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Multi-Robot Cooperative Localization: Time-Varying Unobservable Subspace Analysis and Consistent Algorithm Design

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Journal of Systems Science & Complexity 2024年第5期37卷 1937-1955页

作者： HAO ning HE Fenghua YAO yu School of Astronautics Harbin Institute of Technology

This paper investigates the problem of cooperative localization(CL) for a multi-robot system(MRS) under dynamic measurement topology, which involves a group of robots collectively estimating their poses with respect to a common reference frame using ego-motion measurements and robot-to-robot relative measurements. The authors provide a theoretical analysis of the time-varying unobservable subspace and propose a consistent cooperative localization algorithm. First, the authors introduce the relative measurement graph(RMG) to represent the relative pose measurements obtained by the MRS at each instant. Then, the authors derive the local observability matrix over a time *** equivalent relationship is established between the local observability matrix and the spectral matrices of the RMG. Moreover, the authors present a method for constructing the unobservable subspace based on the RMG under different topology conditions. Based on this analysis, the authors design a consistent cooperative localization algorithm that satisfies the constraints of the time-varying unobservable subspace. An analytical optimal solution is derived for the constrained optimization *** Carlo numerical simulations are conducted to demonstrate the consistency and accuracy of the proposed method.

关键词： Consistency cooperative localization multi-robot system null space relative measurement graph time-varying unobservable subspace

Multi-Smart Meter Data Encryption Scheme Basedon Distributed Differential Privacy

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Big Data Mining and Analytics 2024年第1期7卷 131-141页

作者： Renwu Yan Yang Zheng ning yu Cen Liang School of Electronic Electrical Engineering and PhysicsFujian University of TechnologyFuzhou 350118China Department of Computing Sciences at The College at Brockport State University of New YorkNew YorkNY 14420USA

Under the general trend of the rapid development of smart grids,data security and privacy are facing serious challenges;protecting the privacy data of single users under the premise of obtaining user-aggregated data has attracted widespread *** this study,we propose an encryption scheme on the basis of differential privacy for the problem of user privacy leakage when aggregating data from multiple smart ***,we use an improved homomorphic encryption method to realize the encryption aggregation of users’***,we propose a double-blind noise addition protocol to generate distributed noise through interaction between users and a cloud platform to prevent semi-honest participants from stealing data by colluding with one ***,the simulation results show that the proposed scheme can encrypt the transmission of multi-intelligent meter data under the premise of satisfying the differential privacy *** if an attacker has enough background knowledge,the security of the electricity information of one another can be ensured.

关键词： smart grid homomorphic encryption data aggregation differential privacy cloud computing

Embracing digital mindsets to ensure a sustainable future

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Frontiers of Environmental Science & Engineering 2024年第3期18卷 177-179页

作者： Chengjun Li Riqing yu Wenjing ning Huan Zhong Christian Sonne Institute of Environmental Research at Greater Bay Area Guangzhou UniversityGuangzhou 510000China Department of Biology Center for EnvironmentBiodiversity and ConservationThe University of Texas at TylerTylerTX 75701USA School of Environment Nanjing UniversityNanjing 210000China Environmental and Life Science Program Trent UniversityPeterboroughOntarioK9H 0A1Canada Faculty of Science and Technology Aarhus UniversityRoskildeDenmark 4000The Kingdom of Denmark Sustainability Cluster School of EngineeringUniversity of Petroleum&Energy StudiesDehradunUttarakhand 248001India

The 19th Asian Games astounded global audiences with an opening spectacle that showcased stunning digital fireworks(International Olympic Committee,2021;Zhe,2023).The groundbreaking display was brought to life through virtual reality(VR)and augmented reality(AR)*** sets a pioneering example to replace conventional fireworks in major international events as well as in other large-scale entertainment activities,marking a historic milestone in the pursuit of a sustainable and healthy future.

关键词： Wildlife Climate change Heavy metals Noise LAN Light pollution

Numerical investigations of the interactions between bubble induced shock waves and particle based on OpenFOAM

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Journal of Hydrodynamics 2024年第2期36卷 355-362页

作者： Jia-xin yu Jin-sen Hu yu-hang Liu Yi-fan Liu Dan Gao yu-ning Zhang Key Laboratory of Power Station Energy Transfer Conversion and System Ministry of EducationSchool of Energy Power and Mechanical EngineeringNorth China Electric Power UniversityBeijing102206China

The presence of particles and the shock waves generated by the cavitation bubbles can significantly affect the safety and the performance of hydrodynamic *** the present paper,the shock waves generated by cavitation bubble collapsing near the particle are numerically investigated based on the OpenFOAM together with the numerical schlieren for the shock wave *** numerical results reveal that the stand-off distance is one of the paramount factors affecting the interactions between the particle and the shock *** different kinds of shock waves(e.g.,bubble-inception,jet formation,particle reflected and jet-split shock waves)are observed during the bubble collapsing near the *** stand-off distance smaller than 0.5 or larger than 1.1,the maximum pressure at particle surface generated by the bubble growth can surpass those of the collapse stage.

关键词： Particle-bubble interaction shockwaves jetdynamics

Ballistic performance of spherical fragments penetrating PCrNi3MoV target plates

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Defence Technology（防务技术） 2024年第3期33卷 295-307页

作者： Dou Hong Wenbin Li yu Zheng Yiming Li ning Jiang Kebin Zhang Ministerial Key Laboratory of ZNDY Nanjing University of Science and TechnologyNanjingChina

PCrNi3MoV steel is a medium-carbon,low-alloy quenched and tempered steel that finds its applications in military gun barrels due to the high wear resistance and ablation *** study the penetration and failure modes of PCrNi3MoV plates impacted by tungsten spheres,tungsten spheres of various diameters(5 mm,8 mm,and 10 mm)were used to impact PCrNi3MoV steel plates with thicknesses of 6 mm,9 mm,and 14 *** penetration performance of the spheres was analyzed for different velocities,and the ultimate penetration velocity of the plate was *** was found that the primary failure modes of the PCrNi3MoV plate were compression pitting failure and shear *** the dimensional analysis method,a relationship between the bulge height of the steel plate and the fragment velocity,an equation for the ultimate penetration velocity,and a relationship between the target penetration energy and the fragment velocity were ***,a projectile-target action index was proposed to describe the process of tungsten spheres with different velocities impacting target *** results suggested that under the same thickness of the target plate,a larger-diameter fragment required more kinetic energy to obtain the same ultimate penetration effect as a smaller-diameter *** equations obtained through dimensional analysis predicted values that agreed well with experimental values,indicating that these equations can be applied to engineering applications.

关键词： Impact damage Ultimate penetration velocity Bulge height Target penetration energy Failure modes

Fracture geometry and breakdown pressure of radial borehole fracturing in multiple layers

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Petroleum Science 2024年第1期21卷 430-444页

作者： yu-ning Yong Zhao-Quan Guo Shou-Ceng Tian Lu-Yao Ma Tian-yu Wang Mao Sheng National Key Laboratory of Petroleum Resources and Engineering China University of Petroleum(Beijing)Beijing102249China Beijing Petroleum Machinery Company Limited CNPC Engineering Technology R&D Company LimitedBeijing102206China Smart Energy Co. LtdChina Xiongan GroupXiong’an New Area071000HebeiChina

Radial borehole fracturing that combines radial boreholes with hydraulic fracturing is anticipated to improve the output of tight oil and gas *** paper aims to investigate fracture propagation and pressure characteristics of radial borehole fracturing in multiple layers.A series of laboratory experiments with artificial rock samples(395 mm×395 mm×395 mm)was conducted using a true triaxial fracturing *** crucial factors corresponding to the vertical distance of adjacent radial borehole layers(vertical distance),the azimuth and diameter of the radial borehole are *** results show that radial borehole fracturing in multiple layers generates diverse fracture *** types of fractures are identified based on the connectivity between hydraulic fractures and radial *** vertical distance significantly influences fracture propagation perpendicular to the radial borehole *** increase in the vertical distance impedes fracture connection across multiple radial borehole layers and reduces the fracture propagation distance along the radial borehole *** azimuth also influences fracture propagation along the radial borehole *** the azimuth reduces the guiding ability of radial boreholes,which makes the fracture quickly curve to the maximum horizontal stress *** breakdown pressure correlates with diverse fracture geometries *** the fractures connect multi-layer radial boreholes,increasing the vertical distance decreases the breakdown *** the azimuth and increasing the diameter also decrease the breakdown *** extrusion force exists between the adjacent fractures generated in radial boreholes in multiple rows,which plays a crucial role in enhancing the guiding ability of radial boreholes and results in higher breakdown *** research provides valuable theoretical insights for the field application of radial borehole fracturing technology in tight oil and g

关键词： Multi-layer radial boreholes Hydraulic fracturing Fracture propagation Pressure characteristic

Physics of cavitation near particles

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Journal of Hydrodynamics 2024年第1期36卷 102-118页

作者： Jia-xin yu Xiao-yu Wang Jun-wei Shen Jin-sen Hu Xiang-qing Zhang Da-qing He yu-ning Zhang Key Laboratory of Power Station Energy Transfer Conversion and System(Ministry of Education) School of Energy Power and Mechanical EngineeringNorth China Electric Power UniversityBeijing102206China

The combined effect of cavitation and silt abrasion presents a great challenge and threat to secure the operation and the efficiency of hydraulic machineries working in sediment-laden *** present paper critically reviews the current research progress on the interaction mechanisms of the bubbles and the ***,the analytical models including boundary treatment methods for predicting the jet dynamics of the bubble collapse near particles are ***,the bubble collapsing dynamics,jet dynamics and shock wave characteristics near particles are revealed both experimentally and ***,the bubble-particle-wall system is investigated with a focus on microjets.

关键词： Cavitation bubble particle jet shock wave

A robust viscoelastic surfactant tolerating 20% HCl up to 150℃ for oil well stimulation

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Petroleum Science 2024年第3期21卷 1865-1874页

作者： Ji Wang ning Qi Hong-Yao Yin yu-Jun Feng Polymer Research Institute State Key Laboratory of Polymer Materials EngineeringSichuan UniversityChengdu610065SichuanPR.China Tianfu Yongxing Laboratory New Theory and Technology of CO_(2) Capture Research CenterChengdu610065SichuanPR China School of Petroleum Engineering China University of Petroleum(East China)Qingdao266580ShandongPR China

Viscoelastic surfactants(VES)are often used as viscous diverters in acidizing stimulation to prolong the acid consumption time and maximize zonal coverage of the acid for improving well ***,the ceiling temperature of commercial VES cannot exceed 120℃in practical use because of the poor thermal stability and fragile molecular structure,hindering their implementation in hightemperature oil reservoirs,i.e.,≥150℃.Here we synthesized a novel C22-tailed diamine,N-erucaminopropyl-N,N-dimethylamine(EDPA),and examined comparatively its rheological behavior,assemblies morphology and molecular stability in 20 wt%HCl with a commercial VES,erucyl dimethyl amidopropyl betaine(EDAB).The feasibility of EDPA for acidizing stimulation was assessed by acid etching of carbonate rock with its HCl solution at 150℃.Rheological results showed that the 2.5 wt%EDPA—20 wt%HCl solution maintains stable viscosity of 90 m Pa s at 150℃for 60 min,while that of 2.0 wt%EDAB HCl solution is just 1 m Pa s under identical conditions.1H NMR spectra and cryo-TEM observations revealed that the chemical structure and self-assembled architectures of EDPA remained intact in such context,but the EDAB suffered from degradation due to the hydrolysis of the amide group,accounting for the poor heat-resistance and *** reaction rate of 2.5 wt%EDPA HCl solution with carbonate rock was one order of magnitude lower than that of 20 wt%HCl solution at 150℃,underpinning the potential of EDPA to be used in the high-temperature reservoirs *** work improved the thermal tolerance of VES in highly concentrated HCl solution,paving a feasible way for the acidization of high-temperature reservoir environments(~150℃).

关键词： Viscoelastic surfactants Thermal stability Self-diverting acid Wormlike micelles Acidizing stimulation

Small object detection on highways via balance feature fusion and task-specific encoding network

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Optoelectronics Letters 2024年第7期20卷 424-429页

作者： yu Minming chan Sixian ZHOU Xiaolong LAI Zhounian College of Computer Science and Technology Zhejiang University of TechnologyHangzhou 310023China Hangzhou Xsuan Technology Co. Ltd.Hangzhou 310051China Quzhou University Quzhou 324000China Huzhou Institute of Zhejiang University Huzhou 313002China2

Detecting small objects on highways is a novel research *** to the small pixel of objects on highways,traditional detectors have difficulty in capturing discriminative ***,the imbalance of feature fusion methods and the inconsistency between classification and regression tasks lead to poor detection performance on *** this paper,we propose a balance feature fusion and task-specific encoding network to address these ***,we design a balance feature pyramid network(FPN)to integrate the importance of each layer of feature maps and construct long-range dependencies among them,thereby making the features more *** addition,we present task-specific decoupled head,which utilizes task-specific encoding to moderate the imbalance between the classification and regression *** demonstrated by extensive experiments and visualizations,our method obtains outstanding detection performance on small object detection on highways(HSOD)dataset and AI-TOD dataset.

关键词： network utilize highway