Time effect of wet drilling pile is investigated through the static load experiment on pile No. 22 of Guanhe Bridge. Post-grouting under pile tip is adopted in the project. To study the bearing performance of the pile...Time effect of wet drilling pile is investigated through the static load experiment on pile No. 22 of Guanhe Bridge. Post-grouting under pile tip is adopted in the project. To study the bearing performance of the pile, the self-balanced method is used and two load cells are assembled in the pile body. The experiments are carried out before and after post-grouting. The upper part of the pile is not influenced by post-grouting under the pile tip. Experimental results of the upper part of the pile show that the bearing capacity and the rigidity of wet drilling pile increase with time passing on. Analysis results show the time effect of wet drilling pile is influenced by many factors, such as alteration of stress field around pile, characteristics of soil around pile, variety of mud cake, and property of residue under pile tip.展开更多
A prototype of hydraulically powered quadruped robot is presented. The aim of the research is to develop a versatile robot platform which could travel fleetly in outdoor terrain with long time of en- durance and high ...A prototype of hydraulically powered quadruped robot is presented. The aim of the research is to develop a versatile robot platform which could travel fleetly in outdoor terrain with long time of en- durance and high load carrying ability. The current version is 1. lm long and 0.48m wide, and weights about 150kg. Each leg has four rotational joints driven by hydraulic cylinders and one pas- sive translational joint with spring. The torso carries the control system and the power system. A no- vel control algorithm is developed based on a Spring-Loaded Inverted Pendulum model and the prin- ciple of joint function separation. The robot can not only cross a 150mm high obstacle in static gait and trot at 2.5km/h and l km/h on the level-ground and 10°sloped-terrain respectively, but also au- tomatically keep balanced under lateral disturbance. In this paper, the mechanical structure and control systems are also discussed. Simulations and experiments are carried out to validate the design and algorithms.展开更多
文摘Time effect of wet drilling pile is investigated through the static load experiment on pile No. 22 of Guanhe Bridge. Post-grouting under pile tip is adopted in the project. To study the bearing performance of the pile, the self-balanced method is used and two load cells are assembled in the pile body. The experiments are carried out before and after post-grouting. The upper part of the pile is not influenced by post-grouting under the pile tip. Experimental results of the upper part of the pile show that the bearing capacity and the rigidity of wet drilling pile increase with time passing on. Analysis results show the time effect of wet drilling pile is influenced by many factors, such as alteration of stress field around pile, characteristics of soil around pile, variety of mud cake, and property of residue under pile tip.
基金Supported by the National High Technology Research and Development Programme of China(No.2011AA040701)
文摘A prototype of hydraulically powered quadruped robot is presented. The aim of the research is to develop a versatile robot platform which could travel fleetly in outdoor terrain with long time of en- durance and high load carrying ability. The current version is 1. lm long and 0.48m wide, and weights about 150kg. Each leg has four rotational joints driven by hydraulic cylinders and one pas- sive translational joint with spring. The torso carries the control system and the power system. A no- vel control algorithm is developed based on a Spring-Loaded Inverted Pendulum model and the prin- ciple of joint function separation. The robot can not only cross a 150mm high obstacle in static gait and trot at 2.5km/h and l km/h on the level-ground and 10°sloped-terrain respectively, but also au- tomatically keep balanced under lateral disturbance. In this paper, the mechanical structure and control systems are also discussed. Simulations and experiments are carried out to validate the design and algorithms.
