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.     

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.     

基于未确知集对联系数法的溃坝社会影响评价

针对溃坝社会影响因素的不确定性和复杂性易造成评价过程信息缺失的问题,采用未确知测度理论和层次分析法,将其不确定信息转换为具有相对确知信息的综合测度向量,结合集对分析可有效处理研究系统的确定性与不确定性关系的特点,引入五元集对联系数,建立了基于未知集对联系数法的溃坝社会影响评价模型,以未确知集对联系数所属区间的等级作为溃坝社会影响严重程度等级判定的依据,并通过工程实例验证了所建溃坝社会影响评价模型的合理性和有效性,为溃坝社会影响评价提供了一种新的方法和思路。     

双机器人系统运动协调仿真与实验研究

针对具有重量大、形状不规则特征的物品,采用双机器人协同作业是该技术领域的研究热点问题之一。运用ADAMS软件对双机器人虚拟样机进行运动学仿真分析,模拟空间搬运轨迹,对DREE末端点的运动轨迹曲线进行同步误差分析。搭建了实验平台,对双机器人同步搬运箱体进行实验验证。实验结果表明:双机器人协作搬运箱体时,在水平方向和垂直方向的轨迹误差均小于±2.8mm,较好地满足同步搬运作业工艺要求。     

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.     

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.     

里底水电站混凝土强度与波速线性关系研究及应用

混凝土工程是电站枢纽工程最重要的组成部分之一,是工程安全的基础和保障,确保混凝土实体质量、杜绝混凝土质量缺陷是电站安全稳定运行的基本保证。随着声波检测技术水平的提高,并已在大坝混凝土工程中得到广泛应用。通过大量混凝土实测抗压强度和声波波速值对比试验的数理统计分析,建立工程专用测强曲线,能有效提高混凝土抗压强度推算值的准确性,较真实地反映混凝土实体质量水平。