Rock slope instability is a prevalent geological hazard that imposes significant adverse impacts on engineering activities.Although existing studies have focused on homogeneous rock slopes,the theoretical models for q...Rock slope instability is a prevalent geological hazard that imposes significant adverse impacts on engineering activities.Although existing studies have focused on homogeneous rock slopes,the theoretical models for quantifying the stability of softhard interbedded anti-inclined slopes remain underdeveloped,primarily due to the complex force transfer mechanisms involved.This study proposed a novel theoretical model for the stability analysis of soft-hard interbedded anti-inclined slopes under rainfall conditions.The framework models stratified rock layers as layered cantilever beams with material heterogeneity.Based on the principle of deformation compatibility,it comprehensively accounted for interlayer force transfer and strength degradation resulting from differential deformations among rock layers.Furthermore,it integrated the critical instability length induced by the self-weight of rock layers to determine the fracture depth.The proposed method was validated against engineering case studies and physical model tests,with error falling within an acceptable range.Compared to existing theoretical methods,the proposed method provided a more realistic representation of the slope's stress field.The analysis results demonstrate that rainfall not only reduces the inclination angle of the failure surface but also leads to an approximate 30%decrease in the safety factor.The proposed theoretical model is particularly useful for quickly calculating the stability of soft-hard interbedded anti-inclined rock slope under rainfall conditions,compared to complex and time-consuming numerical simulation calculations.展开更多
Residual soil slopes containing partially buried solitary rock blocks exhibit fundamentally different instability mechanisms compared to conventional soil slopes without such inclusions,presenting unique challenges fo...Residual soil slopes containing partially buried solitary rock blocks exhibit fundamentally different instability mechanisms compared to conventional soil slopes without such inclusions,presenting unique challenges for geotechnical engineering practice.Currently,no mature theoretical framework exists for analyzing the stability of these composite slope systems.This study proposes a novel analytical method for evaluating the stability of residual soil slopes with partially buried solitary rock blocks under rainfall conditions.A geomechanical model was established,three distinct failure modes were identified,and corresponding safety factor formulas were derived.The theoretical calculations were validated against a case study in Hongqiao village,Sichuan Province,China,showing strong agreement with both physical model experiments and threedimensional discrete element method(3DEM)numerical simulations.Parametric analyses reveal that variations in burial depth and inclination angle of the solitary rock block govern the transition between different failure modes.The relative position of the rock block on the slope surface determines whether its presence enhances or diminishes overall slope stability.The safety factor against block sliding is most sensitive to slope gradient:at gradients between 25°and 60°,block toppling governs failure(exhibiting the lowest safety factor),whereas at gradients between 60°and 70°,global slope sliding becomes the dominant mechanism.The influence of the solitary rock block on slope stability diminishes with increasing slope height.While rainfall conditions exacerbate all three potential failure modes,they do not alter the most probable failure mechanism for a given slope configuration.Compared to resource-intensive physical experiments and numerical simulations,the proposed theoretical model offers an efficient tool for rapidly assessing potential failure modes and calculating safety factors for residual soil slopes containing partially buried solitary rock blocks.展开更多
Flexibly interconnected distribution networks(FIDN)offer improved operational efficiency and operational control flexibility of power distribution systems through DC interconnection links,and have gradually become the...Flexibly interconnected distribution networks(FIDN)offer improved operational efficiency and operational control flexibility of power distribution systems through DC interconnection links,and have gradually become the main form of distribution networks.Aiming at the impact of constant power loads and converter transmission power variations in FIDN system stability,this paper presents an impedance reshaping based stability analysis and stabilization control to enhance the stability of the interconnected system and improve the system’s dynamic load response capability.Firstly,a small-single based equivalent impedance model of FIDN system,which consists flexibly interconnected equipment,energy storage,PV units,and constant power loads,is presented,and the total output and input impedance of the DC distribution network are derived.Secondly,the impacts of constant power loads and transmission power variations on the small-signal stability of FIDN system are analyzed through Nyquist stability curves using the impedance ratio criterion.Then,an impedance reshaping-based stability enhancement strategy for the FIDN system is proposed,which can significantly improve the system stability under the operating conditions of constant power loads and transmission power variations.Finally,a MATLAB/Simulink simulation model is built and tested.The results demonstrate that the proposed impedance reshaping strategy effectively mitigates voltage dips,surges,and DC bus fluctuations,shortens transient responses under power variations,and enables rapid stability recovery with reduced voltage drop during severe AC sags.展开更多
The paper investigates the reduction of the uncertainty of the factor of safety(FOS)in the probabilistic analysis of the stability of the mine waste heap.A mine spoil in the Bełchatów lignite mine(central Poland)...The paper investigates the reduction of the uncertainty of the factor of safety(FOS)in the probabilistic analysis of the stability of the mine waste heap.A mine spoil in the Bełchatów lignite mine(central Poland)is chosen as a case study.To mitigate the strong variability of heap material,the heap constituents are segmented using the Gaussian mixture model(GMM)technique.This segmentation utilizes key parameters from the cone penetration test with pore pressure measurement(CPTu)data:normalized cone resistance Qt and friction ratio Fr.Three segmentation approaches are explored:one based solely on Qt values,another on Qt and Fr treated independently,and a third that considers their cross-correlation.For each method,the optimal number of clusters is determined,and the spatial distribution of the segmented constituents is mapped using the kriging technique.Subsequently,a numerical model of the heap’s slope is developed to conduct probabilistic stability analysis.The results indicate that the use of segmented constituents significantly reduces the FOS standard deviation compared to modelling the heap as a single,highly variable layer.Specifically,while the reference model(without segmented constituent)yielded a mean FOS of 3.31 with a standard deviation of 1.66,applying the GMM segmentation approach increased the mean FOS by approximately 30%to 4.30 and reduced the standard deviation by over 40%to 0.96.This substantial improvement allows for a more reasonable and reliable heap slope design.The third variant utilizing the full GMM approach is particularly efficient.It leads to a clear decrease in uncertainty by segmenting a relatively small number of well-defined components.展开更多
In this paper,the new solitary wave solutions of the fractional doubly dispersive equation(FDDE)are investigated.These solutions are used in demonstrating wave transmission in elastic inhomogeneous Murnaghan’s rod.A ...In this paper,the new solitary wave solutions of the fractional doubly dispersive equation(FDDE)are investigated.These solutions are used in demonstrating wave transmission in elastic inhomogeneous Murnaghan’s rod.A very effective method,known as the unified method,is used here to obtain these solutions.In different conditions,the obtained solutions exhibit different pulse patterns including bright,periodic,combined bright-dark,two-soliton interaction,three-soliton interaction,five-soliton interaction,w-shaped,m-shaped,and u-shaped solutions.These physical characteristics are thoroughly investigated by the graphical representation under different values of the parameters which shows the reliability and productivity of the proposed method.In addition,linear stability analysis is applied to analyse the stability of the considered model.The novel aspect of this study is that the investigated model has never been studied by using the proposed method,and the resulting solutions have never been accomplished previously.展开更多
This article presents a micro-structure tensor enhanced elasto-plastic finite element(FE)method to address strength anisotropy in three-dimensional(3D)soil slope stability analysis.The gravity increase method(GIM)is e...This article presents a micro-structure tensor enhanced elasto-plastic finite element(FE)method to address strength anisotropy in three-dimensional(3D)soil slope stability analysis.The gravity increase method(GIM)is employed to analyze the stability of 3D anisotropic soil slopes.The accuracy of the proposed method is first verified against the data in the literature.We then simulate the 3D soil slope with a straight slope surface and the convex and concave slope surfaces with a 90turning corner to study the 3D effect on slope stability and the failure mechanism under anisotropy conditions.Based on our numerical results,the end effect significantly impacts the failure mechanism and safety factor.Anisotropy degree notably affects the safety factor,with higher degrees leading to deeper landslides.For concave slopes,they can be approximated by straight slopes with suitable boundary conditions to assess their stability.Furthermore,a case study of the Saint-Alban test embankment A in Quebec,Canada,is provided to demonstrate the applicability of the proposed FE model.展开更多
In the practical slope engineering,the stability of lower sliding mass(region A)with back tensile cracks of the jointed rock slope attracts more attentions,but the upper rock mass(region B)may also be unstable.Therefo...In the practical slope engineering,the stability of lower sliding mass(region A)with back tensile cracks of the jointed rock slope attracts more attentions,but the upper rock mass(region B)may also be unstable.Therefore,in this study,based on the stepped failure mode of bedding jointed rock slopes,considering the influence of the upper rock mass on the lower stepped sliding mass,the improved failure model for analyzing the interaction force(FAB)between two regions is constructed,and the safety factors(FS)of two regions and whole region are derived.In addition,this paper proposes a method to determine the existence of FAB using their respective acceleration values(aA and aB)when regions A and B are unstable.The influences of key parameters on two regions and the whole region are analyzed.The results show that the variation of the FAB and FS of two regions can be obtained accurately based on the improved failure model.The accuracy of the improved failure model is verified by comparative analysis.The research results can explain the interaction mechanism of two regions and the natural phenomenon of slope failure caused by the development of cracks.展开更多
This research presents an advanced study on the modeling and stability analysis of electro-hydraulic control modules used in intelligent chassis systems.Firstly,a comprehensive nonlinear mathematical model of the elec...This research presents an advanced study on the modeling and stability analysis of electro-hydraulic control modules used in intelligent chassis systems.Firstly,a comprehensive nonlinear mathematical model of the electro-hydraulic power-shift system is developed,incorporating pipeline characteristics through impedance analysis and examining coupling effects between the pilot solenoid valve,main valve,and pipeline.Then,the model’s accuracy is validated through experimental testing,demonstrating high precision and minimal model errors.A comparative analysis between simulation data(both with and without pipeline characteristics)and experimental results reveals that the model considering pipeline parameters aligns more closely with experimental data,highlighting its superior accuracy.The research further explores the influence of key factors on system stability,including damping coefficient,feedback cavity orifice diameter,spring stiffness,pipeline length,and pipeline diameter.Significant findings include the critical impact of damping coefficient,orifice diameter,and pipeline length on stability,while spring stiffness has a minimal effect.These findings provide valuable insights for optimizing electro-hydraulic control modules in intelligent chassis systems,with practical implications for automotive and construction machinery applications.展开更多
In this paper,a novel hybrid event-triggered control(ETC)method is developed based on the online action-critic technique,which aims at tackling the optimal regulation problem of discrete-time nonlinear systems.In orde...In this paper,a novel hybrid event-triggered control(ETC)method is developed based on the online action-critic technique,which aims at tackling the optimal regulation problem of discrete-time nonlinear systems.In order to ensure the normal execution of the online learning algorithm,a stability criterion condition is created to obtain the initial admissible control policy by using an offline iterative method under the time-triggered control framework.Subsequently,a general triggering condition is designed based on the uniform ultimate boundedness of the controlled system.In order to determine a constant interval which can ensure the system stability,another triggering condition is introduced and the asymptotic stability of the closed-loop system satisfying this condition is analyzed from the perspective of the input-to-state stability.The designed online hybrid ETC method not only further improves control efficiency,but also avoids the continuous judgment of the corresponding triggering condition.In addition,the event-based control law can approach the optimal control input within a finite approximation error.Finally,two experimental examples with physical background are conducted to indicate the present results.展开更多
The“upper coal and lower bauxite”resource distribution pattern is widespread in China,where mining of the overlying coal seam significantly alters the stress environment of the underlying bauxite layer.This study in...The“upper coal and lower bauxite”resource distribution pattern is widespread in China,where mining of the overlying coal seam significantly alters the stress environment of the underlying bauxite layer.This study investigates the stability of inclined bauxite pillars under the influence of stress redistribution caused by coal seam extraction.A theoretical model is developed to calculate the direction and magnitude of principal stresses in the inclined floor strata,and a pillar stability analysis model is established that considers the effect of principal stress rotation.The research employs a combination of theoretical analysis,physical modeling,numerical simulation,and field observation.Findings indicate that stress rotation is most pronounced at both ends of the coal seam goaf,with the maximum clockwise and counterclockwise rotation angles of 19°and-40°,respectively,observed in the bauxite layer.Inclined bauxite pillars are subjected to combined compressive and shear loading.Under such conditions,clockwise rotation of principal stress increases the shear-to-normal stress ratio,thereby reducing pillar stability.Pillars located beneath the coal wall are the first to fail due to stress concentration and principal stress rotation,which can trigger a cascade of instability among the adjacent pillars.The findings provide a theoretical basis and practical guidance for ensuring the safe co-mining of coal seams and bauxite resources.展开更多
Background Hybrid cotton enjoys overwhelming patronage among cotton farmers because of its superior yield capacity and fiber quality.However,various environmental factors affect its yield and fiber quality.This study ...Background Hybrid cotton enjoys overwhelming patronage among cotton farmers because of its superior yield capacity and fiber quality.However,various environmental factors affect its yield and fiber quality.This study aimed to assess 30 cotton hybrids for the stability of four traits(single-plant seed cotton yield,fiber upper half mean length(UHML),fiber strength,and micronaire)across three environments.Recent techniques,including genotype and genotype×environment(GGE)biplot,which provides a visual representation of performance and adaptability;weighted average absolute scores of the best linear unbiased predictions(WAASB),which balances the performance of the trait with stability;and multi-trait stability index(MTSI),which integrates multi-trait performance and stability,were used to analyze the stability of the four traits.Results Analysis of variance revealed significant genotype and environment interactions for all the traits studied,highlighting the need for comprehensive stability analysis.The environment E2 was the most suitable for the evaluation of seed cotton yield,whereas E3 was suitable for the evaluation of UHML and fiber strength.A stable hybrid,H05(TVH002×MCU5),with superior performance for seed cotton yield and UHML,was identified based on the overall results from GGE and WAASB.The which-won-where bioplot showed that H25(SVPR3×MCU5)performed the best for seed cotton yield in E3,and H27(Suraj×Sunantha)in E2 and E1.The hybrid H04(TVH002×CO14)in E1 and H30(Suraj×MCU5)in E2 and E3 performed well for UHML.Similarly,H28(Suraj×Suraksha)for E2 and E3 and H26(Suraj×Subiksha)for E1 were the best performing in the case of fiber strength.Based on the MTSI,four promising hybrids,namely,H24(SVPR3×CO14),H09(TVH2010×CO14),H18(MCU7×Suraksha),and H29(Suraj×CO14),were identified as stable with average performance for all four traits.Conclusions The study identified a stable hybrid,H05(TVH002×MCU5),with superior performance for yield and UHML.The identified hybrids in this study hold significant potential for cultivation across Tamil Nadu,with a scope for further evaluation in diverse environments.展开更多
In the present study,we concentrate on finding the dual solutions of biomagnetic fluid namely blood flow and heat transfer along with magnetic particles over a two dimensional shrinking cylinder in the presence of a m...In the present study,we concentrate on finding the dual solutions of biomagnetic fluid namely blood flow and heat transfer along with magnetic particles over a two dimensional shrinking cylinder in the presence of a magnetic dipole.To make the results physically realistic,stability analysis is also carried out in this study so that we realized which solution is stable and which is not.The governing partial equations are converted into ordinary differential equations by using similarity transformations and the numerical solution is calculated by applying bvp4c function technique in MATLAB software.The effects of different physical parameters are plotted graphically and discussed according to the outcomes of results.From the present study we observe that ferromagnetic interaction parameter had a great influenced on fluid velocity and temperature distributions.It is also found from the current analysis that the first and second solutions of shrinking cylinder obtained only when we applied particular ranges values of suction parameter.The most important characteristics part of study is to analyze the skin friction coefficient and rate of heat transfer which also covered in this analysis.It reveals that both skin friction coefficient and rate of heat transfer are reduced with rising values of ferromagnetic number.A comparison has also been made to make the solution feasible.展开更多
Transitions within the boundary layer significantly affect the aerodynamic and aerothermodynamic dynamics of hypersonic vehicles.Accurately predicting these transitions poses a significant challenge in vehicle design....Transitions within the boundary layer significantly affect the aerodynamic and aerothermodynamic dynamics of hypersonic vehicles.Accurately predicting these transitions poses a significant challenge in vehicle design.At high speeds and altitudes,thermochemical processes within the hypersonic boundary layer lead to real gas effects that alter flow stability and further complicate transition prediction.Direct numerical simulation and linear stability theory are used to investigate the effects of chemical reaction-induced terms on the second and cross-flow modes,and to identify the main sources of species disturbances.Efficient stability analysis method for real gas is developed by applying multilevel assumptions to the linear stability equation.The results indicate that at lower wall temperatures,species disturbances primarily arise from convective terms,and there is a continuous contribution from chemical reaction source terms.The contributions of the diffusion and chemical source terms to species disturbances increase with the intensity of chemical reactions.When the nitrogen within the boundary layer is not dissociated or is only weakly dissociated,the assumption of complete freezing of the species disturbances can be employed to enhance the computational efficiency of the linear stability analysis.Chemical non-equilibrium linear stability theory based on the freezing assumption is suitable for most experimental and flight conditions,significantly reducing the computational time for real gas transition predictions,making it comparable to that for perfect gas.展开更多
The traditional stability analysis method of geogrid reinforced slopes does not consider the effect of lateral swelling,so it is not applicable to reinforced expansive soil slopes.This paper reports a new stability an...The traditional stability analysis method of geogrid reinforced slopes does not consider the effect of lateral swelling,so it is not applicable to reinforced expansive soil slopes.This paper reports a new stability analysis method for geogrid reinforced expansive soil slopes.The additional pullout force of the free zone due to the lateral swelling and the anti-pullout safety factor of each geogrid layer were obtained by ensuring the overall stability of the reinforced slope.The optimum design was carried out to treat an expansive soil cut slope in Hubei Province,China,by changing the spacing and length of geogrid reinforcement.Calculation results show that the additional pullout force caused by lateral swelling has a great influence on the anti-pullout stability of geogrids,and the local stability of the reinforced slope will be overestimated if the swelling effect of soil in the free zone is not considered.展开更多
To investigate the stability of rock mass in high geostress underground powerhouse caverns subjected to excavation,a microseismic(MS)monitoring system was established and the discrete element method(DEM)-based numeric...To investigate the stability of rock mass in high geostress underground powerhouse caverns subjected to excavation,a microseismic(MS)monitoring system was established and the discrete element method(DEM)-based numerical simulation was carried out.The tempo-spatial damage characteristics of rock mass were analyzed.The evolution laws of MS source parameters during the formation of a rock collapse controlled by high geostress and geological structure were investigated.Additionally,a three-dimensional DEM model of the underground powerhouse caverns was built to reveal the deformation characteristics of rock mass.The results indicated that the MS events induced by excavation of high geostress underground powerhouse caverns occurred frequently.The large-stake crown of the main powerhouse was the main damage area.Prior to the rock collapse,the MS event count and accumulated energy release increased rapidly,while the apparent stress sharply increased and then decreased.The amount and proportion of shear and mixed MS events remarkably increased.The maximum displacement was generally located near the spandrel areas.The MS monitoring data and numerical simulation were in good agreement,which can provide significant references for damage evaluation and disaster forecasting in high geostress underground powerhouse caverns.展开更多
Dam construction for hydropower development is a very important subject all around the world, especially in developing countries due to energy crises. Filling of reservoir lakes may trigger or reactivate landslides in...Dam construction for hydropower development is a very important subject all around the world, especially in developing countries due to energy crises. Filling of reservoir lakes may trigger or reactivate landslides in reservoir area. Active landslides in populated districts in the Xiangjiaba Reservoir area have become a striking problem for residents, local government and construction engineers. The key objective of this study is to analyze the role of reservoir filling and fluctuation in the activationeactivation of the landslide as well as the mechanism of landslide from microstructures of pre-sheared slip surface. A large active landslide with a total volume of 1.25 Mm^3 at the left margin of Jinsha River in Pingshan County of Sichuan Province, Southwest China, was selected as a case study. Field investigation, field monitoring and laboratory tests were carried out to find out the failure mechanism and the stability of the active landslide. The shear strength test and stability analysis confirm that the water level fluctuations have an adverse effect on slope stability. It is obvious from microstructure analysis that the clay minerals contribute to down-slope movement at micro-scale as well as presence of expansive minerals (e.g., montmorillonite) decreases the strength of soil due to water level rise.展开更多
The long-term stability of large-span soft rock tunnel is influenced greatly by the creep effect of surrounding rock.The development of a new type of foam concrete which has the property of high compressibility and lo...The long-term stability of large-span soft rock tunnel is influenced greatly by the creep effect of surrounding rock.The development of a new type of foam concrete which has the property of high compressibility and low ductility was introduced.And it was made as filling material of reserved deformation layer between the first lining and the second lining used in large-span soft rock tunnel.The effect of the new type of foam concrete was simulated as filling material of reserved deformation layer using numerical simulation.Through the comparison with the common large-span soft rock tunnel,the vault settlement and surrounding convergence are reduced by about 61% and 45%,respectively,after creep of 100 a.And in the second lining,the plastic zone reduces apparently and the maximum equivalent plastic strain decreases relatively.So,it can be found that the application of the new type of foam concrete as the filling material of reserved deformation layer can relieve the excessive force in second lining induced by rock creep,reduce its deformation and improve the stability of tunnel.展开更多
Hybrid-driven underwater glider is a new type of tmmanned underwater vehicle, which combines the advantages of autonomous underwater vehicles and traditional underwater gliders. The autonomous underwater vehicles have...Hybrid-driven underwater glider is a new type of tmmanned underwater vehicle, which combines the advantages of autonomous underwater vehicles and traditional underwater gliders. The autonomous underwater vehicles have good maneuverability and can travel with a high speed, while the traditional underwater gliders are highlighted by low power consumption, long voyage, long endurance and good stealth characteristics. The hybrid-driven underwater gliders can realize variable motion profiles by their own buoyancy-driven and propeller propulsion systems. Stability of the mechanical system determines the performance of the system. In this paper, the Petrel-II hybrid-driven underwater glider developed by Tianjin University is selected as the research object and the stability of hybrid-driven underwater glider unitedly controlled by buoyancy and propeller has been targeted and evidenced. The dimensionless equations of the hybrid-driven underwater glider are obtained when the propeller is working. Then, the steady speed and steady glide path angle under steady-state motion have also been achieved. The steady-state operating conditions can be calculated when the hybrid-driven underwater glider reaches the desired steady-state motion. And the steady- state operating conditions are relatively conservative at the lower bound of the velocity range compared with the range of the velocity derived from the method of the composite Lyapunov function. By calculating the hydrodynamic coefficients of the Petrel-II hybrid-driven underwater glider, the simulation analysis has been conducted. In addition, the results of the field trials conducted in the South China Sea and the Danjiangkou Reservoir of China have been presented to illustrate the validity of the analysis and simulations.and to show the feasibility of the method of the composite Lyapunov function which verifies the stability of the Petrel-II hybrid-driven underwater glider.展开更多
Safe soft landing of the lander is vital to the Mars surface exploration mission. Analysis and verification of the landing stability under uncertain terrain play an important role in lander design. However, the effect...Safe soft landing of the lander is vital to the Mars surface exploration mission. Analysis and verification of the landing stability under uncertain terrain play an important role in lander design. However, the effect of uncertain terrain is ignored in most existing studies, making the analysis incomprehensive and increasing the risk of landing failure in practice. In this paper, a Mars lander with 10 attitude control thrusters is introduced and its dynamics model is then established considering plastic deformation parts and nonlinear contact forces. The effectiveness and accuracy of the dynamics modeling method are verified by experiments with an average relative error of 10%.In order to carry out the dynamics simulation with high-fidelity terrain, a terrain generation method based on statistical data is proposed. Through Monte Carlo simulation under a 50 m × 50 m randomly generated landing terrain, the stability of the lander and the effects of attitude control thrusters are analyzed. The results show that the failure rate is 5.5%, in which the primary failure forms are overturning and abnormal attitude. When the landing simulations are repeated without thrusters, the stable ratio decreases from 94.5% to 90.7%, suggesting the positive effects of attitude control thrusters in improving landing stability under rough terrain.展开更多
Currently,industrial robots are considered as an alternative towards traditional machine tools.Especially for the large-scale parts milling,robotic flexibility and low cost make it possess the irreplaceability.However...Currently,industrial robots are considered as an alternative towards traditional machine tools.Especially for the large-scale parts milling,robotic flexibility and low cost make it possess the irreplaceability.However,the milling chatter caused by its weak rigidity hampers robotic application and promotion severely in aviation industry.Rotary ultrasonic milling(RUM)technology with one-dimensional axial vibration has been proven and approved on avoiding robotic chatter.Based on this,the research of project team demonstrates that longitudinal-torsional composite ultrasonic milling(CUM-LT)involving separation characteristic has a greater advantage than RUM in terms of chatter suppression.Thereby,the CUM-LT as a new means is applied to avoid processing vibration of robotic milling system.And its influence mechanism on stability improvement of weak stiffness processing system is clarified.Meanwhile,the approaches to strengthen separation effect are provided innovatively.Moreover,a new analysis method of robotic CUM-LT(RCUM-LT)stability is proposed on the basis of ultrasonic function angles.The simulation and experimental results indicate that compared with robotic RUM(RRUM),stability regions of separated RCUM-LT(SRCUM-LT)and unseparated RCUM-LT(URCUM-LT)are improved by 124.42%and39.20%,respectively.The addition of torsional ultrasonic energy has a wonderful effect on the milling chatter suppression of low stiffness robots.展开更多
基金supported by the Chongqing Water Conservancy Science and Technology Project(grant number:CQSLK-202329)the Natural Science Foundation of Chongqing,China(grant number:CSTB2022NSCQ-MSX0991)+1 种基金the National Natural Science Foundation of China(grant number:52378327)the Chongqing Natural Science Foundation Innovation Development Joint Fund(grant number:CSTB2022NSCQ-LZX0049)。
摘要Rock slope instability is a prevalent geological hazard that imposes significant adverse impacts on engineering activities.Although existing studies have focused on homogeneous rock slopes,the theoretical models for quantifying the stability of softhard interbedded anti-inclined slopes remain underdeveloped,primarily due to the complex force transfer mechanisms involved.This study proposed a novel theoretical model for the stability analysis of soft-hard interbedded anti-inclined slopes under rainfall conditions.The framework models stratified rock layers as layered cantilever beams with material heterogeneity.Based on the principle of deformation compatibility,it comprehensively accounted for interlayer force transfer and strength degradation resulting from differential deformations among rock layers.Furthermore,it integrated the critical instability length induced by the self-weight of rock layers to determine the fracture depth.The proposed method was validated against engineering case studies and physical model tests,with error falling within an acceptable range.Compared to existing theoretical methods,the proposed method provided a more realistic representation of the slope's stress field.The analysis results demonstrate that rainfall not only reduces the inclination angle of the failure surface but also leads to an approximate 30%decrease in the safety factor.The proposed theoretical model is particularly useful for quickly calculating the stability of soft-hard interbedded anti-inclined rock slope under rainfall conditions,compared to complex and time-consuming numerical simulation calculations.
基金supported by the National Natural Science Foundation of China(Grant No.52378327)the Chongqing Water Conservancy Science and Technology Project(Grant No.CQSLK-202329)。
摘要Residual soil slopes containing partially buried solitary rock blocks exhibit fundamentally different instability mechanisms compared to conventional soil slopes without such inclusions,presenting unique challenges for geotechnical engineering practice.Currently,no mature theoretical framework exists for analyzing the stability of these composite slope systems.This study proposes a novel analytical method for evaluating the stability of residual soil slopes with partially buried solitary rock blocks under rainfall conditions.A geomechanical model was established,three distinct failure modes were identified,and corresponding safety factor formulas were derived.The theoretical calculations were validated against a case study in Hongqiao village,Sichuan Province,China,showing strong agreement with both physical model experiments and threedimensional discrete element method(3DEM)numerical simulations.Parametric analyses reveal that variations in burial depth and inclination angle of the solitary rock block govern the transition between different failure modes.The relative position of the rock block on the slope surface determines whether its presence enhances or diminishes overall slope stability.The safety factor against block sliding is most sensitive to slope gradient:at gradients between 25°and 60°,block toppling governs failure(exhibiting the lowest safety factor),whereas at gradients between 60°and 70°,global slope sliding becomes the dominant mechanism.The influence of the solitary rock block on slope stability diminishes with increasing slope height.While rainfall conditions exacerbate all three potential failure modes,they do not alter the most probable failure mechanism for a given slope configuration.Compared to resource-intensive physical experiments and numerical simulations,the proposed theoretical model offers an efficient tool for rapidly assessing potential failure modes and calculating safety factors for residual soil slopes containing partially buried solitary rock blocks.
基金supported by the key technology project of China Southern Power Grid Corporation(GZKJXM20220041)partly by theNational Key Research andDevelopment Plan(2022YFE0205300).
摘要Flexibly interconnected distribution networks(FIDN)offer improved operational efficiency and operational control flexibility of power distribution systems through DC interconnection links,and have gradually become the main form of distribution networks.Aiming at the impact of constant power loads and converter transmission power variations in FIDN system stability,this paper presents an impedance reshaping based stability analysis and stabilization control to enhance the stability of the interconnected system and improve the system’s dynamic load response capability.Firstly,a small-single based equivalent impedance model of FIDN system,which consists flexibly interconnected equipment,energy storage,PV units,and constant power loads,is presented,and the total output and input impedance of the DC distribution network are derived.Secondly,the impacts of constant power loads and transmission power variations on the small-signal stability of FIDN system are analyzed through Nyquist stability curves using the impedance ratio criterion.Then,an impedance reshaping-based stability enhancement strategy for the FIDN system is proposed,which can significantly improve the system stability under the operating conditions of constant power loads and transmission power variations.Finally,a MATLAB/Simulink simulation model is built and tested.The results demonstrate that the proposed impedance reshaping strategy effectively mitigates voltage dips,surges,and DC bus fluctuations,shortens transient responses under power variations,and enables rapid stability recovery with reduced voltage drop during severe AC sags.
摘要The paper investigates the reduction of the uncertainty of the factor of safety(FOS)in the probabilistic analysis of the stability of the mine waste heap.A mine spoil in the Bełchatów lignite mine(central Poland)is chosen as a case study.To mitigate the strong variability of heap material,the heap constituents are segmented using the Gaussian mixture model(GMM)technique.This segmentation utilizes key parameters from the cone penetration test with pore pressure measurement(CPTu)data:normalized cone resistance Qt and friction ratio Fr.Three segmentation approaches are explored:one based solely on Qt values,another on Qt and Fr treated independently,and a third that considers their cross-correlation.For each method,the optimal number of clusters is determined,and the spatial distribution of the segmented constituents is mapped using the kriging technique.Subsequently,a numerical model of the heap’s slope is developed to conduct probabilistic stability analysis.The results indicate that the use of segmented constituents significantly reduces the FOS standard deviation compared to modelling the heap as a single,highly variable layer.Specifically,while the reference model(without segmented constituent)yielded a mean FOS of 3.31 with a standard deviation of 1.66,applying the GMM segmentation approach increased the mean FOS by approximately 30%to 4.30 and reduced the standard deviation by over 40%to 0.96.This substantial improvement allows for a more reasonable and reliable heap slope design.The third variant utilizing the full GMM approach is particularly efficient.It leads to a clear decrease in uncertainty by segmenting a relatively small number of well-defined components.
摘要In this paper,the new solitary wave solutions of the fractional doubly dispersive equation(FDDE)are investigated.These solutions are used in demonstrating wave transmission in elastic inhomogeneous Murnaghan’s rod.A very effective method,known as the unified method,is used here to obtain these solutions.In different conditions,the obtained solutions exhibit different pulse patterns including bright,periodic,combined bright-dark,two-soliton interaction,three-soliton interaction,five-soliton interaction,w-shaped,m-shaped,and u-shaped solutions.These physical characteristics are thoroughly investigated by the graphical representation under different values of the parameters which shows the reliability and productivity of the proposed method.In addition,linear stability analysis is applied to analyse the stability of the considered model.The novel aspect of this study is that the investigated model has never been studied by using the proposed method,and the resulting solutions have never been accomplished previously.
基金supported by the National Natural Science Foundation of China(Grant Nos.51890912,51979025 and 52011530189).
摘要This article presents a micro-structure tensor enhanced elasto-plastic finite element(FE)method to address strength anisotropy in three-dimensional(3D)soil slope stability analysis.The gravity increase method(GIM)is employed to analyze the stability of 3D anisotropic soil slopes.The accuracy of the proposed method is first verified against the data in the literature.We then simulate the 3D soil slope with a straight slope surface and the convex and concave slope surfaces with a 90turning corner to study the 3D effect on slope stability and the failure mechanism under anisotropy conditions.Based on our numerical results,the end effect significantly impacts the failure mechanism and safety factor.Anisotropy degree notably affects the safety factor,with higher degrees leading to deeper landslides.For concave slopes,they can be approximated by straight slopes with suitable boundary conditions to assess their stability.Furthermore,a case study of the Saint-Alban test embankment A in Quebec,Canada,is provided to demonstrate the applicability of the proposed FE model.
基金Projects(52208369,52309138,52108320)supported by the National Natural Science Foundation of ChinaProjects(2023NSFSC0284,2025ZNSFSC0409)supported by the Sichuan Science and Technology Program,ChinaProject(U22468214)supported by the Joint Fund Project for Railway Basic Research by the National Natural Science Foundation of China and China State Railway Group Co.,Ltd.
摘要In the practical slope engineering,the stability of lower sliding mass(region A)with back tensile cracks of the jointed rock slope attracts more attentions,but the upper rock mass(region B)may also be unstable.Therefore,in this study,based on the stepped failure mode of bedding jointed rock slopes,considering the influence of the upper rock mass on the lower stepped sliding mass,the improved failure model for analyzing the interaction force(FAB)between two regions is constructed,and the safety factors(FS)of two regions and whole region are derived.In addition,this paper proposes a method to determine the existence of FAB using their respective acceleration values(aA and aB)when regions A and B are unstable.The influences of key parameters on two regions and the whole region are analyzed.The results show that the variation of the FAB and FS of two regions can be obtained accurately based on the improved failure model.The accuracy of the improved failure model is verified by comparative analysis.The research results can explain the interaction mechanism of two regions and the natural phenomenon of slope failure caused by the development of cracks.
基金Supported by the Basic Product Innovation Plan for Vehicle Power Scientific Research Project(Grant No.JCCPCX201704).
摘要This research presents an advanced study on the modeling and stability analysis of electro-hydraulic control modules used in intelligent chassis systems.Firstly,a comprehensive nonlinear mathematical model of the electro-hydraulic power-shift system is developed,incorporating pipeline characteristics through impedance analysis and examining coupling effects between the pilot solenoid valve,main valve,and pipeline.Then,the model’s accuracy is validated through experimental testing,demonstrating high precision and minimal model errors.A comparative analysis between simulation data(both with and without pipeline characteristics)and experimental results reveals that the model considering pipeline parameters aligns more closely with experimental data,highlighting its superior accuracy.The research further explores the influence of key factors on system stability,including damping coefficient,feedback cavity orifice diameter,spring stiffness,pipeline length,and pipeline diameter.Significant findings include the critical impact of damping coefficient,orifice diameter,and pipeline length on stability,while spring stiffness has a minimal effect.These findings provide valuable insights for optimizing electro-hydraulic control modules in intelligent chassis systems,with practical implications for automotive and construction machinery applications.
基金supported in part by the National Natural Science Foundation of China(62222301,62473012,62021003)the National Science and Technology Major Project(2021ZD0112302,2021ZD0112301)the Beijing Natural Science Foundation(F251019)。
摘要In this paper,a novel hybrid event-triggered control(ETC)method is developed based on the online action-critic technique,which aims at tackling the optimal regulation problem of discrete-time nonlinear systems.In order to ensure the normal execution of the online learning algorithm,a stability criterion condition is created to obtain the initial admissible control policy by using an offline iterative method under the time-triggered control framework.Subsequently,a general triggering condition is designed based on the uniform ultimate boundedness of the controlled system.In order to determine a constant interval which can ensure the system stability,another triggering condition is introduced and the asymptotic stability of the closed-loop system satisfying this condition is analyzed from the perspective of the input-to-state stability.The designed online hybrid ETC method not only further improves control efficiency,but also avoids the continuous judgment of the corresponding triggering condition.In addition,the event-based control law can approach the optimal control input within a finite approximation error.Finally,two experimental examples with physical background are conducted to indicate the present results.
基金Project(2021YFC2902101)supported by the National Key Research and Development Program of ChinaProjects(42271139,52174135)supported by the National Natural Science Foundation of China。
摘要The“upper coal and lower bauxite”resource distribution pattern is widespread in China,where mining of the overlying coal seam significantly alters the stress environment of the underlying bauxite layer.This study investigates the stability of inclined bauxite pillars under the influence of stress redistribution caused by coal seam extraction.A theoretical model is developed to calculate the direction and magnitude of principal stresses in the inclined floor strata,and a pillar stability analysis model is established that considers the effect of principal stress rotation.The research employs a combination of theoretical analysis,physical modeling,numerical simulation,and field observation.Findings indicate that stress rotation is most pronounced at both ends of the coal seam goaf,with the maximum clockwise and counterclockwise rotation angles of 19°and-40°,respectively,observed in the bauxite layer.Inclined bauxite pillars are subjected to combined compressive and shear loading.Under such conditions,clockwise rotation of principal stress increases the shear-to-normal stress ratio,thereby reducing pillar stability.Pillars located beneath the coal wall are the first to fail due to stress concentration and principal stress rotation,which can trigger a cascade of instability among the adjacent pillars.The findings provide a theoretical basis and practical guidance for ensuring the safe co-mining of coal seams and bauxite resources.
基金The TNAU Master’s student fellowship to the senior author。
摘要Background Hybrid cotton enjoys overwhelming patronage among cotton farmers because of its superior yield capacity and fiber quality.However,various environmental factors affect its yield and fiber quality.This study aimed to assess 30 cotton hybrids for the stability of four traits(single-plant seed cotton yield,fiber upper half mean length(UHML),fiber strength,and micronaire)across three environments.Recent techniques,including genotype and genotype×environment(GGE)biplot,which provides a visual representation of performance and adaptability;weighted average absolute scores of the best linear unbiased predictions(WAASB),which balances the performance of the trait with stability;and multi-trait stability index(MTSI),which integrates multi-trait performance and stability,were used to analyze the stability of the four traits.Results Analysis of variance revealed significant genotype and environment interactions for all the traits studied,highlighting the need for comprehensive stability analysis.The environment E2 was the most suitable for the evaluation of seed cotton yield,whereas E3 was suitable for the evaluation of UHML and fiber strength.A stable hybrid,H05(TVH002×MCU5),with superior performance for seed cotton yield and UHML,was identified based on the overall results from GGE and WAASB.The which-won-where bioplot showed that H25(SVPR3×MCU5)performed the best for seed cotton yield in E3,and H27(Suraj×Sunantha)in E2 and E1.The hybrid H04(TVH002×CO14)in E1 and H30(Suraj×MCU5)in E2 and E3 performed well for UHML.Similarly,H28(Suraj×Suraksha)for E2 and E3 and H26(Suraj×Subiksha)for E1 were the best performing in the case of fiber strength.Based on the MTSI,four promising hybrids,namely,H24(SVPR3×CO14),H09(TVH2010×CO14),H18(MCU7×Suraksha),and H29(Suraj×CO14),were identified as stable with average performance for all four traits.Conclusions The study identified a stable hybrid,H05(TVH002×MCU5),with superior performance for yield and UHML.The identified hybrids in this study hold significant potential for cultivation across Tamil Nadu,with a scope for further evaluation in diverse environments.
摘要In the present study,we concentrate on finding the dual solutions of biomagnetic fluid namely blood flow and heat transfer along with magnetic particles over a two dimensional shrinking cylinder in the presence of a magnetic dipole.To make the results physically realistic,stability analysis is also carried out in this study so that we realized which solution is stable and which is not.The governing partial equations are converted into ordinary differential equations by using similarity transformations and the numerical solution is calculated by applying bvp4c function technique in MATLAB software.The effects of different physical parameters are plotted graphically and discussed according to the outcomes of results.From the present study we observe that ferromagnetic interaction parameter had a great influenced on fluid velocity and temperature distributions.It is also found from the current analysis that the first and second solutions of shrinking cylinder obtained only when we applied particular ranges values of suction parameter.The most important characteristics part of study is to analyze the skin friction coefficient and rate of heat transfer which also covered in this analysis.It reveals that both skin friction coefficient and rate of heat transfer are reduced with rising values of ferromagnetic number.A comparison has also been made to make the solution feasible.
基金supported by the National Natural Science Foundation of China(No.92271102).
摘要Transitions within the boundary layer significantly affect the aerodynamic and aerothermodynamic dynamics of hypersonic vehicles.Accurately predicting these transitions poses a significant challenge in vehicle design.At high speeds and altitudes,thermochemical processes within the hypersonic boundary layer lead to real gas effects that alter flow stability and further complicate transition prediction.Direct numerical simulation and linear stability theory are used to investigate the effects of chemical reaction-induced terms on the second and cross-flow modes,and to identify the main sources of species disturbances.Efficient stability analysis method for real gas is developed by applying multilevel assumptions to the linear stability equation.The results indicate that at lower wall temperatures,species disturbances primarily arise from convective terms,and there is a continuous contribution from chemical reaction source terms.The contributions of the diffusion and chemical source terms to species disturbances increase with the intensity of chemical reactions.When the nitrogen within the boundary layer is not dissociated or is only weakly dissociated,the assumption of complete freezing of the species disturbances can be employed to enhance the computational efficiency of the linear stability analysis.Chemical non-equilibrium linear stability theory based on the freezing assumption is suitable for most experimental and flight conditions,significantly reducing the computational time for real gas transition predictions,making it comparable to that for perfect gas.
基金Project(51978085)supported by the National Natural Science Foundation of ChinaProject(201808430102)supported by the China Scholarship Council+1 种基金Project(JTG-201507)supported by the Highway Industry Standard Compilation Project of Ministry of Transportation,ChinaProject(kfj180102)supported by the Open Fund of Changsha University of Science&Technology,China。
摘要The traditional stability analysis method of geogrid reinforced slopes does not consider the effect of lateral swelling,so it is not applicable to reinforced expansive soil slopes.This paper reports a new stability analysis method for geogrid reinforced expansive soil slopes.The additional pullout force of the free zone due to the lateral swelling and the anti-pullout safety factor of each geogrid layer were obtained by ensuring the overall stability of the reinforced slope.The optimum design was carried out to treat an expansive soil cut slope in Hubei Province,China,by changing the spacing and length of geogrid reinforcement.Calculation results show that the additional pullout force caused by lateral swelling has a great influence on the anti-pullout stability of geogrids,and the local stability of the reinforced slope will be overestimated if the swelling effect of soil in the free zone is not considered.
基金Project(2017YFC1501100)supported by the National Key R&D Program of ChinaProjects(51809221,51679158)supported by the National Natural Science Foundation of China。
摘要To investigate the stability of rock mass in high geostress underground powerhouse caverns subjected to excavation,a microseismic(MS)monitoring system was established and the discrete element method(DEM)-based numerical simulation was carried out.The tempo-spatial damage characteristics of rock mass were analyzed.The evolution laws of MS source parameters during the formation of a rock collapse controlled by high geostress and geological structure were investigated.Additionally,a three-dimensional DEM model of the underground powerhouse caverns was built to reveal the deformation characteristics of rock mass.The results indicated that the MS events induced by excavation of high geostress underground powerhouse caverns occurred frequently.The large-stake crown of the main powerhouse was the main damage area.Prior to the rock collapse,the MS event count and accumulated energy release increased rapidly,while the apparent stress sharply increased and then decreased.The amount and proportion of shear and mixed MS events remarkably increased.The maximum displacement was generally located near the spandrel areas.The MS monitoring data and numerical simulation were in good agreement,which can provide significant references for damage evaluation and disaster forecasting in high geostress underground powerhouse caverns.
摘要Dam construction for hydropower development is a very important subject all around the world, especially in developing countries due to energy crises. Filling of reservoir lakes may trigger or reactivate landslides in reservoir area. Active landslides in populated districts in the Xiangjiaba Reservoir area have become a striking problem for residents, local government and construction engineers. The key objective of this study is to analyze the role of reservoir filling and fluctuation in the activationeactivation of the landslide as well as the mechanism of landslide from microstructures of pre-sheared slip surface. A large active landslide with a total volume of 1.25 Mm^3 at the left margin of Jinsha River in Pingshan County of Sichuan Province, Southwest China, was selected as a case study. Field investigation, field monitoring and laboratory tests were carried out to find out the failure mechanism and the stability of the active landslide. The shear strength test and stability analysis confirm that the water level fluctuations have an adverse effect on slope stability. It is obvious from microstructure analysis that the clay minerals contribute to down-slope movement at micro-scale as well as presence of expansive minerals (e.g., montmorillonite) decreases the strength of soil due to water level rise.
基金Projects(41072238,51009133)supported by the National Natural Science Foundation of China
摘要The long-term stability of large-span soft rock tunnel is influenced greatly by the creep effect of surrounding rock.The development of a new type of foam concrete which has the property of high compressibility and low ductility was introduced.And it was made as filling material of reserved deformation layer between the first lining and the second lining used in large-span soft rock tunnel.The effect of the new type of foam concrete was simulated as filling material of reserved deformation layer using numerical simulation.Through the comparison with the common large-span soft rock tunnel,the vault settlement and surrounding convergence are reduced by about 61% and 45%,respectively,after creep of 100 a.And in the second lining,the plastic zone reduces apparently and the maximum equivalent plastic strain decreases relatively.So,it can be found that the application of the new type of foam concrete as the filling material of reserved deformation layer can relieve the excessive force in second lining induced by rock creep,reduce its deformation and improve the stability of tunnel.
基金financially supported by the National Natural Science Foundation of China(Grant Nos.51475319 and 51722508)the National Key R&D Plan(Grant No.2016YFC0301100)Aoshan Talents Program of Qingdao National Laboratory for Marine Science and Technology
摘要Hybrid-driven underwater glider is a new type of tmmanned underwater vehicle, which combines the advantages of autonomous underwater vehicles and traditional underwater gliders. The autonomous underwater vehicles have good maneuverability and can travel with a high speed, while the traditional underwater gliders are highlighted by low power consumption, long voyage, long endurance and good stealth characteristics. The hybrid-driven underwater gliders can realize variable motion profiles by their own buoyancy-driven and propeller propulsion systems. Stability of the mechanical system determines the performance of the system. In this paper, the Petrel-II hybrid-driven underwater glider developed by Tianjin University is selected as the research object and the stability of hybrid-driven underwater glider unitedly controlled by buoyancy and propeller has been targeted and evidenced. The dimensionless equations of the hybrid-driven underwater glider are obtained when the propeller is working. Then, the steady speed and steady glide path angle under steady-state motion have also been achieved. The steady-state operating conditions can be calculated when the hybrid-driven underwater glider reaches the desired steady-state motion. And the steady- state operating conditions are relatively conservative at the lower bound of the velocity range compared with the range of the velocity derived from the method of the composite Lyapunov function. By calculating the hydrodynamic coefficients of the Petrel-II hybrid-driven underwater glider, the simulation analysis has been conducted. In addition, the results of the field trials conducted in the South China Sea and the Danjiangkou Reservoir of China have been presented to illustrate the validity of the analysis and simulations.and to show the feasibility of the method of the composite Lyapunov function which verifies the stability of the Petrel-II hybrid-driven underwater glider.
基金supported by the Joint Fund of Advanced Aerospace Manufacturing Technology Research(No.U2037602)。
摘要Safe soft landing of the lander is vital to the Mars surface exploration mission. Analysis and verification of the landing stability under uncertain terrain play an important role in lander design. However, the effect of uncertain terrain is ignored in most existing studies, making the analysis incomprehensive and increasing the risk of landing failure in practice. In this paper, a Mars lander with 10 attitude control thrusters is introduced and its dynamics model is then established considering plastic deformation parts and nonlinear contact forces. The effectiveness and accuracy of the dynamics modeling method are verified by experiments with an average relative error of 10%.In order to carry out the dynamics simulation with high-fidelity terrain, a terrain generation method based on statistical data is proposed. Through Monte Carlo simulation under a 50 m × 50 m randomly generated landing terrain, the stability of the lander and the effects of attitude control thrusters are analyzed. The results show that the failure rate is 5.5%, in which the primary failure forms are overturning and abnormal attitude. When the landing simulations are repeated without thrusters, the stable ratio decreases from 94.5% to 90.7%, suggesting the positive effects of attitude control thrusters in improving landing stability under rough terrain.
基金co-supported by the National Natural Science Foundation of China(Nos.91860132,51861145405,52075265)。
摘要Currently,industrial robots are considered as an alternative towards traditional machine tools.Especially for the large-scale parts milling,robotic flexibility and low cost make it possess the irreplaceability.However,the milling chatter caused by its weak rigidity hampers robotic application and promotion severely in aviation industry.Rotary ultrasonic milling(RUM)technology with one-dimensional axial vibration has been proven and approved on avoiding robotic chatter.Based on this,the research of project team demonstrates that longitudinal-torsional composite ultrasonic milling(CUM-LT)involving separation characteristic has a greater advantage than RUM in terms of chatter suppression.Thereby,the CUM-LT as a new means is applied to avoid processing vibration of robotic milling system.And its influence mechanism on stability improvement of weak stiffness processing system is clarified.Meanwhile,the approaches to strengthen separation effect are provided innovatively.Moreover,a new analysis method of robotic CUM-LT(RCUM-LT)stability is proposed on the basis of ultrasonic function angles.The simulation and experimental results indicate that compared with robotic RUM(RRUM),stability regions of separated RCUM-LT(SRCUM-LT)and unseparated RCUM-LT(URCUM-LT)are improved by 124.42%and39.20%,respectively.The addition of torsional ultrasonic energy has a wonderful effect on the milling chatter suppression of low stiffness robots.