2D profile lines play a critical role in cost-effectively evaluating rock joint properties and shear strength.However, the interval(ΔI_(L)) between these lines significantly impacts roughness and shear strength asses...2D profile lines play a critical role in cost-effectively evaluating rock joint properties and shear strength.However, the interval(ΔI_(L)) between these lines significantly impacts roughness and shear strength assessments. A detailed study of 45 joint samples using four statistical measures across 500 different ΔI_(L)values identified a clear line interval effect with two stages: stable and fluctuation-discrete.Further statistical analysis showed a linear relationship between the error bounds of four parameters,shear strength evaluation, and their corresponding maximum ΔI_(L)values, where the gradient k of this linear relationship was influenced by the basic friction angle and normal stress. Accounting for these factors,lower-limit linear models were employed to determine the optimal ΔI_(L)values that met error tolerances(1%–10%) for all metrics and shear strength. The study also explored the consistent size effect on joints regardless of ΔI_(L)changes, revealing three types of size effects based on morphological heterogeneity.Notably, larger joints required generally higher ΔI_(L)to maintain the predefined error limits, suggesting an increased interval for large joint analyses. Consequently, this research provides a basis for determining the optimal ΔI_(L), improving accuracy in 2D profile line assessments of joint characteristics.展开更多
Cracked straight-through Brazilian disc(CSTBD) samples prepared using two rock materials were used for thermal treatment from room temperature to 700℃. Uniaxial splitting experiments were performed using an automatic...Cracked straight-through Brazilian disc(CSTBD) samples prepared using two rock materials were used for thermal treatment from room temperature to 700℃. Uniaxial splitting experiments were performed using an automatic electro-hydraulic servo press to study the evolution laws of physical and fracture properties of different deep rock materials under high-temperature geological conditions. The fracture characteristics were measured using an industrial camera and digital image correlation technology to analyze the effect of high temperature on fracture properties and failure modes of the CSTBD samples after different thermal treatments. The micro-damage properties of green sandstone and granite materials were obtained using a scanning electron microscope(SEM). The following conclusions were drawn from the test results:(1) With the increasing temperature, the fracture characteristics of green sandstone and granite change from brittle fracture to plasticity fracture, the longitudinal wave velocity of granite decreases sharply at 600℃, and the damage factor reaches 0.8748 at 700℃.(2) The fracture toughness of green sandstone and granite decreases with increasing temperature;however, the decreasing range of granite is larger than that of green sandstone.(3) As the temperature increases, the fracture morphologies of green sandstone and granite materials become rougher, whereas thermal damage cracks of granite and intergranular fractures inside sandstone as well as pores of sandstone increase.(4) The crack tip opening displacement and peak strain corresponding to peak load increase with the temperature.展开更多
Dear editor,In this letter,we would like to discuss a method to avoid collisions and deadlocks in multi-robot systems based on a new concept of glued nodes.In terms of collision and deadlock avoidance,many methods are...Dear editor,In this letter,we would like to discuss a method to avoid collisions and deadlocks in multi-robot systems based on a new concept of glued nodes.In terms of collision and deadlock avoidance,many methods are based on zone control which has two disadvantages.First,unless all nodes are collision-free,the roadmap must be divided into disjoint zones,which increases the difficulty of applying the methods.Moreover,each zone should be able to accommodate a robot,which leads to imprecision and waste of space.This letter proposes the concept of glued nodes,which can dynamically determine the mutual influence between nodes based on the real-time sizes and paths of the robots.Based on the glued nodes,this letter proposes a collision and deadlock avoidance algorithm,which can be applied to multi-robot systems with variable-sized robots and roadmaps with any structure.The experimental results indicate that the method proposed in this letter is effective and efficient.展开更多
Multi-mobile robot systems(MMRSs)are widely used for transportation in industrial scenes such as manufacturing and warehousing.In an MMRS,motion coordination is important as collisions and deadlocks may lead to losses...Multi-mobile robot systems(MMRSs)are widely used for transportation in industrial scenes such as manufacturing and warehousing.In an MMRS,motion coordination is important as collisions and deadlocks may lead to losses or system stagnation.However,in some scenarios,robot sizes are different when loaded and unloaded,which means that the robots are variable-sized,making motion coordination more difficult.The methods based on zone control need to first divide the environment into disjoint zones,and then allocate the zones statically or dynamically for motion coordination.The zone-control-based methods are not accurate enough for variable-sized multi-mobile robots and reduce the efficiency of the system.This paper describes a motion coordination method based on glued nodes,which can dynamically avoid collisions and deadlocks according to the roadmap structure and the real-time paths of robots.Dynamic features make this method directly applicable to various scenarios,instead of dividing a roadmap into disjoint zones.The proposed method has been applied to many industrial projects,and this study is based on some manufacturing projects for experiments.Theoretical analysis and experimental results show that the proposed algorithm is effective and efficient.展开更多
基金the National Natural Science Foundation of China(Nos.42002275 and 52325905)the Natural Science Foundation of Zhejiang Province(No.LQ24D020012)+2 种基金the Open Research Fund of State Key Laboratory of Geomechanics and Geotechnical Engineering(No.SKLGME023007)Open Fund of Badong National Observation and Research Station of Geohazards(No.BNORSG202308)the Shaoxing Science and Technology Plan Project(No.2022A13003).
文摘2D profile lines play a critical role in cost-effectively evaluating rock joint properties and shear strength.However, the interval(ΔI_(L)) between these lines significantly impacts roughness and shear strength assessments. A detailed study of 45 joint samples using four statistical measures across 500 different ΔI_(L)values identified a clear line interval effect with two stages: stable and fluctuation-discrete.Further statistical analysis showed a linear relationship between the error bounds of four parameters,shear strength evaluation, and their corresponding maximum ΔI_(L)values, where the gradient k of this linear relationship was influenced by the basic friction angle and normal stress. Accounting for these factors,lower-limit linear models were employed to determine the optimal ΔI_(L)values that met error tolerances(1%–10%) for all metrics and shear strength. The study also explored the consistent size effect on joints regardless of ΔI_(L)changes, revealing three types of size effects based on morphological heterogeneity.Notably, larger joints required generally higher ΔI_(L)to maintain the predefined error limits, suggesting an increased interval for large joint analyses. Consequently, this research provides a basis for determining the optimal ΔI_(L), improving accuracy in 2D profile line assessments of joint characteristics.
基金funding support from the Sichuan Science and Technology Program (Grant No. 2021YJ0511)the State Key Laboratory for Geo-Mechanics and Deep Underground Engineering,China University of Mining&Technology (Grant No.SKLGDUEK2111)the Key Laboratory of Rock Mechanics and Geohazards of Zhejiang Province (Grant No. ZJRMG-2020-01)。
文摘Cracked straight-through Brazilian disc(CSTBD) samples prepared using two rock materials were used for thermal treatment from room temperature to 700℃. Uniaxial splitting experiments were performed using an automatic electro-hydraulic servo press to study the evolution laws of physical and fracture properties of different deep rock materials under high-temperature geological conditions. The fracture characteristics were measured using an industrial camera and digital image correlation technology to analyze the effect of high temperature on fracture properties and failure modes of the CSTBD samples after different thermal treatments. The micro-damage properties of green sandstone and granite materials were obtained using a scanning electron microscope(SEM). The following conclusions were drawn from the test results:(1) With the increasing temperature, the fracture characteristics of green sandstone and granite change from brittle fracture to plasticity fracture, the longitudinal wave velocity of granite decreases sharply at 600℃, and the damage factor reaches 0.8748 at 700℃.(2) The fracture toughness of green sandstone and granite decreases with increasing temperature;however, the decreasing range of granite is larger than that of green sandstone.(3) As the temperature increases, the fracture morphologies of green sandstone and granite materials become rougher, whereas thermal damage cracks of granite and intergranular fractures inside sandstone as well as pores of sandstone increase.(4) The crack tip opening displacement and peak strain corresponding to peak load increase with the temperature.
文摘Dear editor,In this letter,we would like to discuss a method to avoid collisions and deadlocks in multi-robot systems based on a new concept of glued nodes.In terms of collision and deadlock avoidance,many methods are based on zone control which has two disadvantages.First,unless all nodes are collision-free,the roadmap must be divided into disjoint zones,which increases the difficulty of applying the methods.Moreover,each zone should be able to accommodate a robot,which leads to imprecision and waste of space.This letter proposes the concept of glued nodes,which can dynamically determine the mutual influence between nodes based on the real-time sizes and paths of the robots.Based on the glued nodes,this letter proposes a collision and deadlock avoidance algorithm,which can be applied to multi-robot systems with variable-sized robots and roadmaps with any structure.The experimental results indicate that the method proposed in this letter is effective and efficient.
基金Project supported by the Key Research and Development Program of Zhejiang Province,China(No.2023C01174)。
文摘Multi-mobile robot systems(MMRSs)are widely used for transportation in industrial scenes such as manufacturing and warehousing.In an MMRS,motion coordination is important as collisions and deadlocks may lead to losses or system stagnation.However,in some scenarios,robot sizes are different when loaded and unloaded,which means that the robots are variable-sized,making motion coordination more difficult.The methods based on zone control need to first divide the environment into disjoint zones,and then allocate the zones statically or dynamically for motion coordination.The zone-control-based methods are not accurate enough for variable-sized multi-mobile robots and reduce the efficiency of the system.This paper describes a motion coordination method based on glued nodes,which can dynamically avoid collisions and deadlocks according to the roadmap structure and the real-time paths of robots.Dynamic features make this method directly applicable to various scenarios,instead of dividing a roadmap into disjoint zones.The proposed method has been applied to many industrial projects,and this study is based on some manufacturing projects for experiments.Theoretical analysis and experimental results show that the proposed algorithm is effective and efficient.
