A new method based on the multi-wedge translation mechanism is presented to calculate the lateral force acting on the stabilizing piles. At first, there is no assumption for the shape of potential sliding surface, it ...A new method based on the multi-wedge translation mechanism is presented to calculate the lateral force acting on the stabilizing piles. At first, there is no assumption for the shape of potential sliding surface, it is just considered that the potential sliding surface is a composite of a number of straight lines. And then, the potential sliding mass is divided into a number of triangular wedges take with these straight lines as its base. The kinematic theorem of limit analysis is adopted to calculate the rate of external work and the rate of energy dissipation for each triangular wedge, respectively. Furthermore, the multivariate functions are established to calculate the lateral force acting on the stabilizing piles. The lateral force and the corresponding potential sliding surfaces can be obtained by an optimizational technique. At last, an example is taken to illustrate the method. The effect of soil strength parameters, slope angle and pile roughness on the lateral force and the corresponding potential sliding surface are analyzed.The result are compared with those obtained using other methods.展开更多
In this paper, a curved path following control algorithm for miniature unmanned aerial vehicles（UAVs） in winds with constant speed and altitude is developed. Different to the widely considered line or orbit followin...In this paper, a curved path following control algorithm for miniature unmanned aerial vehicles（UAVs） in winds with constant speed and altitude is developed. Different to the widely considered line or orbit following, the curved path to be followed is defined in terms of the arc-length parameter, which can be straight lines, orbits, B-splines or any other curves provided that they are smooth. The proposed path following control algorithm, named by VF-SMC, is combining the vector field（VF） strategy with the sliding mode control（SMC） method. It is proven that the designed algorithm guarantees the tracking errors to be a bounded ball in the presence of winds, with the aid of the Lyapunov method and the BIBO stability. The algorithm is validated both in Matlab-based simulations and high-fidelity semi-physical simulations. In Matlab-based simulations, the proposed algorithm is verified for straight lines, orbits and B-splines to show its wide usage in different curves.The high-fidelity semi-physical simulation system is composed of actual autopilot controller, ground station and X-Plane flight simulator in-loop. In semi-physical simulations, the proposed algorithm is verified for B-spline path following under various gain parameters and wind conditions thoroughly.All experiments show the accuracy in curved path following and the excellent robustness to wind disturbances of the proposed algorithm.展开更多
Euler vectors of 12 plates, including Philippine Sea plate (PH), relative to a randomly fixed Pacific plate(PA) were determined by inverting the 1122 data from NUVEL-1 global plate motion model, earthquake slip vector...Euler vectors of 12 plates, including Philippine Sea plate (PH), relative to a randomly fixed Pacific plate(PA) were determined by inverting the 1122 data from NUVEL-1 global plate motion model, earthquake slip vectors along Philippine Sea plate boundary, and GPS observed velocities. Euler vectors of Philippine Sea plate relative to adjacent plates are also gained. Our results are well consistent with observed data and can satisfy the geological and geophysical constraints along the Caroline(CR)-PH and PA-CR boundaries. Deformation of Philippine Sea plate is also discussed by using the plate motion Euler parameters.展开更多
基金Projects(SKLGP2012K024,SKLGP2013K012)supported by the Opening Fund of State Key Laboratory of Geohazard Prevention and Ceoenvironment Protection,ChinaProject(2011BAK12B03)supported by the National Technology Project,ChinaProject(41401004)supported by the National Natural Science Foundation of China
文摘A new method based on the multi-wedge translation mechanism is presented to calculate the lateral force acting on the stabilizing piles. At first, there is no assumption for the shape of potential sliding surface, it is just considered that the potential sliding surface is a composite of a number of straight lines. And then, the potential sliding mass is divided into a number of triangular wedges take with these straight lines as its base. The kinematic theorem of limit analysis is adopted to calculate the rate of external work and the rate of energy dissipation for each triangular wedge, respectively. Furthermore, the multivariate functions are established to calculate the lateral force acting on the stabilizing piles. The lateral force and the corresponding potential sliding surfaces can be obtained by an optimizational technique. At last, an example is taken to illustrate the method. The effect of soil strength parameters, slope angle and pile roughness on the lateral force and the corresponding potential sliding surface are analyzed.The result are compared with those obtained using other methods.
基金supported by the National Natural Science Foundation of China under Grant No.61403406
文摘In this paper, a curved path following control algorithm for miniature unmanned aerial vehicles（UAVs） in winds with constant speed and altitude is developed. Different to the widely considered line or orbit following, the curved path to be followed is defined in terms of the arc-length parameter, which can be straight lines, orbits, B-splines or any other curves provided that they are smooth. The proposed path following control algorithm, named by VF-SMC, is combining the vector field（VF） strategy with the sliding mode control（SMC） method. It is proven that the designed algorithm guarantees the tracking errors to be a bounded ball in the presence of winds, with the aid of the Lyapunov method and the BIBO stability. The algorithm is validated both in Matlab-based simulations and high-fidelity semi-physical simulations. In Matlab-based simulations, the proposed algorithm is verified for straight lines, orbits and B-splines to show its wide usage in different curves.The high-fidelity semi-physical simulation system is composed of actual autopilot controller, ground station and X-Plane flight simulator in-loop. In semi-physical simulations, the proposed algorithm is verified for B-spline path following under various gain parameters and wind conditions thoroughly.All experiments show the accuracy in curved path following and the excellent robustness to wind disturbances of the proposed algorithm.
基金This work was supported by Project of Mechanism and Prediction of Continental Strong Earthquake (Grant No. 5-13-04-06).
文摘Euler vectors of 12 plates, including Philippine Sea plate (PH), relative to a randomly fixed Pacific plate(PA) were determined by inverting the 1122 data from NUVEL-1 global plate motion model, earthquake slip vectors along Philippine Sea plate boundary, and GPS observed velocities. Euler vectors of Philippine Sea plate relative to adjacent plates are also gained. Our results are well consistent with observed data and can satisfy the geological and geophysical constraints along the Caroline(CR)-PH and PA-CR boundaries. Deformation of Philippine Sea plate is also discussed by using the plate motion Euler parameters.
