Pile-slab structure roadbed is a new form of ballastless track for high speed railway. Due to lack of corresponding design code, based on the analysis of its structure characteristics and application requirements, it ...Pile-slab structure roadbed is a new form of ballastless track for high speed railway. Due to lack of corresponding design code, based on the analysis of its structure characteristics and application requirements, it is proposed to carry out load effect combination according to ultimate limit state and serviceability limit state, and the most unfavorable combination of each state is chosen to carry through design calculation for pile-slab structure. Space model of pile-slab structure can be simplified as a plane flame model, by using the orthogonal test method, and the design parameter of pile-slab structure is optimized. Moreover, based on the engineering background of Suining-Chongqing high-speed railway, the dynamic deformation characteristics of pile-slab structure roadbed are further researched by carrying on the indoor dynamic model test. The test results show that the settlement after construction of subgrade satisfies the requirement of settlement control to build ballastless track on soil subgrade for high-speed railway. Slab structure plays the role of arch shell as load is transmitted from slab to pile, and the vertical dynamic stress of subgrade soil is approximately of ＂K＂ form distribution with the depth. The distribution of pile stress is closely related to soil characteristics, which has an upset triangle shape where the large dynamic stress is at the top. Pile compared with soil shares most dynamic stress. Pile structure expands the depth of the dynamic response of subgrade has limited effect on dynamic response. These results can provide subgrade. and improves the stress of subgrade soil, and the speed of train scientific basis for pile-slab structure roadbed used on soil展开更多
A novel reconfigurable tracked robot based on four-link mechanism was proposed and released for the complicated terrain environment. This robot was modularly designed and developed, which is composed of one suspension...A novel reconfigurable tracked robot based on four-link mechanism was proposed and released for the complicated terrain environment. This robot was modularly designed and developed, which is composed of one suspension and one pair of symmetrical deployed reconfigurable track modules. This robot can implement multiple locomotion configurations by changing the track configuration, and the geometric theory analysis shows that the track length keeps constant during the process of track reconfiguration. Furthermore, a parameterized geometric model of the robot was established to analyze the kinematic performance of the robot while overcoming various obstacles. To investigate the feasibility and correctness of design theory and robot scheme, an example robot was designed to climb 45° slopes and 200 mm steps, and a group of design parameters of the robot were determined. Finally, A prototype of this robot was developed, and the test results show that the robot own powerful mobility and obstacle overcoming performance, for example, running across obstacle like mantis, extending to stride over entrenchment, standing up to elevate height, and going ahead after overturn.展开更多
基金Foundation item： Project（2013CB036405） supported by the National Basic Research Program of China Project（KZZD-EW-05） supported by the Key Research Program of the Chinese Academy of Sciences
文摘Pile-slab structure roadbed is a new form of ballastless track for high speed railway. Due to lack of corresponding design code, based on the analysis of its structure characteristics and application requirements, it is proposed to carry out load effect combination according to ultimate limit state and serviceability limit state, and the most unfavorable combination of each state is chosen to carry through design calculation for pile-slab structure. Space model of pile-slab structure can be simplified as a plane flame model, by using the orthogonal test method, and the design parameter of pile-slab structure is optimized. Moreover, based on the engineering background of Suining-Chongqing high-speed railway, the dynamic deformation characteristics of pile-slab structure roadbed are further researched by carrying on the indoor dynamic model test. The test results show that the settlement after construction of subgrade satisfies the requirement of settlement control to build ballastless track on soil subgrade for high-speed railway. Slab structure plays the role of arch shell as load is transmitted from slab to pile, and the vertical dynamic stress of subgrade soil is approximately of ＂K＂ form distribution with the depth. The distribution of pile stress is closely related to soil characteristics, which has an upset triangle shape where the large dynamic stress is at the top. Pile compared with soil shares most dynamic stress. Pile structure expands the depth of the dynamic response of subgrade has limited effect on dynamic response. These results can provide subgrade. and improves the stress of subgrade soil, and the speed of train scientific basis for pile-slab structure roadbed used on soil
基金Project(2007AA04Z256) supported by the National High Technology Research and Development Program of China
文摘A novel reconfigurable tracked robot based on four-link mechanism was proposed and released for the complicated terrain environment. This robot was modularly designed and developed, which is composed of one suspension and one pair of symmetrical deployed reconfigurable track modules. This robot can implement multiple locomotion configurations by changing the track configuration, and the geometric theory analysis shows that the track length keeps constant during the process of track reconfiguration. Furthermore, a parameterized geometric model of the robot was established to analyze the kinematic performance of the robot while overcoming various obstacles. To investigate the feasibility and correctness of design theory and robot scheme, an example robot was designed to climb 45° slopes and 200 mm steps, and a group of design parameters of the robot were determined. Finally, A prototype of this robot was developed, and the test results show that the robot own powerful mobility and obstacle overcoming performance, for example, running across obstacle like mantis, extending to stride over entrenchment, standing up to elevate height, and going ahead after overturn.
