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AUV Path Planning in 3D Seabed Environment Using Genetic Algorithm

Hao Yanling,Zhang Jingjuan

Strategic Study of CAE 2003, Volume 5, Issue 11,   Pages 56-60

Abstract:

The path-planning algorithm of AUV in 3D seabed environment is studied.reliability of the path-planning algorithm, which has considerable value on the safe navigation of AUV in seabed

Keywords： 3D path planning     genetic algorithm     seabed terrain     underwater vehicle    

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

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0754-2

Abstract: Given limited terrain adaptability, most existing multirobot cooperative transportation systems (MRCTSsThis study proposes a novel MRCTS based on tracked mobile robots (TMRs) to improve terrain adaptability

Keywords： multirobot system     cooperative transportation     terrain adaptability     trajectory tracking     collaborative    

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Footholds optimization for legged robots walking on complex terrain

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0742-y

Abstract: The algorithm can efficiently run onboard and online by using terrain perception information to protecttripping on the edge of obstacles, and to improve its stability and safety when walking on complex terrainBy relying on the depth camera installed on the robot and obtaining the terrain heightmap, the algorithmthe algorithm on a hexapod robot, and verified its feasibility in a walking experiment on a complex terrain

Keywords： 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

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0760-4

Abstract: Compared with the body orientation under the time-based control method regardless of terrain, the root

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

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Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 2,   Pages 271-284 doi: 10.1007/s11465-020-0623-1

Abstract: A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposedFirst, a force-based terrain classification method is suggested.is developed to control the robot, and the parameters of active compliance control change with the terrain

Keywords： terrain classification     hexapod robot     legged robot     adaptive locomotion     gait control    

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A Study of the Factors Influencing the Kinematic Condition and Dynamic Characteristics of Deep Seabed

Ling Sheng,Xiao Linjing,Shen Yanhua,Zhang Wenming

Strategic Study of CAE 2002, Volume 4, Issue 3,   Pages 78-83

Abstract: economical operation, and facilitated control are the major goals for the research and development of deep seabedBased on the results achieved in the research and development of deep seabed mining technology in recent

Keywords： deep seabed mining     mining system     lifting pipe     kinematics & dynamics     system design    

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Experimental research on micro-terrain exploring technology based on deep-ocean cobalt-rich crusts exploitation

Luo Bowen,Xia Yimin,Wang Tao,Bai Hongfeng,Wang Kezhi

Strategic Study of CAE 2010, Volume 12, Issue 9,   Pages 78-83

Abstract: A single-beam swing ultrasonic micro-terrain detection method was proposed based on occurrence of cobalt

Keywords： cobalt-rich crusts     ultrasonic     micro-terrain     windowed     support vector    

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Research Progress and Prospects of Geohazard Mechanism and Risk Prevention Related to Seabed Fluid Migration

Tian Zhaoyang, Jia Yonggang, Zhu Chaoqi, Lu Longyu, Guo Xu, Feng Xuezhi, Wang Hui, Wang Hongwei, He Manchao, Peng Jianbing

Strategic Study of CAE 2023, Volume 25, Issue 3,   Pages 131-140 doi: 10.15302/J-SSCAE-2023.03.012

Abstract:

Seabed fluid migration is a critical process that involves the transportand movement of liquids, gases, and seawater within and outside the seabed, which has significantimpacts on the genesis, development, and evolution of seabed geological disasters.disasters such as submarine landslides in the sea area of China demonstrate a strong relevance with seabeddisaster genesis, development, and triggering under the influence of seabed fluid migration.

Keywords： seabed fluid migration     marine geologic hazards     risk prevention and control     northern South China Sea    

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Stability and agility: biped running over varied and unknown terrain

Yang YI,Zhi-yun LIN

Frontiers of Information Technology & Electronic Engineering 2015, Volume 16, Issue 4,   Pages 283-292 doi: 10.1631/FITEE.1400284

Abstract: We tackle the problem of a biped running over varied and unknown terrain.fast, but it increases the challenge of dynamic balance, especially when a biped is running on varied terrainwithout terrain information (due to the difficulty and cost of obtaining the terrain information inThen to ensure a small state jump at touchdown on the unknown terrain, the velocity of the swing footIt is able to run over upward and downward terrain with a height difference of 0.15 m, which shows the

Keywords： Underactuated running biped     Dynamic balance     Varied and unknown terrain    

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3D Digital Terrain Modeling and Analysis in Water Resources and Hydropower Engineering

Zhong Denghua,Li Mingchao,Wang Gang,Guo Xiang,Wu Kangxin

Strategic Study of CAE 2005, Volume 7, Issue 7,   Pages 65-70

Abstract:

Due to the extensive terrain region and complicated irregular topographic form, great difficultiesWith the development of modern hydropower engineering, 3D digital terrain models have obtained wide applications, such as dynamic fill and dig of terrain, site layout, cruising of general construction layout, andof digital terrain, multiresolution model, terrain simplification and terrain reality.requirements of 3D geological models, the NURBS technique was introduced to rebuild the simplified terrain

Keywords： digital terrain model     triangulated irregular network     level of details     NURBS technique     water resources    

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DARPA Robotics Grand Challenge Participation and Ski-Type Gait for Rough-Terrain Walking Article

Hongfei Wang, Shimeng Li, Yuan F. Zheng

Engineering 2015, Volume 1, Issue 1,   Pages 36-45 doi: 10.15302/J-ENG-2015006

Abstract: As members of team DRC-HUBO, we propose different approaches for the Rough-Terrain task, such as enlarged

Keywords： humanoid robot     DARPA robotics challenge (DRC)     rough-terrain walking     Ski-Type gait    

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Wind tunnel test study on the wind pressure coefficient of claddings of high-rise buildings

Yong QUAN, Yi LIANG, Fei WANG, Ming GU

Frontiers of Structural and Civil Engineering 2011, Volume 5, Issue 4,   Pages 518-524 doi: 10.1007/s11709-011-0128-4

Abstract: coefficients (MUWPCs) on various regions of building surfaces and the influence of the side ratio and the terrainIn addition, no unique pattern was found for the effect of the terrain category on the MUWPCs.

Keywords： side ratio     area-averaged pressure coefficients     cladding     terrain category    

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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

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 2,   Pages 193-208 doi: 10.1007/s11465-019-0569-3

Abstract: novel two-layered sagittal SLIP-anchored (SSA) task space control for a monopode robot to deal with terrainConsequently, an adaptive hopping behavior is exhibited by the robot when traversing irregular terrain

Keywords： robots     spring-loaded inverted pendulum     task space control     apex return map     deadbeat control     irregular terrain    

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3D Modeling and Visualization of Virtual Construction Grou p

Zhang Zhengfeng,Fu Jinqiang,Zhang Fayu

Strategic Study of CAE 2007, Volume 9, Issue 5,   Pages 53-56

Abstract:

3D modeling methods of terrain,  city structure,  highway and Taking into account the matching of 3D object with terrain model,  the visualization processes

Keywords： virtual construction group     3D modeling     visualization     terrain match    

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Finite Element Analysis for Effects of Incident Wave Angle and Seabed on Hydrodynamic Characteristics

Liu Rong,Zheng Yonghong,You Yage,Sun Xiaoyan,

Strategic Study of CAE 2005, Volume 7, Issue 3,   Pages 42-48

Abstract: correctness of the numerical method is verified through a comparison with analytical results of a simple seabed

Keywords： oblique waves     buoy     complex topography     FEM    

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Title Author Date Type Operation

AUV Path Planning in 3D Seabed Environment Using Genetic Algorithm

Hao Yanling,Zhang Jingjuan

Journal Article

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

Journal Article

Footholds optimization for legged robots walking on complex terrain

Journal Article

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

Journal Article

Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

Journal Article

A Study of the Factors Influencing the Kinematic Condition and Dynamic Characteristics of Deep Seabed

Ling Sheng,Xiao Linjing,Shen Yanhua,Zhang Wenming

Journal Article

Experimental research on micro-terrain exploring technology based on deep-ocean cobalt-rich crusts exploitation

Luo Bowen,Xia Yimin,Wang Tao,Bai Hongfeng,Wang Kezhi

Journal Article

Research Progress and Prospects of Geohazard Mechanism and Risk Prevention Related to Seabed Fluid Migration

Tian Zhaoyang, Jia Yonggang, Zhu Chaoqi, Lu Longyu, Guo Xu, Feng Xuezhi, Wang Hui, Wang Hongwei, He Manchao, Peng Jianbing

Journal Article

Stability and agility: biped running over varied and unknown terrain

Yang YI,Zhi-yun LIN

Journal Article

3D Digital Terrain Modeling and Analysis in Water Resources and Hydropower Engineering

Zhong Denghua,Li Mingchao,Wang Gang,Guo Xiang,Wu Kangxin

Journal Article

DARPA Robotics Grand Challenge Participation and Ski-Type Gait for Rough-Terrain Walking

Hongfei Wang, Shimeng Li, Yuan F. Zheng

Journal Article

Wind tunnel test study on the wind pressure coefficient of claddings of high-rise buildings

Yong QUAN, Yi LIANG, Fei WANG, Ming GU

Journal Article

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

Haitao YU, Haibo GAO, Liang DING, Zongquan DENG

Journal Article

3D Modeling and Visualization of Virtual Construction Grou p

Zhang Zhengfeng,Fu Jinqiang,Zhang Fayu

Journal Article

Finite Element Analysis for Effects of Incident Wave Angle and Seabed on Hydrodynamic Characteristics

Liu Rong,Zheng Yonghong,You Yage,Sun Xiaoyan,

Journal Article