The required reinforcement force to prevent instability and the yield acceleration of reinforced slopes are computed under seismic loading by applying the kinematic approach of limit analysis in conjunction with the p...The required reinforcement force to prevent instability and the yield acceleration of reinforced slopes are computed under seismic loading by applying the kinematic approach of limit analysis in conjunction with the pseudo-dynamic method for a wide range of soil cohesion, friction angle, dilation angle and horizontal and vertical seismic coefficients. Each parameter threatening the stability of the slope enhances the magnitude of the required reinforcement force and vice versa. Moreover, the yield acceleration increases with the increase in soil shear strength parameters but decreases with the increase in the slope angle. The comparison of the present work with some of the available solutions in the literatures shows a reasonable agreement.展开更多
The dynamic stability of a quadruped robot trotting on slope was analyzed.Compared with crawl gait,trot gait can improve walking speed of quadruped robots.When a quadruped robot trots,each leg is in the alternate stat...The dynamic stability of a quadruped robot trotting on slope was analyzed.Compared with crawl gait,trot gait can improve walking speed of quadruped robots.When a quadruped robot trots,each leg is in the alternate state of swing phase or supporting phase,and two legs in the diagonal line are in the same phase.The feet in the supporting phase form a supporting region on the ground.When a quadruped robot walks on slope,the vertical distance from zero moment point(ZMP) to the supporting diagonal line is defined as ZMP offset distance.Whether this distance is less than the maximum offset distance or not,the stability of robot trotting on slope can be judged.The foot trajectory was planned with the sinusoidal function.Based on the kinematic analysis,the ZMP offset distance of quadruped robot under different slope angles,step length and step height was calculated,then the reasonable slope angle,step length and step height for quadruped robot trotting on slope to keep dynamic stability can be determined.On the other hand,the posture angle of quadruped robot should be controlled within the desired range.Computer simulations were executed to verify the theoretical analysis.The study will provide reference for determining reasonable step parameters of the quadruped robot.展开更多
This work studied the effect of increasing degree of metamorphism on the properties of rocks.The properties investigated are the physical,mechanical and dynamic parameters.They are important inputs in the design of ma...This work studied the effect of increasing degree of metamorphism on the properties of rocks.The properties investigated are the physical,mechanical and dynamic parameters.They are important inputs in the design of many mining and civil engineering techniques such as in tunnelling,slope stability and dynamic activities associated with seismicity and fragmentation.This work compared the degree of metamorphism examined through petrographic studies of the Transvaal Sequence in South Africa with the properties of the rocks.The study shows that as the effect metamorphism increases,the state of stress,compaction of grains,cementation and the brittleness of the rocks increases.In addition,increase in the metamorphic effect increases the value of the rock property.The degree of metamorphism of an outcrop is the key factor influencing its property value.Therefore the metamorphism effect of an outcrop may act as a guide to its engineering properties.展开更多
文摘The required reinforcement force to prevent instability and the yield acceleration of reinforced slopes are computed under seismic loading by applying the kinematic approach of limit analysis in conjunction with the pseudo-dynamic method for a wide range of soil cohesion, friction angle, dilation angle and horizontal and vertical seismic coefficients. Each parameter threatening the stability of the slope enhances the magnitude of the required reinforcement force and vice versa. Moreover, the yield acceleration increases with the increase in soil shear strength parameters but decreases with the increase in the slope angle. The comparison of the present work with some of the available solutions in the literatures shows a reasonable agreement.
基金Supported by the National Natural Science Foundation of China(No.51375289)Shanghai Municipal National Natural Science Foundation of China(No.13ZR1415500)Innovation Fund of Shanghai Education Commission(No.13YZ020)
文摘The dynamic stability of a quadruped robot trotting on slope was analyzed.Compared with crawl gait,trot gait can improve walking speed of quadruped robots.When a quadruped robot trots,each leg is in the alternate state of swing phase or supporting phase,and two legs in the diagonal line are in the same phase.The feet in the supporting phase form a supporting region on the ground.When a quadruped robot walks on slope,the vertical distance from zero moment point(ZMP) to the supporting diagonal line is defined as ZMP offset distance.Whether this distance is less than the maximum offset distance or not,the stability of robot trotting on slope can be judged.The foot trajectory was planned with the sinusoidal function.Based on the kinematic analysis,the ZMP offset distance of quadruped robot under different slope angles,step length and step height was calculated,then the reasonable slope angle,step length and step height for quadruped robot trotting on slope to keep dynamic stability can be determined.On the other hand,the posture angle of quadruped robot should be controlled within the desired range.Computer simulations were executed to verify the theoretical analysis.The study will provide reference for determining reasonable step parameters of the quadruped robot.
基金The School of Mining Engineering,University of the Witwatersrand South Africa is acknowledged for providing support towards the success of this researchSpecifically the Centennial Trust Fund for Rock Engineering is appreciated for funding part of this research
文摘This work studied the effect of increasing degree of metamorphism on the properties of rocks.The properties investigated are the physical,mechanical and dynamic parameters.They are important inputs in the design of many mining and civil engineering techniques such as in tunnelling,slope stability and dynamic activities associated with seismicity and fragmentation.This work compared the degree of metamorphism examined through petrographic studies of the Transvaal Sequence in South Africa with the properties of the rocks.The study shows that as the effect metamorphism increases,the state of stress,compaction of grains,cementation and the brittleness of the rocks increases.In addition,increase in the metamorphic effect increases the value of the rock property.The degree of metamorphism of an outcrop is the key factor influencing its property value.Therefore the metamorphism effect of an outcrop may act as a guide to its engineering properties.
