全加速度计惯性导航与重力梯度测量系统设计

全加速度计惯性导航技术侧重于测量排除重力干扰影响的载体运动加速度,而利用加速度计进行重力梯度测量则侧重于测量排除载体运动影响的重力变化。一方的测量信号恰为另一方的噪声。利用加速度计技术,将二者结合在一起,理论上推导出同时进行惯性导航与重力梯度测量的可行性。基于此原理,论文设计了一种12加速度计的全加速度计惯性导航与重力梯度测量系统。论文给出系统进行惯性导航与梯度测量的公式。并预计,在未来几十年中,惯性导航与重力梯度测量将成为同一概念,此系统将成为未来惯性导航的发展方向。

质点沿对数螺线运动的速度和加速度

根据以时间为参数的平面曲线弧微分公式和曲率计算公式,导出了质点在任意时刻围绕极点等角速度转动,并沿着对数螺线运动的线速度、切向加速度、法向加速度以及全加速度计算公式,通过加速度在极坐标系中的投影式,判断出质点在任意时刻运动的全加速度方向始终与径矢方向关于内法线轴对称且指向曲线内凹一侧。以匀速转动的水平光滑直管内小球的离心运动为例,通过不同参考系将点的简单运动与合成运动充分地融合在一起,验证了计算结果的正确性。

Improvement of Pseudo-static Method for Slope Stability Analysis

traditional In this paper, two drawbacks pseudo-static method （vertical of the slice method） in the slope stability evaluation have been studied. First, the sliding mass is divided into vertical slices according to this method, which is irrational to some extent in the seismic design of slope. Second, only peak ground acceleration （PGA） is considered, and the effects of shaking frequency and duration on slope stability are neglected. And then, based on the theory of elastic wave and the summarized geological model, this paper put forwards an improved method of pseudo-method by using the theory of elastic wave and Hilbert-Huang transform. The improved pseudostatic method gives reasonable considerations to the time-frequency effects of seismic wave and its rationality has been verified by the shaking table test. This method can evaluate the safety of a slope, the happening time and the scale of landslides. At the same time, this method also can improve the high accuracy of the evaluation of the safety of the slope.

Pseudo-dynamic analysis of overturning stability of retaining wall

A new method was presented to determine the safety factor of wall stability against overturning based on pseudo-dynamic approach. In this time-dependent method, the actual dynamic effect with variation of time and propagation of shear and primary wave velocities through the backfills was considered. Planar failure surface was considered behind the retaining wall. The results were compared with those obtained from Mononobe-Okabe theory. It is found that there is a higher value of safety factor by the present dynamic analysis. The effects of wall inclination, wall friction angle, soil friction angle and horizontal and vertical seismic coefficients on the overturning stability of retaining wall were investigated. The parametric study shows that both horizontal and vertical seismic accelerations have decreasing effect on the overturning stability of retaining wall.

Relationship between critical seismic acceleration coefficient and static factor of safety of 3D slopes

Many analytical methods have been adopted to estimate the slope stability by providing various stability numbers,e.g.static safety of factor(static FoS)or the critical seismic acceleration coefficient,while little attention has been given to the relationship between the slope stability numbers and the critical seismic acceleration coefficient.This study aims to investigate the relationship between the static FoS and the critical seismic acceleration coefficient of soil slopes in the framework of the upper-bound limit analysis.Based on the 3D rotational failure mechanism,the critical seismic acceleration coefficient using the pseudo-static method and the static FoS using the strength reduction technique are first determined.Then,the relationship between the static FoS and the critical seismic acceleration coefficient is presented under considering the slope angleβ,the frictional angleφ,and the dimensionless coefficients B/H and c/γH.Finally,a fitting formula between the static FoS and the critical seismic acceleration coefficient is proposed and validated by analytical and numerical results.

Development of Design Response Spectra Based on Various Attenuation Relationships at Specific Location

Peninsular Malaysia is located and lies in a low seismic region. Although Malaysia is not located in the active fault seismic area, it is closed to the Sumatran active seismic zones. Tall building are fIequently felt the tremor generated fTom Sumatran subduction and fault zones especially in the west cost of Peninsular Malaysia such as Johor Bahru, Kuala Lumpur and Penang. Existing design response spectra was developed based on attenuation relationship for each subduction and fault zone. In this study, the design response spectra were developed based on various attenuation relationships for selected location in Kuala Lumpur area, namely, Mutiara Damansara, Bandar Petaling Jaya and Bandar Puteri Puchong. The development of design response spectra based on various attenuation relationships is more reliable in selecting the appropriate attenuation relationship for the study area. Seven attenuations have been chosen and results show that Megawati et al. are the most appropriate attenuation relation for fault zone, where the predicted PGA （peak ground acceleration） is 0.0187 g which is the proposed PGA value for this study area. This study also found that most of soil in the study area can be categorized into SD （stiff soil） according to site classification in the NEHRP 2000 Provision/UBC 97. Bandar petaling Jaya was found to be highest AF （amplification factor） of 3.74 for stiff soil and Mutiara Damansara with AF of 2.67 for very dense soil or soft rock. The proposed design response spectra for each location were developed based on UBC 1997 （Uniform Building Code 1997）. The peak RSA （response spectrum acceleration） of 0.30 g for soil type SD for Bandar Petaling Jaya is the maximum level of acceleration on the soil surface with a period range of 0.10 to 0.52 seconds. All these values can be used for the seismic safety evaluation of existing structures and as a guideline in designing new structures to resist future earthquake, within the study area.

Seismic analysis of a long-span continuous steel truss-arch bridge across the Yangtze River

In this paper, an FEM （Finite Element Method） model is established for the main span of the bridge, with the main box arch and suspender members modeled by beam elements, truss members by truss elements, and the orthotropic steel deck by plate elements. The natural frequencies and mode shapes are acquired by the eigen-parameter analysis. By input of a typical earthquake excitation to the bridge system, the dynamic responses of the bridge, including the displacement and accelerations of the main joints of the structure, and the seismic forces and stresses of the key members, are calculated by the structural analysis program, based on which the main laws of the seismic responses of the bridge are summarized, and the safety of the structure is evaluated.

A Self-Position Estimation Algorithm for Multiple Mobile Robots Using Two Omnidirectional Cameras and an Accelerometer

This paper proposes a self-position estimate algorithm for the multiple mobile robots; each robot uses two omnidirectional cameras and an accelerometer. In recent years, the Great East Japan Earthquake and large-scale disasters have occurred frequently in Japan. From this, development of the searching robot which supports the rescue team to perform a relief activity at a large-scale disaster is indispensable. Then, this research has developed the searching robot group system with two or more mobile robots. In this research, the searching robot equips with two omnidirectional cameras and an accelerometer. In order to perform distance measurement using two omnidirectional cameras, each parameter of an omnidirectional camera and the position and posture between two omnidirectional cameras have to be calibrated in advance. If there are few mobile robots, the calibration time of each omnidirectional camera does not pose a problem. However, if the calibration is separately performed when using two or more robots in a disaster site, etc., it will take huge calibration time. Then, this paper proposed the algorithm which estimates a mobile robot＇s position and the parameter of the position and posture between two omnidirectional cameras simultaneously. The algorithm proposed in this paper extended Nonlinear Transformation （NLT） Method. This paper conducted the simulation experiment to check the validity of the proposed algorithm. In some simulation experiments, one mobile robot moves and observes the circumference of another mobile robot which has stopped at a certain place. This paper verified whether the mobile robot can estimate position using the measurement value when the number of observation times becomes 10 times in n/18 of observation intervals. The result of the simulation shows the effectiveness of the algorithm.