摘要：A calculation formula of thermal-hydro-mechanical(THM)coupling crack initiation rate for brittle rock was derived based on the energy conservation *** self-designed THM coupling fracture test with conductive adhesive electrical measurement method was applied to measuring the THM coupling crack propagation rate of brittle rock *** results show that both calculation and test results of crack initiation rate increased with increase of the temperature and the hydraulic *** are almost in good agreement,which can prove validity of the calculation formula of THM coupling crack initiation rate.

摘要：Based on main physical and mechanical properties of deep-sea sediment from C-C poly-metallic nodule mining area in the Pacific Ocean, the best sediment simulant was successfully prepared by mixing bentonite with a certain content of water. Compression-shear coupling rheological constitutive model of the sediment simulant was established by endochronic theory and the coupling rheological parameters were obtained by compressive and compression-shear creep tests. A new calculation formula of turning traction force of the tracked mining vehicle was first derived based on the coupling rheological model and consideration of pushing resistance and sinkage of the tracked mining vehicle. Effects of the turning velocity, crawler spacing and contacting length of crawler with deep-sea sediment on the turning traction force were analyzed. Research results can provide theoretical foundation for operation safety and optimal design of the tracked mining vehicle.

摘要：A new electrical method of conductive carbon-film(with waterproof and anticorrosion ability)was proposed to continuously measure crack propagation rate of brittle rock under THMC coupling condition.A self-designed coupling testing system was used to conduct THMC coupling fracture tests of the pre-cracked red sandstone specimens(where the temperature is only changed)by this new electrical method of conductive *** results obtained by the energy method coincide well with the test *** the higher the temperature is,the earlier the crack is initiated and the larger the crack propagation rate and accelerated velocity are,which can prove the validity of the new electrical *** new electrical method has advantages of continuously measuring crack propagation rate over the conventional electrical,optical and acoustic methods,and can provide important basis for safety assessment and cracking-arrest design of deep rock mass engineering.

摘要：Based on analysis of thermo-hydro-mechanical-chemical(THMC)coupling mechanism for brittle rock,THMC coupling indicator in terms of rock porosity was introduced to represent the influencing degree of THMC coupling field on stress field in order to establish THMC coupling fracture criterion.A novel real-time measurement method of permeability(related to porosity)was proposed to determine the THMC coupling indicator,and self-designed THMC coupling tests and scanning electron microscope tests were conducted on pre-cracked red sandstone specimens to study the macroscopic and microscopic fracture *** results show that the higher the hydraulic pressure is,the smaller the crack initiation load is and the easier the Mode I fracture *** results are in good agreement with prediction results(crack initiation load and angle,and fracture mode),which can verify the effectiveness of the newly established THMC coupling fracture *** new fracture criterion can be also further extended to predict THMC coupling fracture of multi-crack problem.

摘要：A new calculation formula of THM coupling stress intensity factor was derived by the boundary collocation method, in which an additional constant stress function was successfully introduced for the cracked specimen with hydraulic pressure applied on its crack surface. Based on the newly derived formula, THM coupling fracture modes （including tensile, shear and mixed fracture mode） can be predicted by a new fracture criterion of stress intensity factor ratio, where the maximum axial load was measured by self-designed THM coupling fracture test. SEM analyses of THM coupling fractured surface indicate that the higher the temperature and hydraulic pressure are and the lower the confining pressure is, the more easily the intergranular （tension） fracture occurs. The transgranular （shear） fracture occurs in the opposite case while the mixed-mode fracture occurs in the middle case. The tested THM coupling fracture mechanisms are in good agreement with the predicted THM coupling fracture modes, which can verify correction of the newly-derived THM coupling stress intensity factor formula.

摘要：It is important to calibrate micro-parameters for applying partied flow code(PFC)to study mechanical characteristics and failure mechanism of rock *** design method is firstly adopted to determine the microscopic parameters of parallel-bonded particle model for three-dimensional discrete element particle flow code(PFC3D).Variation ranges of microscopic of the microscopic parameters are created by analyzing the effects of microscopic parameters on macroscopic parameters(elastic modulus E,Poisson ratio v,uniaxial compressive strengthσc,and ratio of crack initial stress to uniaxial compressive strengthσci/σc)in order to obtain the actual uniform design *** calculation equations of the microscopic and macroscopic parameters of rock materials can be established by the actual uniform design table and the regression analysis and thus the PFC3D microscopic parameters can be quantitatively *** PFC3D simulated results of the intact and pre-cracked rock specimens under uniaxial and triaxial compressions(including the macroscopic mechanical parameters,stress−strain curves and failure process)are in good agreement with experimental results,which can prove the validity of the calculation equations of microscopic and macroscopic parameters.

摘要：The adhesion between the mining machine and the deep-sea sediments will significantly affect the driving performance of the mining machine in the deep-sea *** the mining machine and the deep-sea sediment interaction simulation was carried out,the accuracy of the particle interaction parameters will directly affect the simulation *** study proposed a method to systematically calibrate the interaction parameters between deep-sea sediment and grouser through the combination of experiment and *** uniaxial compression test and macro adhesion test and corresponding discrete element numerical simulation were carried out,modifying the contact parameters until the simulation results are close to the experimental *** the micro-parameters of the JKR adhesion contact model were back calibrated with the test results,and the contact parameters between soil particle-soil particle and soil particle-metal are ***,the adhesion test shows that the adhesion forces were ranked in the order of 5052<STi80<TA2<TC4 under the same surface roughness,which indicates the aluminum alloy 5052 has the best anti-adhesion *** relationship between surface adhesion force and microscopic contact parameters was studied by discrete element numerical simulation,and the result shows that the coefficient of static friction and the coefficient of rolling friction has little effect on adhesion *** it is mainly affected by the coefficient of restitution and surface energy,the surface adhesion force tends to decrease with the increase of the coefficient of restitution and increase with the growth of surface *** obtained parameters of soil particle to soil particle and soil particle to metal affecting the adhesion can contribute to the design optimization for the grouser of mining machines to decrease surface adhesion and enhance its movability and mining efficiency.

摘要：针对最小化最大完工时间的柔性流水车间调度,利用事件建模思想,线性化0-1混合整数规划模型,使得小规模调度问题通过Cplex可以准确求解,同时设计了高效分布估算算法来求解大规模调度问题.该算法采用的是一种新颖的随机规则解码方式,工件排序按选定的规则安排而机器按概率随机分配.针对分布估算算法中的概率模型不能随种群中个体各位置上工件的更新而自动调整的缺点,提出了自适应调整概率模型,该概率模型能提高分布估算算法的收敛质量和速度.同时为提高算法局部搜索能力和防止算法陷入局部最优,设计了局部搜索和重启机制.最后,采用实验设计方法校验了高效分布估算算法参数的最佳组合.算例和实例测试结果都表明本文提出的高效分布估算算法在求解质量和稳定性上均优于遗传算法、引力搜索算法和经典分布估算算法.

摘要：深海海域蕴藏的丰富矿产资源被认为是21世纪陆地矿最重要的替代资源,加大深海矿产资源开发与利用力度,已成为全球经济可持续发展的重要抉择,是我国建设海洋强国的重大战略需求。采矿车在深海稀软底质上的行走性能对深海矿产资源开采的安全稳定性具有重要影响。本文回顾了深海采矿方法及采矿车的发展历程,总结了深海稀软底质基本物理力学特性特别是流变特性及其本构关系,分析了采矿车行走运动特性及其牵引力的研究现状以及存在的主要问题,探讨了深海采矿车行走性能及结构优化设计的未来研究方向,为构建环境友好的深海采矿作业系统提供理论依据。

摘要：基于工业控制计算机、单片微处理器等硬件和OpenGL、VC++等软件,针对典型的五自由度多关节工业机器人构建出了一个虚拟现实和物理模型相结合的开放式通用仿真综合试验系统,给出了机器人三级控制系统体系结构和内部通信协议,建立了机器人运动学坐标系,推导出了相应的末端作用器位姿转换矩阵,可以完成机器人学中正向运动学、逆向运动学、路径规划以及动力学等方面的研究与设计。最后,将其成功应用于《工业机器人学》课程教学和智能型采棉机器人的研发过程中,发挥了重要的指导作用。