Walking Stability Control Method for Biped Robot on Uneven Ground Based on Deep Q-Network

A gait control method for a biped robot based on the deep Q-network (DQN) algorithm is proposed to enhance the stability of walking on uneven ground. This control strategy is an intelligent learning method of posture adjustment. A robot is taken as an agent and trained to walk steadily on an uneven surface with obstacles, using a simple reward function based on forward progress. The reward-punishment (RP) mechanism of the DQN algorithm is established after obtaining the offline gait which was generated in advance foot trajectory planning. Instead of implementing a complex dynamic model, the proposed method enables the biped robot to learn to adjust its posture on the uneven ground and ensures walking stability. The performance and effectiveness of the proposed algorithm was validated in the V-REP simulation environment. The results demonstrate that the biped robot's lateral tile angle is less than 3° after implementing the proposed method and the walking stability is obviously improved.

Stability influence factors analysis and construction of a deep beam anchorage structure in roadway roof

Deep beam anchorage structures based on spatial distribution analysis of the cable prestressed field have been proposed for roadway roof support, Stability and other factors that influence deep beam structures are studied in this paper using mechanical calculations, numerical analysis and field measurements, A mechanical model of deep beam structure subjected to multiple loading is established, including analysis of roof support in the return airway of S1203 working face in the Yuwu coal mine, China, The expression of maximum shear stress in the deep beam structure is deduced according to the stress superposition criterion, It is found that the primary factors affecting deep beam structure stability are deep beam thickness, cable pre-tension and cable spacing, The variation of maximum shear stress distribution and prestressed field diffusion effects according to various factors are analyzed using Matlah and FLAC3DTM software, and practical support parameters of the S1203 return airway roof are determined, According to the observations of rock pressure, there is no evidence of roof separation, and the maximum values of roof subsidence and convergence of wall rock are 72 and 48 mm, respectively, The results show that the proposed roof support design with a deep beam structure is feasible and achieves effective control of the roadway roof,

Structural failure mechanism and strengthening method of fracture plugging zone for lost circulation control in deep naturally fractured reservoirs

Focused on the lost circulation control in deep naturally fractured reservoirs, the multiscale structure of fracture plugging zone is proposed based on the theory of granular matter mechanics, and the structural failure pattern of plugging zone is developed to reveal the plugging zone failure mechanisms in deep, high temperature, high pressure, and high in-situ stress environment. Based on the fracture plugging zone strength model, key performance parameters are determined for the optimal selection of loss control material(LCM). Laboratory fracture plugging experiments with new LCM are carried out to evaluate the effect of the key performance parameters of LCM on fracture plugging quality. LCM selection strategy for fractured reservoirs is developed. The results show that the force chain formed by LCMs determines the pressure stabilization of macro-scale fracture plugging zone. Friction failure and shear failure are the two major failure patterns of fracture plugging zone. The strength of force chain depends on the performance of micro-scale LCM, and the LCM key performance parameters include particle size distribution, fiber aspect ratio, friction coefficient, compressive strength, soluble ability and high temperature resistance. Results of lab experiments and field test show that lost circulation control quality can be effectively improved with the optimal material selection based on the extracted key performance parameters of LCMs.

Distributed Deep Reinforcement Learning-based Approach for Fast Preventive Control Considering Transient Stability Constraints

Preventive transient stability control is an effective measure for the power system to withstand high-probability severe contingencies.It is mathematically an optimal power flow problem with transient stability constraints.Due to the constraints involved for differential algebraic equations of transient stability,it is difficult and time-consuming to solve this problem.To address these issues,this paper presents a novel deep reinforcement learning(DRL)framework for preventive transient stability control of power systems.A distributed deep deterministic policy gradient is utilized to train a DRL agent that can learn its control policy through massive interactions with a grid simulator.Once properly trained,the DRL agent can instantaneously provide effective strategies to adjust the system to a safe operating position with a near-optimal operational cost.The effectiveness of the proposed method is verified through numerical experiments conducted on a New England 39-bus system and NPCC 140-bus system.

超深地层井壁失稳理论与控制技术研究进展

超深地层是我国油气勘探开发的重要领域,但因超深地层复杂地质环境导致的井壁失稳已经成为制约超深地层油气资源动用的重大技术难题之一。为此,从地质和工程2个方面系统总结分析了超深地层井壁失稳机理,进而分析了超深地层岩石物理力学实验及本构方程、地应力测量与地层压力预测等地质力学参数评价技术,并探讨了超深地层井壁稳定性评价理论与控制技术的研究进展,最后提出了促进超深地层钻井理论技术发展的建议。研究结果表明:①加强还原超深地层环境的岩石物性、力学和物理模拟实验研究,耐高温高压地应力和井筒压力测量仪器研发,是认识超深地层极端环境下岩石与地质力学特性的关键;②高温高压条件下的多场耦合岩石力学理论是构建超深地层井壁稳定性评价技术体系的基础;③攻关融合超深地层钻井的大尺寸多开井身结构设计、抗高温高压钻井液体系、防漏堵漏工艺与材料、精细控压钻井理论与工具等井壁稳定控制技术是实现超深井钻井提质增效的前提。结论认为,超深地层井壁失稳理论与控制技术的发展不仅推动了我国油气钻探朝着超深地层进军,还有力推动了深地工程科学考察、超深层油气勘探开发理论与装备的迭代与升级。

深空探测超宽光谱定标黑体源研制

针对深空探测超宽光谱定标黑体源的关键技术问题,构建了一种基于优化微结构和纳米超黑涂层的深空探测星上黑体定标源。基于有限元方法仿真,验证了微锥结构不同宽高比与黑体发射率间的对应关系,确定了周期性线阵V槽结构相对于平面结构在黑体发射率方面的提升作用。优化星上黑体源高发射率微结构,优选空间超黑高发射涂层,设计星上黑体源高精度测温系统,进而完成黑体源工程设计。最后,通过星上黑体源发射率计量及实验室辐射定标稳定性测试进行验证。检测结果表明,深空探测超宽光谱定标黑体源具有超宽光谱范围、高发射率、高温度稳定性等特点,其光谱范围为5~50μm,法向平均发射率为0.986,温度稳定性达到0.16 K。该定标黑体源可大幅提升高发射率辐射定标源的光谱范围,为深空探测载荷的在轨高精度星上辐射定标提供支撑。

深度调峰工况下超临界机组的干湿态转换策略研究

为寻求深度调峰工况下合适的干湿态转换方式,在2台超临界机组上,采用2种不同的干湿态转换策略,对协调控制方式下的干湿态转换及其对系统稳定性的影响进行了研究。结果表明:2种策略均能够实现协调方式下的干湿态转换,可以通过转态进行进一步的深调工作;通过煤、水协同控制或给水流量控制均可实现干湿态转换,但水煤比变化情况不同;干转湿过程中,受到2种策略的影响,系统稳定性(主汽温度、主汽压力)区别明显;在湿转干过程中,2种策略下的系统都表现出良好的稳定性。

Improved Deep Belief Network and Model Interpretation Method for Power System Transient Stability Assessment

The real-time transient stability assessment(TSA)and emergency control are effective measures to suppress accident expansion,prevent system instability,and avoid large-scale power outages in the event of power system failure.However,real-time assessment is extremely demanding on computing speed,and the traditional method is not competent.In this paper,an improved deep belief network(DBN)is proposed for the fast assessment of transient stability,which considers the structural characteristics of power system in the construction of loss function.Deep learning has been effective in many fields,but usually is considered as a black-box model.From the perspective of machine learning interpretation,this paper proposes a local linear interpreter(LLI)model,and tries to give a reasonable interpretation of the relationship between the system features and the assessment result,and illustrates the conversion process from the input feature space to the high-dimension representation space.The proposed method is tested on an IEEE new England test system and demonstrated on a regional power system in China.The result demonstrates that the proposed method has rapidity,high accuracy and good interpretability in transient stability assessment.

深基坑施工对共用围护结构运营车站的变形影响

依托成都地铁新建18号线倪家桥站与运营1号线车站超近接并行、共用1号线既有围护桩、深基坑采用半盖挖法施工的工程实例,采用数值模拟将围护桩等效为地下连续墙,分析不同围护桩桩径、内支撑数量下,深基坑开挖对运营地铁车站的变形影响。结果表明:基坑开挖卸荷使土体发生变位,带动车站结构产生位移,体现为竖向隆起,横向偏向基坑开挖侧;增大地下连续墙厚度可减小运营车站的变形,但当厚度大于0.76 m时,控制变形效果不明显;当支撑大于2道时,抑制侧墙水平位移和地表沉降的效果不明显。

Adaptive Emergency Control of Power Systems Based on Deep Belief Network

Emergency control is an essential means to help system maintain synchronism after fault clearance.Traditional“offline calculation,online matching”scheme faces significant challenges on adaptiveness and robustness problems.To address these challenges,this paper proposes a novel closed-loop framework of transient stability prediction(TSP)and emergency control based on Deep Belief Network(DBN).First,a hierarchical real-time anti-jitter TSP method using sliding time windows is adopted,which takes into account accuracy and rapidity at the same time.Next,a sensitivity regression model is established to mine the implicit relationship between power angles and sensitivity.When impending instability of the system is foreseen,optimal emergency control strategy can be determined in time.Lastly,responses after emergency control are fed back to the TSP model.If prediction result is still unstable,an additional control strategy will be implemented.Comprehensive numerical case studies are conducted on New England IEEE 39-bus system and Northeast Power Coordinated Council(NPCC)140-bus system.Results show the proposed method can detect instability of system as soon as possible and assist in maintaining reliable system synchronism.

岩土工程深基坑支护技术应用:以长春市政工程基坑支护设计为例

随着地下空间资源广泛开发,大批地下工程建设项目促使深基坑施工项目增多。由于深基坑支护工程具有施工难度大、施工安全风险高特点,所以工程技术人员应具备岩土工程、结构工程及施工等多方面专业知识。鉴于深基坑支护施工质量优劣与支护技术应用效果息息相关,本文着重梳理岩土工程施工中的深基坑支护技术应用要点和实际施工案例,总结深基坑支护施工经验,促进经济、安全及环境协调一致,促进基坑支护技术发展。

纯电动商用车底盘协同控制器开发

文章致力于研究开发纯电动商用车底盘的协同控制器,通过车辆动力学建模和深度学习与比例-积分-微分(PID)控制技术的结合,设计了转向制动协同控制器,通过仿真验证了控制器的有效性和稳定性。仿真结果显示,纯电动商用车的操控性和安全性得到了良好提升,为商用车的电动化发展提供了支持。

深厚软土基坑不同加固形式效果研究

结合广东省软土地区某地铁车站基坑工程,采用有限元软件midasGTS进行数值模拟,研究不同加固形式对限制基坑变形的效果。结果表明:不同的加固形式对限制基坑变形的效果差异明显;不同加固形式下,随着加固面积比的提高对基坑变形的限制作用均有所增加,但并不呈现线性关系;当加固面积比达到某一数值后,限制基坑变形的效果均不再提升;在加固面积相同的情况下,采用抽条加固对限制基坑变形效果最佳。

天津地区地铁深基坑施工安全控制标准研究

软土地区的深基坑施工中,确定合理的基坑安全的控制标准至关重要。由于不可能通过现场的全比尺试验确定这一控制标准,为此以大量的工程实测数据为基础,准确确定模拟基坑施工过程的有限元分析模型和计算参数。通过数值模拟方法,实现对基坑破坏过程的研究。分别计算当基坑即将发生整体稳定破坏时,支护结构变形量与地表最大沉降量和坑深的比值,确定适合于天津地区地铁深基坑施工安全的控制标准。

深井巷道围岩应力松弛效应与控制技术

基于深井巷道围岩应力松弛特征,建立锚杆支护条件下的黏弹性应力松弛力学模型,分析了在应力松弛过程中巷道围岩应力场的演化规律和多次耦合锚杆支护技术对深井巷道稳定本质,并给出了深井巷道围岩稳定的判定方法。依据上述模型和判定方法确定了协庄煤矿埋深1 000 m左右的二采区轨道下山的支护技术和支护参数,现场应用表明,该技术有效控制了试验巷道的长期流变,3个月后巷道基本稳定,3年多来巷道维护状况良好。

湘西金矿深部采场稳定性计算机模拟分析

湘西金矿缓倾斜薄矿脉开采深度大， 地质情况复杂，存在一些未能完全解决的技术和理论难题。作者运用ＲＦＰＡ’９８ 数值模拟软件系统， 结合湘西金矿深部开采综合技术研究课题， 计算分析了深部采场的稳定性。计算结果表明： 在断层、裂隙发育的试验采场， 当采场跨度达到６ ｍ 以后， 顶板局部开始垮落；当跨度达到１０ ｍ ｍ 以后， 顶板中部发生冒顶事故。由此提出了相应的采场结构参数、顶板水压支柱支护、地压监测预报等综合地压控制措施。实际应用表明， 这些措施有效地维护了采场的稳定， 使回采作业安全、顺利地完成， 获得了理想的效果。

深部岩巷分区破裂围岩稳定性控制方法及应用

深部高地应力岩巷开挖后围岩内出现分区破裂现象,采用传统的原设计方案巷道稳定性差。根据巷道围岩变形破坏的现场监测结果,经过理论分析和支护试验,提出了"提高法向约束、锚杆增韧止裂、协调耦合支护、应力内部转移、分区充填注浆、增强围岩强度"的锚注一体化综合控制方法理念。并提出了相对应的综合支护技术,即首先采用高预紧力超强锚杆及时支护围岩,锚杆的长度和数量分别由监测结果和分区支护能量判据确定;其次采用高强锚索让压梁支护巷道顶板,实现锚杆、锚索的协调耦合支护和围岩应力内部转移;最后采用中空分段螺旋式注浆技术进行滞后加固。最后针对监测巷道采用锚注一体化综合控制方法和技术进行了支护优化设计并进行现场支护试验,监测结果表明,优化支护的巷道稳定性良好。

“上海中心”圆形基坑明挖顺作的安全稳定和控制

针对"上海中心大厦"塔楼区圆形基坑直径超大、开挖深度超深的特点,采取明挖顺作塔楼区基坑,塔楼区基坑设计采用了外径为123.4 m(内径为121 m)的大直径无内支撑圆形基坑。对其开挖实施的安全稳定进行分析,并在设计中采取相应的措施予以控制。通过信息化监测、监控和动态设计以及精心施工,保证了软土地区超深超大明挖顺作圆形基坑的安全稳定和顺利实施。其设计分析和研究可为软土地区同类工程提供借鉴和参考。

煤矿深部岩巷围岩控制理论与支护技术

采用现场大规模地质调查与试验监测、实验室岩石力学试验、数值模拟和理论分析等综合研究方法,系统地研究了淮南矿区深部岩巷围岩的复杂赋存条件,提出了深部岩巷围岩分类标准体系。分析了其在高地应力、高渗透压力和高温度梯度("三高")耦合作用下的变形破裂机理和稳定性演化规律,在此基础上提出了基于"应力状态恢复改善、围岩增强、破裂固结与损伤修复、应力转移与承载圈扩大"4项基本原则的深部岩巷围岩稳定控制理论,提出了针对各类围岩进行深部岩巷围岩稳定控制的技术措施体系及分步联合支护理念,总结形成了淮南矿区深部岩巷围岩稳定与施工安全控制的成套技术。

淮南矿区深部煤巷支护难度分级及控制对策

系统分析淮南矿区深部煤巷围岩赋存的地质特征、控制难度和应力状态等因素,确定影响煤巷稳定及锚杆支护选型的最主要和敏感因素为巷道顶板应力强度指数、帮部煤体松散范围系数、顶板软弱岩层不安全因子3个综合指标,通过大量测试矿区深部巷道围岩地应力和煤岩试块物理力学性能,对这3个综合指标体系进行科学合理分类,在此基础上划分深部煤层巷道围岩稳定性控制难度级别,针对各难度级别,提出以新型"三高"(高强度、高预拉力、高刚度)锚杆控制技术为基础的深部煤巷围岩控制对策。应用该方法对矿区几个典型矿井的深部煤层巷道围岩稳定程度进行难度分级,采取针对性技术措施和支护参数,维护巷道稳定。研究成果在淮南矿区获得全面应用,对我国煤矿深部煤层巷道支护技术具有一定的理论意义和实用价值。