937 resultados para Rigid
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结合车轮沙土相互作用的力学分析,研究解决轮式移动机器人沙地行驶车轮过度滑转下陷问题。考虑纵列式重复通过车轮沙土力学参数的修正,建立六轮式沙地移动机器人的动力学模型,以车轮滑转率为状态变量,设计了移动机器人沙地行驶的滑模驱动控制器跟踪车轮期望滑转率。MATLAB/Simulink仿真结果表明,采用该控制器可以较快地跟踪期望滑转率,有效地限制机器人车轮的滑转,避免车轮的过度下陷。
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Theory of limit analysis include upper bound theorem and lower bound theorem. To deal with slope stability analysis by limit analysis is to approximate the real solution from upper limit and lower limit. The most used method of limit analysis is upper bound theorem, therefore it is often applied to slope engineering in many cases. Although upper bound approach of limit analysis can keep away from vague constitutive relation and complex stress analyses, it also can obtain rigorous result. Assuming the critical surface is circular slip surface, two kinematically admissible velocity fields for perpendicular slice method and radial slice method can be established according to the limit analysis of upper bound theorem. By means of virtual work rate equation and strength reduction method, the upper-bound solution of limit analysis for homogeneous soil slope can be obtained. A log-spiral rotational failure mechanism for homogeneous slope is discussed from two different conditions which represent the position of shear crack passing the toe and below the toe. In the dissertition, the author also establishes a rotational failure mechanics with combination of different logarithmic spiral arcs. Furthermore, the calculation formula of upper bound solution for inhomogeneous soil slope stability problem can be deduced based on the upper bound approach of rigid elements. Through calculating the external work rate caused by soil nail, anti-slide pile, geotechnological grid and retaining wall, the upper bound solution of safety factor of soil nail structure slope, slip resistance of anti-slide pile, critical height of reinforced soil slope and active earth pressure of retaining wall can be obtained by upper bound limit analysis method. Taking accumulated body slope as subject investigated, with study on the limit analysis method to calculate slope safety factor, the kinematically admissible velocity fields of perpendicular slice method for slope with broken slip surface is proposed. Through calculating not only the energy dissipation rate produced in the broken slip surfaces and the vertical velocity discontinuity, but also the work rate produced by self-weight and external load, the upper bound solution of slope with broken slip surface is deduced. As a case study, the slope stability of the Sanmashan landslide in the area of the Three Gorges reservoir is analyzed. Based on the theory of limit analysis, the upper bound solution for rock slope with planar failure surface is obtained. By means of virtual work-rate equation, energy dissipation caused by dislocation of thin-layer and terrane can be calculated; furthermore, the formulas of safety factor for upper bound approach of limit analysis can be deduced. In the end, a new computational model of stability analysis for anchored rock slope is presented after taking into consideration the supporting effect of rock-bolts, the action of seismic force and fissure water pressure. By using the model, not only the external woke-rate done by self-weight, seismic force, fissure water pressure and anchorage force but also the internal energy dissipation produced in the slip surface and structural planes can be totally calculated. According to the condition of virtual work rate equation in limit state, the formula of safety factor for upper bound limit analysis can be deduced.
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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.
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Eastern Himalayan Syntaxis (EHS) and its surroundings (eastern margin of Tibet) is one of the most complicated tectonic areas in the world. As the exhaust opening of the balanced materials of the Tibetan Plateau during the collision of Indan and Eurasian plates, the deep structure beneath EHS surrounding region is referred to as the key to the study of the dynamics of the plateau. EHS3D project, sponsored by NSFC, has been proposed to explore the deep electric features of the area. During the first stage of EHS3D(2006-2008), MT+LMT measurements have been conducted along two lines from Chayu to Qingshuihe (EHS3D-3) and Chayu to Ruoergai (EHS3D-2). This paper will discuss the MT models of EHS3D-3 line. By the data procrssing, including distortion analysis, Robust estimation and strike decomposition, rotated apparent resitivities and phases have been obtained for each station. Then conventional 2-D inversion algorithms (NLCG and RRI) were employed to produce 2-D models. The final preferred 2-D model suggests that the upper crust consists of resistive blocks while in mid-lower crust there are two extensive conductive bodies beneath Lhasa block and Qiangtang terrain respectively. Jinshajiang suture is a gradient belt and Bangong-Nujiang suture appear a conductive belt dipping to the north. . We concluded that the formation of the two conductive bodies attributed to the partial melt and fluids in the lower crust. The regional electric strike derived from decomposition analysis indicates that the crust and upper mantle move in different manners. The upper crust moves like slips of rigid blocks along major slip faults while the lower crust creeps as a flow in the conductive channels.
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The velocity field is important to investigate the motion and strain parameters of the block. It is also important to investigate the deformation of the fault, for example, the accumulation of strain and stress, at the boundary of the block. The dislocation model is a classic method to simulate the velocity field. In dislocation model, the aseismic crustal deformation is regarded as the sum of the rigid block motion and the effect of the locked fault. We modify the dislocation model in two aspects. Firstly, the block motion is assumed to be the sum of rotation and linear strain rather than the rigid motion. Secondly, the elastic layered-earth model rather than the homogenous half-space model is applied to calculate the effect of the locked part. The 1990~1995 annually Global Position System (GPS) velocity data of the Taiwan area are used in our dislocation model. The misfit of our modified model is smaller than that of the origin model clearly. Our simulation shows, in eastern Coastal Range, the velocity decreases northward rapidly from Chimei Fault, which may result from the high crustal compressive rate of about 30 mm•a-1 at Chimei Fault. The lock of fault in southern part is stronger than that in northern part generally. In western Taiwan, the most strongly locked faults appear in the southern Coastal Plain where many disaster earthquakes occur frequently. The calculated strain and rotation rates consist with previous results in most areas. The strain rate field reveals the nearly NW-SE compression in most parts of Taiwan with a fan-shaped distribution. The rotation rate field reveals anticlockwise rotation in eastern and southern Taiwan while clockwise rotation in western and northern Taiwan, generally.
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The past three decades have seen numerous attempts to numerically model stress and strain patterns in the lithosphere of the Earth on both global and regional scales. This efforts have been indispensable in identifying the features we need to include in our endeavour to develop better models of our planet’s lithosphere and they have also raised our awareness for the many unresolved issue in the deep geodynamical issues that need to be addressed in the future. Nonetheless, in most models, the lithosphere is treated as a single layer with depth-averaged properties, and as the same distribution in the stress and strain fields, and as deforming under plane strain. All these above make a great hander for its reality and degree of recognition. As the beginning in this paper, some principal numerical models and results on the evolution of Tibetan plateau are reviewed and analyzed. Then, the geological and geophysical expedition on the Western Himalayan Syntaxis is briefly reviewed. Furthermore, we analysis the feature in deep geophysical field studies in this area and adjacent regions. Because, for most continents, stress models driven by plate boundary forces have successfully reproduced the main characteristics of the stress and strain field, we present a set of three-dimensional models of lithosphere system for a simplified geometry of the Western Himalayan Syntaxis area and its adjacent regions, where we try to match the first-order characteristics of the stress and strain fields of lithosphere since 10 Ma, and deformation and geodynamical evolution process in former 2Ma. Of course, the kinematic boundary conditions of the stress models driven by plate boundary forces were applied. The rheology plays a significant role in the lithospheric tectonics, which lead to different rheological parameters were used in different works although the have the same constitutive equations in models. So, in this paper we do not aim to produce all characteristics of the Western Himalayan Syntaxis areas’ stress and strain fields by the choices of various parameters, but rather the dynamic response between various rheological parameters and stress and strain fields. We have chosen to concentrate on the importance of rheology and lateral strength variations for lithospheric stress and strain patterns and use our findings to build a model of the Western Himalayan Syntaxis areas. In doing so, we want to go beyond purely elastic models or purely viscoelastic models. Compared the results of the crust viscosity in the Western Himalayan Syntaxis areas, we believed that, when various viscoelastic models are adopted, the selection of the coefficient of viscosity in the Western Syntaxis area has important influence on the its uplifts and evolutions. A wider uplift ranges and gently elevation was observed at the same time when a lower viscosity was used in our models, and vice versa. Data of stress magnitudes are not available, but it is clear that the stress levels must be at or below the failure threshold of rock under compression. Under these criteria, the calculation results show that the viscosity in the Western Syntaxis area should be smaller than 1023Pa.s When elastic model is adopted in relatively rigid Tarim basin, obvious changes are induced to the stress and strain fields of the whole Western Syntaxis area. We found that rigid block of lithosphere reduced stress levels within its interior and that, at the edges of such regions, stress orientation can change. Furthermore there is no evidence that such rigid regions act as stress barriers in that they shield areas in opposite sides of the structure from the influence of one another. In our models, the upper crustal material of the Western Syntaxis area does not turns to move westward. Whereas, because of the stress and strain fields have been decoupling at the interior of the lithosphere, we can get the results that the deep material must not move westward.
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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.
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Seismic exploration is the main tools of exploration for petroleum. as the society needs more petroleum and the level of exploration is going up, the exploration in the area of complex geology construction is the main task in oil industry, so the seismic prestack depth migration appeared, it has good ability for complex construction imaging. Its result depends on the velocity model strongly. So for seismic prestack depth migration has become the main research area. In this thesis the difference in seismic prestack depth migration between our country and the abroad has been analyzed in system. the tomographical method with no layer velocity model, the residual curve velocity analysical method based on velocity model and the deleting method in pre-processing have been developed. In the thesis, the tomographysical method in velocity analysis is been analyzed at first. It characterized with perfection in theory and diffculity in application. This method use the picked first arrivial, compare the difference between the picked first arrival and the calculated arrival in theory velocity model, and then anti-projected the difference along the ray path to get the new velocity model. This method only has the hypothesis of high frequency, no other hypothesis. So it is very effective and has high efficiency. But this method has default still. The picking of first arrival is difficult in the prestack data. The reasons are the ratio of signal to noise is very low and many other event cross each other in prestack data. These phenomenon appear strongly in the complex geology construction area. Based on these a new tomophysical methos in velocity analysis with no layer velocity model is been developed. The aim is to solve the picking problem. It do not need picking the event time contiunely. You can picking in random depending on the reliability. This methos not only need the pick time as the routine tomographysical mehtod, but also the slope of event. In this methos we use the high slope analysis method to improve the precision of picking. In addition we also make research on the residual curve velocity analysis and find that its application is not good and the efficiency is low. The reasons is that the hypothesis is rigid and it is a local optimizing method, it can solve seismic velocity problem in the area with laterical strong velocity variation. A new method is developed to improve the precision of velocity model building . So far the pattern of seismic prestack depth migration is the same as it aborad. Before the work of velocity building the original seismic data must been corrected on a datum plane, and then to make the prestack depth migration work. As we know the successful example is in Mexico bay. It characterized with the simple surface layer construction, the pre-precessing is very simple and its precision is very high. But in our country the main seismic work is in land, the surface layer is very complex, in some area the error of pre-precessing is big, it affect the velocity building. So based on this a new method is developed to delete the per-precessing error and improve the precision of velocity model building. Our main work is, (1) developing a effective tomographical velocity building method with no layer velocity model. (2) a new high resolution slope analysis method is developed. (3) developing a global optimized residual curve velocity buliding method based on velocity model. (4) a effective method of deleting the pre-precessing error is developing. All the method as listed above has been ceritified by the theorical calculation and the actual seismic data.
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The westward drift is one of the most important characteristics of the secular variations in the main geomagnetic field. The drift exists not only in the main field itself, but also in the secular variation field of the main field. Based on the International Geomagnetic Reference Field (IGRF) models for 1900-2000 and the secular variation model for the period 2000-2005, the characteristics of the westward drift are studied in this paper on several aspects, such as, the bulk rotation and differential rotation of the main field, the dipersion of the drift rates, as well as the westward drift in the secular variation field. The bulk drift and its temporal changes in the main field are analyzed. The results show that the average drift rate during 20th century is 0.183°/α, and the transitions of the drift rate are closely related with the occurrence of geomagnetic jerks. The calculation of the westward drift at various latitudes reveals a latitudinal dependence of the westward drift rate, implying that the geomagnetic field rotates in a differential fashion, instead of rigid rotation. The maximum westward drift is found near the 15°
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The formation of surface alkoxy species on nanosized HZSM-5 and microsized HZSM-5, after exposure to methanol and subsequent conversion to olefins, has been investigated by in situ solid state NMR. Compared to microsized HZSM-5 zeolite, the nanosized HZSM-5 zeolite was found to exhibit a higher affinity for trapping methanol species. Activation of the adsorbed methanol species resulted in the formation of various surface alkoxy species with different rigid characters, including the carboxylate-like surface species, as evidenced by deconvolution of the related spectra. The present results support the existence of the so-called carbon-pool in the conversion of methanol, which serves as the reaction precursor not only for the coupling of the species to form olefins, but also for uncontrolled polymerization to give coke on the surface. The nanosized HZSM-5 shows a distinct resistance to the formation of carbonaceous deposits on the surface.
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In this paper we present an approach to perceptual organization and attention based on Curved Inertia Frames (C.I.F.), a novel definition of "curved axis of inertia'' tolerant to noisy and spurious data. The definition is useful because it can find frames that correspond to large, smooth, convex, symmetric and central parts. It is novel because it is global and can detect curved axes. We discuss briefly the relation to human perception, the recognition of non-rigid objects, shape description, and extensions to finding "features", inside/outside relations, and long- smooth ridges in arbitrary surfaces.
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Visual object recognition requires the matching of an image with a set of models stored in memory. In this paper we propose an approach to recognition in which a 3-D object is represented by the linear combination of 2-D images of the object. If M = {M1,...Mk} is the set of pictures representing a given object, and P is the 2-D image of an object to be recognized, then P is considered an instance of M if P = Eki=aiMi for some constants ai. We show that this approach handles correctly rigid 3-D transformations of objects with sharp as well as smooth boundaries, and can also handle non-rigid transformations. The paper is divided into two parts. In the first part we show that the variety of views depicting the same object under different transformations can often be expressed as the linear combinations of a small number of views. In the second part we suggest how this linear combinatino property may be used in the recognition process.
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A polynomial time algorithm (pruned correspondence search, PCS) with good average case performance for solving a wide class of geometric maximal matching problems, including the problem of recognizing 3D objects from a single 2D image, is presented. Efficient verification algorithms, based on a linear representation of location constraints, are given for the case of affine transformations among vector spaces and for the case of rigid 2D and 3D transformations with scale. Some preliminary experiments suggest that PCS is a practical algorithm. Its similarity to existing correspondence based algorithms means that a number of existing techniques for speedup can be incorporated into PCS to improve its performance.
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The task of shape recovery from a motion sequence requires the establishment of correspondence between image points. The two processes, the matching process and the shape recovery one, are traditionally viewed as independent. Yet, information obtained during the process of shape recovery can be used to guide the matching process. This paper discusses the mutual relationship between the two processes. The paper is divided into two parts. In the first part we review the constraints imposed on the correspondence by rigid transformations and extend them to objects that undergo general affine (non rigid) transformation (including stretch and shear), as well as to rigid objects with smooth surfaces. In all these cases corresponding points lie along epipolar lines, and these lines can be recovered from a small set of corresponding points. In the second part of the paper we discuss the potential use of epipolar lines in the matching process. We present an algorithm that recovers the correspondence from three contour images. The algorithm was implemented and used to construct object models for recognition. In addition we discuss how epipolar lines can be used to solve the aperture problem.