构型改进型凿岩机器人钻孔定位方法研究

设计了一种改进型凿岩机器人,其腕部为含伸缩构件的偏置结构,肩部为两两相交结构。发现了该机器人的两个特性:一是对第5自由度参数的求解可以转化为对特定直线与特定平面法线之间夹角的求解,二是关节轴3和关节轴4的交点与原点之间的距离为定值。根据上述两个特性,可以采用迭代搜索方法获得第5和第6自由度参数值。提出了一种新的机器人运动学求解方法,其计算过程无须建立各连杆坐标系,采用倒序逐步完成的方法进行正向求解,采用逐步归位的方法进行逆向求解。加工组装了改进型凿岩机器人,编制了计算程序,并完成了工业性试验。试验结果表明:所设计的凿岩机器人操作安全可靠、计算快速准确,解决了旧式凿岩机器人计算耗时长和定位精度不够的难题,可为实现深部煤层无人化采掘提供一定的参考。

Soft Sensor Model Derived from Wiener Model Structure: Modeling and Identification

The processes of building dynamic and static relationships between secondary and primary variables are usually integrated in most of nonlinear dynamic soft sensor models. However, such integration limits the estimation accuracy of soft sensor models. Wiener model effectively describes dynamic and static characteristics of a system with the structure of dynamic and static submodels in cascade. We propose a soft sensor model derived from Wiener model structure, which is an extension of Wiener model. Dynamic and static relationships between secondary and primary variables are built respectively to describe the dynamic and static characteristics of system. The feasibility of this model is verified. Then the expression of discrete model is derived for soft sensor system. Conjugate gradient algorithm is applied to identify the dynamic and static model parameters alternately. Corresponding update method for soft sensor system is also given. Case studies confirm the effectiveness of the proposed model, alternate identification algorithm, and update method.

Shear creep characteristics and constitutive model of limestone

The characters of limestone in weak interlayer of a high rocky slope in Xuzhou, China, are studied by shear static test and shear creep test. The results show that limestone specimens have attenuation creep properties and constant rate creep properties, almost have no accelerated creep properties. The exponential type empirical formula is selected to fit creep grading curves by polynomial regression analysis method, and the square sums of the fitting results residual are in the order of 10^(-7). Then grade creep curves at every shear loads are set up. Combining creep rate-time curve, the creep properties of limestone are analyzed. As the physical meaning of component model is clearer, the Poytin–Thomson model is set up. Through the least square method, the optimal parameters of Poytin–Thomson model are obtained,and the sums of squared residuals belong to 10^(-3)order of magnitude, which can meet the accuracy requirements of engineering calculation. So the Poytin–Thomson model can reflect the shear creep characteristics of limestone very well.

Mechanical and damage evolution properties of sandstone under triaxial compression

To study the mechanical and damage evolution properties of sandstone under triaxial compression, we analyzed the stress strain curve characteristics, deformation and strength properties, and failure process and characteristics of sandstone samples under different stress states. The experimental results reveal that peak strength, residual strength, elasticity modulus and deformation modulus increase linearly with confining pressure, and failure models transform from fragile failure under low confining pressure to ductility failure under high confining pressure. Macroscopic failure forms of samples under uniaxial compression were split failure parallel to the axis of samples, while macroscopic failure forms under uniaxial compression were shear failure, the shear failure angle of which decreased linearly with confin- ing pressure. There were significant volume dilatation properties in the loading process of sandstone under different confining pressures, and we analyzed the damage evolution properties of samples based on acoustic emission damage and volumetric dilatation damage, and established damage constitutive model, realizing the real-time Quantitative evaluation of samnles damage state in loading process.

Prototype test study on mechanical characteristics of segmental lining structure of underwater railway shield tunnel

Based on the first unde rwater railway shield tunnel, the Shiziyang shield tunnel of Guangzhou Zhu- jiang River, the prototype test was carried out against its segmental lining structure by using ＂multi-function shield tunnel structure test system＂. And the mechanical characteristics of segmental lining structure using straight assembling and staggered assembling were studied deeply. The results showed that, the mechanical characteristics of segmental lining structure varied with the water pressures; especially after cracking, the high water pressure played a significant role in slowing down the growing inner force and deformation. It also testi- fied that the failure characteristics varied with straight assembling structure and staggered assembling structure. Shear thilurc often occurred near longitudinal seam when using straight assembling.

Investigation of effective dimensionless numbers on initiation of instability in combustion of moisty organic dust

In this work, the effect of various effective dimensionless numbers and moisture contents on initiation of instability in combustion of moisty organic dust is calculated. To have reliable model, effect of thermal radiation is taken into account. One- dimensional flame structure is divided into three zones： preheat zone, reaction zone and post-flame zone. To investigate pulsating characteristics of flame, governing equations are rewritten in dimensionless space-time （（, r/, ~） coordinates. By solving these newly achieved governing equations and combining them, which is completely discussed in body of article, a new expression is obtained. By solving this equation, it is possible to predict initiation of instability in organic dust flame. According to the obtained results by increasing Lewis number, threshold of instability happens sooner. On the other hand, pulsating is postponed by increasing Damk6hler number, pyrolysis temperature or moisture content. Also, by considering thermal radiation effect, burning velocity predicted by our model is closer to experimental results.

Influence of expanded polystyrene size on deformation characteristics of light weight soil

Deformation characteristics of light weight soil with different EPS (expanded polystyrene) sizes were investigated by consolidation tests.The results show that the confined stress-strain relation curve is in S shape,which has a good homologous relation with e-p curve and e-lgp curve,and three types of curves reflect obvious structural characteristics of light weight soil.When cement mixed ratio and EPS volume ratio are the same for different specimens,structural strength decreases with the increase of EPS size,but compressibility indexes basically keep unchanged within the structural strength.The settlement of light weight soil can be divided into instantaneous settlement and primary consolidation settlement.It has no obvious rheology property,and 90% of total consolidation deformation can be finished in 1 min.Settlement-time relation of light weight soil can be predicted by the hyperbolic model.S-lgt curve of light weight soil is not in anti-S shape.It is proved that there is no secondary consolidation section,so consolidation coefficient cannot be obtained by time logarithm method.Structural strength and unit price decrease with the increase of EPS size,but the reducing rate of the structural strength is lower than that of the unit price,so the cost of mixed soil can be reduced by increasing the EPS size.The EPS beads with 3-5 mm in diameter are suggested to be used in the construction process,and the prescription of mixed soil can be optimized.

Swelling Characteristics of Saudi Tayma Shale and Consequential Impact on Light Structures

Expansive soils in Saudi Arabia have received wide attention in recent decades, following the rapid urbanization of rural and agricultural parts of the country. Tayma expansive shale inflicted serious damages to light structures, roads and boundary walls. This research is aimed at studying the engineering characteristics of the shale at this area including the basic geotechnical parameters as well as swelling behavior under oedometric loading conditions. The engineering properties were determined and compared to the local and international characterization charts. Mineralogy study using x-ray diffraction was conducted to investigate clay minerals present. The swell percent and the swelling pressure of the shale were investigated for samples prepared at different initial moisture contents and various dry densities. A close-up view of damages caused by the expansive shale in the town is highlighted and measures to reduce the risk of potential swelling distress for future constructions are presented.

DETACHMENT FAULT IN DINGGYE AREA IN THE MIDDLE PART OF THE HIMALAYAN OROGEN

Dinggye lies in the middle part of the Himalayan Orogen. A lot of low angle extension detachment faults have been developed in Dinggye area and some of them make up the main body of the South Tibet Detachment System. On the whole, the extension direction of all the detachment faults is perpendicular to the strike of the Himalayan Orogen. Each detachment fault has its distinct characteristics. Mylonite was extensively developed in the detachment faults and can be divided into a variety of types such as siliceous mylonite, felsic mylonite, granite mylonite, protomylonite, crystallization mylonite and so on. On the basis of our field survey works, these detachment faults can be classified according to their locations into three units listed as follows: (1) In the northern part of the study area, the detachment faults occur on large scale and in orbicular shape, and form the middle layer of the metamorphic core complexes. (2) In the southern part of the study area, the detachment faults occur in linear shape that is parallel to the Himalayan Orogen and has a stable attitude, and have undergone two phases of development. In the first phase, the Rouqiechun Group rocks were formed and make up the hanging wall, while in the second phase the Jiachun Group rocks were formed and make up the hanging wall. (3) In the southeastern part of the study area, the detachment faults strike nearly along southeast direction in a stable way and some of these detachment faults were distorted by the late-formed faults and folds. Furthermore, in the southwestern part of the study area, the ductile shear zones are parallel to the detachment faults.

Creep characteristic simulation of deep soft rock roadway and long-term mechanical analysis of lining support

By the generalized Kelvin creep model,rheological characteristics of deep softrock and long-term mechanical behaviors of support structures were simulated.Mechanicaldeformation characteristics of support structures under different lining circumstanceswere also analyzed on the basis of deducing the relationship between the generalizedKelvin creep model and implicit creep equations in ANSYS FEM software.The resultsshow that high stress of deep tunnels is the main factor in creep damage;the surroundingrock's deformation binding effect due to lining increases as the thickness increases but theeffect becomes very weak when it increases to a certain value;contact pressure on thelining decreases as its thickness decreases.

Investigation of Structural System Safety

In order to investigate the behavior of buildings and engineering structures during earthquakes, based on the data of seismic observation devices mounted on constructions with typical characteristics, results of investigating the change of mechanical properties of building structural system over time and the results of examination of structural rigidity and safety change over time, depending on the dynamic characteristics of the building, determined by experimental investigations made at intervals are mentioned in this article. In addition, evaluation of earthquake acceleration acting on structures due to earthquake-induced damage characteristics of buildings and engineering constructions which are made earthquake resistant is also included here.

Effects on dynamic characters of antenna structures in satellite induced by disordered parameters

A simplified dynamic model of a dish antenna in satellite is established in this article.The modelcan be easily used to analyze the dynamic behaviour of the antenna structure.In terms of the simplifiedmodel,effects on dynamic characters due to the disorder of parameters are investigated in details.Thefrequencies calculated by the simplified model accord with those computed by ANSYS.Based on the modeshapes of disordered and perfect structure,the influence law and varying trend of dynamic characters ofantenna structures in satellites produced by stiffness and mass of antenna ribs,stiffness of antenna mem-branes and angles between adjacent ribs,are obtained.The analyses in the paper indicate that the effectsby disordered parameters can not be ignored in the dynamic analysis of such structures.

Deformation characteristics and constitutive model of seafloor massive sulfides

Deformation characteristics and constitutive model of seafloor massive sulfide(SMS)were selected as the research object.Uniaxial/triaxial compression test were carried out on the mineral samples,and the deformation characteristics of specimens under various conditions were studied.According to characteristics of the mineral,a new three stages constitutive equation was proposed.The conclusions are as follows:The axial strain,peak strain and maximum strength of seafloor massive sulfide increase with the confining pressure.The elastic modulus of the metal sulfide samples is decreased sharply with the increase of confining pressure.According to characteristics of seafloor massive sulfide,the constitutive equation is divided into three parts,the comparison between theoretical curves and experimental data shows that both of them are in good agreement,which also proves the correctness of the constitutive equation for uniaxial compression.

Model Refinement for Offshore Platforms： Experimental Study

Offshore jacket platforms are widely used in offshore oil and gas exploitation.Finite element models of such structures need to have many degrees of freedom(DOFs) to represent the geometrical detail of complex structures,thereby leading to incompatibility in the number of DOFs of experimental models.To bring them both to the same order while ensuring that the essential eigen-properties of the refined model match those of experimental models,an extended model refinement procedure is presented in this paper.Vibration testing of an offshore jacket platform model is performed to validate the applicability of the proposed approach.A full-order finite element model of the platform is established and then tuned to meet the measured modal properties identified from the acceleration signals.Both model reduction and modal expansion methods are investigated,as well as various scenarios of sensor arrangements.Upon completion of the refinement,the updated jacket platform model matches the natural frequencies of the measured model well.

Effect of volume changes on complete deformation behavior of rocks

For the purpose of describing the deformation characteristics of rocks,the effect of volume changes on mechanical properties of rocks should be taken into account with relation to the development of constitutive model.Firstly,rocks are divided into three parts,i.e.,voids,a damaged part and an undamaged part in the course of loading.The void ratio was applied to describing the changes of voids or pores during the deformation process.Then,using statistical damage theory,a constitutive model was developed for rocks to describe their strain softening and hardening on the basis of investigating the relationship between the net stress and apparent stress,in which the influence of volume changes on rock behavior was correctly taken into account,such as the initial phase of compaction and the latter stage of dilation.Thirdly,a method of determining model parameters was also presented.Finally,this model was used to compare the theoretical results with those observed from experiments under conventional triaxial loading conditions.

Structural properties and generative model of non-giant connected components in social networks

Most previous studies have mainly focused on the analyses of one entire network(graph) or the giant connected components of networks. In this paper, we investigate the disconnected components(non-giant connected component) of some real social networks, and report some interesting discoveries about structural properties of disconnected components. We study three diverse, real networks and compute the significance profile of each component. We discover some similarities in the local structure between the giant connected component and disconnected components in diverse social networks. Then we discuss how to detect network attacks based on the local structure properties of networks. Furthermore, we propose an empirical generative model called i Friends to generate networks that follow our observed patterns.

Flow Structure and Heat Exchange Analysis in Internal Cooling Channel of Gas Turbine Blade

This paper presents the study of the flow structure and heat transfer,and also their correlations on the four walls of a radial cooling passage model of a gas turbine blade.The investigations focus on heat transfer and aerodynamic measurements in the channel,which is an accurate representation of the configuration used in aeroengines.Correlations for the heat transfer coefficient and the pressure drop used in the design of radial cooling passages are often developed from simplified models.It is important to note that real engine passages do not have perfect rectangular cross sections,but include coiner fillet,ribs with fillet radii and special orientation.Therefore,this work provides detailed fluid flow and heat transfer data for a model of radial cooling geometry which possesses very realistic features.

Feature Analysis and Modeling of the Network Community Structure

Community structure has an important influence on the structural and dynamic characteristics of the complex systems.So it has attracted a large number of researchers.However,due to its complexity,the mechanism of action of the community structure is still not clear to this day.In this paper,some features of the community structure have been discussed.And a constraint model of the community has been deduced.This model is effective to identify the communities.And especially,it is effective to identify the overlapping nodes between the communities.Then a community detection algorithm,which has linear time complexity,is proposed based on this constraint model,a proposed node similarity model and the Modularity Q.Through some experiments on a series of real-world and synthetic networks,the high performances of the algorithm and the constraint model have been illustrated.