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Enhancing the terrain adaptability of a multirobot cooperative transportation system via novel connectors

《机械工程前沿（英文）》 2023年第18卷第3期 doi: 10.1007/s11465-023-0754-2

摘要： Given limited terrain adaptability, most existing multirobot cooperative transportation systems (MRCTSs) mainly work on flat pavements, restricting their outdoor applications. The connectors’ finite deformation capability and the control strategies’ limitations are primarily responsible for this phenomenon. This study proposes a novel MRCTS based on tracked mobile robots (TMRs) to improve terrain adaptability and expand the application scenarios of MRCTSs. In structure design, we develop a novel 6-degree-of-freedom passive adaptive connector to link multiple TMRs and the transported object (the communal payload). In addition, the connector is set with sensors to measure the position and orientation of the robot with respect to the object for feedback control. In the control strategy, we present a virtual leader–physical follower collaborative paradigm. The leader robot is imaginary to describe the movement of the entire system and manage the follower robots. All the TMRs in the system act as follower robots to transport the object cooperatively. Having divided the whole control structure into the leader robot level and the follower robot level, we convert the motion control of the two kinds of robots to trajectory tracking control problems and propose a novel double closed-loop kinematics control framework. Furthermore, a control law satisfying saturation constraints is derived to ensure transportation stability. An adaptive control algorithm processes the wheelbase uncertainty of the TMR. Finally, we develop a prototype of the TMR-based MRCTS for experiments. In the trajectory tracking experiment, the developed MRCTS with the proposed control scheme can converge to the reference trajectory in the presence of initial tracking errors in a finite time. In the outdoor experiment, the proposed MRCTS consisting of four TMRs can successfully transport a payload weighing 60 kg on an uneven road with the single TMR’s maximum load limited to 15 kg. The experimental results demonstrate the effectiveness of the structural design and control strategies of the TMR-based MRCTS.

关键词： multirobot system cooperative transportation terrain adaptability trajectory tracking collaborative paradigm uneven road

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Footholds optimization for legged robots walking on complex terrain

《机械工程前沿（英文）》 2023年第18卷第2期 doi: 10.1007/s11465-022-0742-y

摘要： This paper proposes a novel continuous footholds optimization method for legged robots to expand their walking ability on complex terrains. The algorithm can efficiently run onboard and online by using terrain perception information to protect the robot against slipping or tripping on the edge of obstacles, and to improve its stability and safety when walking on complex terrain. By relying on the depth camera installed on the robot and obtaining the terrain heightmap, the algorithm converts the discrete grid heightmap into a continuous costmap. Then, it constructs an optimization function combined with the robot’s state information to select the next footholds and generate the motion trajectory to control the robot’s locomotion. Compared with most existing footholds selection algorithms that rely on discrete enumeration search, as far as we know, the proposed algorithm is the first to use a continuous optimization method. We successfully implemented the algorithm on a hexapod robot, and verified its feasibility in a walking experiment on a complex terrain.

关键词： footholds optimization legged robot complex terrain adapting hexapod robot locomotion control

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Adaptability evolution of financing systems of mega projects

Xue YAN, Longmiao GAO, Huimin LIU

《工程管理前沿（英文）》 2021年第8卷第2期页码 258-270 doi: 10.1007/s42524-019-0066-8

摘要： Mega projects require large funding, which often reaches tens or even hundreds of billions of yuan. In the state-oriented financing system, the huge fund gap has generally become an important factor restricting the development of mega projects worldwide. Since the 1980s, China’s long-span bridge projects have developed rapidly as typical mega projects as their financing systems have also undergone a series of changes and shown a high adaptability to complexity. However, the existing literature based on the perspective of evolution lacks focus on the complexity of mega project financing systems and its causes. Therefore, the complexity of the financing methods employed in the financing systems for China’s long-span bridges is analyzed in this work from the dimensions of time and regions through investigation and interviews. On the basis of the results and complex adaptive systems theory, the causes of the complexity are further explored in terms of the clustering effects of financing subjects and the deep uncertainty of financing environments. Then, the evolution rules of financing systems of mega projects are established from the aspect of financing subjects, financing environments, and financing methods. The research results can enrich decision-makers’ understanding of the essential attributes and formation mechanism of the financing systems of mega projects and provide powerful support for decision-making in financing.

关键词： adaptability evolution financing methods long-span bridges in China mega projects

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Analysis of load and adaptability of disc cutters during shield tunneling in soft–hard varied strata

《结构与土木工程前沿（英文）》 2023年第17卷第4期页码 533-545 doi: 10.1007/s11709-023-0946-1

摘要： The disc cutters of shield machines exhibit unsatisfactory adaptability and performance during the soft–hard varied strata tunneling process. To analyze the rotation state, cutting performance, and adaptability of disc cutters during shield tunneling in soft–hard varied strata, the Holmquist Johnson Cook and Federal Highway Administration constitutive models are introduced to numerically simulate the failure process of materials on the excavation face and to calculate the load of disc cutters. Additionally, the parameters of the models are modified based on laboratory disc cutter excavation test results. The results of numerical calculation can reflect the load level and the behavior of the disc cutters during operation. The tangential loads of the disc cutters during the cutting of four typical soft-strata excavation face models are numerically calculated, thus providing reference values for the starting torque of the disc cutters. A greater penetration is suggested for soft-strata tunneling to allow the disc cutters to rotate smoothly and continuously as well as to guarantee a better cutting effect. The disc cutters in the center of the cutterhead should be specified with a lower starting torque to prevent uneven wear, rotation stagnation, cutterhead clogging, and other adverse phenomena.

关键词： shield tunneling disc cutter load laboratory excavation test numerical calculation soft–hard varied strata

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Contact detection with multi-information fusion for quadruped robot locomotion under unstructured terrain

《机械工程前沿（英文）》 2023年第18卷第3期 doi: 10.1007/s11465-023-0760-4

摘要： Reliable foot-to-ground contact state detection is crucial for the locomotion control of quadruped robots in unstructured environments. To improve the reliability and accuracy of contact detection for quadruped robots, a detection approach based on the probabilistic contact model with multi-information fusion is presented to detect the actual contact states of robotic feet with the ground. Moreover, a relevant control strategy to address unexpected early and delayed contacts is planned. The approach combines the internal state information of the robot with the measurements from external sensors mounted on the legs and feet of the prototype. The overall contact states are obtained by the classification of the model-based predicted probabilities. The control strategy for unexpected foot-to-ground contacts can correct the control actions of each leg of the robot to traverse cluttered environments by changing the contact state. The probabilistic model parameters are determined by testing on the single-leg experimental platform. The experiments are conducted on the experimental prototype, and results validate the contact detection and control strategy for unexpected contacts in unstructured terrains during walking and trotting. Compared with the body orientation under the time-based control method regardless of terrain, the root mean square errors of roll, pitch, and yaw respectively decreased by 60.07%, 54.73%, and 64.50% during walking and 73.40%, 61.49%, and 61.48% during trotting.

关键词： multi-information fusion contact detection quadruped robot probabilistic contact model unstructured terrain

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Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

《机械工程前沿（英文）》 2021年第16卷第2期页码 271-284 doi: 10.1007/s11465-020-0623-1

摘要： Legged robots have potential advantages in mobility compared with wheeled robots in outdoor environments. The knowledge of various ground properties and adaptive locomotion based on different surface materials plays an important role in improving the stability of legged robots. A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposed in this paper. First, a force-based terrain classification method is suggested. Ground contact force is calculated by collecting joint torques and inertial measurement unit information. Ground substrates are classified with the feature vector extracted from the collected data using the support vector machine algorithm. Then, an adaptive locomotion on different ground properties is proposed. The dynamic alternating tripod trotting gait is developed to control the robot, and the parameters of active compliance control change with the terrain. Finally, the method is integrated on a hexapod robot and tested by real experiments. Our method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam. The strategies and experimental results can be a valuable reference for other legged robots applied in outdoor environments.

关键词： terrain classification hexapod robot legged robot adaptive locomotion gait control

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300m级面板堆石坝适应性及对策研究

马洪琪

《中国工程科学》 2011年第13卷第12期页码 4-8

摘要：

系统总结了200ｍ级面板坝建设的主要经验与教训，对４座３００ｍ级面板坝典型工程进行了分析，提出了３００ｍ级面板坝需要研究的基础科学和关键技术问题。

关键词：混凝土面板堆石坝适应性对策研究

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北京铁路地下直径线泥水盾构刀盘、刀具适应性分析

何峰,李小岗,孙善辉

《中国工程科学》 2010年第12卷第12期页码 35-40

摘要：

结合北京站至北京西站地下直径线工程实例，通过不同盾构刀盘刀具配置在砂卵石下的应用对比，重点对工程刀盘刀具改造前后对地层的适应性进行了详细的对比分析，提出了砂卵石条件下刀盘刀具配置应注意的关键问题，对类似工程有借鉴作用。

关键词：直径线泥水盾构刀盘刀具适应性

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深海钴结壳采集微地形探测技术实验研究

罗柏文,夏毅敏,王韬,白宏峰,王克智

《中国工程科学》 2010年第12卷第9期页码 78-83

摘要：

通过地表高程信息计算最佳采集深度是解决钴结壳开采贫化问题的关键技术之一。根据钴结壳的赋存环境和开采方法，提出了一种摆动式超声单波束微地形探测方法。为了检验该方法的可行性，成功搭建了实验台，并验证了该实验台的垂直探测精度可达到厘米级；提出了一种改进型数据加窗算法，进一步提高了高程异常值被剔除的准确性；提出了采用线性相关系数法解决支持向量线性与非线性回归的选择问题；提出并证明了高斯径向基参数σ可根据测线上的坡度、坡长信息来确定。

关键词：钴结壳超声微地形加窗支持向量

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高速铁路动车组在线路上适应性设计方法及应用

王开云,袁玄成,翟婉明

《中国工程科学》 2015年第17卷第4期页码 90-97

摘要：

基于新一代中国高速列车（动车组）关键技术的研究发展趋势和策略问题进行详细讨论和技术展望。主要内容包括：首先，介绍国际先进轨道车辆制造商在其新一代车辆开发过程中采用的先进设计技术和理念，分层次研究其各自的核心技术特点和未来其可能的技术发展趋势。其次，在国内外文献研究的基础上，结合中国高速铁路车辆发展的自身特点和实际情况，针对具体的牵引传动技术、转向架技术、车体设计技术等可能面临的核心技术难题，提出一些分析建议。最后，在综合考虑轨道车辆造型发展趋势及设计原则的基础上，根据集成设计的理论与多学科优化设计方法，针对新一代中国高速铁路动车组可能面临的重大技术挑战与策略和改进措施的研究提出一些明确的建议。总之，通过本文的初步研究，希望可以对我国高速列车未来的发展方向和趋势提出一些有益的建议。

关键词：高速铁路；线路适应性；动车组；车辆-轨道耦合动力学

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The ecological adaptability of cloned sheep to free-grazing in the Tengger Desert of Inner Mongolia,

Xinxin LI,Huijuan WANG,Guanghua SU,Zhuying WEI,Chunling BAI,Wuni-MENGHE,Yanhui HOU,Changqing YU,Shorgan BOU,Guangpeng LI

《农业科学与工程前沿（英文）》 2014年第1卷第3期页码 191-200 doi: 10.15302/J-FASE-2014029

摘要： Since the birth of the first cloned sheep, somatic cell nuclear transfer technology has been successfully used to clone a variety of mammals. Cloned livestock have no apparent health risks, and the quality and safety of the cloned animal products are similar to non-cloned animals. The social behavior and environmental adaptability of postnatal cloned animals, especially when used for grassland farm production purposes, is unknown. In the present study, the cloned Dorper sheep equipped with GPS location devices were free-grazed in a harsh natural environment similar to conditions commonly experienced by Mongolian sheep. The main findings of this research were as follows. (1) Under free-grazing conditions, the cloned sheep showed excellent climatic and ecological adaptability. In extreme temperature conditions ranging from -30 to 40°C, the cloned sheep maintained acceptable body condition and behaved as other sheep. (2) The cloned sheep quickly adapted from a herd feeding strategy to the harsh environment and quickly exhibited a grazing regimen as other free-grazing sheep. (3) The cloned sheep exhibited free-grazing patterns and social behavior as other sheep. (4) The cloned sheep in the harsh environment thrived and produced healthy lambs. Overall, the cloned Dorper sheep exhibited excellent ecological adaptation, which is an important consideration for breeding meat sheep by cloning. The Dorper sheep readily adapted to the free-grazing conditions on the Mongolian plateau grassland, which attests to their ability to withstand harsh environmental conditions.

关键词： somatic cell nuclear transfer free-grazing synchronization Dorper sheep cloned animal ecology

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Adaptability to geological faulted foundation of Hardfill dam

XIONG Kun, HE Yunlong, PENG Yunfeng

《结构与土木工程前沿（英文）》 2008年第2卷第4期页码 343-349 doi: 10.1007/s11709-008-0057-z

摘要： Hardfill dam is a new type of dam which has the advantages of low stress level and even stress distribution in a dam body, resulting in low demands to foundations. Based on 2D linear elastic and elasto-plastic calculations of gravity dam and Hardfill dam using finite element method (FEM), the stress distribution in a dam body and anti-sliding stabilization is analyzed on the geological faulted foundations with weak weathered rock and soft interlayers. It is concluded that Hardfill dams have better adaptability to geological faulted foundations than gravity dams and is more secure and economically sound.

关键词： weathered elastic geological faulted FEM gravity

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Concept and requirements of sustainable development in bridge engineering

Yaojun GE, Haifan XIANG

《结构与土木工程前沿（英文）》 2011年第5卷第4期页码 432-450 doi: 10.1007/s11709-011-0126-6

摘要： The concept of sustainability is described in this paper using a single sustainable principle, two goals of sustainable development, three dimensions of sustainable engineering, four sustainable requirements and five phases of sustainable construction. Four sustainable requirements and their practice in China are discussed in particular. The safe reliability of bridges is first compared with the events of bridge failure in China and in the rest of the world and followed by structural durability, including the cracking of concrete cable-stayed bridges, deflection of concrete girder bridges and fatigue cracks of orthotropic steel decks. With respect to functional adaptability, lateral wind action on vehicles and its improvement are introduced regarding a sea-crossing bridge located in a typhoon-prone area. The Chinese practice of using two double main span suspension bridges and a twin parallel deck cable-stayed bridge is presented in discussing the final sustainable requirement: capacity extensibility.

关键词： sustainable engineering safe reliability structural durability functional adaptability capacity extensibility

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Stability and agility: biped running over varied and unknown terrain

Yang YI,Zhi-yun LIN

《信息与电子工程前沿（英文）》 2015年第16卷第4期页码 283-292 doi: 10.1631/FITEE.1400284

摘要： We tackle the problem of a biped running over varied and unknown terrain. Running is a necessary skill for a biped moving fast, but it increases the challenge of dynamic balance, especially when a biped is running on varied terrain without terrain information (due to the difficulty and cost of obtaining the terrain information in a timely manner). To address this issue, a new dynamic indicator called the sustainable running criterion is developed. The main idea is to sustain a running motion without falling by maintaining the system states within a running-feasible set, instead of running on a periodic limit cycle gait in the traditional way. To meet the precondition of the criterion, the angular moment about the center of gravity (COG) is restrained close to zero at the end of the stance phase. Then to ensure a small state jump at touchdown on the unknown terrain, the velocity of the swing foot is restrained within a specific range at the end of the flight phase. Finally, the position and velocity of the COG are driven into the running-feasible set. A five-link biped with underactuated point foot is considered in simulations. It is able to run over upward and downward terrain with a height difference of 0.15 m, which shows the effectiveness of our control scheme.

关键词： Underactuated running biped Dynamic balance Varied and unknown terrain

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水利水电工程三维数字地形建模与分析

钟登华,李明超,王刚,郭享,吴康新

《中国工程科学》 2005年第7卷第7期页码 65-70

摘要：

以锦屏一级水电工程为例，分别利用Delaunay算法和多细节层次技术实现了坝区地形TIN模型和施工总布置区域巡航所需的多分辨率地形模型。并根据三维地质建模的特殊需要，引入了NURBS技术对TIN地形模型进行了简化，所获得的NURBS地形模型不仅存储量小，精度损失低，而且易于图形操作运算，便于可视化分析，满足多方面的要求。该模型的实现与成功应用，在很大程度上推动了水利水电工程向着数字化、可视化和智能化的方向发展。

关键词：数字地形模型不规则三角网细节层次 NURBS技术水利水电工程