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足球机器人控制体系结构的研究 被引量:2
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作者 薛方正 李庆赟 徐心和 《控制与决策》 EI CSCD 北大核心 2006年第7期801-804,共4页
提出了基于粗粒度空间和垂直分解结构的控制体系结构,用于解决实时多足球机器人的对抗问题.总结了智能机器人的控制体系结构,提出了控制体系结构设计中的几个重要原则.提出了粗粒度行为的概念,寻求决策精度与系统智能和实时性的平衡,并... 提出了基于粗粒度空间和垂直分解结构的控制体系结构,用于解决实时多足球机器人的对抗问题.总结了智能机器人的控制体系结构,提出了控制体系结构设计中的几个重要原则.提出了粗粒度行为的概念,寻求决策精度与系统智能和实时性的平衡,并设计了基于这种思想的控制体系结构.实现了基于这种结构的策略程序,实战证明了该方法的正确性. 展开更多
关键词 粗粒度行为 策略体系 垂直分解 足球机器人
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Strength and deformation behaviour of coarse-grained soil by true triaxial tests 被引量:7
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作者 施维成 朱俊高 +1 位作者 赵仲辉 刘汉龙 《Journal of Central South University》 SCIE EI CAS 2010年第5期1095-1102,共8页
In order to investigate the influence of intermediate principal stress on the stress-strain and strength behaviour of a coarse-grained soil, a series of true triaxial tests were performed. The tests were conducted in ... In order to investigate the influence of intermediate principal stress on the stress-strain and strength behaviour of a coarse-grained soil, a series of true triaxial tests were performed. The tests were conducted in a recently developed true triaxial apparatus with constant minor principal stress σ3 and constant value of intermediate principal stress ratio b=(σ2-σ3)/(σ1-σ3) (al is the vertical stress, and % is the horizontal stress). It is found that the intermediate principal strain, ε2, increases from negative to positive value with the increase of parameter b from zero to unity under a constant minor principal stress. The minor principal strain, ε3, is always negative. This implies that the specimen exhibits an evident anisotropy. The relationship between b and friction angle obtained from the tests is different from that predicted by LADE-DUNCAN and MATSUOKA-NAKAI criteria. Based on the test results, an empirical equation of g(b) that is the shape function of the failure surface on re-plane was presented. The proposed equation is verified to be reasonable by comparing the predicted results using the equation with true triaxial test results of soils, such as coarse-grained soils in this study, sands and gravels in other studies. 展开更多
关键词 cohesionless soil coarse-grained soil true triaxial test STRENGTH DEFORMATION failure criterion
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