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Toward autonomous mining: design and development of an unmanned electric shovel via point cloud-based

《机械工程前沿（英文）》 2022年 第17卷 第3期 doi: 10.1007/s11465-022-0686-2

摘要： With the proposal of intelligent mines, unmanned mining has become a research hotspot in recent years. In the field of autonomous excavation, environmental perception and excavation trajectory planning are two key issues because they have considerable influences on operation performance. In this study, an unmanned electric shovel (UES) is developed, and key robotization processes consisting of environment modeling and optimal excavation trajectory planning are presented. Initially, the point cloud of the material surface is collected and reconstructed by polynomial response surface (PRS) method. Then, by establishing the dynamical model of the UES, a point to point (PTP) excavation trajectory planning method is developed to improve both the mining efficiency and fill factor and to reduce the energy consumption. Based on optimal trajectory command, the UES performs autonomous excavation. The experimental results show that the proposed surface reconstruction method can accurately represent the material surface. On the basis of reconstructed surface, the PTP trajectory planning method rapidly obtains a reasonable mining trajectory with high fill factor and mining efficiency. Compared with the common excavation trajectory planning approaches, the proposed method tends to be more capable in terms of mining time and energy consumption, ensuring high-performance excavation of the UES in practical mining environment.

关键词： autonomous excavation     unmanned electric shovel     point cloud     excavation trajectory planning    

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Prediction of characteristic blast-induced vibration frequency during underground excavation by using

Tae Un PAK; Guk Rae JO; Un Chol HAN

《结构与土木工程前沿（英文）》 2022年 第16卷 第8期   页码 1029-1039 doi: 10.1007/s11709-022-0861-x

摘要： Blast-induced vibration produces a very complex signal, and it is very important to work out environmental problems induced by blasting. In this study, blasting vibration signals were measured during underground excavation in carbonaceous shale by using vibration pickup CB-30 and FFT analyzer AD-3523. Then, wavelet analysis on the measured results was carried out to identify frequency bands reflecting changes of blasting vibration parameters such as vibration velocity and energy in different frequency bands. Frequency characteristics are then discussed in view of blast source distance and charge weight per delay. From analysis of results, it can be found that peak velocity and energy of blasting vibration in frequency band of 62.5–125 Hz were larger than ones in other bands, indicating the similarity to characteristics in the distribution band (31–130 Hz) of main vibration frequency. Most frequency bands were affected by blasting source distance, and the frequency band of 0–62.5 Hz reflected the change of charge weight per delay. By presenting a simplified method to predict main vibration frequency, this research may provide significant reference for future blasting engineering.

关键词： wavelet analysis     blast-induced vibration     frequency characteristics     underground excavation    

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Influencing factors and control measures of excavation on adjacent bridge foundation based on analytic

Shuangxi FENG, Huayang LEI, Yongfeng WAN, Haiyan JIN, Jun HAN

《结构与土木工程前沿（英文）》 2021年 第15卷 第2期   页码 461-477 doi: 10.1007/s11709-021-0705-0

摘要： Many uncertain factors in the excavation process may lead to excessive lateral displacement or over-limited internal force of the piles, as well as inordinate settlement of soil surrounding the existing bridge foundation. Safety control is pivotal to ensuring the safety of adjacent structures. In this paper, an innovative method is proposed that combines an analytic hierarchy process (AHP) with a finite element method (FEM) to reveal the potential impact risk of uncertain factors on the surrounding environment. The AHP was adopted to determine key influencing factors based on the weight of each influencing factor. The FEM was used to quantify the impact of the key influencing factors on the surrounding environment. In terms of the AHP, the index system of uncertain factors was established based on an engineering investigation. A matrix comparing the lower index layer to the upper index layer, and the weight of each influencing factor, were calculated. It was found that the excavation depth and the distance between the foundation pit and the bridge foundation were fundamental factors. For the FEM, the FE baseline model was calibrated based on the case of no bridge surrounding the foundation pit. The consistency between the monitoring data and the numerical simulation data for a ground settlement was analyzed. FE simulations were then conducted to quantitatively analyze the degree of influence of the key influencing factors on the bridge foundation. Furthermore, the lateral displacement of the bridge pile foundation, the internal force of the piles, and the settlement of the soil surrounding the pile foundation were emphatically analyzed. The most hazardous construction condition was also determined. Finally, two safety control measures for increasing the numbers of support levels and the rooted depths of the enclosure structure were suggested. A novel method for combining AHP with FEM can be used to determine the key influencing aspects among many uncertain factors during a construction, which can provide some beneficial references for engineering design and construction.

关键词： deep foundation pit excavation     adjacent bridge foundation     influencing factors     analytic hierarchy process     finite element    

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An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

《机械工程前沿（英文）》 2007年 第2卷 第2期   页码 197-200 doi: 10.1007/s11465-007-0033-7

摘要： Using two micro-motors, a novel omni-direction miniature wheeled robot is designed on the basis of the bi-corner driving principle. The robot takes advantage of the Bluetooth technology to wirelessly transmit data at a short distance. Its position and omni-direction motion are precise. A Charge Coupled Device (CCD) camera is used for measuring and for visual navi gation. A control system is developed. The precision of the position is 0.5 mm, the resolution is about 0.05 mm, and the maximum velocity is about 52 mm/s. The visual navigation and control system allow the robot to navigate and track the target and to accomplish autonomous locomotion.

关键词： measuring     distance     autonomous locomotion     advantage     navigation    

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Shanghai center project excavation induced ground surface movements and deformations

Guolin XU, Jiwen ZHANG, Huang LIU, Changqin REN

《结构与土木工程前沿（英文）》 2018年 第12卷 第1期   页码 26-43 doi: 10.1007/s11709-017-0439-1

摘要： Empirical data on deep urban excavations can provide designers a significant reference basis for assessing potential deformations of the deep excavations and their impact on adjacent structures. The construction of the Shanghai Center involved excavations in excess of 33-m-deep using the top-down method at a site underlain by thick deposits of marine soft clay. A retaining system was achieved by 50-m-deep diaphragm walls with six levels of struts. During construction, a comprehensive instrumentation program lasting 14 months was conducted to monitor the behaviors of this deep circular excavation. The following main items related to ground surface movements and deformations were collected: (1) walls and circumferential soils lateral movements; (2) peripheral soil deflection in layers and ground settlements; and (3) pit basal heave. The results from the field instrumentation showed that deflections of the site were strictly controlled and had no large movements that might lead to damage to the stability of the foundation pit. The field performance of another 21cylindrical excavations in top-down method were collected to compare with this case through statistical analysis. In addition, numerical analyses were conducted to compare with the observed data. The extensively monitored data are characterized and analyzed in this paper.

关键词： deep excavation     foundation pit     soft clay     top-down method     field observation     ground surface movements     ground deformations    

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Field and laboratory experimental studies on hard-rock tunnel excavation based on disc cutter coupled

《结构与土木工程前沿（英文）》   页码 1370-1386 doi: 10.1007/s11709-023-0947-0

摘要： The tunnel boring machine (TBM) is typically used in hard-rock tunnel excavation. Owing to the unsatisfactory adaptability of TBM to the surrounding rock, when crossing high-strength and high-wear strata, the TBM can easily cause defects, such as abnormal wear on cutters and overload damage to bearings, thus affecting the construction efficiency and cost. Therefore, high-pressure waterjet technology should be applied to assist in rock breaking for efficient TBM tunneling. In this study, the effects of water pressure, nozzle diameter, and nozzle speed on cutting are investigated via laboratory experiments of cutting hard rock using high-pressure waterjets. The penetration performance of the TBM under different water pressures is investigated via a field industrial penetration test. The results show that high-pressure waterjets are highly efficient for rock breaking and are suitable for industrial applications, as they can accommodate the advancing speed of the TBM and achieve high-efficiency rock breaking. However, during the operation of high-pressure waterjets, the ambient temperature and waterjet temperature in the tunnel increase significantly, which weakens the cooling effect of the cutterhead and decreases the construction efficiency of the TBM. Therefore, temperature control and cooling measures for high-pressure waterjets during their long-term operation must be identified. This study provides a useful reference for the design and construction of high-pressure water-jet-assisted cutterheads for breaking road headers.

关键词： tunnel boring machine     hard-rock cutting     free face     disc cutter     rock-cutting efficiency    

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Undrained seismic bearing capacity of strip footing adjacent to a heterogeneous excavation

《结构与土木工程前沿（英文）》 2023年 第17卷 第4期   页码 566-583 doi: 10.1007/s11709-023-0905-x

摘要： The analysis of the bearing capacity of strip footings sited near an excavation is critical in geotechnics. In this study, the effects of the geometrical features of the excavation and the soil strength properties on the seismic bearing capacity of a strip footing resting on an excavation were evaluated using the lower and upper bounds of the finite element limit analysis method. The effects of the setback distance ratio (L/B), excavation height ratio (H/B), soil strength heterogeneity (kB/cu), and horizontal earthquake coefficient (kh) were analyzed. Design charts and tables were produced to clarify the relationship between the undrained seismic bearing capacity and the selected parameters.

关键词： excavation     finite element limit analysis     heterogeneous soil     strip footing     undrained bearing capacity    

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Extended model predictive control scheme for smooth path following of autonomous vehicles

《机械工程前沿（英文）》 2022年 第17卷 第1期   页码 4-4 doi: 10.1007/s11465-021-0660-4

摘要： This paper presents an extended model predictive control (MPC) scheme for implementing optimal path following of autonomous vehicles, which has multiple constraints and an integrated model of vehicle and road dynamics. Road curvature and inclination factors are used in the construction of the vehicle dynamic model to describe its lateral and roll dynamics accurately. Sideslip, rollover, and vehicle envelopes are used as multiple constraints in the MPC controller formulation. Then, an extended MPC method solved by differential evolution optimization algorithm is proposed to realize optimal smooth path following based on driving path features. Finally, simulation and real experiments are carried out to evaluate the feasibility and the effectiveness of the extended MPC scheme. Results indicate that the proposed method can obtain the smooth transition to follow the optimal drivable path and satisfy the lateral dynamic stability and environmental constraints, which can improve the path following quality for better ride comfort and road availability of autonomous vehicles.

关键词： autonomous vehicles     vehicle dynamic modeling     model predictive control     path following     optimization algorithm    

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自动驾驶地图有关政策的思考和建议

刘经南,董杨,詹骄,高柯夫

《中国工程科学》 2019年 第21卷 第3期   页码 92-97 doi: 10.15302/J-SSCAE-2019.03.004

摘要：

自动驾驶地图作为实现汽车自动驾驶的关键基础设施，对于推动我国自动驾驶领域的商业化开发至关重要。现阶段，我国受地图测绘、应用和监管等相关法律法规的制度掣肘，在自动驾驶地图的产业化进程方面相对滞后。为此，本文着重分析了我国在自动驾驶地图开发、应用和管理中面临的主要政策法规问题：自动驾驶地图是否需加密的问题、自动驾驶地图部分地理信息表达受限的问题、自动驾驶地图地理信息采集资质和审图流程的问题、自动驾驶地图事故责任和保险问题、自动驾驶地图相关测试规范和测试场景问题。同时结合国内外自动驾驶领域的发展趋势，给出加快我国自动驾驶汽车开发和商业化进程的四点建议：制定自动驾驶地图管理模式、允许自动驾驶地图应用试点及有序开放、适当放开企业权限及优化审核流程、建立国家级自动驾驶地图平台。

关键词： 自动驾驶地图     自动驾驶法规     自动驾驶政策    

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Advanced finite element analysis of a complex deep excavation case history in Shanghai

Yuepeng DONG, Harvey BURD, Guy HOULSBY, Yongmao HOU

《结构与土木工程前沿（英文）》 2014年 第8卷 第1期   页码 93-100 doi: 10.1007/s11709-014-0232-3

摘要： The construction of the North Square Shopping Center of the Shanghai South Railway Station is a large scale complex top-down deep excavation project. The excavation is adjacent to several current and newly planned Metro lines, and influenced by a neighboring Exchange Station excavation. The highly irregular geometry of this excavation greatly increases the complexity in 3D Finite Element modeling. The advanced numerical modeling described in this paper includes detailed structural and geotechnical behavior. Important features are considered in the analysis, e.g., 1) the small-strain stiffness of the soil, 2) the construction joints in the diaphragm wall, 3) the shrinkage in the concrete floor slabs and beams, 4) the complex construction sequences, and 5) the shape effect of the deep excavation. The numerical results agree well with the field data, and some valuable conclusions are generated.

关键词： advanced finite element analysis     deep excavations     case history     small-strain stiffness    

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奥运会飞碟靶场石方开挖控制爆破效果及分析

申振宇,张朋军,汪旭光,于亚伦

《中国工程科学》 2009年 第11卷 第11期   页码 13-16

摘要：

介绍了中深孔爆破在奥运会飞碟靶场石方开挖中的应用，在复杂环境下，采用孔外多段毫秒延时、低单耗、加长填塞等技术措施，较好地控制爆破振动及飞石的危害。在不良地质条件下采用预裂爆破技术，优化预裂爆破参数，保证了边坡的平整。对实施经验进行了总结，可为同类条件下的爆破提供参考。

关键词： 石方开挖     深孔爆破     预裂爆破     破碎岩层    

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General Optimal Trajectory Planning: Enabling Autonomous Vehicles with the Principle of Least Action

Heye Huang,Yicong Liu,Jinxin Liu,Qisong Yang,Jianqiang Wang,David Abbink,Arkady Zgonnikov,

《工程（英文）》 doi: 10.1016/j.eng.2023.10.001

摘要： This study presents a general optimal trajectory planning (GOTP) framework for autonomous vehicles (AVs) that can effectively avoid obstacles and guide AVs to complete driving tasks safely and efficiently. Firstly, we employ the fifth-order Bezier curve to generate and smooth the reference path along the road centerline. Cartesian coordinates are then transformed to achieve the curvature continuity of the generated curve. Considering the road constraints and vehicle dynamics, limited polynomial candidate trajectories are generated and smoothed in a curvilinear coordinate system. Furthermore, in selecting the optimal trajectory, we develop a unified and auto-tune objective function based on the principle of least action by employing AVs to simulate drivers’ behavior and summarizing their manipulation characteristics of “seeking benefits and avoiding losses.” Finally, by integrating the idea of receding-horizon optimization, the proposed framework is achieved by considering dynamic multi-performance objectives and selecting trajectories that satisfy feasibility, optimality, and adaptability. Extensive simulations and experiments are performed, and the results demonstrate the framework’s feasibility and effectiveness, which avoids both dynamic and static obstacles and applies to various scenarios with multi-source interactive traffic participants. Moreover, we prove that the proposed method can guarantee real-time planning and safety requirements compared to drivers’ manipulation.

关键词： Autonomous vehicle     Trajectory planning     Multi-performance objectives     Principle of least action    

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Toward Trustworthy Decision-Making for Autonomous Vehicles: A Robust Reinforcement Learning Approach

Xiangkun He,Wenhui Huang,Chen Lv,

《工程（英文）》 doi: 10.1016/j.eng.2023.10.005

摘要： While autonomous vehicles are vital components of intelligent transportation systems, ensuring the trustworthiness of decision-making remains a substantial challenge in realizing autonomous driving. Therefore, we present a novel robust reinforcement learning approach with safety guarantees to attain trustworthy decision-making for autonomous vehicles. The proposed technique ensures decision trustworthiness in terms of policy robustness and collision safety. Specifically, an adversary model is learned online to simulate the worst-case uncertainty by approximating the optimal adversarial perturbations on the observed states and environmental dynamics. In addition, an adversarial robust actor-critic algorithm is developed to enable the agent to learn robust policies against perturbations in observations and dynamics. Moreover, we devise a safety mask to guarantee the collision safety of the autonomous driving agent during both the training and testing processes using an interpretable knowledge model known as the Responsibility-Sensitive Safety model. Finally, the proposed approach is evaluated through both simulations and experiments. These results indicate that the autonomous driving agent can make trustworthy decisions and drastically reduce the number of collisions through robust safety policies.

关键词： Autonomous vehicle     Decision-making     Reinforcement learning     Adversarial attack     Safety guarantee    

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迈向L5级自动驾驶汽车的发展原则 Article

王建强, 黄荷叶, 李克强, 李骏

《工程（英文）》 2021年 第7卷 第9期   页码 1313-1325 doi: 10.1016/j.eng.2020.10.018

摘要：

自动驾驶汽车的快速发展给现有交通出行方式带来了全新面貌和潜在挑战。目前，L3 级及以下驾驶辅助系统已经量产，L4 级在特定场景下的一些应用也逐步开发，通过逐渐提高车辆的自动化、智能化程度来不断向完全自动驾驶发展。然而，针对L5 级自动驾驶汽车的发展思路始终未明确，而现有针对L0~L4级自动驾驶发展过程的研发方式主要基于任务驱动来进行特定场景下的功能开发，难以揭示高等级自动驾驶汽车所需解决问题的本质逻辑和物理机制，进而阻碍了迈向L5 级自动驾驶的途径。本文通过探索高等级自动驾驶系统背后的物理机制，并从驾驶的本质出发，采用推理演绎方式，提出“大脑-小脑-器官”协调平衡框架，基于“乌鸦推理+鹦鹉学舌”的混合模式，探索“自主学习+先验知识”的研究范式，实现自动驾驶汽车“自学习、自适应、自超越”特性。从系统、统一、均衡的角度出发，基于最小作用量原理和统一安全场思想，旨在为高等级自动驾驶汽车，尤其是L5 级自动驾驶的研发提供一种全新的研发思路与有效途径。

关键词： 自动驾驶汽车     最小作用量原理     行车安全场     自主学习     基础范式    

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Application of random set method in a deep excavation: based on a case study in Tehran cemented alluvium

Arash SEKHAVATIAN, Asskar Janalizadeh CHOOBBASTI

《结构与土木工程前沿（英文）》 2019年 第13卷 第1期   页码 66-80 doi: 10.1007/s11709-018-0461-y

摘要： The design of high-rise buildings often necessitates ground excavation, where buildings are in close proximity to the construction, thus there is a potential for damage to these structures. This paper studies an efficient user-friendly framework for dealing with uncertainties in a deep excavation in layers of cemented coarse grained soil located in Tehran, Iran by non-deterministic Random Set (RS) method. In order to enhance the acceptability of the method among engineers, a pertinent code was written in FISH language of FLAC2D software which enables the designers to run all simulations simultaneously, without cumbersome procedure of changing input variables in every individual analysis. This could drastically decrease the computational effort and cost imposed to the project, which is of great importance especially to the owners. The results are presented in terms of probability of occurrence and most likely values of the horizontal displacement at top of the wall at every stage of construction. Moreover, a methodology for assessing the credibility of the uncertainty model is presented using a quality indicator. It was concluded that performing RS analysis before the beginning of every stage could cause great economical savings, while improving the safety of the project.

关键词： uncertainty     reliability analysis     deep excavations     random set method     finite difference method    

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标题 作者 时间 类型 操作

Toward autonomous mining: design and development of an unmanned electric shovel via point cloud-based

期刊论文

Prediction of characteristic blast-induced vibration frequency during underground excavation by using

Tae Un PAK; Guk Rae JO; Un Chol HAN

期刊论文

Influencing factors and control measures of excavation on adjacent bridge foundation based on analytic

Shuangxi FENG, Huayang LEI, Yongfeng WAN, Haiyan JIN, Jun HAN

期刊论文

An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

期刊论文

Shanghai center project excavation induced ground surface movements and deformations

Guolin XU, Jiwen ZHANG, Huang LIU, Changqin REN

期刊论文

Field and laboratory experimental studies on hard-rock tunnel excavation based on disc cutter coupled

期刊论文

Undrained seismic bearing capacity of strip footing adjacent to a heterogeneous excavation

期刊论文

Extended model predictive control scheme for smooth path following of autonomous vehicles

期刊论文

自动驾驶地图有关政策的思考和建议

刘经南,董杨,詹骄,高柯夫

期刊论文

Advanced finite element analysis of a complex deep excavation case history in Shanghai

Yuepeng DONG, Harvey BURD, Guy HOULSBY, Yongmao HOU

期刊论文

奥运会飞碟靶场石方开挖控制爆破效果及分析

申振宇,张朋军,汪旭光,于亚伦

期刊论文

General Optimal Trajectory Planning: Enabling Autonomous Vehicles with the Principle of Least Action

Heye Huang,Yicong Liu,Jinxin Liu,Qisong Yang,Jianqiang Wang,David Abbink,Arkady Zgonnikov,

期刊论文

Toward Trustworthy Decision-Making for Autonomous Vehicles: A Robust Reinforcement Learning Approach

Xiangkun He,Wenhui Huang,Chen Lv,

期刊论文

迈向L5级自动驾驶汽车的发展原则

王建强, 黄荷叶, 李克强, 李骏

期刊论文

Application of random set method in a deep excavation: based on a case study in Tehran cemented alluvium

Arash SEKHAVATIAN, Asskar Janalizadeh CHOOBBASTI

期刊论文