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Model Based Adaptive Control and Disturbance Compensation for Underwater Vehicles

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Chinese Journal of Mechanical Engineering 2018年第1期31卷 114-126页

作者： Hai Huang Guo-Cheng Zhang Ji-Yong Li Qiang Zhang jin-yu xu Hong-De Qin National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle Harbin Engineering University

Underwater vehicles are being emphasized as highly integrated and intelligent devices for a significant number of oceanic operations. However, their precise operation is usually hindered by disturbances from a tether or manipulator because their propellers are unable to realize a stable suspension. A dynamic multi-body model-based adaptive controller was designed to allow the controller of the vehicle to observe and compensate for disturbances from a tether or manipulator. Disturbances, including those from a tether or manipulator, are deduced for the observation of the controller. An analysis of a tether disturbance covers the conditions of the surface, the underwater area, and the vehicle end point. Interactions between the vehicle and manipulator are mainly composed of coupling forces and restoring *** verify the robustness of the controller, path-following experiments on a streamlined autonomous underwater vehicle experiencing various disturbances were conducted in Song Hua Lake in China. Furthermore,path-following experiments for a tethered open frame remote operated vehicle were verified for accurate cruising with a controller and an observer, and vehicle and manipulator coordinate motion control during the simulation and experiments verified the effectiveness of the controller and observer for underwater operation. This study provides instructions for the control of an underwater vehicle experiencing disturbances from a tether or manipulator.

关键词： Underwater vehicle Adaptive control Disturbance observer Multi-body dynamic model

Electromagnetic fields in ultra-peripheral relativistic heavy-ion collisions

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Nuclear Science and Techniques 2024年第2期35卷 103-109页

作者： Jie Zhao jin-Hui Chen xu-Guang Huang yu-Gang Ma Key Laboratory of Nuclear Physics and Ion-beam Application(MOE) Institute of Modern PhysicsFudan UniversityShanghai 200433China Shanghai Research Center for Theoretical Nuclear Physics NSFC and Fudan UniversityShanghai 200438China Physics Department and Center for Particle Physics and Field Theory Fudan UniversityShanghai 200438China

Ultra-peripheral heavy-ion collisions(UPCs)offer unique opportunities to study processes under strong electromagnetic *** these collisions,highly charged fast-moving ions carry strong electromagnetic fields that can be effectively treated as photon *** exchange of photons can induce photonuclear and two-photon interactions and excite *** excitation of the ions results in Coulomb dissociation with the emission of photons,neutrons,and other ***,the electromagnetic fields generated by the ions can be sufficiently strong to enforce mutual interactions between the two colliding ***,the two colliding ions experience an electromagnetic force that pushes them in opposite directions,causing a back-to-back correlation in the emitted *** a Monte Carlo simulation,we qualitatively demonstrate that the above electromagnetic effect is large enough to be observed in UPCs,which would provide a clear means to study strong electromagnetic fields and their effects.

关键词： Electromagnetic fields Neutrons Ultra-peripheral relativistic heavy-ion collisions(UPC)

A real-time intelligent lithology identification method based on a dynamic felling strategy weighted random forest algorithm

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Petroleum Science 2024年第2期21卷 1135-1148页

作者： Tie Yan Rui xu Shi-Hui Sun Zhao-Kai Hou jin-yu Feng School of Petroleum Engineering Northeast Petroleum UniversityDaqing163318HeilongjiangChina Sanya Offshore Oil&Gas Research Institute Northeast Petroleum UniversitySanya572025HainanChina

Real-time intelligent lithology identification while drilling is vital to realizing downhole closed-loop drilling. The complex and changeable geological environment in the drilling makes lithology identification face many challenges. This paper studies the problems of difficult feature information extraction,low precision of thin-layer identification and limited applicability of the model in intelligent lithologic identification. The author tries to improve the comprehensive performance of the lithology identification model from three aspects: data feature extraction, class balance, and model design. A new real-time intelligent lithology identification model of dynamic felling strategy weighted random forest algorithm(DFW-RF) is proposed. According to the feature selection results, gamma ray and 2 MHz phase resistivity are the logging while drilling(LWD) parameters that significantly influence lithology identification. The comprehensive performance of the DFW-RF lithology identification model has been verified in the application of 3 wells in different areas. By comparing the prediction results of five typical lithology identification algorithms, the DFW-RF model has a higher lithology identification accuracy rate and F1 score. This model improves the identification accuracy of thin-layer lithology and is effective and feasible in different geological environments. The DFW-RF model plays a truly efficient role in the realtime intelligent identification of lithologic information in closed-loop drilling and has greater applicability, which is worthy of being widely used in logging interpretation.

关键词： Intelligent drilling Closed-loop drilling Lithology identification Random forest algorithm Feature extraction

Laboratory evaluation of high-friction thin overlays for pavement preservation

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Frontiers of Structural and Civil Engineering 2024年第6期18卷 936-948页

作者： Ouming xu Rentao xu Lintong jin School of Highway Chang’an UniversityXi’an 710064China School of Materials Science and Engineering Chang’an UniversityXi’an 710061China

Traditional asphalt concrete(AC)and stone matrix asphalt(SMA),which are used as thin asphalt overlays,are common maintenance strategies to enhancing ride quality,skid resistance,and ***,several studies have used a novel asphalt mixture known as a high-friction thin overlay(HFTO)to improve surface ***,it remains uncertain whether the laboratory properties of HFTO differ significantly from those of conventional *** study aims to evaluate the laboratory properties of HFTO mixtures and compare them with those of AC and *** mixtures with nominal maximum size of 9.5 mm were produced in the laboratory,and performance tests were conducted,including wheel tracking test,low temperature flexural creep test,moisture susceptibility test,Cantabro Abrasion Test,Marshall Test,sand patch test,British pendulum test,and indoor tire-rollingdown *** results showed that the HFTO exhibited a lower tire/pavement noise than the AC and ***,HFTO had superior high-temperature stability,larger macro texture,and higher skid resistance in comparison to those of AC,but lower than those of ***,HFTO mixtures may be considered a suitable replacement for traditional AC mixtures in regions where skid resistance and noise reduction are concerns.

关键词： road engineering pavement maintenance high friction thin overlay performance skid resistance tire/pavement noise

Micropillar compression using discrete dislocation dynamics and machine learning

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Theoretical & Applied Mechanics Letters 2024年第1期14卷 39-47页

作者： jin Tao Dean Wei Junshi yu Qianhua Kan Guozheng Kang xu Zhang School of Mechanics and Aerospace Engineering Southwest Jiaotong UniversityChengdu 610031China State Key Laboratory of Nonlinear Mechanics Institute of MechanicsChinese Academy of SciencesBeijing 100190China

Discrete dislocation dynamics(DDD)simulations reveal the evolution of dislocation structures and the interaction of *** study investigated the compression behavior of single-crystal copper micropillars using fewshot machine learning with data provided by DDD *** types of features are considered:external features comprising specimen size and loading orientation and internal features involving dislocation source length,Schmid factor,the orientation of the most easily activated dislocations and their distance from the free *** yielding stress and stress-strain curves of single-crystal copper micropillar are predicted well by incorporating both external and internal features of the sample as separate or combined *** is found that the machine learning accuracy predictions for single-crystal micropillar compression can be improved by incorporating easily activated dislocation features with external ***,the effect of easily activated dislocation on yielding is less important compared to the effects of specimen size and Schmid factor which includes information of orientation but becomes more evident in small-sized ***,incorporating internal features,especially the information of most easily activated dislocations,improves predictive capabilities across diverse sample sizes and orientations.

关键词： Discrete dislocation dynamics simulations Machine learning Size effects Orientation effects Microstructural features

Biotreatment of incinerated bottom ash and biocementation of sand blocks using soybean urease

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第1期25卷 36-46页

作者： Xiaoniu yu Yidong xu Jiangsu Key Laboratory of Construction Materials Southeast UniversityNanjing211189China School of Civil Engineering and Architecture NingboTech UniversityNingbo315100China

Because of the high cost of cultivating urease-producing bacteria(UPB),this paper proposes soybean-urease-induced carbonate precipitation(SUICP)as a novel biocement for treatment of nickel contaminants and cementation of sandy *** found the optimal soaking time and soybean-powder content to be 30 min and 130 g/L,respectively,based on a standard of 5 U of urease *** most efficient removal of nickel ions is obtained with an ideal mass ratio of urea to nickel ions to soybean-powder filtrate(SPF)of 1:2.4:*** removal efficiency of nickel ions can reach 89.42%when treating 1 L of nickel-ion solution(1200 mg/L with the optimal mass ratio).In incinerated bottom ash(IBA),the removal efficiency of nickel ions is 99.33%with the optimal mass *** biocemented sandy soil,the average unconfined compressive strength(UCS)of sand blocks cemented with soybean urease-based biocement can reach 118.89 kPa when the cementation level is ***,the average content of CaCO_(3)in sand blocks is 2.52%.As a result,the SUICP process can be applied to remove heavy metal ions in wastewater or solid waste and improve the mechanical properties of soft soil foundations.

关键词： Biocement Soybean-powder filtrate(SPF) Removal efficiency Sandy soil Unconfined compressive strength(UCS)

Clinical experience of surgical intervention for severe acute pancreatitis

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Chinese Medical Journal 2014年第11期127卷 2097-2100页

作者： xu yuan Shao Qinshu Yang jin yu Xiaojun xu Ji Department of Gastrointestinal Surgery Zhejiang Provincial People'sHospital Hangzhou Zhejiang 310014 China

Background The controversy on the treatment strategy for severe acute pancreatitis （SAP） has never stopped for the past *** now surgical procedures play a decisive role in the treatment of SAP,especially in managing the related complications,but the rational indications,timing,and approaches of surgical intervention for SAP are still *** Clinical data of 308 SAP patients recruited during January 2000-January 2013,including 96 conservatively treated cases plus 212 surgically intervened cases,were comparatively *** on the initial surgical intervention time,the surgical intervention group was split into two：early intervention group （within 2 weeks） 103 cases,and late intervention group （after 2 weeks） 109 *** In the conservative treatment group,the cure rate was 82.29% （79/96）,the death rate was 13.54% （13/96）,and 4 cases self-discharged,while in the surgical intervention group,the cure rate was 84.43% （179/212） and the death rate was 10.85% （23/212） with 10 cases *** difference was of no statistical significance between these two groups （P 〉0.05）.In surgical intervention group,the death rate 15.53% （16/103） in the early surgical intervention group was higher than that of late surgical intervention group 6.42% （7/109）,and the difference was statistically significant （P 〈0.05）.Conclusions Both conservative treatment and surgical intervention play important roles in the treatment of SAP,and the indication,timing,and procedure should be strictly *** earlier than 2 weeks after onset of the disease is not recommended in patients with necrotizing pancreatitis only when there are specific indications,such as multiple organ failure,which does not improve despite active treatment,and in those who develop abdominal compartment syndrome.

关键词： severe acute pancreatitis surgical intervention timing and procedure

Numerical simulation of melt flow and temperature field during DC casting 2024 aluminium alloy under different casting conditions

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China Foundry 2024年第4期21卷 387-396页

作者： jin-chuan Wang yu-bo Zuo Qing-feng Zhu jing Li Rui Wang xu-dong Liu Key Laboratory of Electromagnetic Processing of Materials Ministry of EducationNortheastern UniversityShenyang 110819China School of Materials Science and Engineering Northeastern UniversityShenyang 110819China Engineering Research Center of Advanced Materials Preparing Technology Ministry of EducationShenyang 110819China CAS Key Laboratory of Nuclear Materials and Safety Assessment Institute of Metal ResearchChinese Academy of SciencesShenyang 110016China

Casting speed,casting temperature and secondary cooling water flow rate are the main process parameters affecting the DC casting *** parameters significantly influence the flow and temperature fields during casting,which are crucial for the quality of the ingot and can determine the success or failure of the casting *** simulation,with the advantages of low cost,rapid execution,and visualized results,is an important method to study and optimize the DC casting *** the present work,a simulation model of DC casting 2024 aluminum alloy was established,and the reliability of the model was ***,the influence of casting parameters on flow field and temperature field was studied in detail by numerical simulation *** show that with the increase of casting speed,the melt flow becomes faster,the depths of slurry zone and mushy zone increase,and the variation of slurry zone depth is greater than that of mushy *** an increase in casting temperature,the melt flow rate increases,the depth of the slurry zone becomes shallower,and the depth of the mushy zone experiences only minor *** simulation results further indicate that the increase of the flow rate of the secondary cooling water slightly reduces the depths of both slurry and mushy zone.

关键词： aluminium DC casting flow field temperature field numerical simulation

Effect of temperature and reaction path interaction on fluidization reduction kinetics of iron ore powder

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Journal of Iron and Steel Research International 2024年第8期31卷 1840-1849页

作者： Guo-min Zhu Ming-wei Hu An-nan Dou jin-yu Huang jing Ding Qi-yan xu School of Metallurgical Engineering Anhui University of TechnologyMa'anshan 243002AnhuiChina

Due to the instability of FeO at temperatures below 843 K,the fuidization reduction pathway of iron ore powder changes with the reduction ***,the effect of temperature and reaction pathway interaction on the kinetics of fuidization reduction of iron ore powder under low-temperature conditions ranging from 783 to 903 K was investigated to describe the fluidization reduction rate of iron ore powder from three aspects:microstructure change,reaction limiting link,and apparent activation energy of the reaction,exploring their internal *** experimental results revealed that in a temperature range of 783-813 K,the formation of a dense iron layer hindered the internal diffusion of reducing gas,resulting in relatively high gas diffusion *** addition,due to the differences in limiting links and reaction pathways in the intermediate stage of reduction,the apparent activation energy of the reaction *** apparent activation energy of the reaction ranged from 23.36 to 89.13 kJ/mol at temperature ranging from 783 to 813 K,while it ranged from 14.30 to 68.34 kJ/mol at temperature ranging from 873 to 903 K.

关键词： Reaction limiting link Gas internal diffusion Interface reaction Apparent activation energy Iron ore powder Reaction pathway Fluidization reduction