A free gait generation method for quadruped robots over rough terrains containing forbidden areas

Shuaishuai Zhang,Xuewen Rong,Yi-bin Li,Bin Li 대한기계학회 2015 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.29 No.9

Planning a robust gait is one of the most basic aspects to enable a quadruped robot to walk stably on rough terrains. In this paper, wefocus on the scenario where a quadruped robot travelling on the rough terrains containing forbidden areas, and a free gait generationmethod for quadruped robot is proposed. Under the assumption that a set of the positions which can be selected as the foothold is given,the quadruped robot can select the swing foot sequence and choose the best foothold for the swing foot automatically. A body sway motionis included into the motion planning of the free gait to enlarge the stability margin of the robot. With the aid of the sway motion, thestability margin of the robot is no less than the minimum stability margin during the whole walking process. In order to guarantee thelocomotion continuity of the quadruped robot, a COG trajectory which has continuous velocity and acceleration profiles is automaticallygenerated. Moreover, the locomotion speed of the robot is improved by ensuring the kinematic margin of the selected swing foot to bezero just before this foot lift-off the ground. With the free gait generation method proposed in this paper, the robot can autonomouslynavigate through rough terrains as soon as possible on the condition that the robot has enough stability margin. The simulation resultsshow the correctness and effectiveness of the proposed method.

Study on the Mechanism of Grouting in the Construction of Metro Cross Passage

CUI SHUAISHUAI,Wu Ke,유충식,Zhang Qianjn,Zhang Zheng,Zhao Jiahui 한국지반신소재학회 2019 한국토목섬유학회 학술발표회 Vol.2019 No.3

Pd nanoparticles supported on N-doped porous carbons derived from ZIF-67: Enhanced catalytic performance in phenol hydrogenation

Shuaishuai Ding,Chunhua Zhang,Yefei Liu,Hong Jiang,Weihong Xing,Rizhi Chen 한국공업화학회 2017 Journal of Industrial and Engineering Chemistry Vol.46 No.-

We reported a Pd@CN catalyst made of Pd nanoparticles supported on a N-doped carbon derived fromZIF-67. The CN materials with micro/mesoporous structures were well developed for the loading of Pdnanoparticles and improving the catalytic performances. With the increase of calcination temperature ofZIF-67, the BET surface of CN materials initially increased and then reduced. Moreover, the highercalcination temperature would lead to lower nitrogen content in CN materials, causing lower selectivityof phenol hydrogenation to cyclohexanone. Our Pd@CN600 catalyst achieved a conversion of ca. 95% and aselectivity of ca. 95%, and exhibited excellent stability during recycling experiments

Soil Arch Evolution Characteristics and Parametric Analysis of Slope Anchored Anti-slide Pile

Sifeng Zhang,Chao Li,Hui Qi,Xingji Chen,Shuaishuai Ma 대한토목학회 2021 KSCE JOURNAL OF CIVIL ENGINEERING Vol.25 No.11

The soil arching effect can significantly impact the bearing characteristics of the slope anchored anti-slide pile. Therefore, it is very important to investigate the internal force characteristics of the soil arch and the mechanism of pile-soil interaction. In this paper, the evolution mechanism and influencing parameters of the soil arching effect of anchored anti-slide pile are analyzed, from a qualitative and quantitative perspective through model tests and numerical simulation methods. Findings are summarized as follows: 1) the formation and evolution of the soil arches can be roughly divided into three stages: the initial stage, the development and formation of soil arches, and the failure and re-formation of soil arches. The stable arch feet are firstly formed, and a complete arch is generated. Then the landslide thrust is transmitted to form a stable anti-slide pile structure, so the anchored anti-slide pile can play a role in slope anti-slide. 2) During the formation and evolution of the soil arches, the soil particles between the piles transfer the landslide thrust to the anti-slide pile through the soil arches. 3) The bearing capacity of the soil arches decreases with the increase of the pile spacing. And the increase of the soil compaction can efficiently increase the bearing capacity of the soil arches and give full play to the role of slope anti-slide. 4) The growing of soil particle size, the enhancement of soil particle friction coefficient, and the decreasing of corresponding soil void ratio are all conducive to the formation of the soil arches. These can benefit the anti-sliding effect of the anchored anti-slide piles in engineering application.

Mechanical Mechanism of Main Tunnels and Cross Passage Construction - A 3D Numerical Investigation

Yoo, Chungsik,Shuaishuai, Cui,Ke, Wu,Qianjn, Zhang,Zheng, Zhang,Jiahui, Zhao Korean Geosynthetics Society 2019 한국지반신소재학회 논문집 Vol.18 No.1

This paper presents the results of a three-dimensional numerical investigation into the mechanical mechanism of main tunnels and cross passage construction. Aimed at the complex space structure composed of two main tunnels and cross passage, 3D numerical model of the structure and surrounding rock was built to analyze the influence. Comparative analysis of different buried depths were carried out. The results of the study indicate that the stress concentration was occurred in the intersecting linings, especially in the opening side lining, which leads to an unfavorable form of force that is pulled up by the upper and lower sections in the intersecting linings due to the construction of the cross passage. The excavation of the cross passage also destroys the stability of the original soil layer and causes settlement of the surface and main tunnels. Practical implications of the findings are discussed.

Mechanical Mechanism of Main Tunnels and Cross Passage Construction - A 3D Numerical Investigation

유충식,Cui Shuaishuai,Wu Ke,Zhang Qianjn,Zhang Zheng,Zhao Jiahui 한국지반신소재학회 2019 한국지반신소재학회 논문집 Vol.18 No.1

This paper presents the results of a three-dimensional numerical investigation into the mechanical mechanism of main tunnels and cross passage construction. Aimed at the complex space structure composed of two main tunnels and cross passage, 3D numerical model of the structure and surrounding rock was built to analyze the influence. Comparative analysis of different buried depths were carried out. The results of the study indicate that the stress concentration was occurred in the intersecting linings, especially in the opening side lining, which leads to an unfavorable form of force that is pulled up by the upper and lower sections in the intersecting linings due to the construction of the cross passage. The excavation of the cross passage also destroys the stability of the original soil layer and causes settlement of the surface and main tunnels. Practical implications of the findings are discussed.

Highly Sensitive Luminescence Assessment of Bile Acid Using a Balofloxacin-Europium(III) Probe in Micellar Medium

Huan Cai,Fang Zhao,Hailin Si,Shuaishuai Zhang,Chunchun Wang,Peirong Qi 대한화학회 2012 Bulletin of the Korean Chemical Society Vol.33 No.12

A novel and simple method of luminescence enhancement effect for the determination of trace amounts of bile acid was proposed. The procedure was based on the luminescence intensity of the balofloxacin-europium(III) complex that could be strongly enhanced by bile acid in the presence of sodium dodecyl benzene sulfonate (SDBS). Under the optimum conditions, the enhanced luminescence intensity of the system exhibited a good linear relationship with the bile acid concentration in the range 5.0 × 10−9 - 7.0 × 10−7 mol L−1 with a detection limit of 1.3 × 10−9 mol L−1 (3σ). The relative standard deviation (RSD) was 1.7% (n = 11) for 5.0 × 10−8 mol L−1 bile acid. The applicability of the method to the determination of bile acid was demonstrated by investigating the effect of potential interferences and by analyzing human serum and urine samples. The possible enhancement mechanism of luminescence intensity in balofloxacin-europium(III)-bile acid-SDBS system was also discussed briefly.

Highly Sensitive Luminescence Assessment of Bile Acid Using a Balofloxacin-Europium(III) Probe in Micellar Medium

Cai, Huan,Zhao, Fang,Si, Hailin,Zhang, Shuaishuai,Wang, Chunchun,Qi, Peirong Korean Chemical Society 2012 Bulletin of the Korean Chemical Society Vol.33 No.12

A novel and simple method of luminescence enhancement effect for the determination of trace amounts of bile acid was proposed. The procedure was based on the luminescence intensity of the balofloxacin-europium(III) complex that could be strongly enhanced by bile acid in the presence of sodium dodecyl benzene sulfonate (SDBS). Under the optimum conditions, the enhanced luminescence intensity of the system exhibited a good linear relationship with the bile acid concentration in the range $5.0{\times}10^{-9}-7.0{\times}10^{-7}\;mol\;L^{-1}$ with a detection limit of $1.3{\times}10^{-9}\;mol\;L^{-1}$ ($3{\sigma}$). The relative standard deviation (RSD) was 1.7% (n = 11) for $5.0{\times}10^{-8}\;mol\;L^{-1}$ bile acid. The applicability of the method to the determination of bile acid was demonstrated by investigating the effect of potential interferences and by analyzing human serum and urine samples. The possible enhancement mechanism of luminescence intensity in balofloxacin-europium(III)-bile acid-SDBS system was also discussed briefly.

太极拳馆高质量发展的双元平衡路径

刘硕(Shuo Liu),李爱增(Aizeng Li),张帅帅(Shuaishuai Zhang) YIXIN 출판사 2023 Journal of Humanities and Social Sciences Vol.1 No.2

作为体育场馆的重要组成部分以及构建更高水平的全民健身公共服务体系重要推动力,太极拳馆应紧跟时代步伐,走向高质量发展的道路。本文在太极拳馆高质量发展的机会和困境分析之后,提出以双元平衡为理论基础的经济效益与社会效益双元平衡的发展路径。 As an important component of sports venues and an important driving force for building a higher-level public service system for national fitness, Tai Chi gymnasium should keep up with the pace of the times and move towards high-quality development. After analyzing the opportunities and difficulties of high-quality development of Tai Chi Gymnasium, this article proposes a development path based on the dual balance of economic and social benefits.