To study rock damage characteristics under long-term freeze-thaw cycles and loads,rock freeze-thaw and creep damage factors were defined based on nuclear magnetic resonance porosity and volume strain,respectively.The ...To study rock damage characteristics under long-term freeze-thaw cycles and loads,rock freeze-thaw and creep damage factors were defined based on nuclear magnetic resonance porosity and volume strain,respectively.The damage factor is introduced into the basic rheological element,and the non-linear creep damage constitutive model and freeze-thaw rock equation are established to describe non-linear creep characteristics under a constant load.Simultaneously,the creep test of freeze-thaw rock under step loading is performed.Based on the test data,the applicability and accuracy of the creep damage freeze-thaw rock model are analyzed and verified.The results show that freeze-thaw cycles result in continuous rock pore structure damage and deterioration,and nuclear magnetic resonance porosity enhancement.The constant load induces increasing rock plastic deformation,volume,and creep aging damage.As the loading stress increases,the instantaneous rock elastic parameters increase,and the rheological elastic and viscosity parameters decrease.Furthermore,the damage degradation of freeze-thaw cycles weakens the rock viscoplasticity,resulting in a rapid decrease in the viscosity parameter with an increase in freeze-thaw cycles.Generally,the continuous damage of the rock is degraded,and the long-term strength decreases continuously.展开更多
Ground-based synthetic aperture radar(GB-SAR) has been successfully applied to the ground deformation monitoring.However, due to the short length of the GB-SAR platform, the scope of observation is largely limited. Th...Ground-based synthetic aperture radar(GB-SAR) has been successfully applied to the ground deformation monitoring.However, due to the short length of the GB-SAR platform, the scope of observation is largely limited. The practical applications drive us to make improvements on the conventional linear rail GB-SAR system in order to achieve larger field imaging. First, a turntable is utilized to support the rotational movement of the radar.Next, a series of high-squint scanning is performed with multiple squint angles. Further, the high squint modulation phase of the echo data is eliminated. Then, a new multi-angle imaging method is performed in the wave number domain to expand the field of view. Simulation and real experiments verify the effectiveness of this method.展开更多
随着自动驾驶技术的快速发展,4D毫米波雷达因其全天候适应性和抗干扰能力,成为同步定位与地图构建(Simultaneous Localization and Mapping,SLAM)的关键传感器。然而在隧道等封闭环境中,多径效应引发的虚警点云严重影响了雷达SLAM系统...随着自动驾驶技术的快速发展,4D毫米波雷达因其全天候适应性和抗干扰能力,成为同步定位与地图构建(Simultaneous Localization and Mapping,SLAM)的关键传感器。然而在隧道等封闭环境中,多径效应引发的虚警点云严重影响了雷达SLAM系统的定位精度与建图效果。针对这一问题,本文基于对隧道中的毫米波雷达点云数据特性和散射角特征的规律分析提出了一种全新的滑窗动态滤波算法。该方法结合了点云的空间统计特性与邻域密度检测方法剔除离群噪声点云,利用雷达点云粗配准获得先验估计位姿,结合雷达点云俯仰向和方位向的三维散射角特征,实现对真实目标点云数据的区分和聚类。随后使用随机采样一致性算法(Random Sample Consensus,RANSAC)拟合隧道墙壁平面并构建隧道墙面模型。通过引入动态滑窗更新策略,利用拟合的隧道墙面模型与先验估计位姿实时更新当前姿态节点到墙面边界距离阈值,使用距离阈值进一步消除隧道空间以外的虚警点云和噪声点云,并在因子图优化框架下完成全局位姿修正与局部地图更新。本研究在真实的隧道环境中采集多个不同场景的数据进行实验验证,实验结果证明本研究提出的方法在有效降低虚警点云干扰的同时,显著提高了定位精度和建图质量,且能在复杂环境中保持较高的稳定性。本研究为提高4D毫米波雷达SLAM在封闭环境中的鲁棒性提供了新的技术思路和实现路径。展开更多
基金Projects(41502327,51474252,51774323)supported by the National Natural Science Foundation of ChinaProject(2020JJ4712)supported by the Natural Science Foundation of Hunan Province,China+1 种基金Project(CX20190221)supported by the Hunan Provincial Innovation Foundation for Postgraduate,ChinaProject(ZJRMG-2018-Z03)supported by the Key Laboratory of Rock Mechanics and Geohazards of Zhejiang Province,China。
文摘To study rock damage characteristics under long-term freeze-thaw cycles and loads,rock freeze-thaw and creep damage factors were defined based on nuclear magnetic resonance porosity and volume strain,respectively.The damage factor is introduced into the basic rheological element,and the non-linear creep damage constitutive model and freeze-thaw rock equation are established to describe non-linear creep characteristics under a constant load.Simultaneously,the creep test of freeze-thaw rock under step loading is performed.Based on the test data,the applicability and accuracy of the creep damage freeze-thaw rock model are analyzed and verified.The results show that freeze-thaw cycles result in continuous rock pore structure damage and deterioration,and nuclear magnetic resonance porosity enhancement.The constant load induces increasing rock plastic deformation,volume,and creep aging damage.As the loading stress increases,the instantaneous rock elastic parameters increase,and the rheological elastic and viscosity parameters decrease.Furthermore,the damage degradation of freeze-thaw cycles weakens the rock viscoplasticity,resulting in a rapid decrease in the viscosity parameter with an increase in freeze-thaw cycles.Generally,the continuous damage of the rock is degraded,and the long-term strength decreases continuously.
基金supported by the National Natural Science Foundation of China(61801007)the Beijing Natural Science Foundation(4194075)。
文摘Ground-based synthetic aperture radar(GB-SAR) has been successfully applied to the ground deformation monitoring.However, due to the short length of the GB-SAR platform, the scope of observation is largely limited. The practical applications drive us to make improvements on the conventional linear rail GB-SAR system in order to achieve larger field imaging. First, a turntable is utilized to support the rotational movement of the radar.Next, a series of high-squint scanning is performed with multiple squint angles. Further, the high squint modulation phase of the echo data is eliminated. Then, a new multi-angle imaging method is performed in the wave number domain to expand the field of view. Simulation and real experiments verify the effectiveness of this method.
