Using spherical coordinates, the coupling nonlin- ear dynamic system of a liquid-filled spherical tank, which can be excited discretionarily, is deduced by the H-O variational principle, and the viscous damping is introduced via the liquid dissipation function. The kinetic equations of the coupling system are deduced by the relationship between the velocity of liquid particles and the disturbed liquid surface equation. Normal differential equations are obtained through the Galerkin method. An equivalent mechanical model is developed for liquid sloshing in a spherical tank subject to arbitrary excitation. The fixed and slosh masses, as well as the spring and damping constants, are determined in such a way as to satisfy the principle of equivalence. Numerical simulations illustrate the theoretical results in this paper as well.
The passive dynamic walking is a new concept of biped walking. Researchers have been working on this area with both theoretical analysis and experimental analysis ever since McGeer. This paper presents our compass-like passive walking model with a new set of testing system. Two gyroscopes are used for measuring the angles of two legs, and ten FlexiForce sensors are used for measuring the contact forces on the feet. We got the experimental data on the passive walking process with the validated testing system. A great emphasis was put on the contact process between the feet and the slope. The contact process of the stance leg was divided into four sections, and differences between the real testing contact process and the classic analytical contact process with no bouncing and slipping were summarized.
An analytical method is proposed to find geometric structures of stable,unstable and center manifolds of the collinear Lagrange points.In a transformed space,where the linearized equations are in Jordan canonical form,these invariant manifolds can be approximated arbitrarily closely as Taylor series around Lagrange points.These invariant manifolds are represented by algebraic equations containing the state variables only without the help of time.Thus the so-called geometric structure of these invariant manifolds is obtained.The stable,unstable and center manifolds are tangent to the stable,unstable and center eigenspaces,respectively.As an example of applicability,the invariant manifolds of L 1 point of the Sun-Earth system are considered.The stable and unstable manifolds are symmetric about the line from the Sun to the Earth,and they both reach near the Earth,so that the low energy transfer trajectory can be found based on the stable and unstable manifolds.The periodic or quasi-periodic orbits,which are chosen as nominal arrival orbits,can be obtained based on the center manifold.
The periodic or quasi-periodic orbits around collinear Lagrange points present many properties that are advantageous for space missions. These Lagrange point orbits are exponentially unstable. On the basis of an analytical method, an orbit control strategy that is designed to eliminate the dominant unstable components of Lagrange point orbits is developed. The proposed strategy enables the derivation of the analytical expression of nonlinear control force. The control parameter of this strategy can be arbitrarily selected provided that the parameter is considerably lower than the negative eigenvalue of motion equations, and that the energy required keeps the same order of magnitude. The periodic or quasi-periodic orbit of controlled equations remains near the periodic or quasi-periodic orbit of uncontrolled equations.
