this paper proposes a control strategy for a cable-suspended robot based on sliding mode approach (smc) which is faced to external disturbances and parametric uncertainties. this control algorithm is based on lyapunov technique which is able to provide the stability of the end-effecter during tracking a desired path with an acceptable precision. the main contribution of the paper is to calculat...

In the mining process of an underground coal mine, dynamic load often causes great damage to roadway and affects normal mine. this paper, deformation surrounding rocks under static different disturbance intensities is studied by numerical simulation. The results show that same condition, greater strength is, more obvious roof displacement subsidence is. With increase in propagation distance, am...

According to field observation and theoretical analysis, the failure of 1523103 reserved roadway is mainly affected by lateral support pressure, rock mass strength, mode. With mining 152309 working face, pressure coal pillars on both sides increases, since lithology two floor weak, experiences spalling heave. Through numerical simulation, distribution law surrounding stress displacement are obt...

In the paper we propose PD calibration framework for LDP that allows producing smooth non-zero PD estimates for any given time horizon within the length of economic cycle. The advantages of the approach is that produced PDs are consistent with two main anchors – PIT and TTC PD estimates and are subject to smooth, monotonic transition between those two anchors. In practise, proposed framework co...

in this paper coupled nonlinear equations of motion of a suspended cable with time dependent tension and velocity are derived by using hamilton’s principal. a modal analysis for a stationary sagged cable is initially carried out in order to identify the dynamic system. the natural solution is directed to compute the natural frequencies and mode shapes of the free vibration of a suspended cable....

Modeling and Wrench feasible workspace analysis of a spatial cable suspended robots is presented. A six-cable spatial cable robot is used the same as Stewart robots. Due to slow motion of the robot we suppose the motion as pseudostatic and kinetostatic modeling is performed. Various workspaces are defined and the results of simulation are presented on the basis of various workspaces and app...

In order to study the influence of corrosion on fatigue life weathering steel bridges, firstly nominal stress method is employed identify key details a typical weathering-steel anchor box cable-stayed bridge and then, multi-scale refined finite-element model for established. The established fatigue-life assessment corroded extended model, remaining under are predicted, initial pit size structur...

Marine submersible buoy systems are widely-used equipment for ocean resource development. The marine system studied in this paper consists of the buoy, battery compartment, anchor block, mooring line, and power supply cable. To study mechanical behavior obtain speed variation each component during last deployment, establishes free surface computational fluid dynamics model based on VOF method. ...

In this paper, results obtained in both conventional and finite element analysis of straight and belled anchor shafts subjected to a pullout force are presented. In numerical analysis, it is assumed that no drainage takes place during the anchor pullout. Comparisons between two conventional methods of analysis for ultimate pullout load and the results obtained by the finite element analysis are...