一类轮式机器人的重心控制

介绍了一类建筑领域等非结构环境下使用的由6个转动关节和4个直动关节组成的轮式机器人,其特殊的结构加上重心控制,能使机器人在不平整地面上行走而不倾倒。绘制了机器人重心控制原理,推导出使机器人不倾倒的重心控制运动方程,给出了实验用的部分软硬件原理框图,并通过实验验证了方案的可行性。

精密1号装配机器人控制系统的体系结构

介绍了精密1号装配机器人控制系统体系结构的设计与实现。精密1号机器人是国家863计划智能机器人主题立项研制的一台SCARA结构的4轴装配机器人型号样机。它采用直接驱动技术，具有较高的运动速度和定位精度，配有高性能的视觉和力觉传感器，控制系统以Intel公司的iSBC386／12系列计算机和iRMXⅢ实时多任务操作系统为基础，采用上、下两级分布式计算机结构。控制系统除具有一般的机器人控制器的功能外，还具有用户多任务编程、可基于视觉和力觉传感器信息控制、离线编程和图形动画仿真等特性。

机器人手臂弹性动力学分析的高效算法

本文提出一种用于机器人手臂弹性动力学分析的新方法,该方法采用了动力学方程缩减技术,使计算时间大为减少。在此基础上针对关节型机器人结构特点,提出了考虑手臂关节之间的弹性连接的数学模型,使计算精度得到提高,最后给出了一个实例。

小湾坝基卸荷岩体参数研究

The Xiao-wan Power Station is the second highest arch dam in the world under construction. The height of the dam is about 292m. Large-scale excavation in the dam foundation of Xiao-wan Power Station has brought intensive unloading phenomenon. We collected a large number of firsthand data on unloaded rock mass in dam foundation, which supplies a natural testing ground for researching unloaded rock mass after excavation. Detailed study was carried out on the parameters of unloaded rock mass in the dam foundation of Xiao-wan Power Station. The study is not only importance for the Xiao-wan Power Station, but also has important instruction significance to similar projects in the Southwest of China. In order to study the mechanical parameters of unloaded rock mass, large field and laboratory tests were carried out. The test results showed the size effect of the sample is obvious. The change of deformation modulus of rock is not obvious. However, the Poisson's ratio of rock is increased under unloaded condition, its value is even more than 0.5. The theoretical forecasted results is accordance to the field tests including sound wave data and deformation monitoring data, which shows the forecasted results were reasonable. The soften yield criterion was adopted in the thesis to study the characteristics of the brittle rock mass in order to simulate their brittle failures. Based on the study results above, the transform of the structural plane network model to the numerical one was carried out, which made it feasible to consider the influence of large amount joints on the mechanical characteristic of rock mass in the numerical analyses. Using a factor, the degree of the damage or strengthen of rock mass can be determined rapidly, which proposed a rapid and feasible method for the determination of the parameters of rock mass.

塔里木盆地塔中—巴楚地区早二叠世岩浆岩地球化学特征及其成因

Tazhong-Bachu region is located in the Western Tarim basin.The early Permian magmatic rocks occur in the earth surface of Tazhong-Bachu region are mainly distributed in Kepintag,Mazhartag and Wajilitag region. There are a lot of wells, in which researchers found the early Permian magmatic rocks,in desert cover area.Most magmatic rocks are basic rocks, a few of which are ultrabasic rocks and intermediate-acid magmatic rocks.The ultrabasic rocks are are mainly occur in the Cryptoexplosive Breccia Pipes ,which is located in the volcanic complex body of Wajilitag region.The basic rocks can be divided into three rock types：The first type of the magmatic rocks in Tazhong-Bachu region is volcanic rock ,which occurs in the Lower Permian Kupukuziman Formation and Kaipaizileike Formation. Most Volcanic rocks are basalts,a few of which are volcanic breccias and pyroclastic rocks.The basalts are distributed in stratiform occurrences and interbeded the clastic rocks in Kepintag region.The attitudes of the basalts are nearly horizontal.Columnar Joints, gas pore textures and amygdaloidal structure are to develop in basalts.The second type of the magmatic rocks in Tazhong-Bachu region is diabase,which occurs in Mazhartag region.Diabase dike swarms occur in the stratums of Silurian, Devonian, Carboniferous and Lower Permian.They make from NNW direction to SSE direction, the obliquity of stratum is greater than 60°, and the dike thickness is form several cm to several meters. Diabasic texture is found in the rocks .The first type of the magmatic rocks in Tazhong-Bachu region are gabbro- pyroxenite rocks ,which occur in the Wajilitag igneous complex body. The intermediate-acid magmatic rocks, which are mainly syenites, are located in Mazhartag and Wajiltag region. But they are small in the whole Tazhong-Bachu region.There are intermediate-acid magmatic rocks,which are mainly dacite,in the northeast part of the wells in Tazhong-Bachu region.But ,it is not found in earth surface.Through systematical geochemical research of early Permian magmatic rocks,which are distributed in Kepintag,Mazhartag, Wajilitag region and the wells such as F1 well、Z1 well、Z13 well、TZ18 well、H3 well、H4 well et al., the focus on the geochronologic characteristics, the main element,trace element and REE geochemistry, the mineralogic characteristics, the Sr-Nd and Pb isotopic characteristics are put forward. The main points are: 1、A combined study of CL imaging and LA-ICP-MS U-Pb dating were carried out for zircon grains of the magmatic rocks in the Tazhong-Bachu region from the Tarim basin.The results of the systematic zircon LA-ICP-MS U-Pb dating reveal 272±6Ma to 291±10Ma for the magamatic rocks. It indicated that Early Permian is an important period of magmatic acvivity in the Tazhong-Bachu region. 2、There are a big hunch in the curves of primitive mantle-normalized trace element concentrations in the early Permian magmatic rocks from Kepintag, Mazhartag, Wajilitag region and the 14 wells. Light rare earth elements are comparatively rich and heavy rare earth elements are comparatively poor. The slope rates are same between light rare erath elements and heavy rare earth elements. It is not like the curves of the basalts in the convergent margin of plate , in which the slope rates of light rare erath elements is bigger than the alope rates of heavy rare erath elements, and the curves of heavy rare earth elements are comparatively flat. The magmatic rocks of Tazhong-Bachu region rarely have the characteristics of the basalts in the convergent margin of plate, which is that Tantalum, Niobium and Titanium are much poor, and Zirconium, Hafnium and Phosphorus are moderately poor. The magamatic rocks are mostly alkaline, which is indicated by the dots of the (Na2O+K2O)-SiO2 identification diagram. All of these indicate that the early Permian magmatic rocks were formed in an extension environment of intraplate. 3、The Thorium abundance is high and Tantalum abundance is low in most magmatic rocks from Tazhong-Bachu reguion, which is formed for crustal contamination.In the Th/Yb-Ta/Yb identification diagram，most dots are in the region, which means active continental margin, but a few dots are in the region, which means mantle source. It indicated the feeding of continental crust materials. 4、The magnesium content of the olvines from Wagilitag region is richest, and the olvines from Kepintag region is poorest in the tree region. 5、Through the the Sr-Nd and Pb isotopic study of the basalts and diabases from the F1 well core, Z1 well core, Z13 well core,TZ18 well core, and the basalts，gabbros, diabases(diabase-prophyrites) and pl-peridotites from Kepintag,Mazhartag, Wajilitag region , it indicated that all isotopic data is similar and close to enriched mantle.

环渤海花岗岩体地下油库建设的工程地质力学研究

As a kind of strategic resource，petroleum play an very important role in current social stability, economic development and state safety. Since 1993 China has turned from a net oil exporter into a net oil importer, the figure of imported oil increased from then on. In 2004 China's total energy consumption exceeded Japan’s, and ranked in the second place, just inferior to America. Today China is the world’s third-largest importing nation, accounting for 6% of world imports and 8% of world consumption. Comparing with other strategic petroleum reserve schemes, underground oil storage possess many advantages, such as security, economy, less pollution, save land, suited for strategic reserve and so on, so it is the most ideal form for strategic petroleum reserve. In the background of China Strategic Petroleum Reserve Program started just now, this paper choose Circum-Bo sea region as a study area, and do some system study on the underground oil storage caverns constructed in inter-large granite rock masses in Circum-Bo sea region. On the foundation of a great amount of information come from both home and abroad, firstly this paper analysed the principle, economy, cavern shape, profile dimension, and gain some cognizances and logos, as follows: ①Hard rock mass such as granite is the major rock, in which underground oil storage are constructed; ②Unlined underground oil storage caverns had been wide spread used as a sort of oil storage form abroad, there already exist a suit of skilled experience and technologies to prevent oil product from leaking; ③Compared with surface tanks, underground oil storage cavern possess predominance in economy clearly. In general, it will be more economical when the storage capacity exceed 50000m3. The quality of rock mass is the most important factor for underground storage cost, however such as hydrogeology, storage capacity, the number of storage galleries, the length, storage product, mechanical equipments, geographic location also influent the cost. In designed depth of the underground storage, the rock mass of Jinzhou mainly belong to class Ⅱ, but parts with dykes, clayization alteration, and dense joints are Ⅲ, Ⅳ; ④Now, there are few underground oil storages span more than 25m in both abroad and home. The examples of some ancient underground works and modern underground excavation with wide span surely give us many precious elicitations to construct more great unlined storage caverns, when the rock mass quality is good, cavern shape and construction method also are proper, it is quite possible to construct underground oil storage cavern with span more than 30m . The main axis orientation of Jinzhou underground oil storage cavern is NW direction, the cavern's elevation locate between -53msl and -76msl. The storage's total volume is about 3×106m3, composed of 8 parallel galleries with 950m length, the pillars between them are 45m, and every two of galleries form one unit, which can deposit 75×104m3 for each unit. The product will be stored are Saudi light and Saudi medium crude oil, the main cavern's section is 411.5m2, with 23m height and 19m width. According to the principle and technique of engineering geomechanics, this study supply a sort of system scientific thinking and method for sitting location of underground oil storage in granite region: ① On the foundation of the earth crust stability sub-zone appraise of Circum-Bo sea region, farther research concerning granite distribution, genesis, geological period and fault structure are conducted in stable areas, generally, this paper select Liaoxi, east shore of Liaotung peninsula and Jiaotung peninsula as target areas for underground oil storage regions, where Mesozoic granite is magnitude; ②After roundly comparison in facts of geologic structure, engineering geology, hydrogeology, topography, transportation and so on of three granite distributed areas, at last, selecting Jingzhou granite zone in Liaoxi out as an ideal construction area; ③ Detailed investigation is conducted in the southeast of Baimashi in Jingzhou development district, the final field. Ultrasonic Borehole Television, as a major way to collect original information of borehole rock mass were used, which is very effective to appraise the quality of deep rock mass; ④ According to the field data of tectonic stress, rock mass quality, the spatial distribution of fracture water, some optimum designs in cross section, axial direction and cavern span have been designed for the underground oil storage cavern layout in Jinzhou. To understand the characteristics of swelling alteration rock in Jinzhou granite mass, collected abundant swelling alteration rock engineering examples in granite, which study them in detail, concluded the swelling alteration rock distribute nearly everywhere in China, intruded medium-basic dykes alteration, along discontinuities and mineral hydrothermal alteration with genesis of granite are three main forms clayization alteration rock in granite rock mass. In Jinzhou field, from macro to micro studied the swelling rock which induced by mid-basic dyke intrusion, with weak swelling. In conclusion, this paper conclude the distribution rule and features of expansion alteration rock in filed, and advise some technical suggestions for excavation at swelling alteration rock part. The main features of this paper: ①In the process of site selection, investigation and design, a suit of technique and method of engineering geomechanics metasynthesis were formed, which is significative to guide the large scale underground oil storage cavern sitting location, investigation and design in granite rock mass; ②The detailed discussion on the engineering geology problems in granite mass, such as weathering crust, faults, dykes and clayization alteration rock, are useful for other projects in aspects of site selection, engineering geology evaluation and stability estimation; ③The summary and integration of the genesis, type, countermeasure relate to swelling alteration rock, also is likely to be used for other underground oil storage caverns constructed in swelling alteration granite. In conclusion, this study is meaningful for guiding the large scale underground oil storage for site selection, investigation and design in granite rock mass.

基于窗口精细结构描述的岩体质量评价及力学参数综合优选

This thesis bases on horizontal research project “The research about the fine structure and mechanical parameters of abutment jointed rock mass of high arch dam on Jinping Ⅰ Hydropower Station, Yalong River” and “The research about the fine structure and mechanical parameters of the columnar basalt rock mass on Baihetan Hydropower Station, Jinsha River”. A rounded system about the fine structure description and rock mass classification is established. This research mainly contains six aspects as follow: (1) Methods about fine structure description of the window rock mass; (2) The window rock mass classification about the fine structure; (3) Model test study of intermittent joints; (4) Window rock mass strength theory; (5) Numerical experimentations about window rock mass; (6) The multi-source fusion of mechanical parameters based on Bayes principle. Variation of intact rock strength and joint conditions with the weathering and relaxation degree is studied through the description of window rock mass. And four principal parameters: intact rock point load strength, integration degree of window rock mass, joint conditions, and groundwater condition is selected to assess the window rock mass. Window rock mass is classified into three types using the results of window rock mass fine structure description combined with joints develop model. Scores about intact rock strength, integrality condition, divisional plane condition and groundwater conditions are given based on window rock mass fine structure description. Then quality evaluation about two different types of rock mass: general joint structure and columnar jointing structure are carried out to use this window rock mass classification system. Application results show that the window rock mass classification system is effective and applicable. Aimed at structural features of window structure of “the rock mass damaged by recessive fracture”, model tests and numerical models are designed about intermittent joints. By conducting model tests we get shear strength under different normal stress in integrated samples, through samples and intermittent joints samples. Also, the changing trends of shear strength in various connectivity rates are analyzed. We numerically simulate the entire process of direct shear tests by using PFC2D. In order to tally the stress-strain curve of numerical simulation with experimental tests about both integrated samples and through samples, we adjust mechanical factors between particles. Through adopting the same particle geometric parameter, the numerical sample of intermittent joints in different connective condition is re-built. At the same time, we endow the rock bridges and joints in testing samples with the fixed particle contacting parameters, and conduct a series of direct shear tests. Then the destructive process and mechanical parameters in both micro-prospective and macro-prospective are obtained. By synthesizing the results of numerical and sample tests and analyzing the evolutionary changes of stress and strain on intermittent joints plane, we conclude that the centralization of compressive stress on rock bridges increase the shear strength of it. We discuss the destructive mechanics of intermittent joints rock under direct shear condition, meanwhile, divide the whole shear process into five phases, which are elasticity phase, fracture initiation phase, peak value phase, after-peak phase and residual phase. In development of strength theory, the shear strength mechanisms of joint and rock bridge are analyzed respectively. In order to apply the deducted formulation conveniently in the real projects, a relationship between these formulations and Mohr-Coulomb hypothesis is built up. Some sets of numerical simulation methods, i.e. the distinct element method (UDEC) based on in-situ geology mapping are developed and introduced. The working methods about determining mechanical parameters of intact rock and joints in numerical model are studied. The operation process and analysis results are demonstrated detailed from the research on parameters of rock mass based on numerical test in the Jinping Ⅰ Hydropower Station and Baihetan Hydropower Station. By comparison，the advantages and disadvantages are discussed. Results about numerical simulation study show that we can get the shear strength mechanical parameters by changing the load conditions. The multi-source rock mass mechanical parameters can be fused by the Bayes theory, which are test value, empirical value and theoretical value. Then the value range and its confidence probability of different rock mass grade are induced and these data supports the reliability design.

层状反倾向结构岩质边坡变形机理及稳定性研究

Toppling is a major failure model in anti-dip layered rock slopes. Because of the limited by testing means and experimental apparatus, present research on the deformation mechanism and stability analysis are mainly focus on the 2-Dimensional deformation, and the research really based on 3-Dimension is still limited. Therefore, based on the present research station, the article rely on the important hydroelectric project of typical anti-dip layered rock slopes -- The left bank slope of Long-tan hydropower-station in Guang Xi, China, and focused on the influencing factors, deformation mechanism and stability analysis of anti-dip layered rock slopes, three problems as follows are researched in this paper. (1) Deformation influencing factor analysis on ant-dip layered rock slopes Three influencing factors are included: geological factor, engineering factor and environmental factor. It is concluded that the toppling deformation of anti-dip layered rock slopes are more sensitive to geological and engineering factors, but less sensitive to environmental factor. In addition, the sensitivity of various factors to the rock toppling deformation is also arranged sequentially as follows: construction, gravitation, rainfall (underground water) and rock structure intensity, etc. (2) 3D deformation study on the anti-dip layered toppling rock slopes Used 3D Distinct Element Method (3DEC) analyzed the 3D deformation characteristic of anti-dip layered rock slops. It can be seen that the toppling characteristics are obvious when the inter-angle between slope direction and layer striking direction is under 20o, when the inter-angle is over 20o and equal or less than 40o，the toppling deformation characteristics decrease sharply with increase of inter-angle, when the inter-angle is over 40o , the slope deformation is not controlled by joints but influenced by other failure mode. Therefore, in order to quantify the toppling characteristics, a differential value of displacement vector angle between layered rock slope and block rock slope is proposed as a key index to distinguish failure model for anti-dip layered rock slopes, and it was applied to study the toppling of the rock slopes at Guangxi Long-tan hydropower station, China. The results indicated that the index was effective and instructive for analyzing the anti-dip layered rock slopes. (3) Stability analysis methods Because of the imperfection of some present slope analysis methods, based on slope failure mode and those three influencing factors, “slope stability entropy” method is defined in this paper, which makes good use of the sensitivity of relational matrix to influencing factors on slope stability and the qualification characteristics for information entropy to the irregularity of slope deformation. By this method, not only the randomness of geologic body on the base of dynamic analysis of slope failure mode is fully concerned, but also it makes the analysis time-saving and simple. Finally, the research findings were used to the engineering example successfully, and rational conclusion has been obtained.

复杂应力环境下断续节理岩体真三轴实验研究及其工程应用

The great deal of joints and faults , existing in the rock mass , are the leading cause of discontinuous rock mass. Structural planes not only destroy the integrality of rock mass, but also lead nonlinearity、heterogeneity、anisotropy and failure mode on mechanical properties of rock mass. Therefore the selection of strength and deformation parameters was very difficult. In practical rock mass engineering, equivalent parameters of rock mass were selected by the method of expert experience and engineering analogy. Based on the fine description of discontinuous joints in the type Ⅳ and Ⅴ rock mass and geological survey datum in situ, models was obtained by generalizing the structure of rock mass by the method of statistical analysis. Model intensity and deformation test were carried out on the true triaxial apparatus. Intermediate principle stress effect, anisotropy and dimension effect of discontinuous rock mass were considered in the model test. 3-D correction to Hoek-Brown empirical criterion was done by analysed the test datum. Detailed works were listed as follows: (1) The factors influenced intensity and deformation of discontinuous joints rock mass were the value of 、continuity, density and included angle of joints and anisotropy of joint plane. True triaxial intensity and deformation tests were carried out by considering above factors. The influence rule was obtained and corresponding relation formulary was established； (2) Based on the true triaxial tests under different stress path and load modes, we obtain intensity and deformation rule of rock mass； (3) Based on a great deal of true triaxial tests and other test datum, correction to the Hoek-Brown empirical criterion was done in the chapter 4. The intermediate principle stress was considered in the corrected formulary. It indicated that the formulary was applicable under a certain condition. In addition, the yield plane form of corrected Hoek-Brown empirical criterion under principle stress space was described in the paper. And the question of corner of yield plane was discussed； (4) Based on the single discontinuity theory, the three-dimensional intensity formulary of discontinuous joint rock mass was established. Correction to the intensity formulary was done considering intermediate principle stress effect. We may obtain the conclusion that the intensity of the discontinuous joint rock mass was influenced on compositive factors. They were 、 、continuity、internal frictional angle and cohesiveness of joint plane and rock； (5) The results of the true triaxial model test was applied into parameters evaluation of dam foundation rock mass of JinPing hydropower station. For there were abundant ophicalcite in the dam foundation, the interval of intensity and formation parameters influenced on continuity were determined based on test datum. (6) Especial mould for prismatic jointing model was designed. True triaxial intensity and deformation tests by Basalt with prismatic jointing were carried out. The influence of intermediate principle stress, stress path, anisotropy effect and dimensional effect to intensity and deformation was discussed in the chapter 6. The work of (3)、(4)、(6) was significative supplement and innovation to current test and theory.

基于精细结构描述及数值试验的断续节理岩体力学参数智能选取

Evaluating the mechanical properties of rock masses is the base of rock engineering design and construction. It has great influence on the safety and cost of rock project. The recognition is inevitable consequence of new engineering activities in rock, including high-rise building, super bridge, complex underground installations, hydraulic project and etc. During the constructions, lots of engineering accidents happened, which bring great damage to people. According to the investigation, many failures are due to choosing improper mechanical properties. ‘Can’t give the proper properties’ becomes one of big problems for theoretic analysis and numerical simulation. Selecting the properties reasonably and effectively is very significant for the planning, design and construction of rock engineering works. A multiple method based on site investigation, theoretic analysis, model test, numerical test and back analysis by artificial neural network is conducted to determine and optimize the mechanical properties for engineering design. The following outcomes are obtained: (1) Mapping of the rock mass structure Detailed geological investigation is the soul of the fine structure description. Based on statistical window，geological sketch and digital photography，a new method for rock mass fine structure in-situ mapping is developed. It has already been taken into practice and received good comments in Baihetan Hydropower Station. (2) Theoretic analysis of rock mass containing intermittent joints The shear strength mechanisms of joint and rock bridge are analyzed respectively. And the multiple modes of failure on different stress condition are summarized and supplied. Then, through introducing deformation compatibility equation in normal direction, the direct shear strength formulation and compression shear strength formulation for coplanar intermittent joints, as well as compression shear strength formulation for ladderlike intermittent joints are deducted respectively. In order to apply the deducted formulation conveniently in the real projects, a relationship between these formulations and Mohr-Coulomb hypothesis is built up. (3) Model test of rock mass containing intermittent joints Model tests are adopted to study the mechanical mechanism of joints to rock masses. The failure modes of rock mass containing intermittent joints are summarized from the model test. Six typical failure modes are found in the test, and brittle failures are the main failure mode. The evolvement processes of shear stress, shear displacement, normal stress and normal displacement are monitored by using rigid servo test machine. And the deformation and failure character during the loading process is analyzed. According to the model test, the failure modes quite depend on the joint distribution, connectivity and stress states. According to the contrastive analysis of complete stress strain curve, different failure developing stages are found in the intact rock, across jointed rock mass and intermittent jointed rock mass. There are four typical stages in the stress strain curve of intact rock, namely shear contraction stage, linear elastic stage, failure stage and residual strength stage. There are three typical stages in the across jointed rock mass, namely linear elastic stage, transition zone and sliding failure stage. Correspondingly, five typical stages are found in the intermittent jointed rock mass, namely linear elastic stage, sliding of joint, steady growth of post-crack, joint coalescence failure, and residual strength. According to strength analysis, the failure envelopes of intact rock and across jointed rock mass are the upper bound and lower bound separately. The strength of intermittent jointed rock mass can be evaluated by reducing the bandwidth of the failure envelope with geo-mechanics analysis. (4) Numerical test of rock mass Two sets of methods, i.e. the distinct element method (DEC) based on in-situ geology mapping and the realistic failure process analysis (RFPA) based on high-definition digital imaging, are developed and introduced. The operation process and analysis results are demonstrated detailedly from the research on parameters of rock mass based on numerical test in the Jinping First Stage Hydropower Station and Baihetan Hydropower Station. By comparison，the advantages and disadvantages are discussed. Then the applicable fields are figured out respectively. (5) Intelligent evaluation based on artificial neural network (ANN) The characters of both ANN and parameter evaluation of rock mass are discussed and summarized. According to the investigations, ANN has a bright application future in the field of parameter evaluation of rock mass. Intelligent evaluation of mechanical parameters in the Jinping First Stage Hydropower Station is taken as an example to demonstrate the analysis process. The problems in five aspects, i. e. sample selection, network design, initial value selection, learning rate and expected error, are discussed detailedly.

锦屏电站地下厂房卸荷岩体参数研究

It is a basic work to ascertain the parameters of rock mass for evaluation about stability of the engineering. Anisotropism、inhomogeneity and discontinuity characters of the rock mass arise from the existing of the structural plane. Subjected to water、weathering effect、off-loading, mechanical characters of the rock mass are greatly different from rock itself, Determining mechanical parameters of the rock mass becomes so difficult because of structure effect、dimension effect、rheological character, ‘Can’t give a proper parameter’ becomes one of big problems for theoretic analysis and numerical simulation. With the increment of project scale, appraising the project rock mass and ascertaining the parameters of rock mass becomes more and more important and strict. Consequently, researching the parameters of rock mass has important theoretical significance and actual meaning. The Jin-ping hydroelectric station is the first highest hyperbolic arch dam in the world under construction, the height of the dam is about 305m, it is the biggest hydroelectric station at lower reaches of Yalong river. The length of underground factory building is 204.52m, the total height of it is 68.83m, the maximum of span clearance is 28.90m. Large-scale excavation in the underground factory of Jin-ping hydroelectric station has brought many kinds of destructive phenomenon, such as relaxation、spilling, providing a precious chance for study of unloading parameter about rock mass. As we all know, Southwest is the most important hydroelectric power base in China, the construction of the hydroelectric station mostly concentrate at high mountain and gorge area, basically and importantly, we must be familiar with the physical and mechanical character of the rock mass to guarantee to exploit safely、efficiently、quickly, in other words, we must understand the strength and deformation character of the rock mass. Based on enough fieldwork of geological investigation, we study the parameter of unloading rock mass on condition that we obtain abundant information, which is not only important for the construction of Jin-ping hydroelectric station, but also for the construction of other big hydroelectric station similar with Jin-ping. This paper adopt geological analysis、test data analysis、experience analysis、theory research and Artificial Neural Networks （ANN） brainpower analysis to evaluate the mechanical parameter, the major production is as follows: (1)Through the excavation of upper 5-layer of the underground powerhouse and the statistical classification of the main joints fractures exposed, We believe that there are three sets of joints, the first group is lay fracture, the second group and the fourth group are steep fracture. These provide a strong foundation for the following calculation of and analysis; (2)According to the in-situ measurement about sound wave velocity、displacement and anchor stress, we analyses the effects of rock unloading effect，the results show a obvious time-related character and localization features of rock deformation. We determine the depth of excavation unloading of underground factory wall based on this. Determining the rock mass parameters according to the measurement about sound wave velocity with characters of low- disturbing、dynamic on the spot, the result can really reflect the original state, this chapter approximately the mechanical parameters about rock mass at each unloading area; (3)Based on Hoek-Brown experienced formula with geological strength index GSI and RMR method to evaluate the mechanical parameters of different degree weathering and unloading rock mass about underground factory, Both of evaluation result are more satisfied; (4)From the perspective of far-field stress, based on the stress field distribution ideas of two-crack at any load conditions proposed by Fazil Erdogan (1962)，using the strain energy density factor criterion (S criterion) proposed by Xue changming(1972)，we establish the corresponding relationship between far-field stress and crack tip stress field, derive the integrated intensity criterion formula under the conditions of pure tensile stress among two line coplanar intermittent jointed rock，and establish the corresponding intensity criterion for the exploratory attempt; (5)With artificial neural network, the paper focuses on the mechanical parameters of rock mass that we concerned about and the whole process of prediction of deformation parameters, discusses the prospect of applying in assessment about the parameters of rock mass，and rely on the catalog information of underground powerhouse of Jinping I Hydropower Station, identifying the rock mechanics parameters intellectually，discusses the sample selection, network design, values of basic parameters and error analysis comprehensively. There is a certain significance for us to set up a set of parameters evaluation system，which is in construction of large-scale hydropower among a group of marble mass.

锦屏一级水电站高应力大断面地下洞室稳定性分析

According to the feature of high stress and large size underground tunnel , a method named DEFLAC is put forward in this paper. DEFLAC is such a method that use disturbing energy as criteria, and based on the simulating software of FLAC. Finally, the method is applied in the underground powerhouse project of Jin-Ping First-level Hydropower Station. The result is well. And some conclusions are got. (1) Based on the geological features of excavation unloading phenomena, they are concluded to three types, what’s more three corresponding mechanical modes are proposed to explain the unloading phenomena. (2) The relation of two standards , which is called GB50287-99 (T) and BQ ,is studied. And the main difference of them ,when they are applied in high stress zone ,is researched. (3) .A method named DEFLAC is put forward , which is combined disturbing energy method and FLAC simulating software. The two dimension and three dimension explicit finite difference expressions are deduced in this paper. (4) Compared the instability area achieved by FLAC and DEFLAC with the measured result, a conclusion is got. That is a more accurate result can be got by DEFLAC. (5) According to the main powerhouse first layer excavation project, the method to search and analyze the instability blocks is studied in this paper. Finally, the results got by FLAC and DEFLAC are compared .A conclusion is got that DEFLAC can judge the stability of blocks induced by intermittent joints, but Block Theory can’t. So more accurate block amount can be got by DEFLAC. It is an effective method to judge stability of blocks

块体理论赤平投影解析法与关键块体滑落概率研究—以锦屏二级水电站皮带机隧道为例

Block theory is an effective method on stability analysis of fractured rigid rock mass. There are a lot of discontinuous planes developed in rock mass of Jinping II hydropower station conveyor tunnel, so the stability of conveyor tunnel is related with whether there are unstable blocks on excavation planes. This paper deals with the stability of conveyor tunnel with stereo-analytical method for block theory on the basis of detailed investigation of rock mass data, and makes judgements on the movable blocks sliding types which are induced by all rock discontinuous planes and every excavation plane of conveyor tunnel. A conclusion is obtained that the sliding type of blocks is mainly single sliding, and a relatively few sliding types of double-sided sliding and vertical block falling; Also, the obvious statistical distribution result on movable blocks in conveyor tunnel indicates that there are a bit more instability blocks in left wall, left and right arches than right wall. In this paper, the stochastic probability model is drawn into block theory to study the sliding probability of key block on the basis of detailed investigation of its rock mass data and the development of the discontinuous planes in rock mass of Jinping II hydropower station conveyor tunnel. And some following conclusions are obtained. The relationship between trace length and the probability of instability of key block is inverse ratio. The probability of 1-3m primary joints are relatively higher. Key block containing joints J2 is relatively stable and the reinforcement of the arch would be crucial in the conveyor tunnel. They are all useful to offer effective reinforcement design and have important engineering values.

溶蚀岩体渗透水力学特性研究

Seepage control in karstic rock masses is one of the most important problems in domestic hydroelectric engineering and mining engineering as well as traffic engineering. At present permeability assessment and leakage analysis of multi-layer karstic rock masses are mainly qualitative, while seldom quantitative. Quantitative analyses of the permeability coefficient and seepage amount are conducted in this report, which will provide a theoretical basis for the study of seepage law and seepage control treatment of karstic rocks. Based on the field measurements in the horizontal grouting galleries of seepage control curtains on the left bank of the Shuibuya Hydropower Project on the Qingjiang river, a hydraulic model is established in this report, and the computation results will provide a scientific basis for optimization of grouting curtain engineering. Following issues are addressed in the report. (1) Based on the in-situ measurements of fissures and karstic cavities in grouting galleries, the characteristics of karstic rock mass is analyzed, and a stochastic structural model of karstic rock masses is set up, which will provide the basis for calculation of the permeability and leakage amount of karstic rock mass. (2) According to the distribution of the measured joints in the grouting galleries and the stochastic results obtained from the stochastic structural model of karstic rock mass between grouting galleries, a formula for computation of permeability tensor of fracturing system is set up, and a computation program is made with Visual Basic language. The computation results will be helpful for zoning of fissured rock masses and calculation of seepage amount as well as optimization of seepage control curtains. (3) Fractal theory is used to describe quantitatively the roughness of conduit walls of karstic systems and the sinuosity of karstic conduits. It is proposed that the roughness coefficient of kastic caves can be expressed by both fractal dimension Ds and Dr that represent respectively the extension sinuosity of karstic caves and the roughness of the conduit walls. The existing formula for calculating the seepage amount of karstic conduits is revised and programmed. The seepage amount of rock masses in the measured grouting galleries is estimated under the condition that no seepage control measures are taken before reservoir impoundment, and the results will be helpful for design and construction optimization of seepage curtains of the Shuibuya hydropower project. This report is one part of the subject "Karstic hydrogeology and the structural model and seepage hydraulics of karstic rock masses", a sub-program of "Study on seepage hydraulics of multi-layer karstic rock masses and its application in seepage control curtain engineering", which is financially supported by the Hubei Provincial key science and technology programme.

Partial oxidation of ethane to syngas in an oxygen-permeable membrane reactor

A perovskite-type oxide of Ba0.5Sr0.5Co0.8Fe0.2O3-delta (BSCFO) with mixed electronic and oxygen ionic conductivity at high temperatures was used as an oxygen-permeable membrane. A tubular membrane of BSCFO made by extrusion method has been used in the membrane reactor to exclusively transport oxygen for the partial oxidation of ethane (POE) to syngas with catalyst of LiLaNiO/gamma-Al2O3 at temperatures of 800-900 degreesC. After only 30 min POE reaction in the membrane reactor, the oxygen permeation flux reached at 8.2 ml cm(-2) min(-1). After that, the oxygen permeation flux increased slowly and it took 12 h to reach at 11.0 ml cm(-2) min(-1). SEM and EDS analysis showed that Sr and Ba segregations occurred on the used membrane surface exposed to air while Co slightly enriched on the membrane surface exposed to ethane. The oxygen permeation flux increased with increasing of concentration of C2H6, which was attributed to increasing of the driving force resulting from the more reducing conditions produced with an increase of concentration of C2H6 in the feed gas. The tubular membrane reactor was successfully operated for POE reaction at 875 degreesC for more than 100 h without failure, with ethane conversion of similar to 100%, CO selectivity of >91% and oxygen permeation fluxes of 10-11 ml cm(-2) min(-1). (C) 2002 Elsevier Science B.V. All rights reserved.