Landslides are a major geological hazard worldwide. Landslide susceptibility assessments are useful to mitigate human casualties, loss of property, and damage to natural resources, ecosystems, and infrastructures. This study aims to evaluate landslide susceptibility using a novel hybrid intelligence approach with the rotation forest-based credal decision tree (RF-CDT) classifier. First, 152 landslide locations and 15 landslide conditioning factors were collected from the study area. Then, these conditioning factors were assigned values using an entropy method and subsequently optimized using correlation attribute evaluation (CAE). Finally, the performance of the proposed hybrid model was validated using the receiver operating characteristic (ROC) curve and compared with two well-known ensemble models, bagging (bag-CDT) and MultiBoostAB (MB-CDT). Results show that the proposed RF-CDT model had better performance than the single CDT model and hybrid bag-CDT and MB-CDT models. The findings in the present study overall confirm that a combination of the meta model with a decision tree classifier could enhance the prediction power of the single landslide model. The resulting susceptibility maps could be effective for enforcement of land management regulations to reduce landslide hazards in the study area and other similar areas in the world.

Obstacle avoidance is an important subject in the control of robot manipulators, but is remains challenging for robots with redundant degrees of freedom, especially when there exist complex physical constraints. In this paper, we propose a novel controller based on deep recurrent neural networks. By abstracting robots and obstacles into critical point sets respectively, the distance between the robot and obstacles can be described in a simpler way, then the obstacle avoidance strategy is established in form of inequality constraints by general class-K functions. Using minimal-velocity-norm (MVN) scheme, the control problem is formulated as a quadratic-programming case under multiple constraints. Then a deep recurrent neural network considering system models is established to solve the QP problem online. Theoretical conduction and numerical simulations show that the controller is capable of avoiding static or dynamic obstacles, while tracking the predefined trajectories under physical constraints.

Accurate position-force control is a core and challenging problem in robotics, especially for manipulators with redundant DOFs. For example, trajectory tracking based control usually fails for grinding robots due to intolerable impact forces imposed onto the end-effectors. The main difficulties lie in the coupling of motion and contact force, redundancy resolution and physical constraints, etc. In this paper, we propose a novel motionforce control strategy in the framework of projection recurrent neural networks. Tracking error and contact force are described in orthogonal spaces respectively, and by selecting minimizing joint torque as secondary task, the control problem is formulated as a quadratic-programming (QP) problem under multiple constraints. In order to obtain real-time optimization of joint toque which is non-convex relative to joint angles, the original QP is reconstructed in velocity level, where the original objective function is replaced by its time derivative. Then a dynamic neural network which is convergence provable is established to solve the modified QP problem online. This work generalizes projection recurrent neural network based position control of manipulators to that of position-force control, which opens a new avenue to shift position-force control of manipulators from pure control perspective to cross design with both convergence and optimality consideration. Numerical and experimental results show that the proposed scheme achieves accurate position-force control, and is capable of handling inequality constraints such as joint angular, velocity and torque limitations, simultaneously, consumption of joint torque can be decreased effectively.

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