Hysteresis of the water retention curves of geosynthetic clay liners in the high suction range

This paper examines two needle-punched geosynthetic clay liners' water retention behaviour at high suction ranges using the vapour equilibrium technique where super-saturated salt solutions controlled the relative humidity. This study shows that the bentonite form and its mineralogy affect the absorption/desorption of GCLs and their corresponding water retention curves. In particular, a granular bentonite-based GCL was found to absorb more and release less water than a powdered bentonite-based GCL due to its higher montmorillonite content and larger pores. The water retention curves of both GCLs exhibited very little hysteretic behaviour at high suction. Repeated wetting-drying cycles shifted the WRCs of both GCLs slightly downward with minimal impact on their degree of hysteresis.     

Verification of unified effective stress theory based on the effect of moisture on mechanical properties of fiber reinforced unsaturated soil

The unified effective stress theory based on suction stress (SSCC theory) enables the characterization of soils under both saturated and unsaturated conditions with one closed-form relationship. This study provides experimental verification of this theory through the unconfined compressive strength test (UCS) and indirect tensile test strength (ITS) on silty clay soil stabilized with fiber. A series of matric suction, ITS, and UCS tests were conducted to validate the SSCC theory through the representation of the results of ITS and UCS tests in terms of mean total stress (p) versus deviatoric stress (q) and mean effective stress (p`) versus deviatoric stress (q). The results of the validation procedures showed that the SSCC theory is applicable and valid at a range of 6%–16% of water content on the silty clay and the silty clay fiber-reinforced soils. There is a small fluctuation in the increase of ITS and UCS values with increasing fiber content due to randomly oriented distribution of the fiber. The addition of glass fiber does not significantly affect the capacity of water retention of the soil. It improves the condition of the mechanical soil properties at the end of construction more than of the effective stress condition.     

电永磁吸盘在石油套管接箍切断机下料工序中的应用

针对石油套管生产过程中接箍切断岗位人员搬运接箍劳动强度大、存在安全隐患的问题，对生产工艺过程、电磁吸盘的原理和性能进行分析，采用电永磁吸盘设计了一种接箍自动下料装置。该装置可以根据设定进行电磁吸盘的充/退磁，实现整层接箍的抓取和卸料，整个过程实现一键自动下料，全程不需人工干预。现场生产应用表明，使用电永磁吸盘进行整层接箍下料，能大幅降低岗位员工的劳动强度，生产效率提高5%以上，减少了安全隐患，达到了预期目的。     

基于旋翼负压混合吸附的爬壁清洗机器人系统动力学性能研究

针对爬壁清洗机器人越障时,负压装置的吸附力下降导致吸附不稳定的问题,设计了一种旋翼负压混合吸附工作的多边形履带清洗机器人,并对爬行稳定性及越障性能进行了动力学分析。首先根据机器人爬壁的运动原理,建立机器人沿玻璃幕墙上的动力学模型,计算出电机理论驱动力矩;其次分析机器人在跨越障碍过程中的运动模型,结合与壁面接触的实际受力状态,对越障过程中关键阶段的本体倾翻、滑移两种失效形式进行运动学和动力学分析;然后根据玻璃幕墙实际的障碍高度,确定多边形履带的参数和理论驱动力矩的大小,并研制了实验样机进行爬行和越障试验,结果表明所设计的机器人具有良好的越障性能。     

煤矿水仓清理机器人研究与设计

根据煤矿水仓工况提出一种可自由规划行走路线的清理机器人,并对其结构及液压系统进行设计。机器人及其配套系统可完成水仓清理、筛分、脱水、运输等配套工作,具有一定的实用价值。     

An approach to measure infill matric suction of irregular infilled rock joints under constant normal stiffness shearing

Rock joints infilled with sediments can strongly influence the strength of rock mass. As infilled joints often exist under unsaturated condition, this study investigated the influence of matric suction of infill on the overall joint shear strength. A novel technique that allows direct measurement of matric suction of infill using high capacity tensiometers (HCTs) during direct shear of infilled joints under constant normal stiffness (CNS) is described. The CNS apparatus was modified to accommodate the HCT and the procedure is explained in detail. Joint specimens were simulated by gypsum plaster using three-dimensional (3D) printed surface moulds, and filled with kaolin and sand mixture prepared at different water contents. Shear behaviours of both planar infilled joints and rough joints having joint roughness coefficients (JRCs) of 8–10 and 18–20 with the ratios of infill thickness to asperity height (t/a) equal to 0.5 were investigated. Matric suction shows predominantly unimodal behaviour during shearing of both planar and rough joints, which is closely associated with the variation of unloading rate and volumetric changes of the infill material. As expected, two-peak behaviour was observed for the rough joints and both peaks increased with the increase of infill matric suction. The results suggest that the contribution of matric suction of infill on the joint peak normalised shear stress is relatively independent of the joint roughness.     

负压吸引技术应用于大面积烧伤患者围术期的效果探究

目的:探究环磷酸腺苷联合负压吸引技术应用于大面积烧伤患者围术期的效果及肾保护作用探究。方法:选择2018年12月到2020年12月于医院治疗的120例大面积烧伤患者为研究对象,以随机数字表法对患者分组,60例患者为研究组,60例患者为对照组,对照组给予负压吸引技术治疗,研究组在此基础上给予环磷酸腺苷治疗,治疗前、后测定两组患者干扰素-γ(IFN-γ)、白细胞介素-2(IL-2)、白细胞介素-10(IL-0)、白细胞介素-6(IL-6)、可溶性血管细胞粘附分子-1(sVCAM-1)、一氧化氮(NO)、内皮素(ET-1)、血管内皮生长因子(VEGF)、胱抑素C(Cys-C)、肌酐(Scr)、血尿素氮(BUN)、肾损伤分子-1(KIM-1)水平,记录两组患者手术时间、麻醉苏醒时间、住院时间。结果:研究组IFN-γ、IL-6水平低于对照组(P<0.05),研究组患者IL-2、IL-10水平高于对照组(P<0.05),研究组NO、VEGF水平高于对照组(P<0.05),研究组患者sVCAM-1、ET-1水平低于对照组(P<0.05),研究组患者Cys-C、Scr、BUN、KIM-1水平低于对照组(P<0.05),研究组手术时间低于对照组(P>0.05),研究组麻醉苏醒时间、住院时间低于对照组(P<0.05)。结论:环磷酸腺苷联合负压吸引技术应用于大面积烧伤围术期患者,可降低患者IFN-γ、IL-6水平,提升患者IL-2、IL-10水平,抑制患者炎症,改善患者血管内皮功能,降低患者Cys-C、Scr、BUN、KIM-1水平,减少患者肾功能损伤,减少患者麻醉苏醒时间及住院时间。     

A 6-DOF humanoid wall-climbing robot with flexible adsorption feet based on negative pressure suction

A wide range of dangerous and special tasks have witnessed the applications of wall-climbing robots, but they still cannot adapt well torough or sloping walls. This paper proposes a 6-DOF (degree of freedom) humanoid wall-climbing robot (HWCR) based on the principle of negative pressure suction. HWCR has the advantages of flexible adsorption feet, strong adaptability, strong anti-subversion performance, and high friction to the wall. We deduce mechanics formulas and carry out a parametric design of the foot structure so that it can meet the requirement of robot wall climbing. We use Fluent to analyze the flow field of the adsorption foot and determine the motor speed that can provide a reliable adsorption force. Using the D-H matrix to plan gait, we also design a compound cycloid-based foot trajectory to reduce the impact between the HWCR and the wall. Experiments on the uneven wall and sloping wall show that the vehicle can walk with an ideal gait, and the resistance value of the servo on each joint is much lower than the critical value, which ensures the smooth movement of the HWCR.