Alignment for SINS Based on Pseudo-Earth Frame in Polar Regions

An accurate initial alignment must be required for inertial navigation system (INS). The performance of initial alignment directly affects the following navigation accuracy. However, the rapid convergence of meridians and the small horizontalcomponent of rotation of Earth make the traditional alignment methods ineffective in polar regions. In this paper, from the perspective of global inertial navigation, a novel alignment algorithm based on pseudo-Earth frame and backward process is proposed to implement the initial alignment in polar regions. Considering that an accurate coarse alignment of azimuth is difficult to obtain in polar regions, the dynamic error modeling with large azimuth misalignment angle is designed. At the end of alignment phase, the strapdown attitude matrix relative to local geographic frame is obtained without influence of position errors and cumbersome computation. As a result, it would be more convenient to access the following polar navigation system. Then, it is also expected to unify the polar alignment algorithm as much as possible, thereby further unifying the form of external reference information. Finally, semi-physical static simulation and in-motion tests with large azimuth misalignment angle assisted by unscented Kalman filter (UKF) validate the effectiveness of the proposed method

IMU Data and GPS Position Information Direct Fusion Based on LSTM

In recent years, the application of deep learning to the inertial navigation field has brought new vitality to inertial navigation technology. In this study, we propose a method using long short-term memory (LSTM) to estimate position information based on inertial measurement unit (IMU) data and Global Positioning System (GPS) position information. Simulations and experiments show the practicability of the proposed method in both static and dynamic cases. In static cases, vehicle stop data are simulated or recorded. In dynamic cases, uniform rectilinear motion data are simulated or recorded. The value range of LSTM hyperparameters is explored through both static and dynamic simulations. The simulations and experiments results are compared with the strapdown inertial navigation system (SINS)/GPS integrated navigation system based on kalman filter (KF). In a simulation, the LSTM method’s computed position error Standard Deviation (STD) was 52.38% of what the SINS computed. The biggest simulation radial error estimated by the LSTM method was 0.57 m. In experiments, the LSTM method computed a position error STD of 23.08% using only SINSs. The biggest experimental radial error the LSTM method estimated was 1.31 m. The position estimated by the LSTM fusion method has no cumulative divergence error compared to SINS (computed). All in all, the trained LSTM is a dependable fusion method for combining IMU data and GPS position information to estimate position

An Autonomous Vehicle Navigation System Based on Inertial and Visual Sensors

The strapdown inertial navigation system (SINS) is widely used in autonomous vehicles. However, the random drift error of gyroscope leads to serious accumulated navigation errors during long continuous operation of SINS alone. In this paper, we propose to combine the Inertial Measurement Unit (IMU) data with the line feature parameters from a camera to improve the navigation accuracy. The proposed method can also maintain the autonomy of the navigation system. Experimental results show that the proposed inertial-visual navigation system can mitigate the SINS drift and improve the accuracy, stability, and reliability of the navigation system

An Improved Alignment Method for the Strapdown Inertial Navigation System (SINS)

In this paper, an innovative inertial navigation system (INS) mechanization and the associated Kalman filter (KF) are developed to implement a fine alignment for the strapdown INS (SINS) on stationary base. The improved mechanization is established in the pseudo-geographic frame, which is rebuilt based on the initial position. The new mechanization eliminates the effects of linear movement errors on the heading by decoupling. Compared with the traditional local-level mechanization, it has more advantages. The proposed algorithm requires lower coarse alignment accuracy in both the open-loop and closed-loop KFs and hence can improve the system reliability and decrease the total alignment time. Moreover, for the closed-loop KF, it can decrease oscillation caused by the system errors and improve the closed-loop system stability. In addition, the proposed algorithm can also be applied to polar alignment. The performance of the proposed algorithm is verified by both simulations and experiments and the results exhibit the superior performance of the proposed approach

Effects of Concentrations on the Transdermal Permeation Enhancing Mechanisms of Borneol: A Coarse-Grained Molecular Dynamics Simulation on Mixed-Bilayer Membranes

Borneol is a natural permeation enhancer that is effective in drugs used in traditional clinical practices as well as in modern scientific research. However, its molecular mechanism is not fully understood. In this study, a mixed coarse-grained model of stratum corneum (SC) lipid bilayer comprised of Ceramide-N-sphingosine (CER NS) 24:0, cholesterol (CHOL) and free fatty acids (FFA) 24:0 (2:2:1) was used to examine the permeation enhancing mechanism of borneol on the model drug osthole. We found two different mechanisms that were dependent on concentrations levels of borneol. At low concentrations, the lipid system maintained a bilayer structure. The addition of borneol made the lipid bilayer loosen and improved drug permeation. The “pull” effect of borneol also improved drug permeation. However, for a strongly hydrophobic drug like osthole, the permeation enhancement of borneol was limited. When most borneol molecules permeated into bilayers and were located at the hydrophobic tail region, the spatial competition effect inhibited drug molecules from permeating deeper into the bilayer. At high concentrations, borneol led to the formation of water pores and long-lived reversed micelles. This improved the permeation of osthole and possibly other hydrophobic or hydrophilic drugs through the SC. Our simulation results were supported by Franz diffusion tests and transmission electron microscope (TEM) experiments

Interactions of Borneol with DPPC Phospholipid Membranes: A Molecular Dynamics Simulation Study

Borneol, known as a “guide” drug in traditional Chinese medicine, is widely used as a natural penetration enhancer in modern clinical applications. Despite a large number of experimental studies on borneol’s penetration enhancing effect, the molecular basis of its action on bio-membranes is still unclear. We carried out a series of coarse-grained molecular dynamics simulations with the borneol concentration ranging from 3.31% to 54.59% (v/v, lipid-free basis) to study the interactions of borneol with aDPPC(1,2-dipalmitoylsn-glycero-3-phosphatidylcholine) bilayer membrane, and the temperature effects were also considered. At concentrations below 21.89%, borneol’s presence only caused DPPC bilayer thinning and an increase in fluidity; A rise in temperature could promote the diffusing progress of borneol. When the concentration was 21.89% or above, inverted micelle-like structures were formed within the bilayer interior, which led to increased bilayer thickness, and an optimum temperature was found for the interaction of borneol with the DPPC bilayer membrane. These findings revealed that the choice of optimal concentration and temperature is critical for a given application in which borneol is used as a penetration enhancer. Our results not only clarify some molecular basis for borneol’s penetration enhancing effects, but also provide some guidance for the development and applications of new preparations containing borneol

Indoor and outdoor low-cost seamless integrated navigation system based on the integration of INS/GNSS/LIDAR system

Global Navigation Satellite System (GNSS) provides accurate positioning data for vehicular navigation in open outdoor environment. In an indoor environment, Light Detection and Ranging (LIDAR) Simultaneous Localization and Mapping (SLAM) establishes a two-dimensional map and provides positioning data. However, LIDAR can only provide relative positioning data and it cannot directly provide the latitude and longitude of the current position. As a consequence, GNSS/Inertial Navigation System (INS) integrated navigation could be employed in outdoors, while the indoors part makes use of INS/LIDAR integrated navigation and the corresponding switching navigation will make the indoor and outdoor positioning consistent. In addition, when the vehicle enters the garage, the GNSS signal will be blurred for a while and then disappeared. Ambiguous GNSS satellite signals will lead to the continuous distortion or overall drift of the positioning trajectory in the indoor condition. Therefore, an INS/LIDAR seamless integrated navigation algorithm and a switching algorithm based on vehicle navigation system are designed. According to the experimental data, the positioning accuracy of the INS/LIDAR navigation algorithm in the simulated environmental experiment is 50% higher than that of the Dead Reckoning (DR) algorithm. Besides, the switching algorithm developed based on the INS/LIDAR integrated navigation algorithm can achieve 80% success rate in navigation mode switching.Peer reviewe