A new anchor-siphon drainage combined method used for slope stabilization is proposed in this paper.It includes an anchoring section and a siphon drainage section.The novelty of the anchor-siphon drainage combined met...A new anchor-siphon drainage combined method used for slope stabilization is proposed in this paper.It includes an anchoring section and a siphon drainage section.The novelty of the anchor-siphon drainage combined method is the realization of the drainage and anchoring in the one inclined borehole.The engineering cost of drilling and the resulting disturbance to the slope is reduced.To validate the feasibility of the proposed method,a numerical method that combines the pore water pressure distribution after siphon drainage and the anchoring force of the anchoring section is used to evaluate the safety of the slope with the anchor-siphon drainage method.The proposed method was illustrated and validated with the Hongpu Village landslide,in Tonglu County,Zhejiang Province,in China.Compared with the common anchor bar with the same length in the anchoring section,the factor of safety(FOS)for Hongpu Village slope with anchorsiphon drainage is increased by 0.085.The calculation method of the optimal length ratio between the drainage section and the anchoring section and its influencing factors were studied.For the different design parameters,there is always an optimal length ratio of the drainage section.Compared with the siphon drainage and full-length anchor bar with the same borehole length,the anchor-siphon drainage combined method shows better landslide prevention ability.Moreover,when the optimized parameters with a bond strength of 560kPa,a borehole inclination of 35°,and no reduction in length are used,the calculated safety factor is 1.316,which is significantly higher than the FOS of 1.131 for the slope with siphon drainage.展开更多
针对移动机械臂系统在复杂室外环境中的作业需求,该文提出一种结构化环境下移动机械臂路径规划方法。首先根据移动机械臂的结构特点,将其分为移动平台子系统和机械臂子系统,并建立其运动学模型;然后求解机械臂雅可比矩阵,从而进一步分...针对移动机械臂系统在复杂室外环境中的作业需求,该文提出一种结构化环境下移动机械臂路径规划方法。首先根据移动机械臂的结构特点,将其分为移动平台子系统和机械臂子系统,并建立其运动学模型;然后求解机械臂雅可比矩阵,从而进一步分析在工作空间内可操作度性能指标对灵活性的影响,得到分层之后的灵活工作空间;最后基于机械臂所处不同灵活工作空间,得到移动机械臂的路径规划方法。利用Matlab对移动机械臂系统路径规划方法进行仿真,采用四轮独驱移动平台搭载6Do F UR10机械臂开展实验,结果表明该方法合理、有效,规划的路径满足移动机械臂实际工作需求。展开更多
基金the financial support of the National Natural Science Foundation of China(Key Project)(No.42230702)National Natural Science Foundation of China(No.42277129)Natural Science Foundation of Zhejiang Province(No.LY21D020001)。
文摘A new anchor-siphon drainage combined method used for slope stabilization is proposed in this paper.It includes an anchoring section and a siphon drainage section.The novelty of the anchor-siphon drainage combined method is the realization of the drainage and anchoring in the one inclined borehole.The engineering cost of drilling and the resulting disturbance to the slope is reduced.To validate the feasibility of the proposed method,a numerical method that combines the pore water pressure distribution after siphon drainage and the anchoring force of the anchoring section is used to evaluate the safety of the slope with the anchor-siphon drainage method.The proposed method was illustrated and validated with the Hongpu Village landslide,in Tonglu County,Zhejiang Province,in China.Compared with the common anchor bar with the same length in the anchoring section,the factor of safety(FOS)for Hongpu Village slope with anchorsiphon drainage is increased by 0.085.The calculation method of the optimal length ratio between the drainage section and the anchoring section and its influencing factors were studied.For the different design parameters,there is always an optimal length ratio of the drainage section.Compared with the siphon drainage and full-length anchor bar with the same borehole length,the anchor-siphon drainage combined method shows better landslide prevention ability.Moreover,when the optimized parameters with a bond strength of 560kPa,a borehole inclination of 35°,and no reduction in length are used,the calculated safety factor is 1.316,which is significantly higher than the FOS of 1.131 for the slope with siphon drainage.
文摘针对移动机械臂系统在复杂室外环境中的作业需求,该文提出一种结构化环境下移动机械臂路径规划方法。首先根据移动机械臂的结构特点,将其分为移动平台子系统和机械臂子系统,并建立其运动学模型;然后求解机械臂雅可比矩阵,从而进一步分析在工作空间内可操作度性能指标对灵活性的影响,得到分层之后的灵活工作空间;最后基于机械臂所处不同灵活工作空间,得到移动机械臂的路径规划方法。利用Matlab对移动机械臂系统路径规划方法进行仿真,采用四轮独驱移动平台搭载6Do F UR10机械臂开展实验,结果表明该方法合理、有效,规划的路径满足移动机械臂实际工作需求。
