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下肢外骨骼机器人；人机交互；运动学习；轨迹生成；运动基元；黑盒优化 1

下肢机器人；捕获点；步态相位；人机系统平衡 1

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人机识别；随机森林；支持向量机；逻辑回归；多维性能评价指标 1

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Deviation correction strategy for the earth pressure balance shield based on shield–soil interactions

《机械工程前沿（英文）》 2022年 第17卷 第2期 doi: 10.1007/s11465-022-0676-4

摘要： The control system presently used in shield posture rectification is based on driver experience, which is marginally reliable. The study of the related theory is flawed. Therefore, a decision-making approach for the deviation correction trajectory and posture rectification load for an earth pressure balance (EPB) shield is proposed. A calculation model of posture rectification load of an EPB shield is developed by considering the interactions among the cutter head, shield shell, and ground. The additional position change during the shield attitude correction is highlighted. The posture rectification loads and shield behaviors results can be solved by the proposed method. The influences of the stratum distribution (i.e., bedrock height in the upper-soft and lower-hard strata) on shield behaviors and posture rectification loads are analyzed. Results indicated that the increase of pitch angle in the upper-soft and lower-hard strata causes a sharp rise in vertical displacement. The bedrock height increases the magnitudes of the required posture rectification moments when hr/D > 0.5. For a tunnel with hr/D ≤ 0.5, the variation of hr/D has little effect on the posture rectification moments. Finally, the posture rectifying curves based on the theoretical model are compared with the target ones based on the double circular arc interpolation method. The required results can be obtained regardless of the soil–rock compound stratum distribution. The maximum rectification moment in the rock layer is almost 12.6 times that in the soil layer. Overall, this study provides a valuable reference for moment determination and the trajectory prediction of posture rectification in compound strata.

关键词： additional position change     deviation correction trajectory     earth pressure balance shield     mechanical model     posture rectification    

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毫米波遥控弹道修正弹拦截机动反舰导弹命中概率的仿真研究

胡荣林,李兴国

《中国工程科学》 2007年 第9卷 第10期   页码 65-70

摘要：

提出了修正拦截流的概念，建立了舰载毫米波遥控指令弹道修正弹（MMW-RCTCM）拦截机动反舰导弹空袭流的防空射击模型。研究了单发MMW-RCTCM对单一机动反舰导弹的命中概率、修正拦截流对单一机动反舰导弹的命中概率以及修正拦截流对机动反舰导弹空袭流的命中概率。根据当前的技术发展状况，分析了攻防双方的技术参数，并据此对各种典型攻防模式下的命中概率进行了仿真计算。计算结果表明，与无控弹丸相比，MMW-RCTCM对机动反舰导弹的拦截效率成倍提高，且能够有效防御超音速反舰导弹的高强度攻击。

关键词： 遥控指令     弹道修正弹     毫米波     修正拦截流     反舰导弹     命中概率    

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Multiobjective trajectory optimization of intelligent electro-hydraulic shovel

《机械工程前沿（英文）》 2022年 第17卷 第4期 doi: 10.1007/s11465-022-0706-2

摘要： Multiobjective trajectory planning is still face challenges due to certain practical requirements and multiple contradicting objectives optimized simultaneously. In this paper, a multiobjective trajectory optimization approach that sets energy consumption, execution time, and excavation volume as the objective functions is presented for the electro-hydraulic shovel (EHS). The proposed cubic polynomial S-curve is employed to plan the crowd and hoist speed of EHS. Then, a novel hybrid constrained multiobjective evolutionary algorithm based on decomposition is proposed to deal with this constrained multiobjective optimization problem. The normalization of objectives is introduced to minimize the unfavorable effect of orders of magnitude. A novel hybrid constraint handling approach based on -constraint and the adaptive penalty function method is utilized to discover infeasible solution information and improve population diversity. Finally, the entropy weight technique for order preference by similarity to an ideal solution method is used to select the most satisfied solution from the Pareto optimal set. The performance of the proposed strategy is validated and analyzed by a series of simulation and experimental studies. Results show that the proposed approach can provide the high-quality Pareto optimal solutions and outperforms other trajectory optimization schemes investigated in this article.

关键词： trajectory planning     electro-hydraulic shovel     cubic polynomial S-curve     multiobjective optimization     entropy weight technique    

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Multivariable regression model for Fox depth correction factor

Ravi Kant MITTAL, Sanket RAWAT, Piyush BANSAL

《结构与土木工程前沿（英文）》 2019年 第13卷 第1期   页码 103-109 doi: 10.1007/s11709-018-0474-6

摘要： This paper presents a simple and efficient equation for calculating the Fox depth correction factor used in computation of settlement reduction due to foundation embedment. Classical solution of Boussinesq theory was used originally to develop the Fox depth correction factor equations which were rather complex in nature. The equations were later simplified in the form of graphs and tables and referred in various international code of practices and standard texts for an unsophisticated and quick analysis. However, these tables and graphs provide the factor only for limited values of the input variables and hence again complicates the process of automation of analysis. Therefore, this paper presents a non-linear regression model for the analysis of effect of embedment developed using “IBM Statistical Package for the Social Sciences” software. Through multiple iterations, the value of coefficient of determination is found to reach 0.987. The equation is straightforward, competent and easy to use for both manual and automated calculation of the Fox depth correction factor for wide range of input values. Using the developed equation, parametric study is also conducted in the later part of the paper to analyse the extent of effect of a particular variable on the Fox depth factor.

关键词： settlement     embedment     Fox depth correction factor     regression     multivariable    

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A reliable and practical reference objective for the deviation diagnosis of energy system parameters

Liping LI, Zheng LI,

《能源前沿（英文）》 2009年 第3卷 第4期   页码 440-445 doi: 10.1007/s11708-009-0051-8

摘要： The core objective to optimize a complex energy system is to set the reference target to guide the parameter adjustment of system operation. In this paper, a new case-based approach is proposed based on an online performance assessment program and its long-term operation data for a large power unit. The online model of a coal-fired power unit’s performance assessment is demonstrated, and the distribution pattern of the performance index is revealed by statistical analysis of the abundant data. The fundamental issues (representation of the similarity of two thermal processes, similarity measure, etc.) are tackled. The key sections and key parameters for the completion of similarity determination are proposed, which are essential to realize a case-based strategy. A full-scope simulator of power unit is used to test the availability of the method. The advantage of the case-based approach is the integrality of information over other methods.

关键词： energy system     case-based     optimization     power unit operation     performance    

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Dynamic prediction of moving trajectory in pipe jacking: GRU-based deep learning framework

《结构与土木工程前沿（英文）》   页码 994-1010 doi: 10.1007/s11709-023-0942-5

摘要： The moving trajectory of the pipe-jacking machine (PJM), which primarily determines the end quality of jacked tunnels, must be controlled strictly during the entire jacking process. Developing prediction models to support drivers in performing rectifications in advance can effectively avoid considerable trajectory deviations from the designed jacking axis. Hence, a gated recurrent unit (GRU)-based deep learning framework is proposed herein to dynamically predict the moving trajectory of the PJM. In this framework, operational data are first extracted from a data acquisition system; subsequently, they are preprocessed and used to establish GRU-based multivariate multistep-ahead direct prediction models. To verify the performance of the proposed framework, a case study of a large pipe-jacking project in Shanghai and comparisons with other conventional models (i.e., long short-term memory (LSTM) network and recurrent neural network (RNN)) are conducted. In addition, the effects of the activation function and input time-step length on the prediction performance of the proposed framework are investigated and discussed. The results show that the proposed framework can dynamically and precisely predict the PJM moving trajectory during the pipe-jacking process, with a minimum mean absolute error and root mean squared error (RMSE) of 0.1904 and 0.5011 mm, respectively. The RMSE of the GRU-based models is lower than those of the LSTM- and RNN-based models by 21.46% and 46.40% at the maximum, respectively. The proposed framework is expected to provide an effective decision support for moving trajectory control and serve as a foundation for the application of deep learning in the automatic control of pipe jacking.

关键词： dynamic prediction     moving trajectory     pipe jacking     GRU     deep learning    

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Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based

Jian Wu,Yang Yan,Yulong Liu,Yahui Liu,

《工程（英文）》 doi: 10.1016/j.eng.2023.07.018

摘要： The forward design of trajectory planning strategies requires preset trajectory optimization functions, resulting in poor adaptability of the strategy and an inability to accurately generate obstacle avoidance trajectories that conform to real driver behavior habits. In addition, owing to the strong time-varying dynamic characteristics of obstacle avoidance scenarios, it is necessary to design numerous trajectory optimization functions and adjust the corresponding parameters. Therefore, an anthropomorphic obstacle-avoidance trajectory planning strategy for adaptive driving scenarios is proposed. First, numerous expert-demonstrated trajectories are extracted from the HighD natural driving dataset. Subsequently, a trajectory expectation feature-matching algorithm is proposed that uses maximum entropy inverse reinforcement learning theory to learn the extracted expert-demonstrated trajectories and achieve automatic acquisition of the optimization function of the expert-demonstrated trajectory. Furthermore, a mapping model is constructed by combining the key driving scenario information that affects vehicle obstacle avoidance with the weight of the optimization function, and an anthropomorphic obstacle avoidance trajectory planning strategy for adaptive driving scenarios is proposed. Finally, the proposed strategy is verified based on real driving scenarios. The results show that the strategy can adjust the weight distribution of the trajectory optimization function in real time according to the “emergency degree” of obstacle avoidance and the state of the vehicle. Moreover, this strategy can generate anthropomorphic trajectories that are similar to expert-demonstrated trajectories, effectively improving the adaptability and acceptability of trajectories in driving scenarios.

关键词： Obstacle avoidance trajectory planning     Inverse reinforcement theory     Anthropomorphic     Adaptive driving scenarios    

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Robust train speed trajectory optimization: A stochastic constrained shortest path approach

Li WANG, Lixing YANG, Ziyou GAO, Yeran HUANG

《工程管理前沿（英文）》 2017年 第4卷 第4期   页码 408-417 doi: 10.15302/J-FEM-2017042

摘要： Train speed trajectory optimization is a significant issue in railway traffic systems, and it plays a key role in determining energy consumption and travel time of trains. Due to the complexity of real-world operational environments, a variety of factors can lead to the uncertainty in energy-consumption. To appropriately characterize the uncertainties and generate a robust speed trajectory, this study specifically proposes distance-speed networks over the inter-station and treats the uncertainty with respect to energy consumption as discrete sample-based random variables with correlation. The problem of interest is formulated as a stochastic constrained shortest path problem with travel time threshold constraints in which the expected total energy consumption is treated as the evaluation index. To generate an approximate optimal solution, a Lagrangian relaxation algorithm combined with dynamic programming algorithm is proposed to solve the optimal solutions. Numerical examples are implemented and analyzed to demonstrate the performance of proposed approaches.

关键词： train speed trajectory optimization     railway operation     stochastic programming    

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

《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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The dynamic correction of collimation errors of CT slicing pictures

LIU Ya-xiong, Sekou Sing-are, LI Di-chen, LU Bing-heng

《机械工程前沿（英文）》 2006年 第1卷 第2期   页码 168-172 doi: 10.1007/s11465-006-0016-0

摘要： To eliminate the motion artifacts of CT images caused by patient motions and other related errors, two kinds of correctors (A type and U type) are proposed to monitor the scanning process and correct the motion artifacts of the original images via reverse geometrical transformation such as reverse scaling, moving, rotating and offsetting. The results confirm that the correction method with any of the correctors can improve the accuracy and reliability of CT images, which facilitates in eliminating or decreasing the motion artifacts and correcting other static errors and image processing errors. This provides a foundation for the 3D reconstruction and accurate fabrication of the customized implants.
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CORRECTION to: A global carbon market?

Michael G. POLLITT

《工程管理前沿（英文）》   页码 699-699 doi: 10.1007/s42524-019-0050-3

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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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Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking

Hamza KHAN,Jamshed IQBAL,Khelifa BAIZID,Teresa ZIELINSKA

《信息与电子工程前沿（英文）》 2015年 第16卷 第2期   页码 166-172 doi: 10.1631/FITEE.1400183

摘要： This research formulates a path-following control problem subjected to wheel slippage and skid and solves it using a logic-based control scheme for a wheeled mobile robot (WMR). The novelty of the proposed scheme lies in its methodology that considers both longitudinal and lateral slip components. Based on the derived slip model, the controller for longitudinal motion slip has been synthesized. Various control parameters have been studied to investigate their effects on the performance of the controller resulting in selection of their optimum values. The designed controller for lateral slip or skid is based on the proposed side friction model and skid check condition. Considering a car-like WMR, simulation results demonstrate the effectiveness of the proposed control scheme. The robot successfully followed the desired circular trajectory in the presence of wheel slippage and skid. This research finds its potential in various applications involving WMR navigation and control.

关键词： Robot modeling     Robot navigation     Slip and skid control     Wheeled mobile robots    

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Real-time immune-inspired optimum state-of-charge trajectory estimation using upcoming route information

Ahmad MOZAFFARI,Mahyar VAJEDI,Nasser L. AZAD

《机械工程前沿（英文）》 2015年 第10卷 第2期   页码 154-167 doi: 10.1007/s11465-015-0336-z

摘要：

The main proposition of the current investigation is to develop a computational intelligence-based framework which can be used for the real-time estimation of optimum battery state-of-charge (SOC) trajectory in plug-in hybrid electric vehicles (PHEVs). The estimated SOC trajectory can be then employed for an intelligent power management to significantly improve the fuel economy of the vehicle. The devised intelligent SOC trajectory builder takes advantage of the upcoming route information preview to achieve the lowest possible total cost of electricity and fossil fuel. To reduce the complexity of real-time optimization, the authors propose an immune system-based clustering approach which allows categorizing the route information into a predefined number of segments. The intelligent real-time optimizer is also inspired on the basis of interactions in biological immune systems, and is called artificial immune algorithm (AIA). The objective function of the optimizer is derived from a computationally efficient artificial neural network (ANN) which is trained by a database obtained from a high-fidelity model of the vehicle built in the Autonomie software. The simulation results demonstrate that the integration of immune inspired clustering tool, AIA and ANN, will result in a powerful framework which can generate a near global optimum SOC trajectory for the baseline vehicle, that is, the Toyota Prius PHEV. The outcomes of the current investigation prove that by taking advantage of intelligent approaches, it is possible to design a computationally efficient and powerful SOC trajectory builder for the intelligent power management of PHEVs.

关键词： trip information preview     intelligent transportation     state-of-charge trajectory builder     immune systems     artificial neural network    

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CORRECTION to: Energy-saving operation approaches for urban rail transit systems

Ziyou GAO, Lixing YANG

《工程管理前沿（英文）》   页码 698-698 doi: 10.1007/s42524-019-0047-y

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标题 作者 时间 类型 操作

Deviation correction strategy for the earth pressure balance shield based on shield–soil interactions

期刊论文

毫米波遥控弹道修正弹拦截机动反舰导弹命中概率的仿真研究

胡荣林,李兴国

期刊论文

Multiobjective trajectory optimization of intelligent electro-hydraulic shovel

期刊论文

Multivariable regression model for Fox depth correction factor

Ravi Kant MITTAL, Sanket RAWAT, Piyush BANSAL

期刊论文

A reliable and practical reference objective for the deviation diagnosis of energy system parameters

Liping LI, Zheng LI,

期刊论文

Dynamic prediction of moving trajectory in pipe jacking: GRU-based deep learning framework

期刊论文

Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based

Jian Wu,Yang Yan,Yulong Liu,Yahui Liu,

期刊论文

Robust train speed trajectory optimization: A stochastic constrained shortest path approach

Li WANG, Lixing YANG, Ziyou GAO, Yeran HUANG

期刊论文

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

期刊论文

The dynamic correction of collimation errors of CT slicing pictures

LIU Ya-xiong, Sekou Sing-are, LI Di-chen, LU Bing-heng

期刊论文

CORRECTION to: A global carbon market?

Michael G. POLLITT

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

Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking

Hamza KHAN,Jamshed IQBAL,Khelifa BAIZID,Teresa ZIELINSKA

期刊论文

Real-time immune-inspired optimum state-of-charge trajectory estimation using upcoming route information

Ahmad MOZAFFARI,Mahyar VAJEDI,Nasser L. AZAD

期刊论文

CORRECTION to: Energy-saving operation approaches for urban rail transit systems

Ziyou GAO, Lixing YANG

期刊论文