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Dynamic prediction of moving trajectory in pipe jacking: GRU-based deep learning framework

《结构与土木工程前沿（英文）》 2023年 第17卷 第7期   页码 994-1010 doi: 10.1007/s11709-023-0942-5

摘要： The moving trajectory of the pipe-jacking machine (PJM), which primarily determines the end quality of jacked tunnels, must be controlled strictly during the entire jacking process. Developing prediction models to support drivers in performing rectifications in advance can effectively avoid considerable trajectory deviations from the designed jacking axis. Hence, a gated recurrent unit (GRU)-based deep learning framework is proposed herein to dynamically predict the moving trajectory of the PJM. In this framework, operational data are first extracted from a data acquisition system; subsequently, they are preprocessed and used to establish GRU-based multivariate multistep-ahead direct prediction models. To verify the performance of the proposed framework, a case study of a large pipe-jacking project in Shanghai and comparisons with other conventional models (i.e., long short-term memory (LSTM) network and recurrent neural network (RNN)) are conducted. In addition, the effects of the activation function and input time-step length on the prediction performance of the proposed framework are investigated and discussed. The results show that the proposed framework can dynamically and precisely predict the PJM moving trajectory during the pipe-jacking process, with a minimum mean absolute error and root mean squared error (RMSE) of 0.1904 and 0.5011 mm, respectively. The RMSE of the GRU-based models is lower than those of the LSTM- and RNN-based models by 21.46% and 46.40% at the maximum, respectively. The proposed framework is expected to provide an effective decision support for moving trajectory control and serve as a foundation for the application of deep learning in the automatic control of pipe jacking.

关键词： dynamic prediction     moving trajectory     pipe jacking     GRU     deep learning    

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Vibration analysis of a simply supported beam under moving mass based on moving finite element method

Zhuchao YE, Huaihai CHEN,

《机械工程前沿（英文）》 2009年 第4卷 第4期   页码 397-400 doi: 10.1007/s11465-009-0044-7

摘要： In this paper, a moving finite element (MFE) method is proposed to perform the dynamic analysis of a simply supported beam for a moving mass (MM). The MFE method treats the moving mass as a moving part of the entire system, so that the transverse inertial effects caused by the moving mass may easily be taken into account. The solution to the beam’s dynamic behaviors including its displacement is obtained via a Newmark-β method; the effects of the velocity and weight of the MM on the beam’s dynamic behaviors are further discussed. The numerical examples show that the inertial effects of the MM significantly affect the transverse responses of the simply supported beam.

关键词： simply supported beam     moving mass (MM)     transverse vibration     moving finite element (MFE)    

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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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Design and analysis of the gripper mechanism based on generalized parallel mechanisms with configurable moving

《机械工程前沿（英文）》 2021年 第16卷 第4期   页码 765-781 doi: 10.1007/s11465-021-0655-1

摘要： Generalized parallel mechanisms with a configurable moving platform have become popular in the research field of parallel mechanism. This type of gripper mechanism can be applied to grasp large or heavy objects in different environments that are dangerous and complex for humans. This study proposes a family of novel (5 + 1) degrees of freedom (three translations and two rotations plus an additional grasping motion) gripper mechanisms based on the generalized parallel mechanisms with a configurable moving platform. First, the configurable moving platform, which is a closed loop, is designed for grasping manipulation. The hybrid topological arrangement is determined to improve the stiffness of the manipulator and realize high load-to-weight ratios. A sufficient rule based on Lie group theory is proposed to synthesize the mechanism. The hybrid limb structure is also enumerated. A family of novel gripper mechanisms can be assembled through the hybrid limbs by satisfying the rule. Two examples of the gripper mechanisms with and without parallelogram pairs are shown in this study. A kinematic analysis of the example mechanism is presented. The workspace shows that the mechanism possesses high rotational capability. In addition, a stiffness analysis is performed.

关键词： generalized parallel mechanism     configurable moving platform     gripper mechanism     type synthesis     kinematic analysis    

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Multi-harmonic forced vibration and resonance of simple beams to moving vehicles

《结构与土木工程前沿（英文）》 2023年 第17卷 第7期   页码 981-993 doi: 10.1007/s11709-023-0979-5

摘要： This study modeled the moving-vehicle-induced forcing excitation on a single-span prismatic bridge as a multiple frequency-multiplication harmonic load on the modal coordinates of a linear elastic simple Euler–Bernoulli beam, and investigated the forced modal oscillation and resonance behavior of this type of dynamic system. The forced modal responses consist of multiple frequency-multiplication steady-state harmonics and one damped mono-frequency complementary harmonic. The analysis revealed that a moving load induces high-harmonic forced resonance amplification when the moving speed is low. To verify the occurrence of high-harmonic forced resonance, numerical tests were conducted on single-span simple beams based on structural modeling using the finite element method (FEM) and a moving sprung-mass oscillator vehicle model. The forced resonance amplification characteristics of the fundamental mode for beam response estimation are presented with consideration to different end restraint conditions. The results reveal that the high-harmonic forced resonance may be significant for the investigated beams subjected to vehicle loads moving at specific low speeds. For the investigated single-span simple beams, the moving vehicle carriage heaving oscillation modulates the beam modal frequency, but does not induce notable variation of the modal oscillation harmonic structure for the cases that vehicle of small mass moves in low speed.

关键词： forced vibration     linear Euler beam     moving load     harmonic structure     frequency modulation     end restraints    

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Small tracking error correction for moving targets of intelligent electro-optical detection systems

《机械工程前沿（英文）》 2024年 第19卷 第2期 doi: 10.1007/s11465-024-0782-6

摘要： Small tracking error correction for electro-optical systems is essential to improve the tracking precision of future mechanical and defense technology. Aerial threats, such as “low, slow, and small (LSS)” moving targets, pose increasing challenges to society. The core goal of this work is to address the issues, such as small tracking error correction and aiming control, of electro-optical detection systems by using mechatronics drive modeling, composite velocity–image stability control, and improved interpolation filter design. A tracking controller delay prediction method for moving targets is proposed based on the Euler transformation model of a two-axis, two-gimbal cantilever beam coaxial configuration. Small tracking error formation is analyzed in detail to reveal the scientific mechanism of composite control between the tracking controller’s feedback and the motor’s velocity–stability loop. An improved segmental interpolation filtering algorithm is established by combining line of sight (LOS) position correction and multivariable typical tracking fault diagnosis. Then, a platform with 2 degrees of freedom is used to test the system. An LSS moving target shooting object with a tracking distance of S = 100 m, target board area of A = 1 m2, and target linear velocity of v = 5 m/s is simulated. Results show that the optimal method’s distribution probability of the tracking error in a circle with a radius of 1 mrad is 66.7%, and that of the traditional method is 41.6%. Compared with the LOS shooting accuracy of the traditional method, the LOS shooting accuracy of the optimized method is improved by 37.6%.

关键词： electro-optical detection system     small tracking error     moving target     visual servo     aiming control    

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灵活可变的运动图像的分割算法

赵彦玲,张之超,高振,张庆超

《中国工程科学》 2006年 第8卷 第5期   页码 84-87

摘要：

运动图像的分割在基于内容的视频编码及视频检索中占有重要的地位。利用运动图像帧中的时空域信息，提出了一种分割运动对象的方法。其最大的特点是灵活性，可以根据序列的实际情况来选择算法。实验证明分割效果较好并节省了处理时间。

关键词： 时空结合     运动区域     运动对象     形态梯度算子     灵活性    

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Robust train speed trajectory optimization: A stochastic constrained shortest path approach

Li WANG, Lixing YANG, Ziyou GAO, Yeran HUANG

《工程管理前沿（英文）》 2017年 第4卷 第4期   页码 408-417 doi: 10.15302/J-FEM-2017042

摘要： Train speed trajectory optimization is a significant issue in railway traffic systems, and it plays a key role in determining energy consumption and travel time of trains. Due to the complexity of real-world operational environments, a variety of factors can lead to the uncertainty in energy-consumption. To appropriately characterize the uncertainties and generate a robust speed trajectory, this study specifically proposes distance-speed networks over the inter-station and treats the uncertainty with respect to energy consumption as discrete sample-based random variables with correlation. The problem of interest is formulated as a stochastic constrained shortest path problem with travel time threshold constraints in which the expected total energy consumption is treated as the evaluation index. To generate an approximate optimal solution, a Lagrangian relaxation algorithm combined with dynamic programming algorithm is proposed to solve the optimal solutions. Numerical examples are implemented and analyzed to demonstrate the performance of proposed approaches.

关键词： train speed trajectory optimization     railway operation     stochastic programming    

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autonomous mining: design and development of an unmanned electric shovel via point cloud-based optimal trajectory

《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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Dynamic analysis of composite beam subjected to harmonic moving load based on the third-order shear deformation

Mohammad Javad REZVANIL, Mohammad Hossein KARGARNOVIN, Davood YOUNESIAN

《机械工程前沿（英文）》 2011年 第6卷 第4期   页码 409-418 doi: 10.1007/s11465-011-0245-8

摘要：

The response of an infinite Timoshenko beam subjected to a harmonic moving load based on the third-order shear deformation theory (TSDT) is studied. The beam is made of laminated composite, and located on a Pasternak viscoelastic foundation. By using the principle of total minimum potential energy, the governing partial differential equations of motion are obtained. The solution is directed to compute the deflection and bending moment distribution along the length of the beam. Also, the effects of two types of composite materials, stiffness and shear layer viscosity coefficients of foundation, velocity and frequency of the moving load over the beam response are studied. In order to demonstrate the accuracy of the present method, the results TSDT are compared with the previously obtained results based on first-order shear deformation theory, with which good agreements are observed.

关键词： timoshenko composite beam     pasternak viscoelastic foundation     third-order shear deformation theory (TSDT)     harmonic moving load    

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Effects of carrier-attached biofilm on oxygen transfer efficiency in a moving bed biofilm reactor

Yanling WEI,Xunfei YIN,Lu QI,Hongchen WANG,Yiwei GONG,Yaqian LUO

《环境科学与工程前沿（英文）》 2016年 第10卷 第3期   页码 569-577 doi: 10.1007/s11783-015-0822-x

摘要： Three laboratory-scale moving bed biofilm reactors (MBBR) with different carrier filling ratios ranging from 40% to 60% were used to study the effects of carrier-attached biofilm on oxygen transfer efficiency. In this study, we evaluated the performance of three MBBRs in degrading chemical oxygen demand and ammonia. The three reactors removed more than 95% of -N at an air flow-rate of 60 L·h . The standard oxygen transfer efficiency (αSOTE) of the three reactors was also investigated at air flow-rates ranging from 60 to 100 L·h . These results were compared to αSOTE of wastewater with a clean carrier (no biofilm attached). Results showed that under these process conditions, αSOTE decreased by approximately 70% as compared to αSOTE of wastewater at a different carrier-filling ratio. This indicated that the biofilm attached to the carrier had a negative effect on αSOTE. Mechanism analysis showed that the main inhibiting effects were related to biofilm flocculants and soluble microbial product (SMP). Biofilm flocs could decrease αSOTE by about 20%, and SMP could decrease αSOTE by 30%–50%.

关键词： carrier     biofilm     oxygen transfer efficiency     moving bed biofilm reactor    

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The investigation of pressure drop in moving-beds

CHEN Yunhua, ZHU Xuedong, WU Yongqiang, ZHU Zibin

《化学科学与工程前沿（英文）》 2007年 第1卷 第2期   页码 184-189 doi: 10.1007/s11705-007-0034-4

摘要： The pressure drop of a cross-flow moving-bed was investigated in a two-dimensional rectangular apparatus. The effects of the particle velocity, the superficial gas velocity, the formation and development of cavity/raceway and voidage of particles on the pressure drop were investigated experimentally under the operational conditions of 0.09 1.35 m/s of the superficial gas velocity and 0.95 9.68 cm/min of the particle velocity. The experimental results show that the particle velocity has little influence on the pressure drop, while the phenomena of cavity and pinning occur when the cross-flow velocity is high enough. The development of a cavity or a raceway can result in three types of variations of pressure drop with time: stabilization, slight fluctuation and severe fluctuation. A cavity appears in a process cycle of formation-growing up-collapsing-fluidization at a high gas velocity. On the basis of experimental results, a model for calculating the pressure drop after a cavity occurs and a dimensionless relationship of cavity size is developed, which gives a good qualitative account of the experimental data.

关键词： development     cross-flow velocity     superficial     qualitative account     stabilization    

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Numerical analysis of hydrodynamic process of circular-translational-moving polishing (CTMP)

ZHAI Wenjie, LIU Changxiong, LIANG Yingchun

《机械工程前沿（英文）》 2008年 第3卷 第4期   页码 441-448 doi: 10.1007/s11465-008-0074-6

摘要： By keeping a pad moving relative to a wafer along a circular path without rotation, we developed a polishing technique called circular-translational-moving polishing (CTMP), which permits multidirectional polishing of the work piece and thus bears the advantage of isotropic polishing and a potential increase of material removal rate (MRR) on the wafer. To illuminate the mechanisms of CTMP and determine the optimum process variables in a CTMP process, a three-dimensional hydrodynamic lubrication model for CTMP with a smooth and rigid pad under a quasi-stable state is established in a polar coordinate system. The model equations are further calculated numerically by the finite difference method. The instantaneous distribution of fluid pressure is obtained, which shows that a negative pressure exists. The reason for negative pressure in CTMP and its effect on polishing is discussed. Moreover, the nominal clearance of the fluid film, roll, and pitch angles under different working conditions are obtained in terms of the applied load, moments, and polishing velocity. The obtained numerical analysis can be used as guidance for choosing operation parameters in a practical CTMP application.

关键词： numerical analysis     practical CTMP     circular-translational-moving polishing     CTMP     different    

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of semi-analytical finite element method to analyze the bearing capacity of asphalt pavements under moving

Pengfei LIU, Dawei WANG, Frédéric OTTO, Markus OESER

《结构与土木工程前沿（英文）》 2018年 第12卷 第2期   页码 215-221 doi: 10.1007/s11709-017-0401-2

摘要： To facilitate long term infrastructure asset management systems, it is necessary to determine the bearing capacity of pavements. Currently it is common to conduct such measurements in a stationary manner, however the evaluation with stationary loading does not correspond to reality a tendency towards continuous and high speed measurements in recent years can be observed. The computational program SAFEM was developed with the objective of evaluating the dynamic response of asphalt under moving loads and is based on a semi-analytic element method. In this research project SAFEM is compared to commercial finite element software ABAQUS and field measurements to verify the computational accuracy. The computational accuracy of SAFEM was found to be high enough to be viable whilst boasting a computational time far shorter than ABAQUS. Thus, SAFEM appears to be a feasible approach to determine the dynamic response of pavements under dynamic loads and is a useful tool for infrastructure administrations to analyze the pavement bearing capacity.

关键词： semi-analytical finite element method     bearing capacity     asphalt pavements     moving loads     dynamic response    

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Continuous size fractionation of magnetic nanoparticles by using simulated moving bed chromatography

Carsten-Rene Arlt, Dominik Brekel, Stefan Neumann, David Rafaja, Matthias Franzreb

《化学科学与工程前沿（英文）》 2021年 第15卷 第5期   页码 1346-1355 doi: 10.1007/s11705-021-2040-3

摘要： The size fractionation of magnetic nanoparticles is a technical problem, which until today can only be solved with great effort. Nevertheless, there is an important demand for nanoparticles with sharp size distributions, for example for medical technology or sensor technology. Using magnetic chromatography, we show a promising method for fractionation of magnetic nanoparticles with respect to their size and/or magnetic properties. This was achieved by passing magnetic nanoparticles through a packed bed of fine steel spheres with which they interact magnetically because single domain ferro-/ferrimagnetic nanoparticles show a spontaneous magnetization. Since the strength of this interaction is related to particle size, the principle is suitable for size fractionation. This concept was transferred into a continuous process in this work using a so-called simulated moving bed chromatography. Applying a suspension of magnetic nanoparticles within a size range from 20 to 120 nm, the process showed a separation sharpness of up to 0.52 with recovery rates of 100%. The continuous feed stream of magnetic nanoparticles could be fractionated with a space-time-yield of up to 5 mg/(L∙min). Due to the easy scalability of continuous chromatography, the process is a promising approach for the efficient fractionation of industrially relevant amounts of magnetic nanoparticles.

关键词： magnetic chromatography     simulated moving bed chromatography     magnetic nanoparticles     size fractionation    

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标题 作者 时间 类型 操作

Dynamic prediction of moving trajectory in pipe jacking: GRU-based deep learning framework

期刊论文

Vibration analysis of a simply supported beam under moving mass based on moving finite element method

Zhuchao YE, Huaihai CHEN,

期刊论文

Multiobjective trajectory optimization of intelligent electro-hydraulic shovel

期刊论文

Design and analysis of the gripper mechanism based on generalized parallel mechanisms with configurable moving

期刊论文

Multi-harmonic forced vibration and resonance of simple beams to moving vehicles

期刊论文

Small tracking error correction for moving targets of intelligent electro-optical detection systems

期刊论文

灵活可变的运动图像的分割算法

赵彦玲,张之超,高振,张庆超

期刊论文

Robust train speed trajectory optimization: A stochastic constrained shortest path approach

Li WANG, Lixing YANG, Ziyou GAO, Yeran HUANG

期刊论文

autonomous mining: design and development of an unmanned electric shovel via point cloud-based optimal trajectory

期刊论文

Dynamic analysis of composite beam subjected to harmonic moving load based on the third-order shear deformation

Mohammad Javad REZVANIL, Mohammad Hossein KARGARNOVIN, Davood YOUNESIAN

期刊论文

Effects of carrier-attached biofilm on oxygen transfer efficiency in a moving bed biofilm reactor

Yanling WEI,Xunfei YIN,Lu QI,Hongchen WANG,Yiwei GONG,Yaqian LUO

期刊论文

The investigation of pressure drop in moving-beds

CHEN Yunhua, ZHU Xuedong, WU Yongqiang, ZHU Zibin

期刊论文

Numerical analysis of hydrodynamic process of circular-translational-moving polishing (CTMP)

ZHAI Wenjie, LIU Changxiong, LIANG Yingchun

期刊论文

of semi-analytical finite element method to analyze the bearing capacity of asphalt pavements under moving

Pengfei LIU, Dawei WANG, Frédéric OTTO, Markus OESER

期刊论文

Continuous size fractionation of magnetic nanoparticles by using simulated moving bed chromatography

Carsten-Rene Arlt, Dominik Brekel, Stefan Neumann, David Rafaja, Matthias Franzreb

期刊论文