Adaptive Nonlinear PD Controller of Two-Wheeled Self-Balancing Robot with External Force

This paper proposes an adaptive nonlinear proportional-derivative(ANPD)controller for a two-wheeled self-balancing robot(TWSB)modeled by the Lagrange equation with external forces.The proposed control scheme is designed based on the combination of a nonlinear proportional-derivative(NPD)controller and a genetic algorithm,in which the proportional-derivative(PD)parameters are updated online based on the tracking error and the preset error threshold.In addition,the genetic algorithm is employed to adaptively select initial controller parameters,contributing to system stability and improved control accuracy.The proposed controller is basic in design yet simple to implement.The ANPD controller has the advantage of being computationally lightweight and providing high robustness against external forces.The stability of the closed-loop system is rigorously analyzed and verified using Lyapunov theory,providing theoretical assurance of its robustness.Simulations and experimental results show that the TWSB robot with the proposed ANPD controller achieves quick balance and tracks target values with very small errors,demonstrating the effectiveness and performance of the proposed controller.The proposed ANPD controller demonstrates significant improvements in balancing and tracking performance for two-wheeled self-balancing robots,which has great applicability in the field of robot control systems.This represents a promising solution for applications requiring precise and stable motion control under varying external conditions.

Conversion factor analysis of self-balanced loading test of cast-in-situ piles based on analogue test method

Based on the characteristics of pile-soil interaction and the Mohr-Coulomb strength theory,a new method of determining the side friction at a pile-soil interaction is proposed.Combined with the actual engineering cases,the effectiveness of the analogue test method is verified by comparing it with the traditional anchor pile method and self-balanced method.Taking the self-balanced test of the bridge pile foundation in the Songhua River as an example,the conversion factor of sandy soil and weathered mudstone are confirmed by the analogue test method.The results show that the conversion factor of sandy soil and weathered mudstone in the Songhua River area should consider the geological conditions and the construction technology,etc.The standard values are relatively conservative.It is suggested that the engineering application should be properly revised.The recommended range of the conversion factor of sandy soil in this area is 0.65 to 0.85,and that of weathered mudstone is 1.0.

Robust Tracking Control for Self-balancing Mobile Robots Using Disturbance Observer

In this paper,a robust tracking control scheme based on nonlinear disturbance observer is developed for the self-balancing mobile robot with external unknown disturbances.A desired velocity control law is firstly designed using the Lyapunov analysis method and the arctan function.To improve the tracking control performance,a nonlinear disturbance observer is developed to estimate the unknown disturbance of the self-balancing mobile robot.Using the output of the designed disturbance observer,the robust tracking control scheme is presented employing the sliding mode method for the selfbalancing mobile robot.Numerical simulation results further demonstrate the effectiveness of the proposed robust tracking control scheme for the self-balancing mobile robot subject to external unknown disturbances.

The Development of Self-Balancing Controller for One-Wheeled Vehicles

The purpose of this study is to develop a self-balancing controller (SBC) for one-wheeled vehicles (OWVs). The composition of the OWV system includes: a DSP motion card, a wheel motor, and its driver. In addition, a tilt and a gyro, for sensing the angle and angular velocity of the body slope, are used to realize self-balancing controls. OWV, a kind of unicycle robot, can be dealt with as a mobile-inverted-pendulum system for its instability. However, for its possible applications in mobile carriers or robots, it is worth being further developed. In this study, first, the OWV system model will be derived. Next, through the simulations based on the mathematical model, the analysis of system stability and controllability can be evaluated. Last, a concise and realizable method, through system pole-placement and linear quadratic regulator (LQR), will be proposed to design the SBC. The effectiveness, reliability, and feasibility of the proposal will be con- firmed through simulation studies and experimenting on a physical OWV.

Fiber optic monitoring of an anti-slide pile in a retrogressive landslide

Anti-slide piles are one of the most important reinforcement structures against landslides,and evalu-ating the working conditions is of great significance for landslide mitigation.The widely adopted analytical methods of pile internal forces include cantilever beam method and elastic foundation beam method.However,due to many assumptions involved in calculation,the analytical models cannot be fully applicable to complex site situations,e.g.landslides with multi-sliding surfaces and pile-soil interface separation as discussed herein.In view of this,the combination of distributed fiber optic sensing(DFOS)and strain-internal force conversion methods was proposed to evaluate the working conditions of an anti-sliding pile in a typical retrogressive landslide in the Three Gorges reservoir area,China.Brillouin optical time domain reflectometry(BOTDR)was utilized to monitor the strain distri-bution along the pile.Next,by analyzing the relative deformation between the pile and its adjacent inclinometer,the pile-soil interface separation was profiled.Finally,the internal forces of the anti-slide pile were derived based on the strain-internal force conversion method.According to the ratio of calculated internal forces to the design values,the working conditions of the anti-slide pile could be evaluated.The results demonstrated that the proposed method could reveal the deformation pattern of the anti-slide pile system,and can quantitatively evaluate its working conditions.

Research on Self-balancing Two Wheels Mobile Robot Control System Analysis

The paper presents the research on self-balancing two-wheels mobile robot control system analysis with experimental studies.The research problem in this work is to stabilize the mobile robot with self-control and to carry the sensitive things without failing in a long span period.The main objective of this study is to focus on the mathematical modelling of mobile robot from laboratory scale to real world applications.The numerical expression with mathematical modelling is very important to control the mobile robot system with linearization.The fundamental concepts of dynamic system stability were utilized for maintaining the stability of the constructed mobile robot system.The controller design is also important for checking the stability and the appropriate controller design is proportional,integral,and derivative-PID controller and Linear Quadratic Regulator(LQR).The steady state error could be reduced by using such kind of PID controller.The simulation of numerical expression on mathematical modeling was conducted in MATLAB environments.The confirmation results from the simulation techniques were applied to construct the hardware design of mobile robot system for practical study.The results from simulation approaches and experimental approaches are matched in various kinds of analyses.The constructed mobile robot system was designed and analyzed in the control system design laboratory of Yangon Technological University(YTU).

Motor Learning Based on the Cooperation of Cerebellum and Basal Ganglia for a Self-Balancing Two-Wheeled Robot

A novel motor learning method is present based on the cooperation of the cerebellum and basal ganglia for the behavior learning of agent. The motor learning method derives from the principle of CNS and operant learning mechanism and it depends on the interactions between the basal ganglia and cerebellum. The whole learning system is composed of evaluation mechanism, action selection mechanism, tropism mechanism. The learning signals come from not only the Inferior Olive but also the Substantia Nigra in the beginning. The speed of learning is increased as well as the failure time is reduced with the cerebellum as a supervisor. Convergence can be guaranteed in the sense of entropy. With the proposed motor learning method, a motor learning system for the self-balancing two-wheeled robot has been built using the RBF neural networks as the actor and evaluation function approximator. The simulation experiments showed that the proposed motor learning system achieved a better learning effect, so the motor learning based on the coordination of cerebellum and basal ganglia is effective.

High-strain dynamic model of large-diameter pipe piles with soil plug for vertical vibration analysis

A rigorous analytical model is developed for simulating the vibration behaviors of large-diameter openended pipe piles(OEPPs)and surrounding soil undergoing high-strain impact loading.To describe the soil behavior,the soil along pile shaft is divided into slip and nonslip zones and the base soil is modeled as a fictitious-soil pile(FSP)to account for the wave propagation in the soil.True soil properties are adopted and slippage at the pile-soil interface is considered,allowing realistic representation of largediameter OEPP mechanics.The developed model is validated by comparing with conventional models and finite element method(FEM).It is further used to successfully simulate and interpret the behaviors of a steel OEPP during the offshore field test.It is found that the variation in the vertical vibrations of shaft soil along radial direction is significant for large-diameter OEPPs,and the velocity amplitudes of the internal and external soil attenuate following different patterns.The shaft soil motion may not attenuate with depth due to the soil slippage,while the wave attenuation at base soil indicates an influence depth,with a faster attenuation rate than that in the pile.The findings from the current study should aid in simulating the vibration behaviors of large-diameter OEPP-soil system under high-strain dynamic loading.

Hybrid response surface method for system reliability analysis of pilereinforced slopes

To consider the complex soil-structure interaction in a pile-slope system,it is necessary to analyze the performance of pile-slope systems based on a three-dimensional(3D)numerical model.Reliability analysis of a pile-slope system based on 3D numerical modeling is very challenging because it is computationally expensive and the performance function of the pile failure mode is only defined in the safe domain of soil stability.In this paper,an efficient hybrid response surface method is suggested to study the system reliability of pile-reinforced slopes,where the support vector machine and the Kriging model are used to approximate performance functions of soil failure and pile failure,respectively.The versatility of the suggested method is illustrated in detail with an example.For the example examined in this paper,it is found that the pile failure can significantly contribute to system failure,and the reinforcement ratio can effectively reduce the probability of pile failure.There exists a critical reinforcement ratio beyond which the system failure probability is not sensitive to the reinforcement ratio.The pile spacing affects both the probabilities of soil failure and pile failure of the pile-reinforced slope.There exists an optimal location and an optimal length for the stabilizing piles.

Experimental Study of Local Scour Around Four Piles Under Different Attack Angles and Gap Ratios

In an effort to investigate and quantify the patterns of local scour,researchers embarked on an in-depth study using a systematic experimental approach.The research focused on the effects of local scour around a set of four piles,each subjected to different hydromechanical conditions.In particular,this study aimed to determine how different attack angles—the angles at which the water flow impinges on the piles,and gap ratios—the ratios of the spacing between the piles to their diameters,influence the extent and nature of scour.A comprehensive series of 35 carefully designed experiments were orchestrated,each designed to dissect the nuances in how the gap ratio and attack angle might contribute to changes in the local scour observed at the base of pile groups.During these experimental trials,a wealth of local scour data were collected to support the analysis.These data included precise topographic profiles of the sediment bed around the pile groups,as well as detailed scour time histories showing the evolution of scour at strategic feature points throughout the test procedure.The analysis of the experimental data provided interesting insights.The study revealed that the interplay between the gap ratio and the attack angle had a pronounced influence on the scouring dynamics of the pile groups.One of the key observations was that the initial phases of scour,particularly within the first hour of water flow exposure,were characterized by a sharp increase in the scour depth occurring immediately in front of the piles.After this initial rapid development,the scour depth transitioned to a more gradual change rate.In contrast,the scour topography around the piles continuously evolved.This suggests that sediment displacement and the associated sculpting of the seabed around pile foundations are sustained and progressive processes,altering the underwater landscape over time.The results of this empirical investigation have significant implications for the design and construction of offshore multi-pile foundations,providing a critical reference for engineers and designers to estimate the expected scour depth around such structures,which is an integral part of decisions regarding foundation design,selection of structural materials,and implementation of scour protection measures.

Pile foundation in alternate layered liquefiable and non-liquefiable soil deposits subjected to earthquake loading

Pile foundations are still the preferred foundation system for high-rise structures in earthquake-prone regions.Pile foundations have experienced failures in past earthquakes due to liquefaction.Research on pile foundations in liquefiable soils has primarily focused on the pile foundation behavior in two or three-layered soil profiles.However,in natural occurrence,it may occur in alternative layers of liquefiable and non-liquefiable soil.However,the experimental and/or numerical studies on the layered effect on pile foundations have not been widely addressed in the literature.Most of the design codes across the world do not explicitly mention the effect of sandwiched non-liquefiable soil layers on the pile response.In the present study,the behavior of an end-bearing pile in layered liquefiable and non-liquefiable soil deposit is studied numerically.This study found that the kinematic bending moment is higher and governs the design when the effect of the sandwiched non-liquefied layer is considered in the analysis as opposed to when its effect is ignored.Therefore,ignoring the effect of the sandwiched non-liquefied layer in a liquefiable soil deposit might be a nonconservative design approach.

Thermal performance of cast-in-place piles with artificial ground freezing in permafrost regions

During the construction of cast-in-place piles in warm permafrost,the heat carried by concrete and the cement hydration reaction can cause strong thermal disturbance to the surrounding permafrost.Since the bearing capacity of the pile is quite small before the full freeze-back,the quick refreezing of the native soils surrounding the cast-in-place pile has become the focus of the infrastructure construction in permafrost.To solve this problem,this paper innovatively puts forward the application of the artificial ground freezing(AGF)method at the end of the curing period of cast-in-place piles in permafrost.A field test on the AGF was conducted at the Beiluhe Observation and Research Station of Frozen Soil Engineering and Environment(34°51.2'N,92°56.4'E)in the Qinghai Tibet Plateau(QTP),and then a 3-D numerical model was established to investigate the thermal performance of piles using AGF under different engineering conditions.Additionally,the long-term thermal performance of piles after the completion of AGF under different conditions was estimated.Field experiment results demonstrate that AGF is an effective method to reduce the refreezing time of the soil surrounding the piles constructed in permafrost terrain,with the ability to reduce the pile-soil interface temperatures to below the natural ground temperature within 3 days.Numerical results further prove that AGF still has a good cooling effect even under unfavorable engineering conditions such as high pouring temperature,large pile diameter,and large pile length.Consequently,the application of this method is meaningful to save the subsequent latency time and solve the problem of thermal disturbance in pile construction in permafrost.The research results are highly relevant for the spread of AGF technology and the rapid building of pile foundations in permafrost.

Theoretical investigation on axial cyclic performance of monopile in sands using interface constitutive models

Cyclic loads generated by environmental factors,such as winds,waves,and trains,will likely lead to performance degradation in pile foundations,resulting in issues like permanent displacement accumulation and bearing capacity attenuation.This paper presents a semi-analytical solution for predicting the axial cyclic behavior of piles in sands.The solution relies on two enhanced nonlinear load-transfer models considering stress-strain hysteresis and cyclic degradation in the pile-soil interaction.Model parameters are calibrated through cyclic shear tests of the sand-steel interface and laboratory geotechnical testing of sands.A novel aspect involves the meticulous formulation of the shaft loadtransfer function using an interface constitutive model,which inherently inherits the interface model’s advantages,such as capturing hysteresis,hardening,degradation,and particle breakage.The semi-analytical solution is computed numerically using the matrix displacement method,and the calculated values are validated through model tests performed on non-displacement and displacement piles in sands.The results demonstrate that the predicted values show excellent agreement with the measured values for both the static and cyclic responses of piles in sands.The displacement pile response,including factors such as bearing capacity,mobilized shaft resistance,and convergence rate of permanent settlement,exhibit improvements compared to non-displacement piles attributed to the soil squeezing effect.This methodology presents an innovative analytical framework,allowing for integrating cyclic interface models into the theoretical investigation of pile responses.

Centrifuge modeling of unreinforced and multi-row stabilizing piles reinforced landslides subjected to reservoir water level fluctuation

With the construction of the Three Gorges Reservoir dam,frequent reservoir landslide events have been recorded.In recent years,multi-row stabilizing piles(MRSPs)have been used to stabilize massive reservoir landslides in China.In this study,two centrifuge model tests were carried out to study the unreinforced and MRSP-reinforced slopes subjected to reservoir water level(RWL)operation,using the Taping landslide as a prototype.The results indicate that the RWL rising can provide lateral support within the submerged zone and then produce the inward seepage force,eventually strengthening the slope stability.However,a rapid RWL drawdown may induce outward seepage forces and a sudden debuttressing effect,consequently reducing the effective soil normal stress and triggering partial pre-failure within the RWL fluctuation zone.Furthermore,partial deformation and subsequent soil structure damage generate excess pore water pressures,ultimately leading to the overall failure of the reservoir landslide.This study also reveals that a rapid increase in the downslope driving force due to RWL drawdown significantly intensifies the lateral earth pressures exerted on the MRSPs.Conversely,the MRSPs possess a considerable reinforcement effect on the reservoir landslide,transforming the overall failure into a partial deformation and failure situated above and in front of the MRSPs.The mechanical transfer behavior observed in the MRSPs demonstrates a progressive alteration in relation to RWL fluctuations.As the RWL rises,the mechanical states among MRSPs exhibit a growing imbalance.The shear force transfer factor(i.e.the ratio of shear forces on pile of the n th row to that of the first row)increases significantly with the RWL drawdown.This indicates that the mechanical states among MRSPs tend toward an enhanced equilibrium.The insights gained from this study contribute to a more comprehensive understanding of the failure mechanisms of reservoir landslides and the mechanical behavior of MRSPs in reservoir banks.

Determination of the Pile Drivability Using Random Forest Optimized by Particle Swarm Optimization and Bayesian Optimizer

Driven piles are used in many geological environments as a practical and convenient structural component.Hence,the determination of the drivability of piles is actually of great importance in complex geotechnical applications.Conventional methods of predicting pile drivability often rely on simplified physicalmodels or empirical formulas,whichmay lack accuracy or applicability in complex geological conditions.Therefore,this study presents a practical machine learning approach,namely a Random Forest(RF)optimized by Bayesian Optimization(BO)and Particle Swarm Optimization(PSO),which not only enhances prediction accuracy but also better adapts to varying geological environments to predict the drivability parameters of piles(i.e.,maximumcompressive stress,maximum tensile stress,and blow per foot).In addition,support vector regression,extreme gradient boosting,k nearest neighbor,and decision tree are also used and applied for comparison purposes.In order to train and test these models,among the 4072 datasets collected with 17model inputs,3258 datasets were randomly selected for training,and the remaining 814 datasets were used for model testing.Lastly,the results of these models were compared and evaluated using two performance indices,i.e.,the root mean square error(RMSE)and the coefficient of determination(R2).The results indicate that the optimized RF model achieved lower RMSE than other prediction models in predicting the three parameters,specifically 0.044,0.438,and 0.146;and higher R^(2) values than other implemented techniques,specifically 0.966,0.884,and 0.977.In addition,the sensitivity and uncertainty of the optimized RF model were analyzed using Sobol sensitivity analysis and Monte Carlo(MC)simulation.It can be concluded that the optimized RF model could be used to predict the performance of the pile,and it may provide a useful reference for solving some problems under similar engineering conditions.

Effects of cement-enhanced soil on the ultimate lateral resistance of composite pile in clayey soil

The composite pile consisting of core-pile and surrounding cement-enhanced soil is a promising pile foundation in recent years.However,how and to what extent the cement-enhanced soil influences the ultimate lateral resistance has not been fully investigated.In this paper,the ultimate lateral resistance of the composite pile was studied by finite element limit analysis(FELA)and theoretical upper-bound analysis.The results of FELA and theoretical analysis revealed three failure modes of laterally loaded composite piles.The effects of the enhanced soil thickness,strength,and pile-enhanced soil interface characteristics on the ultimate lateral resistance were studied.The results show that increasing the enhanced soil thickness leads to a significant improvement on ultimate lateral resistance factor(N P),and there is a critical thickness beyond which the thickness no longer affects the N P.Increasing the enhanced soil strength induced 6.2%-232.6%increase of N P.However,no noticeable impact was detected when the enhanced soil strength was eight times higher than that of the natural soil.The maximum increment of N P is only 30.5%caused by the increase of interface adhesion factor(a).An empirical model was developed to calculate the N P of the composite pile,and the results show excellent agreement with the analytical results.

Longitudinal vibration characteristics of a tapered pipe pile considering the vertical support of surrounding soil and construction disturbance

This research is concentrated on the longitudinal vibration of a tapered pipe pile considering the vertical support of the surrounding soil and construction disturbance.First,the pile-soil system is partitioned into finite segments in the vertical direction and the Voigt model is applied to simulate the vertical support of the surrounding soil acting on the pile segment.The surrounding soil is divided into finite ring-shaped zones in the radial direction to consider the construction disturbance.Then,the shear complex stiffness at the pile-soil interface is derived by solving the dynamic equilibrium equation for the soil from the outermost to innermost zone.The displacement impedance at the top of an arbitrary pile segment is obtained by solving the dynamic equilibrium equation for the pile and is combined with the vertical support of the surrounding soil to derive the displacement impedance at the bottom of the upper adjacent segment.Further,the displacement impedance at the pile head is obtained based on the impedance function transfer technique.Finally,the reliability of the proposed solution is verified,followed by a sensitivity analysis concerning the coupling effect of the pile parameters,construction disturbance and the vertical support of the surrounding soil on the displacement impedance of the pile.

Aero-Hydro-Elastic-Servo Modeling and Dynamic Response Analysis of A Monopile Offshore Wind Turbine Under Different Operating Scenarios

This paper constructs a coupled aero-hydro-elastic-servo simulation framework for a monopile offshore wind turbine(OWT).In this framework,a detailed multi-body dynamics model of the monopile OWT including the gearbox,blades,tower and other components(nacelle,hub,bedplate,etc.)has been explicitly established.The effects of pile−soil interaction,controller and operational conditions on the turbine dynamic responses are studied systematically in time domain and frequency domain.The results show that(1)a comprehensive drivetrain model has the capability to provide a more precise representation of the complex dynamic characteristics exhibited by drivetrain components,which can be used as the basis for further study on the dynamic characteristics of the drivetrain.(2)The pile−soil interaction can influence the wind turbine dynamic responses,particularly under the parked condition.(3)The effect of the pile−soil interaction on tower responses is more significant than that on blade responses.(4)The use of the controller can substantially affect the rotor characteristics,which in turn influences the turbine dynamic responses.(5)The tower and blade displacements under the operational condition are much larger than those under the parked condition.The model and methodology presented in this study demonstrate potential for examining complex dynamic behaviors of the monopile OWTs.To ensure accuracy and precision,it is imperative to construct a detailed model of the wind turbine system,while also taking into account simulation efficiency.

NLR、PILE评分与PD-1抑制剂治疗晚期非小细胞肺癌的疗效及预后的相关性

目的 探讨中性粒细胞-淋巴细胞比值(neutrophil to lymphocyte ratio, NLR)、PILE评分与程序性细胞死亡蛋白-1(programmed cell death protein 1, PD-1)抑制剂治疗的晚期非小细胞肺癌(non-small cell lung cancer, NSCLC)患者疗效及预后的关系。方法 回顾性分析邵阳市中心医院在2020年6月至2021年12月收治的使用PD-1抑制剂治疗的109例晚期NSCLC患者的资料,计算患者治疗前的NLR、PILE评分,分析其与疗效及预后的相关性。结果 低NLR组比高NLR组有更高的疾病控制率(disease control rate, DCR)(P<0.05),PILE评分低分组较PILE评分高分组有更高的客观缓解率(objective response rate, ORR)和DCR(均P<0.05)。在多因素分析中,NLR、PILE评分是影响PFS的独立危险因素(均P<0.05)。结论 高NLR、高PILE评分与PD-1抑制剂治疗的晚期NSCLC患者的疗效更差有关,且高NLR、高PILE评分是患者预后不良的独立危险因素。

Innovative Techniques Unveiled in Advanced Sheet Pile Curtain Design

This thorough review explores the complexities of geotechnical engineering, emphasizing soil-structure interaction (SSI). The investigation centers on sheet pile design, examining two primary methodologies: Limit Equilibrium Methods (LEM) and Soil-Structure Interaction Methods (SSIM). While LEM methods, grounded in classical principles, provide valuable insights for preliminary design considerations, they may encounter limitations in addressing real-world complexities. In contrast, SSIM methods, including the SSI-SR approach, introduce precision and depth to the field. By employing numerical techniques such as Finite Element (FE) and Finite Difference (FD) analyses, these methods enable engineers to navigate the dynamics of soil-structure interaction. The exploration extends to SSI-FE, highlighting its essential role in civil engineering. By integrating Finite Element analysis with considerations for soil-structure interaction, the SSI-FE method offers a holistic understanding of how structures dynamically interact with their geotechnical environment. Throughout this exploration, the study dissects critical components governing SSIM methods, providing engineers with tools to navigate the intricate landscape of geotechnical design. The study acknowledges the significance of the Mohr-Coulomb constitutive model while recognizing its limitations, and guiding practitioners toward informed decision-making in geotechnical analyses. As the article concludes, it underscores the importance of continuous learning and innovation for the future of geotechnical engineering. With advancing technology and an evolving understanding of soil-structure interaction, the study remains committed to ensuring the safety, stability, and efficiency of geotechnical structures through cutting-edge design and analysis techniques.