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

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0760-4

Abstract: Reliable foot-to-ground contact state detection is crucial for the locomotion control of quadruped robotsbased on the probabilistic contact model with multi-information fusion is presented to detect the actualcontact states of robotic feet with the ground.The overall contact states are obtained by the classification of the model-based predicted probabilitiesThe probabilistic model parameters are determined by testing on the single-leg experimental platform.

Keywords： multi-information fusion     contact detection     quadruped robot     probabilistic contact model     unstructured    

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Probabilistic model for vessel-bridge collisions in the Three Gorges Reservoir

Bo GENG , Hong WANG , Junjie WANG ,

Frontiers of Structural and Civil Engineering 2009, Volume 3, Issue 3,   Pages 279-285 doi: 10.1007/s11709-009-0044-z

Abstract: three bridges over the Yangtze River in the Three Gorges Reservoir, and an analysis of the geometric probabilisticmodel of transiting vessels in collision probability calculation, the aberrancy angle and vessel velocityprobabilistic model related with impact force, a probabilistic model is established and also verifiedThe vessel transit path distribution can be expressed by the normal distribution model.The aberrancy angle distribution of vessels accepts maximum I distribution model, and its distribution

Keywords： vessel-bridge collision     probabilistic model     parameter statistics    

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Modelling of dynamic contact length in rail grinding process

Shaodan ZHI,Jianyong LI,A. M. ZAREMBSKI

Frontiers of Mechanical Engineering 2014, Volume 9, Issue 3,   Pages 242-248 doi: 10.1007/s11465-014-0305-y

Abstract: accumulated stress concentrations will cause the plastic deformation of rail towards generating corrugations, contactFirst of all, it’s important to analyze the contact length between the grinding stone and the rail, because the contact length is a critical parameter to measure the grinding capabilities of stones.Therefore the theoretical model for contact length is developed based on the geometrical analysis.

Keywords： rail grinding     contact length     dynamic model     Hamiltonian system     grinding stone     rail grinding car    

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Model reduction of contact dynamics simulation using a modified Lyapunov balancing method

Jianxun LIANG, Ou MA, Caishan LIU

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 4,   Pages 383-391 doi: 10.1007/s11465-011-0244-9

Abstract:

Finite element models are often used to simulate impact and contact dynamics responses of multibodyAlthough many model reduction techniques have been available to improve the efficiency of finite elementthe high nonlinearity of the contact dynamics models.This paper presents a model reduction approach for finite-element based multibody contact dynamics simulationAn example is presented to demonstrate that, by applying the model reduction the simulation process is

Keywords： contact dynamics     dynamic simulation     model reduction     finite element method    

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A simplified model of direct-contact heat transfer in desalination system utilizing LNG cold energy

Qingqing SHEN, Wensheng LIN, Anzhong GU, Yonglin JU

Frontiers in Energy 2012, Volume 6, Issue 2,   Pages 122-128 doi: 10.1007/s11708-012-0175-0

Abstract: A simplified model of the direct-contact heat transfer in this desalination system is proposed and theoretical

Keywords： liquefied natural gas (LNG)     cold energy utilization     desalination     direct-contact heat transfer    

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Proposal of a probabilistic assessment of structural collapse concomitantly subject to earthquake and

Gholamreza ABDOLLAHZADEH, Hadi FAGHIHMALEKI

Frontiers of Structural and Civil Engineering 2018, Volume 12, Issue 3,   Pages 425-437 doi: 10.1007/s11709-017-0427-5

Abstract:

In recent decades, many public buildings, located in seismic-prone residential areas, had to grapple with abnormal loads against which the structures were unguarded. In this piece of research, an ordinary three dimensional reinforced concrete building is selected as case study. The building is located in an earthquake-prone region; however, it is designed according to seismic building codes. Yet, it is not shielded against abnormal loads, such as blasts. It is assumed that the building suffers a blast load, due to mechanical/thermal installation failure during or after intense seismic oscillations. These two critical incidents are regarded codependent and compatible. So the researchers developed scenarios and tried to assess different probabilities for each scenario and carried out an analysis to ensure if progressive collapse had set in or not. In the first step, two analysis models were used for each scenario; a non-linear dynamic time history analysis and a blast local dynamic analysis. In the second step, having the structural destructions of the first step in view, a pushdown analysis was carried out to determine the severity of progressive collapse and assess building robustness. Finally, the annual probability of structural collapse under simultaneous earthquake and blast loads was estimated and offered.

Keywords： gas blast     pushdown analysis     progressive collapse     annual probability of structural collapse     3D model of    

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An improved algorithm for McDowell’s analytical model of residual stress

Zhaoxu QI,Bin LI,Liangshan XIONG

Frontiers of Mechanical Engineering 2014, Volume 9, Issue 2,   Pages 150-155 doi: 10.1007/s11465-014-0295-9

Abstract:

The analytical model for two-dimensional elastoplastic rolling/sliding contact proposed by McDowellIn application of the model, a problem of low predicting precision near the surface layer of the componentAccording to the volume-constancy of plastic deformation, an improved algorithm for McDowell’s modelother at any point within the component is derived, and the relationship is applied to McDowell’s modelby modified method is much closer to the FEM results than the results predicted by McDowell’s model

Keywords： residual stress     McDowell’s model     volume-constancy of plastic deformation     FEM     elastoplastic rolling/slidingcontact    

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Novel probabilistic rolling regular tetrahedron mechanism

Yonghan GUAN, Yan’an YAO, Chao LIU, Ruiming LI

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 2,   Pages 363-378 doi: 10.1007/s11465-020-0628-9

Abstract: In this study, a novel mechanism that can conduct probabilistic rolling is proposed to reach a designatedAccording to mobility and kinematic analyses, the mechanism can implement probabilistic rolling.Furthermore, the mathematical principle of probabilistic rolling is revealed in terms of probability

Keywords： mobile mechanism     probabilistic motion     rolling mechanism     stochastic motion    

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Risk-based probabilistic thermal-stress analysis of concrete arch dams

Narjes SOLTANI, Mohammad ALEMBAGHERI, Mohammad Houshmand KHANEGHAHI

Frontiers of Structural and Civil Engineering 2019, Volume 13, Issue 5,   Pages 1007-1019 doi: 10.1007/s11709-019-0521-y

Abstract: The probabilistic risk of arch dam failure under thermal loading is studied.

Keywords： arch dams     probabilistic analysis     thermal stress     sensitivity     reliability    

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Thin-liquid-film evaporation at contact line

Hao WANG, Zhenai PAN, Zhao CHEN

Frontiers in Energy 2009, Volume 3, Issue 2,   Pages 141-151 doi: 10.1007/s11708-009-0020-2

Abstract: When a liquid wets a solid wall, the extended meniscus near the contact line may be divided into three

Keywords： meniscus     thin film     contact line     disjoining pressure     evaporation    

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Application of probabilistic risk assessment at a coking plant site contaminated by Polycyclic Aromatic

XIA Tianxiang,JIANG Lin,JIA Xiaoyang,ZHONG Maosheng,LIANG Jing

Frontiers of Environmental Science & Engineering 2014, Volume 8, Issue 3,   Pages 441-450 doi: 10.1007/s11783-013-0572-6

Abstract: Application of Probabilistic Risk Assessment (PRA) and Deterministic Risk Assessment (DRA) at a coking

Keywords： Probabilistic Risk Assessment (PRA)     a coking plant     risk     cleanup level     sensitivity analysis     polycyclic    

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Cumulant-based correlated probabilistic load flow considering photovoltaic generation and electric vehicle

Nitesh Ganesh BHAT, B. Rajanarayan PRUSTY, Debashisha JENA

Frontiers in Energy 2017, Volume 11, Issue 2,   Pages 184-196 doi: 10.1007/s11708-017-0465-7

Abstract: This paper applies a cumulant-based analytical method for probabilistic load flow (PLF) assessment in

Keywords： battery electric vehicle     extended cumulant method     photovoltaic generation     plug-in hybrid electric vehicle     probabilistic    

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control strategy using tuned liquid dampers to reduce displacement demands of base-isolated structures: a probabilistic

Parham SHOAEI, Houtan Tahmasebi OROMI

Frontiers of Structural and Civil Engineering 2019, Volume 13, Issue 4,   Pages 890-903 doi: 10.1007/s11709-019-0524-8

Abstract: In the proposed approach, the probabilistic distributions of the stiffness and yield properties of stories

Keywords： tuned liquid damper     lead-rubber bearing system     probabilistic framework     steel shear building     relative    

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An interval joint-probabilistic programming method for solid waste management: a case study for the city

Yi XU, Shunze WU, Hongkuan ZANG, Guiguang HOU

Frontiers of Environmental Science & Engineering 2014, Volume 8, Issue 2,   Pages 239-255 doi: 10.1007/s11783-013-0536-x

Abstract: In response to these challenges, an interval joint-probabilistic mixed-integer programming (IJMP) methodIn the IJMP, joint probabilistic constraints are introduced into an interval-parameter mixed-integer

Keywords： interval analysis     mixed integer     joint probabilistic constraint     planning     uncertainty     waste management    

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On the applicability of different adhesion models in adhesive particulate flows

Guanqing LIU, Shuiqing LI, Qiang YAO,

Frontiers in Energy 2010, Volume 4, Issue 2,   Pages 280-286 doi: 10.1007/s11708-009-0062-5

Abstract: quantitative criteria for the appropriate selection of adhesion models applicable to a specific adhesive contactIt is found that the choice of general model has limited influence on the structure of a constructedOn the contrary, the regime of application for each approximate model is sensitive to the approximation

Keywords： adhesive contact     van der Waals force     adhesion model     adhesion map     DEM    

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Title Author Date Type Operation

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

Journal Article

Probabilistic model for vessel-bridge collisions in the Three Gorges Reservoir

Bo GENG , Hong WANG , Junjie WANG ,

Journal Article

Modelling of dynamic contact length in rail grinding process

Shaodan ZHI,Jianyong LI,A. M. ZAREMBSKI

Journal Article

Model reduction of contact dynamics simulation using a modified Lyapunov balancing method

Jianxun LIANG, Ou MA, Caishan LIU

Journal Article

A simplified model of direct-contact heat transfer in desalination system utilizing LNG cold energy

Qingqing SHEN, Wensheng LIN, Anzhong GU, Yonglin JU

Journal Article

Proposal of a probabilistic assessment of structural collapse concomitantly subject to earthquake and

Gholamreza ABDOLLAHZADEH, Hadi FAGHIHMALEKI

Journal Article

An improved algorithm for McDowell’s analytical model of residual stress

Zhaoxu QI,Bin LI,Liangshan XIONG

Journal Article

Novel probabilistic rolling regular tetrahedron mechanism

Yonghan GUAN, Yan’an YAO, Chao LIU, Ruiming LI

Journal Article

Risk-based probabilistic thermal-stress analysis of concrete arch dams

Narjes SOLTANI, Mohammad ALEMBAGHERI, Mohammad Houshmand KHANEGHAHI

Journal Article

Thin-liquid-film evaporation at contact line

Hao WANG, Zhenai PAN, Zhao CHEN

Journal Article

Application of probabilistic risk assessment at a coking plant site contaminated by Polycyclic Aromatic

XIA Tianxiang,JIANG Lin,JIA Xiaoyang,ZHONG Maosheng,LIANG Jing

Journal Article

Cumulant-based correlated probabilistic load flow considering photovoltaic generation and electric vehicle

Nitesh Ganesh BHAT, B. Rajanarayan PRUSTY, Debashisha JENA

Journal Article

control strategy using tuned liquid dampers to reduce displacement demands of base-isolated structures: a probabilistic

Parham SHOAEI, Houtan Tahmasebi OROMI

Journal Article

An interval joint-probabilistic programming method for solid waste management: a case study for the city

Yi XU, Shunze WU, Hongkuan ZANG, Guiguang HOU

Journal Article

On the applicability of different adhesion models in adhesive particulate flows

Guanqing LIU, Shuiqing LI, Qiang YAO,

Journal Article