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.     

矿用履带式运输车在复杂开采条件下的应用

为了方便煤炭的运输，某矿使用了矿用履带式搬运车。履带运输车解决了轮式运输车在恶劣道路条件下不能行走的问题，这种履带车是一种新型的运输工具，其特点是体积小、转弯灵活、动力强大，可在不受场地限制的情况下轻松通过狭窄的地方，能有效解决山区、土壤、陡坡等恶劣条件下物料的运输问题，适合普通运输车辆无法通行的地方。介绍了矿用履带式搬运车的主要结构以及工作原理，并给出了实际应用中应注意的事项。     

煤峪口矿81010工作面煤层底板裂隙发育特征及防治

针对煤炭开采过程中出现的突水事故,采用RFPA数值模拟软件建立采动模型,对底板裂隙破断过程和声发射进行模拟,研究煤层底板采动裂隙扩展突水通道,结果表明:离断层越近,断层内水压导升高度越高,断层出现活化,裂隙扩展发育,最终贯通形成导水通道,在进行注浆改造后,单个钻孔的最大涌水量为8 m³/h,说明注浆加固防治水效果较好,能确保工作面的安全回采。     

Main trends on the simulation of the drying of refractory castables - Review

Refractory castables develop microstructures after curing that behave as partially saturated porous media. Upon heating (during its drying stage), the steam generated by the physical and chemically bond water can result in pore pressurization and explosive spalling. Numerical modeling can provide guidelines for designing safer heat-up profiles and also a better understanding of the mechanisms that lead to catastrophic damage. This work aims to review the fundamentals and models available, providing insightful thoughts on the current trends of the drying phenomena of ceramic compositions. The review also highlights that there are models better oriented to result in reasonable predictions of pore pressure values and others focused on a more accurate representation of the main physical phenomena that take place during heating. According to the findings, there are still various challenges to attain accurate models with high applicability capable of yielding safer and more efficient drying of refractory castables.     

SOINN-Based Abnormal Trajectory Detection for Efficient Video Condensation

With the evolution of video surveillance systems, the requirement of video storage grows rapidly; in addition, safe guards and forensic officers spend a great deal of time observing surveillance videos to find abnormal events. As most of the scene in the surveillance video are redundant and contains no information needs attention, we propose a video condensation method to summarize the abnormal events in the video by rearranging the moving trajectory and sort them by the degree of anomaly. Our goal is to improve the condensation rate to reduce more storage size, and increase the accuracy in abnormal detection. As the trajectory feature is the key to both goals, in this paper, a new method for feature extraction of moving object trajectory is proposed, and we use the SOINN (Self-Organizing Incremental Neural Network) method to accomplish a high accuracy abnormal detection. In the results, our method is able to shirk the video size to 10% storage size of the original video, and achieves 95% accuracy of abnormal event detection, which shows our method is useful and applicable to the surveillance industry.     

A novel multi-objective optimization method: Input values effect on responses (IVER)

In this study, a novel multi-objective optimization method based on the best effect of unique input (independent variable) values on responses (dependent variables) was proposed. The proposed method was compared with optimization using Derringer & Suich function that is still the most used. The comparison was made using the response values measured in real experiments and available in the literature. The advantages of the proposed method such as not needing the polynomial model aiming to predict the response values, no parameter selection problem, being able to offer optimum range instead of single optimum value, being suitable for use with existing experimental designs and being simple and interpretable were demonstrated as a result of comparison. It was also suggested how the proposed method will be effective according to experimental designs, and application for the users' application was presented.     

15209综采工作面端面破碎机理及控制

15209工作面回采期间端面处出现破碎、冒落现象,造成液压支架初撑力、工作阻力降低,威胁着工作面安全高效回采。通过技术研究,分析了15209工作面端面破碎机理,提出了"施工梯形锚索吊棚+注浆加固+走向掏槽搭梁"联合控制措施。实际应用表明端面破碎、煤壁片帮现象得到控制,工作面回采速度提高至7.5m/d,取得了显著应用成效。     

2种灰色模型在矿区地表沉陷预计中的适用性

目前矿区地表单点沉陷动态预计方法主要基于传统的水准测量数据,监测方法单一,成本高,观测点易破坏,不能保证地表形变信息的实时性,且采用灰色模型进行地表沉陷预计时只针对单一模型的应用,没有结合模型自身特点分析其适用性。以袁店二矿7221工作面为试验区域,采用合成孔径雷达差分干涉测量技术监测矿区地表沉陷量,分别建立了描述沉陷量与时间关系的GM(1,1)与灰色Verhulst模型进行地表沉陷量预计,实现了矿区地表沉陷监测与动态预计一体化。通过比较、分析GM(1,1)与灰色Verhulst模型对地表沉陷量的拟合及预计结果,得出了2种灰色模型在矿区地表沉陷预计中的适用性:在矿区开采沉陷开始至活跃前期,若地表单点沉陷量曲线呈近似单峰型,则宜采用GM(1,1)进行短期预计;当矿区地表沉陷进入衰退阶段,单点沉陷量曲线呈平底饱和状态,则宜采用灰色Verhulst模型进行中长期预计。     

皮带输送机运行过程中常见问题及处理对策

皮带输送机是煤矿井下重要的煤炭运输设备,其稳定运行关系着煤矿生产的高产高效。由于煤矿井下生产环境恶劣,皮带输送机很容易发生各种问题。因此,对皮带输送机运行过程中出现的问题进行准确分析并进行处理显得十分重要。对皮带输送机运行过程中出现的一些常见问题进行了分析,并给出了一些相应的处理对策,有助于实现煤矿生产的高产高效。