This paper presents the formulation and practical implementation of positioning methodologies that compensate for the nonholonomic constraints of a mobile microrobot that is driven by two vibrating direct current(DC) ...This paper presents the formulation and practical implementation of positioning methodologies that compensate for the nonholonomic constraints of a mobile microrobot that is driven by two vibrating direct current(DC) micromotors. The open-loop and closed-loop approaches described here add the capability for net sidewise displacements of the microrobotic platform. A displacement is achieved by the execution of a number of repeating steps that depend on the desired displacement, the speed of the micromotors, and the elapsed time. Simulation and experimental results verified the performance of the proposed methodologies.展开更多
The horizontal distance X between roadway and the edge of its upper pillar is considered as an important parameter for layout of roadway in floor strata or in the adjacent coal seam. Based on the research achievements...The horizontal distance X between roadway and the edge of its upper pillar is considered as an important parameter for layout of roadway in floor strata or in the adjacent coal seam. Based on the research achievements of rockstrata pressure, this paper illustrates the quantitative relationship among the mining situation of upper searn, the rockstrata properties around roadway, the vertital distanee Z (between roadway and its upper pillar), and the horizontai distance X (between roadway and the edge of its upper pillar), and provides a main basiS for the selection of value X and the relative location between roadway and its upper seam.展开更多
基金supported in part by the National Science Foundation(IIS1318638 and IIS1426752)the Shenzhen Science and Technology Project(ZDSY20120617113312191)
文摘This paper presents the formulation and practical implementation of positioning methodologies that compensate for the nonholonomic constraints of a mobile microrobot that is driven by two vibrating direct current(DC) micromotors. The open-loop and closed-loop approaches described here add the capability for net sidewise displacements of the microrobotic platform. A displacement is achieved by the execution of a number of repeating steps that depend on the desired displacement, the speed of the micromotors, and the elapsed time. Simulation and experimental results verified the performance of the proposed methodologies.
文摘The horizontal distance X between roadway and the edge of its upper pillar is considered as an important parameter for layout of roadway in floor strata or in the adjacent coal seam. Based on the research achievements of rockstrata pressure, this paper illustrates the quantitative relationship among the mining situation of upper searn, the rockstrata properties around roadway, the vertital distanee Z (between roadway and its upper pillar), and the horizontai distance X (between roadway and the edge of its upper pillar), and provides a main basiS for the selection of value X and the relative location between roadway and its upper seam.
