It has been analyzed the influence of the tectonic ambient shear stress value on response spectrum based on the previous theory. Based on the prediction equation BJF94 presented by the famous American researchers, CLB...It has been analyzed the influence of the tectonic ambient shear stress value on response spectrum based on the previous theory. Based on the prediction equation BJF94 presented by the famous American researchers, CLB20, a new prediction formula is proposed by us, where it is introduced the influence of tectonic ambient shear stress value on response spectrum. BJF94 is the prediction equation, which mainly depends on strong ground motion data from western USA, while the prediction equation SEA99 is based on the strong ground motion data from exten-sional region all over the world. Comparing these two prediction equations in detail, it is found that after BJF94′s prediction value lg(Y) minus 0.16 logarithmic units, the value is very close to SEA99′s one. This case demonstrates that lg(Y) in extensional region is smaller; the differences of prediction equation are mainly owe to the differences of tectonic ambient shear stress value. If the factor of tectonic ambient shear stress value is included into the pre-diction equation, and the magnitude is used seismic moment magnitude to express, which is universal used around the world, and the distance is used the distance of fault project, which commonly used by many people, then re-gional differences of prediction equation will become much less, even vanish, and it can be constructed the uni-versal prediction equation proper to all over the world. The error in the earthquake-resistant design in China will be small if we directly use the results of response spectrum of USA (e.g. BJF94 or SEA99).展开更多
In order to overcome the shortcomings of the previous obstacle avoidance algorithms,an obstacle avoidance algorithm applicable to multiple mobile obstacles was proposed.The minimum prediction distance between obstacle...In order to overcome the shortcomings of the previous obstacle avoidance algorithms,an obstacle avoidance algorithm applicable to multiple mobile obstacles was proposed.The minimum prediction distance between obstacles and a manipulator was obtained according to the states of obstacles and transformed to escape velocity of the corresponding link of the manipulator.The escape velocity was introduced to the gradient projection method to obtain the joint velocity of the manipulator so as to complete the obstacle avoidance trajectory planning.A7-DOF manipulator was used in the simulation,and the results verified the effectiveness of the algorithm.展开更多
基金National Natural Science Foundation of China (49874010)
文摘It has been analyzed the influence of the tectonic ambient shear stress value on response spectrum based on the previous theory. Based on the prediction equation BJF94 presented by the famous American researchers, CLB20, a new prediction formula is proposed by us, where it is introduced the influence of tectonic ambient shear stress value on response spectrum. BJF94 is the prediction equation, which mainly depends on strong ground motion data from western USA, while the prediction equation SEA99 is based on the strong ground motion data from exten-sional region all over the world. Comparing these two prediction equations in detail, it is found that after BJF94′s prediction value lg(Y) minus 0.16 logarithmic units, the value is very close to SEA99′s one. This case demonstrates that lg(Y) in extensional region is smaller; the differences of prediction equation are mainly owe to the differences of tectonic ambient shear stress value. If the factor of tectonic ambient shear stress value is included into the pre-diction equation, and the magnitude is used seismic moment magnitude to express, which is universal used around the world, and the distance is used the distance of fault project, which commonly used by many people, then re-gional differences of prediction equation will become much less, even vanish, and it can be constructed the uni-versal prediction equation proper to all over the world. The error in the earthquake-resistant design in China will be small if we directly use the results of response spectrum of USA (e.g. BJF94 or SEA99).
基金Supported by Ministeral Level Advanced Research Foundation(65822576)Beijing Municipal Education Commission(KM201310858004,KM201310858001)
文摘In order to overcome the shortcomings of the previous obstacle avoidance algorithms,an obstacle avoidance algorithm applicable to multiple mobile obstacles was proposed.The minimum prediction distance between obstacles and a manipulator was obtained according to the states of obstacles and transformed to escape velocity of the corresponding link of the manipulator.The escape velocity was introduced to the gradient projection method to obtain the joint velocity of the manipulator so as to complete the obstacle avoidance trajectory planning.A7-DOF manipulator was used in the simulation,and the results verified the effectiveness of the algorithm.
