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Article
Publication date: 6 December 2022

Benna Hu, Laifu Wen and Xuemei Zhou

Vertical electrical sounding (VES) and Rayleigh wave exploration are widely used in the exploration of near-surface structure, but both have limitations. This study aims to make…

Abstract

Purpose

Vertical electrical sounding (VES) and Rayleigh wave exploration are widely used in the exploration of near-surface structure, but both have limitations. This study aims to make full use of the advantages of the two methods, reduce the multiple solutions of single inversion and improve the accuracy of the inversion. Thus, a nonlinear joint inversion method of VES and Rayleigh wave exploration based on improved differential evolution (DE) algorithm was proposed.

Design/methodology/approach

Based on the DE algorithm, a new initialization strategy was proposed. Then, taking AK-type with high-velocity interlayer model and HA-type with low-velocity interlayer model near the surface as examples, the inversion results of different methods were compared and analyzed. Then, the proposed method was applied to the field data in Chengde, Hebei Province, China. The stratum structure was accurately depicted and verified by drilling.

Findings

The synthetic data and field data results showed that the joint inversion of VES and Rayleigh wave data based on the improved DE algorithm can effectively improve the interpretation accuracy of the single-method inversion and had strong stability and large generalizable ability in near-surface engineering problems.

Originality/value

A joint inversion method of VES and Rayleigh wave data based on improved DE algorithm is proposed, which can improve the accuracy of single-method inversion.

Article
Publication date: 8 March 2024

Hongri Mao and Jianbo Yuan

This study develops a model and algorithm to solve the decentralized resource-constrained multi-project scheduling problem (DRCMPSP) and provides a suitable priority rule (PR) for…

Abstract

Purpose

This study develops a model and algorithm to solve the decentralized resource-constrained multi-project scheduling problem (DRCMPSP) and provides a suitable priority rule (PR) for coordinating global resource conflicts among multiple projects.

Design/methodology/approach

This study addresses the DRCMPSP, which respects the information privacy requirements of project agents; that is, there is no single manager centrally in charge of generating multi-project scheduling. Accordingly, a three-stage model was proposed for the decentralized management of multiple projects. To solve this model, a three-stage solution approach with a repeated negotiation mechanism was proposed.

Findings

The experimental results obtained using the Multi-Project Scheduling Problem LIBrary confirm that our approach outperforms existing methods, regardless of the average utilization factor (AUF). Comparative analysis revealed that delaying activities in the lower project makespan produces a lower average project delay. Furthermore, the new PR LMS performed better in problem subsets with AUF < 1 and large-scale subsets with AUF > 1.

Originality/value

A solution approach with a repeated-negotiation mechanism suitable for the DRCMPSP and a new PR for coordinating global resource allocation are proposed.

Details

Kybernetes, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 0368-492X

Keywords

Article
Publication date: 22 March 2024

Shahin Alipour Bonab, Alireza Sadeghi and Mohammad Yazdani-Asrami

The ionization of the air surrounding the phase conductor in high-voltage transmission lines results in a phenomenon known as the Corona effect. To avoid this, Corona rings are…

Abstract

Purpose

The ionization of the air surrounding the phase conductor in high-voltage transmission lines results in a phenomenon known as the Corona effect. To avoid this, Corona rings are used to dampen the electric field imposed on the insulator. The purpose of this study is to present a fast and intelligent surrogate model for determination of the electric field imposed on the surface of a 120 kV composite insulator, in presence of the Corona ring.

Design/methodology/approach

Usually, the structural design parameters of the Corona ring are selected through an optimization procedure combined with some numerical simulations such as finite element method (FEM). These methods are slow and computationally expensive and thus, extremely reducing the speed of optimization problems. In this paper, a novel surrogate model was proposed that could calculate the maximum electric field imposed on a ceramic insulator in a 120 kV line. The surrogate model was created based on the different scenarios of height, radius and inner radius of the Corona ring, as the inputs of the model, while the maximum electric field on the body of the insulator was considered as the output.

Findings

The proposed model was based on artificial intelligence techniques that have high accuracy and low computational time. Three methods were used here to develop the AI-based surrogate model, namely, Cascade forward neural network (CFNN), support vector regression and K-nearest neighbors regression. The results indicated that the CFNN has the highest accuracy among these methods with 99.81% R-squared and only 0.045468 root mean squared error while the testing time is less than 10 ms.

Originality/value

To the best of the authors’ knowledge, for the first time, a surrogate method is proposed for the prediction of the maximum electric field imposed on the high voltage insulators in the presence Corona ring which is faster than any conventional finite element method.

Details

World Journal of Engineering, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 1708-5284

Keywords

Article
Publication date: 9 February 2024

Ravinder Singh

This paper aims to focus on solving the path optimization problem by modifying the probabilistic roadmap (PRM) technique as it suffers from the selection of the optimal number of…

Abstract

Purpose

This paper aims to focus on solving the path optimization problem by modifying the probabilistic roadmap (PRM) technique as it suffers from the selection of the optimal number of nodes and deploy in free space for reliable trajectory planning.

Design/methodology/approach

Traditional PRM is modified by developing a decision-making strategy for the selection of optimal nodes w.r.t. the complexity of the environment and deploying the optimal number of nodes outside the closed segment. Subsequently, the generated trajectory is made smoother by implementing the modified Bezier curve technique, which selects an optimal number of control points near the sharp turns for the reliable convergence of the trajectory that reduces the sum of the robot’s turning angles.

Findings

The proposed technique is compared with state-of-the-art techniques that show the reduction of computational load by 12.46%, the number of sharp turns by 100%, the number of collisions by 100% and increase the velocity parameter by 19.91%.

Originality/value

The proposed adaptive technique provides a better solution for autonomous navigation of unmanned ground vehicles, transportation, warehouse applications, etc.

Details

Robotic Intelligence and Automation, vol. 44 no. 1
Type: Research Article
ISSN: 2754-6969

Keywords

Article
Publication date: 29 March 2024

Jianping Zhang, Leilei Wang and Guodong Wang

With the rapid advancement in the automotive industry, the friction coefficient (FC), wear rate (WR) and weight loss (WL) have emerged as crucial parameters to measure the…

Abstract

Purpose

With the rapid advancement in the automotive industry, the friction coefficient (FC), wear rate (WR) and weight loss (WL) have emerged as crucial parameters to measure the performance of automotive braking systems, so the FC, WR and WL of friction material are predicted and analyzed in this work, with an aim of achieving accurate prediction of friction material properties.

Design/methodology/approach

Genetic algorithm support vector machine (GA-SVM) model is obtained by applying GA to optimize the SVM in this work, thus establishing a prediction model for friction material properties and achieving the predictive and comparative analysis of friction material properties. The process parameters are analyzed by using response surface methodology (RSM) and GA-RSM to determine them for optimal friction performance.

Findings

The results indicate that the GA-SVM prediction model has the smallest error for FC, WR and WL, showing that it owns excellent prediction accuracy. The predicted values obtained by response surface analysis are closed to those of GA-SVM model, providing further evidence of the validity and the rationality of the established prediction model.

Originality/value

The relevant results can serve as a valuable theoretical foundation for the preparation of friction material in engineering practice.

Details

Industrial Lubrication and Tribology, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 0036-8792

Keywords

Article
Publication date: 1 April 2024

Zeyang Zhou and Jun Huang

This study aims to learn the dynamic radar cross-section (RCS) of a deflection air brake.

Abstract

Purpose

This study aims to learn the dynamic radar cross-section (RCS) of a deflection air brake.

Design/methodology/approach

The aircraft model with delta wing, V-shaped tail and blended wing body is designed, and high-precision unstructured grid technology is used to deal with the surface of air brake and fuselage. The calculation method based on multiple tracking and dynamic scattering is presented to calculate RCS.

Findings

The fuselage has a low scattering level, and the opening air brake will bring obvious dynamic RCS effects to itself and the whole machine. The average indicator of air brake RCS can be lower than –0.6 dBm2 under the tail azimuth, while that of forward and lateral direction is lower. The mean RCS of fuselage is obviously higher than that of air brake, while the deflected air brake and its cabin can still provide strong scattering sources at some azimuths. When the air brake is opening, the change amplitude of the aircraft forward RCS can exceed 19.81 dBm2.

Practical implications

This research has practical significance for the dynamic electromagnetic scattering analysis and stealth design of the air brake.

Originality/value

The calculation method for aircraft RCS considering air brake dynamic deflection has been established.

Details

Aircraft Engineering and Aerospace Technology, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 1748-8842

Keywords

Article
Publication date: 26 March 2024

Keyu Chen, Beiyu You, Yanbo Zhang and Zhengyi Chen

Prefabricated building has been widely applied in the construction industry all over the world, which can significantly reduce labor consumption and improve construction…

Abstract

Purpose

Prefabricated building has been widely applied in the construction industry all over the world, which can significantly reduce labor consumption and improve construction efficiency compared with conventional approaches. During the construction of prefabricated buildings, the overall efficiency largely depends on the lifting sequence and path of each prefabricated component. To improve the efficiency and safety of the lifting process, this study proposes a framework for automatically optimizing the lifting path of prefabricated building components using building information modeling (BIM), improved 3D-A* and a physic-informed genetic algorithm (GA).

Design/methodology/approach

Firstly, the industry foundation class (IFC) schema for prefabricated buildings is established to enrich the semantic information of BIM. After extracting corresponding component attributes from BIM, the models of typical prefabricated components and their slings are simplified. Further, the slings and elements’ rotations are considered to build a safety bounding box. Secondly, an efficient 3D-A* is proposed for element path planning by integrating both safety factors and variable step size. Finally, an efficient GA is designed to obtain the optimal lifting sequence that satisfies physical constraints.

Findings

The proposed optimization framework is validated in a physics engine with a pilot project, which enables better understanding. The results show that the framework can intuitively and automatically generate the optimal lifting path for each type of prefabricated building component. Compared with traditional algorithms, the improved path planning algorithm significantly reduces the number of nodes computed by 91.48%, resulting in a notable decrease in search time by 75.68%.

Originality/value

In this study, a prefabricated component path planning framework based on the improved A* algorithm and GA is proposed for the first time. In addition, this study proposes a safety-bounding box that considers the effects of torsion and slinging of components during lifting. The semantic information of IFC for component lifting is enriched by taking into account lifting data such as binding positions, lifting methods, lifting angles and lifting offsets.

Details

Engineering, Construction and Architectural Management, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 0969-9988

Keywords

Article
Publication date: 9 January 2024

Zhuoyu Zhang, Lijia Zhong, Mingwei Lin, Ri Lin and Dejun Li

Docking technology plays a crucial role in enabling long-duration operations of autonomous underwater vehicles (AUVs). Visual positioning solutions alone are susceptible to…

Abstract

Purpose

Docking technology plays a crucial role in enabling long-duration operations of autonomous underwater vehicles (AUVs). Visual positioning solutions alone are susceptible to abnormal drift values due to the challenging underwater optical imaging environment. When an AUV approaches the docking station, the absolute positioning method fails if the AUV captures an insufficient number of tracers. This study aims to to provide a more stable absolute position visual positioning method for underwater terminal visual docking.

Design/methodology/approach

This paper presents a six-degree-of-freedom positioning method for AUV terminal visual docking, which uses lights and triangle codes. The authors use an extended Kalman filter to fuse the visual calculation results with inertial measurement unit data. Moreover, this paper proposes a triangle code recognition and positioning algorithm.

Findings

The authors conducted a simulation experiment to compare the underwater positioning performance of triangle codes, AprilTag and Aruco. The results demonstrate that the implemented triangular code reduces the running time by over 70% compared to the other two codes, and also exhibits a longer recognition distance in turbid environments. Subsequent experiments were carried out in Qingjiang Lake, Hubei Province, China, which further confirmed the effectiveness of the proposed positioning algorithm.

Originality/value

This fusion approach effectively mitigates abnormal drift errors stemming from visual positioning and cumulative errors resulting from inertial navigation. The authors also propose a triangle code recognition and positioning algorithm as a supplementary approach to overcome the limitations of tracer light positioning beacons.

Details

Industrial Robot: the international journal of robotics research and application, vol. 51 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 6 March 2024

Ruoxing Wang, Shoukun Wang, Junfeng Xue, Zhihua Chen and Jinge Si

This paper aims to investigate an autonomous obstacle-surmounting method based on a hybrid gait for the problem of crossing low-height obstacles autonomously by a six wheel-legged…

Abstract

Purpose

This paper aims to investigate an autonomous obstacle-surmounting method based on a hybrid gait for the problem of crossing low-height obstacles autonomously by a six wheel-legged robot. The autonomy of obstacle-surmounting is reflected in obstacle recognition based on multi-frame point cloud fusion.

Design/methodology/approach

In this paper, first, for the problem that the lidar on the robot cannot scan the point cloud of low-height obstacles, the lidar is driven to rotate by a 2D turntable to obtain the point cloud of low-height obstacles under the robot. Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping algorithm, fast ground segmentation algorithm and Euclidean clustering algorithm are used to recognize the point cloud of low-height obstacles and obtain low-height obstacle in-formation. Then, combined with the structural characteristics of the robot, the obstacle-surmounting action planning is carried out for two types of obstacle scenes. A segmented approach is used for action planning. Gait units are designed to describe each segment of the action. A gait matrix is used to describe the overall action. The paper also analyzes the stability and surmounting capability of the robot’s key pose and determines the robot’s surmounting capability and the value scheme of the surmounting control variables.

Findings

The experimental verification is carried out on the robot laboratory platform (BIT-6NAZA). The obstacle recognition method can accurately detect low-height obstacles. The robot can maintain a smooth posture to cross low-height obstacles, which verifies the feasibility of the adaptive obstacle-surmounting method.

Originality/value

The study can provide the theory and engineering foundation for the environmental perception of the unmanned platform. It provides environmental information to support follow-up work, for example, on the planning of obstacles and obstacles.

Details

Robotic Intelligence and Automation, vol. 44 no. 1
Type: Research Article
ISSN: 2754-6969

Keywords

Article
Publication date: 22 January 2024

Jun Liu, Junyuan Dong, Mingming Hu and Xu Lu

Existing Simultaneous Localization and Mapping (SLAM) algorithms have been relatively well developed. However, when in complex dynamic environments, the movement of the dynamic…

Abstract

Purpose

Existing Simultaneous Localization and Mapping (SLAM) algorithms have been relatively well developed. However, when in complex dynamic environments, the movement of the dynamic points on the dynamic objects in the image in the mapping can have an impact on the observation of the system, and thus there will be biases and errors in the position estimation and the creation of map points. The aim of this paper is to achieve more accurate accuracy in SLAM algorithms compared to traditional methods through semantic approaches.

Design/methodology/approach

In this paper, the semantic segmentation of dynamic objects is realized based on U-Net semantic segmentation network, followed by motion consistency detection through motion detection method to determine whether the segmented objects are moving in the current scene or not, and combined with the motion compensation method to eliminate dynamic points and compensate for the current local image, so as to make the system robust.

Findings

Experiments comparing the effect of detecting dynamic points and removing outliers are conducted on a dynamic data set of Technische Universität München, and the results show that the absolute trajectory accuracy of this paper's method is significantly improved compared with ORB-SLAM3 and DS-SLAM.

Originality/value

In this paper, in the semantic segmentation network part, the segmentation mask is combined with the method of dynamic point detection, elimination and compensation, which reduces the influence of dynamic objects, thus effectively improving the accuracy of localization in dynamic environments.

Details

Industrial Robot: the international journal of robotics research and application, vol. 51 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

1 – 10 of 288