An efficient and systematic methodology for the topological synthesis of geared robot manipulators (GRMs) with a jointed unit is developed. The approach is based on the idea that the kinematic structure of a GRM with a jointed unit is composed of an equivalent open-loop chain (EOLC), disjointed mechanical transmission lines (MTLs), and jointed MTLs. It is shown that the jointed MTLs can be deco...

The prediction of rock mass behavior is an important task in many engineering projects, as the behavior of rock masses can be controlled by the presence of discontinuities. Being able to map the structure of a rock mass is crucial to understanding its potential behavior. This understanding can positively impact the safety and efficiency of an engineering project. In this research, rock masses w...

1.INTRODUCTION Some forty years ago, most opening supports and reinforcements were designed using empirical rules defining ground loads acting on the supporting structures. This approach is still popular and interest in it has been renewed by the use of rock mass classification systems (Barton et al. 1974, Bieniawski, 1974,1976,1989). Correlations between rock mass conditions and the type of su...

correct estimation of water inflow into underground excavations can decrease safety risks and associated costs. researchers have proposed different methods to asses this value. it has been proved that water transmissivity of a rock joint is a function of factors, such as normal stress, joint roughness and its size and water pressure therefore, a laboratory setup was proposed to quantitatively m...

static deformation modulus is recognized as one of the most important parameters governing the behavior of rock masses. predictive models for the mechanical properties of rock masses have been used in rock engineering because direct measurement of the properties is difficult due to time and cost constraints. in this method the deformation modulus is estimated indirectly from classification syst...

A pre-existing and inherited geostructural setting plays a fundamental role in preparing developing large-scale slope deformational processes. These structures affect the kinematics of process, geometrical characteristics, geomorphological evolution. In Apennine Belt, several deep-seated gravitational deformations (DSGSDs) that have evolved under clear structural control been recognized during ...

Combination of Adoptive Network based Fuzzy Inference System (ANFIS) and subtractive clustering (SC) has been used for estimation of deformation modulus (Em) and rock mass strength (UCSm) considering depth of measurement. To do this, learning of the ANFIS based subtractive clustering (ANFISBSC) was performed firstly on 125 measurements of 9 variables such as rock mass strength (UCSm), deformati...

In underground tunnels or caverns, time-dependent deformation or failure of rock mass, such as extending cracks, gradual rock falls, etc., are a costly irritant and a major safety concern if the time-dependent damage of surrounding rock is serious. To understand the damage evolution of rock mass in underground engineering, an in situ experimental testing was carried out in a large belowground t...

fracture mapping of late permian-early triassic flat-lying sedimentary rocks in the sydney basin,new south wales, australia, shows that joints developed originally in extension were faulted in subsequentevents. joints with a regional distribution fall into two (early and late) formed groups. group i joints propagatedhorizontally and never interfered with each other. these joints were subsequent...