六自由度模块化机械臂的逆运动学分析

针对自主研发的六自由度(DOF)模块化机械臂,提出一种逆运动学求解方法.根据机械臂的结构特点和运动学约束,对机械臂的运动学进行分析.建立该类型机械臂的正运动学模型,得到了机械臂逆运动学的完整解析解.采用Denavit-Hartenberg(D-H)法对机械臂操作空间进行描述,在考虑机械臂运动学约束的基础上,得到以关节角度为变量的正运动学模型.通过分析正运动学模型的可解性,采用矩阵逆乘的解析法求解机械臂的正运动学模型,得到了该类机械臂逆运动学的完整解析解.通过仿真验证了正运动学模型及运动学逆解的正确性,运动学逆解可以用于机械臂末端执行器的精确定位和运动规划.     

砌体等效断裂韧度的实用解析方法研究

根据砌体准脆性材料的断裂特性,提出了一种基于竖向灰缝模型的求解砌体等效断裂韧度的实用解析方法.首先根据复合材料力学和线弹性断裂力学的基本原理,运用修正的剪滞理论,分区引入变异层,建立了分层剪滞模型;然后根据能量法则,推导出了求解无筋砌体等效断裂韧度的解析计算模式;最后针对相关试验数据,得到了对应数值解的解析解,且与相关试验对应的数值解相比,解析解的均方差和变异系数更小,由此可以看出,本文的解析方法具有很好的鲁棒性.结果还证明了无筋砌体等效断裂韧度是与试件尺寸无关的断裂参数.该方法为砌体结构开裂机理的研究和发展,砌体结构力学性能的研究提供了新的技术路径.     

一种研究油气藏成藏史的新方法

为了提高油气藏的成藏过程研究的准确性,G eorge,Bhu llar等在前人的基础上改进提出了使用油气藏内包裹体的化学成分来研究油藏的成藏史。通过特定的方法对包裹体内油气进行分析,并和现今的油气源进行对比就可以确定油气的成藏史。这种方法直接针对古油气,所以油气藏的成藏史恢复会更加准确有效。对某多期成藏的油气藏的包裹体成分地化分析,结合其它的分析方法很容易恢复油藏的成藏过程。     

Incremental join view maintenance on distributed log-structured storage

Modern database systems desperate for the ability to support highly scalable transactions and efficient queries simultaneously for real-time applications. One solution is to utilize query optimization techniques on the on-line transaction processing (OLTP) systems. The materialized view is considered as a panacea to decrease query latency. However, it also involves the significant cost of maintenance which trades away transaction performance. In this paper, we examine the design space and conclude several design features for the implementation of a view on a distributed log-structured merge-tree (LSMtree), which is a well-known structure for improving data write performance. As a result, we develop two incremental view maintenance (IVM) approaches on LSM-tree. One avoids join computation in view maintenance transactions. Another with two optimizations is proposed to decouple the view maintenance with the transaction process. Under the asynchronous update, we also provide consistency queries for views. Experiments on TPC-H benchmark show our methods achieve better performance than straightforward methods on different workloads.     

基于水流与地质双因素的险工险段成因调查研究

在河势水流对险工险段成因研究成果的基础上,重点分析了堤基地质条件的影响。对广东省省管河道范围内的历史险工险段进行调研,梳理出了不同成因险段占比。以此为基础,选取江新联围进行水流与地质双因素的险工险段成因调查研究,通过水文测试、河床质取样以及室内试验,分析了各历史险段的成因。结果表明除水流条件较差外,各险段堤基也多以软土为主。基于此,增选了3个河势条件较差的非险段作为参照对比组,结果显示若地质条件较好,即使水流条件较差也不会形成险段。调查分析表明,河道险工险段的成因与河势水流和地质因素均密切相关,尤其是分布于软土地基区域的堤段,地质因素更是不可忽视。     

A review of the geomechanics aspects of a double fatality coal burst at Austar Colliery in NSW,Australia in April 2014

A coal burst occurred on 15 April, 2014 at the Austar Coal Mine, located west of Newcastle, NSW,Australia. The burst resulted in fatal injuries to two men working as part of the mining crew at the development face. At the time, a continuous miner was being used to mine a longwall development gate road through heavily structured coal, at a depth of approximately 550 m. A number of pre-cursor bumps had occurred on previous shifts, emanating from the coal ribs of the roadway, in proximity to the coal face.This paper reviews the geological, geotechnical and mining conditions and circumstances leading up to the coal burst event; and presents and discusses the available evidence and possible interpretations relating to the geomechanical behaviour mechanisms that may have been critical factors in this incident. The paper also discusses some key technical and operational considerations of ground support systems and mining practices and strategies needed for operating in such conditions in the future.     

四川省大瑞乡泥石流灾害特征及减灾对策

在地质勘查的基础上,分析了大瑞乡泥石流形成条件、基本特征,并计算了泥石流的容重、流量、流速、冲出量等动力学参数,计算证明大瑞乡泥石流属于中频暴雨沟谷型泥石流。根据泥石流的具体情况和当地经济、社会、生态建设的需要,以及被保护对象的重要性,提出了"拦防结合"的防治对策。     

切削加工表面完整性建模现状与发展趋势

针对切削加工表面完整性建模方法种类繁多且相互关系揭示不明等问题,总结了各表面完整性指标,包括表面形貌、残余应力、加工硬化和相变的主要建模方法,并从各建模方法的应用范围以及主要成果的角度概括了表面完整性建模的研究现状.论述了解析建模与数值建模方法在预测表面完整性各指标时的优缺点及内在联系,重点分析了数值模拟技术在表面完整性建模中的作用.指出了国内外表面完整性研究体系的区别及联系,并对表面完整性建模的发展方向作了展望.     

基于解析解的四阶PDE曲面裁剪方法

该文提出了一种可以广泛应用于四阶PDE曲面的裁剪方法。利用PDE的参数域内的曲线在曲面上投影,得到所求裁剪曲面的边界曲线,然后通过边界曲线的导矢与曲面在边界曲线处的法向量得到边界曲线处的跨界导矢,最后以求得的裁剪曲面的边界曲线以及裁剪曲面在边界曲线处的跨界导矢为PDE曲面的边界条件,用四阶的PDE曲面方程求得PDE裁剪曲面。     

Stress analytical solution for plane problem of a double-layered thick-walled cylinder subjected to a type of non-uniform distributed pressure

The stress state around circular openings,such as boreholes,shafts,and tunnels,is usually needed to be evaluated.Solutions for stresses,strains and ultimate bearing capacities of pressurized hollow cylinder are common cases.Stress analytical method for plane problem of a double-layered thick-walled cylinder subjected to a type of non-uniform pressure on the outer surface and uniform radial pressure on the inner surface is given.The power series method of complex function is used.The stress analytical solution is obtained with the assumption that two layers of a cylinder are fully contacted.The distributions of normal and tangential contact stress along the interface,tangential stress on the inner boundary and stresses in the radial direction at θ=0,45 and 90,are obtained.An example indicates that,when the elastic modulus of the inner layer of a double-layered thick-walled cylinder is smaller than that of the outer layer,the tangential stress is smaller than that in the corresponding point for a traditional cylinder composed of homogeneous materials.In that way,stress concentration at the inner surface can be alleviated and the stress distribution is more uniform.This is a capable way to enhance the elastic ultimate bearing capacity of thick-walled cylinder.