基于Rockfall数值模拟的边坡落石防护网修复加固方案研究

某水电站尾水支洞边坡多次发生落石灾害,原被动防护网已发生局部破损,严重威胁着尾水支洞施工期和运行期的安全,需对原防护网进行修复加固。由于山体陡峭、地貌复杂,人工调查无法确定落石源,采用高精度无人机航摄初步排查出四处可疑危险源区域,利用Rockfall软件进行落石轨迹模拟计算,通过对比分析计算成果与观测到的落石落点位置与威胁区域分布情况,反分析确定了两处落石源。在此基础上,根据落石源的落石运动特征,复核分析了原防护能力不足的原因,发现原防护网的能级和高度不足是导致落石灾害发生的主要原因。通过提高防护网的能级和高度,提出了原位修复和增高加固两种方案。研究结果表明:两种方案均能有效减小落石威胁区域面积、降低落石率、改善运动特征参数。其中增高加固方案的防护效果更加显著,落石被全部拦截,落石弹跳高度和动能的最大值分别降低了69.64%、66.02%。对被动防护网破损部位的修复加固,综合考虑现场实际情况与落石模拟计算成果进行修复方案设计更为科学合理。研究成果可为该工程的落石防护方案提供科学依据,为类似工程设计与落石分析提供参考。

基于CRockfall数值模拟落石崩塌运动特征

【目的】山区公路工程边坡落石崩塌灾害具有突发性和强致灾性特点,是工程建设及运营过程中较为常见的地质安全隐患,有必要对落石崩塌运动特征进行研究。【方法】以西南地区某处公路边坡落石为例,在介绍落石运动分析计算算法的基础上,采用CRockfall落石软件模拟了典型落石运动轨迹,获取了主要运动特征。【结果】从统计最大值曲线峰值来看:落石运动动能能量、弹跳高度和速度分别约为2000 kJ、75 m和53 m/s;统计95%保证率和均值曲线规律基本一致,从曲线峰值来看:落石运动动能能量、弹跳高度和速度分别约为500 kJ、25 m和25 m/s。【结论】在典型位置利用软件数据采集器功能获取落石运动特征参数,为后期拦挡结构设计提供依据。

基于Rockfall的沟谷区高位危岩体危险性评估

为了降低高位危岩体对沟谷区建设用地威胁,以沟谷区内某商住小区为例,探讨高位危岩体危险性评估结果。通过资料收集和现场调查,采用Rockfall模型软件计算沟谷区高位危岩体对小区现状地质灾害危险性,评估了防治措施情景下的地质灾害危险性。用Rockfall模拟软件计算出沟谷区内危岩体现状和设计情景条件下的运动路径和最远威胁距离,确定建设用地红线范围内的地质灾害危险性结果。结果表明,现状条件下沟谷区建设用地红线范围内危险性中等区域面积112.15 m2,设计情景下建设用地红线范围均为危险性小的区域。

Adaptive Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots:A Barrier Function Sliding Mode Approach

The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for NWMRs.Compared with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances bounds.Another advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier function.The benefit is that the overestimation of control gain can be eliminated,resulting in chattering reduction.Moreover,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the actuator.The stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances.

Integrated hazard assessment of rockfall incidents in the Cap Aokas Cliff Region

Rock fall accidents in mountainous cliff areas have significant consequences for human life and transportation.This study aimed to evaluate the rockfall hazard in the Cap Aokas cliff region located along the northeast coast of Algeria by identifying the key factors contributing to rockfall occurrence.We employed a combination of kinematic analysis,Matterocking method,and 3D trajectory simulations to determine zones that are susceptible to rockfall mobilization.By using a probabilistic and structural approach in conjunction with photogrammetry,we identified the controlling factors.The kinematic analysis revealed the presence of five discontinuity families,which indicated both plane and wedge failure modes.The 3D trajectory simulations demonstrated that the falling blocks followed the stream direction.We then validated the susceptibility maps generated from the analysis using aerial photos and historical rockfall events.The findings of this study enhance our understanding of rockfall phenomena and provide valuable insights for the development of effective strategies to mitigate rockfall hazards.

Entropy of deterministic trajectory via trajectories ensemble

We present a formulation of the single-trajectory entropy using the trajectories ensemble. The single-trajectory entropy is affected by its surrounding trajectories via the distribution function. The single-trajectory entropies are studied in two typical potentials, i.e., harmonic potential and double-well potential, and in viscous environment by interacting trajectory method. The results of the trajectory methods are in agreement well with the numerical methods(Monte Carlo simulation and difference equation). The single-trajectory entropies increasing(decreasing) could be caused by absorption(emission) heat from(to) the thermal environment. Also, some interesting trajectories, which correspond to the rare evens in the processes, are demonstrated.

RockFall软件在铁路边坡危岩失稳运动路径分析中的应用

山区铁路岩质边坡坡体失稳和危岩崩塌等灾害,对线路运营安全有潜在风险。危岩体发生破坏时的运动方式受下部斜坡的物质组成、边坡坡角、危岩体几何形状、岩体性质等的影响,运动距离、运动方式及冲击能量各不相同。采用RockFall软件模拟了丰沙铁路北侧山体危岩体破坏后的运动规律,得出危岩体破坏后沿坡面的运动路径、运动速度、冲击能量等信息,可为崩塌落石防治措施选择提供合理依据。

花岗岩孤石稳定性评价及基于Rockfall的滚落模拟

广东丘陵山区广泛分布花岗岩,而花岗岩往往发育成许多球状风化体(孤石),易发生失稳滚落,对山下建构筑物以及人员安全造成威胁。本文针对广东省河源市龙川县上坪镇石湖村村委会所在地东北侧一带坡面孤石开展调查,通过分析其发育分布特征,对坡面孤石进行稳定性评价,利用Rockfall软件对孤石运动轨迹和能量曲线进行模拟,以更有效地设置拦石墙、被动防护网等拦截上部的孤石。

Joint Optimization of Resource Allocation and Trajectory Based on User Trajectory for UAV-Assisted Backscatter Communication System

The Backscatter communication has gained widespread attention from academia and industry in recent years. In this paper, A method of resource allocation and trajectory optimization is proposed for UAV-assisted backscatter communication based on user trajectory. This paper will establish an optimization problem of jointly optimizing the UAV trajectories, UAV transmission power and BD scheduling based on the large-scale channel state signals estimated in advance of the known user trajectories, taking into account the constraints of BD data and working energy consumption, to maximize the energy efficiency of the system. The problem is a non-convex optimization problem in fractional form, and there is nonlinear coupling between optimization variables.An iterative algorithm is proposed based on Dinkelbach algorithm, block coordinate descent method and continuous convex optimization technology. First, the objective function is converted into a non-fractional programming problem based on Dinkelbach method,and then the block coordinate descent method is used to decompose the original complex problem into three independent sub-problems. Finally, the successive convex approximation method is used to solve the trajectory optimization sub-problem. The simulation results show that the proposed scheme and algorithm have obvious energy efficiency gains compared with the comparison scheme.

Trajectory planning for multi-robot coordinated towing system based on stability

Given the unconstrained characteristics of the multi-robot coordinated towing system,the rope can only provide a unidirectional constraint force to the suspended object,which leads to the weak ability of the system to resist external disturbances and makes it difficult to control the trajectory of the suspended object.Based on the kinematics and statics of the multi-robot coordinated towing system with fixed base,the dynamic model of the system is established by using the Newton-Euler equations and the Udwadia-Kalaba equations.To plan the trajectories with high stability and strong control,trajectory planning is performed by combining the dynamics and stability of the towing system.Based on the dynamic stability of the motion trajectory of the suspended object,the stability of the suspended object is effectively improved through online real-time planning and offline manual adjustment.The effectiveness of the proposed method is verified by comparing the motion stability of the suspended object before and after planning.The results provide a foundation for the motion planning and coordinated control of the towing system.

Optimization of LSTM Ship Trajectory Prediction Based on Hybrid Genetic Algorithm

Accurate prediction of the movement trajectory of sea surface targets holds significant importance in achieving an advantageous position in the sea battle field.This prediction plays a crucial role in ensuring security defense and confrontation,and is essential for effective deployment of military strategy.Accurately predicting the trajectory of sea surface targets using AIS(Automatic Identification System)information is crucial for security defense and confrontation,and holds significant importance for military strategy deployment.In response to the problem of insufficient accuracy in ship trajectory prediction,this study proposes a hybrid genetic algorithm to optimize the Long Short-Term Memory(LSTM)algorithm.The HGA-LSTM algorithm is proposed for ship trajectory prediction.It can converge faster and obtain better parameter solutions,thereby improving the effectiveness of ship trajectory prediction.Compared to traditional LSTM and GA-LSTM algorithms,experimental results demonstrate that this algorithm outperforms them in both single-step and multi-step prediction.

General Optimal Trajectory Planning:Enabling Autonomous Vehicles with the Principle of Least Action

This study presents a general optimal trajectory planning(GOTP)framework for autonomous vehicles(AVs)that can effectively avoid obstacles and guide AVs to complete driving tasks safely and efficiently.Firstly,we employ the fifth-order Bezier curve to generate and smooth the reference path along the road centerline.Cartesian coordinates are then transformed to achieve the curvature continuity of the generated curve.Considering the road constraints and vehicle dynamics,limited polynomial candidate trajectories are generated and smoothed in a curvilinear coordinate system.Furthermore,in selecting the optimal trajectory,we develop a unified and auto-tune objective function based on the principle of least action by employing AVs to simulate drivers’behavior and summarizing their manipulation characteristics of“seeking benefits and avoiding losses.”Finally,by integrating the idea of receding-horizon optimization,the proposed framework is achieved by considering dynamic multi-performance objectives and selecting trajectories that satisfy feasibility,optimality,and adaptability.Extensive simulations and experiments are performed,and the results demonstrate the framework’s feasibility and effectiveness,which avoids both dynamic and static obstacles and applies to various scenarios with multi-source interactive traffic participants.Moreover,we prove that the proposed method can guarantee real-time planning and safety requirements compared to drivers’manipulation.

Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based on Inverse Reinforcement Learning Theory

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.

Research on aiming methods for small sample size shooting tests of two-dimensional trajectory correction fuse

The longitudinal dispersion of the projectile in shooting tests of two-dimensional trajectory corrections fused with fixed canards is extremely large that it sometimes exceeds the correction ability of the correction fuse actuator.The impact point easily deviates from the target,and thus the correction result cannot be readily evaluated.However,the cost of shooting tests is considerably high to conduct many tests for data collection.To address this issue,this study proposes an aiming method for shooting tests based on small sample size.The proposed method uses the Bootstrap method to expand the test data;repeatedly iterates and corrects the position of the simulated theoretical impact points through an improved compatibility test method;and dynamically adjusts the weight of the prior distribution of simulation results based on Kullback-Leibler divergence,which to some extent avoids the real data being"submerged"by the simulation data and achieves the fusion Bayesian estimation of the dispersion center.The experimental results show that when the simulation accuracy is sufficiently high,the proposed method yields a smaller mean-square deviation in estimating the dispersion center and higher shooting accuracy than those of the three comparison methods,which is more conducive to reflecting the effect of the control algorithm and facilitating test personnel to iterate their proposed structures and algorithms.;in addition,this study provides a knowledge base for further comprehensive studies in the future.

A deep multimodal fusion and multitasking trajectory prediction model for typhoon trajectory prediction to reduce flight scheduling cancellation

Natural events have had a significant impact on overall flight activity,and the aviation industry plays a vital role in helping society cope with the impact of these events.As one of the most impactful weather typhoon seasons appears and continues,airlines operating in threatened areas and passengers having travel plans during this time period will pay close attention to the development of tropical storms.This paper proposes a deep multimodal fusion and multitasking trajectory prediction model that can improve the reliability of typhoon trajectory prediction and reduce the quantity of flight scheduling cancellation.The deep multimodal fusion module is formed by deep fusion of the feature output by multiple submodal fusion modules,and the multitask generation module uses longitude and latitude as two related tasks for simultaneous prediction.With more dependable data accuracy,problems can be analysed rapidly and more efficiently,enabling better decision-making with a proactive versus reactive posture.When multiple modalities coexist,features can be extracted from them simultaneously to supplement each other’s information.An actual case study,the typhoon Lichma that swept China in 2019,has demonstrated that the algorithm can effectively reduce the number of unnecessary flight cancellations compared to existing flight scheduling and assist the new generation of flight scheduling systems under extreme weather.

Adaptive state-constrained/model-free iterative sliding mode control for aerial robot trajectory tracking

This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sliding mode controller and a model-free iterative sliding mode controller(MFISMC).A position controller is designed based on adaptive sliding mode control(SMC)to safely drive the aerial robot and ensure fast state convergence under external disturbances.Additionally,the MFISMC acts as an attitude controller to estimate the unmodeled dynamics without detailed knowledge of aerial robots.Then,the adaption laws are derived with the Lyapunov theory to guarantee the asymptotic tracking of the system state.Finally,to demonstrate the performance and robustness of the proposed control strategy,numerical simulations are carried out,which are also compared with other conventional strategies,such as proportional-integralderivative(PID),backstepping(BS),and SMC.The simulation results indicate that the proposed hierarchical control strategy can fulfill zero steady-state error and achieve faster convergence compared with conventional strategies.

Adaptive Robust Control with Leakage-Type Control Law for Trajectory Tracking of Exoskeleton Robots

This paper investigates the trajectory following problem of exoskeleton robots with numerous constraints. However, as a typical nonlinear system with variability and parameter uncertainty, it is difficult to accurately achieve the trajectory tracking control for exoskeletons. In this paper, we present a robust control of trajectory tracking control based on servo constraints. Firstly, we consider the uncertainties (e.g., modelling errors, initial condition deviations, structural vibrations, and other unknown external disturbances) in the exoskeleton system, which are time-varying and bounded. Secondly, we establish the dynamic model and formulate a close-loop connection between the dynamic model and the real world. Then, the trajectory tracking issue is regarded as a servo constraint problem, and an adaptive robust control with leakage-type adaptive law is proposed with the guaranteed Lyapunov stability. Finally, we conduct numerical simulations to verify the performance of the proposed controller.

Trajectory compensation for multi-robot coordinated lifting system considering elastic catenary of the rope

The multi-robot coordinated lifting system is an unconstrained system with a rigid and flexible coupling.The deformation of the flexible rope causes errors in the movement trajectory of the lifting system.Based on the kinematic and dynamic analysis of the lifting system,the elastic catenary mod-el considering the elasticity and mass of the flexible rope is established,and the effect of the deform-ation of the flexible rope on the position and posture of the suspended object is analyzed.According to the deformation of flexible rope,a real-time trajectory compensation method is proposed based on the compensation principle of position and posture.Under the lifting task of the low-speed move-ment,this is compared with that of the system which neglects the deformation of the flexible rope.The trajectoy of the lifting system considering the deformation of flexible rope.The results show that the mass and elasticity of the flexible rope can not be neglected.Meanwhile,the proposed trajectory compensation method can improve the movement accuracy of the lifting system,which verifies the ef-fectiveness of this compensation method.The research results provide the basis for trajectory plan-ning and coordinated control of the lifting system。

Trajectory Tracking for MmWave Communication Systems via Cooperative Passive Sensing

A cooperative passive sensing framework for millimeter wave(mmWave)communication systems is proposed and demonstrated in a scenario with one mobile signal blocker.Specifically,in the uplink communication with at least two transmitters,a cooperative detection method is proposed for the receiver to track the blocker’s trajectory,localize the transmitters and detect the potential link blockage jointly.To facilitate detection,the receiver collects the signal of each transmitter along a line-of-sight(LoS)path and a non-line-of-sight(NLoS)path separately via two narrow-beam phased arrays.The NLoS path involves scattering at the mobile blocker,allowing its identification through the Doppler frequency.By comparing the received signals of both paths,the Doppler frequency and angle-of-arrival(AoA)of the NLoS path can be estimated.To resolve the blocker’s trajectory and the transmitters’locations,the receiver should continuously track the mobile blocker to accumulate sufficient numbers of the Doppler frequency and AoA versus time observations.Finally,a gradient-descent-based algorithm is proposed for joint detection.With the reconstructed trajectory,the potential link blockage can be predicted.It is demonstrated that the system can achieve decimeterlevel localization and trajectory estimation,and predict the blockage time with an error of less than 0.1 s.

Trajectory Design and Flight Result of Gravity-1 Launch Vehicle

Gravity-1(YL-1) launch vehicle completed its maiden flight from the Yellow Sea near Haiyang City, Shandong Province, on January 11, 2024, this mission successfully launched three Yunyao satellites into their 500 km orbit. The YL-1 has a performance of 4.2 tons for 500 km sun-synchronous orbit and 6.5 tons for low Earth orbit. The success of YL-1 has further enriched China's launch vehicle spectrum, and will facilitate the launch of medium and large satellites and satellite constellations. In this paper, the flight ballistic solution of YL-1 is introduced. The flight trajectory consists of seven flight segments. The trajectory design comprehensively considered the characteristics and safety requirements of the vehicle to achieve effective utilization of the performance. Through comparative analysis of the flight trajectory and the predicted trajectory, the result confirmed that the flight trajectory was consistent with the design results, the design methodology was correct, and the flight test met the expected requirements. Subsequently, the vehicle will be employed for commercial application launch services.