Search results

This research addresses the diverse characteristics of existing railway steel bridges in China, including variations in construction age, design standards, structural types, manufacturing processes, materials and service conditions. It also focuses on prominent defects and challenges related to heavy transportation conditions, particularly low live haul reserves and severe fatigue problems.

The study encompasses three key aspects: (1) Adaptability assessment: It begins with assessing the suitability of existing railway steel bridges for heavy-haul operations through comprehensive analyses, experiments and engineering applications. (2) Strengthening: To combat frequent crack defects in the vertical stiffener end structure of girder webs, fatigue performance tests and reinforcement scheme experiments were conducted. These experiments included the development of a hot-spot stress S-N curve for this structure, validating the effectiveness of methods like crack stop holes, ultrasonic hammering and flange angle steel. (3) Service life extension: Research on the cruciform welded joint structure (non-fusion transfer type) focused on fatigue performance over the long life cycle. This led to the establishment of a fatigue S-N curve, enhancing Chinese design codes.

The research achieved several significant outcomes: (1) Successful implementation of strengthening and retrofitting measures on a 64-m single-span double-track railway steel truss girder on an existing heavy-duty line. (2) Post-reinforcement, a substantial 26% to 32% reduction in live haul stress on bridge members was achieved. (3) The strengthening and retrofitting efforts met design expectations, enabling the bridge to accommodate vehicles with a 30-ton axle haul on the railway line.

This research systematically tackles challenges and defects associated with Chinese existing railway steel bridges, providing valuable insights into adaptability assessment, strengthening techniques and service life extension methods. Furthermore, the development of fatigue S-N curves and the successful implementation of bridge enhancements have practical implications for improving the resilience and operational capacity of railway steel bridges in China.

An optimal solution method based on 2-norm is proposed in this study to solve the inverse kinematics multiple-solution problem caused by a high redundancy. The current research also presents a motion optimization based on the 2-Norm of high-redundant mobile humanoid robots, in which a kinematic model is designed through the entire modeling.

The current study designs a highly redundant humanoid mobile robot with a differential mobile platform. The high-redundancy mobile humanoid robot consists of three modular parts (differential driving platform with two degrees of freedom (DOF), namely, left and right arms with seven DOF, respectively) and has total of 14 DOFs. Given the high redundancy of humanoid mobile robot, a kinematic model is designed through the entire modeling and an optimal solution extraction method based on 2-norm is proposed to solve the inverse kinematics multiple solutions problem. That is, the 2-norm of the angle difference before and after rotation is used as the shortest stroke index to select the optimal solution. The optimal solution of the inverse kinematics equation in the step is obtained by solving the minimum value of the objective function of a step. Through the step-by-step cycle in the entire tracking process, the kinematic optimization of the highly redundant humanoid robot in the entire tracking process is realized.

Compared with the before and after motion optimizations based on the 2-norm algorithm of the robot, its motion after optimization shows minimal fluctuation, improved smoothness, limited energy consumption and short path during the entire mobile tracking and operating process.

In this paper, the whole kinematics model of the highly redundant humanoid mobile robot is established and its motion is optimized based on 2-norm, which provides a theoretical basis for the follow-up research of the service robot.

In this paper, the whole kinematics model of the highly redundant humanoid mobile robot is established and its motion is optimized based on 2-norm, which provides a theoretical basis for the follow-up research of the service robot.

In this paper, the whole kinematics model of the highly redundant humanoid mobile robot is established and its motion is optimized based on 2-norm, which provides a theoretical basis for the follow-up research of the service robot.

Motion optimization based on the 2-norm of a highly redundant humanoid mobile robot with the entire modeling is performed on the basis of the entire modeling. This motion optimization can make the highly redundant humanoid mobile robot’s motion path considerably short, minimize energy loss and shorten time. These researches provide a theoretical basis for the follow-up research of the service robot, including tracking and operating target, etc. Finally, the motion optimization algorithm is verified by the tracking and operating behaviors of the robot and an example.