This study deals with the behavior of composite blends constituted of rigid and impervious grains included in saturated clay paste of kaolin, considered as permeable and deformable. Permeability tests performed during standard oedometr tests (before each load step) highlight the key role of the original and actual state of the clay paste, and show the existence of a threshold of sand grain concentration above which a structuring effect influences its permeability. In the light of these experiments some usual homogenization methods (with simplifying assumptions to make the problem manageable) are considered in order to model the mixture permeability. Qualitative and quantitative comparisons with experimental data point out their respective domain of interest and limitations of such approaches
The paper presents a method of planning a collision-free trajectory for a humanoid manipulator mounted on a rail system. The task of the robot is to move its end-effectors from the current position to the given final location in the workspace. The method is based on a redundancy resolution at the velocity level. In addition to this primary task, secondary objectives are also taken into account. The motion of the robot is planned in order to maximize a manipulability measure in purpose of avoiding manipulator singularities. State inequality constraints resulting from collision avoidance conditions are also considered. A computer example involving a humanoid manipulator operating in a three dimensional task space is also presented.