为明确并提升承插式拼装桥墩抵抗压弯扭等复合荷载的能力,提出了一种结合灌浆套筒和承插口组合连接的新型承插装配式墩,通过复合荷载作用下的拟静力试验对比了现浇(reinforced concrete,RC)、灌浆套筒(grouting and sleeve,GS)、承插口(...为明确并提升承插式拼装桥墩抵抗压弯扭等复合荷载的能力,提出了一种结合灌浆套筒和承插口组合连接的新型承插装配式墩,通过复合荷载作用下的拟静力试验对比了现浇(reinforced concrete,RC)、灌浆套筒(grouting and sleeve,GS)、承插口(socket with ultra-high performance concrete,SU)和结合套筒连接钢筋的新型承插(grouting sleeve and socket with ultra-high performance concrete,GSU)连接拼装桥墩的损伤机理和滞回性能,结合有限元模型重点讨论了承插口深度对滞回性能的影响。结果表明:4个构件的破坏模式都是以受弯破坏为主的弯扭破坏,其中SU构件出现了轻微拔起的现象,而对应的GSU构件并未出现该现象,与RC构件接近;各构件的剪力-墩顶位移骨架发展趋势比较一致,由于GSU构件纵向钢筋连续,具有更好的整体性能,其抗弯承载力与RC构件接近,且明显大于SU和GS构件,4个构件弯曲滞回耗能较为接近;承插口深度为1.0倍截面宽度的GSU构件抗扭承载力略高于RC构件,且明显大于其余装配式墩,GSU构件的扭转刚度、延性系数和耗能能力均大于其他3个墩;当承插口深度采用0.5倍构件截面宽度时,新型承插GSU构件的抗弯和抗扭承载力均略高于整体现浇构件,具有良好的抵抗压弯扭荷载的能力,可以实现浅承插口连接。研究结果可为压弯扭复合作用下装配式墩的应用提供试验依据。展开更多
The nonlinear analysis with an analytical approach on dynamic torsional buckling of stiffened functionally graded thin toroidal shell segments is investigated. The shell is reinforced by inside stiffeners and surround...The nonlinear analysis with an analytical approach on dynamic torsional buckling of stiffened functionally graded thin toroidal shell segments is investigated. The shell is reinforced by inside stiffeners and surrounded by elastic foundations in a thermal environment and under a time-dependent torsional load. The governing equations are derived based on the Donnell shell theory with the yon Karman geometrical nonlinearity, the Stein and McElman assumption, the smeared stiffeners technique, and the Galerkin method. A deflection function with three terms is chosen. The thermal parameters of the uniform temperature rise and nonlinear temperature conduction law are found in an explicit form. A closed-form expression for determining the static critical torsional load is obtained. A critical dynamic torsional load is found by the fourth-order Runge-Kutta method and the Budiansky-Roth criterion. The effects of stiffeners, foundations, material, and dimensional parameters on dynamic responses of shells are considered.展开更多
视觉同步定位与建图(VSLAM)技术常常用于室内机器人的导航与感知,然而VSLAM的位姿估算方法是针对静态环境的,当场景中存在运动对象时,可能会导致定位和建图失败。针对此问题,提出了一个结合实例分割与聚类的VSLAM系统。所提系统使用实...视觉同步定位与建图(VSLAM)技术常常用于室内机器人的导航与感知,然而VSLAM的位姿估算方法是针对静态环境的,当场景中存在运动对象时,可能会导致定位和建图失败。针对此问题,提出了一个结合实例分割与聚类的VSLAM系统。所提系统使用实例分割网络生成场景中动态对象的概率掩膜,同时利用多视图几何的方法检测场景中的动态点,并将检测到的动态点与获得的概率掩膜匹配之后确定动态物体的精确动态掩膜;利用动态掩膜删除动态物体的特征点,然后利用剩余的静态特征点准确估计摄像机的位置。为了解决实例分割网络欠分割的问题,采用深度填充算法和聚类算法保证动态特征点完全删除。最后,重建图片被动态物体遮挡的背景,在正确的相机位姿下建立静态稠密点云地图。在公开的TUM(Technical University of Munich)数据集上的实验结果表明,在动态环境中,所提系统在保证实时性的同时能实现鲁棒的定位与建图。展开更多
文摘为明确并提升承插式拼装桥墩抵抗压弯扭等复合荷载的能力,提出了一种结合灌浆套筒和承插口组合连接的新型承插装配式墩,通过复合荷载作用下的拟静力试验对比了现浇(reinforced concrete,RC)、灌浆套筒(grouting and sleeve,GS)、承插口(socket with ultra-high performance concrete,SU)和结合套筒连接钢筋的新型承插(grouting sleeve and socket with ultra-high performance concrete,GSU)连接拼装桥墩的损伤机理和滞回性能,结合有限元模型重点讨论了承插口深度对滞回性能的影响。结果表明:4个构件的破坏模式都是以受弯破坏为主的弯扭破坏,其中SU构件出现了轻微拔起的现象,而对应的GSU构件并未出现该现象,与RC构件接近;各构件的剪力-墩顶位移骨架发展趋势比较一致,由于GSU构件纵向钢筋连续,具有更好的整体性能,其抗弯承载力与RC构件接近,且明显大于SU和GS构件,4个构件弯曲滞回耗能较为接近;承插口深度为1.0倍截面宽度的GSU构件抗扭承载力略高于RC构件,且明显大于其余装配式墩,GSU构件的扭转刚度、延性系数和耗能能力均大于其他3个墩;当承插口深度采用0.5倍构件截面宽度时,新型承插GSU构件的抗弯和抗扭承载力均略高于整体现浇构件,具有良好的抵抗压弯扭荷载的能力,可以实现浅承插口连接。研究结果可为压弯扭复合作用下装配式墩的应用提供试验依据。
基金supported by the Vietnam National Foundation for Science and Technology Development(No.107.02-2015.11)
文摘The nonlinear analysis with an analytical approach on dynamic torsional buckling of stiffened functionally graded thin toroidal shell segments is investigated. The shell is reinforced by inside stiffeners and surrounded by elastic foundations in a thermal environment and under a time-dependent torsional load. The governing equations are derived based on the Donnell shell theory with the yon Karman geometrical nonlinearity, the Stein and McElman assumption, the smeared stiffeners technique, and the Galerkin method. A deflection function with three terms is chosen. The thermal parameters of the uniform temperature rise and nonlinear temperature conduction law are found in an explicit form. A closed-form expression for determining the static critical torsional load is obtained. A critical dynamic torsional load is found by the fourth-order Runge-Kutta method and the Budiansky-Roth criterion. The effects of stiffeners, foundations, material, and dimensional parameters on dynamic responses of shells are considered.
文摘视觉同步定位与建图(VSLAM)技术常常用于室内机器人的导航与感知,然而VSLAM的位姿估算方法是针对静态环境的,当场景中存在运动对象时,可能会导致定位和建图失败。针对此问题,提出了一个结合实例分割与聚类的VSLAM系统。所提系统使用实例分割网络生成场景中动态对象的概率掩膜,同时利用多视图几何的方法检测场景中的动态点,并将检测到的动态点与获得的概率掩膜匹配之后确定动态物体的精确动态掩膜;利用动态掩膜删除动态物体的特征点,然后利用剩余的静态特征点准确估计摄像机的位置。为了解决实例分割网络欠分割的问题,采用深度填充算法和聚类算法保证动态特征点完全删除。最后,重建图片被动态物体遮挡的背景,在正确的相机位姿下建立静态稠密点云地图。在公开的TUM(Technical University of Munich)数据集上的实验结果表明,在动态环境中,所提系统在保证实时性的同时能实现鲁棒的定位与建图。
