Aiming at the prediction of environmental vibrations induced by elevated high-speed railway, a machine-learning method is developed by combining random forest algorithm and Bayesian optimization, which using the dataset from on-site experiments . When it comes to achieving a rapid and effective prediction of environmental vibration, there is few research on com-parisons and verifications of different algorithms, and neither on parameter tuning and optimi-zation of machine learning algorithms. In this paper, a field experiment is firstly carried out to measure the ground vibrations caused by high-speed trains running on bridge, and then the en-vironmental vibration characteristics are analyzed in view of ground accelerations and weighted vibration levels. Subsequently, three machine-learning algorithms of linear regression, support vector machine and random forest are developed by using experimental database, and their prediction performance are discussed. Finally, two optimization models for the hyperparameter set of random forest algorithm are further compared. It turns out that the integrated random forest algorithm has higher accuracy in predicting environmental vibration than linear regression and support vector machine; the Bayesian optimization has excellent performance and high efficiency in achieving efficient and in-depth optimization of parameters, and can be combined with the RF machine learning algorithm to effectively predict the environmental vibrations induced by the high-speed railway.

This work focuses on addressing the dynamic positioning and trajectory tracking problem for a 4 degree-of-freedom (DOF) unmanned underwater vehicle (UUV) in the presence of nonlinear dynamics, parametric uncertainties, system constraints, and time-varying external disturbances. To tackle this problem, a disturbance observer-based control (DOBC) scheme is proposed. The scheme is structured around the model predictive control (MPC) method integrated with an extended active observer (EAOB). Compared to the conventional disturbance observer, the EAOB has the unique ability to handle both external disturbances and system/measurement noises simultaneously. The EAOB leverages a combination of sensor measurements and a system dynamic model to estimate disturbances in real-time, which allows continuous estimation and compensation of time-varying disturbances back to the controller. The proposed disturbance observer-based MPC (DOBMPC) is implemented by feeding the estimated disturbances back into the MPC’s prediction model, which forms a robust adaptive controller with a parameter-varying model. The proposed control strategy is validated through simulations in a Gazebo and Robot Operating System (ROS) environment. The results show that it can effectively reject unpredictable disturbances and improve the UUV’s control performance.

The ever-burgeoning growth of autonomous unmanned aerial vehicles (UAVs) has demonstrated a promising platform for utilization in real-world applications. In particular, UAV equipped with a vision system could be leveraged for surveillance applications. This paper proposes a learning-based UAV system for achieving autonomous surveillance, in which the UAV can be of assistance in autonomously detecting, tracking, and following a target object without human intervention. Specifically, we adopted the YOLOv4-Tiny algorithm for semantic object detection and then consolidated it with a 3D object pose estimation method and Kalman Filter to enhance the perception performance. In addition, a back-end UAV path planning for surveillance maneuver is integrated to complete the fully autonomous system. The perception module is assessed on a quadrotor UAV, while the whole system is validated through flight experiments. The experiment results verified the robustness, effectiveness, and reliability of the autonomous object tracking UAV system in performing surveillance tasks. The source code is released to the research community for future reference.