Based on the research on rock burst phenomenon induced by the breakage of thick and hard roof around roadways and working faces in coal mines, a criterion of rock burst induced by roof breakage （RBRB） was proposed a...Based on the research on rock burst phenomenon induced by the breakage of thick and hard roof around roadways and working faces in coal mines, a criterion of rock burst induced by roof breakage （RBRB） was proposed and the model was built. Through the model, a method calculating the varied stresses induced by roof breakage in support objects and coal body was proposed and a unified formula was derived for the calculation of stress increment on support objects and coal body under different breaking forms of roof. Whilst the formula for calculating dynamic load was derived by introducing dynamic index Kd. The formula was verified in Huating Mine by stress measurement. According to the formula for stress increment calculating, the sensitivities of dynamic load parameters were further studied. The results show that the thickness and breaking depth of roof, width of support objeet are the sensitive factors. Based on the discussion of the model, six associated effective methods for rock burst prevention are obtained.展开更多
A dead reckoning system for a wheeled mobile robot was designed, and the method for robot’s pose estimation in the 3D environments was presented on the basis of its rigid-body kinematic equations. After analyzing the...A dead reckoning system for a wheeled mobile robot was designed, and the method for robot’s pose estimation in the 3D environments was presented on the basis of its rigid-body kinematic equations. After analyzing the locomotion architecture of mobile robot and the principle of proprioceptive sensors, the kinematics model of mobile robot was built to realize the relative localization. Considering that the research on dead reckoning of mobile robot was confined to the 2 dimensional planes, the locomotion of mobile robot in the 3 coordinate axis direction was thought over in order to estimate its pose on uneven terrain. Because the computing method in a plane is rather mature, the calculation in height direction is emphatically represented as a key issue. With experimental results obtained by simulation program and robot platform, the position of mobile robot can be reliably estimated and the localization precision can be effectively improved, so the effectiveness of this dead reckoning system is demonstrated.展开更多
基金Project(2010CB226805) supported by the National Basic Research Program of ChinaProjects(30370412,30670558) supported by the National Natural Science Foundation of ChinaProject(SKLCRSM10X05) supported by the Self-research Program of the Key Laboratory of Coal Resources and Safe Mining,China
文摘Based on the research on rock burst phenomenon induced by the breakage of thick and hard roof around roadways and working faces in coal mines, a criterion of rock burst induced by roof breakage （RBRB） was proposed and the model was built. Through the model, a method calculating the varied stresses induced by roof breakage in support objects and coal body was proposed and a unified formula was derived for the calculation of stress increment on support objects and coal body under different breaking forms of roof. Whilst the formula for calculating dynamic load was derived by introducing dynamic index Kd. The formula was verified in Huating Mine by stress measurement. According to the formula for stress increment calculating, the sensitivities of dynamic load parameters were further studied. The results show that the thickness and breaking depth of roof, width of support objeet are the sensitive factors. Based on the discussion of the model, six associated effective methods for rock burst prevention are obtained.
基金Project(60234030) supported by the National Natural Science Foundation of China
文摘A dead reckoning system for a wheeled mobile robot was designed, and the method for robot’s pose estimation in the 3D environments was presented on the basis of its rigid-body kinematic equations. After analyzing the locomotion architecture of mobile robot and the principle of proprioceptive sensors, the kinematics model of mobile robot was built to realize the relative localization. Considering that the research on dead reckoning of mobile robot was confined to the 2 dimensional planes, the locomotion of mobile robot in the 3 coordinate axis direction was thought over in order to estimate its pose on uneven terrain. Because the computing method in a plane is rather mature, the calculation in height direction is emphatically represented as a key issue. With experimental results obtained by simulation program and robot platform, the position of mobile robot can be reliably estimated and the localization precision can be effectively improved, so the effectiveness of this dead reckoning system is demonstrated.
