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NURBS技术 1

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三维模型 1

三维路径规划 1

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交通流量预测；多图卷积网络；门控循环单元；不规则区域 1

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Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain

Haitao YU, Haibo GAO, Liang DING, Zongquan DENG

《机械工程前沿（英文）》 2020年第15卷第2期页码 193-208 doi: 10.1007/s11465-019-0569-3

摘要： As a well-explored template that captures the essential dynamical behaviors of legged locomotion on sagittal plane, the spring-loaded inverted pendulum (SLIP) model has been extensively employed in both biomechanical study and robotics research. Aiming at fully leveraging the merits of the SLIP model to generate the adaptive trajectories of the center of mass (CoM) with maneuverability, this study presents a novel two-layered sagittal SLIP-anchored (SSA) task space control for a monopode robot to deal with terrain irregularity. This work begins with an analytical investigation of sagittal SLIP dynamics by deriving an approximate solution with satisfactory apex prediction accuracy, and a two-layered SSA task space controller is subsequently developed for the monopode robot. The higher layer employs an analytical approximate representation of the sagittal SLIP model to form a deadbeat controller, which generates an adaptive reference trajectory for the CoM. The lower layer enforces the monopode robot to reproduce a generated CoM movement by using a task space controller to transfer the reference CoM commands into joint torques of the multi-degree of freedom monopode robot. Consequently, an adaptive hopping behavior is exhibited by the robot when traversing irregular terrain. Simulation results have demonstrated the effectiveness of the proposed method.

关键词： legged robots spring-loaded inverted pendulum task space control apex return map deadbeat control irregular terrain negotiation

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水利水电工程三维数字地形建模与分析

钟登华,李明超,王刚,郭享,吴康新

《中国工程科学》 2005年第7卷第7期页码 65-70

摘要：

以锦屏一级水电工程为例，分别利用Delaunay算法和多细节层次技术实现了坝区地形TIN模型和施工总布置区域巡航所需的多分辨率地形模型。并根据三维地质建模的特殊需要，引入了NURBS技术对TIN地形模型进行了简化，所获得的NURBS地形模型不仅存储量小，精度损失低，而且易于图形操作运算，便于可视化分析，满足多方面的要求。该模型的实现与成功应用，在很大程度上推动了水利水电工程向着数字化、可视化和智能化的方向发展。

关键词：数字地形模型不规则三角网细节层次 NURBS技术水利水电工程

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Enhancing the terrain adaptability of a multirobot cooperative transportation system via novel connectors

《机械工程前沿（英文）》 2023年第18卷第3期 doi: 10.1007/s11465-023-0754-2

摘要： Given limited terrain adaptability, most existing multirobot cooperative transportation systems (MRCTSs) mainly work on flat pavements, restricting their outdoor applications. The connectors’ finite deformation capability and the control strategies’ limitations are primarily responsible for this phenomenon. This study proposes a novel MRCTS based on tracked mobile robots (TMRs) to improve terrain adaptability and expand the application scenarios of MRCTSs. In structure design, we develop a novel 6-degree-of-freedom passive adaptive connector to link multiple TMRs and the transported object (the communal payload). In addition, the connector is set with sensors to measure the position and orientation of the robot with respect to the object for feedback control. In the control strategy, we present a virtual leader–physical follower collaborative paradigm. The leader robot is imaginary to describe the movement of the entire system and manage the follower robots. All the TMRs in the system act as follower robots to transport the object cooperatively. Having divided the whole control structure into the leader robot level and the follower robot level, we convert the motion control of the two kinds of robots to trajectory tracking control problems and propose a novel double closed-loop kinematics control framework. Furthermore, a control law satisfying saturation constraints is derived to ensure transportation stability. An adaptive control algorithm processes the wheelbase uncertainty of the TMR. Finally, we develop a prototype of the TMR-based MRCTS for experiments. In the trajectory tracking experiment, the developed MRCTS with the proposed control scheme can converge to the reference trajectory in the presence of initial tracking errors in a finite time. In the outdoor experiment, the proposed MRCTS consisting of four TMRs can successfully transport a payload weighing 60 kg on an uneven road with the single TMR’s maximum load limited to 15 kg. The experimental results demonstrate the effectiveness of the structural design and control strategies of the TMR-based MRCTS.

关键词： multirobot system cooperative transportation terrain adaptability trajectory tracking collaborative paradigm uneven road

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Footholds optimization for legged robots walking on complex terrain

《机械工程前沿（英文）》 2023年第18卷第2期 doi: 10.1007/s11465-022-0742-y

摘要： This paper proposes a novel continuous footholds optimization method for legged robots to expand their walking ability on complex terrains. The algorithm can efficiently run onboard and online by using terrain perception information to protect the robot against slipping or tripping on the edge of obstacles, and to improve its stability and safety when walking on complex terrain. By relying on the depth camera installed on the robot and obtaining the terrain heightmap, the algorithm converts the discrete grid heightmap into a continuous costmap. Then, it constructs an optimization function combined with the robot’s state information to select the next footholds and generate the motion trajectory to control the robot’s locomotion. Compared with most existing footholds selection algorithms that rely on discrete enumeration search, as far as we know, the proposed algorithm is the first to use a continuous optimization method. We successfully implemented the algorithm on a hexapod robot, and verified its feasibility in a walking experiment on a complex terrain.

关键词： footholds optimization legged robot complex terrain adapting hexapod robot locomotion control

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

《机械工程前沿（英文）》 2023年第18卷第3期 doi: 10.1007/s11465-023-0760-4

摘要： Reliable foot-to-ground contact state detection is crucial for the locomotion control of quadruped robots in unstructured environments. To improve the reliability and accuracy of contact detection for quadruped robots, a detection approach based on the probabilistic contact model with multi-information fusion is presented to detect the actual contact states of robotic feet with the ground. Moreover, a relevant control strategy to address unexpected early and delayed contacts is planned. The approach combines the internal state information of the robot with the measurements from external sensors mounted on the legs and feet of the prototype. The overall contact states are obtained by the classification of the model-based predicted probabilities. The control strategy for unexpected foot-to-ground contacts can correct the control actions of each leg of the robot to traverse cluttered environments by changing the contact state. The probabilistic model parameters are determined by testing on the single-leg experimental platform. The experiments are conducted on the experimental prototype, and results validate the contact detection and control strategy for unexpected contacts in unstructured terrains during walking and trotting. Compared with the body orientation under the time-based control method regardless of terrain, the root mean square errors of roll, pitch, and yaw respectively decreased by 60.07%, 54.73%, and 64.50% during walking and 73.40%, 61.49%, and 61.48% during trotting.

关键词： multi-information fusion contact detection quadruped robot probabilistic contact model unstructured terrain

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非规则时序信息的结构转换及演化的细化分析

欧阳首承,张葵,郝丽萍,周莉蓉

《中国工程科学》 2005年第7卷第4期页码 36-41

摘要：

按时间不占有物质维的概念，将时序性自动信息转换为结构信息。结果显示自动信息的非规则可用于降水的细化预测，也为更广泛的演化非规则信息提供了可应用的方法，充分地说明了气象问题是演化科学的问题，或者说将其理解为牛顿的惯性系领域的分支科学是有待商榷的。

关键词：时序信息细化结构非规则方位相空间演化

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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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motion analysis of Shanghai Pudong Airport site considering the effects of spatial correlation and irregular

JIANG Tong, CHEN Laiyun, XING Hailing, L? Xilin

《结构与土木工程前沿（英文）》 2007年第1卷第4期页码 430-435 doi: 10.1007/s11709-007-0058-3

摘要： The terminal No. II of Shanghai Pudong International Airport is located at Pudong District of Shanghai City near shore of East China Sea, and the area of the long-span terminal is 400 m × 200 m. The construction site of the terminal locates on the irregular topography, and its alluvium achieves about 300 m in thickness. The spatial correlation of seismic ground motion, as well as the amplification of soft alluvium and the effect of irregular topography, should be considered. This paper uses a simplified method to obtain the response spectrum of the engineering bedrock under the irregular topography. The spectrum is used to generate the sets of spatially correlative horizontal and vertical seismic motions. The surface ground motion was calculated under incidence of the spatially correlative seismic motion by 2D finite element method (FEM) model considering nonlinear properties of the soil by means of the equivalent linear method. In order to compare the effect of 2D irregular topography, the seismic response analysis of 1D model is carried out by using the equivalent linear method. For indicating the effect of the spatial correlation of input motions, the horizontal uniform inputs, as well as the horizontal and vertical uniform input are carried out for the seismic response analysis of the site. Finally, some characteristics of seismic ground motion calculated for previously mentioned cases are compared.

关键词： surface ground horizontal uniform Finally seismic ground correlative seismic

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HAPE3D—a new constructive algorithm for the 3D irregular packing problem

Xiao LIU,Jia-min LIU,An-xi CAO,Zhuang-le YAO

《信息与电子工程前沿（英文）》 2015年第16卷第5期页码 380-390 doi: 10.1631/FITEE.1400421

摘要： We propose a new constructive algorithm, called HAPE3D, which is a heuristic algorithm based on the principle of minimum total potential energy for the 3D irregular packing problem, involving packing a set of irregularly shaped polyhedrons into a box-shaped container with fixed width and length but unconstrained height. The objective is to allocate all the polyhedrons in the container, and thus minimize the waste or maximize profit. HAPE3D can deal with arbitrarily shaped polyhedrons, which can be rotated around each coordinate axis at different angles. The most outstanding merit is that HAPE3D does not need to calculate no-fit polyhedron (NFP), which is a huge obstacle for the 3D packing problem. HAPE3D can also be hybridized with a meta-heuristic algorithm such as simulated annealing. Two groups of computational experiments demonstrate the good performance of HAPE3D and prove that it can be hybridized quite well with a meta-heuristic algorithm to further improve the packing quality.

关键词： 3D packing problem Layout design Simulation Optimization Constructive algorithm Meta-heuristics

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Optimizing non-coalesced memory access for irregular applications with GPU computing

Ran Zheng, Yuan-dong Liu, Hai Jin,zhraner@hust.edu.cn,1531364016@qq.com,hjin@hust.edu.cn

《信息与电子工程前沿（英文）》 2020年第21卷第9期页码 1267-1412 doi: 10.1631/FITEE.1900262

摘要： (GPGPUs) can be used to improve computing performance considerably for regular applications. However, irregular memory access exists in many applications, and the benefits of graphics processing units (GPUs) are less substantial for irregular applications. In recent years, several studies have presented some solutions to remove static irregular memory access. However, eliminating dynamic irregular memory access with software remains a serious challenge. A pure software solution without hardware extensions or offline profiling is proposed to eliminate dynamic irregular memory access, especially for indirect memory access. and index redirection are suggested to reduce the number of memory transactions, thereby improving the performance of GPU kernels. To improve the efficiency of , an operation to reorder data is offloaded to a GPU to reduce overhead and thus transfer data. Through concurrently executing the compute unified device architecture (CUDA) streams of and the data processing kernel, the overhead of can be reduced. After these optimizations, the volume of memory transactions can be reduced by 16.7%–50% compared with CUSPARSE-based benchmarks, and the performance of irregular kernels can be improved by 9.64%–34.9% using an NVIDIA Tesla P4 GPU.

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Evaluation of a novel Asymmetric Genetic Algorithm to optimize the structural design of 3D regular and irregular

Mohammad Sadegh ES-HAGHI, Aydin SHISHEGARAN, Timon RABCZUK

《结构与土木工程前沿（英文）》 2020年第14卷第5期页码 1110-1130 doi: 10.1007/s11709-020-0643-2

摘要： We propose a new algorithm, named Asymmetric Genetic Algorithm (AGA), for solving optimization problems of steel frames. The AGA consists of a developed penalty function, which helps to find the best generation of the population. The objective function is to minimize the weight of the whole steel structure under the constraint of ultimate loads defined for structural steel buildings by the American Institute of Steel Construction (AISC). Design variables are the cross-sectional areas of elements (beams and columns) that are selected from the sets of side-flange shape steel sections provided by the AISC. The finite element method (FEM) is utilized for analyzing the behavior of steel frames. A 15-storey three-bay steel planar frame is optimized by AGA in this study, which was previously optimized by algorithms such as Particle Swarm Optimization (PSO), Particle Swarm Optimizer with Passive Congregation (PSOPC), Particle Swarm Ant Colony Optimization (HPSACO), Imperialist Competitive Algorithm (ICA), and Charged System Search (CSS). The results of AGA such as total weight of the structure and number of analyses are compared with the results of these algorithms. AGA performs better in comparison to these algorithms with respect to total weight and number of analyses. In addition, five numerical examples are optimized by AGA, Genetic Algorithm (GA), and optimization modules of SAP2000, and the results of them are compared. The results show that AGA can decrease the time of analyses, the number of analyses, and the total weight of the structure. AGA decreases the total weight of regular and irregular steel frame about 11.1% and 26.4% in comparing with the optimized results of SAP2000, respectively.

关键词： optimization steel frame Asymmetric Genetic Algorithm constraints of ultimate load constraints of serviceability limits penalty function

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深海钴结壳采集微地形探测技术实验研究

罗柏文,夏毅敏,王韬,白宏峰,王克智

《中国工程科学》 2010年第12卷第9期页码 78-83

摘要：

通过地表高程信息计算最佳采集深度是解决钴结壳开采贫化问题的关键技术之一。根据钴结壳的赋存环境和开采方法，提出了一种摆动式超声单波束微地形探测方法。为了检验该方法的可行性，成功搭建了实验台，并验证了该实验台的垂直探测精度可达到厘米级；提出了一种改进型数据加窗算法，进一步提高了高程异常值被剔除的准确性；提出了采用线性相关系数法解决支持向量线性与非线性回归的选择问题；提出并证明了高斯径向基参数σ可根据测线上的坡度、坡长信息来确定。

关键词：钴结壳超声微地形加窗支持向量

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Intelligent negotiation model for ubiquitous group decision scenarios Project supported by

João CARNEIRO,Diogo MARTINHO,Goreti MARREIROS,Paulo NOVAIS

《信息与电子工程前沿（英文）》 2016年第17卷第4期页码 296-308 doi: 10.1631/FITEE.1500344

摘要： Supporting group decision-making in ubiquitous contexts is a complex task that must deal with a large amount of factors to succeed. Here we propose an approach for an intelligent negotiation model to support the group decision-making process specifically designed for ubiquitous contexts. Our approach can be used by researchers that intend to include arguments, complex algorithms, and agents’ modeling in a negotiation model. It uses a social networking logic due to the type of communication employed by the agents and it intends to support the ubiquitous group decision-making process in a similar way to the real process, which simultaneously preserves the amount and quality of intelligence generated in face-to-face meetings. We propose a new look into this problem by considering and defining strategies to deal with important points such as the type of attributes in the multicriterion problems, agents’ reasoning, and intelligent dialogues.

关键词： Group decision support systems Ubiquitous computing Automatic negotiation Social networks Multi-agent systems

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Stability and agility: biped running over varied and unknown terrain

Yang YI,Zhi-yun LIN

《信息与电子工程前沿（英文）》 2015年第16卷第4期页码 283-292 doi: 10.1631/FITEE.1400284

摘要： We tackle the problem of a biped running over varied and unknown terrain. Running is a necessary skill for a biped moving fast, but it increases the challenge of dynamic balance, especially when a biped is running on varied terrain without terrain information (due to the difficulty and cost of obtaining the terrain information in a timely manner). To address this issue, a new dynamic indicator called the sustainable running criterion is developed. The main idea is to sustain a running motion without falling by maintaining the system states within a running-feasible set, instead of running on a periodic limit cycle gait in the traditional way. To meet the precondition of the criterion, the angular moment about the center of gravity (COG) is restrained close to zero at the end of the stance phase. Then to ensure a small state jump at touchdown on the unknown terrain, the velocity of the swing foot is restrained within a specific range at the end of the flight phase. Finally, the position and velocity of the COG are driven into the running-feasible set. A five-link biped with underactuated point foot is considered in simulations. It is able to run over upward and downward terrain with a height difference of 0.15 m, which shows the effectiveness of our control scheme.

关键词： Underactuated running biped Dynamic balance Varied and unknown terrain

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不规则优化问题中基于动态资源分配的高维多目标优化算法 Research Articles

董明刚1,2,刘宝1,敬超1,2,3

《信息与电子工程前沿（英文）》 2020年第21卷第8期页码 1119-1266 doi: 10.1631/FITEE.1900321

摘要：多目标优化问题广泛存在于高速列车头形设计、重叠社区检测、电力调度等领域。为解决这类问题，目前方法主要集中于求解具有规则性帕累托前沿的问题，而非具有不规则帕累托前沿的问题。针对这种情况，提出一种基于动态资源分配分解的高维多目标进化算法（MaOEA/D-DRA）进行不规则优化。该算法能够根据问题的帕累托前沿形状，将计算资源动态分配到不同搜索区域。在搜索过程中使用进化种群和外部存档，从外部存档中提取的信息用于引导进化种群到不同搜索区域。进化种群采用切比雪夫方法将问题分解为若干子问题，并以协作方式优化所有子问题。采用转化的密度估计方法更新外部档案。将所提算法与5种最先进的多目标进化算法对比。实验结果表明，所提算法在收敛速度和种群成员多样性方面优于5种对比算法。与加权和方法和基于惩罚的边界相交方法比较，将切比切夫方法集成到算法中，对性能有一定提高。

关键词：高维多目标优化问题；不规则帕累托前沿；外部存档；动态资源分配；转化的密度评估方法；切比雪夫分解方法

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标题作者时间类型操作

Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain

Haitao YU, Haibo GAO, Liang DING, Zongquan DENG

期刊论文

水利水电工程三维数字地形建模与分析

钟登华,李明超,王刚,郭享,吴康新

期刊论文

Enhancing the terrain adaptability of a multirobot cooperative transportation system via novel connectors

期刊论文

Footholds optimization for legged robots walking on complex terrain