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.     

Study on vapour dispersion and explosion from compressed hydrogen spill: Risk assessment on a hydrogen plant

Hydrogen produced from renewable resources is one of the cleanest fuels and could be used to store intermittent solar, wind and other energies. The main concern about using hydrogen is its hazards, such as high storage pressure, wide-range flammability, low mass density, and high diffusion. This study investigated the hazards of compressed hydrogen storage by developing a CFD model to understand the gas dispersion behaviour. The model was validated using the past experimental data and showed a good agreement, which could demonstrate the diffusion characteristics and gas stratification of a buoyant gas. A case study of an accidental release of compressed hydrogen from a storage tank was investigated to evaluate the risk of a hydrogen plant. A mathematical model of the jet spill was used to account for the choking effect from a high-pressure release to ensure the input velocity in CFD simulation is suitable for modelling gas dispersion using verified spatial and temporal scales, then the simulation results were used as inputs of vapour cloud explosions (VCEs) to investigate the potential overpressure effect. It was found the CFD model could predict a more reasonable flammable gas amount in cloud than using the bulk hydrogen release rate. The safety distance based on the overpressure prediction was reduced by 35%. The method proposed in this study can provide more validity for the consequence analysis as part of risk assessment.     

Combined effect of channel to rib width ratio and gas diffusion layer deformation on high temperature – Polymer electrolyte membrane fuel cell performance

The present study investigates the combined influence of Channel to Rib Width (CRW) ratio and clamping pressure on the structure and performance of High Temperature-Polymer Electrolyte Membrane Fuel Cell (HT-PEMFC) using a three-dimensional numerical model developed previously. It also considers the impact of interfacial contact resistance between the Gas Diffusion Layer (GDL) and Bipolar Plate (BPP). The structural analysis of the single straight channel HT-PEMFC geometry shows that the von-Mises stress greatly increases in the GDL under the ribs as the CRW ratio increases resulting in considerably high deformation. The cell performance analysis depicts the significance of ohmic resistance and concentration polarization for different CRW ratios, particularly at higher operating current densities. However, in low to medium current density regions, the CRW ratio has little influence on cell performance. A substantial impact on the species, overpotential, and current distributions is observed. The findings also reveal that the CRW ratio significantly affects the temperature distribution in the cell.     

有砟轨道路基翻浆冒泥模型试验系统的研发与应用

为研究既有线有砟轨道路基的翻浆冒泥机理，自主研发了一套能够模拟循环荷载–湿化耦合作用的模型试验系统。模型试样直径500 mm，由厚度分别为350 mm的路基土和200 mm的道砟组成，整个试样在高强度透明有机玻璃模型筒中制备完成。模型试验系统配备有监测荷载、位移、体积含水率和孔隙水压力的4种传感器，并通过高清相机对颗粒迁移过程进行图像捕捉。基于所研发的试验系统，针对辛泰铁路典型翻浆冒泥病害路段土样，开展翻浆冒泥模型试验。试验结果表明：动孔隙水压力是导致翻浆冒泥病害产生的关键因素。随着体积含水率的增加，动孔隙水压力引起的颗粒迁移量逐渐增加；在饱和状态下，会引起大量颗粒迁移，翻浆冒泥现象显著。试验结束时，道砟污染指数达到25%，在实际工程中已严重影响铁路的正常运营，有必要对污染道砟进行换填。     

Effect of coral sand powders and seawater salinity on the impact mechanical properties of cemented coral sand

Coral sand is one kind of the important building materials in coral reef engineering practice. The use of cement as a stabilizing agent can significantly improve the mechanical properties of coral sands and is widely applied in the subbase engineering construction in coral reef islands. Cement-stabilized coral sand structures may contain high contents of fine coral particles and salinity because of the high crushability of coral sands and the existence of seawater surrounding them. In this study, the effects of coral sand powders and seawater salinity on the dynamic mechanical properties of cemented coral sand (CCS) were investigated through the split Hopkinson pressure bar (SHPB) tests and Scanning Electron Microscope (SEM) analysis. It was found that the strength (i.e., the peak stress) of CCS specimens increased firstly and then decreased with the increase of powder content. The specimens reached the maximum peak stress when 3% powder content was included. The initial improvement of CCS strength was attributed to the pore-filling effect of coral powders, namely, the micro pores of the CCS specimens could be more effectively filled with higher percentages of coral powders being used in the experiments. However, excessive coral powders resulted in the reduction of specimen strength because these powders could easily be cemented into agglomerates by absorbing water from the specimens. These agglomerates could reduce the cementation strength between the coarse coral particles and the cement. Meanwhile, the peak stress of CCS specimens was found to be negatively correlated with the average strain rate and the ultimate strain. The degree of specimen fracture was found to be correlated with the amount of specific energy absorption during the tests. Furthermore, the “sulfate attack” caused by the inclusion of salinity of water had different influences on the CCS specimens with different coral powder contents. The ettringite and gypsum produced in “sulfate attack” could fill the pores and lead to cracking of the specimens, significantly affecting the specimen strength.     

Post-erosion mechanical responses of internally unstable gap-graded soil under drained torsional simple shear and triaxial compression

Internal erosion is a major threat to hydraulic earth structures, such as river levees and dams. This paper focuses on suffusion and suffosion phenomena which are caused by the movement of fine particles in the granular skeleton due to seepage flow. The present study investigates the impact of internal erosion on the dynamic response under cyclic torsional shear and monotonic responses under triaxial compression and torsional simple shear. A series of experiments, using a gap-graded silica mixture with a fines content of 20%, is performed under loose, medium, and dense conditions using a novel erosion hollow cylindrical torsional shear apparatus. The erosion test results indicate that the critical hydraulic gradient and the rate of erosion are density-dependent, where a transition from suffosion to suffusion is observed as the seepage continues. Regardless of the sample density, variations in the radial strain and particle size distribution, along the specimen height after erosion, are no longer uniform. Furthermore, the dynamic shearing results show that the small-strain shear modulus increases, but the initial damping ratio decreases after internal erosion, probably due to the removal of free fines. In addition, the elastic threshold strain and reference shear strain values are found to be higher for the eroded and non-eroded specimens, respectively. Finally, based on drained monotonic loading, the post-erosion peak stress ratio increases remarkably under triaxial compression, while that under torsional simple shear depends on the relative density where the direction of loading is normal to the direction of seepage. These observations indicate that the horizontal bedding plane becomes weaker, while the vertical one becomes stronger after downward erosion.     

Stability assessment of 3D reinforced soil structures under steady unsaturated infiltration

Internal stability assessment of geosynthetic-reinforced soil structures (GRSSs) has been commonly carried out assuming plane-strain conditions and dry backfills. However, failures of GRSSs usually show three-dimensional (3D) features and occur under unsaturated conditions. A procedure based on the kinematic limit-analysis method is proposed herein to assess 3D effects and the role of steady unsaturated infiltration on the required geosynthetic strength for GRSSs. A suction stress-based framework is used to describe the soil stress behavior under steady unsaturated infiltration. Based on the principle of energy-work balance, the required geosynthetic strength is determined. A comparison analysis with the prior research is conducted to verify the developed method. Two kinds of backfills, i.e., high-quality backfill and marginal backfill, are considered for comparison in this work. It is shown that accounting for 3D effects and the role of unsaturated infiltration considerably reduces the required geosynthetic strength. The 3D effects are primarily affected by the width-to-height ratio of GRSSs, and the contribution of unsaturated infiltration is mainly influenced by the soil type, flow rate, GRSS's height, and location of the water table.     

Consolidation considering increasing soil column radius for dredged slurries improved by vacuum preloading method

Soil column is often investigated in the improvement of dredged slurries. Different from the smear zone, the soil column forms gradually and has extremely low permeability. This study presents an analytical solution for soil consolidation considering the increasing radius of the soil column and time-dependent discharge capacity. Based on the solution, the influence of the radius' increase on the consolidation behavior is found significant when the soil column has low permeability and large final radius, and the increase of formation time can lead to the increase of consolidation speed and final consolidation degree.     

Experimental study on the load bearing behavior of geosynthetic reinforced soil bridge abutments with different facing conditions

This paper presents an experimental study on reduced-scale model tests of geosynthetic reinforced soil (GRS) bridge abutments with modular block facing, full-height panel facing, and geosynthetic wrapped facing to investigate the influence of facing conditions on the load bearing behavior. The GRS abutment models were constructed using sand backfill and geogrid reinforcement. Test results indicate that footing settlements and facing displacements under the same applied vertical stress generally increase from full-height panel facing abutment, to modular block facing abutment, to geosynthetic wrapped facing abutment. Measured incremental vertical and lateral soil stresses for the two GRS abutments with flexible facing are generally similar, while the GRS abutment with rigid facing has larger stresses. For the GRS abutments with flexible facing, maximum reinforcement tensile strain in each layer typically occurs under the footing for the upper reinforcement layers and near the facing connections for the lower layers. For the full-height panel facing abutment, maximum reinforcement tensile strains generally occur near the facing connections.