Safe Autonomous Agent Formation Operations Via Obstacle Collision Avoidance

In this paper, we consider the problem of flocking and shape‐orientation control of multi‐agent systems with inter‐agent and obstacle collision avoidance. We first consider the problem of forcing a set of autonomous agents to form a desired formation shape and orientation while avoiding inter‐agent collision and collision with convex obstacles, and following a trajectory known to only one of the agents, namely the leader of the formation. Then we build upon the solution given to this problem and solve the problem of guaranteeing obstacle collision avoidance by changing the size and the orientation of the formation. Changing the size and the orientation of the formation is helpful when the agents want to go through a narrow passage while the existing size or orientation of the formation does not allow this. We also propose collision avoidance algorithms that temporarily change the shape of the formation to avoid collision with stationary or moving nonconvex obstacles. Simulation results are presented to show the performance of the proposed control laws.     

临涣煤矿穿层钻孔水力压裂技术应用研究

针对临涣煤矿存在瓦斯抽采率低、打钻数量过多且瓦斯抽采周期短的问题,提出了采用穿层钻孔实施水力压裂工艺的方法。实验结果表明,临涣煤矿实验区瓦斯标况纯量平均提高了19倍,瓦斯抽采周期延长了3倍多,说明此次井下水力压裂实验基本形成了适用于临涣煤矿矿井的穿层钻孔水力压裂工艺,该煤矿适宜通过水力压裂卸压增透,减少打钻钻孔数量。     

基于矿压监测动态特征的瓦斯突出预警系统设计

根据采煤工作面突出灾害发生规律与动态安全信息采集技术,设计了采煤工作面基于矿压监测动态特征的瓦斯突出预警系统。该系统能够自动获取海量矿压监测实时数据,实现了采煤工作面煤与瓦斯突出危险性的智能分析与实时预警,同时还具备日常矿压数据资料高效管理功能。系统在现场试验中取得了较好的应用效果。     

压力和温度对瓦斯扩散规律的影响研究

针对瓦斯吸附解吸法测定瓦斯扩散系数时局限于颗粒煤、无法施加围压且气体压力不能任意设定等问题,采用规则块煤结合气相色谱分析法测定瓦斯在块煤中的扩散系数,分析了不同气体压力、温度下块煤瓦斯扩散规律。实验结果表明,随着气体压力的增大,煤基质吸附气体增加且发生膨胀变形,从而孔隙减小,扩散阻力增大,扩散系数减小;随着温度的升高,气体分子运动速度增大,扩散动力增强,扩散系数变大。     

一种用于冲床的压力测试系统设计

冲床的输出主要依靠设定平衡器来实现,为了克服传统冲床调试过程中主要依赖技术人员进行理论值估算或者经验进行调节平衡器的输出而存在估算误差大的弊端和局限性,设计了一种用于冲床调试的高精度压力测试系统方案;系统中自行设计了由轮辐式应变片来构成的压力传感器,该压力传感器的结构设计可有效消除环境温度等对系统的影响,采用STM32F051芯片为核心构成压力测试数据的处理模块;该压力测试系统的压力测试范围为0～2 000 kg,阈值可以灵活设定,测试系统的线性度约为1.3％,分辨率为1 kg,标称误差可达0.1％;该压力测试系统经实际测试表明:具有成本低、性能稳定,抗干扰能力强等优点,可用于各类低速冲床的压力数据采集和处理.     

Critical stress and load conditions for pitting calculations of involute spur and helical gear teeth

Calculation methods of spur and helical gear drives for preliminary designs or standardization purposes available in technical literature, use the Hertz equation to evaluate the contact stress, assuming the load to be uniformly distributed along the line of contact. However, this model presents some discrepancies with experimental results because the changing rigidity of the pair of teeth along the path of contact produces a non-uniform load distribution, which implies that some load distribution factors are required to compute the contact stress. In this paper, a non-uniform model of load distribution along the line of contact, recently developed, obtained from the minimum elastic potential criterion, has been used. This model combined with the Hertz equation yields more accurate values of the contact stress. As the load per unit of length at any point of the line of contact and any position of the meshing cycle has been described by a very simple analytic equation, a complete study of the location and value of the critical contact stress has been carried out. From this study, a recommendation for the calculation of the pitting load capacity of spur and helical gears is proposed.     

On input‐to‐state stability‐based design for leader/follower formation control with measurement delays

This paper addresses the design of low‐level controllers for leader–follower formations of nonholonomic vehicles in the presence of bounded measurement delays. The concept of input‐to‐state stability is extended to encompass the effect of bounded delays and restrictions on the input. A method is proposed to integrate a Smith predictor in a backstepping design on the basis of nested saturations and nonlinear small‐gain assignment, which allows for time delays in the feedback loop. Robustness analysis under uncertain bounded time delays is provided, and design tradeoffs resulting from the use of bounded controls are discussed. Illustrative simulations are shown to validate the design and robustness analysis in the context of a simple leader–follower trailing control problem. Copyright © 2012 John Wiley & Sons, Ltd.     

压力隧洞设计与结构计算研究进展

针对目前压力隧洞设计现实和设计规范均不是很完善、结构计算缺乏可靠方法以及对内外水荷载作用下围岩衬砌联合承载机理研究还不深入的现状,对压力隧洞设计准则、结构计算以及内外水荷载作用下围岩衬砌联合承载机理这三个方面的国内外研究进展进行了综述,并指出存在的不足.基于研究现状的总结分析,提出了需要进一步深入研究的课题.研究成果可为压力隧洞的设计和结构计算提供参考.     

平底水垫塘透水底板下表面脉动压力试验研究

基于模型试验结果,研究了平底水垫塘透水底板下表面的脉动压力特性,分析了不透水底板及透水底板不同开孔率情况下的下表面脉动压力的分布规律、概率特性以及互相关特性和频谱特性。分析结果表明：在水舌冲击区,脉动压强系数随着开孔率的增大而增大;互相关系数随着开孔率的增加而略有减小,其旋涡保持性有所降低;透水底板较不透水底板下表面的脉动能量更加集中于低频。     

泄水涵洞中平板闸门流量系数的试验研究

通过对有平板闸门泄水涵洞的水流进行了试验,对涵洞关键点的压强、流量以及闸后收 缩水深进行测量,对相应各点的水头损失进行了计算,对试验数据进行了分析,得出了涵洞中闸 后收缩水深的拟合计算式,最后分析得出了涵洞中平板闸门的流量系数。结果表明了涵洞中的闸 门流量系数主要与涵洞前水库水深和涵洞的高度有关,其值比堰顶的流量系数大,比管嘴出流的 流量系数小。