In this paper, we briefly introduce the history of the Defense Advanced Research Projects Agency(DARPA) Grand Challenge programs with particular focus on the 2012 Robotics Challenge. As members of team DRC-HUBO, we pr...In this paper, we briefly introduce the history of the Defense Advanced Research Projects Agency(DARPA) Grand Challenge programs with particular focus on the 2012 Robotics Challenge. As members of team DRC-HUBO, we propose different approaches for the Rough-Terrain task, such as enlarged foot pedals and a transformation into quadruped walking. We also introduce a new gait for humanoid robot locomotion to improve stability performance, called the Ski-Type gait. We analyze the stability performance of this gait and use the stability margin to choose between two candidate step sequences, Crawl-1 and Crawl-2. Next, we perform a force/torque analysis for the redundant closedchain system in the Ski-Type gait, and determine the joint torques by minimizing the total energy consumption. Based on the stability and force/torque analysis, we design a cane length to support a feasible and stable Crawl-2 gait on the HUBO2 humanoid robot platform. Finally, we compare our experimental results with biped walking to validate the SkiType gait. We also present our team performance in the trials of the Robotics Challenge.展开更多
The corrosion under insulation dominates metal loss in the case of API （American Petroleum Institute） 5L Grade B geothermal pipeline, whereas, the other possible corrosion causes, such as stress corrosion and therma...The corrosion under insulation dominates metal loss in the case of API （American Petroleum Institute） 5L Grade B geothermal pipeline, whereas, the other possible corrosion causes, such as stress corrosion and thermal cracking, did not serve a role as critical factors regarding to pipeline degradation during 26-years working operation. Actually, the header pipe diameter 32 inches and 40 inches require priority for inspection due to higher corrosion rate compared to smaller pipe diameters. By simulation method on similar heavy duty service condition in which the working pressure of 15 bars and temperature of 183 ℃, it was proved that corrosion rate will severely occur at corrosion rate more than 10 mpy in the pipe diameters of 20 inches, 32 inches and 40 inches. Further,condensation factor may contribute more significant in the case of corrosion under insulation. Practically, the metal loss at a half initial thickness requires priority for inspection, intensive maintenance or possible partial replacement.展开更多
文摘In this paper, we briefly introduce the history of the Defense Advanced Research Projects Agency(DARPA) Grand Challenge programs with particular focus on the 2012 Robotics Challenge. As members of team DRC-HUBO, we propose different approaches for the Rough-Terrain task, such as enlarged foot pedals and a transformation into quadruped walking. We also introduce a new gait for humanoid robot locomotion to improve stability performance, called the Ski-Type gait. We analyze the stability performance of this gait and use the stability margin to choose between two candidate step sequences, Crawl-1 and Crawl-2. Next, we perform a force/torque analysis for the redundant closedchain system in the Ski-Type gait, and determine the joint torques by minimizing the total energy consumption. Based on the stability and force/torque analysis, we design a cane length to support a feasible and stable Crawl-2 gait on the HUBO2 humanoid robot platform. Finally, we compare our experimental results with biped walking to validate the SkiType gait. We also present our team performance in the trials of the Robotics Challenge.
文摘The corrosion under insulation dominates metal loss in the case of API （American Petroleum Institute） 5L Grade B geothermal pipeline, whereas, the other possible corrosion causes, such as stress corrosion and thermal cracking, did not serve a role as critical factors regarding to pipeline degradation during 26-years working operation. Actually, the header pipe diameter 32 inches and 40 inches require priority for inspection due to higher corrosion rate compared to smaller pipe diameters. By simulation method on similar heavy duty service condition in which the working pressure of 15 bars and temperature of 183 ℃, it was proved that corrosion rate will severely occur at corrosion rate more than 10 mpy in the pipe diameters of 20 inches, 32 inches and 40 inches. Further,condensation factor may contribute more significant in the case of corrosion under insulation. Practically, the metal loss at a half initial thickness requires priority for inspection, intensive maintenance or possible partial replacement.
