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 pro...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.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
Job-shop scheduling problem with discretely controllable processing times (JSP-DCPT) is modeled based on the disjunctive graph, and the formulation of JSP-DCPT is presented. A three-step decomposition approach is prop...Job-shop scheduling problem with discretely controllable processing times (JSP-DCPT) is modeled based on the disjunctive graph, and the formulation of JSP-DCPT is presented. A three-step decomposition approach is proposed so that JSP-DCPT can be handled by solving a job-shop scheduling problem (JSP) and a series of discrete time-cost tradeoff problems. To simplify the decomposition approach, the time-cost phase plane is introduced to describe tradeoffs of the discrete time-cost tradeoff problem, and an extreme mode-based set dominant theory is elaborated so that an upper bound is determined to cut discrete time-cost tradeoff problems generated by using the proposed decomposition approach. An extreme mode-based set dominant decomposition algorithm (EMSDDA) is then proposed. Experimental simulations for instance JSPDCPT_FT10, which is designed based on a JSP benchmark FT10, demonstrate the effectiveness of the proposed theory and the decomposition approach.展开更多
基金Project(50879077) supported by the National Natural Science Foundation of China
文摘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.
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.
基金supported by the National Natural Science Foundation of China (Grant Nos. 51075337, 50705076, 50705077)the Natural Sci-ence Basic Research Plan in Shaanxi Province of China (Grant No. 2009JQ9002)
文摘Job-shop scheduling problem with discretely controllable processing times (JSP-DCPT) is modeled based on the disjunctive graph, and the formulation of JSP-DCPT is presented. A three-step decomposition approach is proposed so that JSP-DCPT can be handled by solving a job-shop scheduling problem (JSP) and a series of discrete time-cost tradeoff problems. To simplify the decomposition approach, the time-cost phase plane is introduced to describe tradeoffs of the discrete time-cost tradeoff problem, and an extreme mode-based set dominant theory is elaborated so that an upper bound is determined to cut discrete time-cost tradeoff problems generated by using the proposed decomposition approach. An extreme mode-based set dominant decomposition algorithm (EMSDDA) is then proposed. Experimental simulations for instance JSPDCPT_FT10, which is designed based on a JSP benchmark FT10, demonstrate the effectiveness of the proposed theory and the decomposition approach.
