To eliminate the load weight limit of carrier rockets and reduce the burden on support structures,in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules,wh...To eliminate the load weight limit of carrier rockets and reduce the burden on support structures,in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules,which requires smooth operation of assembly robots,and flexible force control technology is necessary. A ground demonstration system is presented for in-orbit assembly focusing on flexible force control. A six-dimensional force/torque sensor and its data acquisition system are used to compensate for gravity. For translation and rotation,an algorithm for flexible control is proposed. A ground transportation demonstration verifies accuracy and smoothness of flexible force control,and the transportation and assembly task is completed automatically. The proposed system is suitable for the development of in-orbit assembly robots.展开更多
Conventional repairing methods for asphalt pavement have some inconveniences,such as insufficient strength,and are typically time-consuming.To address these issues,this study proposes a new technological method to des...Conventional repairing methods for asphalt pavement have some inconveniences,such as insufficient strength,and are typically time-consuming.To address these issues,this study proposes a new technological method to design and prepare a high-performance assembled asphalt concrete block for fast repair of the potholes.A series of composite modified asphalt binders with 10%crumb rubber(CR)and different dosages(0%,1%,3%,5%)of polyurethane(PU)are examined to determine the optimized binder.Subsequently,the corresponding asphalt mixtures are prepared for further comparison and assessment of engineering properties,such as moistureinduced damage,high-temperature deformation,and low-temperature cracking characteristics.The test results show that PU can significantly improve the high-temperature performance and hardness of(crumb rubber modified asphalt)CRMA binder;3%PU contributes allowing the resistance of CRMA mixture to moisture-induced damage at higher levels,particularly under water whole immersion;as 3%PU is added,the high-temperature rutting deformation resistance of the CRMA mixture increases significantly,and the low-temperature anti-cracking properties are also improved slightly.Therefore,the innovatively designed high-quality assembled fast-repairing asphalt concrete block is recommended as an appropriate option for highway maintenance.展开更多
基金Supported by the National Natural Science Foundation of China(No.11672290)
文摘To eliminate the load weight limit of carrier rockets and reduce the burden on support structures,in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules,which requires smooth operation of assembly robots,and flexible force control technology is necessary. A ground demonstration system is presented for in-orbit assembly focusing on flexible force control. A six-dimensional force/torque sensor and its data acquisition system are used to compensate for gravity. For translation and rotation,an algorithm for flexible control is proposed. A ground transportation demonstration verifies accuracy and smoothness of flexible force control,and the transportation and assembly task is completed automatically. The proposed system is suitable for the development of in-orbit assembly robots.
基金the Scientific Technology R&D Project of CCCC Asset Management Co.,Ltd.(RP2022015294&RP2022015296).
文摘Conventional repairing methods for asphalt pavement have some inconveniences,such as insufficient strength,and are typically time-consuming.To address these issues,this study proposes a new technological method to design and prepare a high-performance assembled asphalt concrete block for fast repair of the potholes.A series of composite modified asphalt binders with 10%crumb rubber(CR)and different dosages(0%,1%,3%,5%)of polyurethane(PU)are examined to determine the optimized binder.Subsequently,the corresponding asphalt mixtures are prepared for further comparison and assessment of engineering properties,such as moistureinduced damage,high-temperature deformation,and low-temperature cracking characteristics.The test results show that PU can significantly improve the high-temperature performance and hardness of(crumb rubber modified asphalt)CRMA binder;3%PU contributes allowing the resistance of CRMA mixture to moisture-induced damage at higher levels,particularly under water whole immersion;as 3%PU is added,the high-temperature rutting deformation resistance of the CRMA mixture increases significantly,and the low-temperature anti-cracking properties are also improved slightly.Therefore,the innovatively designed high-quality assembled fast-repairing asphalt concrete block is recommended as an appropriate option for highway maintenance.
