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Influence of advanced engineering measures on displacement and stress field of surrounding rock in tunnels crossing

《结构与土木工程前沿（英文）》 doi: 10.1007/s11709-023-0966-x

摘要： Based on significant improvements in engineering materials, three advanced engineering measures have been proposed—super anchor cables, high-strength concrete anti-fault caverns, and grouting modification using high-strength concrete-to resist fault dislocation in the surrounding rock near tunnels crossing active strike-slip faults. Moreover, single- or multiple-joint advanced engineering measures form the local rock mass-anti-fault (LRAF) method. A numerical method was used to investigate the influence of LRAF methods on the stress and displacement fields of the surrounding rock, and the anti-fault effect was evaluated. Finally, the mechanism of action of the anchor cable was verified using a three-dimensional numerical model. The numerical results indicated that the anchor cable and grouting modification reduced the displacement gradient of the local surrounding rock near the tunnels crossing fault. Furthermore, anchor cable and grouting modifications changed the stress field of the rock mass in the modified area. The tensile stress field of the rock mass in the modified anchor cable area was converted into a compressive stress field. The stress field in the modified grouting area changed from shear stress in the fault slip direction to tensile stress in the axial tunnel direction. The anti-fault cavern resisted the dislocation displacement and reduced the maximum dislocation magnitude, displacement gradient, and shear stress. Among the three advanced engineering measures, the anchor cable was the core of the three advanced engineering measures. An anchor cable, combined with other LRAF measures, can form an artificial safety island at the cross-fault position of the rock mass to protect the tunnel. The research results provide a new supporting idea for the surrounding rock of tunnels crossing active strike-slip faults.

关键词： anti-fault effect engineering measures LRAF method stress and displacement field tunnel-crossing active faults

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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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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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细水雾对障碍物挡板火灭火有效性的实验研究

刘晅亚,陆守香,黄玥,陈国庆

《中国工程科学》 2006年第8卷第5期页码 88-93

摘要：

在不同障碍物挡板阻隔条件下，就细水雾对油池火的灭火效果进行了实验研究，分析了不同空间位置的障碍物挡板对细水雾灭火效果的影响，采用FDS40对细水雾与不同类型障碍物挡板油池火的相互作用过程的模拟结果表明：障碍物结构与类型影响着细水雾直接作用于油池火上方的水雾通量，油池火上方的水雾卷吸量越大，细水雾对障碍火的灭火效果越明显。

关键词：细水雾障碍挡板灭火效果卷吸

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移动机器人障碍躲避的最佳路径

郭戈

《中国工程科学》 2003年第5卷第5期页码 70-75

摘要：

提出一种以障碍物和机器人位置和速度等信息为基础的障碍躲避方法，重点探讨了确定性环境下障碍躲避和转弯过程中机器人应遵循的合理路径问题，并通过证明指出了给定环境条件下实现转弯和障碍躲避的最佳路径。仿真实验表明，该结论简单有效，便于实施，具有较高的应用价值。

关键词：移动机器人超声波传感器障碍躲避路径规划最佳路径

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具有外部干扰和障碍物的无人机编队分布式博弈策略 Research Article

袁洋1,邓亦敏1,罗斯达2,段海滨1,3

《信息与电子工程前沿（英文）》 2022年第23卷第7期页码 1020-1031 doi: 10.1631/FITEE.2100559

摘要：本文研究了具有外部干扰和障碍物的无人机编队分布式博弈策略，该策略基于分布式模型预测控制（MPC）框架和基于Levy飞行的鸽群优化算法（LFPIO）。首先，提出一种非奇异快速终端滑模观测器（NFTSMO）估计无人机受扰动的影响，并利用Lyapunov函数证明该观测器在固定时间内收敛。其次，设计一种基于拓扑重构的避障策略，使无人机能够以较小能量消耗安全通过障碍物。然后，建立一个分布式MPC框架，该框架中每架无人机仅与邻居交换消息，通过设计分布式MPC代价函数，将无人机编队问题转化为博弈问题，并利用基于Levy飞行的鸽群优化算法求解纳什均衡。最后，利用数值仿真对比实验验证所提策略的有效性。

关键词：分布式博弈策略；无人机；分布式模型预测控制；基于Levy飞行的鸽群优化算法；非奇异快速终端滑模观测器；避障策略

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Three-dimensional finite difference analysis of shallow sprayed concrete tunnels crossing a reverse fault

Masoud RANJBARNIA, Milad ZAHERI, Daniel DIAS

《结构与土木工程前沿（英文）》 2020年第14卷第4期页码 998-1011 doi: 10.1007/s11709-020-0621-8

摘要： Urban tunnels crossing faults are always at the risk of severe damages. In this paper, the effects of a reverse and a normal fault movement on a transversely crossing shallow shotcreted tunnel are investigated by 3D finite difference analysis. After verifying the accuracy of the numerical simulation predictions with the centrifuge physical model results, a parametric study is then conducted. That is, the effects of various parameters such as the sprayed concrete thickness, the geo-mechanical properties of soil, the tunnel depth, and the fault plane dip angle are studied on the displacements of the ground surface and the tunnel structure, and on the plastic strains of the soil mass around tunnel. The results of each case of reverse and normal faulting are independently discussed and then compared with each other. It is obtained that deeper tunnels show greater displacements for both types of faulting.

关键词： urban tunnel sprayed concrete reverse fault normal fault finite difference analysis

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Shadow obstacle model for realistic corner-turning behavior in crowd simulation

Gao-qi HE,Yi JIN,Qi CHEN,Zhen LIU,Wen-hui YUE,Xing-jian LU

《信息与电子工程前沿（英文）》 2016年第17卷第3期页码 200-211 doi: 10.1631/FITEE.1500253

摘要： This paper describes a novel model known as the shadow obstacle model to generate a realistic corner-turning behavior in crowd simulation. The motivation for this model comes from the observation that people tend to choose a safer route rather than a shorter one when turning a corner. To calculate a safer route, an optimization method is proposed to generate the corner-turning rule that maximizes the viewing range for the agents. By combining psychological and physical forces together, a full crowd simulation framework is established to provide a more realistic crowd simulation. We demonstrate that our model produces a more realistic corner-turning behavior by comparison with real data obtained from the experiments. Finally, we perform parameter analysis to show the believability of our model through a series of experiments.

关键词： Corner-turning behavior Crowd simulation Safety awareness Rule-based model

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Development of combined transitional pavement structure for urban tram track-road grade crossings

《结构与土木工程前沿（英文）》页码 1199-1210 doi: 10.1007/s11709-023-0949-y

摘要： The grade crossings and adjacent pavements of urban trams are generally subjected to complex load conditions and are susceptible to damage. Therefore, in this study, a novel pavement structure between tram tracks and roads constructed using polyurethane (PU) elastic concrete and ultra-high-performance concrete (UHPC), referred to as a track-road transitional pavement (TRTP), is proposed. Subsequently, its performance and feasibility are evaluated using experimental and numerical methods. First, the mechanical properties of the PU elastic concrete are evaluated. The performance of the proposed structure is investigated using a three-dimensional finite element model, where vehicle-induced dynamic and static loads are considered. The results show that PU elastic concrete and the proposed combined TRTP are applicable and functioned as intended. Additionally, the PU elastic concrete achieved sufficient performance. The recommended width of the TRTP is approximately 50 mm. Meanwhile, the application of UHPC under a PU elastic concrete layer significantly reduces vertical deformation. Results of numerical calculations confirmed the high structural performance and feasibility of the proposed TRTP. Finally, material performance standards are recommended to provide guidance for pavement design and the construction of tram-grade crossings in the future.

关键词： urban tram track grade crossing combined track-road transitional pavement polyurethane elastic concrete finite element method

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A new efficient optimal path planner for mobile robot based on Invasive Weed Optimization algorithm

Prases K. MOHANTY,Dayal R. PARHI

《机械工程前沿（英文）》 2014年第9卷第4期页码 317-330 doi: 10.1007/s11465-014-0304-z

摘要：

Planning of the shortest/optimal route is essential for efficient operation of autonomous mobile robot or vehicle. In this paper Invasive Weed Optimization (IWO), a new meta-heuristic algorithm, has been implemented for solving the path planning problem of mobile robot in partially or totally unknown environments. This meta-heuristic optimization is based on the colonizing property of weeds. First we have framed an objective function that satisfied the conditions of obstacle avoidance and target seeking behavior of robot in partially or completely unknown environments. Depending upon the value of objective function of each weed in colony, the robot avoids obstacles and proceeds towards destination. The optimal trajectory is generated with this navigational algorithm when robot reaches its destination. The effectiveness, feasibility, and robustness of the proposed algorithm has been demonstrated through series of simulation and experimental results. Finally, it has been found that the developed path planning algorithm can be effectively applied to any kinds of complex situation.

关键词： mobile robot obstacle avoidance Invasive Weed Optimization navigation

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切内里基线隧道——穿越瑞士阿尔卑斯山脉的平轨铁路线南段的施工经验 Article

Davide Merlini, Daniele Stocker, Matteo Falanesca, Roberto Schuerch

《工程（英文）》 2018年第4卷第2期页码 235-248 doi: 10.1016/j.eng.2017.09.004

摘要：

本文总结了在修建15.4 km 长切内里基线隧道（CBT）期间获得的经验，这条隧道为从北向南跨越瑞士阿尔卑斯山脉的平轨铁路线的南段。该项目由直径为9 m 的双管组成，双管之间每隔325 m设置一个联络通道。在线路中部及其南端，应后勤和运营要求，开挖了大型洞室。总开挖长度大约为40 km。隧道穿越阿尔卑斯山处的岩层由各种岩石类型和若干断层带组成。最大埋深达850 m。主隧道和联络通道的开挖通过钻爆法（D&B）进行。支护由锚杆、钢筋网、纤维增强喷射混凝土和（必要时的）钢拱架构成。为开挖进口隧洞，使用了敞开式隧道掘进机（TBM）。大埋深导致岩石受到挤压，这种状况的特征为在穿越较弱岩层时产生较大的各向异性收敛。较弱岩层要求安装可变形支护。在北洞口，隧道（断面增大）穿过A2 高速公路（连接瑞士北部和南部的主要道路轴线）下方，此处埋深较小，且隧道通过的是软地层。为限制地表沉降，成功采用了垂直和近水平喷射灌浆与分部开挖相结合的方法。南洞门位于人口密集的市区。开挖自南洞门开始，包括一

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桥岛隧组合跨海通道的最新建设技术

葛耀君, 袁勇

《工程（英文）》 2019年第5卷第1期页码 15-21 doi: 10.1016/j.eng.2019.01.003

关键词：工程成就

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基于多传感器融合的智能车在野外环境中的障碍物检测研究 Review

胡劲文,郑博尹,王策,赵春晖,侯晓磊,潘泉,徐钊

《信息与电子工程前沿（英文）》 2020年第21卷第5期页码 649-808 doi: 10.1631/FITEE.1900518

摘要：随着传感器融合技术发展，人们对智能地面车辆进行大量研究，其中障碍物检测是一个关键技术。障碍物检测是一项复杂任务，涉及多种障碍物、传感器特性和环境条件。虽然道路驾驶员辅助系统或自动驾驶系统已得到充分研究，但是为城市场景结构化道路开发的方法应用于野外环境时，可能因不确定性和多样性而失效。单一类型传感器由于感受范围、信号特征和检测环境的限制，难以满足障碍物检测需求，这促使研究人员和工程师开发多传感器融合方法和系统集成。该综述旨在总结野外环境中智能地面车辆的车载多传感器配置的主要考虑事项，为用户提供根据性能要求和应用环境选择传感器的指南。本文回顾了最新多传感器融合方法和系统原型，将其与对应的异构传感器配置相关联，讨论了新兴技术和面临的挑战。

关键词：多传感器融合；障碍物检测；野外环境；智能车；无人驾驶地面车辆

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大断面海底隧道软弱地层施工方法研究

黄明利,路威,徐恒国,谭忠盛

《中国工程科学》 2009年第11卷第7期页码 35-38

摘要：

我国第一条大断面海底隧道——厦门翔安海底隧道在浅滩及陆地段穿越富水软弱地层，围岩自稳能力差，极易发生涌水突泥，严重威胁施工的安全性。通过对隧道开挖方案的对比分析和根据施工现场监控量测的结果，对隧道穿越富水软弱地层的开挖施工方案、降排水关键技术和超前预加固方案进行了研究，为隧道施工提供技术支持。

关键词：厦门翔安海底隧道软弱地层施工方法

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中国大陆典型水下隧道工程案例与技术

洪开荣

《工程（英文）》 2017年第3卷第6期页码 871-879 doi: 10.1016/j.eng.2017.12.007

摘要：

中国大陆近十多年来修建了较多的水下隧道，其技术也取得了长足的发展。文章按工法分类，简要介绍了我国水下隧道的发展历程与现状，同时结合典型水下隧道的工程案例，综述了包括盾构法、钻爆法、沉管法修建的我国几座主要水下隧道工程，以及在这些工程中的技术创新所解决的重难点问题，如地质综合预报、注浆加固方法与工艺、软弱地层超浅埋大断面隧道的设计与施工、限排降压换刀、孤石的探测与处理、高地震烈度区的水下隧道建设、沉管基槽高回淤的处理等；综合分析了现有的技术基础与建设能力，提出了对我国三大海峡通道（琼州海峡通道、渤海湾海峡通道、台湾海峡通道）的一些思考，并指出海峡通道建设还需进一步研究的问题。

关键词：水下隧道海峡通道盾构法沉管法钻爆法