This article addresses the issue of computing the constant required to implement a specific nonparametric subset selection procedure based on ranks of data arising in a statistical randomized block experimental design...This article addresses the issue of computing the constant required to implement a specific nonparametric subset selection procedure based on ranks of data arising in a statistical randomized block experimental design. A model of three populations and two blocks is used to compute the probability distribution of the relevant statistic, the maximum of the population rank sums minus the rank sum of the “best” population. Calculations are done for populations following a normal distribution, and for populations following a bi-uniform distribution. The least favorable configuration in these cases is shown to arise when all three populations follow identical distributions. The bi-uniform distribution leads to an asymptotic counterexample to the conjecture that the least favorable configuration, i.e., that configuration minimizing the probability of a correct selection, occurs when all populations are identically distributed. These results are consistent with other large-scale simulation studies. All relevant computational R-codes are provided in appendices.展开更多
Although the slippage effect has been extensively studied,most of the previous studies focused on the impact of the slippage effect on apparent permeability within a low pore pressure range,resulting in the inability ...Although the slippage effect has been extensively studied,most of the previous studies focused on the impact of the slippage effect on apparent permeability within a low pore pressure range,resulting in the inability of matching the evolution of permeability in the remaining pressure range.In this paper,a new apparent permeability model that reveals the evolution of permeability under the combined action of effective stress and slippage in the full pore pressure range was proposed.In this model,both intrinsic permeability and slippage coefficient are stress dependent.Three experimental tests with pore pressure lower than 2 MPa and a test with pore pressure at about 10 MPa using cores from the same origin under constant confining stress and constant effective stress are conducted.By comparing experimental data and another apparent permeability model,we proved the fidelity of our newly developed model.Furthermore,the contribution factor of the slippage effect Rslip is used to determine the low pore pressure limit with significant slippage effect.Our results show that both narrow initial pore size and high effective stress increase the critical pore pressure.Finally,the evolutions of the slippage coefficient and the intrinsic permeability under different boundary conditions were analyzed.展开更多
Wheeled mobile robots(WMRs) encounter unavoidable slippage especially on the low adhesion terrain such that the robots stability and accuracy are reduced greatly.To overcome this drawback,this article presents a neura...Wheeled mobile robots(WMRs) encounter unavoidable slippage especially on the low adhesion terrain such that the robots stability and accuracy are reduced greatly.To overcome this drawback,this article presents a neural network(NN) based terminal sliding mode control(TSMC) for WMRs where an augmented ground friction model is reported by which the uncertain friction can be estimated and compensated according to the required performance.In contrast to the existing friction models,the developed augmented ground friction model corresponds to actual fact because not only the effects associated with the mobile platform velocity but also the slippage related to the wheel slip rate are concerned simultaneously.Besides,the presented control approach can combine the merits of both TSMC and radial basis function(RBF) neural networks techniques,thereby providing numerous excellent performances for the closed-loop system,such as finite time convergence and faster friction estimation property.Simulation results validate the proposed friction model and robustness of controller;these research results will improve the autonomy and intelligence of WMRs,particularly when the mobile platform suffers from the sophisticated unstructured environment.展开更多
This paper studies the fully distributed formation control problem of multi-robot systems without global position measurements subject to unknown longitudinal slippage constraints.It is difficult for robots to obtain ...This paper studies the fully distributed formation control problem of multi-robot systems without global position measurements subject to unknown longitudinal slippage constraints.It is difficult for robots to obtain accurate and stable global position information in many cases,such as when indoors,tunnels and any other environments where GPS(global positioning system)is denied,thus it is meaningful to overcome the dependence on global position information.Additionally,unknown slippage,which is hard to avoid for wheeled robots due to the existence of ice,sand,or muddy roads,can not only affect the control performance of wheeled robot,but also limits the application scene of wheeled mobile robots.To solve both problems,a fully distributed finite time state observer which does not require any global position information is proposed,such that each follower robot can estimate the leader’s states within finite time.The distributed adaptive controllers are further designed for each follower robot such that the desired formation can be achieved while overcoming the effect of unknown slippage.Finally,the effectiveness of the proposed observer and control laws are verified by simulation results.展开更多
The lifting efficiency and stability of gas lift well are affected by the socalled slippage-loss effect in gas-liquid two-phase flow.The existing studies on this subject have generally been based on vertical and horiz...The lifting efficiency and stability of gas lift well are affected by the socalled slippage-loss effect in gas-liquid two-phase flow.The existing studies on this subject have generally been based on vertical and horizontal wells.Only a few of them have considered inclined pipes.In the present work a new focused study is presented along these lines.More specifically,we use the non-slip pressure drop model with Flanigan’s fluctuation correction coefficient formula(together with the parameters of slippage density,slippage pressure drop and slippage ratio)to analyze the influence of the inclination angle on slippage loss for different conditions(different gas-liquid superficial velocity and pipe diameters).Moreover,the“standard regression coefficient method”is used for multi-factor sensitivity analysis.The experimental results indicate that slippage loss is affected by multiple factors,and the influence of the inclination angle on slippage loss is less significant than other factors.The change of the slippage pressure drop with the superficial velocity of gas-liquid is similar to that of the total pressure drop.The inclination angles of 45°and 60°have the greatest influence on slippage loss.The correlation between slippage density and slippage ratio is not obvious.Using the so-called slippage ratio seems to be a more accurate option to evaluate the degree of slippage loss.展开更多
The objective was to gain proof of genome damage-repair induced mitotic slippage process (MSP) to 4n-diplochromosome skewed division-system, earlier suggested to have “cancer-deciding” consequences. Our damage-model...The objective was to gain proof of genome damage-repair induced mitotic slippage process (MSP) to 4n-diplochromosome skewed division-system, earlier suggested to have “cancer-deciding” consequences. Our damage-model showed two succeeding phases: molecular mutations for initiation of fitness-gained cells, and large chromosomal changes to aneuploidy from inherited DNA-breakage-repair inaccuracies. The mutations were gained while DNA-repair and DNA-replication, co-existed in the route to tetraploidy, a phenomenon also expressed for some existing unicellular organisms. These organisms also showed genome reductive, amitotic, meioticlike division, and was the origin of human genome conserved, self-inflicted 90° reorientation of the 4n nucleus relative to the cytoskeleton axis. In the in vitro DNA-damage model, this remarkable 4n-event deciding “flat-upright” cell-growth characteristics showed several consequences, for example, cancer-important, E-cadherin-β-catenin cell-to-cell adherence destruction, which gave diploid progeny cells, mobility freedom from cell contact inhibition, likely in renewal tissues. This 4n-skewed division-system with inheritance in progeny cells for repeat occurrences as mentioned for flat-up-right growth patterns is similar to claimed concepts of metaplasia-EMT/MET embryogenesis events in cancer evolution. A scrutiny of this literature, proof-wise invalidated this embryological concept by tetraploid 8C cells occurring in MET events and, was noted for small cell occurrence, i.e., diploidy from 4n-8C reductive division, an also event for tumor relapse cells, derived from genome damaging therapy agents. Pre-cancer hyperplasia reported MSP, cadherincatenin destruction and 90° perpendicularity to basal cell membrane. The DNA-damage-repair model can weed-out therapy-agents triggering 4n-skewed division. Cancer-control, beginning-information, is likely from mutational identity of the 4n derived fitness-gained cells.展开更多
A new parameter identification method is proposed to solve the slippage problem when tracked mobile robots execute turning motions.Such motion is divided into two states in this paper:pivot turning and coupled turning...A new parameter identification method is proposed to solve the slippage problem when tracked mobile robots execute turning motions.Such motion is divided into two states in this paper:pivot turning and coupled turning between angular velocity and linear velocity.In the processing of pivot turning,the slippage parameters could be obtained by measuring the end point in a square path.In the process of coupled turning,the slippage parameters could be calculated by measuring the perimeter of a circular path and the linear distance between the start and end points.The identification results showed that slippage parameters were affected by velocity.Therefore,a fuzzy rule base was established with the basis on the identification data,and a fuzzy controller was applied to motion control and dead reckoning.This method effectively compensated for errors resulting in unequal tension between the left and right tracks,structural dimensions and slippage.The results demonstrated that the accuracy of robot positioning and control could be substantially improved on a rigid floor.展开更多
There has been lack of work efforts on how to optimize cementing and completing parameters in order to prevent casing failure induced by formation slippage in pertroleum industry scope.Once the weak plane fails,the fo...There has been lack of work efforts on how to optimize cementing and completing parameters in order to prevent casing failure induced by formation slippage in pertroleum industry scope.Once the weak plane fails,the formation will become easily undertaken slippage across a large area along its interface.The plenty of horizontal planes of weakness in reservoir formations,as reported for a number of oilfields,can easily undertaken slippage once it fails.To address the problem,three-dimensional finite element models were established by taking into considerations the elastoplastic mechanical characteristics of both the casing and the near-wellbore rock.Two types of casing impairment scenarios were considered:Casing collapse(that causes tubing stuck in the well)and complete casing shear-off.In this study,the critical slip displacement of casing shear damage under both cemented and un-cemented conditions was calculated,and the critical displacement of casing with various wall thicknesses and steel grades was compared.A new cementing practice for the Daqing oilfield was then proposed by optimizing casing parameters according to API standards,and a new research method was also put forward by proposing new casing materials to effectively mitigate casing failure caused by formation slippage for the future.Modeling results indicate that the stress and deformation associated with casing in the un-cemented condition is more diffused and the critical slippage displacement is larger than that in the cemented condition.Therefore,the un-cemented condition is more effective in preventing casing shear failure and easier for casing repair,for the case of casing damage caused by formation shear slippage.Casing elongation is the key parameter of casing shear failure in the un-cemented condition.Lower grade casing exhibits a larger critical slippage displacement because of its higher elongation capacity under stress.Casing with lower grade and smaller thickness provides more advantages in preventing casing damage in formations abundant with horizontal weak layers.If the elongation of casing can be largely improved,the critical displacement value can be increased by 21.40%.Higher grade and thicker casing is adapted for mitigate casing failure caused by formation slippage.展开更多
Using theoretical analysis, the single-phase gas seepage mathematical model influenced by slippage effects was established. The results show that the pressure of producing wells attenuates more violently than the well...Using theoretical analysis, the single-phase gas seepage mathematical model influenced by slippage effects was established. The results show that the pressure of producing wells attenuates more violently than the wells without slippage effects. The decay rate of reservoir pressure is more violent as the Klinkenherg factor increases. The gas prediction output gradually increases as the Klinenberg factor increases when considering gas slippage effects. Through specific examples, analyzed the law of stope pore pressure and gas output forecast changing in a hypotonic reservoir with slippage effects. The results have great theoretical significance in the study of the law of coal-bed methane migration in hypotonic reservoirs and for the exploitation of coal-bed methane.展开更多
A mathematical model of landfill gas migration was established under presumption of the effect of gas slippage. The slippage solutions to the nonlinear mathematical model were accomplished by the perturbation and inte...A mathematical model of landfill gas migration was established under presumption of the effect of gas slippage. The slippage solutions to the nonlinear mathematical model were accomplished by the perturbation and integral transformation method. The distribution law of gas pressure in landfill site was presented under the conditions of considering and neglecting slippage effect. Sensitivity of the model input parameters was analyzed. The model solutions were compared to observation values. Results show that gas slippage effect has a large impact on gas pressure distribution. Landfill gas pressure and pressure gradient considering slippage effect is lower than that neglecting slippage effect, with reasonable agreement between model solution and measured data. It makes clear that the difference between considering and neglecting slippage effect is obvious and the effects of coupling cannot be ignored. The theoretical basis is provided for engineering design of security control and decision making of gas exploitation in landfill site. The solutions give scientific foundation to analyzing well test data in the process of low-permeability oil gas reservoir exploitation.展开更多
Hydrodynamic lubrications between two plane plates with an intersection angle θ have been investigated us- ing the boundary slippage theory, and relations are obtained between dimensionless pressures and coordinate x...Hydrodynamic lubrications between two plane plates with an intersection angle θ have been investigated us- ing the boundary slippage theory, and relations are obtained between dimensionless pressures and coordinate x, between bearing capacity, friction force, friction coefficient and di- mensionless slipping size factor. The results show that bear- ing capacity of two plane plates without boundary slippage significantly increases with increasing intersection angle θ when 0 〈 θ 〈 1°, whereas decreases with increasing in- tersection angle 0 when θ 〉 1°. The results also show that negative pressure occurs in fluid entrance region and bearing capacity decreases, and friction force and friction coefficient increase with the increase of dimensionless slipping size fac- tor.展开更多
Boundary slippage is used to generate the load-carrying capacity of the hydrodynamic contact between two parallel plane surfaces. In the fluid inlet zone, the fluidcontact interfacial shear strength on a stationary su...Boundary slippage is used to generate the load-carrying capacity of the hydrodynamic contact between two parallel plane surfaces. In the fluid inlet zone, the fluidcontact interfacial shear strength on a stationary surface is set at low to generate boundary slippage there, while in the fluid outlet zone the fluid-contact interfacial shear strength on the stationary surface is set at high enough to prevent the occurrence of boundary slippage. The fluid-contact interfacial shear strength on the entire moving surface is set at high enough to prevent boundary slippage on the moving surface. These hydrodynamic contact configurations are analyzed to generate the pronounced load-carrying capacity. The optimum ratio of the outlet zone width to the inlet zone width for the maximum load-carrying capacity of the whole contact is found to be 0.5.展开更多
Experime ntal research results of surface damage accumulation in rail steel under rolling with slippage are presented. Hertz contact for two rollers made of rail and whe el steels was realized in the test. The influe...Experime ntal research results of surface damage accumulation in rail steel under rolling with slippage are presented. Hertz contact for two rollers made of rail and whe el steels was realized in the test. The influence of loading regime upon wear of rail is considered. The estimation of characteristics of surface fracture resis tance for rail steel is made. The method to predict the life of rail steel under given conditions of regular loading is proposed.展开更多
When the gas flow in the compact porous medium at low speed,it has slippage effect which is caused by the gas molecular collision whit the solidskeleton.Using the gas transfusion slippage effect at researching the coa...When the gas flow in the compact porous medium at low speed,it has slippage effect which is caused by the gas molecular collision whit the solidskeleton.Using the gas transfusion slippage effect at researching the coal bed transfusion rule,established the transfusion mathematical model of the coal bed which had considered the slippage effect. Observing the influence of the different toencircle presses,the different hole press and the different actual stress to the coal bed by using the three-axles permeameter.Thus sum- marized the transfusion rule of the coal bed.The experiment indicates that the bigger of the surrounding pressure,the more obvious of the slippage effect.At the same condition of axial pressure and the surrounding pressure,with the increase of the hole pressure,the coal permeability became bigger and then smaller.The coal body effective tress and the permeability curve nearly also has the same change tendency.Thus we can draws the conclusion that the transfusion of the gas in the coal bed generally has the slippage effect.展开更多
<p> <span><span style="font-family:;" "=""><span>Normal cells must become cancer-enabling before anything else occurs, according to latest literature. The goal in this ...<p> <span><span style="font-family:;" "=""><span>Normal cells must become cancer-enabling before anything else occurs, according to latest literature. The goal in this mini-review is to demonstrate special tetraploidy in the enabling process. This we have shown from genomic damage, DDR (DNA Damage Response) activity with skip of mitosis leading to diploid G2 cells at the G1 border in need of chromatin repair for continued cell cycling to the special tetraploid division system. In several studies</span><span> </span><span>specific methylation transferase genes were activated in normal human cells in tissue fields</span><span>, </span><span>containing different cell growth stages of the cancerous process. Histology studies, in addition to molecular chemistry for identification of oncogenic mutational change</span></span></span><span><span><span>,</span></span></span><span><span><span> w</span></span></span><span><span><span>ere</span></span></span><span><span><span style="font-family:;" "=""><span> a welcome change (see below). In a study on melanoma origin, DDR also showed arrested diploid cells regaining cycling from methylation transferase activity with causation of 2n melanocytes transforming to 4n melanoblasts, giving rise to epigenetic tumorigenesis enabled First Cells. Such First Cells were from Barrett’s esophagus shown to have inherited the unique division system from 4n diplochromosomal cells, first described in mouse ascites cancer cells (below). We discovered that the large nucleus prior to chromosomal division turned 90<span style="color:#4F4F4F;white-space:normal;background-color:#FFFFFF;">°</span> relative to the cytoskeleton axis, and divided genome reductive to diploid, First Cells, in a perpendicular </span><span>orientation to the surrounding normal cells they had originated from. This unique division system was herein shown to occur at metastasis stage, imply</span><span>ing activity throughout the cancerous evolution. Another study showed 4-chromatid tetraploidy in development to B-cell lymphoma, and that such cancer cells also proliferated with participation of this unusual division system. Such participation has long been known from Bloom’s inherited syndrome with repair chiasmas between the four chromatids, also an </span><i><span>in vitro</span></i><span> observation by us. Our cytogenetic approach also revealed that they believed mitotic division in cancer cells is wrong because such cell divisions were found to be from an adaptation between amitosis and mitosis, called amitotic</span></span></span></span><span><span><span>-</span></span></span><span><span><span style="font-family:;" "=""><span>mitosis. Amitosis means division without centrosomes, which has long been known from oral cancer cells, in that MOTCs (microtubule orga</span><span>nizing center) were lacking centrioles. This observation calls for re-introduction </span><span>of karyotype and cell division studies in cancer cell proliferation. It has high probability of contributing novel approaches to cancer control from screening of drugs against the amitotic-mitotic division apparatus.</span></span></span></span><span><span><span style="font-family:;" "=""> </span></span></span> </p> <span></span><span></span> <p> <span></span> </p>展开更多
In this article, we evaluated surface topographical images of the bovine (cartilage/cartilage) pair friction. In healthy joints, the cartilage (AC) surface coated with phospholipid multi-bilayers is activated by the l...In this article, we evaluated surface topographical images of the bovine (cartilage/cartilage) pair friction. In healthy joints, the cartilage (AC) surface coated with phospholipid multi-bilayers is activated by the lamellar-repulsive-slippage lubrication mechanism. Hydrophilic and negatively charged (--) natural cartilage surface is covered by phospholipid bilayers. These phospholipids have been demonstrated to exert highly desirable characteristics on the surface of articular cartilage such as efficient lubrication, load processing, and semi-permeability for nutrient transport. We attempt to demonstrate phospholipids involvement in boundary lubrication of articular cartilage by: 1) the surface amorphous layer (SAL);2) negatively charged surface;3) lamellar-repulsive lubrication;and 4) lamellar-slippage mechanism in (cartilage/cartilage) pair lubrication. The secret of the super low friction and wear between the cartilage-bearing surfaces is lamellar-repulsive and slippage mechanism of lubrication. We also present the evidence that the superficial phospholipid bilayer covering the articular surface of cartilage has a primary function of creating a hydrophilic surface with wetting properties, and hence, of controlling interfacial properties under 7.4 pH values. We conclude that lamellar bilayers slippage, as well as the short-range repulsion between the interfaces of the negatively charged (-) cartilage surfaces, is a primary determinant of the low frictional properties of the joint.展开更多
The evolution due to temperature and pressure of shale reservoir permeability affects the productivity evaluation and development decision of shale gas reservoirs,which is very important for the exploration and develo...The evolution due to temperature and pressure of shale reservoir permeability affects the productivity evaluation and development decision of shale gas reservoirs,which is very important for the exploration and development of unconventional gas reservoirs.This study analyzed the coupling effects of temperature(25,50,and 75°C),effective stress(15 and 30 MPa),and pore pressure(0.5,2.0,4.0,and 8.0 MPa)on the permeability of the shale sample in the Longmaxi Formation.As the temperature and pressure increased,the apparent permeability exhibited a downward trend,and the absolute permeability decreased with the rise of temperature or effective stress.An in‐depth analysis of the gas slippage factors under the conditions of different temperature and pressure was conducted to evaluate the trend of the average pore width with temperature and pressure.The results were then verified by scanning electron microscopy(SEM).The results provide new insights into evaluating the permeability of the Longmaxi shale and can be used to enhance the gas recovery rate of deep shale gas reservoirs.展开更多
An approach for estimating ground surface rupture caused by strong earthquakes is presented in this paper, where the finite element （FE） method of continuous and discontinuous coalescent displacement fields is adopt...An approach for estimating ground surface rupture caused by strong earthquakes is presented in this paper, where the finite element （FE） method of continuous and discontinuous coalescent displacement fields is adopted. The onset condition of strain localization is introduced to detect the formation of the slippage line. In the analysis, the Drucker-Prager constitutive model is used for soils and the rate- and state-dependent friction law is used on the slippage line to simulate the evolution of the sliding. A simple application to evaluate the ground surface rupture induced by a reverse fault movement is provided, and the numerical simulation shows good agreement with failure characteristics observed in the field after strong earthquakes.展开更多
To study the casing deformation(CD)in shale gas well fracturing caused by natural fracture slip,a fracture face stress model is built based on stress analysis,and a CD prediction model is established based on complex ...To study the casing deformation(CD)in shale gas well fracturing caused by natural fracture slip,a fracture face stress model is built based on stress analysis,and a CD prediction model is established based on complex function to analyze factors affecting wellbore shear stress and CD.(1)The fracture and wellbore approach angles have significant impacts on the wellbore shear stress.In Weiyuan shale gas field,Sichuan Basin,under the common wellbore approach angle of nearly 90°,the wellbore is subjected to large shear stress and high risk of CD at the fracture approach angle range of 20° to 55° or its supplementary angle range.(2)When the fracture is partially opened,the wellbore shear stress is positively correlated with the fluid pressure,and negatively correlated with the fracture friction coefficient;when the fracture is fully opened,the wellbore shear stress is positively correlated with the natural fracture area.(3)The lower the elastic modulus and the longer the fracture length,the more serious the CD will be,and the Poisson’s ratio has a weak influence on the CD.The deformation first increases and then decreases with the increase of fracture approach angle,and reaches the maximum when the fracture approach angle is 45°.(4)At a given fracture approach angle,appropriately adjusting the wellbore approach angle can avoid high shear stress acting on wellbore,and reasonable control of the fluid pressure in the fracture can reduce the CD risk.The shear stress acting on casing is usually much greater than the shear strength of casing,so increasing casing strength or cementing quality have limited effect on reducing the risk of CD.Caliper logging data has verified that the CD prediction model is reliable,so the model can be used to establish risk analysis chart and calculate deformation value,to provide a reference for quick CD risk prediction in fracturing design.展开更多
文摘This article addresses the issue of computing the constant required to implement a specific nonparametric subset selection procedure based on ranks of data arising in a statistical randomized block experimental design. A model of three populations and two blocks is used to compute the probability distribution of the relevant statistic, the maximum of the population rank sums minus the rank sum of the “best” population. Calculations are done for populations following a normal distribution, and for populations following a bi-uniform distribution. The least favorable configuration in these cases is shown to arise when all three populations follow identical distributions. The bi-uniform distribution leads to an asymptotic counterexample to the conjecture that the least favorable configuration, i.e., that configuration minimizing the probability of a correct selection, occurs when all populations are identically distributed. These results are consistent with other large-scale simulation studies. All relevant computational R-codes are provided in appendices.
基金supported by the National Natural Science Foundation of China(No.52079077)the Natural Science Foundation of Shandong Province(No.ZR2021QE069)China Postdoctoral Science Foundation(No.2019M662402).
文摘Although the slippage effect has been extensively studied,most of the previous studies focused on the impact of the slippage effect on apparent permeability within a low pore pressure range,resulting in the inability of matching the evolution of permeability in the remaining pressure range.In this paper,a new apparent permeability model that reveals the evolution of permeability under the combined action of effective stress and slippage in the full pore pressure range was proposed.In this model,both intrinsic permeability and slippage coefficient are stress dependent.Three experimental tests with pore pressure lower than 2 MPa and a test with pore pressure at about 10 MPa using cores from the same origin under constant confining stress and constant effective stress are conducted.By comparing experimental data and another apparent permeability model,we proved the fidelity of our newly developed model.Furthermore,the contribution factor of the slippage effect Rslip is used to determine the low pore pressure limit with significant slippage effect.Our results show that both narrow initial pore size and high effective stress increase the critical pore pressure.Finally,the evolutions of the slippage coefficient and the intrinsic permeability under different boundary conditions were analyzed.
基金supported by the National Natural Science Foundation of China(61573078,61573147)the International S&T Cooperation Program of China(2014DFB70120)the State Key Laboratory of Robotics and System(SKLRS2015ZD06)
文摘Wheeled mobile robots(WMRs) encounter unavoidable slippage especially on the low adhesion terrain such that the robots stability and accuracy are reduced greatly.To overcome this drawback,this article presents a neural network(NN) based terminal sliding mode control(TSMC) for WMRs where an augmented ground friction model is reported by which the uncertain friction can be estimated and compensated according to the required performance.In contrast to the existing friction models,the developed augmented ground friction model corresponds to actual fact because not only the effects associated with the mobile platform velocity but also the slippage related to the wheel slip rate are concerned simultaneously.Besides,the presented control approach can combine the merits of both TSMC and radial basis function(RBF) neural networks techniques,thereby providing numerous excellent performances for the closed-loop system,such as finite time convergence and faster friction estimation property.Simulation results validate the proposed friction model and robustness of controller;these research results will improve the autonomy and intelligence of WMRs,particularly when the mobile platform suffers from the sophisticated unstructured environment.
基金supported by the National Natural Science Foundation of China(61922063,61773289)Shanghai Shuguang Project(18SG18)+2 种基金Shanghai Natural Science Foundation(19ZR1461400)Shanghai Sailing Program(20YF1452900)Fundamental Research Funds for the Central Universities。
文摘This paper studies the fully distributed formation control problem of multi-robot systems without global position measurements subject to unknown longitudinal slippage constraints.It is difficult for robots to obtain accurate and stable global position information in many cases,such as when indoors,tunnels and any other environments where GPS(global positioning system)is denied,thus it is meaningful to overcome the dependence on global position information.Additionally,unknown slippage,which is hard to avoid for wheeled robots due to the existence of ice,sand,or muddy roads,can not only affect the control performance of wheeled robot,but also limits the application scene of wheeled mobile robots.To solve both problems,a fully distributed finite time state observer which does not require any global position information is proposed,such that each follower robot can estimate the leader’s states within finite time.The distributed adaptive controllers are further designed for each follower robot such that the desired formation can be achieved while overcoming the effect of unknown slippage.Finally,the effectiveness of the proposed observer and control laws are verified by simulation results.
基金supported by National Natural Science Foundation of China(No.61572084)the National Key Research and Development Program of China(2017ZX05030-005,2019D-4413).
文摘The lifting efficiency and stability of gas lift well are affected by the socalled slippage-loss effect in gas-liquid two-phase flow.The existing studies on this subject have generally been based on vertical and horizontal wells.Only a few of them have considered inclined pipes.In the present work a new focused study is presented along these lines.More specifically,we use the non-slip pressure drop model with Flanigan’s fluctuation correction coefficient formula(together with the parameters of slippage density,slippage pressure drop and slippage ratio)to analyze the influence of the inclination angle on slippage loss for different conditions(different gas-liquid superficial velocity and pipe diameters).Moreover,the“standard regression coefficient method”is used for multi-factor sensitivity analysis.The experimental results indicate that slippage loss is affected by multiple factors,and the influence of the inclination angle on slippage loss is less significant than other factors.The change of the slippage pressure drop with the superficial velocity of gas-liquid is similar to that of the total pressure drop.The inclination angles of 45°and 60°have the greatest influence on slippage loss.The correlation between slippage density and slippage ratio is not obvious.Using the so-called slippage ratio seems to be a more accurate option to evaluate the degree of slippage loss.
文摘The objective was to gain proof of genome damage-repair induced mitotic slippage process (MSP) to 4n-diplochromosome skewed division-system, earlier suggested to have “cancer-deciding” consequences. Our damage-model showed two succeeding phases: molecular mutations for initiation of fitness-gained cells, and large chromosomal changes to aneuploidy from inherited DNA-breakage-repair inaccuracies. The mutations were gained while DNA-repair and DNA-replication, co-existed in the route to tetraploidy, a phenomenon also expressed for some existing unicellular organisms. These organisms also showed genome reductive, amitotic, meioticlike division, and was the origin of human genome conserved, self-inflicted 90° reorientation of the 4n nucleus relative to the cytoskeleton axis. In the in vitro DNA-damage model, this remarkable 4n-event deciding “flat-upright” cell-growth characteristics showed several consequences, for example, cancer-important, E-cadherin-β-catenin cell-to-cell adherence destruction, which gave diploid progeny cells, mobility freedom from cell contact inhibition, likely in renewal tissues. This 4n-skewed division-system with inheritance in progeny cells for repeat occurrences as mentioned for flat-up-right growth patterns is similar to claimed concepts of metaplasia-EMT/MET embryogenesis events in cancer evolution. A scrutiny of this literature, proof-wise invalidated this embryological concept by tetraploid 8C cells occurring in MET events and, was noted for small cell occurrence, i.e., diploidy from 4n-8C reductive division, an also event for tumor relapse cells, derived from genome damaging therapy agents. Pre-cancer hyperplasia reported MSP, cadherincatenin destruction and 90° perpendicularity to basal cell membrane. The DNA-damage-repair model can weed-out therapy-agents triggering 4n-skewed division. Cancer-control, beginning-information, is likely from mutational identity of the 4n derived fitness-gained cells.
文摘A new parameter identification method is proposed to solve the slippage problem when tracked mobile robots execute turning motions.Such motion is divided into two states in this paper:pivot turning and coupled turning between angular velocity and linear velocity.In the processing of pivot turning,the slippage parameters could be obtained by measuring the end point in a square path.In the process of coupled turning,the slippage parameters could be calculated by measuring the perimeter of a circular path and the linear distance between the start and end points.The identification results showed that slippage parameters were affected by velocity.Therefore,a fuzzy rule base was established with the basis on the identification data,and a fuzzy controller was applied to motion control and dead reckoning.This method effectively compensated for errors resulting in unequal tension between the left and right tracks,structural dimensions and slippage.The results demonstrated that the accuracy of robot positioning and control could be substantially improved on a rigid floor.
基金This work was financially supported by the Science Foundation Project in Heilongjiang Province of China(No.QC2018047).
文摘There has been lack of work efforts on how to optimize cementing and completing parameters in order to prevent casing failure induced by formation slippage in pertroleum industry scope.Once the weak plane fails,the formation will become easily undertaken slippage across a large area along its interface.The plenty of horizontal planes of weakness in reservoir formations,as reported for a number of oilfields,can easily undertaken slippage once it fails.To address the problem,three-dimensional finite element models were established by taking into considerations the elastoplastic mechanical characteristics of both the casing and the near-wellbore rock.Two types of casing impairment scenarios were considered:Casing collapse(that causes tubing stuck in the well)and complete casing shear-off.In this study,the critical slip displacement of casing shear damage under both cemented and un-cemented conditions was calculated,and the critical displacement of casing with various wall thicknesses and steel grades was compared.A new cementing practice for the Daqing oilfield was then proposed by optimizing casing parameters according to API standards,and a new research method was also put forward by proposing new casing materials to effectively mitigate casing failure caused by formation slippage for the future.Modeling results indicate that the stress and deformation associated with casing in the un-cemented condition is more diffused and the critical slippage displacement is larger than that in the cemented condition.Therefore,the un-cemented condition is more effective in preventing casing shear failure and easier for casing repair,for the case of casing damage caused by formation shear slippage.Casing elongation is the key parameter of casing shear failure in the un-cemented condition.Lower grade casing exhibits a larger critical slippage displacement because of its higher elongation capacity under stress.Casing with lower grade and smaller thickness provides more advantages in preventing casing damage in formations abundant with horizontal weak layers.If the elongation of casing can be largely improved,the critical displacement value can be increased by 21.40%.Higher grade and thicker casing is adapted for mitigate casing failure caused by formation slippage.
基金Supported by the Youth Program of the National Natural Science Foundation of China （51004061）
文摘Using theoretical analysis, the single-phase gas seepage mathematical model influenced by slippage effects was established. The results show that the pressure of producing wells attenuates more violently than the wells without slippage effects. The decay rate of reservoir pressure is more violent as the Klinkenherg factor increases. The gas prediction output gradually increases as the Klinenberg factor increases when considering gas slippage effects. Through specific examples, analyzed the law of stope pore pressure and gas output forecast changing in a hypotonic reservoir with slippage effects. The results have great theoretical significance in the study of the law of coal-bed methane migration in hypotonic reservoirs and for the exploitation of coal-bed methane.
基金Project supported by the National Natural Science Foundation of China (No. 50309015) the Major State Basic Research Development Program of China (973 Program) (No. 2002CB412708) the Sunshine Young Project in Wuhan City of China (No. 20055003059-33) the Open Fund of State Professonal Lab of Geological Hazard Prevention and Engineering Geological Environment Protection (No. GZ2004-011)
文摘A mathematical model of landfill gas migration was established under presumption of the effect of gas slippage. The slippage solutions to the nonlinear mathematical model were accomplished by the perturbation and integral transformation method. The distribution law of gas pressure in landfill site was presented under the conditions of considering and neglecting slippage effect. Sensitivity of the model input parameters was analyzed. The model solutions were compared to observation values. Results show that gas slippage effect has a large impact on gas pressure distribution. Landfill gas pressure and pressure gradient considering slippage effect is lower than that neglecting slippage effect, with reasonable agreement between model solution and measured data. It makes clear that the difference between considering and neglecting slippage effect is obvious and the effects of coupling cannot be ignored. The theoretical basis is provided for engineering design of security control and decision making of gas exploitation in landfill site. The solutions give scientific foundation to analyzing well test data in the process of low-permeability oil gas reservoir exploitation.
文摘Hydrodynamic lubrications between two plane plates with an intersection angle θ have been investigated us- ing the boundary slippage theory, and relations are obtained between dimensionless pressures and coordinate x, between bearing capacity, friction force, friction coefficient and di- mensionless slipping size factor. The results show that bear- ing capacity of two plane plates without boundary slippage significantly increases with increasing intersection angle θ when 0 〈 θ 〈 1°, whereas decreases with increasing in- tersection angle 0 when θ 〉 1°. The results also show that negative pressure occurs in fluid entrance region and bearing capacity decreases, and friction force and friction coefficient increase with the increase of dimensionless slipping size fac- tor.
文摘Boundary slippage is used to generate the load-carrying capacity of the hydrodynamic contact between two parallel plane surfaces. In the fluid inlet zone, the fluidcontact interfacial shear strength on a stationary surface is set at low to generate boundary slippage there, while in the fluid outlet zone the fluid-contact interfacial shear strength on the stationary surface is set at high enough to prevent the occurrence of boundary slippage. The fluid-contact interfacial shear strength on the entire moving surface is set at high enough to prevent boundary slippage on the moving surface. These hydrodynamic contact configurations are analyzed to generate the pronounced load-carrying capacity. The optimum ratio of the outlet zone width to the inlet zone width for the maximum load-carrying capacity of the whole contact is found to be 0.5.
基金SupportedbytheNationalNaturalScienceFoundationofChina (No .5 9935 10 0 )
文摘Experime ntal research results of surface damage accumulation in rail steel under rolling with slippage are presented. Hertz contact for two rollers made of rail and whe el steels was realized in the test. The influence of loading regime upon wear of rail is considered. The estimation of characteristics of surface fracture resis tance for rail steel is made. The method to predict the life of rail steel under given conditions of regular loading is proposed.
基金the National Natural Sciences Fund Subsidization Project of China(50774041)National Important Item of the Natural Sciences Fund Subsidization Project of China(50490275)
文摘When the gas flow in the compact porous medium at low speed,it has slippage effect which is caused by the gas molecular collision whit the solidskeleton.Using the gas transfusion slippage effect at researching the coal bed transfusion rule,established the transfusion mathematical model of the coal bed which had considered the slippage effect. Observing the influence of the different toencircle presses,the different hole press and the different actual stress to the coal bed by using the three-axles permeameter.Thus sum- marized the transfusion rule of the coal bed.The experiment indicates that the bigger of the surrounding pressure,the more obvious of the slippage effect.At the same condition of axial pressure and the surrounding pressure,with the increase of the hole pressure,the coal permeability became bigger and then smaller.The coal body effective tress and the permeability curve nearly also has the same change tendency.Thus we can draws the conclusion that the transfusion of the gas in the coal bed generally has the slippage effect.
文摘<p> <span><span style="font-family:;" "=""><span>Normal cells must become cancer-enabling before anything else occurs, according to latest literature. The goal in this mini-review is to demonstrate special tetraploidy in the enabling process. This we have shown from genomic damage, DDR (DNA Damage Response) activity with skip of mitosis leading to diploid G2 cells at the G1 border in need of chromatin repair for continued cell cycling to the special tetraploid division system. In several studies</span><span> </span><span>specific methylation transferase genes were activated in normal human cells in tissue fields</span><span>, </span><span>containing different cell growth stages of the cancerous process. Histology studies, in addition to molecular chemistry for identification of oncogenic mutational change</span></span></span><span><span><span>,</span></span></span><span><span><span> w</span></span></span><span><span><span>ere</span></span></span><span><span><span style="font-family:;" "=""><span> a welcome change (see below). In a study on melanoma origin, DDR also showed arrested diploid cells regaining cycling from methylation transferase activity with causation of 2n melanocytes transforming to 4n melanoblasts, giving rise to epigenetic tumorigenesis enabled First Cells. Such First Cells were from Barrett’s esophagus shown to have inherited the unique division system from 4n diplochromosomal cells, first described in mouse ascites cancer cells (below). We discovered that the large nucleus prior to chromosomal division turned 90<span style="color:#4F4F4F;white-space:normal;background-color:#FFFFFF;">°</span> relative to the cytoskeleton axis, and divided genome reductive to diploid, First Cells, in a perpendicular </span><span>orientation to the surrounding normal cells they had originated from. This unique division system was herein shown to occur at metastasis stage, imply</span><span>ing activity throughout the cancerous evolution. Another study showed 4-chromatid tetraploidy in development to B-cell lymphoma, and that such cancer cells also proliferated with participation of this unusual division system. Such participation has long been known from Bloom’s inherited syndrome with repair chiasmas between the four chromatids, also an </span><i><span>in vitro</span></i><span> observation by us. Our cytogenetic approach also revealed that they believed mitotic division in cancer cells is wrong because such cell divisions were found to be from an adaptation between amitosis and mitosis, called amitotic</span></span></span></span><span><span><span>-</span></span></span><span><span><span style="font-family:;" "=""><span>mitosis. Amitosis means division without centrosomes, which has long been known from oral cancer cells, in that MOTCs (microtubule orga</span><span>nizing center) were lacking centrioles. This observation calls for re-introduction </span><span>of karyotype and cell division studies in cancer cell proliferation. It has high probability of contributing novel approaches to cancer control from screening of drugs against the amitotic-mitotic division apparatus.</span></span></span></span><span><span><span style="font-family:;" "=""> </span></span></span> </p> <span></span><span></span> <p> <span></span> </p>
文摘In this article, we evaluated surface topographical images of the bovine (cartilage/cartilage) pair friction. In healthy joints, the cartilage (AC) surface coated with phospholipid multi-bilayers is activated by the lamellar-repulsive-slippage lubrication mechanism. Hydrophilic and negatively charged (--) natural cartilage surface is covered by phospholipid bilayers. These phospholipids have been demonstrated to exert highly desirable characteristics on the surface of articular cartilage such as efficient lubrication, load processing, and semi-permeability for nutrient transport. We attempt to demonstrate phospholipids involvement in boundary lubrication of articular cartilage by: 1) the surface amorphous layer (SAL);2) negatively charged surface;3) lamellar-repulsive lubrication;and 4) lamellar-slippage mechanism in (cartilage/cartilage) pair lubrication. The secret of the super low friction and wear between the cartilage-bearing surfaces is lamellar-repulsive and slippage mechanism of lubrication. We also present the evidence that the superficial phospholipid bilayer covering the articular surface of cartilage has a primary function of creating a hydrophilic surface with wetting properties, and hence, of controlling interfacial properties under 7.4 pH values. We conclude that lamellar bilayers slippage, as well as the short-range repulsion between the interfaces of the negatively charged (-) cartilage surfaces, is a primary determinant of the low frictional properties of the joint.
基金National Natural Science Foundations of China,Grant/Award Numbers:51809264,52178375,52211530088Fundamental Research Funds for the Central Universities,Grant/Award Number:2023ZKPYLJ06。
文摘The evolution due to temperature and pressure of shale reservoir permeability affects the productivity evaluation and development decision of shale gas reservoirs,which is very important for the exploration and development of unconventional gas reservoirs.This study analyzed the coupling effects of temperature(25,50,and 75°C),effective stress(15 and 30 MPa),and pore pressure(0.5,2.0,4.0,and 8.0 MPa)on the permeability of the shale sample in the Longmaxi Formation.As the temperature and pressure increased,the apparent permeability exhibited a downward trend,and the absolute permeability decreased with the rise of temperature or effective stress.An in‐depth analysis of the gas slippage factors under the conditions of different temperature and pressure was conducted to evaluate the trend of the average pore width with temperature and pressure.The results were then verified by scanning electron microscopy(SEM).The results provide new insights into evaluating the permeability of the Longmaxi shale and can be used to enhance the gas recovery rate of deep shale gas reservoirs.
基金National Science Foundation Council State KeyLaboratory of Frozen Soil Engineering (SKLFSE200504)State Commonweal Research Project (2002DIB30076)
文摘An approach for estimating ground surface rupture caused by strong earthquakes is presented in this paper, where the finite element （FE） method of continuous and discontinuous coalescent displacement fields is adopted. The onset condition of strain localization is introduced to detect the formation of the slippage line. In the analysis, the Drucker-Prager constitutive model is used for soils and the rate- and state-dependent friction law is used on the slippage line to simulate the evolution of the sliding. A simple application to evaluate the ground surface rupture induced by a reverse fault movement is provided, and the numerical simulation shows good agreement with failure characteristics observed in the field after strong earthquakes.
基金Supported by National Natural Science Foundation of China(51904258,51874250)Project of Science and Technology of Shale Gas Exploration&Development of CCDC(2019-JS-941)National Major Project of Science and Technology(2016ZX05048-004-006)。
文摘To study the casing deformation(CD)in shale gas well fracturing caused by natural fracture slip,a fracture face stress model is built based on stress analysis,and a CD prediction model is established based on complex function to analyze factors affecting wellbore shear stress and CD.(1)The fracture and wellbore approach angles have significant impacts on the wellbore shear stress.In Weiyuan shale gas field,Sichuan Basin,under the common wellbore approach angle of nearly 90°,the wellbore is subjected to large shear stress and high risk of CD at the fracture approach angle range of 20° to 55° or its supplementary angle range.(2)When the fracture is partially opened,the wellbore shear stress is positively correlated with the fluid pressure,and negatively correlated with the fracture friction coefficient;when the fracture is fully opened,the wellbore shear stress is positively correlated with the natural fracture area.(3)The lower the elastic modulus and the longer the fracture length,the more serious the CD will be,and the Poisson’s ratio has a weak influence on the CD.The deformation first increases and then decreases with the increase of fracture approach angle,and reaches the maximum when the fracture approach angle is 45°.(4)At a given fracture approach angle,appropriately adjusting the wellbore approach angle can avoid high shear stress acting on wellbore,and reasonable control of the fluid pressure in the fracture can reduce the CD risk.The shear stress acting on casing is usually much greater than the shear strength of casing,so increasing casing strength or cementing quality have limited effect on reducing the risk of CD.Caliper logging data has verified that the CD prediction model is reliable,so the model can be used to establish risk analysis chart and calculate deformation value,to provide a reference for quick CD risk prediction in fracturing design.
