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From tunnel boring machine to tunnel boring robot: perspectives on intelligent shield machine and its smart operation

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第5期25卷 357-381页

作者： Yakun ZHANG Guofang GONG huayong YANG Jianbin LI Liujie JING State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310058China China Railway Engineering Equipment Group Co. Lid.Zhengzhou 450016China Maha Fluid Power Research Center Purdue UniversityWest LafayetteIN 47905USA

Advances in intelligent shield machines reflect an evolving trend from traditional tunnel boring machines(TBMs)to tunnel boring robots(TBRs).This shift aims to address the challenges encountered by the conventional shield machine industry arising from construction environment and manual *** study presents a systematic review of intelligent shield machine technology,with a particular emphasis on its smart ***,the definition,meaning,contents,and development modes of intelligent shield machines are *** development status of the intelligent shield machine and its smart operation are then *** analyzing the operation process of the shield machine,an autonomous operation framework considering both stand-alone and fleet levels is *** and recommendations are given for achieving autonomous *** study offers insights into the essence and developmental framework of intelligent shield machines to propel the advancement of this technology.

关键词： Intelligent shield machine Tunnel boring machine(TBM) Tunnel boring robot(TBR) Self-driving Autonomous control Shield machine

Switching Frequency Improvement of a High Speed on/off Valve Based on Pre-excitation Control Algorithm

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Chinese Journal of Mechanical Engineering 2024年第4期37卷 94-106页

作者： Qi Zhong Xiaotian Li Yongxin Mao Enguang Xu Tiwei Jia Yanbiao Li huayong Yang College of Mechanical Engineering Zhejiang University of TechnologyHangzhou 310023China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China Key Laboratory of Special Purpose Equipment and Advanced Processing Technology Ministry of Education and Zhejiang ProvinceZhejiang University of TechnologyHangzhou 310023China

The high-speed on/off valve(HSV)serves as the fundamental component responsible for generating discrete fluids within digital hydraulic *** the switching frequency of the HSV increases,the properties of the generated discrete fluid approach those of continuous ***,a higher frequency response characteristic of HSV is the key to ensure the control accuracy of digital hydraulic ***,the current research mainly focuses on its dynamic performance,but neglect its *** paper presents a theoretical analysis demonstrating that the FRC of the HSV can be enhanced by minimizing its switching *** maximum switching frequency(MSF)is mainly determined by opening dynamic performance when HSV operates with low switching duty ratio(SDR),whereas the closing dynamic performance limits the MSF when HSV operates with high *** upon these findings,the pre-excitation control algorithm(PECA)is proposed to reduce the switching time of the HSV,and consequently enhance its *** results demonstrate that PECA shortens the opening delay time of HSV by 1.12 ms,the closing delay time by 2.54 ms,and the closing moving time by 0.47 ms in comparison to the existing advanced control *** a result,a larger MSF of 417 Hz and a wider controllable SDR range from 20%to 70%were achieved at a switching frequency of 250 ***,the proposed PFCA in this paper has been verified as an effective and promising approach for enhancing the control performance of digital hydraulic systems.

关键词： High speed on/off valve Switching frequency Pre-excitation Dynamic performance Switching duty ratio

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Enhanced wear prediction of tunnel boring machine disc cutters for accurate remaining useful life estimation using a hybrid model

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Frontiers of Structural and Civil Engineering 2024年第4期18卷 642-662页

作者： Xinghai ZHOU Yakun ZHANG Guofang GONG huayong YANG Qiaosong CHEN Yuxi CHEN Zhixue SU The State Key Laboratory of Fluid Power&Mechatronic Systems Zhejiang UniversityHangzhou 310027China Guangzhou Rail Transit Construction Engineering Consulting Co. Ltd.Guangzhou 510000China China Railway Engineering Equipment Group Co. Ltd.Zhengzhou 450016China

In tunnel construction with tunnel boring machines(TBMs),accurate prediction of the remaining useful life(RUL)of disc cutters is critical for timely maintenance and replacement to avoid delays and cost *** paper introduces a novel hybrid model,integrating fundamental and data-driven approaches,to enhance wear prediction of TBM disc cutters and enable accurate RUL *** fundamental model is improved by incorporating composite wear mechanisms and load estimation techniques,showcasing superior prediction accuracy compared to single-mechanism ***,the hybrid model innovatively incorporates a data-driven supplementary residual term into the improved fundamental model,leading to a high-performance wear prediction *** actual field data from a highway tunnel project in Shenzhen,the performance of the hybrid model is rigorously tested and compared with pure fundamental and data-driven *** hybrid model outperforms the other models,achieving the highest accuracy in predicting TBM disc cutter wear(mean absolute error(MAE)=0.53,root mean square error(RMSE)=0.64).Furthermore,this study thoroughly analyzes the hybrid model’s generalization capability,revealing significant impacts of geological conditions on prediction *** model’s generalization capability is also improved by expanding and updating the data *** RUL estimation results provided by the hybrid model are straightforward and effective,making it a valuable tool by which construction staff can monitor TBM disc cutters.

关键词： tunnel boring machine disc cutter wear prediction remaining useful life field data hybrid model

A laser-engraved wearable gait recognition sensor system for exoskeleton robots

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Microsystems & Nanoengineering 2024年第2期10卷 269-277页

作者： Maowen Sun Songya Cui Zezheng Wang Huayu Luo huayong Yang Xiaoping Ouyang Kaichen Xu State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou310027China School of Information and Electrical Engineering Hangzhou City UniversityHangzhou310015China

As a reinforcement technology that improves load-bearing ability and prevents injuries,assisted exoskeleton robots have extensive applications in freight transport and health *** perception of gait information by such robots is vital for their *** information is the basis for motion planning in assistive and collaborative ***,a wearable gait recognition sensor system for exoskeleton robots is *** sensor arrays based on laser-induced graphene are developed with flexibility and *** sensor units are integrated into an insole to detect real-time pressure at key plantar *** addition,the circuit hardware and the algorithm are designed to reinforce the sensor system with the capability of gait *** experimental results show that the accuracy of gait recognition by the proposed system is 99.85%,and the effectiveness of the system is further verified through testing on an exoskeleton robot.

关键词： hardware robot skeleton

Crustal magma oxidation state and endowments in porphyry copper deposits

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Science China Earth Sciences 2024年

作者： Yumin AI Massimo CHIARADIA Chao WU huayong CHEN Key Laboratory of Mineralogy and Metallogeny Guangzhou Institute of Geochemistry Chinese Academy of Sciences University of Chinese Academy of Sciences Department of Earth Sciences University of Geneva Guangdong Provincial Key Laboratory of Mineral Physics and Materials

Porphyry copper deposits (PCDs) supply the majority of the world’s copper (Cu) as well as significant amounts of molybdenum (Mo) and gold (Au). The formation of these deposits is controlled by a variety of geological factors, among which the magmatic oxidation is one of the focuses of current research. This study investigates the redox characteristics of arc magmas by analyzing the ratio of vanadium (V) to scandium (Sc) and its correlation with the oxygen fugacity (f O) of magmas from arcs of various crustal thicknesses globally. We compiled an extensive dataset of published V/Sc values and studied the partition coefficients of Vand Sc between minerals and silicate melts across various magmatic environments. The results demonstrate that fractional crystallization of magnetite markedly reduces V/Sc values of the residual melt. Furthermore, magnesium number(Mg#) at the onset of magnetite fractionation is strongly positively correlated with f O of the equilibrium magma. Based on this,the oxidation of arc magmas from different crustal thicknesses can be evaluated. The result suggests that magmas generated in crusts thicker than 20 km tend to be more oxidized with increasing crust thickness. This trend is attributed to enhanced intracrustal differentiation processes involving garnet and amphibole, particularly in mature island and continental arcs. In contrast,magmas in thinner arc crusts (<20 km), which are significantly influenced by subducted slab materials, display higher oxidation states than most of their thicker crust counterparts. These findings suggest that both subduction dynamics and crustal thickness play a vital role in determining the oxidation state of arc magmas and, consequently, their capacity to generate PCDs. Highly oxidized, primitive arc magmas are less favorable for PCD formation due to that they tend to experience magnetite fractionation and thus sulfide saturation in the early stage of magma evolution, a process leading to copper depletion. On th

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Process and Mechanism of Controlling Outburst Floods of Landslide Dams through Artificial Structures: Physical Experiments

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Journal of Earth Science 2024年

作者： Hechun Ruan huayong Chen Xiaoqing Chen Wanyu Zhao Xiao Li Key Laboratory of Mountain Hazards and Surface Processes， Institute of Mountain Hazards and Environment， Chinese Academy of Sciences University of Chinese Academy of Sciences

The scale of the outburst flood resulting from a landslide dam failure significantly influences the extent of the disaster and losses downstream. This study proposes a method for controlling the discharge of landslide dam failure using the artificial structure (AS). The primary approach involves strategically arranging the designed AS on both sides of the excavated spillway. As the breach is eroded， ASs gradually falls into the breach， serving to control the discharge. Fourteen sets of flume experiments were conducted to investigate the impact of various factors， including AS types， distances from the breach boundary， arrangements， columns， numbers， on the discharge control effectiveness. The mechanism how AS controls outburst discharge was revealed. Results indicate a pronounced control effect of AS on landslide dam-break discharge， with the maximum reducing rate of the peak discharge in the experiment reaching 47.4%. In controlling outburst discharge， four-sided framed structures demonstrate superior performance compared to four-sided solid structures， and serial structures outperform discrete structures. When arranging ASs， it is essential to ensure that the structure initiates its descent into the breach at the onset of the rapid increase in outburst discharge and continues until the peak discharge occurs. Building upon this foundation， augmenting the number of ASs and columns significantly enhances the efficacy of discharge control. The fundamental rationale for this discharge control lies in the AS’s capacity to reduce the headward scarp height， constrain sediment transport， and diminish the erosion capacity of the outburst flood， ultimately lowering the breach erosion rate. Lastly， a calculation method for the size design of the AS is established based on mechanical analysis. The research findings offer a new technological option for the emergency disposal of landslide dams.

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Reprogrammable, intelligent soft origami LEGO coupling actuation, computation, and sensing

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The Innovation 2024年第1期5卷 59-69页

作者： Zhongdong Jiao Zhenhan Hu Yuhao Shi Kaichen Xu Fangye Lin Pingan Zhu Wei Tang Yiding Zhong huayong Yang Jun Zou State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310058China

Tightly integrating actuation,computation,and sensing in soft materials allows soft robots to respond autonomously to their ***,fusing these capabilities within a single soft module in an effi-cient,programmable,and compatible way is still a significant ***,we introduce a strategy for integrating actuation,computation,and sensing capabilities in soft *** and plug-and-play soft origami modules can be reconfigured into diverse morphologies with specific functions or reprogrammed into a variety of soft logic circuits,similar to LEGO *** built an untethered autonomous soft turtle that is able to sense stimuli,store data,process information,and perform swimming *** function multiplexing and signal compatibility of the origami minimize the number of soft devices,thereby reducing the complexity and redundancy of soft ***,this origami also exhibits strong damage resistance and high *** envision that this work will offer an effective way to readily create on-demand soft robots that can operate in unknown environments.

关键词： integrating autonomous computation

基于智能卸荷电路的双馈风电机组故障穿越控制

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可再生能源 2024年第3期42卷 378-387页

作者：鲁华永袁越河海大学能源与电气学院江苏南京210098 国网河南省电力公司电力调度控制中心河南郑州450052

双馈风电机组并网比例不断提高,加剧了电网遭遇外部故障导致规模化脱网问题。文章介绍了现有风机故障穿越控制方案的原理,考虑到频繁投切直流卸荷电路电阻易引起电压波形畸变、超级电容器控制方案成本过高等问题,提出了基于智能卸荷电... 详细信息

双馈风电机组并网比例不断提高,加剧了电网遭遇外部故障导致规模化脱网问题。文章介绍了现有风机故障穿越控制方案的原理,考虑到频繁投切直流卸荷电路电阻易引起电压波形畸变、超级电容器控制方案成本过高等问题,提出了基于智能卸荷电路的双馈风电机组故障穿越控制方案。该方案将卸荷电阻通过DC/DC变换器与直流母线相连,在控制电路中引入有功功率-直流母线电压的下垂控制环节,实现故障期间电路电阻吸收功率的动态调节,同时设置高、低电压穿越两种模式,根据并网点电压变化情况自主启动。最后,在Matlab/Simulink中对智能卸荷电路控制策略进行验证。仿真结果表明,基于智能卸荷电路的风电机组故障穿越控制策略在直流母线电压抑制、电压恢复所需时间、转子电流畸变程度和方案经济成本等方面具有优势。

关键词：双馈风电机组超级电容能卸荷电路下垂控制

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海南海口话从完成义到先行义的“了”

方言 2024年第2期46卷 228-235页

作者：沈冰林华勇深圳职业技术大学职业技术教育学院深圳中山大学中国语言文学系广州

海南海口话的完结动词“了”逐步发展出了先行事态助词的用法,且这一功能扩展的过程伴有语音形式的弱化。“了”发展为先行事态助词的语法化路径为:完结动词>结果补语>完成体助词>先行事态助词,语音弱化过程为:[liau■]>[lau■]>[au■]... 详细信息

海南海口话的完结动词“了”逐步发展出了先行事态助词的用法,且这一功能扩展的过程伴有语音形式的弱化。“了”发展为先行事态助词的语法化路径为:完结动词>结果补语>完成体助词>先行事态助词,语音弱化过程为:[liau■]>[lau■]>[au■]。海口话“了”的演变丰富了汉语方言先行事态助词的来源和演变途径。

关键词：海南海口闽语“了” 完成先行语法化