Because of its ease of implementation,a linear PID controller is generally used to control robotic manipulators.Linear controllers cannot effectively cope with uncertainties and variations in the parameters;therefore,...Because of its ease of implementation,a linear PID controller is generally used to control robotic manipulators.Linear controllers cannot effectively cope with uncertainties and variations in the parameters;therefore,nonlinear controllers with robust performance which can cope with these are recommended.The sliding mode control(SMC)is a robust state feedback control method for nonlinear systems that,in addition having a simple design,efficiently overcomes uncertainties and disturbances in the system.It also has a very fast transient response that is desirable when controlling robotic manipulators.The most critical drawback to SMC is chattering in the control input signal.To solve this problem,in this study,SMC is used with a boundary layer(SMCBL)to eliminate the chattering and improve the performance of the system.The proposed SMCBL was compared with inverse dynamic control(IDC),a conventional nonlinear control method.The kinematic and dynamic equations of the IRB-120 robot manipulator were initially extracted completely and accurately,and then the control of the robot manipulator using SMC was evaluated.For validation,the proposed control method was implemented on a 6-DOF IRB-120 robot manipulator in the presence of uncertainties.The results were simulated,tested,and compared in the MATLAB/Simulink environment.To further validate our work,the results were tested and confirmed experimentally on an actual IRB-120 robot manipulator.展开更多
The Daliangshan tectonic zone is a rhombic area to the east of the Anninghe and Zemuhe fault zones in the middle segment of the Xianshuihe-Xiaojiang fault system along the southeast margin of the Qinghai-Xizang （Tibe...The Daliangshan tectonic zone is a rhombic area to the east of the Anninghe and Zemuhe fault zones in the middle segment of the Xianshuihe-Xiaojiang fault system along the southeast margin of the Qinghai-Xizang （Tibet） Plateau. Since the Cenozoic era, the neotectonic deformation in the Daliangshan tectonic zone has presented not only sinistral slip and reverse faulting along the Daliangshan fault zone, but also proximate SN-trending crust shortening. It is estimated that the average crust shortening in the Daliangshan tectonic zone is 10.9 ± 1.6 km, with a shortening rate of 17.8 ± 2.2% using the method of balanced cross-sections. The crust shortening from folding occurred mainly in the Miocene and the Pliocene periods, lasting no more than 8.6 Ma. Based on this, a crust shortening velocity of 1.3 ± 0.2 mm/a can be estimated. Compared with the left offset along the Daliangshan fault zone, it is recognized that crust shortening by folding plays an important part in transferring crustal deformation southeastward along the Xianshulhe-Xiaojiang fault system.展开更多
Uncertainties are common in the dating of paleoearthquakes.To improve the credibility of the dating of paleoearthquakes,analysis was done on fault activity,sedimentary environment and seismo-geomorphology to investiga...Uncertainties are common in the dating of paleoearthquakes.To improve the credibility of the dating of paleoearthquakes,analysis was done on fault activity,sedimentary environment and seismo-geomorphology to investigate paleoearthquakes along the Zemuhe active fault zone.Grouped trenches were excavated near Daqingliangzi,which revealed three palaeoearthquake events aged 160a,3100a and 5500a～8900a,respectively,including recurrence intervals of about 3000a.Sedimentary processes related to strike-slip fault type earthquakes were discussed,and a sedimentary model was put forward for strike-slip faults at hillsides where drumlin and reverse scarp developed.展开更多
The MS6.4 Menyuan earthquake occurred on the northern side of the Lenglongling fault(LLLF) in the mid-western of the Qilian-Haiyuan fault zone on January 21, 2016. The earthquake epicenter was distant from the Minle-D...The MS6.4 Menyuan earthquake occurred on the northern side of the Lenglongling fault(LLLF) in the mid-western of the Qilian-Haiyuan fault zone on January 21, 2016. The earthquake epicenter was distant from the Minle-Damaying and Huangcheng-Shuangta faults, eastern of the Northern Qilian Shan fault zone. A near northwest-striking rupture plane intersects the two faults at a certain angle. The focal mechanism solution shows that this was a thrust-type earthquake, slightly different from the strike-slip movement with a thrust component of the LLLF. Field geological mapping, tectonic geomorphology analysis, trench excavation and 14 C dating reveal that(1) the LLLF has been obviously active since the Holocene, and may behave with characteristic slip behavior and produce M_W7.3–7.5 earthquakes;(2) the LLLF appears as a flower structure in terms of structure style, and dips NNE at a steep angle; and(3) the most recent earthquake event occurred after 1815–1065 a BP. An associated fault, the Northern Lenglongling fault(NLLLF), is located at the northwestern end of the LLLF. Consequently, the NLLLF was continually subject to tectonic pushing effects from the left-lateral shear at the end of the LLLF, and, accordingly, it bent and rotated outward tectonically.Subsequently, the fault deviated from the dominant rupture azimuth and activity weakened. In the late Quaternary, it behaved as a thrust fault with no obvious deformation at the surface. This is indicated by the arc shape, with a micro-protrusion northeastward,and no geologic or geomorphic signs of surface rupturing since the late Quaternary. However, such faults could still rupture at depth, producing moderate-strong earthquakes. The geometric and kinematic properties of the NLLLF are in good agreement with the occurrence and kinematic properties of nodal plane 2, and with the distribution characteristics of the aftershocks and seismic intensity. Therefore, the NLLLF is a more suitable seismogenic structure for the MS 6.4 Menyuan earthquake. In addition, the thrust movement of the NLLLF accommodates subsequent movement of the LLLF. During the historical evolution of the NLLLF,the LLLF and the NLLLF have affected the local topography through tectonic uplift.展开更多
文摘Because of its ease of implementation,a linear PID controller is generally used to control robotic manipulators.Linear controllers cannot effectively cope with uncertainties and variations in the parameters;therefore,nonlinear controllers with robust performance which can cope with these are recommended.The sliding mode control(SMC)is a robust state feedback control method for nonlinear systems that,in addition having a simple design,efficiently overcomes uncertainties and disturbances in the system.It also has a very fast transient response that is desirable when controlling robotic manipulators.The most critical drawback to SMC is chattering in the control input signal.To solve this problem,in this study,SMC is used with a boundary layer(SMCBL)to eliminate the chattering and improve the performance of the system.The proposed SMCBL was compared with inverse dynamic control(IDC),a conventional nonlinear control method.The kinematic and dynamic equations of the IRB-120 robot manipulator were initially extracted completely and accurately,and then the control of the robot manipulator using SMC was evaluated.For validation,the proposed control method was implemented on a 6-DOF IRB-120 robot manipulator in the presence of uncertainties.The results were simulated,tested,and compared in the MATLAB/Simulink environment.To further validate our work,the results were tested and confirmed experimentally on an actual IRB-120 robot manipulator.
基金the National Natural Science Foundation of China(40472109)"973"State Key Basic Research Project of China(2004CB418410)Joint Eanthquake Science Foundation of China(105066)
文摘The Daliangshan tectonic zone is a rhombic area to the east of the Anninghe and Zemuhe fault zones in the middle segment of the Xianshuihe-Xiaojiang fault system along the southeast margin of the Qinghai-Xizang （Tibet） Plateau. Since the Cenozoic era, the neotectonic deformation in the Daliangshan tectonic zone has presented not only sinistral slip and reverse faulting along the Daliangshan fault zone, but also proximate SN-trending crust shortening. It is estimated that the average crust shortening in the Daliangshan tectonic zone is 10.9 ± 1.6 km, with a shortening rate of 17.8 ± 2.2% using the method of balanced cross-sections. The crust shortening from folding occurred mainly in the Miocene and the Pliocene periods, lasting no more than 8.6 Ma. Based on this, a crust shortening velocity of 1.3 ± 0.2 mm/a can be estimated. Compared with the left offset along the Daliangshan fault zone, it is recognized that crust shortening by folding plays an important part in transferring crustal deformation southeastward along the Xianshulhe-Xiaojiang fault system.
基金funded by the National Key Technology R&D Program(2004CB418401)
文摘Uncertainties are common in the dating of paleoearthquakes.To improve the credibility of the dating of paleoearthquakes,analysis was done on fault activity,sedimentary environment and seismo-geomorphology to investigate paleoearthquakes along the Zemuhe active fault zone.Grouped trenches were excavated near Daqingliangzi,which revealed three palaeoearthquake events aged 160a,3100a and 5500a～8900a,respectively,including recurrence intervals of about 3000a.Sedimentary processes related to strike-slip fault type earthquakes were discussed,and a sedimentary model was put forward for strike-slip faults at hillsides where drumlin and reverse scarp developed.
基金supported by a Special Project on Earthquake Research, the China Active Fault Survey Project-The South-North Seismic Zone Northern Segment (Grant No. 201408023)Fundamental Research Funds in Institute of Crustal Dynamics, China Earthquake Administration (Grant No. ZDJ2015-16)
文摘The MS6.4 Menyuan earthquake occurred on the northern side of the Lenglongling fault(LLLF) in the mid-western of the Qilian-Haiyuan fault zone on January 21, 2016. The earthquake epicenter was distant from the Minle-Damaying and Huangcheng-Shuangta faults, eastern of the Northern Qilian Shan fault zone. A near northwest-striking rupture plane intersects the two faults at a certain angle. The focal mechanism solution shows that this was a thrust-type earthquake, slightly different from the strike-slip movement with a thrust component of the LLLF. Field geological mapping, tectonic geomorphology analysis, trench excavation and 14 C dating reveal that(1) the LLLF has been obviously active since the Holocene, and may behave with characteristic slip behavior and produce M_W7.3–7.5 earthquakes;(2) the LLLF appears as a flower structure in terms of structure style, and dips NNE at a steep angle; and(3) the most recent earthquake event occurred after 1815–1065 a BP. An associated fault, the Northern Lenglongling fault(NLLLF), is located at the northwestern end of the LLLF. Consequently, the NLLLF was continually subject to tectonic pushing effects from the left-lateral shear at the end of the LLLF, and, accordingly, it bent and rotated outward tectonically.Subsequently, the fault deviated from the dominant rupture azimuth and activity weakened. In the late Quaternary, it behaved as a thrust fault with no obvious deformation at the surface. This is indicated by the arc shape, with a micro-protrusion northeastward,and no geologic or geomorphic signs of surface rupturing since the late Quaternary. However, such faults could still rupture at depth, producing moderate-strong earthquakes. The geometric and kinematic properties of the NLLLF are in good agreement with the occurrence and kinematic properties of nodal plane 2, and with the distribution characteristics of the aftershocks and seismic intensity. Therefore, the NLLLF is a more suitable seismogenic structure for the MS 6.4 Menyuan earthquake. In addition, the thrust movement of the NLLLF accommodates subsequent movement of the LLLF. During the historical evolution of the NLLLF,the LLLF and the NLLLF have affected the local topography through tectonic uplift.
