A new dynamic path planning method in high dimensional workspace, radial based probabilistic roadmap motion (RBPRM) planning method, is presented. Different from general probabilistic roadmap motion planning methods, ...A new dynamic path planning method in high dimensional workspace, radial based probabilistic roadmap motion (RBPRM) planning method, is presented. Different from general probabilistic roadmap motion planning methods, it uses straight lines as long as possible to construct a path graph, so the final path obtained from the graph is relatively shorter and straighter. Experimental results show the efficiency of the algorithm in finding shorter paths in sparse environment.展开更多
The creation of geometric model of a ship to determine the characteristics of hydrostatic and hydrodynamic, and also for structural design and equipments arrangement are so important in the ship design process. Planni...The creation of geometric model of a ship to determine the characteristics of hydrostatic and hydrodynamic, and also for structural design and equipments arrangement are so important in the ship design process. Planning tunnel high speed craft is one of the crafts in which, achievement to their top speed is more important. These crafts with the use of tunnel have the aero-hydrodynamics properties to diminish the resistance, good sea-keeping behavior, reduce slamming and avoid porpoising. Because of the existence of the tunnel, the hull form generation of these crafts is more complex and difficult. In this paper, it has attempted to provide a method based on geometry creation guidelines and with an entry of the least control and hull form adjustment parameters, to generate automatically the hull form of plarming tunnel craft. At first, the equations of mathematical model are described and subsequent, three different models generated based on present method are compared and analyzed. Obviously, the generated model has more application in the early stages of design.展开更多
Researchers in P.R.China commonly create triangulate irregular networks(TINs) from contours and then convert TINs into digital elevation models(DEMs).However,the DEM produced by this method can not precisely describe ...Researchers in P.R.China commonly create triangulate irregular networks(TINs) from contours and then convert TINs into digital elevation models(DEMs).However,the DEM produced by this method can not precisely describe and simulate key hydrological features such as rivers and drainage borders.Taking a hilly region in southwestern China as a research area and using ArcGISTM software,we analyzed the errors of different interpolations to obtain distributions of the errors and precisions of different algorithms and to provide references for DEM productions.The results show that different interpolation errors satisfy normal distributions,and large error exists near the structure line of the terrain.Furthermore,the results also show that the precision of a DEM interpolated with the Australian National University digital elevation model(ANUDEM) is higher than that interpolated with TIN.The DEM interpolated with TIN is acceptable for generating DEMs in the hilly region of southwestern China.展开更多
This paper describes a specific case of mining in a water-rich coal seam in western China. Water inrushes,roof caving and other disasters induced by intensive mining operation could pose great threats to the safety of...This paper describes a specific case of mining in a water-rich coal seam in western China. Water inrushes,roof caving and other disasters induced by intensive mining operation could pose great threats to the safety of coal mines. The strata behavior during the high-intensity extraction in the water-rich coal seam is analyzed by employing the numerical simulation method and in situ monitoring. The results show that about 10 m ahead of the workface, the front abutment pressure peaks is at 34.13 MPa, while the peak of the side abutment pressure is located about 8 m away from the gateway with the value of 12.41 MPa; the height of the fracture zone, the first weighting step and the cycle weighting step are calculated to be 45,50 and 20.8 m, respectively; pressure distribution in the workface is characterized by that the vertical pressure in the center occurs earlier and is stronger than those on both ends. Then, the results above are verified by in situ measurement, which may provide a basis for safe mining under similar conditions.展开更多
文摘A new dynamic path planning method in high dimensional workspace, radial based probabilistic roadmap motion (RBPRM) planning method, is presented. Different from general probabilistic roadmap motion planning methods, it uses straight lines as long as possible to construct a path graph, so the final path obtained from the graph is relatively shorter and straighter. Experimental results show the efficiency of the algorithm in finding shorter paths in sparse environment.
文摘The creation of geometric model of a ship to determine the characteristics of hydrostatic and hydrodynamic, and also for structural design and equipments arrangement are so important in the ship design process. Planning tunnel high speed craft is one of the crafts in which, achievement to their top speed is more important. These crafts with the use of tunnel have the aero-hydrodynamics properties to diminish the resistance, good sea-keeping behavior, reduce slamming and avoid porpoising. Because of the existence of the tunnel, the hull form generation of these crafts is more complex and difficult. In this paper, it has attempted to provide a method based on geometry creation guidelines and with an entry of the least control and hull form adjustment parameters, to generate automatically the hull form of plarming tunnel craft. At first, the equations of mathematical model are described and subsequent, three different models generated based on present method are compared and analyzed. Obviously, the generated model has more application in the early stages of design.
基金Funded by the Natural Science Foundation of Chongqing under Grant No. CSTC2006AB1015.
文摘Researchers in P.R.China commonly create triangulate irregular networks(TINs) from contours and then convert TINs into digital elevation models(DEMs).However,the DEM produced by this method can not precisely describe and simulate key hydrological features such as rivers and drainage borders.Taking a hilly region in southwestern China as a research area and using ArcGISTM software,we analyzed the errors of different interpolations to obtain distributions of the errors and precisions of different algorithms and to provide references for DEM productions.The results show that different interpolation errors satisfy normal distributions,and large error exists near the structure line of the terrain.Furthermore,the results also show that the precision of a DEM interpolated with the Australian National University digital elevation model(ANUDEM) is higher than that interpolated with TIN.The DEM interpolated with TIN is acceptable for generating DEMs in the hilly region of southwestern China.
基金the National Basic Research Program of China (973 Program) under grant 2013CB227905
文摘This paper describes a specific case of mining in a water-rich coal seam in western China. Water inrushes,roof caving and other disasters induced by intensive mining operation could pose great threats to the safety of coal mines. The strata behavior during the high-intensity extraction in the water-rich coal seam is analyzed by employing the numerical simulation method and in situ monitoring. The results show that about 10 m ahead of the workface, the front abutment pressure peaks is at 34.13 MPa, while the peak of the side abutment pressure is located about 8 m away from the gateway with the value of 12.41 MPa; the height of the fracture zone, the first weighting step and the cycle weighting step are calculated to be 45,50 and 20.8 m, respectively; pressure distribution in the workface is characterized by that the vertical pressure in the center occurs earlier and is stronger than those on both ends. Then, the results above are verified by in situ measurement, which may provide a basis for safe mining under similar conditions.
