An end-effector for a flexible drilling robot is designed, and a novel four-point algorithm of normal attitude regulation for this end-effector is presented. Four non-coplanar points can define a unique sphere tangent...An end-effector for a flexible drilling robot is designed, and a novel four-point algorithm of normal attitude regulation for this end-effector is presented. Four non-coplanar points can define a unique sphere tangent to them in spatial geometry, and the center point of the sphere and the radius can be calculated. The shape of a workpiece surface in the machining area is approximately regarded as such a sphere. A vector from the machining point to the center point is thus approximately regarded as a normal vector to the workpiece surface. By this principle, the algorithm first measures four coordinates on the curve in the drilling region using four sensors and calculates the normal vector at the drilling point, then calculates the error between the normal vector and the axis of the spindle. According to this error, the algorithm further figures out the angles of two revolving axes on the end- effector and the displacements of three linear axes on the robot main body, thus it implements the function of adjusting the spindle to be perpendicular to the curve at the drilling point. Simulation results of two kinds of curved surfaces show that accuracy and efficiency can be realized using the proposed algorithm.展开更多
A series of well-designed full-scale destructive load tests were conducted on six bored piles to investigate the influence of loose debris at the pile tip on end resistance. The results show that soft debris below the...A series of well-designed full-scale destructive load tests were conducted on six bored piles to investigate the influence of loose debris at the pile tip on end resistance. The results show that soft debris below the pile tip will weaken the mobilization of end resistance. The ultimate tip resistance of post-grouted pile is 2.05 times that of the pile without post-grouting and the ultimate tip resistance in the second load cycle is 2.31 times that of pile in the first load cycle. The relationship between unit end resistance and displacement follows a linear model and a bilinear mode in the first load cycle and the second load cycle, respectively, whereas the unit end resistance-displacement response of post-grouted bored pile can be simulated using a bilinear mode. The critical end resistance ranges between 2 000 kN and 3 000 kN and the critical displacement ranges between 2.5 mm and 4.5 mm in the bilinear mode. As for piles rested on moderately-weathered peliticsiltstone, the socketed length has no effect on the end resistance because of the existence of loose debris.展开更多
Ingested fish bone induced intestinal perforations are seldom diagnosed preoperatively due to incomplete patient history taking and difficulties in image evidence identification.Most literature suggests early surgical...Ingested fish bone induced intestinal perforations are seldom diagnosed preoperatively due to incomplete patient history taking and difficulties in image evidence identification.Most literature suggests early surgical intervention to prevent sepsis and complications resulting from fish bone migrations.We report the case of a 44-year-old man suffered from acute abdomen induced by a fish bone micro-perforation.The diagnosis was supported by computed tomography(CT) imaging of fish bone lodged in distal ileum and a history of fish ingestion recalled by the patient.Medical treatment was elected to manage the patient's condition instead of surgical intervention.The treatment resulted in a complete resolution of abdominal pain on hospital day number 4 without complication.Factors affecting clinical treatment decisions include the nature of microperforation,the patient's good overall health condition,and the early diagnosis before sepsis signs develop.Micro-perforation means the puncture of intestine wall without CT evidence of free air,purulent peritoneum or abscess.We subsequently reviewed the literature to support our decision to pursue medical instead of surgical intervention.展开更多
The problem of scattering of SH-wave by a circular cavity and an arbitrary beeline crack in right-angle plane was investigated using the methods of Green's function,complex variables and muti-polar coordinates.Fir...The problem of scattering of SH-wave by a circular cavity and an arbitrary beeline crack in right-angle plane was investigated using the methods of Green's function,complex variables and muti-polar coordinates.Firstly,we constructed a suitable Green's function,which is an essential solution to the displacement field for the elastic right-angle plane possessing a circular cavity while bearing out-of-plane harmonic line source load at arbitrary point.Secondly,based on the method of crack-division,integration for solution was established,then expressions of displacement and stress were obtained while crack and circular cavities were both in existence.Finally,the dynamic stress concentration factor around the circular cavity and the dynamic stress intensity factor at crack tip were discussed to the cases of different parameters in numerical examples.Calculation results show that the crack produces adverse engineering influence on both of the dynamic stress concentration factor and the dynamic stress intensity factor.展开更多
基金National Science and Technology Major Project(No.2009ZX04014-023)
文摘An end-effector for a flexible drilling robot is designed, and a novel four-point algorithm of normal attitude regulation for this end-effector is presented. Four non-coplanar points can define a unique sphere tangent to them in spatial geometry, and the center point of the sphere and the radius can be calculated. The shape of a workpiece surface in the machining area is approximately regarded as such a sphere. A vector from the machining point to the center point is thus approximately regarded as a normal vector to the workpiece surface. By this principle, the algorithm first measures four coordinates on the curve in the drilling region using four sensors and calculates the normal vector at the drilling point, then calculates the error between the normal vector and the axis of the spindle. According to this error, the algorithm further figures out the angles of two revolving axes on the end- effector and the displacements of three linear axes on the robot main body, thus it implements the function of adjusting the spindle to be perpendicular to the curve at the drilling point. Simulation results of two kinds of curved surfaces show that accuracy and efficiency can be realized using the proposed algorithm.
基金Project(51078330) supported by the National Natural Science Foundation of ChinaProject(2012MS21339) supported by China Postdoctoral Science FoundationProject(2012GN012) supported by the Independent Innovation Foundation of Shandong University, China
文摘A series of well-designed full-scale destructive load tests were conducted on six bored piles to investigate the influence of loose debris at the pile tip on end resistance. The results show that soft debris below the pile tip will weaken the mobilization of end resistance. The ultimate tip resistance of post-grouted pile is 2.05 times that of the pile without post-grouting and the ultimate tip resistance in the second load cycle is 2.31 times that of pile in the first load cycle. The relationship between unit end resistance and displacement follows a linear model and a bilinear mode in the first load cycle and the second load cycle, respectively, whereas the unit end resistance-displacement response of post-grouted bored pile can be simulated using a bilinear mode. The critical end resistance ranges between 2 000 kN and 3 000 kN and the critical displacement ranges between 2.5 mm and 4.5 mm in the bilinear mode. As for piles rested on moderately-weathered peliticsiltstone, the socketed length has no effect on the end resistance because of the existence of loose debris.
文摘Ingested fish bone induced intestinal perforations are seldom diagnosed preoperatively due to incomplete patient history taking and difficulties in image evidence identification.Most literature suggests early surgical intervention to prevent sepsis and complications resulting from fish bone migrations.We report the case of a 44-year-old man suffered from acute abdomen induced by a fish bone micro-perforation.The diagnosis was supported by computed tomography(CT) imaging of fish bone lodged in distal ileum and a history of fish ingestion recalled by the patient.Medical treatment was elected to manage the patient's condition instead of surgical intervention.The treatment resulted in a complete resolution of abdominal pain on hospital day number 4 without complication.Factors affecting clinical treatment decisions include the nature of microperforation,the patient's good overall health condition,and the early diagnosis before sepsis signs develop.Micro-perforation means the puncture of intestine wall without CT evidence of free air,purulent peritoneum or abscess.We subsequently reviewed the literature to support our decision to pursue medical instead of surgical intervention.
文摘The problem of scattering of SH-wave by a circular cavity and an arbitrary beeline crack in right-angle plane was investigated using the methods of Green's function,complex variables and muti-polar coordinates.Firstly,we constructed a suitable Green's function,which is an essential solution to the displacement field for the elastic right-angle plane possessing a circular cavity while bearing out-of-plane harmonic line source load at arbitrary point.Secondly,based on the method of crack-division,integration for solution was established,then expressions of displacement and stress were obtained while crack and circular cavities were both in existence.Finally,the dynamic stress concentration factor around the circular cavity and the dynamic stress intensity factor at crack tip were discussed to the cases of different parameters in numerical examples.Calculation results show that the crack produces adverse engineering influence on both of the dynamic stress concentration factor and the dynamic stress intensity factor.
