Geological Exploration Technology Institute of Jiangsu Province

Quasi-Self-Motion-Based Singularity Avoidance for Free-Floating Space Robots

We propose a novel singularity-avoidance method for continuous path planning that maintains zero path-tracking error of a non-redundant free-floating space robot (FFSR). Singularities are a major challenge in the path planning of space robots and may lead to the failure of end-ef...

Water Transport Characteristics and Their Impaction on Stability of Unsaturated Xiashu Loess Slopes During the Entire Process of Rainfall Infiltration

The Xiashu loess in the middle and lower reaches of the Yangtze River with typical aeolian characteristics is widely distributed in the hilly areas and is the main kind of landslides in this area. The paper reveals the infiltration process of the Xiashu loess slope under differen...