Rock avalanches with a high mobility and kinetic energy pose a potential geological risk to surrounding buildings. Baffles and avalanche walls are effective ways to protect these buildings. However, the primary focus of previous studies has been on baffles or avalanche walls alone, and there have been very few studies investigating the effectiveness of a combination of baffles and avalanche walls as a countermeasure against rock avalanches. In addition, previous studies on lab-scale tests and numerical analyses often did not take the actual topography effects into consideration. In this study we adopted a numerical simulation approach based on an actual project in the town of Zhangmu, Tibet, with the aim to investigate the effect of different configurations of a combined baffle–avalanche wall system on impeding the kinetic energy of rock avalanches. A series of numerical analyses with discrete element methods (DEM) were conducted. First, the effect of three different pile groups on the reduction of the effect of the rock avalanche was studied using the numerical modeling study. Secondly, the influence of the size of the retaining wall on the maximum impact force of the rock avalanche was studied. Finally, a DEM modeling study on the energy dissipation capacity of the baffle–avalanche wall system was conducted. The results demonstrate that an arrangement of different baffle–avalanche wall systems will produce different results in terms of dissipating the energy of rock avalanches: when the wall is long enough to block all rock masses, enhancing baffle density will decrease the maximum impact force exerted on the avalanche wall; however, if the wall is just long enough to protect the target region, reducing baffle density will decrease the maximum impact force exerted on the avalanche wall. The results of this study are significant in terms of providing guidelines for the design of baffle–avalanche wall systems for protection against rock avalanches.
A new seam-tracking method based on dynamic trajectory planning for a mobile welding robot is proposed in order to improve the response lag of the mobile robot and the high frequency oscillation in seam-tracking. By using a front-placed laser-based vision sensor to dynamically extract the location of the weld seam in front of torch, the trend and direction of the weld line is roughly obtained. The robot system autonomously and dynamically performs trajectory planning based on the isometric approximation model. Arc sensor technology is applied to detect the offset during welding process in real time. The dynamic compensation of the weld path is done in combination with the control of the mobile robot and the executive body installed on it. Simulated and experimental results demonstrate that the method effectively increases the stability of welding speed and smoothness of the weld track, and hence the weld formation in curves and corners is improved. 相似文献
In this study,alumina/A380 composite coatings were fabricated by cold spray.The influence of alumina particulates' morphology(spherical and irregular) and content on the deposition behavior of the coatings(including surface roughness,surface residual stress,cross-sectional microstructure and microhardness) was investigated.Results revealed that the spherical alumina mainly shows micro-tamping effect during deposition,which result in remarkable low surface roughness and porosity of the coatings.In addition,very low deposition efficiency and good interfacial bonding between the coating and the substrate were achieved.For irregular alumina particles,the embedding of ceramic particulates in the coating was dominant during deposition process,resulting in high retention in the final deposit.However,it showed limited influence on porosity,surface roughness and interfacial bonding of the deposit.The coatings containing irregular alumina particulates exhibited much higher microhardness than those containing spherical alumina due to the higher load-bearing capacity of deposited alumina. 相似文献