Motion Planning by T‐RRT with Potential Function for Vertical Articulated Robots

RRT (rapidly exploring random tree) with random sampling is an effective method for path planning, and is often used for robot manipulators. The RRT has many modified methods for applying various problems and conditions. Particularly, T‐RRT (Transition‐based RRT) one of those has advantage that it is able to adopt arbitrary evaluation function. In this paper, a novel path planning method based on the T‐RRT is proposed for ensuring “quality” of a generated path. Then, its effectiveness is evaluated via comparison with other sampling‐based methods using simulation of the industrial robot having seven DOFs.     

新时代背景下铀矿绿色勘查技术体系研究*

实施铀矿绿色勘查是新时代生态文明战略背景下全新的勘查模式，也是保障国家安全和能源安全的必然要求。将绿色理念引入铀矿资源勘查中，对铀矿地质勘查的目的、原则、理念、技术手段和工作流程进行了创新，以最少的环境付出和经济成本获取更好的勘查成果和地质信息。在完善铀矿勘查理论体系的基础上，引入“创新、协调、绿色、开放、共享”的发展理念，参照现行的勘查标准选择合适的工程技术，形成了由成矿理论、勘查技术、勘查标准、环境恢复和勘查评价等5个方面构成的铀矿绿色勘查技术体系。     

Experimental and numerical assessment of grain boundary energies in polycrystalline uranium dioxide

Uranium dioxide ceramics are widely used as nuclear fuels. Thus, it is important to understand the role of the grain boundaries (GBs) which decisively govern the properties of these polycrystalline materials and subsequently determine their performances. Here, we report a coupled numerical - experimental approach enabling to assess GB energies. Firstly, GB formation energies (γ_gb) were computed for 34 symmetric tilt GBs in UO₂ with molecular dynamics simulations at 1700 K. The surface energies (γ_S) relative to the respective planes of these GBs were calculated as well. The Herring relation was then used to assess the dihedral angles Ψ of the corresponding GB grooves. Secondly, a UO₂ ceramic sample was annealed at 1673 K to obtain GB grooves. The CSL GBs of interest were identified by EBSD and their Ψ angles determined by AFM. Computed and measured Ψ values were found to be very close.     

宁夏红寺堡盆地隐伏古隆起成因机制及其对区域沙漠化的影响

目前对于青藏高原东北缘活动构造研究多集中于活动断裂带的活动性,而对夹持于其间的沉积盆地构造格架及活动性研究甚少。以夹持于烟筒山断裂与牛首山—罗山断裂之间的宁夏红寺堡盆地为研究对象,采用重力资料重处理解译、音频大地电磁测深(AMT)和地震勘探相结合,揭示红寺堡盆地隐伏构造特征,并进一步采用盆山一体化思路分析隐伏构造的成因机制及其对区域沙漠化的控制作用。结果表明:青藏高原在中新世末发生强烈的NE向推挤、扩展和隆升,红寺堡盆地由坳陷盆地转变为挠曲盆地; 在青藏高原NE向扩展的影响下,烟筒山断裂发生强烈的逆冲作用,古生代—中生代基底逆冲于古近系—新近系之上,受构造变形影响的最新地层为中新统彰恩堡组; 红寺堡盆地内的隐伏古隆起呈NW—SE向,与烟筒山构造带具有相同的构造动力学背景,受青藏高原NE向扩展影响形成于中新世末,并且至今仍具有活动性; 隐伏古隆起周缘断裂的活动破坏了地表稳定性、蓄水能力和地表植被,导致区域沙漠化呈现有规律的NW—SE向带状展布。该研究成果对于宁夏红寺堡盆地区域稳定性评价及沙漠化的综合治理具有现实指导意义。     

Adaptive sampling strategy for characterizing spatial distribution of soil liquefaction potential using cone penetration test

Characterizing spatial distribution of soil liquefaction potential is critical for assessing liquefaction-related hazards (e.g. building damages caused by liquefaction-induced differential settlement). However, in engineering practice, soil liquefaction potential is usually measured at limited locations in a specific site using in situ tests, e.g. cone penetration tests (CPTs), due to the restrictions of time, cost and access to subsurface space. In these cases, liquefaction potential of soil at untested locations requires to be interpreted from limited measured data points using proper interpolation method, leading to remarkable statistical uncertainty in liquefaction assessment. This underlines an important question of how to optimize the locations of CPT soundings and determine the minimum number of CPTs for achieving a target reliability level of liquefaction assessment. To tackle this issue, this study proposes a smart sampling strategy for determining the minimum number of CPTs and their optimal locations in a self-adaptive and data-driven manner. The proposed sampling strategy leverages on information entropy and Bayesian compressive sampling (BCS). Both simulated and real CPT data are used to demonstrate the proposed method. Illustrative examples indicate that the proposed method can adaptively and sequentially select the required number and optimal locations of CPTs.     

内乡县李沟矽线石矿床地质特征及矿床成因

李沟矽线石矿床位于“豫西南高铝三石成矿带”中,受区域地层、构造及岩浆活动影响显著,属沉积变质矿床。该矿床赋存于古元古界雁岭沟组片岩内,矿床受地层和褶皱构造控制,矿体呈层状产出,成矿地质条件较好。本文在研究前人地质勘查资料的基础上,总结了该矿床的区域及矿区成矿地质条件,并对该地区矽线石矿的矿床成因、找矿标志进行了探讨。笔者认为李沟矽线石矿床及区域地层、构造、岩浆活动构成了“三位一体”的控矿机制,该矿床的周边地区内矽线石矿床(点)分布较多,李沟矽线石矿床及外围地区具有寻找矽线石矿的较好找矿前景。     

Study on estimating electric potential in space between parallel electrodes

We have been studying on estimating distribution of permittivity between measurement electrodes using capacitance and electric potential. Two arc electrodes were separated by long distance and there electrodes were surrounded by additional electrodes respectively. In past research work, we carried out numerical electric analysis for calculating the capacitance and electric potential using Finite Element Method (FEM) and compared with experimental and numerical results. The capacitance values were almost agreed with experimental and numerical results. However, the electric potential values were different between experimental and numerical results in conventional studies. In this paper, we proposed an equivalent circuit including the stray capacity and measurement method for capacitance, the electric potential in space between long distance electrodes was estimated.     

2011～2020年华北平原气溶胶光学厚度时空分布特征及潜在源分析

随着经济高速增长和城市化进程不断加快,华北平原区域性空气污染问题愈演愈烈。针对该区域开展长时序气溶胶光学厚度时空分布特征和潜在源分析研究,对华北平原大气污染治理具有重要意义。基于长时序MODIS/Terra C6.1 MOD04_L2气溶胶光学厚度产品,分析华北平原气溶胶光学厚度的时空分布特征,并利用后向轨迹聚类分析讨论华北平原7个重点城市气团输送的季节变化,并以污染较为严重的河北石家庄为例进行潜在源分析和浓度权重分析,探究影响其大气质量的污染物潜在源区。结果表明:2011～2020年华北平原气溶胶光学厚度月均值呈显著的周期性变化,以年为周期,每个周期内峰值一般出现在6月至8月; 气溶胶光学厚度月际年内呈单峰分布,峰值出现在6月(0.75),最小值出现在12月(0.37); 气溶胶光学厚度季均值从大到小依次为夏季(0.67)、春季(0.59)、冬季(0.49)、秋季(0.46); 10年间气溶胶光学厚度呈下降趋势,整体下降幅度达36.84%,其中2011年最高(0.72),2018年最低(0.45); 华北平原7个重点城市春、夏、秋、冬四季主要受短距离气团输送影响较大,长距离气团输送影响较小; 2014～2020年河北石家庄的空气质量优良天数占比相对较小,空气质量状况差,影响其空气质量的污染物多为本地生成,同时也受周边省市近距离输送的影响。