Page 150 - 2024年第55卷第11期
P. 150

Arapidandaccurateobstacleperceptionmethodforunmannedrollerin
                              constructionbasedonmillimeter - waveradarandcamerafusion
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                         GUANShiwei,LIZhi,WANGJiajun,YUJia,ZHANGJun,YUHongling
                 (1.StateKeyLaboratoryofHydraulicEngineeringIntelligentConstructionandOperation,TianjinUniversity,Tianjin 300350,China;
                                  2.HUANENGLANCANGRIVERHYDROPOWERINC,Kunming 650200,China;
                         3.CollegeofWaterResourcesandCivilEngineering,ChinaAgriculturalUniversity,Beijing 100091,China)
                  Abstract:Therapidandaccurateperceptionoftheconstructionenvironmentbyunmannedrollerisessentialfor
                  ensuringthesafeandstableoperationoftheunmannedroller.However,inthecurrentprocessofdamrollercom
                  pactionprocess ,unmannedrollersrelysolelyonmillimeter - waveradartoperceivethedistancetoobstacles.When
                  thedistanceislessthanagiventhreshold,therollerstopsandwaits.Thisapproachfailtoidentifythecategoryof
                  obstacles,frequentlyresultinginthemisidentificationofobstacles,resultingtherollerwaitingforthesubsequent
                  rollingoperations.Toaddresstheaboveissues , thisstudyproposesarapidandaccurateobstacleperception
                  methodforunmannedrollerinconstructionbasedonthefusionofmillimeter - waveradarandcamera.Firstly ,the
                  methodreplacestheconvolutionalkernelinthefeatureextractionnetworkoftheFasterR - CNNwithdilatedconvo
                  lutionkernelsofdifferentdilationratestoachieverapidandaccurateidentificationofdamsurfaceobstacles.Subse
                  quently,thedistanceandvelocityinformationofobstaclesperceivedbythemillimeter - waveradararefusedwith
                  thecategoryinformationperceivedbythecamera.Thisfusionachievescomprehensiveandaccurateperceptionof
                  thedamsurfaceenvironment.TheEngineeringcasesindicatethattheDC - FasterR - CNNobjectdetectionalgorithm
                  proposedinthisstudyimprovesthemAPvalueby2.59% comparedtothetraditionalFasterR - CNNobjectdetec
                  tionalgorithm ,andreducesthedetectiontimeperimageby0.015s.Additionally,theperceptionstrategybased
                  onmulti - modalfusionachievespreciseobstacleavoidanceduringthedamcompactionprocess,enhancingthesafe
                  tyandefficiencyofdamcompactionconstruction.
                  Keywords:millimeter - waveradar;FasterR - CNN;dilatedconvolution;perceptionfusion;unmannedroller;
                  compactingconcretedam

                                                                            (责任编辑:尹 婧 韩 昆)


              (上接第 1403页)
                    Reliabilityanalysisofservicelifeforultra - highcore - wallrockfilldam consideringthe
                             seepage - dissolutioneffectofdam foundationimperviousstructure

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                 ZHAOShaofeng,XULiqun,ZHANGHongwei ,SHENZhenzhong ,LIUDetan ,GANLei
                         (1.CollegeofWaterConservancyandHydropowerEngineering,HohaiUniversity,Nanjing 210098,China;
                             2.CollegeofCivilandTransportationEngineering,HohaiUniversity,Nanjing 210098,China;
                   3.StateKeyLaboratoryofHydrology - WaterResourcesandHydraulicEngineering,HohaiUniversity,Nanjing 210098,China;
                            4.DatangHydropowerScience&TechnologyResearchInstituteCo.,Ltd.,Nanning 530007,China)
                  Abstract:Ultra - highcore - wallrockfilldamsexhibithighlynon - homogeneouscement - basedimpermeability,
                  whichsignificantlyaffectstheaccurateassessmentofthelong - termperformanceofthedamfoundation’simpervi
                  ousstructureundertheseepage - dissolutioneffect.BasedontheKarhunen - Loeveexpansionmethod ,therandom
                  fieldofcement - basedmaterialparametersisdiscretized.Amulti - layerforwardneuralnetworkmodelwasestab
                  lishedasthecoretomaptherelationshipbetweenrandomfieldsandservicelife.Aservicelifereliabilityanalysis
                  methodwastherebydeveloped.TakingtheChanghedamprojectasthebackground ,theseepageanddissolution
                  characteristicsofcement - basedmaterialsunderrandompermeabilitycoefficient ,porosity,andsolidphasecalci
                  um concentrationwerestudied.Theaccuracyoftheneuralnetworkpredictionmodelwasverified ,andservicelife
                  reliabilityanalysisoftheultra - highcore - wallrockfilldamswascarriedout.Permeabilityerosionwouldenhance
                  thespatialvariabilityofthepermeabilitycoefficientofthecementbaseimpermeability.Theunitseepagedischarge
                  ofthedambodyandfoundationundertherandom conditionofcement - basedmaterialparametersis0.87 - 1.19
                  timesthatundertheaveragecondition.Theservicelifeofthedam foundationwith95% guaranteerateis63.4
                  years.From impermeabilityandmechanicalperspectives ,reducingtheaveragepermeabilitycoefficientofthe
                  mainanti - seepagecurtain ,averagepermeabilitycoefficientandspatialvariabilityofconsolidationgroutingcan
                  moreeffectivelyprolongtheservicelifeofthedam.Thenon - homogeneityofthecement - basedimperviousstruc
                  tureofthedamfoundationshouldbeemphasizedinthedesign,construction,operation,andmaintenanceoful
                  tra - highcore - wallrockfilldams ,consideringtheseepage - dissolutioneffect.
                  Keywords:ultra - highcore - wallrockfilldam;spatialvariability;seepage - dissolutioncoupledrandom model;
                  reliabilityanalysis;servicelife;neuralnetworkmode

                                                                                    (责任编辑:韩 昆)

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