The Force-Angle Measure of Tipover Stability Margin for Mobile Manipulators

Mobile manipulators operating in field environments will be required to apply large forces, or manipulate large loads, and to perform such tasks on uneven terrain which may cause the system to approach, or reach, a dangerous tipover instability. To avoid tipover in an automatic system, or to provide a human operator with an indication of proximity to tipover, it is necessary to define a measure of available stability margin. This work presents a new tipover stability measure (the Force-Angle stability measure) which has a simple geometric interpretation, is easily computed, and is sensitive to changes in Center of Mass height. The proposed metric is applicable to systems subject to inertial and external forces, operating over even or uneven terrains. Requirements for computation and implementation of the measure are described, and several different categories of application of the measure are presented along with useful normalizations. Performance of the Force-Angle measure is demonstrated and compared with that of other stability margin measures using a forestry vehicle simulation. Results show the importance of considering both center-of-mass height and system heaviness, and confirm the effectiveness of the Force-Angle measure in monitoring the tipover stability margin.     

Impact Analysis of the Reduction Effect for Reducing Joint Position of Stick-slip Fault TunnelEI北大核心

Research purposes: Based on an engineering of traffic tunnel, anti-breaking model experiment of large-scale 1 :30 is carried out under fault dislocation. Reduction effect of three working conditions(working condition A of no reducing joint, B of staggered setting of reducing joint and dislocation surface, C of reducing joint set at dislocation position) is comparatively analyzed by analysis of contact pressure, lining strain and lining stress. The optimal location of reduction joint is explored. Research conclusions:(1)The reduction effect of different position of reducing joint is different, such as A相似文献   

Efficient pricing of ships in the dry bulk sector of the shipping industry

The aim of this paper was to investigate the validity of the Efficient Market Hypothesis in conjunction with Rational Expectations in the formation of dry bulk ship prices over the period January 1976-December 1997. Tests for market efficiency include those of orthogonality and unpredictability of excess returns on investments and tests based on the Vector Autoregressive models proposed by Campbell and Shiller. The latter methodology is extended further to a 3-variable Vector Autoregressive model, which is applicable to real assets with limited economic life. Results indicate that prices for newbuilding and second-hand vessels are not determined efficiently in the sense of Fama. Failure of the Efficient Market Hypothesis in the formation of ship prices is explained by the existence of timevarying risk premia, which relate excess returns to investors' perceptions of risk. These are modelled through the Generalized Autoregressive Conditional Heteroscedasticity in mean (GARCH-M) models. The results have important implications for shipping investment strategies, both in the newbuilding and second-hand markets.     

Assimilation of buoy and satellite data in wave forecasts with integral control variables

The quality of numerical wave forecasts can be improved significantly by assimilating wave observations prior to the forecast. In the present study a technique for such assimilation is developed that exploits (a) the efficiency of a limited number of integral control variables, and (b) the effectiveness of variational (model-consistent) assimilation. The formal procedure is independent of the type of control variables and of the wave model (moreover, no adjoint wave model is required). In the present study, integral control variables are chosen to represent large-scale errors in the driving wind fields and uncertainties in the wave model. The assimilation technique is validated with observations of the ERS-1 satellite altimeter and two waverider buoys in two consecutive storms in the Norwegian Sea. The assimilation of the observations reduced the errors in the forecasted significant wave height at the buoy locations typically from 25% to 12%. For low-frequency waves the effect of the assimilation is similarly significant at one buoy location but marginal at the other buoy location.     

An operational tanker scheduling optimization system: background, current practice and model formulation

We describe the operational tanker scheduling problem in detail, as it relates to Chevron Shipping Company. We review the literature and current Chevron practice. We develop a model for the scheduling situation, and describe an integer programming formulation for schedule optimization, including the feasible schedule generation process, for a realistic representation of the company scheduling practices.     

On the background level of Tc, Sr and Cs in the North Atlantic

Mean concentrations of the anthropogenic radioactive oceanographic tracers ⁹⁹Tc, ⁹⁰Sr and ¹³⁷Cs have been measured as 0.005, 1.6 and 2.5 Bq m⁻³ in oceanic Northeast Atlantic surface water, east and northeast of the Azores, in 1992. This is, apparently, the first published value for fallout “background” ⁹⁹Tc in oceanic Atlantic water.Comparison with older data indicates an observed half life for ⁹⁰Sr and ¹³⁷Cs in the northeast Atlantic surface water of 20 yr corresponding to a mean residence time of 80–100 yr for the stable elements.The observed ⁹⁹Tc/⁹⁰Sr ratio (3 × 10⁻³) in the Azores samples is 10 times higher than the theoretical fission yield decay corrected to 1992. This is in agreement with published data on rain water samples and may be characteristic for 1960's global fallout. Furthermore, the measured ¹³⁷Cs/⁹⁰Sr ratio is not significantly different from that observed for global fallout. There do not appear to be any additional significant sources of artificial radionuclides in this region.     

Some properties of international maritime statistics

This paper tests two fundamental hypotheses concerning international maritime statistics. The first one deals with the question of stationary of the maritime market statistics. The second hypothesis tested is the assumption that the international maritime statistical time series are not distributed according to a normal of Guassian probability law, but rather belong to the same family of distributions with distinctly different critical parameters. Through well documented statistical methods, the paper concludes that the international freight rates observed on a day to day basis are generated by a random walk process. The paper finds that the shipping industry's conventioal wisdom is essentially correct. 'Last done' is as good a forecast of tomorrow's freight rate as any other generated by more sophisticated forecasting methods. Furthermore, freight rates and secondhand tonnage prices fluctuate closely together. The freight rates are generated by stochastic processes fully described by the Paretian family of distributions. The critical parameters of these distribution, the characteristic exponents, are such that the risk conscious ship operator can indeed reduce his exposure to risk by securing a correct set of freight rate contracts.     

A comparison between conventional and advanced handling systems for low volume container maritime terminals

In this paper a conventional low volume maritime terminal equipped with straddle carriers is compared against an advanced automatic stacking crane/automatic guided vehicle alternative. For both configurations a convenient layout was designed, a reasonable level of service (common for both terminals) was adopted, and the required amount of equipment was determined using computer simulation. The results indicate that the total cost per container and the area requirements do not differ considerably between the two configurations although there exist differences in the investment capital and the personnel required.     

Road Surface Correction o f Tire Test Data

Most tire data used for vehicle simulations is measured on laboratory test facilities. An investigation showed that the frictional properties of these laboratory machines can be quite different from actual road conditions. This paper describes a method to correct laboratory tire test data to be more like road data in order to achieve a higher degree of correlation between instrumented test- and simulation results.