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135 results on '"Cai, Zhaoyang"'

12. Exploring Non-Linear and Synergistic Effects of Street Environment on the Spirit of Place in Historic Districts: Using Multi-Source Data and XGBoost.

Author

Ma, Shuxiao, Huang, Wei, Cui, Nana, Cai, Zhaoyang, Xu, Yan, and Qiao, Yue

Abstract

The fragmented remodeling of historic districts undermines the spirit of place. Understanding the intricate relationship between the neighborhood environment and the spirit of place is essential for sustainable urban development. Current research predominantly relies on case studies and the concept of place, which are subjective and lack specific analysis of how the neighborhood environment shapes the spirit of place. In this study, we examine Chuancheng Street in Handan City as a case study. Utilizing the eXtreme Gradient Boosting (XGBoost) model and multi-source data, combined with SHapley Additive exPlanation (SHAP) and Partial Dependence Plots (PDP), we analyze the non-linear and synergistic effects of the street environment on the spirit of place in historic districts. The findings reveal that (1) the proportion of enduring sociability (PES) on the street significantly shapes the spirit of place, with cultural space elements being less prioritized in perception; (2) PES, green vision index (GVI), Integration_800 m, and mixed land use (MLU) have pronounced non-linear impacts on the spirit of place, with strong threshold effects, and these factors also demonstrate a synergistic effect; (3) There are notable spatial variations in the spirit of place across different blocks, particularly influenced by the authenticity of cultural heritage. This study provides fundamental insights into the spirit of place in historic neighborhoods, enabling a better understanding of complex urban dynamics and informing future street regeneration from a place perspective. [ABSTRACT FROM AUTHOR]

Published
2024
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13. A Falling Forwards Protection Strategy for Humanoid Robots

Author

Li, Qingqing, Yu, Zhangguo, Chen, Xuechao, Zhang, Weimin, Cai, Zhaoyang, Liang, Qian, Zhou, Qinqin, Huang, Zelin, Huang, Qiang, Serafini, Paolo, Series Editor, Guazzelli, Elisabeth, Series Editor, Rammerstorfer, Franz G., Series Editor, Schrefler, Bernhard, Series Editor, Wall, Wolfgang A., Series Editor, Arakelian, Vigen, editor, and Wenger, Philippe, editor

Published
2019
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16. YOLOv5-Sewer: Lightweight Sewer Defect Detection Model.

Author

Zhao, Xingliang, Xiao, Ning, Cai, Zhaoyang, and Xin, Shan

Subjects
SEWERAGE, NECK, SPEED
Abstract

In the field of defect detection in sewers, some researches focus on high accuracy. However, it is challenging for portable on-site devices to provide high performance. This paper proposes a lightweight sewer defect detection model, You Only Look Once (YOLO) v5-Sewer. Firstly, the backbone network of YOLOv5s is replaced with a stacked MobileNetV3 block. Secondly, the C3 module of the neck of YOLOv5s is improved with a C3-Faster module. Thirdly, to compensate for the accuracy loss due to the lightweight network, a channel attention (CA) and convolutional block attention module (CBAM) are added to the proposed method. Finally, the Efficient Intersection over Union (EIOU) is adopted as the localization loss function. Experimental validation on the dataset shows that YOLOv5-Sewer achieves a 1.5% reduction in mean Average Precision (mAP) while reducing floating-point operations by 68%, the number of parameters by 55%, and the model size by 54%, compared to the YOLOv5s model. The detection speed reaches 112 frames per second (FPS) with the GPU (RTX 3070Ti). This model successfully implements a lightweight design while maintaining the detection accuracy, enhancing its functionality on low-performance devices. [ABSTRACT FROM AUTHOR]

Published
2024
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18. The Development of a 7-DoF Humanoid Arm for Driving Using a Task-Driven Design Method

Author

Zhu, Xin, Gergondet, Pierre, Cai, Zhaoyang, Chen, Xuechao, Yu, Zhangguo, Huang, Qiang, and Kheddar, Abderrahmane

Abstract

In this article, a new 7-DoF humanoid arm that can operate a steering wheel anthropomorphically, and a task-based design method for such redundant manipulators that work with loads in constrained spaces are devised. The latter consists of a controller-integrated optimization method (COM) for structural parameter optimization, and a combinatorial filtration method (CFM) for actuator selection. The COM is based on kinetostatic analysis and implemented through the covariance matrix adaptation evolutionary strategy (CMA-CS). In the optimization, a collision-free control (CFC) method is integrated for the accurate workspace evaluation and the manipulability index for characterizing the kinematic performance. The CFM is based on the results of the COM and a dynamic analysis. In actuator selection, a library of available candidate motors and reducers is constructed for global selection based on the design objectives and the characteristics for more accurate joint parameters. The effectiveness of CFC in structural parameter optimization is verified in the CFM. Thus, a 7-DoF humanoid arm for driving is achieved; its performance is evaluated in real-world experiments to assess the validity of the design.

Published
2024
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37. A Falling Forwards Protection Strategy for Humanoid Robots

Author

Cai Zhaoyang, Qiang Huang, Zhangguo Yu, Huang Zelin, Qingqing Li, Qinqin Zhou, Qian Liang, Xuechao Chen, and Weimin Zhang

Subjects
Computer science, Robot, Fixed length, Falling (sensation), Flywheel, Humanoid robot, Simulation, Parametric statistics, Inverted pendulum
Abstract

Humanoid robots should prevent damage during falling forwards, which will improve the ability of serving people on various occasions. In this paper, we analyze different landing positions, and propose a falling forwards protection strategy for humanoid robots. Falling forwards is divided into two phases: the knee landing phase and the chest landing phase. The parametric optimal strategy based on telescopic inverted pendulum with flywheel is used to plan the motion of robot in the first phase to reduce the impact. Inverted pendulum with flywheel and fixed length is adopted in the second phase. The simulations tested on the BHR-6P (BIT Humanoid Robot 6 Prototype) platform validate the effectiveness of the presented strategy.

Published
2018

39. Biomimetic upper limb mechanism of humanoid robot for shock resistance based on viscoelasticity

Author

Xinxin Guo, Xuechao Chen, Qinqin Zhou, Zhangguo Yu, Cai Zhaoyang, Weimin Zhang, Huaxin Liu, Qiang Huang, and Zezheng Zhang

Subjects
0209 industrial biotechnology, Computer science, technology, industry, and agriculture, 02 engineering and technology, Viscoelasticity, body regions, Mechanism (engineering), 020303 mechanical engineering & transports, 020901 industrial engineering & automation, Shock resistance, 0203 mechanical engineering, Inertial measurement unit, Robot, Falling (sensation), human activities, Encoder, Simulation, Humanoid robot
Abstract

Humanoid robots encounter high falling risks when they walk or operate in an uncertain environment. In this paper, we propose a biomimetic mechanism for the upper limb of a humanoid robot that provides shock resistance when the robot falls forward. This biomimetic mechanism is based on viscoelasticity, and was modeled on human bones and muscles to achieve supporting and buffering. We install a series elastic component within the robot's elbow and also install a viscoelastically active pneumatically actuated impact protection device. We perform the falling forward experiments using our experimental platform, and we employ encoder, IMU, air gauge and F-T sensor to collect the experimental data. Based on the analysis of the experimental data, we conclude that the proposed biomimetic mechanism which is modeled on actual human bones and muscles can support the robot body, absorb the falling impact and against falling damage.

Published
2017

45. Association between Insomnia and Metabolic Syndrome in a Chinese Han Population: A Cross-sectional Study

Author

Wang, Yan, primary, Jiang, Tian, additional, Wang, Xiaoqiang, additional, Zhao, Jianrong, additional, Kang, Jinwang, additional, Chen, Min, additional, Wang, Haifang, additional, Niu, Lili, additional, Wang, Youxin, additional, Zhou, Yong, additional, Wu, Jing, additional, Fu, Hui, additional, Cai, Zhaoyang, additional, Li, Zemin, additional, and Chen, Junzheng, additional

Published
2017
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48. Design of landing platform on climbing robot for a Small Unmanned Aerial Vehicle

Author

Tao Zhi, Si Zhang, Cai Zhaoyang, Gaomeizhu Qu, and Bai Jialin

Subjects
Engineering, business.industry, Climbing, Climbing robots, Process (computing), Structure design, Control engineering, business, Simulation
Abstract

During the process of detecting and rescue, the environment is complex for a climbing robot to negotiate. At this time, the Small Unmanned Aerial Vehicle (SUAV) is utilized to complete the rest task. However, some place is so sorrow that the SUAV cannot go through because of its weak anti-interference ability. In order to address this issue, we hope to combine the climbing robot and the SUAV. Here, we utilize the climbing robot to carry the SUAV, which make the whole climbing platform more practical and useful. In this paper, we design a landing platform on the climbing robot for a SUAV, which can load more than 3kg while sucking on the wall. And the SUAV can utilize this platform to take-off and land. We focus on landing platform structure design, centrifugal vacuum principle, characteristics of SUAV landing and auxiliary landing system. And the effectiveness of the proposed design is confirmed through experiments.

Published
2015

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