基于目前新近提出的离散机械最优控制(Discrete Mechanics and Optimal Control)算法针对水下机器人的路径规划进行了仿真研究,设计的轨迹的轨迹经仿真实验能够按照能量或者最优的路径对设定的障碍进行有效避让。证明此算法能够有较强...基于目前新近提出的离散机械最优控制(Discrete Mechanics and Optimal Control)算法针对水下机器人的路径规划进行了仿真研究,设计的轨迹的轨迹经仿真实验能够按照能量或者最优的路径对设定的障碍进行有效避让。证明此算法能够有较强的实用性。同时文章涉及的理论算法为进一应用到其它类似机械装置,比如无人飞行器,机器人的路径规划与控制提供了一种新的方法思路。展开更多
The discrete element method (DEM) was used to simulate the flow characteristic and strength characteristic of the conditioned sands in the earth pressure balance (EPB) tunneling. In the laboratory the conditioned sand...The discrete element method (DEM) was used to simulate the flow characteristic and strength characteristic of the conditioned sands in the earth pressure balance (EPB) tunneling. In the laboratory the conditioned sands were reproduced and the slump test and the direct shear test of the conditioned sands were implemented. A DEM equivalent model that can simulate the macro mechanical characteristic of the conditioned sands was proposed,and the corresponding numerical models of the slump test and the shear test were established. By selecting proper DEM model parameters,the errors of the slump values between the simulation results and the test results are in the range of 10.3%-14.3%,and the error of the curves between the shear displacement and the shear stress calculated with the DEM simulation is 4.68%-16.5% compared with that of the laboratory direct shear test. This illustrates that the proposed DEM equivalent model can approximately simulate the mechanical characteristics of the conditioned sands,which provides the basis for further simulation of the interaction between the conditioned soil and the chamber pressure system of the EPB machine.展开更多
文摘基于目前新近提出的离散机械最优控制(Discrete Mechanics and Optimal Control)算法针对水下机器人的路径规划进行了仿真研究,设计的轨迹的轨迹经仿真实验能够按照能量或者最优的路径对设定的障碍进行有效避让。证明此算法能够有较强的实用性。同时文章涉及的理论算法为进一应用到其它类似机械装置,比如无人飞行器,机器人的路径规划与控制提供了一种新的方法思路。
基金Project (2007CB714006) supported by the National Basic Research Program of China
文摘The discrete element method (DEM) was used to simulate the flow characteristic and strength characteristic of the conditioned sands in the earth pressure balance (EPB) tunneling. In the laboratory the conditioned sands were reproduced and the slump test and the direct shear test of the conditioned sands were implemented. A DEM equivalent model that can simulate the macro mechanical characteristic of the conditioned sands was proposed,and the corresponding numerical models of the slump test and the shear test were established. By selecting proper DEM model parameters,the errors of the slump values between the simulation results and the test results are in the range of 10.3%-14.3%,and the error of the curves between the shear displacement and the shear stress calculated with the DEM simulation is 4.68%-16.5% compared with that of the laboratory direct shear test. This illustrates that the proposed DEM equivalent model can approximately simulate the mechanical characteristics of the conditioned sands,which provides the basis for further simulation of the interaction between the conditioned soil and the chamber pressure system of the EPB machine.
