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

《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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Characteristics and application of road absorbing solar energy

Zhihua ZHOU, Shan HU, Xiaoyan ZHANG, Jian ZUO

《能源前沿（英文）》 2013年 第7卷 第4期   页码 525-534 doi: 10.1007/s11708-013-0278-2

摘要： If the heat of road surface can be stored in summer, the road surface temperature will be decreased to prevent permanent deformation of pavement. Besides, if the heat stored is released, it can supply heat for buildings or raise the road surface temperature for snow melting in winter. A road-solar energy system was built in this study, and the heat transfer mechanism and effect of the system were analyzed according to the monitored solar radiant heat, the solar energy absorbed by road and the heat stored by soil. The results showed that the road surface temperature was mainly affected by solar radiation, but the effect is hysteretic in nature. The temperature of the solar road surface was 3°C–6°C lower than that of the ordinary road surface. The temperature of the solar road along the vertical direction was 2°C–5°C lower than that of the ordinary road. The temperature difference increased as the distance to the heat transfer tubes decreased. The average solar collector efficiency of the system was 14.4%, and the average solar absorptivity of road surface was 36%.

关键词： solar energy     road-solar energy system     road surface temperature     solar absorptivity of road surface     solar collector efficiency of system    

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平顶激光脉冲在非均匀介质中的传输分析

张少军,刘静纨,黄骝

《中国工程科学》 2002年 第4卷 第6期   页码 13-15

摘要：

以新型方波YAG激光器稳定性、可靠性及非线性应用项目的试验为基础，分析了用慢调Q腔倒空技术产生的平顶激光脉冲在非均匀介质中传输过程的能量与模式特性、非线性频率变换等方面的关系。

关键词： 等效与自聚焦     非均匀介质     慢调Q腔倒空     平顶激光脉冲模式    

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Development and road performance of clear asphalt with high transparency and adhesion

《结构与土木工程前沿（英文）》 2023年 第17卷 第2期   页码 238-255 doi: 10.1007/s11709-022-0898-x

摘要： Clear asphalt (CA) currently used in light-colored asphalt mixtures (LCAM) exhibits poor transparency and adhesion. Therefore, a highly transparent CA (HCA) modified using a silane coupling agent (KH550) was prepared. Furthermore, LCAM was prepared by mixing CA and limestone aggregates. The properties of the HCA and ordinary CA (OCA) were characterized using conventional asphalt tests, optical tests, pull-off tests, ultraviolet aging tests, dynamic shear rheometry, Fourier-transform infrared spectroscopy, differential scanning calorimetry, and scanning electron microscopy. Whereas Marshall, moisture resistance, wheel tracking, trabecular bending, and British pendulum tests were employed for the LCAM. The transmittance and spectral reflectance of the HCA were 123.30 and 3.74 times greater than those of the OCA, respectively. The complex modulus and viscosity-aging index of the HCA were 48% and 53% less than those of the OCA, respectively. After modification with KH550, the Marshall stability ratio, tensile strength ratio, and flexural strain of the HCA-prepared LCAM increased by 12.92%, 25.06%, and 23.90%, respectively. However, the rutting resistance of the HCA-prepared LCAM was 14.3% less than that of the OCA-prepared LCAM. The comprehensive performances of the HCA and HCA-prepared LCAM were 49.2% and 10.3% greater than those of the OCA and OCA-prepared LCAM, respectively, indicating a high application value in the future.

关键词： light-colored asphalt pavement     orthogonal test     road performance     spectral reflectance     silane-coupling agent    

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Special issue: Management of road and railway traffic and transportation engineering

Yongfu SUN, Ziyou GAO

《工程管理前沿（英文）》 2017年 第4卷 第4期   页码 385-387 doi: 10.15302/J-FEM-2017110

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Rational Understanding about Renaissance Path of China's Road and Bridge Engineering

Mao-run Feng,Zheng-song Zhao

《工程管理前沿（英文）》 2014年 第1卷 第1期   页码 42-51 doi: 10.15302/J-FEM-2014013

摘要： At the turn of this century, China began the largest road and bridge development in the world, which has virtuously interacted with the social and economic development and has elevated the engineering technology to world-class level. Surveying the development of world transportation, and comparing the road and bridge construction efforts of Europe, U.S.A, Japan and China, general experiences of success can be derived as follows: It is greatly beneficial to give priority to transportation for economic development; it takes national strategy and social action to build up a transportation network; demand and innovation are the driving forces to upgrade road and bridge technology; management innovation and quality assurance can greatly improve development caliber. While rationally acknowledging China's transportation infrastructure achievements, we should reflect on issues with Chinese characteristics that have affected quality and efficiency, expose all construction practices that violate scientific law, overall management defects in road and bridge construction and maintenance, and search for new ways to strengthen social management and the creation of a healthy soft environment.

关键词： road network     expressway     bridge project     technological innovation     construction management     social management    

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Quantification of emission variability for off-road equipment in China based on real-world measurements

《环境科学与工程前沿（英文）》 2022年 第16卷 第2期 doi: 10.1007/s11783-021-1455-x

摘要：

• Emissions from 53 in-use diesel-fueled off-road equipment were measured.

关键词： Off-road equipment     Portable emission measurement system (PEMS)     Real-world emissions     Diesel engine    

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“Heavenly Road”: The Qinghai–Tibet Railway

Yongfu SUN

《工程管理前沿（英文）》 2020年 第7卷 第2期   页码 304-307 doi: 10.1007/s42524-019-0079-3

摘要： Xiaobo WANG. [J]. Front. Eng, 2019, 6(1): 131-137.Peter REDFERN, Hua ZHONG. [J]. Front. Eng, 2017, 4(2): 193-200.Qixiang FAN. [J]. Front. Eng, 2017, 4(2): 231-237.Ming-zhou Liu,Cong-hu Liu,Mao-gen Ge,Yuan Zhang,Qing-hua Zhu. [J]. Front. Eng, 2016, 3(2): 144-146.Yu Zhao,Sheng-quan Wang,Ke-chao Zhu. [J]. Front. Eng, 2015, 2(1): 35-38.Ru-gui Chen,Jia-meng Chen. [J]. Front. Eng, 2014, 1(1): 52-61.An Wang. [J]. Front. Eng, 2014, 1(1): 13-17.

关键词： permafrost protection     sustainable development     health guarantee system    

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无损检测技术评估和检测道路性能

郭成超,许朋飞,钟燕辉

《中国工程科学》 2017年 第19卷 第6期   页码 72-79 doi: 10.15302/J-SSCAE-2017.06.011

摘要：

目前，在我国的基础设施管理方面，存在维修工作安排不当、养护维修不及时、维修预算支出庞大等问题。因此，为了保障道路安全，防止发生灾难性的破坏，需要采取快速、有效的养护管理方法，以提高道路的使用寿命。根据美国材料与试验协会（ASTM）路面状况评价标准，本文介绍了五种道路无损检测技术和设备：落锤式弯沉仪、探地雷达、宏观构造深度、国际平整度指数和面波的频谱分析，并分别介绍了每种检测技术的工作原理和运用方法，以指导相关人员结合实际合理选用。运用这几种检测方法将会在不封闭交通的情况下加快评估速度，并为搭建一个高效、智能的路网监测系统提供技术支持，为道路的可持续发展、资金的高效利用提供切实可行的方法。

关键词： 道路检测     道路病害     无损检测    

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Impacts of opening baffle of city road tunnels on natural ventilation performance

Weixiao YANG, Jincheng XING, Jianxing LI, Jihong LING, Haixian HAO, Zhiqiang YAN

《结构与土木工程前沿（英文）》 2013年 第7卷 第1期   页码 55-61 doi: 10.1007/s11709-013-0194-x

摘要： Based on the opening baffle mode for natural ventilation of city road tunnels, this paper studies the impacts of opening baffle on natural ventilation performance by verifying numerical simulation through model tests. By analyzing the impacts of installation angle, dimension, location, and quantity of opening baffle on ventilation performance, the paper reached the conclusions as follows: 1) When installation angle is larger than 45° and tunnel ventilation is well operated, the baffle exhaust could increase by at least 30% compared to when there is no baffle. 2) The baffle reaches its optimal performance when the length of the baffle is equal to the width of the city road tunnels. 3) Baffle exhaust could increase by 30% when it is installed in the downstream of openings. 4) The performance of a single baffle is better than that of multiple baffles.

关键词： city road tunnel     numerical simulation     baffle     top opening     natural ventilation    

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Green Road Construction Technologies in Guangzhou

Guan-feng An,Wen-yuan Huang,Jing-feng Zhang

《工程管理前沿（英文）》 2016年 第3卷 第1期   页码 80-86 doi: 10.15302/J-FEM-2016002

摘要： Total road pavement in Guangzhou reaches 77 ×10 m . Its huge maintenance and potential rehabilitation calls for a green road system. This paper presents a discussion, first about green road construction technologies together with their applications and development like reclaimed asphalt pavement, rubberized asphalt pavement, and warm mix asphalt; and then, about the key obstacles for promotion and activities, primarily for green road promotion, in the perspectives of the current technical and application situations in China and separately in Guangzhou. Based on environmental and conditional analysis, as well as a development expectation from an industrial viewpoint, this paper creates a development trend of green road technologies.

关键词： road     green construction     recycling of waste asphalt     rubber asphalt    

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An investigation on stress distribution effect on multi- piezoelectric energy harvesters

Hailu YANG, Dongwei CAO

《结构与土木工程前沿（英文）》 2017年 第11卷 第3期   页码 301-307 doi: 10.1007/s11709-017-0404-z

摘要： With the fast development of piezoelectric materials and due to its green and renewable characteristics, the piezoelectric energy harvesting technology has been paid more and more attention by pavement engineers. The stress distribution will significantly affect the piezoelectric material performance. In this paper, the effects of multiple piezoelectric elements on the generation of electrical energy and output power are studied. In the case of constant external load, the number of the piezoelectric units does not necessarily produce more energy. When the same multi piezoelectric units work together, if the stress state of the piezoelectric units is different, the total output energy affected by the connection mode. For uneven stress distribution, the optimal output mode is that each of the piezoelectric units rectified before connected in parallel.

关键词： piezoelectric transducer     uneven stress     impedance matching     optimal energy output    

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Connecting the Belt and Road through sea-rail collaboration

Chenhao ZHOU, Haobin LI, Wencheng WANG, Loo Hay LEE, Ek Peng CHEW

《工程管理前沿（英文）》 2017年 第4卷 第3期   页码 315-324 doi: 10.15302/J-FEM-2017031

摘要： As part of China’s “the Belt and Road” strategy, China Railway Express provides alternative shipping routes and transportation modes from Asia to Europe and creates new opportunities for intermodal transportation in the shipping industry. A time–distance-based cost (time cost) function was proposed to compare China Railway Express with traditional transportation modes. Time cost was related to different types of cargoes, which exhibit distinct sensitivity to time. Using the proposed cost function as basis, we identified the cost indifference area where total costs are equal. Further analysis was performed for selecting the transportation mode and supply area for a specific cargo. This study provides various parties, such as business owners, the government, and the shipping industry, with many valuable insights.

关键词： China Railway Express     the Belt and Road     shipping industry     combined transportation    

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Simulation model based on Monte Carlo method for traffic assignment in local area road network

Yuchuan DU, Yuanjing GENG, Lijun SUN

《结构与土木工程前沿（英文）》 2009年 第3卷 第2期   页码 195-203 doi: 10.1007/s11709-009-0032-3

摘要： For a local area road network, the available traffic data of traveling are the flow volumes in the key intersections, not the complete OD matrix. Considering the circumstance characteristic and the data availability of a local area road network, a new model for traffic assignment based on Monte Carlo simulation of intersection turning movement is provided in this paper. For good stability in temporal sequence, turning ratio is adopted as the important parameter of this model. The formulation for local area road network assignment problems is proposed on the assumption of random turning behavior. The traffic assignment model based on the Monte Carlo method has been used in traffic analysis for an actual urban road network. The results comparing surveying traffic flow data and determining flow data by the previous model verify the applicability and validity of the proposed methodology.

关键词： traffic assignment     local area road network     turning ratio     Monte Carlo method    

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Connection of the prefabricated updeck of road tunnels by a short lap-spliced joint using ultra-high-performance

《结构与土木工程前沿（英文）》   页码 870-883 doi: 10.1007/s11709-023-0977-7

摘要： Prefabricated internal structures of road tunnels, consisting of precast elements and the connections between them, provide advantages in terms of quality control and manufacturing costs. However, the limited construction space in tunnels creates challenges for on-site assembly. To identify feasible connecting joints, flexural tests of precast straight beams connected by welding-spliced or lap-spliced reinforcements embedded in normal concrete or ultra-high-performance fiber-reinforced concrete (UHPFRC) are first performed and analyzed. With an improvement in the strength grade of the closure concrete for the lap-spliced joint, the failure of the beam transforms from a brittle splitting mode to a ductile flexural mode. The beam connected by UHPFRC100 with short lap-spliced reinforcements can achieve almost equivalent mechanical performance in terms of the bearing capacity, ductility, and stiffness as the beam connected by normal concrete with welding-spliced reinforcements. This favorable solution is then applied to the connection of neighboring updeck slabs resting on columns in a double-deck tunnel. The applicability is validated by flexural tests of T-shaped joints, which, fail in a ductile fashion dominated by the ultimate bearing capacity of the precast elements, similar to the corresponding straight beam. The utilization of UHPFRC significantly reduces the required lap-splice length of reinforcements owing to its strong bonding strength.

关键词： UHPFRC     prefabricated updeck     road tunnel     lap-spliced rebars     flexural tests    

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标题 作者 时间 类型 操作

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

期刊论文

Characteristics and application of road absorbing solar energy

Zhihua ZHOU, Shan HU, Xiaoyan ZHANG, Jian ZUO

期刊论文

平顶激光脉冲在非均匀介质中的传输分析

张少军,刘静纨,黄骝

期刊论文

Development and road performance of clear asphalt with high transparency and adhesion

期刊论文

Special issue: Management of road and railway traffic and transportation engineering

Yongfu SUN, Ziyou GAO

期刊论文

Rational Understanding about Renaissance Path of China's Road and Bridge Engineering

Mao-run Feng,Zheng-song Zhao

期刊论文

Quantification of emission variability for off-road equipment in China based on real-world measurements

期刊论文

“Heavenly Road”: The Qinghai–Tibet Railway

Yongfu SUN

期刊论文

无损检测技术评估和检测道路性能

郭成超,许朋飞,钟燕辉

期刊论文

Impacts of opening baffle of city road tunnels on natural ventilation performance

Weixiao YANG, Jincheng XING, Jianxing LI, Jihong LING, Haixian HAO, Zhiqiang YAN

期刊论文

Green Road Construction Technologies in Guangzhou

Guan-feng An,Wen-yuan Huang,Jing-feng Zhang

期刊论文

An investigation on stress distribution effect on multi- piezoelectric energy harvesters

Hailu YANG, Dongwei CAO

期刊论文

Connecting the Belt and Road through sea-rail collaboration

Chenhao ZHOU, Haobin LI, Wencheng WANG, Loo Hay LEE, Ek Peng CHEW

期刊论文

Simulation model based on Monte Carlo method for traffic assignment in local area road network

Yuchuan DU, Yuanjing GENG, Lijun SUN

期刊论文

Connection of the prefabricated updeck of road tunnels by a short lap-spliced joint using ultra-high-performance

期刊论文