In layered and blocky rock slopes, toppling failure is a common mode of instability that may occur in mining engineering. If this type of slope failure occurs as a consequence of another type of failure, it is referred to as the secondary toppling failure. “Slide-head-toppling” is a type of secondary toppling failures, where the upper part of the slope is toppled as a consequence of a semi-circ...

Abstract The contributions of the current analytical models on prediction stability slope subjected to slide head toppling failure mechanisms, have always focused idealized geometry comprising regular blocks dipping into face. Besides, influence groundwater and stabilizations from lowermost block been overlooked in available literature. In this article, solutions that incorporates kinematic mec...

This paper describes a robotic manipulation primitive called toppling—knocking a part over. We derive the mechanical conditions for toppling, express these as constraints on robot contact locations and motions, and describe an application of toppling to minimalist parts feeding of 3D objects on a conveyor with a 2 joint robot.

This paper describes a manipulation primitive called toppling—knocking a part over. We derive the mechanical conditions for toppling and describe two applications to conveyor-based parts feeding. Toppling complements previous approaches to conveyor-plane feeding, allowing full three-dimensional parts feeding on a constant-speed conveyor.

We consider a sensorless approach to feeding parts on a conveyor belt using pins (rigid barriers) to topple parts into desired orientations. Given the n-sided 2D convex projection of an extruded polygonal part, its center of mass (COM), and coefficients of friction, we develop an O(n) algorithm to compute the toppling graph, a new data structure that represents the mechanics of toppling includi...

One of the most conventional toppling instabilities is the block-flexural toppling failure that occurs in civil and mining engineering projects. In this kind of failure, some rock columns are broken due to tensile bending stresses, and the others are overturned due to their weights, and finally, all of the blocks topple together. A specific feature of spheroidal weathering is the rounding of th...

Why are n-player games much more complex than two-player games? Is it much more difficult to cooperate or to compete? n-player Toppling Dominoes is an n-player version of Toppling Dominoes, a two-player combinatorial game. Because of queer games, i.e., games where no player has a winning strategy, cooperation is a key-factor in nplayer games and, as a consequence, n-player Toppling Dominoes pla...

Turtle Mountain, the site of the 1903 the Frank Slide, has been widely studied. A large database of structural measurements allows the comparison and testing of recently developed techniques. This paper commences with a review of recent mapping of Turtle Mountain. A report on a recent investigation of the mountain using a combination of airborne and terrestrial laser scanning techniques is then...

This paper presents some simple ideas about domino gates. Domino gates are implementations of logical operations using toppling dominoes to represent the movement of information (bits). The actively toppling domino represents a logic one, and absence of toppling represents logic zero. The domino model can be used as a representation of single-shot wave gates in unconstrained media, such as sub-...

We construct the thermodynamic limit of the stationary measures of the Bak-Tang-Wiesenfeld sandpile model with a dissipative toppling matrix (sand grains may disappear at each toppling). We prove uniqueness and mixing properties of this measure and we obtain an infinite volume ergodic Markov process leaving it invariant. We show how to extend the Dhar formalism of the ‘abelian group of toppling...