Tower crane path planning based on improved ant colony algorithm

In order to solve the problem of path planning of tower cranes,an improved ant colony algorithm was proposed.Firstly,the tower crane was simplified into a three-degree-of-freedom mechanical arm,and the D-H motion model was established to solve the forward and inverse kinematic equations.Secondly,the traditional ant colony algorithm was improved.The heuristic function was improved by introducing the distance between the optional nodes and the target point into the function.Then the transition probability was improved by introducing the security factor of surrounding points into the transition probability.In addition,the local path chunking strategy was used to optimize the local multi-inflection path and reduce the local redundant inflection points.Finally,according to the position of the hook,the kinematic inversion of the tower crane was carried out,and the variables of each joint were obtained.More specifically,compared with the traditional ant colony algorithm,the simulation results showed that improved ant colony algorithm converged faster,shortened the optimal path length,and optimized the path quality in the simple and complex environment.

Evaluation of Driver-Induced Human Errors in Smart Construction Tower Crane Operations Based on DEMATEL-ISM-MICMAC

With the advent of Industry 4.0, smart construction sites have seen significant development in China. However, accidents involving digitized tower cranes continue to be a persistent issue. Among the contributing factors, human unsafe behavior stands out as a primary cause for these incidents. This study aims to assess the human reliability of tower crane operations on smart construction sites. To proactively enhance safety measures, the research employs text mining techniques (TF-IDF-Truncated SVD-Complement NB) to identify patterns of human errors among tower crane operators. Building upon the SHEL model, the study categorizes behavioral factors affecting human reliability in the man-machine interface, leading to the establishment of the Performance Shaping Factors (PSFs) system. Furthermore, the research constructs an error impact indicator system for the intelligent construction site tower crane operator interface. Using the DEMATEL method, it analyzes the significance of various factors influencing human errors in tower crane operations. Additionally, the ISM-MICMAC method is applied to unveil the hierarchical relationships and driving-dependent connections among these influencing factors. The findings indicate that personal state, operating procedures, and physical environment directly impact human errors, while personal capability, technological environment, and one fundamental organizational management factor contribute indirectly. .

卡特彼勒(Caterpillar)柴油机大修探讨

美国卡特彼勒公司(Caterpillar)生产的柴油机因故障率低、适应性强,占据了国内工程机械中高速机大部分市场,在海洋钻井平台市场中占有率更是高达90%以上,但其大修费用亦较高。根据卡特柴油机厂家多年的技术服务经验和在海洋平台多年的实际使用经验,统计现场实际运行数据,针对海洋平台由于工况所限普遍负载率较低现象,提出按厂家要求的燃油消耗确定大修时间,合理确定大修备件,可以节省巨额维修费用。

Caterpillar系列柴油机油台架评定技术的发展

综述了开特皮勒(Caterpillar)系列柴油机油台架评定方法,包括Caterpillar 1H2、Caterpillar 1G2、Caterpillar 1K、Caterpillar1M-PC、Caterpillar 1N、Caterpillar 1P、Caterpillar 1R和Caterpillar C13等测试。介绍了Caterpillar测试的历史、建立背景、发展过程、运行条件、评定柴油机油的规格、评定参数和评定标准,Caterpillar系列台架测试的发展是随着发动机排放标准不断苛刻和柴油机油规格不断升级而推进的,是评价活塞沉积物、活塞环粘环、活塞环和气缸套擦伤以及机油消耗的重要评定方法,很好地满足了柴油机润滑油的发展需求。

Habitat utilization and resource partitioning of wintering Hooded Cranes and three goose species at Shengjin Lake

The loss and degradation of wetlands have adversely affected waterbirds, which depend on wetland habitats. Interspecific competition has an important effect on habitat utilization of wintering waterbirds. Resource utilization, including partitioning, in degraded wetlands has become a hot issue in ecological studies of wintering waterbirds. In order to have an insight into the habitat utilization and resource partitioning between a Hooded Crane(Grus monacha) population and the guild of three goose species, i.e., Anser fabalis, A. albifrons and A. erythropus wintering in lake wetlands, we carried out a study at Shengjin Lake National Nature Reserve from November 2011 to April 2012. We surveyed the Hooded Cranes and goose guild foraging in various habitats during the wintering periods with a combined method of fixed route searching and fixed site observations. Resource partitioning was studied by means of calculating habitat utilization rates and the width and overlap of spatial niches. The results showed that the habitat utilization rate and the width of spatial niches of the Hooded Crane population and goose guild shifted with the season. The habitat utilization rates of the cranes in grasslands were high at all three wintering stages. The habitat utilization rates were 0.454, 0.435 and 0.959 respectively for the Hooded Cranes and 0.627, 0.491 and 0.616 for the goose guild. This suggests that the overlap in grasslands was higher between cranes and goose guild. Most habitats were accessible at the middle stage, so the width of the spatial niche of the cranes(1.099) and goose guild(1.133) both reached their peak at this stage. The greatest niche overlap was 0.914 for these two groups at the late stage, followed by 0.906 at the middle stage and the smallest was 0.854 at the early stage. Ecological response to the changes in habitats of wintering waterbirds was clearly shown in the dynamic variations of the niche of both the Hooded Cranes and the three goose species. Coexistence among waterbirds was achieved by regulation of niche width to reduce niche overlap and relieve interspecific resource partitioning.

Effects of human disturbance on the Hooded Crane (Grus monacha) at stopover sites in northeastern China

There is a lack of information of whether the behavior pattern and physical condition of the Hooded Crane (Grus monacha) have been limited by conditions encountered at stopover sites in Changgou village,which is adjacent to Zhalong Nature Reserve in northeastern China,one of the most important stopover sites of this crane.The objective of our research was to investigatethe impact of human-caused disturbances on the Hooded Cranes.We investigated three behavior activities of the Hooded Cranes,i.e.,flying time,flushing distance and the duration of vigilance.The results indicate that the auditory stimuli caused by local people provoked the most pronounced disturbances to the Hooded Crane.Human-caused disturbances not only frequently interrupt the feeding process of the cranes,but also lead to an increase of 200％ in the duration of their vigilance and a significant increase in flying time from 0.4 to 0.7 h (p ＜ 0.05).In addition,high-intensity noise can cause larger flushing distances; foraging cranes will flush away by about 600 m when disturbed by the honking of vehicles.Whistles or shouts by local farmers in the field generated the largest sound intensity,about 120 dB,which caused a flushing distance of over 700 m.In order to reduce the negative effect of human-caused disturbances on these cranes,it is imperative to define a buffer zone around sensitive areas during the fall stopover period.To solve the conflict between the interest of farmers and the demand for crops on the part of the cranes requires financial compensation to the farmers for the crops consumed by the Hooded Crane in order to enhance the conservation of this vulnerable bird species.

Fatigue behavior of crane beam strengthened with CFRP

In order to study the fatigue behavior of the damaged reinforced concrete （RC） beams strengthened by carbon fiber reinforced polymer （CFRP） laminate, three T-shaped beams strengthened by CFRP and one contrasting beam are tested under fatigue loading, with the parameters of different modes of strengthening and different fatigue load levels considered. The main results obtained from the tests are： the width of the crack decreases 50. 2% to 66%, and the development of the crack is limited; the stress of steel decreases 24. 1% to 28. 2%, and the stiffness increases 14.9% to 16. 1% after being strengthened. Based on the technical specification for strengthening concrete structures with CFRP and the conclusions from the tests, a calculating scheme of the flexure stiffness is given, which can be used for reference in engineering design. Finally, some suggestions are given for design in fatigue strengthening.

Impact of marsh changes on breeding cranes in Sanjiang Plain,northeastern China

In order to measure the impact of changes in the marsh on breeding Red-crowned Cranes (Grus japonensis) and White-naped Cranes (G.vipio) in the Sanjiang Plain,we conducted a complete crane súrvey in each of the summers of 2007 and 2008,and obtained information on the changes in its marsh through interpretation of satellite images in 1986,1995,2000 and 2005.A comparison between the 1984 and 2008 census shows that:1) the number of Red-crowned Cranes remained stable at about 300 birds,while the number of White-naped Cranes increased markedly; 2) the estimates of nests of Red-crowned cranes are close to the numbers of 1984,while approximately 90％ of the nests of these two crane species were distributed over five national nature reserves (NNRs); 3) the two crane species became more concentrated in three regions,i.e.,the Fuyuan Delta,the middle reaches of the Naoli and Qixing rivers,and the Xingkai Lake wetlands,rather as formerly in six regions.The area of the marsh decreased by 45％ within the 20-year period from 1986 to 2005.The major loss of the marsh area was in the form of a conversion to paddy fields and dry land,which can be primarily attributed to direct human activity under various economic and policy drivers.The disappearance of cranes in the Dulu and Abuqin rivers was induced by large-scale agricultural development.The fragmentation into and isolation of small areas of the marsh became increasingly more serious,which resulted in unsuitable condtions for crane breeding in small patches of the marsh.The number of cranes declined from 1984-1995 but had recovered remarkably by 2008,which may be due to theestablishment of a system of nature reserves,in place since 2000.The land ownership of the reserve plays a key role in maintaining the integrity of the wetland ecosystem,especially in Sanjiang,Honghe,Naolihe and Qixinghe NNRs,which together accommodated approximately 80％ of the population of cranes.However,we did not discover any nests at all in the provincial and municipal reserves,which may be attributed to high human disturbances in these areas.In the end,we propose some recommendations on reserve management.

一类Caterpillars图的匹配刻画

利用匹配多项式的性质以及匹配根的信息研究了图的匹配刻画问题,给出了一类Caterpillars图F(2,m,3)及补图匹配刻画的充分必要条件是m=2,5,8.

Suitable distance to observe Red-crowned Cranes:a note on the observer effect

In order to assess the effect of the observer distance on the behavior of Red-crowned Cranes (Grus japonensis),we studied their time budgets with a gradient of observer distances in Yancheng,China from December 2008 to March 2009.Observer distance was classified into four levels,i.e.,＜ 200 m,200-300 m,300-400 m and ＞ 400 m.The results indicated that cranes increased their vigilance when the observer was less than 300 m away.A safe distance for the observer was often as far as or more than 300 m.Cranes increased scan frequency when observers were within 200 m,whereas they prolonged the duration of their scan when observers were between 200 m and 300 m away,indicating two distinct vigilant strategies,given the observer distance.We suggest an observer distance of at least 300 m,in order to minimize the observer effect.

ROBOTIC DYNAMIC MODEL ON LOAD SWING OF SLEWING CRANE

This paper sets up a robotic manipulator model on slewing crane. The model can synthetically describe the dynamic behavior of the load of slewing crane in rotating, elevating and hoisting motions. The dynamic equations of the system are recursively derived by a Newton Euler method. The dynamic behavior of the load of slewing crane in rotating motion is simulated on a computer. The method of robotic dynamics to derive the dynamic equations of the swing of load is accurate and convenient and it has good regularity. The result of the study provides a base in theory on design of crane and an accurate mathematical model for controlling the swing of load.

Status and behavior of the Black-necked Crane (Grus nigricollis) in the Altun Mountain Reserve,Xinjiang

The Black-necked Crane (Grus nigricollis) is an endemic species of the Qinghai-Tibetan Plateau,with its population in Xinjiang largely found in the Kunlun and Altun mountain regions.A survey of the distribution,population dynamics,flock size and behavior was conducted in Altun Mountain National Natural Reserve from September to November 2011.We investigated the size and distribution of its population in this area with a sample spot survey and by direct counting.We found Black-necked Cranes on the wetlands of Wuzunxiaoer,Yusup Aleksei,Yaziquan,Qimantag,Tula Ranch and elsewhere,where we recorded 126 individual birds of the species in Yixiekepati (37° 15′-37°23′N,90°11′-90°20′E,elevation 3903 m),the largest population we have observed in this area.In the reserve,the population consists of about 180-200 birds.Combined with previous records,we conclude that more than 260 Black-necked Cranes live in Xinjiang.Cranes gathered conspicuously in the middle of October where the highest number of birds appeared on 29 October.All of the cranes had migrated out of this area by 6 November.Time budgets and diurnal behavior rhythms of Blacknecked Cranes were observed in the Yixiekepati wetland at daylight (from 06:00 to 18:00).Foraging was the most prevalent type of behavior during the autumn period,accounting for 58.9％ of the diurnal time budget,followed by preening (13.2％),vigilance (9.5％),walking (8.2％),flying (3.5％),resting (3.4％),chirping (2.7％) and other types of behavior (0.6％).

On Naturalism in Stephen Crane's The Open Boat

Stephen Crane is one of the greatest figures in the history of American literature and his novella The Open Boat is widely known by people all over the world as a representative work of Naturalism. This paper aims at exploring Naturalism in Stephen Crane's The Open Boat,which will guide the readers to understand American Naturalism accurately and thoroughly. It firstly introduces the author and his novel The Open Boat. Secondly,it progressively dissects Naturalism. It not only analyses the general characteristics of Naturalism with details in The Open Boat,but also interprets the distinguishing features of American Naturalism so that readers can better understand the features of American Naturalism. Through textual perusal,it further studies the unique characteristics of Stephen Crane's Naturalism and lays particular emphasis on Crane's special concern on the awakening of humanity. It is hoped that this thesis can help readers get an in-depth comprehension of Naturalism and gain some inspiration from TheOpenBoat.

海洋平台吊机iCrane自动控制模型

为了促进海洋平台吊机产品系列化、自动化及信息化发展进程,针对多样化的海洋平台吊机产品,提出一种iCrane控制系统模型。描述了模型组成、功能和应用方法。介绍了载荷力矩指示、运动及调速、安全保护及报警等关键技术,并以一种常用的海洋钻井平台配套吊机为控制对象设计开发了一套应用样机。样机在模拟试验和应用实例中取得了良好的效果。最后指出,在此模型下的各个层面和单元都集中体现海洋平台吊机系列化产品的自动化和信息化水平,并可积累大量宝贵的信息和数据资源,为将来实现油气装备大数据库管理打下坚实基础。

Caterpillar G3412型燃气发电机排障实践

介绍了Caterpillar G3412型燃气发电机的基本工作原理,分析了涩宁兰输气管道涩北首站该型燃气发电机拉缸的故障情况。通过更换2号缸的缸桶、活塞、气环和油环,以及高压线圈、O形圈、火花塞、水湿传感器等附件,使发电机故障得以排除,同时提出了发电机组日常运行的维护方法。

吊车梁设计CAD系统YJ-CRANEBEAM软件的研究开发

吊车梁普遍应用于工业厂房中。为方便设计人员计算吊车梁系统,研究开发出吊车梁设计CAD系统软件YJ-CRANEBEAM。它可以对简支吊车梁进行内力计算、截面自动选择或截面验算,对吊车梁节点、吊车梁制动系统进行设计;根据计算结果自动绘制施工图。

茅台成义烧房旧址钢筋混凝土行车梁结构性能分析

为了深入研究茅台成义烧房旧址行车梁的结构性能,通过现场调研和有限元模型分析,揭示了行车梁在正常使用和极端荷载作用下的性能表现,发现其存在锈蚀、裂缝和变形等问题。针对这些问题,提出了采用同形制钢材更换和碳纤维布加固等创新措施,以提高行车梁的结构稳定性和承载能力。加固措施不仅适用于茅台成义烧房旧址,也为类似工业遗产的保护与利用提供了有益参考。研究成果为工业遗产改造工程提供了科学依据,有助于推动工业遗产保护工作的深入发展。

大型履带吊上楼面板施工过程有限元分析

珠海某项目由框架、核心筒及双层交叉桁架结构体系组成,采用在地下室顶板上铺设路基箱的加固方式,部分构件先地面拼装再吊装等施工工艺,同时对履带吊行走路线进行严格的规划。在现有结构上进行钢结构吊装,对下部混凝土结构影响较大,采用MIDAS GEN有限元分析软件对下部混凝土结构的裂缝和应力变化情况进行有限元分析,模拟履带吊全施工过程。分析结果表明:在地下室顶板上铺设路基箱的加固方式,可以有效降低下部混凝土结构的最大变形及应力,满足国家规范要求。

CAUSES OF OUTBREAK OF THE LARCH CATERPILLAR(Dendrolimus superans Butler) IN DAXINGAN MOUNTAIN AND ITS CONTROL STRATEGY

In 1991, in Daxingan Mountain, an outbreak of larch caterpillar (Dendrolim us superans Butler) happened on large areas of more than one million hectares, where stands of larch were seriously damaged because needles on the trees were almost eaten up by the pest. causing enormous economic losses. Analysis of data collected indicated that the main cause of the outbreak of larch caterpillar on large areas was that, after thirty years of exploitation, mature and overmature forests decreased rapidly. middle-aged and young forests incresed in large amount. significant changes occurred in individual ecological conditions of stands, especially those tended. with decreasing canoPy density and better light condition in the forest, and all these were adventageous to the outbreak of the pest. In addition, in recent years, the climatic condition in Daxingan Mountain changed significantly. The yearly average temperature raised gradually and the soil surface temperature in April and October increased year by year, which were advantageous to the outbreak of larch caterpillars. In short. the significant changes in the ecological conditions in Daxingan Mountain provided suitable conditions for the outbreak of the larch caberpill ar, and after several years of increase in population number, the larch caterpillar outbroke into a serious disaster on vast areas. In the paper, composite control strategy was also discussed.

A practical fuzzy controllers scheme of overhead crane

This paper presents fuzzy-based design for the control of overhead crane. Instead of analyzing the complex nonlinear crane system, the proposed approach uses simple but effective way to control the crane. There are twin fuzzy controllers which deal with the feedback information, the position of trolley crane and the swing angle of load, to suppress the sway and accelerate the speed when the crane transports the heavy load. This approach simplifies the designing procedure of crane controller; besides, the twin controller method reduces the rule number when fulfilling the fuzzy system. Finally, experimental results through the crane model demonstrate the effectiveness of the scheme.