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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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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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Dynamic Target Tracking of Unmanned Aerial Vehicles Under Unpredictable Disturbances

Yanjie Chen,Yangning Wu,Limin Lan,Hang Zhong,Zhiqiang Miao,Hui Zhang,Yaonan Wang,

《工程（英文）》 doi: 10.1016/j.eng.2023.05.017

摘要： This study proposes an image-based visual servoing (IBVS) method based on a velocity observer for an unmanned aerial vehicle (UAV) for tracking a dynamic target in Global Positioning System (GPS)-denied environments. The proposed method derives the simplified and decoupled image dynamics of underactuated UAVs using a constructed virtual camera and then considers the uncertainties caused by the unpredictable rotations and velocities of the dynamic target. A novel image depth model that extends the IBVS method to track a rotating target with arbitrary orientations is proposed. The depth model ensures image feature accuracy and image trajectory smoothness in rotating target tracking. The relative velocities of the UAV and the dynamic target are estimated using the proposed velocity observer. Thanks to the velocity observer, translational velocity measurements are not required, and the control chatter caused by noise-containing measurements is mitigated. An integral-based filter is proposed to compensate for unpredictable environmental disturbances in order to improve the anti-disturbance ability. The stability of the velocity observer and IBVS controller is analyzed using the Lyapunov method. Comparative simulations and multistage experiments are conducted to illustrate the tracking stability, anti-disturbance ability, and tracking robustness of the proposed method with a dynamic rotating target.

关键词： Unmanned aerial vehicle Visual servoing Velocity observer Target tracking

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Techno-economic analysis of the adoption of electric vehicles

Donald KENNEDY, Simon P. PHILBIN

《工程管理前沿（英文）》 2019年第6卷第4期页码 538-550 doi: 10.1007/s42524-019-0048-x

摘要： Significant advances in battery technology are creating a viable marketspace for battery powered passenger vehicles. Climate change and concerns over reliable supplies of hydrocarbons are aiding in the focus on electric vehicles. Consumers can be influenced by marketing and emotion resulting in behaviors that may not be in line with their stated objectives. Although sales of electric vehicles are accelerating, it may not be clear that purchasing an electric vehicle is advantageous from an economic or environmental perspective. A techno- economic analysis of electric vehicles comparing them against hybrids, gasoline and diesel vehicles is presented. The results show that the complexity of electrical power supply, infrastructure requirements and full life cycle concerns show that electric vehicles have a place in the future but that ongoing improvements will be required for them to be clearly the best choice for a given situation.

关键词： BEV battery powered electric vehicle environmental impact of electric vehicles techno-economic analysis gasoline versus electric powered cars diesel versus electric cars consumer behaviour

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Stem cell niches and endogenous electric fields in tissue repair

null

《医学前沿（英文）》 2011年第5卷第1期页码 40-44 doi: 10.1007/s11684-011-0108-z

摘要：

Adult stem cells are responsible for homeostasis and repair of many tissues. Endogenous adult stem cells reside in certain regions of organs, known as the stem cell niche, which is recognized to have an important role in regulating tissue maintenance and repair. In wound healing and tissue repair, stem cells are mobilized and recruited to the site of wound, and participate in the repair process. Many regulatory factors are involved in the stem cell-based repair process, including stem cell niches and endogenous wound electric fields, which are present at wound tissues and proved to be important in guiding wound healing. Here we briefly review the role of stem cell niches and endogenous electric fields in tissue repair, and hypothesize that endogenous electric fields become part of stem cell niche in the wound site.

关键词： stem cell stem cell niche electric field tissue repair

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大型无人机系列的研制与发展

赵煦

《中国工程科学》 2003年第5卷第1期页码 38-41

摘要：

文章全面介绍了我国大型模拟型靶机、实体型靶机及某型无人机的研制、发展历程，阐述了各型靶机(或无人机)的主要技术难点和关键技术。通过对各型无人机发展历程的阐述，说明了一个道理：我国无人机的发展，走的是一条自力更生、独立自主的道路；只有走自己的路，道路才越走越宽广。同时，对未来我国无人作战飞机的作用、地位与发展进行了预测、分析和规划。

关键词：靶机无人机无人作战飞机发展应用

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A review of cooperative path planning of an unmanned aerial vehicle group

Hao Zhang, Bin Xin, Li-hua Dou, Jie Chen, Kaoru Hirota,brucebin@bit.edu.cn

《信息与电子工程前沿（英文）》 2020年第21卷第12期页码 1671-1814 doi: 10.1631/FITEE.2000228

摘要： As a cutting-edge branch of unmanned aerial vehicle (UAV) technology, the of a group of UAVs has attracted increasing attention from both civil and military sectors, due to its remarkable merits in functionality and flexibility for accomplishing complex extensive tasks, e.g., search and rescue, fire-fighting, reconnaissance, and surveillance. Cooperative (CPP) is a key problem for a UAV group in executing tasks collectively. In this paper, an attempt is made to perform a comprehensive review of the research on CPP for UAV groups. First, a generalized optimization framework of CPP problems is proposed from the viewpoint of three key elements, i.e., task, UAV group, and environment, as a basis for a comprehensive classification of different types of CPP problems. By following the proposed framework, a taxonomy for the classification of existing CPP problems is proposed to describe different kinds of CPPs in a unified way. Then, a review and a statistical analysis are presented based on the taxonomy, emphasizing the coordinative elements in the existing CPP research. In addition, a collection of challenging CPP problems are provided to highlight future research directions.

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海洋维权无人装备发展研究

孟祥尧,马焱,曹渊,崔东华

《中国工程科学》 2020年第22卷第6期页码 49-55 doi: 10.15302/J-SSCAE-2020.06.007

摘要：

海洋维权装备是保障国家海洋安全和海洋权益的重要基础，随着国土周边海洋安全形势的变化以及智能技术的进展，无人装备在应对海上维权复杂的任务和环境方面表现出独特优势，应用无人装备进行海上维权成为我国海洋安全保障能力发展的重要途径。本文从国家海洋维权的战略需求出发，分析了当前海洋维权装备领域的发展现状和趋势，凝练了我国当前在海洋维权装备方面面临的问题。论证阐述了我国海洋维权无人装备发展目标与思路、重点任务、关键技术，据此提出积极应用海上无人维权装备来完善海上维权装备体系、基于现有军民无人技术拓展海洋维权装备关键技术体系等发展建议，更好促进我国海洋强国战略发展。

关键词：海洋权益海洋维权无人装备体系关键技术

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Recent progress in electric-field assisted combustion: a brief review

《能源前沿（英文）》 2022年第16卷第6期页码 883-899 doi: 10.1007/s11708-021-0770-z

摘要： The control of combustion is a hot and classical topic. Among the combustion technologies, electric-field assisted combustion is an advanced techno-logy that enjoys major advantages such as fast response and low power consumption compared with thermal power. However, its fundamental principle and impacts on the flames are complicated due to the coupling between physics, chemistry, and electromagnetics. In the last two decades, tremendous efforts have been made to understand electric-field assisted combustion. New observations have been reported based on different combustion systems and improved diagnostics. The main impacts, including flame stabilization, emission reduction, and flame propagation, have been revealed by both simulative and experimental studies. These findings significantly facilitate the application of electric-field assisted combustion. This brief review is intended to provide a comprehensive overview of the recent progress of this combustion technology and further point out research opportunities worth investigation.

关键词： electric field combustion flame stabilization emission reduction flame propagation

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无人机仿射编队跟踪控制研究 Research Articles

李慧铭,陈浩,王祥科

《信息与电子工程前沿（英文）》 2022年第23卷第6期页码 909-919 doi: 10.1631/FITEE.2100109

摘要：

本文聚焦固定翼无人机集群仿射编队跟踪控制问题，其中固定翼无人机被建模为具有非对称速度约束的独轮车。无人机集群控制目标是生成并跟踪一个由名义编队仿射变换得到的时变目标编队。针对这一目标，在领航跟随者编队控制框架下，提出一种基于应力矩阵的分布式编队控制策略，并从理论上证明，跟随者在跟踪不同飞行轨迹的同时，能够收敛到由领航者位置决定的期望位置，实现编队队形的仿射变换。进一步，为满足固定翼无人机飞行速度约束，提出一种基于饱和函数的控制策略。数值仿真结果证实，所提仿射编队控制策略能有效提高机动性。

关键词：仿射编队；固定翼无人机；多智能体系统

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Design and characteristics of electric supercharger for diesel engine acceleration by additional rapid

YAO Chun-de, ZHOU Hong-xiu

《机械工程前沿（英文）》 2006年第1卷第4期页码 409-412 doi: 10.1007/s11465-006-0048-5

摘要： The ES (electric supercharger) driven by a high-speed brushless motor was developed to solve the problem of smoke caused by the turbocharger s sluggish response during acceleration. Its rotation speed was from 6 000 r/min to 24 000 r/min, and the maximum flux was 0.1 kg/s. The structural design of the electric supercharger is novel, which makes it easier to set the lubricating installation and to assemble. The velocity distribution at the outlet of the electric supercharger is determined by hot-wire anemometry under various rotation speeds in steady state. Furthermore, the trends of the flux and charge rate with various speeds were analyzed. In addition, the transient response was detected from the motor setup to smooth running within 10 s, 15 s, 20 s and 25 s respectively, and the characteristic of the transient flux is under pilot study. Research results indicate that the electric supercharger can respond rapidly with the great flux, and it is independent of the operating conditions of a diesel engine. Therefore, it is a feasible way to reduce smoke emission and improve the acceleration performance.

关键词： acceleration velocity distribution high-speed brushless turbocharger electric supercharger

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智能无人系统：新一代人工智能重要成果及其应用 Editorial

吴澄1,2,张涛1,2

《信息与电子工程前沿（英文）》 2020年第21卷第5期页码 649-651 doi: 10.1631/FITEE.2030000

摘要： The advancement of science and technology is an important indicator of a nation’s overall strength. More recently, with the rise of new generation artifi-cial intelligence (AI), we are facing a new industrial revolution. For example, the development of intelli-gent unmanned systems (IUSs) will soon become a landmark achievement for AI development. In the next 3–5 years, applications of intelligent robots (service, industry, etc.) in China will have a wide range of advancements. In particular, unmanned aerial vehicles (UAVs) will attain multi-industry, large-scale applications. The autopilot system will soon complete a demonstration project. This means China will develop the core common technology of rail transit autonomous driving. Significant progress will be made in intelligent workshops and factories, and a set of Chinese standards in line with interna-tional standards will be formed. IUS is an artificial system that can be operated or managed using advanced technology without any human intervention. Over the years, humans have created various types of unmanned systems. More importantly, as human knowledge develops, the technology level of unmanned systems is gradually improved. IUS is also a complex system, which is composed of many technologies, such as machinery, control, computer, communication, and material. AI is undoubtedly one of the key technologies needed to develop IUSs. Autonomy and intelligence are the two most important characteristics of IUSs. The most effective way to achieve and continuously improve these two characteristics is to use various technologies of AI, such as intelligent perception (image, voice recognition, etc.), human-computer interaction, intelligent decision-making, learning, and reasoning. Unmanned systems are a variety of systems de-veloped to work without human inputs, but the highest level of “unmanned” systems is man-machine integration. Specifically, human-computer integration means that human beings connect their nervous system with computers and other machines to make up for the defects of human senses and movement, and to determine the integration of human consciousness and computer AI. The combination of AI and unmanned systems is expected to develop technologies that can alter life, so as to strengthen human function (especially the disabled and the elderly) and to improve the quality of human life. Generally, human-computer integration includes human-computer co-operation. The relationship between human and ma-chine is no longer a master-slave relationship, or an alternative relationship, but a partnership. Efficiency and flexibility can be improved, if people control multiple unmanned systems to work together; the coordination and interaction between people and unmanned systems will significantly improve dif-ferent aspects of the capabilities of the systems. However, for a considerable part of labor-intensive work, the unmanned system may not be efficient. Therefore, IUSs will be an important embodiment of man-machine integration. Compared with the traditional unmanned system, the IUS has more potential to applications. The emergence of various types of IUSs will have a sig-nificant impact on human life and society. At present, IUSs include mainly autonomous driving vehicles, UAVs, service-oriented robots, intelligent industrial robots, space robots, marine robots, and unmanned workshop/intelligent factories. The new generation AI development plan re-leased by China captures “intelligent technology of autonomous unmanned systems.” It focuses on breaking through common technologies such as computing architecture of autonomous unmanned system, perception and understanding of complex dynamic scene, real-time precise positioning, adap-tive intelligent navigation for complex environment, autonomous control of UAV, intelligent technologies including self-driving automobile, ship and rail transit, and core technologies (such as service robot and special robot), supporting the application and industrial development of unmanned systems. In this context, the Chinese Academy of Engi-neering organized a special issue on IUSs in Frontiers of Information Technology & Electronic Engineering. The types of IUSs examined in this special issue include robotic exoskeleton, intelligent ground vehicles, underwater vehicles, and UAVs. After rigorous review processes, 10 papers have been selected for this special issue, including two review articles, one tutorial, and seven research articles.

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Lightweight design of an electric bus body structure with analytical target cascading

《机械工程前沿（英文）》 2023年第18卷第1期 doi: 10.1007/s11465-022-0718-y

摘要： Lightweight designs of new-energy vehicles can reduce energy consumption, thereby improving driving mileage. In this study, a lightweight design of a newly developed multi-material electric bus body structure is examined in combination with analytical target cascading (ATC). By proposing an ATC-based two-level optimization strategy, the original lightweight design problem is decomposed into the system level and three subsystem levels. The system-level optimization model is related to mass minimization with all the structural modal frequency constraints, while each subsystem-level optimization model is related to the sub-structural performance objective with sub-structure mass constraints. To enhance the interaction between two-level systems, each subsystem-level objective is reformulated as a penalty-based function coordinated with the system-level objective. To guarantee the accuracy of the model-based analysis, a finite element model is validated through experimental modal test. A sequential quadratic programming algorithm is used to address the defined optimization problem for effective convergence. Compared with the initial design, the total mass is reduced by 49 kg, and the torsional stiffness is increased by 17.5%. In addition, the obtained design is also validated through strength analysis.

关键词： electric vehicle body in white (BIW) lightweight analytical target cascading (ATC)

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Influence of direct electric current on wetting behavior during brazing

Kirsten BOBZIN, Wolfgang WIETHEGER, Julian HEBING, Lidong ZHAO, Alexander SCHMIDT, Riza ISKANDAR, Joachim MAYER

《机械工程前沿（英文）》 2020年第15卷第3期页码 496-503 doi: 10.1007/s11465-019-0582-6

摘要： The wetting behavior of liquid metals is of great importance for many processes. For brazing, however, a targeted modification beyond the adjustment of conventional process parameters or the actual set-up was not possible in the past. Therefore, the effect of direct electric current along the surface of a steel substrate on the wetting behavior and the formation of the spreading pattern of an industrial nickel-based filler metal was investigated at a temperature above = 1000 °C in a vacuum brazing furnace. By applying direct current up to = 60 A the wetted surface area could be increased and the spreading of the molten filler metal could be controlled in dependence of the polarity of the electric current. The electric component of the Lorentz force is supposed to be feasible reasons for the observed dependence of the electrical polarity on the filler metal spreading direction. To evaluate the influence of the electric current on the phase formation subsequent selective electron microscope analyses of the spreading pattern were carried out.

关键词： brazing electric current assisted wetting Lorentz force

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

Nitesh Ganesh BHAT, B. Rajanarayan PRUSTY, Debashisha JENA

《能源前沿（英文）》 2017年第11卷第2期页码 184-196 doi: 10.1007/s11708-017-0465-7

摘要： This paper applies a cumulant-based analytical method for probabilistic load flow (PLF) assessment in transmission and distribution systems. The uncertainties pertaining to photovoltaic generations and aggregate bus load powers are probabilistically modeled in the case of transmission systems. In the case of distribution systems, the uncertainties pertaining to plug-in hybrid electric vehicle and battery electric vehicle charging demands in residential community as well as charging stations are probabilistically modeled. The probability distributions of the result variables (bus voltages and branch power flows) pertaining to these inputs are accurately established. The multiple input correlation cases are incorporated. Simultaneously, the performance of the proposed method is demonstrated on a modified Ward-Hale 6-bus system and an IEEE 14-bus transmission system as well as on a modified IEEE 69-bus radial and an IEEE 33-bus mesh distribution system. The results of the proposed method are compared with that of Monte-Carlo simulation.

关键词： battery electric vehicle extended cumulant method photovoltaic generation plug-in hybrid electric vehicle probabilistic load flow