In order to release the tension and shear effect of the superjacent rock strata movement during excavation in coal mine,protect the surface borehole case from fracturing fast and make a good use of the surface borehol...In order to release the tension and shear effect of the superjacent rock strata movement during excavation in coal mine,protect the surface borehole case from fracturing fast and make a good use of the surface borehole during goaf methane drawing,a common synthesis tension deformation fracture model was set up based on the synthesis tension effect of the rock strata,and the deformation rule of the surface borehole case with time and space was researched.The results suggest that,to reduce the deformation the surface borehole should be built between the boundary of the stope and the knee of subsidence curve.At the same time,a 3DEC simulation model and an engineering example were carried out to examine the rules of theoretical model.The result suggests that the model and the rules accord to the test and have good building and protection engineering application values to the surface borehole.展开更多
Path planning and formation structure forming are two of the most important problems for autonomous underwater vehicles(AUVs) to collaborate with each other.In this work,a dynamic formation model was proposed,in which...Path planning and formation structure forming are two of the most important problems for autonomous underwater vehicles(AUVs) to collaborate with each other.In this work,a dynamic formation model was proposed,in which several algorithms were developed for the complex underwater environment.Dimension changeable particle swarm algorithm was used to find an optimized path by dynamically adjusting the number and the distribution of the path nodes.Position relationship based obstacle avoidance algorithm was designed to detour along the edges of obstacles.Virtual potential point based formation-keeping algorithm was employed by incorporating dynamic strategies which were decided by the current states of the formation.The virtual potential point was used to keep the formation structure when the AUV or the formation was deviated.Simulation results show that an optimal path can be dynamically planned with fewer path nodes and smaller fitness,even with a concave obstacle.It has been also proven that different formation-keeping strategies can be adaptively selected and the formation can change its structure in a narrow area and restore back after passing the obstacle.展开更多
基金supports for this work provided by the NationalScience and Technology Major Project (No. 2011ZX05040-004)the National Great Research Foundation of China (No.2011CB201203)the National Natural Science Foundation of China(No. 50904034)
文摘In order to release the tension and shear effect of the superjacent rock strata movement during excavation in coal mine,protect the surface borehole case from fracturing fast and make a good use of the surface borehole during goaf methane drawing,a common synthesis tension deformation fracture model was set up based on the synthesis tension effect of the rock strata,and the deformation rule of the surface borehole case with time and space was researched.The results suggest that,to reduce the deformation the surface borehole should be built between the boundary of the stope and the knee of subsidence curve.At the same time,a 3DEC simulation model and an engineering example were carried out to examine the rules of theoretical model.The result suggests that the model and the rules accord to the test and have good building and protection engineering application values to the surface borehole.
基金Project(NS2013091)supported by the Basis Research Fund of Nanjing University of Aeronautics and Astronautics,China
文摘Path planning and formation structure forming are two of the most important problems for autonomous underwater vehicles(AUVs) to collaborate with each other.In this work,a dynamic formation model was proposed,in which several algorithms were developed for the complex underwater environment.Dimension changeable particle swarm algorithm was used to find an optimized path by dynamically adjusting the number and the distribution of the path nodes.Position relationship based obstacle avoidance algorithm was designed to detour along the edges of obstacles.Virtual potential point based formation-keeping algorithm was employed by incorporating dynamic strategies which were decided by the current states of the formation.The virtual potential point was used to keep the formation structure when the AUV or the formation was deviated.Simulation results show that an optimal path can be dynamically planned with fewer path nodes and smaller fitness,even with a concave obstacle.It has been also proven that different formation-keeping strategies can be adaptively selected and the formation can change its structure in a narrow area and restore back after passing the obstacle.
