Aging in oak barrels is widely used in enology which could bring flavor changes and aromatic complexity to wines.In the present study,the aroma compounds were analyzed from the‘Merlot’dry red wines,which were fermen...Aging in oak barrels is widely used in enology which could bring flavor changes and aromatic complexity to wines.In the present study,the aroma compounds were analyzed from the‘Merlot’dry red wines,which were fermented in two types of fermenters(stainless steel tank and rotated oak barrel)and aged in six types of oak barrels(three geographic origins×two toasting degrees)for different time(0,3,6 and 9 months,respectively).Results showed that 30 volatiles were associated with barrels and increased during oak aging.The fermenters could influence the intensities of the toast,leathery,smoky,fruity,floral and caramel aromas.The concentration of whisky lactone,eugenol,cis-isoeugenol,and the intensities of the toast and spicy aromas were highest in the wines aged in American oak and were lowest in the wines aged in French oak barrels.The concentrations of guaiacol,syringol,trans-isoeugenol,furfural alcohol,vanilla,cis-whisky lactone enabled the medium toasting barrels to be distinguished from the light toasting ones.The compounds originating from the barrels could be used to distinguish the types of different barrels,but the other general grape-derived and fermentation-derived volatiles could not.The fermenters,oak species and toasting degrees of the barrels all had significant effects on the aroma profiles of the aged‘Merlot’dry red wines,but the influence of the geographic origin was not obvious.展开更多
This study presents a proposed method for assessing the condition and predicting the future status of condensers operating in seawater over an extended period.The aim is to address the problems of scaling and corrosio...This study presents a proposed method for assessing the condition and predicting the future status of condensers operating in seawater over an extended period.The aim is to address the problems of scaling and corrosion,which lead to increased loss of cold resources.The method involves utilising a set of multivariate feature parameters associated with the condenser as input for evaluation and trend prediction.This methodology offers a precise means of determining the optimal timing for condenser cleaning,with the ultimate goal of improving its overall performance.The proposed approach involves the integration of the analytic network process with subjective expert experience and the entropy weightmethod with objective big data analysis to develop a fusion health degreemodel.The mathematical model is constructed quantitatively using the improved Mahalanobis distance.Furthermore,a comprehensive prediction model is developed by integrating the improved Informer model and Markov error correction.This model takes into account the health status of the equipment and several influencing factors,includingmultivariate feature characteristics.This model facilitates the objective examination and prediction of the progression of equipment deterioration trends.The present study involves the computation and verification of the field time series data,which serves to demonstrate the accuracy of the condenser health-related models proposed in this research.These models effectively depict the real condition and temporal variations of the equipment,thus offering a valuable method for determining the precise cleaning time required for the condenser.展开更多
This paper investigates the path-following control problem with obstacle avoidance of autonomous surface vehicles in the presence of actuator faults,uncertainty and external disturbances.Autonomous surface vehicles in...This paper investigates the path-following control problem with obstacle avoidance of autonomous surface vehicles in the presence of actuator faults,uncertainty and external disturbances.Autonomous surface vehicles inevitably suffer from actuator faults in complex sea environments,which may cause existing obstacle avoidance strategies to fail.To reduce the influence of actuator faults,an improved artificial potential function is constructed by introducing the lower bound of actuator efficiency factors.The nonlinear state observer,which only depends on measurable position information of the autonomous surface vehicle,is used to address uncertainties and external disturbances.By using a backstepping technique and adaptive mechanism,a path-following control strategy with obstacle avoidance and fault tolerance is designed which can ensure that the tracking errors converge to a small neighborhood of zero.Compared with existing results,the proposed control strategy has the capability of obstacle avoidance and fault tolerance simultaneously.Finally,the comparison results through simulations are given to verify the effectiveness of the proposed method.展开更多
In view of the complex marine environment of navigation,especially in the case of multiple static and dynamic obstacles,the traditional obstacle avoidance algorithms applied to unmanned surface vehicles(USV)are prone ...In view of the complex marine environment of navigation,especially in the case of multiple static and dynamic obstacles,the traditional obstacle avoidance algorithms applied to unmanned surface vehicles(USV)are prone to fall into the trap of local optimization.Therefore,this paper proposes an improved artificial potential field(APF)algorithm,which uses 5G communication technology to communicate between the USV and the control center.The algorithm introduces the USV discrimination mechanism to avoid the USV falling into local optimization when the USV encounter different obstacles in different scenarios.Considering the various scenarios between the USV and other dynamic obstacles such as vessels in the process of performing tasks,the algorithm introduces the concept of dynamic artificial potential field.For the multiple obstacles encountered in the process of USV sailing,based on the International Regulations for Preventing Collisions at Sea(COLREGS),the USV determines whether the next step will fall into local optimization through the discriminationmechanism.The local potential field of the USV will dynamically adjust,and the reverse virtual gravitational potential field will be added to prevent it from falling into the local optimization and avoid collisions.The objective function and cost function are designed at the same time,so that the USV can smoothly switch between the global path and the local obstacle avoidance.The simulation results show that the improved APF algorithm proposed in this paper can successfully avoid various obstacles in the complex marine environment,and take navigation time and economic cost into account.展开更多
The efficient development and exploitation of shale oil depends on long-distance horizontal wells. As the degreeof cleaning of the wellbore plays a key role in these processes, in this study, this problem is investiga...The efficient development and exploitation of shale oil depends on long-distance horizontal wells. As the degreeof cleaning of the wellbore plays a key role in these processes, in this study, this problem is investigated experimentallyby focusing on the dimensionless cuttings bed height. A method is proposed to calculate the horizontalwellhydraulic extension taking into account the influence of the wellbore cleaning degree on the wellborepressure distribution and assess the effect of a variety of factors such as the bottom hole pressure, the circulatingpressure drop, the drilling pump performance and the formation properties. The analysis shows that the hydraulicextension of horizontal wells decreases with an increase in the cuttings bed height, and the higher the displacementof drilling fluid, the faster the hydraulic extension declines. The annular pressure drop of the horizontalsection increases with the increase of the cuttings bed height, resulting in a higher bottom-hole pressure. Severalarguments are provided to guide the safe drilling of shale oil horizontal wells and overcome the limits of currenttechnological approaches.展开更多
Non-uniform linear array(NULA)configurations are well renowned due to their structural ability for providing increased degrees of freedom(DOF)and wider array aperture than uniform linear arrays(ULAs).These characteris...Non-uniform linear array(NULA)configurations are well renowned due to their structural ability for providing increased degrees of freedom(DOF)and wider array aperture than uniform linear arrays(ULAs).These characteristics play a significant role in improving the direction-of-arrival(DOA)estimation accuracy.However,most of the existing NULA geometries are primarily applicable to circular sources(CSs),while they limitedly improve the DOF and continuous virtual aperture for noncircular sources(NCSs).Toward this purpose,we present a triaddisplaced ULAs(Tdis-ULAs)configuration for NCS.The TdisULAs structure generally consists of three ULAs,which are appropriately placed.The proposed antenna array approach fully exploits the non-circular characteristics of the sources.Given the same number of elements,the Tdis-ULAs design achieves more DOF and larger hole-free co-array aperture than its sparse array competitors.Advantageously,the number of uniform DOF,optimal distribution of elements among the ULAs,and precise element positions are uniquely determined by the closed-form expressions.Moreover,the proposed array also produces a filled resulting co-array.Numerical simulations are conducted to show the performance advantages of the proposed Tdis-ULAs configuration over its counterpart designs.展开更多
Internet of Things (IoT) among of all the technology revolutions has been considered the next evolution of the internet. IoT has become a far more popular area in the computing world. IoT combined a huge number of thi...Internet of Things (IoT) among of all the technology revolutions has been considered the next evolution of the internet. IoT has become a far more popular area in the computing world. IoT combined a huge number of things (devices) that can be connected through the internet. The purpose: this paper aims to explore the concept of the Internet of Things (IoT) generally and outline the main definitions of IoT. The paper also aims to examine and discuss the obstacles and potential benefits of IoT in Saudi universities. Methodology: the researchers reviewed the previous literature and focused on several databases to use the recent studies and research related to the IoT. Then, the researchers also used quantitative methodology to examine the factors affecting the obstacles and potential benefits of IoT. The data were collected by using a questionnaire distributed online among academic staff and a total of 150 participants completed the survey. Finding: the result of this study reveals there are twelve factors that affect the potential benefits of using IoT such as reducing human errors, increasing business income and worker’s productivity. It also shows the eighteen factors which affect obstacles the IoT use, for example sensors’ cost, data privacy, and data security. These factors have the most influence on using IoT in Saudi universities.展开更多
Degree of freedom(DOF)is a key indicator for spatial multiplexing layers of a wireless channel.Traditionally,the channel of a multiple-input multiple-output(MIMO)half-wavelength dipole array has a DOF that equals the ...Degree of freedom(DOF)is a key indicator for spatial multiplexing layers of a wireless channel.Traditionally,the channel of a multiple-input multiple-output(MIMO)half-wavelength dipole array has a DOF that equals the antenna number.However,recent studies suggest that the DOF could be less than the antenna number when strong mutual coupling is considered.We utilize a mutual-coupling-compliant channel model to investigate the DOF of the holographic MIMO(HMIMO)channel and give a upper bound of the DOF with strong mutual coupling.Our numerical simulations demonstrate that a dense array can support more DOF per unit aperture as compared with a half-wavelength MIMO system.展开更多
In order to reveal the complex network characteristics and evolution principle of China aviation network, the probability distribution and evolution trace of average degree of edge vertices of China aviation network w...In order to reveal the complex network characteristics and evolution principle of China aviation network, the probability distribution and evolution trace of average degree of edge vertices of China aviation network were studied based on the statistics data of China civil aviation network in 1988, 1994, 2001, 2008 and 2015. According to the theory and method of complex network, the network system was constructed with the city where the airport was located as the network node and the route between cities as the edge of the network. Based on the statistical data, the average degrees of edge vertices in China aviation network in 1988, 1994, 2001, 2008 and 2015 were calculated. Using the probability statistical analysis method and regression analysis approach, it was found that the average degree of edge vertices had the probability distribution of normal function and the position parameters and scale parameters of the probability distribution had linear evolution trace.展开更多
In order to reveal the complex network characteristics and evolution principle of China aviation network,the relationship between the node degree and the average path length of China aviation network in 1988,1994,2001...In order to reveal the complex network characteristics and evolution principle of China aviation network,the relationship between the node degree and the average path length of China aviation network in 1988,1994,2001,2008 and 2015 was studied.According to the theory and method of complex network,the network system was constructed with the city where the airport was located as the network node and the airline as the edge of the network.On the basis of the statistical data,the node average path length of China aviation network in 1988,1994,2001,2008 and 2015 was calculated.Through regression analysis,it was found that the node degree had a logarithmic relationship with the average length of node path,and the two parameters of the logarithmic relationship had linear evolutionary trace.Key word:China aviation network,complex network,node degree,average length of node path,logarithmic relationship,evolutionary trace.展开更多
Building exit as a bottleneck structure is the last and the most congested stage in building evacuation.It is well known that obstacles at the exit affect the evacuation process,but few researchers pay attention to th...Building exit as a bottleneck structure is the last and the most congested stage in building evacuation.It is well known that obstacles at the exit affect the evacuation process,but few researchers pay attention to the effect of stationary pedestrians(the elderly with slow speed,the injured,and the static evacuation guide)as obstacles at the exit on the evacuation process.This paper explores the influence of the presence of a stationary pedestrian as an obstacle at the exit on the evacuation from experiments and simulations.We use a software,Pathfinder,based on the agent-based model to study the effect of ratios of exit width(D)to distance(d)between the static pedestrian and the exit,the asymmetric structure by shifting the static pedestrian upward,and types of obstacles on evacuation.Results show that the evacuation time of scenes with a static pedestrian is longer than that of scenes with an obstacle due to the unexpected hindering effect of the static pedestrian.Different ratios of D/d have different effects on evacuation efficiency.Among the five D/d ratios in this paper,the evacuation efficiency is the largest when d is equal to 0.75D,and the existence of the static pedestrian has a positive impact on evacuation in this condition.The influence of the asymmetric structure of the static pedestrian on evacuation efficiency is affected by D/d.This study can provide a theoretical basis for crowd management and evacuation plan near the exit of complex buildings and facilities.展开更多
High degrees of freedom(DOF)for K^(+)movement in the electrolytes is desirable,because the resulting high ionic conductivity helps improve potassium-ion batteries,yet requiring support from highly free and flammable o...High degrees of freedom(DOF)for K^(+)movement in the electrolytes is desirable,because the resulting high ionic conductivity helps improve potassium-ion batteries,yet requiring support from highly free and flammable organic solvent molecules,seriously affecting battery safety.Here,we develop a K^(+)flux rectifier to trim K ion’s DOF to 1 and improve electrochemical properties.Although the ionic conductivity is compromised in the K^(+)flux rectifier,the overall electrochemical performance of PIBs was improved.An oxidation stability improvement from 4.0 to 5.9 V was realized,and the formation of dendrites and the dissolution of organic cathodes were inhibited.Consequently,the K||K cells continuously cycled over 3,700 h;K||Cu cells operated stably over 800 cycles with the Coulombic efficiency exceeding 99%;and K||graphite cells exhibited high-capacity retention over 74.7%after 1,500 cycles.Moreover,the 3,4,9,10-perylenetetracarboxylic diimide organic cathodes operated for more than 2,100 cycles and reached year-scale-cycling time.We fabricated a 2.18 Ah pouch cell with no significant capacity fading observed after 100 cycles.展开更多
The external perturbation applied to a silo and the placement of an immobile obstacle before an exit are two common and effective ways to diminish clogging in the hopper/silo flow.Here,we incorporate the local perturb...The external perturbation applied to a silo and the placement of an immobile obstacle before an exit are two common and effective ways to diminish clogging in the hopper/silo flow.Here,we incorporate the local perturbation into a fixed obstacle,and experimentally explore the effects of a rotary obstacle on clogging and the flowing characteristics in the horizontal silo flow driven by a conveyor belt.Even with a low spin rate,the total blocking probability that a particle constructs a stable blocking arch with its neighbors significantly drops.Correspondingly,the average flow rate of the particles through the exit abruptly rises,at least 1 order of magnitude better than that with an immobile obstacle and approaching the flow rate of continuous flow.The rotation enhances the breakage of clogging arches,which is responsible for improving the flowability in the horizontal silo.In addition,there always exists an optimal obstacle position at which the total blocking probability is minimal and the average flow rate peaks,regardless of the spin rate.Finally,clogging is relieved with the increase of the driving velocity of the conveyor belt,showing a“fast is fast”effect that is opposite to the“fast is slow”effect in other systems such as crowd evacuation and gravity-driven hoppers.展开更多
A new and improved RRT∗algorithm has been developed to address the low efficiency of obstacle avoidance planning and long path distances in the electric vehicle automatic charging robot arm.This algorithm enables the ...A new and improved RRT∗algorithm has been developed to address the low efficiency of obstacle avoidance planning and long path distances in the electric vehicle automatic charging robot arm.This algorithm enables the robot to avoid obstacles,find the optimal path,and complete automatic charging docking.It maintains the global completeness and path optimality of the RRT algorithmwhile also improving the iteration speed and quality of generated paths in both 2D and 3D path planning.After finding the optimal path,the B-sample curve is used to optimize the rough path to create a smoother and more optimal path.In comparison experiments,the new algorithmyielded reductions of 35.5%,29.2%,and 11.7%in search time and 22.8%,19.2%,and 9%in path length for the 3D environment.Finally,experimental validation of the automatic charging of electric vehicles was conducted to further verify the effectiveness of the algorithm.The simulation experimental validation was carried out by kinematic modeling and building an experimental platform.The error between the experimental results and the simulation results is within 10%.The experimental results show the effectiveness and practicality of the algorithm.展开更多
In this paper,we solve the obstacle problems on metric measure spaces with generalized Ricci lower bounds.We show the existence and Lipschitz continuity of the solutions,and then we establish some regularities of the ...In this paper,we solve the obstacle problems on metric measure spaces with generalized Ricci lower bounds.We show the existence and Lipschitz continuity of the solutions,and then we establish some regularities of the free boundaries.展开更多
Continuous cropping(CC)obstacle is a major threat in legume crops production;however,the underlying mechanisms concerning the roles allelochemicals play in CC obstacle are poorly understood.The current 2-year study wa...Continuous cropping(CC)obstacle is a major threat in legume crops production;however,the underlying mechanisms concerning the roles allelochemicals play in CC obstacle are poorly understood.The current 2-year study was conducted to investigate the effects of different kinds and concentrations of allelochemicals,p-hydroxybenzoic acid(H),cinnamic acid(C),phthalic acid(P),and their mixtures(M)on peanut root growth and productivity in response to CC obstacle.Treatment with H,C,P,and M significantly decreased the plant height,dry weight of the leaves and stems,number of branches,and length of the lateral stem compared with control.Exogenous application of H,C,P,and M inhibited the peanut root growth as indicated by the decreased root morphological characters.The allelochemicals also induced the cell membrane oxidation even though the antioxidant enzymes activities were significantly increased in peanut roots.Meanwhile,treatment with H,C,P,and M reduced the contents of total soluble sugar and total soluble protein.Analysis of ATPase activity,nitrate reductase activity,and root system activity revealed that the inhibition effects of allelochemicals on peanut roots might be due to the decrease in activities of ATPase and NR,and the inhibition of root system.Consequently,allelochemicals significantly decreased the pod yield of peanut compared with control.Our results demonstrate that allelochemicals play a dominant role in CC obstacle-induced peanut growth inhibition and yield reduction through damaging the root antioxidant system,unbalancing the osmolytes accumulation,and decreasing the activities of root-related enzymes.展开更多
Asymmetrically modified Janus graphene oxide(JGO)has attracted great attention due to its unique physical chemistry properties and wide applications.The modification degree of Janus nanosheets inevitably affects their...Asymmetrically modified Janus graphene oxide(JGO)has attracted great attention due to its unique physical chemistry properties and wide applications.The modification degree of Janus nanosheets inevitably affects their interfacial activity,which is essential for their performances in enhanced oil recovery(EOR).In this study,the interfacial properties of Janus graphene oxide(JGO)with various modification degrees at liquid-liquid and liquid-solid interfaces were systematically evaluated via the measurements of interfacial tension(IFT),dilatational modulus,contact angle,and EOR efficiency was further assessed by core flooding tests.It is found that JGO-5 with higher modification degree exhibits the greater ability to reduce IFT(15.16 mN/m)and dilatational modulus(26 mN/m).Furthermore,JGO can construct interfacial and climbing film with the assistance of hydrodynamic power to effectively detach the oil from the rock surface and greatly enhance oil recovery.Moderately modified JGO-2 can highly improve recovery of residual crude oil(11.53%),which is regarded as the promising EOR agent in practical application.The present study firstly focuses on the effects of modification degrees on the JGO interfacial properties and proposes diverse EOR mechanisms for JGO with different modification degrees.展开更多
During marine missions,AUVs are susceptible to external disturbances,such as obstacles,ocean currents,etc.,which can easily cause mission failure or disconnection.In this paper,considering the strong nonlinearities,ex...During marine missions,AUVs are susceptible to external disturbances,such as obstacles,ocean currents,etc.,which can easily cause mission failure or disconnection.In this paper,considering the strong nonlinearities,external disturbances and obstacles,the kinematic and dynamic model of bioinspired Spherical Underwater Robot(SUR)was described.Subsequently,the waypoints-based trajectory tracking with obstacles and uncertainties was proposed for SUR to guarantee its safety and stability.Next,the Lyapunov theory was adopted to verify the stability and the Slide Mode Control(SMC)method is used to verify the robustness of the control system.In addition,a series of simulations were conducted to evaluate the effectiveness of proposed control strategy.Some tests,including path-following,static and moving obstacle avoidance were performed which verified the feasibility,robustness and effectiveness of the designed control scheme.Finally,a series of experiments in real environment were performed to verify the performance of the control strategy.The simulation and experimental results of the study supplied clues to the improvement of the path following capability and multi-obstacle avoidance of AUVs.展开更多
Bentonite,consisting of clay minerals of the montmorillonite group,has been widely used as an adsorbent and backfill material in nuclear waste disposal and groundwater remediation.It is challenging to use bentonite as...Bentonite,consisting of clay minerals of the montmorillonite group,has been widely used as an adsorbent and backfill material in nuclear waste disposal and groundwater remediation.It is challenging to use bentonite as a filling material in cold regions since bentonite is highly sensitive to thermal environmental changes,during which its bulk volume and microstructure change significantly.In this study,a series of one-dimensional and three-dimensional freeze-thaw tests were carried out within a closed system to investigate the influencing factors of the deformation of bentonite under freeze-thaw cycles.Results show that the initial soil water content greatly impacts bentonite's deformation during freeze-thaw cycles.For an initial higher degree of saturation(Sr),the expansion caused by the formation of ice lenses has a greater impact than the shrinkage induced by dehydration,ice-cementation,and so on.Conversely,bentonite tends to shrink at a lower degree of saturation during freezing.And the critical degree of saturation that determines bentonite's behavior of frost heave or frost shrinkage seems to be roughly 0.8.As the number of freeze-thaw cycles rises,initially uncompacted bentonite clay becomes more compacted,and initially compacted bentonite clay remains unchanged.展开更多
In this paper,a new tracked wall climbing robot with permanent magnetic units is designed,and the tension degree of robot’s tracks is found to have a significant impact on the robot’s adsorption performance.This tra...In this paper,a new tracked wall climbing robot with permanent magnetic units is designed,and the tension degree of robot’s tracks is found to have a significant impact on the robot’s adsorption performance.This tracked wall climbing robot is a remotely controlled robot.All the control devices can be installed on the robot body.All the permanent magnetic units are arranged on the light track.In order to illustrate the relationship between the tension degree and the adsorption performance,when absorbed on the vertical surface and 180⁃degree inverted surface,the static force analysis of the robot is presented.Finally,experiments were demonstrated to prove that higher tension degree of tracks can make adsorption performance better.展开更多
基金the financial support received from The Key Project of R&D Program of Ningxia Hui Autonomous Region,China(2022BBF01003)China Agriculture Research System of MOF and MARA(CARS-29).
文摘Aging in oak barrels is widely used in enology which could bring flavor changes and aromatic complexity to wines.In the present study,the aroma compounds were analyzed from the‘Merlot’dry red wines,which were fermented in two types of fermenters(stainless steel tank and rotated oak barrel)and aged in six types of oak barrels(three geographic origins×two toasting degrees)for different time(0,3,6 and 9 months,respectively).Results showed that 30 volatiles were associated with barrels and increased during oak aging.The fermenters could influence the intensities of the toast,leathery,smoky,fruity,floral and caramel aromas.The concentration of whisky lactone,eugenol,cis-isoeugenol,and the intensities of the toast and spicy aromas were highest in the wines aged in American oak and were lowest in the wines aged in French oak barrels.The concentrations of guaiacol,syringol,trans-isoeugenol,furfural alcohol,vanilla,cis-whisky lactone enabled the medium toasting barrels to be distinguished from the light toasting ones.The compounds originating from the barrels could be used to distinguish the types of different barrels,but the other general grape-derived and fermentation-derived volatiles could not.The fermenters,oak species and toasting degrees of the barrels all had significant effects on the aroma profiles of the aged‘Merlot’dry red wines,but the influence of the geographic origin was not obvious.
基金supported by the National Natural Science Foundation of China (51906133).
文摘This study presents a proposed method for assessing the condition and predicting the future status of condensers operating in seawater over an extended period.The aim is to address the problems of scaling and corrosion,which lead to increased loss of cold resources.The method involves utilising a set of multivariate feature parameters associated with the condenser as input for evaluation and trend prediction.This methodology offers a precise means of determining the optimal timing for condenser cleaning,with the ultimate goal of improving its overall performance.The proposed approach involves the integration of the analytic network process with subjective expert experience and the entropy weightmethod with objective big data analysis to develop a fusion health degreemodel.The mathematical model is constructed quantitatively using the improved Mahalanobis distance.Furthermore,a comprehensive prediction model is developed by integrating the improved Informer model and Markov error correction.This model takes into account the health status of the equipment and several influencing factors,includingmultivariate feature characteristics.This model facilitates the objective examination and prediction of the progression of equipment deterioration trends.The present study involves the computation and verification of the field time series data,which serves to demonstrate the accuracy of the condenser health-related models proposed in this research.These models effectively depict the real condition and temporal variations of the equipment,thus offering a valuable method for determining the precise cleaning time required for the condenser.
基金the National Natural Science Foundation of China(51939001,52171292,51979020,61976033)Dalian Outstanding Young Talents Program(2022RJ05)+1 种基金the Topnotch Young Talents Program of China(36261402)the Liaoning Revitalization Talents Program(XLYC20-07188)。
文摘This paper investigates the path-following control problem with obstacle avoidance of autonomous surface vehicles in the presence of actuator faults,uncertainty and external disturbances.Autonomous surface vehicles inevitably suffer from actuator faults in complex sea environments,which may cause existing obstacle avoidance strategies to fail.To reduce the influence of actuator faults,an improved artificial potential function is constructed by introducing the lower bound of actuator efficiency factors.The nonlinear state observer,which only depends on measurable position information of the autonomous surface vehicle,is used to address uncertainties and external disturbances.By using a backstepping technique and adaptive mechanism,a path-following control strategy with obstacle avoidance and fault tolerance is designed which can ensure that the tracking errors converge to a small neighborhood of zero.Compared with existing results,the proposed control strategy has the capability of obstacle avoidance and fault tolerance simultaneously.Finally,the comparison results through simulations are given to verify the effectiveness of the proposed method.
基金This work was supported by the Postdoctoral Fund of FDCT,Macao(Grant No.0003/2021/APD).Any opinions,findings and conclusions or recommendations expressed in this material are those of the authors and do not necessarily reflect those of the sponsor.
文摘In view of the complex marine environment of navigation,especially in the case of multiple static and dynamic obstacles,the traditional obstacle avoidance algorithms applied to unmanned surface vehicles(USV)are prone to fall into the trap of local optimization.Therefore,this paper proposes an improved artificial potential field(APF)algorithm,which uses 5G communication technology to communicate between the USV and the control center.The algorithm introduces the USV discrimination mechanism to avoid the USV falling into local optimization when the USV encounter different obstacles in different scenarios.Considering the various scenarios between the USV and other dynamic obstacles such as vessels in the process of performing tasks,the algorithm introduces the concept of dynamic artificial potential field.For the multiple obstacles encountered in the process of USV sailing,based on the International Regulations for Preventing Collisions at Sea(COLREGS),the USV determines whether the next step will fall into local optimization through the discriminationmechanism.The local potential field of the USV will dynamically adjust,and the reverse virtual gravitational potential field will be added to prevent it from falling into the local optimization and avoid collisions.The objective function and cost function are designed at the same time,so that the USV can smoothly switch between the global path and the local obstacle avoidance.The simulation results show that the improved APF algorithm proposed in this paper can successfully avoid various obstacles in the complex marine environment,and take navigation time and economic cost into account.
基金supported by CNPC Key Core Technology Research Projects (2022ZG06)project funded by China Postdoctoral Science Foundation (2021M693508)Basic research and strategic reserve technology research fund project of institutes directly under CNPC.
文摘The efficient development and exploitation of shale oil depends on long-distance horizontal wells. As the degreeof cleaning of the wellbore plays a key role in these processes, in this study, this problem is investigated experimentallyby focusing on the dimensionless cuttings bed height. A method is proposed to calculate the horizontalwellhydraulic extension taking into account the influence of the wellbore cleaning degree on the wellborepressure distribution and assess the effect of a variety of factors such as the bottom hole pressure, the circulatingpressure drop, the drilling pump performance and the formation properties. The analysis shows that the hydraulicextension of horizontal wells decreases with an increase in the cuttings bed height, and the higher the displacementof drilling fluid, the faster the hydraulic extension declines. The annular pressure drop of the horizontalsection increases with the increase of the cuttings bed height, resulting in a higher bottom-hole pressure. Severalarguments are provided to guide the safe drilling of shale oil horizontal wells and overcome the limits of currenttechnological approaches.
基金supported by the National Natural Science Foundation of China(62031017,61971221)the Fundamental Research Funds for the Central Universities of China(NP2020104)。
文摘Non-uniform linear array(NULA)configurations are well renowned due to their structural ability for providing increased degrees of freedom(DOF)and wider array aperture than uniform linear arrays(ULAs).These characteristics play a significant role in improving the direction-of-arrival(DOA)estimation accuracy.However,most of the existing NULA geometries are primarily applicable to circular sources(CSs),while they limitedly improve the DOF and continuous virtual aperture for noncircular sources(NCSs).Toward this purpose,we present a triaddisplaced ULAs(Tdis-ULAs)configuration for NCS.The TdisULAs structure generally consists of three ULAs,which are appropriately placed.The proposed antenna array approach fully exploits the non-circular characteristics of the sources.Given the same number of elements,the Tdis-ULAs design achieves more DOF and larger hole-free co-array aperture than its sparse array competitors.Advantageously,the number of uniform DOF,optimal distribution of elements among the ULAs,and precise element positions are uniquely determined by the closed-form expressions.Moreover,the proposed array also produces a filled resulting co-array.Numerical simulations are conducted to show the performance advantages of the proposed Tdis-ULAs configuration over its counterpart designs.
文摘Internet of Things (IoT) among of all the technology revolutions has been considered the next evolution of the internet. IoT has become a far more popular area in the computing world. IoT combined a huge number of things (devices) that can be connected through the internet. The purpose: this paper aims to explore the concept of the Internet of Things (IoT) generally and outline the main definitions of IoT. The paper also aims to examine and discuss the obstacles and potential benefits of IoT in Saudi universities. Methodology: the researchers reviewed the previous literature and focused on several databases to use the recent studies and research related to the IoT. Then, the researchers also used quantitative methodology to examine the factors affecting the obstacles and potential benefits of IoT. The data were collected by using a questionnaire distributed online among academic staff and a total of 150 participants completed the survey. Finding: the result of this study reveals there are twelve factors that affect the potential benefits of using IoT such as reducing human errors, increasing business income and worker’s productivity. It also shows the eighteen factors which affect obstacles the IoT use, for example sensors’ cost, data privacy, and data security. These factors have the most influence on using IoT in Saudi universities.
基金supported in part by National Key Research and Develop⁃ment Program of China under Grant No.2020YFB1807600.
文摘Degree of freedom(DOF)is a key indicator for spatial multiplexing layers of a wireless channel.Traditionally,the channel of a multiple-input multiple-output(MIMO)half-wavelength dipole array has a DOF that equals the antenna number.However,recent studies suggest that the DOF could be less than the antenna number when strong mutual coupling is considered.We utilize a mutual-coupling-compliant channel model to investigate the DOF of the holographic MIMO(HMIMO)channel and give a upper bound of the DOF with strong mutual coupling.Our numerical simulations demonstrate that a dense array can support more DOF per unit aperture as compared with a half-wavelength MIMO system.
文摘In order to reveal the complex network characteristics and evolution principle of China aviation network, the probability distribution and evolution trace of average degree of edge vertices of China aviation network were studied based on the statistics data of China civil aviation network in 1988, 1994, 2001, 2008 and 2015. According to the theory and method of complex network, the network system was constructed with the city where the airport was located as the network node and the route between cities as the edge of the network. Based on the statistical data, the average degrees of edge vertices in China aviation network in 1988, 1994, 2001, 2008 and 2015 were calculated. Using the probability statistical analysis method and regression analysis approach, it was found that the average degree of edge vertices had the probability distribution of normal function and the position parameters and scale parameters of the probability distribution had linear evolution trace.
文摘In order to reveal the complex network characteristics and evolution principle of China aviation network,the relationship between the node degree and the average path length of China aviation network in 1988,1994,2001,2008 and 2015 was studied.According to the theory and method of complex network,the network system was constructed with the city where the airport was located as the network node and the airline as the edge of the network.On the basis of the statistical data,the node average path length of China aviation network in 1988,1994,2001,2008 and 2015 was calculated.Through regression analysis,it was found that the node degree had a logarithmic relationship with the average length of node path,and the two parameters of the logarithmic relationship had linear evolutionary trace.Key word:China aviation network,complex network,node degree,average length of node path,logarithmic relationship,evolutionary trace.
基金Project supported by the National Natural Science Foundation of China (Grant Nos.52104186,71904006,U1933105,and 72174189)the Fundamental Research Funds for the Central Universities (Grant Nos.DUT21JC01 and DUT2020TB03)the Fundamental Research Funds for the Central Universities (Grant No.WK2320000050)。
文摘Building exit as a bottleneck structure is the last and the most congested stage in building evacuation.It is well known that obstacles at the exit affect the evacuation process,but few researchers pay attention to the effect of stationary pedestrians(the elderly with slow speed,the injured,and the static evacuation guide)as obstacles at the exit on the evacuation process.This paper explores the influence of the presence of a stationary pedestrian as an obstacle at the exit on the evacuation from experiments and simulations.We use a software,Pathfinder,based on the agent-based model to study the effect of ratios of exit width(D)to distance(d)between the static pedestrian and the exit,the asymmetric structure by shifting the static pedestrian upward,and types of obstacles on evacuation.Results show that the evacuation time of scenes with a static pedestrian is longer than that of scenes with an obstacle due to the unexpected hindering effect of the static pedestrian.Different ratios of D/d have different effects on evacuation efficiency.Among the five D/d ratios in this paper,the evacuation efficiency is the largest when d is equal to 0.75D,and the existence of the static pedestrian has a positive impact on evacuation in this condition.The influence of the asymmetric structure of the static pedestrian on evacuation efficiency is affected by D/d.This study can provide a theoretical basis for crowd management and evacuation plan near the exit of complex buildings and facilities.
基金supported by the National Natural Science Foundation of China(Nos.U20A20247 and 51922038).A.M.R.acknowledges the seed funding provided by the R.A.Bowen Endowed Professorship funds at Clemson University.
文摘High degrees of freedom(DOF)for K^(+)movement in the electrolytes is desirable,because the resulting high ionic conductivity helps improve potassium-ion batteries,yet requiring support from highly free and flammable organic solvent molecules,seriously affecting battery safety.Here,we develop a K^(+)flux rectifier to trim K ion’s DOF to 1 and improve electrochemical properties.Although the ionic conductivity is compromised in the K^(+)flux rectifier,the overall electrochemical performance of PIBs was improved.An oxidation stability improvement from 4.0 to 5.9 V was realized,and the formation of dendrites and the dissolution of organic cathodes were inhibited.Consequently,the K||K cells continuously cycled over 3,700 h;K||Cu cells operated stably over 800 cycles with the Coulombic efficiency exceeding 99%;and K||graphite cells exhibited high-capacity retention over 74.7%after 1,500 cycles.Moreover,the 3,4,9,10-perylenetetracarboxylic diimide organic cathodes operated for more than 2,100 cycles and reached year-scale-cycling time.We fabricated a 2.18 Ah pouch cell with no significant capacity fading observed after 100 cycles.
基金Project supported by the National Natural Science Foundation of China(Grant No.11974044)。
文摘The external perturbation applied to a silo and the placement of an immobile obstacle before an exit are two common and effective ways to diminish clogging in the hopper/silo flow.Here,we incorporate the local perturbation into a fixed obstacle,and experimentally explore the effects of a rotary obstacle on clogging and the flowing characteristics in the horizontal silo flow driven by a conveyor belt.Even with a low spin rate,the total blocking probability that a particle constructs a stable blocking arch with its neighbors significantly drops.Correspondingly,the average flow rate of the particles through the exit abruptly rises,at least 1 order of magnitude better than that with an immobile obstacle and approaching the flow rate of continuous flow.The rotation enhances the breakage of clogging arches,which is responsible for improving the flowability in the horizontal silo.In addition,there always exists an optimal obstacle position at which the total blocking probability is minimal and the average flow rate peaks,regardless of the spin rate.Finally,clogging is relieved with the increase of the driving velocity of the conveyor belt,showing a“fast is fast”effect that is opposite to the“fast is slow”effect in other systems such as crowd evacuation and gravity-driven hoppers.
基金This work was supported by National Natural Science Foundation of China(52175236).
文摘A new and improved RRT∗algorithm has been developed to address the low efficiency of obstacle avoidance planning and long path distances in the electric vehicle automatic charging robot arm.This algorithm enables the robot to avoid obstacles,find the optimal path,and complete automatic charging docking.It maintains the global completeness and path optimality of the RRT algorithmwhile also improving the iteration speed and quality of generated paths in both 2D and 3D path planning.After finding the optimal path,the B-sample curve is used to optimize the rough path to create a smoother and more optimal path.In comparison experiments,the new algorithmyielded reductions of 35.5%,29.2%,and 11.7%in search time and 22.8%,19.2%,and 9%in path length for the 3D environment.Finally,experimental validation of the automatic charging of electric vehicles was conducted to further verify the effectiveness of the algorithm.The simulation experimental validation was carried out by kinematic modeling and building an experimental platform.The error between the experimental results and the simulation results is within 10%.The experimental results show the effectiveness and practicality of the algorithm.
基金supported by the National Key R&Dprogram of China(2021YFA1003001)。
文摘In this paper,we solve the obstacle problems on metric measure spaces with generalized Ricci lower bounds.We show the existence and Lipschitz continuity of the solutions,and then we establish some regularities of the free boundaries.
基金supported by the National Key R&D Program of China(2018YFD1000902)the Natural Science Foundation of Shandong Province(ZR2021QC163).
文摘Continuous cropping(CC)obstacle is a major threat in legume crops production;however,the underlying mechanisms concerning the roles allelochemicals play in CC obstacle are poorly understood.The current 2-year study was conducted to investigate the effects of different kinds and concentrations of allelochemicals,p-hydroxybenzoic acid(H),cinnamic acid(C),phthalic acid(P),and their mixtures(M)on peanut root growth and productivity in response to CC obstacle.Treatment with H,C,P,and M significantly decreased the plant height,dry weight of the leaves and stems,number of branches,and length of the lateral stem compared with control.Exogenous application of H,C,P,and M inhibited the peanut root growth as indicated by the decreased root morphological characters.The allelochemicals also induced the cell membrane oxidation even though the antioxidant enzymes activities were significantly increased in peanut roots.Meanwhile,treatment with H,C,P,and M reduced the contents of total soluble sugar and total soluble protein.Analysis of ATPase activity,nitrate reductase activity,and root system activity revealed that the inhibition effects of allelochemicals on peanut roots might be due to the decrease in activities of ATPase and NR,and the inhibition of root system.Consequently,allelochemicals significantly decreased the pod yield of peanut compared with control.Our results demonstrate that allelochemicals play a dominant role in CC obstacle-induced peanut growth inhibition and yield reduction through damaging the root antioxidant system,unbalancing the osmolytes accumulation,and decreasing the activities of root-related enzymes.
基金grateful for funding from the National Natural Science Foundation of China(Grant No.52174053,52130401 and 51974344)Natural Science Foundation of Shandong Provincial(ZR2019MEE077).
文摘Asymmetrically modified Janus graphene oxide(JGO)has attracted great attention due to its unique physical chemistry properties and wide applications.The modification degree of Janus nanosheets inevitably affects their interfacial activity,which is essential for their performances in enhanced oil recovery(EOR).In this study,the interfacial properties of Janus graphene oxide(JGO)with various modification degrees at liquid-liquid and liquid-solid interfaces were systematically evaluated via the measurements of interfacial tension(IFT),dilatational modulus,contact angle,and EOR efficiency was further assessed by core flooding tests.It is found that JGO-5 with higher modification degree exhibits the greater ability to reduce IFT(15.16 mN/m)and dilatational modulus(26 mN/m).Furthermore,JGO can construct interfacial and climbing film with the assistance of hydrodynamic power to effectively detach the oil from the rock surface and greatly enhance oil recovery.Moderately modified JGO-2 can highly improve recovery of residual crude oil(11.53%),which is regarded as the promising EOR agent in practical application.The present study firstly focuses on the effects of modification degrees on the JGO interfacial properties and proposes diverse EOR mechanisms for JGO with different modification degrees.
基金supported in part by the National Natural Science Foundation of China under Grant 61703305,in part by the National High TechResearch and Development Program(863 Program)of China under Grant 2015AA043202+3 种基金in part by the Japan Society for the Promotion of Science(SPS)KAKENHI under Grant 15K2120in part by the Key Research Program of the Natural Science Foundation of Tianjin under Grant 18JCZDJC38500in part by the Innovative Cooperation Project of Tianjin Scientific and Technological Support under Grant 18PTZWHZ00090in part by the China Scholarship Council(CSC)for his doctoral research at Kagawa University under Grant 202208050040.
文摘During marine missions,AUVs are susceptible to external disturbances,such as obstacles,ocean currents,etc.,which can easily cause mission failure or disconnection.In this paper,considering the strong nonlinearities,external disturbances and obstacles,the kinematic and dynamic model of bioinspired Spherical Underwater Robot(SUR)was described.Subsequently,the waypoints-based trajectory tracking with obstacles and uncertainties was proposed for SUR to guarantee its safety and stability.Next,the Lyapunov theory was adopted to verify the stability and the Slide Mode Control(SMC)method is used to verify the robustness of the control system.In addition,a series of simulations were conducted to evaluate the effectiveness of proposed control strategy.Some tests,including path-following,static and moving obstacle avoidance were performed which verified the feasibility,robustness and effectiveness of the designed control scheme.Finally,a series of experiments in real environment were performed to verify the performance of the control strategy.The simulation and experimental results of the study supplied clues to the improvement of the path following capability and multi-obstacle avoidance of AUVs.
基金supported by the National Natural Science Foundation of China(Nos.42072316,51979002).
文摘Bentonite,consisting of clay minerals of the montmorillonite group,has been widely used as an adsorbent and backfill material in nuclear waste disposal and groundwater remediation.It is challenging to use bentonite as a filling material in cold regions since bentonite is highly sensitive to thermal environmental changes,during which its bulk volume and microstructure change significantly.In this study,a series of one-dimensional and three-dimensional freeze-thaw tests were carried out within a closed system to investigate the influencing factors of the deformation of bentonite under freeze-thaw cycles.Results show that the initial soil water content greatly impacts bentonite's deformation during freeze-thaw cycles.For an initial higher degree of saturation(Sr),the expansion caused by the formation of ice lenses has a greater impact than the shrinkage induced by dehydration,ice-cementation,and so on.Conversely,bentonite tends to shrink at a lower degree of saturation during freezing.And the critical degree of saturation that determines bentonite's behavior of frost heave or frost shrinkage seems to be roughly 0.8.As the number of freeze-thaw cycles rises,initially uncompacted bentonite clay becomes more compacted,and initially compacted bentonite clay remains unchanged.
基金the Beijing Natural Science Foundation(Grant No.3194047)the Joint Program of Beijing Municipal Foundation and Education Commission(Grant No.KZ202010009015)the National Natural Science Foundation of China(Grant No.51775002).
文摘In this paper,a new tracked wall climbing robot with permanent magnetic units is designed,and the tension degree of robot’s tracks is found to have a significant impact on the robot’s adsorption performance.This tracked wall climbing robot is a remotely controlled robot.All the control devices can be installed on the robot body.All the permanent magnetic units are arranged on the light track.In order to illustrate the relationship between the tension degree and the adsorption performance,when absorbed on the vertical surface and 180⁃degree inverted surface,the static force analysis of the robot is presented.Finally,experiments were demonstrated to prove that higher tension degree of tracks can make adsorption performance better.
