A new explosion-proof walking system was designed for the coal mine rescue robot(CMRR) by optimizing the mechanical structure and control algorithm. The mechanical structure innovation lies mainly in the dual-motor dr...A new explosion-proof walking system was designed for the coal mine rescue robot(CMRR) by optimizing the mechanical structure and control algorithm. The mechanical structure innovation lies mainly in the dual-motor drive tracked unit used, which showed high dynamic performance compared with the conventional tracked unit. The control algorithm, developed based on decision trees and neural networking, facilitates autonomous switching between "Velocity-driven Mode" and "Torquedriven Mode". To verify the feasibility and effectiveness of the control strategy, we built a self-designed test platform and used it to debug the control program; we then made a robot prototype and conducted further experiments on single-step, ramp, and rubble terrains. The results show that the proposed walking system has excellent dynamic performance and the control strategy is very efficient, suggesting that a robot with this type of explosion-proof walking system can be successfully applied in Chinese coal mines.展开更多
An explosion-proof dual throttling air-conditioning system was put forward to solve the heat dissipation and internal dewing problems of explosion-proof frequency converter in the underground coal mine. This study inv...An explosion-proof dual throttling air-conditioning system was put forward to solve the heat dissipation and internal dewing problems of explosion-proof frequency converter in the underground coal mine. This study investigated the feasibility and benefits of explosion-proof dual throttling cooling and dehumidification air-conditioning system applied to the explosion-proof frequency converter. The physical model of dual throttling air-conditioning system was established and its performance parameter was described by mathematical method. The design calculation of the system has also been done. The experimental result showed that the system reached the steady state at the refrigeration mode after running 45 min, and the maximum internal temperature of the flame-proof cavity was 31.0 ℃. The system reached the steady state at the dehumidification mode after running 37 min. The maximum internal relative humidity and temperature of the flame-proof cavity were 33.4% and 36.3 ℃, respectively. Therefore, the proposed system had excellent ability of heat dissipation and avoided internal dewing. Compared with water cooling system, it was more energy-saving and economical. The airflow field of dual throttling air-conditioning system was also studied by CFD simulation. It was found that the result of CFD numerical simulation was highly consistent with the experimental data.展开更多
IntroductionEarthquake location is one of the inverse problems in seismology. The accurate earthquake source location is the basis of studies of earthquake images, the relation analysis between seismicity and tectonic...IntroductionEarthquake location is one of the inverse problems in seismology. The accurate earthquake source location is the basis of studies of earthquake images, the relation analysis between seismicity and tectonics, and the important parameters of earthquakes. It is also the basic data used to study the space distribution of aftershocks after a strong earthquake. The earthquake location accuracy mainly depends on reliability of the velocity models for the earth￠s crust, the reasonable design of the seismograph network, the accuracy of arrival time, and the location method used (ZHAO, 1983; ZHU, ZHAO, 1997; LI, et al, 1999). The reliability of the velocity model directly influences loca-tion results. The reasonable seismograph network design can improve the location accuracy; otherwise it will in-troduce ill-conditioned equations and large location error. If arrival time is not accurate, for example, if the seismic phase is wrongly identified or the time service is inaccurate, large arrival time error will be produced, and the location results and real hypocenters will be discordant. Different location algorithms adopted will produce differ-ent location errors. The residual criterion chosen has influence on location results. Besides, whether the event is correctly associated also influences the location quality. In practice, it can often be seen that large location devia-tion introduced by wrong event association.展开更多
It is generally known that the solutions of deterministic and stochastic differential equations （SDEs） usually grow linearly at such a rate that they may become unbounded after a small lapse of time and may eventual...It is generally known that the solutions of deterministic and stochastic differential equations （SDEs） usually grow linearly at such a rate that they may become unbounded after a small lapse of time and may eventually blow up or explode in finite time. If the drift and diffusion functions are globally Lipschitz, linear growth may still be experienced, as well as a possible blow-up of solutions in finite time. In this paper, a nonlinear scalar delay differential equation with a constant time lag is perturbed by a multiplicative Ito-type time - space white noise to form a stochastic Fokker-Planck delay differential equation. It is established that no explosion is possible in the presence of any intrinsically slow time - space white noise of Ito - type as manifested in the resulting stochastic Fokker- Planck delay differential equation. Time - space white noise has a role to play since the solution of the classical nonlinear equation without it still exhibits explosion.展开更多
This scientific paper is a comparative analysis of two mathematical conjectures. The newly proposed -3(-n) - 1 Remer conjecture and how it is related to and a proof of the more well known 3n + 1 Collatz conjecture. An...This scientific paper is a comparative analysis of two mathematical conjectures. The newly proposed -3(-n) - 1 Remer conjecture and how it is related to and a proof of the more well known 3n + 1 Collatz conjecture. An overview of both conjectures and their respective iterative processes will be presented. Showcasing their unique properties and behavior to each other. Through a detailed comparison, we highlight the similarities and differences between these two conjectures and discuss their significance in the field of mathematics. And how they prove each other to be true.展开更多
基金Project(2012AA041504)supported by the National High-Tech Research and Development Program of ChinaProject(KYLX15_1418)supported by the 2015 Annual General University Graduate Research and Innovation Program of Jiangsu Province,ChinaProject supported by the Priority Academic Program Development of Jiangsu Higher Education Institutions(PAPD),China
文摘A new explosion-proof walking system was designed for the coal mine rescue robot(CMRR) by optimizing the mechanical structure and control algorithm. The mechanical structure innovation lies mainly in the dual-motor drive tracked unit used, which showed high dynamic performance compared with the conventional tracked unit. The control algorithm, developed based on decision trees and neural networking, facilitates autonomous switching between "Velocity-driven Mode" and "Torquedriven Mode". To verify the feasibility and effectiveness of the control strategy, we built a self-designed test platform and used it to debug the control program; we then made a robot prototype and conducted further experiments on single-step, ramp, and rubble terrains. The results show that the proposed walking system has excellent dynamic performance and the control strategy is very efficient, suggesting that a robot with this type of explosion-proof walking system can be successfully applied in Chinese coal mines.
基金Supported by the National Basic Research Program of China("973"Program,No.2009CB219907)
文摘An explosion-proof dual throttling air-conditioning system was put forward to solve the heat dissipation and internal dewing problems of explosion-proof frequency converter in the underground coal mine. This study investigated the feasibility and benefits of explosion-proof dual throttling cooling and dehumidification air-conditioning system applied to the explosion-proof frequency converter. The physical model of dual throttling air-conditioning system was established and its performance parameter was described by mathematical method. The design calculation of the system has also been done. The experimental result showed that the system reached the steady state at the refrigeration mode after running 45 min, and the maximum internal temperature of the flame-proof cavity was 31.0 ℃. The system reached the steady state at the dehumidification mode after running 37 min. The maximum internal relative humidity and temperature of the flame-proof cavity were 33.4% and 36.3 ℃, respectively. Therefore, the proposed system had excellent ability of heat dissipation and avoided internal dewing. Compared with water cooling system, it was more energy-saving and economical. The airflow field of dual throttling air-conditioning system was also studied by CFD simulation. It was found that the result of CFD numerical simulation was highly consistent with the experimental data.
文摘IntroductionEarthquake location is one of the inverse problems in seismology. The accurate earthquake source location is the basis of studies of earthquake images, the relation analysis between seismicity and tectonics, and the important parameters of earthquakes. It is also the basic data used to study the space distribution of aftershocks after a strong earthquake. The earthquake location accuracy mainly depends on reliability of the velocity models for the earth￠s crust, the reasonable design of the seismograph network, the accuracy of arrival time, and the location method used (ZHAO, 1983; ZHU, ZHAO, 1997; LI, et al, 1999). The reliability of the velocity model directly influences loca-tion results. The reasonable seismograph network design can improve the location accuracy; otherwise it will in-troduce ill-conditioned equations and large location error. If arrival time is not accurate, for example, if the seismic phase is wrongly identified or the time service is inaccurate, large arrival time error will be produced, and the location results and real hypocenters will be discordant. Different location algorithms adopted will produce differ-ent location errors. The residual criterion chosen has influence on location results. Besides, whether the event is correctly associated also influences the location quality. In practice, it can often be seen that large location devia-tion introduced by wrong event association.
文摘It is generally known that the solutions of deterministic and stochastic differential equations （SDEs） usually grow linearly at such a rate that they may become unbounded after a small lapse of time and may eventually blow up or explode in finite time. If the drift and diffusion functions are globally Lipschitz, linear growth may still be experienced, as well as a possible blow-up of solutions in finite time. In this paper, a nonlinear scalar delay differential equation with a constant time lag is perturbed by a multiplicative Ito-type time - space white noise to form a stochastic Fokker-Planck delay differential equation. It is established that no explosion is possible in the presence of any intrinsically slow time - space white noise of Ito - type as manifested in the resulting stochastic Fokker- Planck delay differential equation. Time - space white noise has a role to play since the solution of the classical nonlinear equation without it still exhibits explosion.
文摘This scientific paper is a comparative analysis of two mathematical conjectures. The newly proposed -3(-n) - 1 Remer conjecture and how it is related to and a proof of the more well known 3n + 1 Collatz conjecture. An overview of both conjectures and their respective iterative processes will be presented. Showcasing their unique properties and behavior to each other. Through a detailed comparison, we highlight the similarities and differences between these two conjectures and discuss their significance in the field of mathematics. And how they prove each other to be true.
