The World robot summit disaster robotics category – achievements of the 2018 preliminary competition

The World Robot Summit is a robot Olympics and aims to be held in a different country every four years from 2020. The concept of the Plant Disaster Prevention challenge is daily inspections, checks, and emergency response in industrial plants, and in this competition, robots must carry out these types of missions in a mock-up plant. The concept of the Tunnel Disaster Response and Recovery challenge is emergency response to tunnel disasters, and is a simulation competition whereby teams compete to show their ability to deal with disasters, by collecting information and removing debris. The Standard Disaster Robotics challenge assesses, in the form of a contest, the standard performance levels of a robot that are necessary for disaster prevention and emergency response. The World Robot Summit Preliminary Competition was held at Tokyo Big Sight in October 2018, and 36 teams participated in the Disaster Robotics Category. UGVs and UAVs contended the merits of new technology for solving complex problems, using core technologies such as mobility, sensing, recognition, performing operations, human interface, autonomous intelligence etc., as well as system integration and implementation of strategies for completing missions, gaining high-level results.     

Adaptive GLR-, Rao- and Wald-based CFAR detectors for a subspace signal embedded in structured Gaussian interference

The problem of detecting a subspace signal embedded in subspace Gaussian interference and thermal noise is studied in this paper. In this problem, both the signal-independent and signal-dependent interferences are assumed to be present, therefore the overall interference subspace covers the signal subspace. The approach of this paper extends previous works involving either of those two kinds of interferences. A set of secondary data containing only interference plus noise is employed to estimate the interference covariance matrix and the noise power. Three new detectors are designed via the generalized likelihood ratio (GLR), Rao and Wald tests, respectively. Their probabilities of false alarms (PFAs) and detections are analytically derived. The PFAs show that the new detectors have the constant false alarm rate (CFAR) property against the interference and noise. Numerical results show that the new detectors outperform their counterparts for the studied problem. Furthermore, the new detectors are less sensitive to the secondary data size and to the mismatched subspace signal than some other detectors, such as the GLR detector (GLRD), the adaptive matched filter (AMF), the adaptive subspace detector (ASD), etc.     

基于正交试验的含氮硼酸酯铝材轧制润滑油摩擦学性能研究

合成一种新型含氮硼酸酯铝材轧制润滑油添加剂,利用四球试验机考察添加含氮硼酸酯的铝材轧制润滑油的油膜强度、摩擦因数,通过显微镜观察磨斑形貌并测量磨斑直径。利用正交试验法评估极压剂含量、基础油种类、四球试验机载荷和转速对含氮硼酸酯润滑油摩擦学性能的影响,并通过多目标优化设计,对4种参数对铝材轧制润滑油摩擦学性能的强化效果进行综合研究。结果表明:各工艺参数对油样的摩擦学性能影响显著性由大到小依次为极压剂添加量、基础油种类、转速和载荷;经过多目标优化设计,得到的含氮硼酸酯铝材轧制润滑油强化工艺参数的最佳组合:极压剂质量分数为1.0%,基础油种类为D100,载荷为294 N,转速为1 200 r/min;通过极差、方差等分析,发现极压剂添加量和基础油种类对油样的摩擦学性能有显著影响。     

钢管套筒灌浆连接轴向受拉性能模拟试验研究

为研究钢管套筒灌浆连接轴向受拉破坏过程及破坏机理，试验中设计了16组48个钢管套筒灌浆连接试件，试件采用钢板代替圆钢管，并进行静载试验。分析了灌浆料裂缝扩展过程、荷载-相对位移曲线，并对抗剪键高距比、灌浆料厚度、侧向力等因素对破坏过程及承载力的影响进行分析。结果表明：对于不设置抗剪键的套筒灌浆连接试件，斜裂缝随机产生，裂缝分布不均匀；对于设置抗剪键的套筒灌浆连接试件，裂缝首先出现在底部抗剪键位置处，与水平方向夹角约为30°，随后在中部和上部抗剪键位置处分别出现斜裂缝。由于每个抗剪键上荷载分担并不均匀，与抗剪键接触的灌浆料逐渐达到极限压应力，达到极限状态时，承载力全部由抗剪键间的机械咬合力承担，在连接承载力中，可忽略摩擦力和胶结力作用。随着抗剪键高距比h/s增大，各试件初始剪切刚度相差不大，承载力增大，但增幅逐渐减小，建议抗剪键高距比0.06g/s>0.3，同时需要满足灌浆料灌注的施工要求。     

基于弱变异准则的测试用例约简方法

针对为数较多的测试用例增加了回归测试成本的问题，提出一种基于弱变异准则的测试用例约简方法。首先，基于弱变异准则获得测试用例和变异分支关系矩阵；然后，重复约简4种无效测试需求和子集测试用例；最后，结合人工鱼群算法选择当前最优测试用例，并且交替执行简化和测试用例选择操作直至覆盖所有测试需求。该方法针对6个经典程序与贪心算法和HGS算法相比，基于弱变异准则并且不改变或稍微改变变异评分的条件下，约简率分别提高了73.4%和8.2%，且耗时分别降低了25.3%和56.1%。实验结果表明，所提方法在回归测试中可有效约简测试用例，降低测试代价。     

基于空间合作关系的基站流量预测模型

针对传统的自回归积分移动平均（ARIMA）模型和长短时记忆（LSTM）单元在基站流量预测中没有利用基站（BS）间合作关系的问题，提出一种利用由用户群体在不同基站下访问产生的基站合作关系的流量预测（TPBC）算法。首先，通过基站之间的合作关系构建基站合作网络，并对此合作网络进行社区划分得到基站社区；然后，通过格兰杰因果关系检验方法寻找与目标基站同一社区且关系最紧密的若干基站，作为目标基站的合作基站；最后，使用LSTM和词嵌入层（Embedding）搭建混合神经网络，并根据目标基站和合作基站的流量信息进行流量预测。实验结果表明，TPBC在基站流量预测上的均方根误差（RMSE）相比ARIMA和LSTM分别减小了29.19%和27.47%。TPBC能有效提高基站流量预测准确率，在流量卸载和绿色节能等领域具有重要意义。     

基于分级存储的石油勘探地震处理应用研究

石油勘探中“两宽一高”采集技术的深入应用，对地震资料并行处理能力提出了更高的要求，针对存储对地震资料处理应用的影响进行研究。为提高各类应用的运算效率，设计并实现了基于SSD、集群NAS多级分层存储地震资料处理方法，针对高IOPS应用、大数据块并行应用进行算法流程级设计。通过DD与IOZONE基准测试、两种应用实际运行效果，验证了设计方案具备在地震资料处理中应用效率与性价比上的优势，适用于勘探数据中心地震资料处理，具有一定的普适性。     

削减桩基负摩阻力的室内模拟试验

为探明桩基混凝土不同涂料对桩基负摩阻力的削减效果,通过大型剪切试验,以塑限18%的黏性土为试验土,着重研究了试验土含水率变化以及桩基混凝土侧面不同涂料对桩基负摩阻力的影响。结果表明,当黏性土含水率略大于塑限时,桩基负摩阻力的削减效果较好,此时在混凝土表面涂石蜡机油混合物、聚合物纳米材料或者油漆产生的削减效果基本一致;当黏性土含水率与塑限含水率相差较大时,采用石蜡机油混合物作为桩侧混凝土涂料对于桩基负摩阻力的削减效果最佳;可通过不同方式对中性点位置进行确定并采用不同适用条件下涂料对桩基负摩阻力进行削减。     

煤矿下山巷道水与空气不耦合装药爆破技术对比研究

为了提高三级煤矿许用炸药能量利用率,改善爆破破岩效果，保证开采区的工作效率，对不耦合装药结构进行优化，以理论推导的方式分别得出空气不耦合与水不耦合装药系数对爆生气体准静压力的影响，并进行了对比分析；通过实验室爆破模型试验研究水和空气径向不耦合分别作用下爆炸应力波的传播分布特性，分析峰值应力与测点到炮孔比例距离、不耦合系数之间的关系，并与理论分析对比验证。结果表明：当不耦合系数相同时，炮孔处水不耦合装药爆炸应力波峰值高于空气不耦合装药，随着不耦合系数的增加，炮孔处爆炸应力波的峰值应力减小；模型试验测得同一测点的水不耦合装药峰值应力是空气不耦合装药峰值应力的1.15~1.52倍，峰值应力作用时间长于空气不耦合装药，同一测点水和空气不耦合装药结构测得的应力波及其峰值应力均随不耦合系数的增加呈负幂函数衰减，且空气不耦合装药时衰减得更快，与理论分析一致；贵州某煤矿下山巷道，于梯形掘进断面实施传统空气不耦合装药结构掏槽爆破，效果不甚理想，运用水不耦合装药爆破技术，提高了炮孔利用率，减小了岩石破碎块度，使爆堆集中，显著提高了岩石破碎效果与出渣效率。     

Stress distribution in thick-walled cylinder due to non-uniform radial pressure on the example of reinforcement corrosion in concrete

This paper presents an analytical solution to the non-uniform pressure on thick-walled cylinder. The formulation is based on the linear elasticity theory (plain strain) and stress function method. As an example, the proposed solution is used to model the stress distribution due to non-uniform steel reinforcement corrosion in concrete. The model is formulated considering different scenarios of corrosion pressure distribution. It is validated against the finite element model for different cases of non-uniform pressure distributions. The results show that the corrosion-induced cracks are likely to start just beyond the anodic zone. This is confirmed by the experimental tests on concrete cylinder exposed to non-uniform accelerated corrosion of steel reinforcement. The model can be effectively used to calculate the distribution of corrosion-induced stresses in concrete.