Borehole inclinometers are important observation instruments used to measure ground tilt movement and monitor crustal deformation of solid tides and geological landslide disasters.They are widely used in oil explorati...Borehole inclinometers are important observation instruments used to measure ground tilt movement and monitor crustal deformation of solid tides and geological landslide disasters.They are widely used in oil exploration,mineral resource drilling,well logging,exploration and other fields.There is potential for development of rock stress strain monitoring tools.Many types of tiltmeters have been installed,such as SQ-7,FSQ,VS and JB.However,these tiltmeters are generally installed in a deep cave to avoid the interference of temperature,humidity,and human activities.With the urbanization of human society,suitable installation locations are difficult to find.To solve the problem,a two-component borehole tiltmeter,named the CBT-type tiltmeter,is proposed in this paper.It can be installed in a borehole less than500 m deep to eliminate environmental influences.The tiltmeter is composed of two sophisticated gravitational swing and two capacitive transducers.From preliminary theory and experiment analysis,its linear correlation coefficient is higher than 0.99,its co-seismic response is rapid and its noise level is up to 10 4arc seconds in practice.展开更多
In this paper, we study the kinematic mechanism and path planning for a two-caster nonholonomic vehicle (the Essboard) which is a recent variant of skateboard. Different from the most studied Snakeboard, the Essboard ...In this paper, we study the kinematic mechanism and path planning for a two-caster nonholonomic vehicle (the Essboard) which is a recent variant of skateboard. Different from the most studied Snakeboard, the Essboard consists of a torsion bar and two platforms, each of which contains a pedal and a caster. We first investigate the relationship between the tilt angles of the pedals and the wheel directions of the casters. This relationship reveals how to control the wheel directions by adjusting the tilt angles. Next, the rotational radius of the Essboard is derived for a given pair of tilt angles of both pedals. The rotational radius of the Essboard is much different than that of the Snakeboard. Then we develop a path-planning algorithm for the Essboard to move from a start position to the goal, using a series of consecutively connected arcs, which are tangent to each other at the connected points. It is shown from a kinematic point of view that the path planning of the Essboard can be solved by a series of pairs of pedals' tilt angles. Three experiments are conducted to confirm the correctness of the main results. The results in this paper are a foundation for further study of the Essboard.展开更多
基金the research grant from Institute of Crustal Dynamics,CEA (No.ZDJ2013-07)Key Project of the National Twelfth-Five Year Research Program of China (No.2012BAK19B)
文摘Borehole inclinometers are important observation instruments used to measure ground tilt movement and monitor crustal deformation of solid tides and geological landslide disasters.They are widely used in oil exploration,mineral resource drilling,well logging,exploration and other fields.There is potential for development of rock stress strain monitoring tools.Many types of tiltmeters have been installed,such as SQ-7,FSQ,VS and JB.However,these tiltmeters are generally installed in a deep cave to avoid the interference of temperature,humidity,and human activities.With the urbanization of human society,suitable installation locations are difficult to find.To solve the problem,a two-component borehole tiltmeter,named the CBT-type tiltmeter,is proposed in this paper.It can be installed in a borehole less than500 m deep to eliminate environmental influences.The tiltmeter is composed of two sophisticated gravitational swing and two capacitive transducers.From preliminary theory and experiment analysis,its linear correlation coefficient is higher than 0.99,its co-seismic response is rapid and its noise level is up to 10 4arc seconds in practice.
基金supported by the National Natural Science Foundation of China (Grant Nos. 51105012 and 61175079)
文摘In this paper, we study the kinematic mechanism and path planning for a two-caster nonholonomic vehicle (the Essboard) which is a recent variant of skateboard. Different from the most studied Snakeboard, the Essboard consists of a torsion bar and two platforms, each of which contains a pedal and a caster. We first investigate the relationship between the tilt angles of the pedals and the wheel directions of the casters. This relationship reveals how to control the wheel directions by adjusting the tilt angles. Next, the rotational radius of the Essboard is derived for a given pair of tilt angles of both pedals. The rotational radius of the Essboard is much different than that of the Snakeboard. Then we develop a path-planning algorithm for the Essboard to move from a start position to the goal, using a series of consecutively connected arcs, which are tangent to each other at the connected points. It is shown from a kinematic point of view that the path planning of the Essboard can be solved by a series of pairs of pedals' tilt angles. Three experiments are conducted to confirm the correctness of the main results. The results in this paper are a foundation for further study of the Essboard.
