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Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

《机械工程前沿（英文）》 2021年 第16卷 第2期   页码 271-284 doi: 10.1007/s11465-020-0623-1

摘要： Legged robots have potential advantages in mobility compared with wheeled robots in outdoor environments. The knowledge of various ground properties and adaptive locomotion based on different surface materials plays an important role in improving the stability of legged robots. A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposed in this paper. First, a force-based terrain classification method is suggested. Ground contact force is calculated by collecting joint torques and inertial measurement unit information. Ground substrates are classified with the feature vector extracted from the collected data using the support vector machine algorithm. Then, an adaptive locomotion on different ground properties is proposed. The dynamic alternating tripod trotting gait is developed to control the robot, and the parameters of active compliance control change with the terrain. Finally, the method is integrated on a hexapod robot and tested by real experiments. Our method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam. The strategies and experimental results can be a valuable reference for other legged robots applied in outdoor environments.

关键词： terrain classification     hexapod robot     legged robot     adaptive locomotion     gait control    

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Conservation and adaptive-reuse of historical industrial building in China in the post-industrial era

WANG Jianguo, JIANG Nan

《结构与土木工程前沿（英文）》 2007年 第1卷 第4期   页码 474-480 doi: 10.1007/s11709-007-0064-5

摘要： The conservation and adaptive-reuse of historical industrial building is one of the most important issues to be solved in today s urban development and construction in China. In this paper, the necessity and academic meaning of the conservation and adaptive-reuse of historical industrial building were discussed by reviewing its development rend both at home and abroad, and the basic contents of the implementation of the conservation and adaptive-reuse of historical industrial building in China with specific cases provided were analyzed. It is the central task for China to put forward the restructuring and design methods, assessment principles and relevant core technical specifications based on the empirical researches on the historical industrial building and site.

关键词： historical industrial     industrial building     implementation     adaptive-reuse     empirical    

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An adaptive sliding mode control technology for weld seam tracking

Jie LIU,Youmin HU,Bo WU,Kaibo ZHOU,Mingfeng GE

《机械工程前沿（英文）》 2015年 第10卷 第1期   页码 95-101 doi: 10.1007/s11465-015-0332-3

摘要：

A novel adaptive sliding mode control algorithm is derived to deal with seam tracking control problem of welding robotic manipulator, during the process of large-scale structure component welding. The proposed algorithm does not require the precise dynamic model, and is more practical. Its robustness is verified by the Lyapunov stability theory. The analytical results show that the proposed algorithm enables better high-precision tracking performance with chattering-free than traditional sliding mode control algorithm under various disturbances.

关键词： weld seam tracking     welding robotic manipulator     adaptive control     sliding mode control    

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A model reference adaptive control based method for actuator delay estimation in real-time testing

Cheng CHEN, James M. RICLES

《结构与土木工程前沿（英文）》 2010年 第4卷 第3期   页码 277-286 doi: 10.1007/s11709-010-0072-8

摘要： Real-time testing provides a viable experimental technique to evaluate the performance of structural systems subjected to dynamic loading. Servo-hydraulic actuators are often utilized to apply calculated displacements from an integration algorithm to the experimental structures in a real-time manner. The compensation of actuator delay is therefore critical to achieve stable and reliable experimental results. The advances in compensation methods based on adaptive control theory enable researchers to accommodate variable actuator delay and achieve good actuator control for real-time tests. However, these adaptive methods all require time duration for actuator delay adaptation. Experiments show that a good actuator delay estimate can help optimize the performance of the adaptive compensation methods. The rate of adaptation also requires that a good actuator delay estimate be acquired especially for the tests where the peak structural response might occur at the beginning of the tests. This paper presents a model reference adaptive control based method to identify the parameter of a simplified discrete model for servo-hydraulic dynamics and the resulting compensation method. Simulations are conducted using both numerical analysis and experimental results to evaluate the effectiveness of the proposed estimation method.

关键词： real-time testing     actuator delay     compensation     adaptive control     MIT rule     discrete transfer function    

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Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

《机械工程前沿（英文）》 2023年 第18卷 第3期 doi: 10.1007/s11465-023-0753-3

摘要： To achieve the collision-free trajectory tracking of the four-wheeled mobile robot (FMR), existing methods resolve the tracking control and obstacle avoidance separately. Guaranteeing the synergistic robustness and smooth navigation of mobile robots subjected to motion uncertainties in a dynamic environment using this non-cooperative processing method is difficult. To address this challenge, this paper proposes an obstacle-circumventing adaptive control (OCAC) framework. Specifically, a novel anti-disturbance terminal slide mode control with adaptive gains is formulated, incorporating specified control laws for different stages. This formulation guarantees rapid convergence and simultaneous chattering elimination. By introducing sub-target points, a new sub-target dynamic tracking regression obstacle avoidance strategy is presented to transfer the obstacle avoidance problem into a dynamic tracking one, thereby reducing the burden of local path searching while ensuring system stability during obstacle circumvention. Comparative experiments demonstrate that the proposed OCAC method can strengthen the convergence and obstacle avoidance efficiency of the concerned FMR system.

关键词： four-wheeled mobile robot     obstacle-circumventing adaptive control     adaptive anti-disturbance terminal sliding mode control     sub-target dynamic tracking regression obstacle avoidance    

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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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Application of adaptive neuro-fuzzy inference system and cuckoo optimization algorithm for analyzing

Reza TEIMOURI, Hamed SOHRABPOOR

《机械工程前沿（英文）》 2013年 第8卷 第4期   页码 429-442 doi: 10.1007/s11465-013-0277-3

摘要：

Electrochemical machining process (ECM) is increasing its importance due to some of the specific advantages which can be exploited during machining operation. The process offers several special privileges such as higher machining rate, better accuracy and control, and wider range of materials that can be machined. Contribution of too many predominate parameters in the process, makes its prediction and selection of optimal values really complex, especially while the process is programmized for machining of hard materials. In the present work in order to investigate effects of electrolyte concentration, electrolyte flow rate, applied voltage and feed rate on material removal rate (MRR) and surface roughness (SR) the adaptive neuro-fuzzy inference systems (ANFIS) have been used for creation predictive models based on experimental observations. Then the ANFIS 3D surfaces have been plotted for analyzing effects of process parameters on MRR and SR. Finally, the cuckoo optimization algorithm (COA) was used for selection solutions in which the process reaches maximum material removal rate and minimum surface roughness simultaneously. Results indicated that the ANFIS technique has superiority in modeling of MRR and SR with high prediction accuracy. Also, results obtained while applying of COA have been compared with those derived from confirmatory experiments which validate the applicability and suitability of the proposed techniques in enhancing the performance of ECM process.

关键词： electrochemical machining process (ECM)     modeling     adaptive neuro-fuzzy inference system (ANFIS)     optimization     cuckoo optimization algorithm (COA)    

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Adaptive simulation of wave propagation problems including dislocation sources and random media

Hassan YOUSEFI, Jamshid FARJOODI, Iradj MAHMOUDZADEH KANI

《结构与土木工程前沿（英文）》 2019年 第13卷 第5期   页码 1054-1081 doi: 10.1007/s11709-019-0536-4

摘要： An adaptive Tikhonov regularization is integrated with an h-adaptive grid-based scheme for simulation of elastodynamic problems, involving seismic sources with discontinuous solutions and random media. The Tikhonov method is adapted by a newly-proposed detector based on the MINMOD limiters and the grids are adapted by the multiresolution analysis (MRA) via interpolation wavelets. Hence, both small and large magnitude physical waves are preserved by the adaptive estimations on non-uniform grids. Due to developing of non-dissipative spurious oscillations, numerical stability is guaranteed by the Tikhonov regularization acting as a post-processor on irregular grids. To preserve waves of small magnitudes, an adaptive regularization is utilized: using of smaller amount of smoothing for small magnitude waves. This adaptive smoothing guarantees also solution stability without over smoothing phenomenon in stochastic media. Proper distinguishing between noise and small physical waves are challenging due to existence of spurious oscillations in numerical simulations. This identification is performed in this study by the MINMOD limiter based algorithm. Finally, efficiency of the proposed concept is verified by: 1) three benchmarks of one-dimensional (1-D) wave propagation problems; 2) P-SV point sources and rupturing line-source including a bounded fault zone with stochastic material properties.

关键词： adaptive wavelet     adaptive smoothing     discontinuous solutions     stochastic media     spurious oscillations     Tikhonov regularization     minmod limiter    

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Reliability analysis on civil engineering project based on integrated adaptive simulation annealing and

Xiao-ping BAI,Ya-nan LIU

《结构与土木工程前沿（英文）》 2016年 第10卷 第4期   页码 462-471 doi: 10.1007/s11709-016-0361-y

摘要： Dynamic reliability is a very important issue in reliability research. The dynamic reliability analysis for the project is still in search of domestic and international research in the exploration stage. By now, dynamic reliability research mainly concentrates on the reliability assessment; the methods mainly include dynamic fault tree, extension of event sequence diagram and Monte Carlo simulation, and et al. The paper aims to research the dynamic reliability optimization. On the basis of analysis of the four quality influence factors in the construction engineering, a method based on gray correlation degree is employed to calculate the weights of factors affecting construction process quality. Then the weights are added into the reliability improvement feasible index (RIFI). Furthermore, a novel nonlinear programming mathematic optimization model is established. In the Insight software environment, the Adaptive Simulated Annealing (ASA) algorithm is used to get a more accurate construction subsystem optimal reliability under different RIFI conditions. In addition, the relationship between construction quality and construction system reliability is analyzed, the proposed methods and detailed processing can offer a useful reference for improving the construction system quality level.

关键词： civil engineering     dynamic reliability     grey relational degree     adaptive simulated annealing algorithm    

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Conservation and adaptive reuse of industrial heritage in Shanghai

ZHANG Song

《结构与土木工程前沿（英文）》 2007年 第1卷 第4期   页码 481-490 doi: 10.1007/s11709-007-0065-4

摘要： This paper takes a retrospective review of the evolution of the conservation of industrial heritage in urban Shanghai since the 1990s within the context of the international industrial heritage conservation movement, with the emph

关键词： evolution     industrial     international industrial     retrospective     Shanghai    

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An adaptive policy-based framework for China’s Carbon Capture and Storage development

Xiaoliang YANG, Wolfgang HEIDUG, Douglas COOKE

《工程管理前沿（英文）》 2019年 第6卷 第1期   页码 78-86 doi: 10.1007/s42524-019-0003-x

摘要：

China’s political leadership has taken an increasingly public and proactive stance on climate change since 2014. This stance includes making a commitment that Chinese carbon dioxide (CO2) emissions will peak around 2030 and enacting measures through the 13th Five-Year Plan to support energy efficiency, clean energy technology, and carbon management. Chinese policymakers consider carbon capture and storage (CCS) a critical bridging technology to help accelerate the decarbonization of its economy. This paper reviews and analyzes Chinese CCS support policies from the perspective of an adaptive policymaking framework, recognizing uncertainty as an inherent element of the policymaking process and drawing general lessons for responding to changing circumstances. Notably, the political support for CCS in China remains fragmented with uncoordinated government leadership, undecided industry players, and even with opposing voices from some leading scientists. There is scope for expanding the framework to provide more granularity, in particular relating to the development of a CCS infrastructure and the development of storage-focused CO2-EOR. Overall, given the role CCS can play to decarbonize China’s power and other industrial sectors, a commitment to CCS from top policymakers and major stakeholders is needed.

关键词： CCS     policy     climate change     China    

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unconfined compressive strength of soil-RAP blend stabilized with Portland cement using multivariate adaptive

Ali Reza GHANIZADEH, Morteza RAHROVAN

《结构与土木工程前沿（英文）》 2019年 第13卷 第4期   页码 787-799 doi: 10.1007/s11709-019-0516-8

摘要： The recycled layer in full-depth reclamation (FDR) method is a mixture of coarse aggregates and reclaimed asphalt pavement (RAP) which is stabilized by a stabilizer agent. For design and quality control of the final product in FDR method, the unconfined compressive strength of stabilized material should be known. This paper aims to develop a mathematical model for predicting the unconfined compressive strength (UCS) of soil-RAP blend stabilized with Portland cement based on multivariate adaptive regression spline (MARS). To this end, two different aggregate materials were mixed with different percentages of RAP and then stabilized by different percentages of Portland cement. For training and testing of MARS model, total of 64 experimental UCS data were employed. Predictors or independent variables in the developed model are percentage of RAP, percentage of cement, optimum moisture content, percent passing of #200 sieve, and curing time. The results demonstrate that MARS has a great ability for prediction of the UCS in case of soil-RAP blend stabilized with Portland cement ( is more than 0.97). Sensitivity analysis of the proposed model showed that the cement, optimum moisture content, and percent passing of #200 sieve are the most influential parameters on the UCS of FDR layer.

关键词： full-depth reclamation     soil-reclaimed asphalt pavement blend     Portland cement     unconfined compressive strength     multivariate adaptive regression spline    

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Organizational dynamics in adaptive distributed search processes: effects on performance and the role

Friederike WALL

《信息与电子工程前沿（英文）》 2016年 第17卷 第4期   页码 283-295 doi: 10.1631/FITEE.1500306

摘要： In this paper, the effects of altering the organizational setting of distributed adaptive search processes in the course of search are investigated. We put particular emphasis on the complexity of interactions between partial search problems assigned to search agents. Employing an agent-based simulation based on the framework of NK landscapes we analyze different temporal change modes of the organizational set-up. The organizational properties under change include, for example, the coordination mechanisms among search agents. Results suggest that inducing organizational dynamics has the potential to increase the effectiveness of distributed adaptive search processes with respect to various performance measures like the final performance achieved at the end of the search, the chance to find the optimal solution of the search problem, or the average performance per period achieved during the search process. However, results also indicate that the mode of temporal change in conjunction with the complexity of the search problem considerably affects the order of magnitude of these beneficial effects. In particular, results suggest that organizational dynamics induces a shift towards more exploration, i.e., discovery of new areas in the fitness landscape, and less exploitation, i.e., stepwise improvement.

关键词： Agent-based simulation     Complexity     Coordination     Distributed search     NK landscapes    

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Turbidity-adaptive underwater image enhancement method using image fusion

《机械工程前沿（英文）》 2022年 第17卷 第3期 doi: 10.1007/s11465-021-0669-8

摘要： Clear, correct imaging is a prerequisite for underwater operations. In real freshwater environment including rivers and lakes, the water bodies are usually turbid and dynamic, which brings extra troubles to quality of imaging due to color deviation and suspended particulate. Most of the existing underwater imaging methods focus on relatively clear underwater environment, it is uncertain that if those methods can work well in turbid and dynamic underwater environments. In this paper, we propose a turbidity-adaptive underwater image enhancement method. To deal with attenuation and scattering of varying degree, the turbidity is detected by the histogram of images. Based on the detection result, different image enhancement strategies are designed to deal with the problem of color deviation and blurring. The proposed method is verified by an underwater image dataset captured in real underwater environment. The result is evaluated by image metrics including structure similarity index measure, underwater color image quality evaluation metric, and speeded-up robust features. Test results exhibit that the method can correct the color deviation and improve the quality of underwater images.

关键词： turbidity     underwater image enhancement     image fusion     underwater robots     visibility    

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基于ANFIS系统的基结构自适应生成

李旲,胡云昌,曹宏铎

《中国工程科学》 2004年 第6卷 第10期   页码 24-27

摘要：

以形成基结构智能自动生成系统为目标，以并行自适应神经-模糊推理系统（ANFIS）为工具，建立了具有桁架拓扑结构智能自动生成功能的并行ANFIS系统，并将形态化拓扑结构进行抽象数字提取，作为系统的输入输出数据，实质是形成一种桁架结构形态间的映射机制，以样本所蕴涵的结构构成机理，推导所要求的基结构形式。最后的计算结果表明，这里使用的基于ANFIS系统的桁架结构智能自动生成方法是有效的，能够按照用户要求生成合理的桁架基结构拓扑形式。

关键词： 桁架     ANFIS     智能     自适应    

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标题 作者 时间 类型 操作

Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

期刊论文

Conservation and adaptive-reuse of historical industrial building in China in the post-industrial era

WANG Jianguo, JIANG Nan

期刊论文

An adaptive sliding mode control technology for weld seam tracking

Jie LIU,Youmin HU,Bo WU,Kaibo ZHOU,Mingfeng GE

期刊论文

A model reference adaptive control based method for actuator delay estimation in real-time testing

Cheng CHEN, James M. RICLES

期刊论文

Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

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

Application of adaptive neuro-fuzzy inference system and cuckoo optimization algorithm for analyzing

Reza TEIMOURI, Hamed SOHRABPOOR

期刊论文

Adaptive simulation of wave propagation problems including dislocation sources and random media

Hassan YOUSEFI, Jamshid FARJOODI, Iradj MAHMOUDZADEH KANI

期刊论文

Reliability analysis on civil engineering project based on integrated adaptive simulation annealing and

Xiao-ping BAI,Ya-nan LIU

期刊论文

Conservation and adaptive reuse of industrial heritage in Shanghai

ZHANG Song

期刊论文

An adaptive policy-based framework for China’s Carbon Capture and Storage development

Xiaoliang YANG, Wolfgang HEIDUG, Douglas COOKE

期刊论文

unconfined compressive strength of soil-RAP blend stabilized with Portland cement using multivariate adaptive

Ali Reza GHANIZADEH, Morteza RAHROVAN

期刊论文

Organizational dynamics in adaptive distributed search processes: effects on performance and the role

Friederike WALL

期刊论文

Turbidity-adaptive underwater image enhancement method using image fusion

期刊论文

基于ANFIS系统的基结构自适应生成

李旲,胡云昌,曹宏铎

期刊论文