Soil Parameter Identification for Wheel-terrain Interaction Dynamics and Traversability Prediction

This paper presents a novel technique for identifying soil parameters for a wheeled vehicle traversing unknown terrain. The identified soil parameters are required for predicting vehicle drawbar pull and wheel drive torque, which in turn can be used for traversability prediction, traction control, and performance optimization of a wheeled vehicle on unknown terrain. The proposed technique is based on the Newton Raphson method. An approximated form of a wheel-soil interaction model based on Composite Simpson＇s Rule is employed for this purpose. The key soil parameters to be identified are internal friction angle, shear deformation modulus, and lumped pressure-sinkage coefficient. The fourth parameter, cohesion, is not too relevant to vehicle drawbar pull, and is assigned an average value during the identification process. Identified parameters are compared with known values, and shown to be in agreement. The identification method is relatively fast and robust. The identified soil parameters can effectively be used to predict drawbar pull and wheel drive torque with good accuracy. The use of identified soil parameters to design a traversability criterion for wheeled vehicles traversing unknown terrain is presented.

Macroscopic Traversable Wormholes: Minimum Requirements

While wormholes are just as good a prediction of Einstein’s theory as black holes, they are subject to severe restrictions from quantum field theory. To allow for the possibility of interstellar travel, a macroscopic wormhole would need to maintain sufficiently low radial tidal forces. It is proposed in this paper that the assumption of zero tidal forces, i.e., the limiting case, is sufficient for overcoming the restrictions from quantum field theory. The feasibility of this approach is subsequently discussed by 1) introducing the additional conditions needed to ensure that the radial tidal forces can indeed be sufficiently low and 2) by viewing traversable wormholes as emergent phenomena, thereby increasing the likelihood of their existence.

Diverse Traversability Mapping Using Hybrid Vision System for Lunar Rover

Autonomous functions including mapping and path planning are very important to ensure effcient exploration and safe navigation of unmanned rover. Conventional navigation schemes based on equipments such as GPS and magnetic sensors have been proven to be ineffective on lunar surface,while sophisticated dead reckoning approach lacks accuracy in loose soil due to slippage. In this paper,we propose a hybrid vision system(HVS) which consists of one stereo and one omnidirectional vision sensor,attempting to integrate the advantages of diverse vision systems. The hierarchical mapping reconstructs environment through HVS in different resolutions and structures,named qualitative,rough and detailed map. These maps are employed for path planning which navigates the rover towards specified destinations autonomously,avoiding obstacles in its way. The HVS aims at providing more effcient and safe navigation. Simulations and experiments demonstrate the functionality and advantage of our approach.

Noncommutative-Geometry Wormholes Based on the Casimir Effect

While wormholes are as good a prediction of Einstein’s theory as black holes, they are subject to severe restrictions from quantum field theory. In particular, holding a wormhole open requires a violation of the null energy condition, calling for the existence of exotic matter. The Casimir effect has shown that this physical requirement can be met on a small scale, thereby solving a key conceptual problem. The Casimir effect does not, however, guarantee that the small-scale violation is sufficient for supporting a macroscopic wormhole. The purpose of this paper is to connect the Casimir effect to noncommutative geometry, which also aims to accommodate small-scale effects, the difference being that these can now be viewed as intrinsic properties of spacetime. As a result, the noncommutative effects can be implemented by modifying only the energy momentum tensor in the Einstein field equations, while leaving the Einstein tensor unchanged. The wormhole can therefore be macroscopic in spite of the small Casimir effect.

Exploration of Traversable Wormholes Sustained by an Extra Spatial Dimension

The main goal of this paper is to determine the effect of an extra dimension on a traversable wormhole. Here an earlier study by the author [Phys. Rev. D 98, 064041 (2018)] is extended in several significant ways. To begin with, the extra spatial dimension is assumed to be time dependent, while the redshift and shape functions, as well as the extra dimension, are functions of both r and l, the respective radial and extra coordinates;the last of these is therefore a function of r, l, and t. The main objective is to determine the conditions that allow the throat of the wormhole to be threaded with ordinary matter (by respecting the null energy condition) and that the same conditions lead to a violation of the null energy condition in the fifth dimension, which is therefore responsible for sustaining the wormhole. The dependence of the extra dimension on l and t is subject to additional conditions that are subsequently analyzed in this paper. Finally, the extra dimension may be extremely small or even curled up.

轿车尾流移测试验研究

轿车的尾流结构与其空气阻力、升力与安全性有密切联系 ,为进一步研究轿车尾流结构及验证尾流场数值模拟结果的精确性提供依据 ,需通过试验得到较为全面地反映尾流结构的定量信息。为此 ,进行了红旗CA774轿车 1 10模型的七孔探针尾流移测试验 。

陀螺控制导线精度的正确评定

本文推证了陀螺控制导线精度评定的严密公式,并讨论了用误差椭圆来表示最弱点点位精度的方法。所有评定精度的公式均依据最小二乘矩阵平差原理得出,这些公式对正确进行误差预计很有意义。

Optimization of RDF link traversal based query execution

Aiming at the problem that only some types of SPARQL （ simple protocal and resource description framework query language） queries can be answered by using the current resource description framework link traversal based query execution （RDF-LTE） approach, this paper discusses how the execution order of the triple pattern affects the query results and cost based on concrete SPARQL queries, and analyzes two properties of the web of linked data, missing backward links and missing contingency solution. Then three heuristic principles for logic query plan optimization, namely, the filtered basic graph pattern （FBGP） principle, the triple pattern chain principle and the seed URIs principle, are proposed. The three principles contribute to decrease the intermediate solutions and increase the types of queries that can be answered. The effectiveness and feasibility of the proposed approach is evaluated. The experimental results show that more query results can be returned with less cost, thus enabling users to develop the full potential of the web of linked data.

Volumetric extraction of porous materials based on octree algorithm

Through the octree data structure analysis,a volumetric dataset of closed-cell porous materials is converted into a dataset of hierarchical octree nodes,and then the specific traversal search algorithm on the octree nodes is depicted in details,which is involved in six steps of the volume growth model and one step of the volume decomposition model.Moreover,the conditions of both the proceeding traversal and three possibilities of terminating are given,and the traversal algorithm of completeness is proved from a theoretical perspective.Finally,using a simulated volumetric dataset of columnar pores,the extracting effectiveness of the octree traversal algorithm is verified.The results show that the volume and the distribution information of pores can be successfully extracted by the proposed algorithm,which builds a solid foundation for a more effective performance analysis of porous materials.

伺服驱动在精确定位磁盘位置上的应用

"SIMODRIVE 611 Universal"是一种具有独立驱动控制器的轴控制模块,在"定位"方式下最多可被选择并执行64个快移程序段。文章介绍了SIMODRIVE 611U在自动打包机线中磁盘接近参考点原理及在吊装传递管捆过程中精确定位磁盘位置上的应用。

CASIO fx-4500P计算器在建筑工程测量中的应用(下)

9.1 计算导线转折角和 计算器全清零后,找到文件名“GZJH”,进行如下操作:

A Study on Reflection Phase Time of Particles Passing through a Potential Well

To understand the physical meaning of phase time further more, we discuss the reflection phase time of quantum-particles passing though a potential well It is shown that the reflection phase time is equal to the transmission phase time in value and negative under certain conditions for a square potential well by analyzing While quantum-particles passing through the potential well, we think that this course can be described only with the velocity of energy of quantum mechanics whether or not they are reflected or transmitted eventually

Study on Key Techniques for Multi-scale Expression of Laneway Traverse Data in MGIS

The multi-scale expression of enormously complicated laneway data requires differentiation of both contents and the way the contents are expressed. To accomplish multi-scale expression laneway data must support multi-scale transformation and have consistent topological relationships. Although the laneway data generated by traverse survey-ing is non-scale data it is still impossible to construct a multi-scale spatial database directly from it. In this paper an al-gorithm is presented to first calculate the laneway mid-line to support multi-scale transformation; then to express topo-logical relationships arising from the data structure; and,finally,a laneway spatial database is built and multi-scale ex-pression is achieved using components GIS-SuperMap Objects. The research result is of great significance for improv-ing the efficiency of laneway data storage and updating,for ensuring consistency of laneway data expression and for extending the potential value of a mine spatial database.

Antarctic Traverses from Zhongshan Station to Dome-A and the Result Analysis for the GPS Points along the Expedition Route

Some GPS points were set up and occupied and reoccupied along the traverse route from Zhongshan Station to DomeA.The result analysis for the GPS data processed by GAMIT/GLOBK package was presented in this paper.It was indicated that the ice along the traverse route flowed with an 825 m/a velocity to the northwest in the last three years,which was the direction of the edge of the ice sheet.The maximum horizontal flow velocity is about 100 m/a.Moreover,due to the ice flow,a 0.21 m/a sedimentation rate is achieved.Finally,a 15 m/a 2 horizontal acceleration is achieved from the GPS data of the three different stages.

An image encryption algorithm based on spatiotemporal chaos and middle order traversal of a binary tree

This paper proposes an image encryption algorithm based on spatiotemporal chaos and middle order traversal of a binary tree.Firstly,other programming software is used to perform the middle order traversal,and the plaintext image is sorted according to the middle order traversal sequence on the permutation.Secondly,the chaotic sequence is generated using the coupled map lattice to set the chaotic interference value.Finally,the XOR operation between the adjacent pixel values of the replacement image is completed to generate the ciphertext matrix.The simulation and experimental results show that the proposed algorithm can resist typical attacks and has good robustness.

Influence of magnetically constricted arc traverse speed (MCATS) on tensile properties and microstructural characteristics of welded Inconel 718 alloy sheets

The magnetically constricted arc technique was implemented to mitigate the heat input related metallurgical problems in Gas Tungsten Arc Welding(GTAW)of Inconel 718 alloy particularly Nb segregation and subsequent laves phase evolution in fusion zone.This paper reports the direct effect of magnetically constricted arc traverse speed(MCATS)on bead profile,tensile properties and microstructural evolution of Inconel 718 alloy sheets joined by Gas Tungsten Constricted Arc Welding(GTCAW)process.The mechanism amenable for the microstructural modification and corresponding influence on the tensile properties of joints is investigated both in qualitative and quantitative manner related to the mechanics of arc constriction and pulsing.It is correlated to the solidification conditions during welding.The relationship between MCATS and Arc Constriction Current(ACC)was derived.Its interaction effect on the magnetic arc constriction and joint performance was analysed.Results showed that the joints fabricated using CATS of 70 mm/min exhibited superior tensile properties(98.39% of base metal strength with 31.50% elongation).It is attributed to the grain refinement in fusion zone microstructure leading to the evolution of finer,discrete laves phase in interdendritic areas.

Geo-Electrical and Borehole Investigation of Groundwater in Some Basalts on the South-Eastern Flank of Mount Cameroon, West Africa

The study area, located on the southwestern flank of Mt. Cameroon, is under-lain by basalts. The occurrence of groundwater in these rocks has been evaluated in order to determine their potentials as a source of water for a water bottling and soft drink plant. To achieve this, the constant separation traversing (CST) was used and the data qualitatively analyzed to determine the occurrence of fractures as most probable borehole sites. From this analysis, three sites were selected, sites at which a vertical electrical sounding (VES) was done and interpreted. Results obtained show a four layered earth profile model type KHKH, corresponding to a typical weathered/fractured confined aquifer type curve. This profile was later confirmed from borehole information after drilling at three of the selected sites. The comparison of VES data with geological sections is corroborative. A constant rate pumping test was done at rates as well as the investigation of other hydraulic properties. The results obtained for hydraulic properties investigated for all three boreholes reveal that productivity is very good and these results also reveal that at maximum exploitation rates, lowest tolerable drawdown for all three boreholes may not be reached after ten years. Chemical analysis done in-situ and on samples at the laboratory reveal that this water has a better mineralisation compared to other bottled water brands sold on the Cameroon market.

Application of Electrical Resistivity Imaging in Investigating Groundwater Pollution in Sapele Area, Nigeria

Sixty-four multi-electrode Lund imaging system coupled with ABEM SAS 4000 Terrameter was used for the electrical imaging of the study area. Wenner and Gradient arrays with 2 m minimum electrode spacing were employed which revealed resistivity changes in the vertical and horizontal directions along the survey lines. Earth imager software was employed for?the processing and the iteration of the 2-D resistivity data. The subsurface is characterized with soil material with resistivity ranging from 42 - 15,000 Ohm-m, reflective of varying degree of conductivity associated with changing lithology and fluid type. Correlation with borehole data shows that the first 10 m is composed of laterite. While sand materials occupy 10 to about 60 m beneath the surface, with anomalously high resistivity ≤15,000 Ohm-m in most parts. These high resistivity formations can be attributed to the presence of hydrocarbon within the subsurface, which is an indication that shallow aquifer in the study area has been polluted. The water level in the study area is close to the surface, between 4 - 5 m. As a result of the high resistivity formations in most parts, deep wells of about 45 m are recommended after geophysical investigations.

Science and exploration in the high interior of East Antarctica in the twentieth century

The highest part of the East Antarctic Ice Sheet, more than 4000 m above sea level, has been an area that has seen a considerable scientific research effort undertaken by the Chinese National Antarctic Research Expedition, and its international collaborators, since January 2005. That includes the establishment of the most remote Of the Chinese Antarctic stations, Kunlun, at Dome A in 2009. However, the exploration and mapping of this region had been commenced many decades earlier, most notably by inland traverses of the Union of Soviet Socialist Republics during the 1957-1958 International Geophysical Year 0GY） and later; and the extensive surveys of Antarctic surface and sub-ice topography by airborne radio-echo sounding made by the US National Science Foundation-Scott Polar Research Institute-Technical University of Denmark （NSF-SPRI-TUD） in the late-1960s and the 1970s. Here we provide a history of the activities and achievements of these earlier programs. Recent topographic maps of the ice sheet surface in the Dome A region, produced using Chinese GPS data and satellite altimetry, have shown the maps compiled from the earlier data were remarkably accurate.

Research on PCC Control Method for Ribbon-free Random Winding

Based on analyzing the overlap appearance of random winding, basic principles of ribbon-free random winding and parametric selections for anti-overlap are discussed. The ribbon-free random winding control system and its related hardware construction as well as its software design are introduced by applying PCC technology to high speed spinning machine of synthetic filament.