Concrete slabs are widely used in modern railways to increase the inherent resilient quality of the tracks,provide safe and smooth rides,and reduce the maintenance frequency.In this paper,the elastic performance of a ...Concrete slabs are widely used in modern railways to increase the inherent resilient quality of the tracks,provide safe and smooth rides,and reduce the maintenance frequency.In this paper,the elastic performance of a novel slab trackform for high-speed railways is investigated using three-dimensional finite element modelling in Abaqus.It is then compared to the performance of a ballasted track.First,slab and ballasted track models are developed to replicate the full-scale testing of track sections.Once the models are calibrated with the experimental results,the novel slab model is developed and compared against the calibrated slab track results.The slab and ballasted track models are then extended to create linear dynamic models,considering the track geodynamics,and simulating train passages at various speeds,for which the Ledsgard documented case was used to validate the models.Trains travelling at low and high speeds are analysed to investigate the track deflections and the wave propagation in the soil,considering the issues associated with critical speeds.Various train loading methods are discussed,and the most practical approach is retained and described.Moreover,correlations are made between the geotechnical parameters of modern high-speed rail and conventional standards.It is found that considering the same ground condition,the slab track deflections are considerably smaller than those of the ballasted track at high speeds,while they show similar behaviour at low speeds.展开更多
The problem of prescribed performance tracking control for unknown time-delay nonlinear systems subject to output constraints is dealt with in this paper. In contrast with related works, only the most fundamental requ...The problem of prescribed performance tracking control for unknown time-delay nonlinear systems subject to output constraints is dealt with in this paper. In contrast with related works, only the most fundamental requirements, i.e., boundedness and the local Lipschitz condition, are assumed for the allowable time delays. Moreover, we focus on the case where the reference is unknown beforehand, which renders the standard prescribed performance control designs under output constraints infeasible. To conquer these challenges, a novel robust prescribed performance control approach is put forward in this paper.Herein, a reverse tuning function is skillfully constructed and automatically generates a performance envelop for the tracking error. In addition, a unified performance analysis framework based on proof by contradiction and the barrier function is established to reveal the inherent robustness of the control system against the time delays. It turns out that the system output tracks the reference with a preassigned settling time and good accuracy,without constraint violations. A comparative simulation on a two-stage chemical reactor is carried out to illustrate the above theoretical findings.展开更多
Atom tracking technology enhanced with innovative algorithms has been implemented in this study,utilizing a comprehensive suite of controllers and software independently developed domestically.Leveraging an on-board f...Atom tracking technology enhanced with innovative algorithms has been implemented in this study,utilizing a comprehensive suite of controllers and software independently developed domestically.Leveraging an on-board field-programmable gate array(FPGA)with a core frequency of 100 MHz,our system facilitates reading and writing operations across 16 channels,performing discrete incremental proportional-integral-derivative(PID)calculations within 3.4 microseconds.Building upon this foundation,gradient and extremum algorithms are further integrated,incorporating circular and spiral scanning modes with a horizontal movement accuracy of 0.38 pm.This integration enhances the real-time performance and significantly increases the accuracy of atom tracking.Atom tracking achieves an equivalent precision of at least 142 pm on a highly oriented pyrolytic graphite(HOPG)surface under room temperature atmospheric conditions.Through applying computer vision and image processing algorithms,atom tracking can be used when scanning a large area.The techniques primarily consist of two algorithms:the region of interest(ROI)-based feature matching algorithm,which achieves 97.92%accuracy,and the feature description-based matching algorithm,with an impressive 99.99%accuracy.Both implementation approaches have been tested for scanner drift measurements,and these technologies are scalable and applicable in various domains of scanning probe microscopy with broad application prospects in the field of nanoengineering.展开更多
Communicating on millimeter wave(mmWave)bands is ushering in a new epoch of mobile communication which provides the availability of 10 Gbps high data rate transmission.However,mmWave links are easily prone to short tr...Communicating on millimeter wave(mmWave)bands is ushering in a new epoch of mobile communication which provides the availability of 10 Gbps high data rate transmission.However,mmWave links are easily prone to short transmission range communication because of the serious free space path loss and the blockage by obstacles.To overcome these challenges,highly directional beams are exploited to achieve robust links by hybrid beamforming.Accurately aligning the transmitter and receiver beams,i.e.beam training,is vitally important to high data rate transmission.However,it may cause huge overhead which has negative effects on initial access,handover,and tracking.Besides,the mobility patterns of users are complicated and dynamic,which may cause tracking error and large tracking latency.An efficient beam tracking method has a positive effect on sustaining robust links.This article provides an overview of the beam training and tracking technologies on mmWave bands and reveals the insights for future research in the 6th Generation(6G)mobile network.Especially,some open research problems are proposed to realize fast,accurate,and robust beam training and tracking.We hope that this survey provides guidelines for the researchers in the area of mmWave communications.展开更多
Picking velocities from semblances manually is laborious and necessitates experience. Although various methods for automatic velocity picking have been developed, there remains a challenge in efficiently incorporating...Picking velocities from semblances manually is laborious and necessitates experience. Although various methods for automatic velocity picking have been developed, there remains a challenge in efficiently incorporating information from nearby gathers to ensure picked velocity aligns with seismic horizons while also improving picking accuracy. The conventional method of velocity picking from a semblance volume is computationally demanding, highlighting a need for a more efficient strategy. In this study, we introduce a novel method for automatic velocity picking based on multi-object tracking. This dynamic tracking process across different semblance panels can integrate information from nearby gathers effectively while maintaining computational efficiency. First, we employ accelerated density clustering on the velocity spectrum to discern cluster centers without the requirement for prior knowledge regarding the number of clusters. These cluster centers embody the maximum likelihood velocities of the main subsurface structures. Second, our proposed method tracks key points within the semblance volume. Kalman filter is adopted to adjust the tracking process, followed by interpolation on these tracked points to construct the final velocity model. Our synthetic data example demonstrates that our proposed algorithm can effectively rectify the picking errors of the clustering algorithm. We further compare the performances of the clustering method(CM), the proposed tracking method(TM), and the variational method(VM) on a field dataset from the Gulf of Mexico. The results attest that our method offers superior accuracy than CM, achieves comparable accuracy with VM, and benefits from a reduced computational cost.展开更多
This article proposes and demonstrates a retrodirective array(RDA)for two-way wireless communication with automatic beam tracking.The proposed RDA is enabled by specifically designed chips made using a domestic comple...This article proposes and demonstrates a retrodirective array(RDA)for two-way wireless communication with automatic beam tracking.The proposed RDA is enabled by specifically designed chips made using a domestic complementary metal-oxide semiconductor(CMOS)process.The highly integrated CMOS chip includes a receiving(Rx)chain,a transmitting(Tx)chain,and a unique tracking phaselocked loop(PLL)for the crucial conjugated phase recovery in the RDA.This article also proposes a method to reduce the beam pointing error(BPE)in a conventional RDA.To validate the above ideas simply yet without loss of generality,a 2.4 GHz RDA is demonstrated through two-way communication links between the Rx and Tx chains,and an on-chip quadrature coupler is designed to achieve a nonretrodirective signal suppression of 23 dBc.The experimental results demonstrate that the proposed RDA,which incorporates domestically manufactured low-cost 0.18 lm CMOS chips,is capable of automatically tracking beams covering±40with a reduced BPE.Each CMOS chip in the RDA has a compact size of 4.62 mm^(2) and a low power consumption of 0.15 W.To the best of the authors’knowledge,this is the first research to demonstrate an RDA with a fully customized CMOS chip for wireless communication with automatic beam tracking。展开更多
In order to clarify the fatigue damage evolution of concrete exposed to flexural fatigue loads,ultrasonic pulse velocity(UPV),impact-echo technology and surface electrical resistance(SR) method were used.Damage variab...In order to clarify the fatigue damage evolution of concrete exposed to flexural fatigue loads,ultrasonic pulse velocity(UPV),impact-echo technology and surface electrical resistance(SR) method were used.Damage variable based on the change of velocity of ultrasonic pulse(Du) and impact elastic wave(Di)were defined according to the classical damage theory.The influences of stress level,loading frequency and concrete strength on damage variable were measured.The experimental results show that Du and Di both present a three-stages trend for concrete exposed to fatigue loads.Since impact elastic wave is more sensitive to the microstructure damage in stage Ⅲ,the critical damage variable,i e,the damage variable before the final fracture of concrete of Di is slightly higher than that of Du.Meanwhile,the evolution of SR of concrete exposed to fatigue loads were analyzed and the relationship between SR and Du,SR and Di of concrete exposed to fatigue loads were established.It is found that the SR of concrete was decreased with the increasing fatigue cycles,indicating that surface electrical resistance method can also be applied to describe the damage of ballastless track concrete exposed to fatigue loads.展开更多
This paper mainly focuses on the development of a learning-based controller for a class of uncertain mechanical systems modeled by the Euler-Lagrange formulation.The considered system can depict the behavior of a larg...This paper mainly focuses on the development of a learning-based controller for a class of uncertain mechanical systems modeled by the Euler-Lagrange formulation.The considered system can depict the behavior of a large class of engineering systems,such as vehicular systems,robot manipulators and satellites.All these systems are often characterized by highly nonlinear characteristics,heavy modeling uncertainties and unknown perturbations,therefore,accurate-model-based nonlinear control approaches become unavailable.Motivated by the challenge,a reinforcement learning(RL)adaptive control methodology based on the actor-critic framework is investigated to compensate the uncertain mechanical dynamics.The approximation inaccuracies caused by RL and the exogenous unknown disturbances are circumvented via a continuous robust integral of the sign of the error(RISE)control approach.Different from a classical RISE control law,a tanh(·)function is utilized instead of a sign(·)function to acquire a more smooth control signal.The developed controller requires very little prior knowledge of the dynamic model,is robust to unknown dynamics and exogenous disturbances,and can achieve asymptotic output tracking.Eventually,co-simulations through ADAMS and MATLAB/Simulink on a three degrees-of-freedom(3-DOF)manipulator and experiments on a real-time electromechanical servo system are performed to verify the performance of the proposed approach.展开更多
Xiazhuang uranium ore field,located in the southern part of the Nanling Metallogenic Belt,is considered one of the largest granite-related U regions in South China.In this paper,we contribute new apatite fission track...Xiazhuang uranium ore field,located in the southern part of the Nanling Metallogenic Belt,is considered one of the largest granite-related U regions in South China.In this paper,we contribute new apatite fission track data and thermal history modeling to constrain the exhumation history and evaluate preservation potential of the Xiazhuang Uranium ore field.Nine Triassic outcrop granite samples collected from different locations of Xiazhuang Uranium ore field yield AFT ages ranging from 43 to 24 Ma with similar mean confined fission track lengths ranging from 11.8±2.0 to 12.9±1.9μm and Dpar values between 1.01 and 1.51μm.The robustness time-temperature reconstructions of samples from the hanging wall of Huangpi fault show that the Xiazhuang Uranium ore field experienced a time of monotonous and slow cooling starting from middle Paleocene to middle Miocene(~60-10 Ma),followed by relatively rapid exhumation in the late Miocene(~10-5 Ma)and nearly thermal stability in the Pliocene-Quaternary(~5-0 Ma).The amount of exhumation after U mineralization since the Middle Paleogene was estimated as~4.3±1.8 km according to the integrated thermal history model.Previous studies indicate that the ore-forming ages of U deposits in the Xiazhuang ore field are mainly before Middle Paleocene and the mineralization depths are more than 4.4±1.2 km.Therefore,the exhumation history since middle Paleocene plays important roles in the preservation of the Xiazhuang Uranium ore field.展开更多
Existing studies contend that latent heating(LH)will replace sensible heating(SH)to become the dominant factor affecting the development of the Tibetan Plateau vortex(TPV)after it moves off the Tibetan Plateau(TP).How...Existing studies contend that latent heating(LH)will replace sensible heating(SH)to become the dominant factor affecting the development of the Tibetan Plateau vortex(TPV)after it moves off the Tibetan Plateau(TP).However,in the process of the TPV moving off the TP requires that the airmass traverse the eastern slope of the Tibetan Plateau(ESTP)where the topography and diabatic heating(DH)conditions rapidly change.How LH gradually replaces SH to become the dominant factor in the development of the TPV over the ESTP is still not very clear.In this paper,an analysis of a typical case of a TPV with a long life history over the ESTP is performed by using multi-sourced meteorological data and model simulations.The results show that SH from the TP surface can change the TPV-associated precipitation distribution by temperature advection after the TPV moves off the TP.The LH can then directly promote the development of the TPV and has a certain guiding effect on the track of the TPV.The SH can control the active area of LH by changing the falling area of the TPV-associated precipitation,so it still plays a key role in the development and tracking of the TPV even though it has moved out of the main body of the TP.展开更多
The frequent missing values in radar-derived time-series tracks of aerial targets(RTT-AT)lead to significant challenges in subsequent data-driven tasks.However,the majority of imputation research focuses on random mis...The frequent missing values in radar-derived time-series tracks of aerial targets(RTT-AT)lead to significant challenges in subsequent data-driven tasks.However,the majority of imputation research focuses on random missing(RM)that differs significantly from common missing patterns of RTT-AT.The method for solving the RM may experience performance degradation or failure when applied to RTT-AT imputation.Conventional autoregressive deep learning methods are prone to error accumulation and long-term dependency loss.In this paper,a non-autoregressive imputation model that addresses the issue of missing value imputation for two common missing patterns in RTT-AT is proposed.Our model consists of two probabilistic sparse diagonal masking self-attention(PSDMSA)units and a weight fusion unit.It learns missing values by combining the representations outputted by the two units,aiming to minimize the difference between the missing values and their actual values.The PSDMSA units effectively capture temporal dependencies and attribute correlations between time steps,improving imputation quality.The weight fusion unit automatically updates the weights of the output representations from the two units to obtain a more accurate final representation.The experimental results indicate that,despite varying missing rates in the two missing patterns,our model consistently outperforms other methods in imputation performance and exhibits a low frequency of deviations in estimates for specific missing entries.Compared to the state-of-the-art autoregressive deep learning imputation model Bidirectional Recurrent Imputation for Time Series(BRITS),our proposed model reduces mean absolute error(MAE)by 31%~50%.Additionally,the model attains a training speed that is 4 to 8 times faster when compared to both BRITS and a standard Transformer model when trained on the same dataset.Finally,the findings from the ablation experiments demonstrate that the PSDMSA,the weight fusion unit,cascade network design,and imputation loss enhance imputation performance and confirm the efficacy of our design.展开更多
Six degrees of freedom(6DoF)input interfaces are essential formanipulating virtual objects through translation or rotation in three-dimensional(3D)space.A traditional outside-in tracking controller requires the instal...Six degrees of freedom(6DoF)input interfaces are essential formanipulating virtual objects through translation or rotation in three-dimensional(3D)space.A traditional outside-in tracking controller requires the installation of expensive hardware in advance.While inside-out tracking controllers have been proposed,they often suffer from limitations such as interaction limited to the tracking range of the sensor(e.g.,a sensor on the head-mounted display(HMD))or the need for pose value modification to function as an input interface(e.g.,a sensor on the controller).This study investigates 6DoF pose estimation methods without restricting the tracking range,using a smartphone as a controller in augmented reality(AR)environments.Our approach involves proposing methods for estimating the initial pose of the controller and correcting the pose using an inside-out tracking approach.In addition,seven pose estimation algorithms were presented as candidates depending on the tracking range of the device sensor,the tracking method(e.g.,marker recognition,visual-inertial odometry(VIO)),and whether modification of the initial pose is necessary.Through two experiments(discrete and continuous data),the performance of the algorithms was evaluated.The results demonstrate enhanced final pose accuracy achieved by correcting the initial pose.Furthermore,the importance of selecting the tracking algorithm based on the tracking range of the devices and the actual input value of the 3D interaction was emphasized.展开更多
In this paper,fixed-time consensus tracking for mul-tiagent systems(MASs)with dynamics in the form of strict feed-back affine nonlinearity is addressed.A fixed-time antidistur-bance consensus tracking protocol is prop...In this paper,fixed-time consensus tracking for mul-tiagent systems(MASs)with dynamics in the form of strict feed-back affine nonlinearity is addressed.A fixed-time antidistur-bance consensus tracking protocol is proposed,which consists of a distributed fixed-time observer,a fixed-time disturbance observer,a nonsmooth antidisturbance backstepping controller,and the fixed-time stability analysis is conducted by using the Lyapunov theory correspondingly.This paper includes three main improvements.First,a distributed fixed-time observer is developed for each follower to obtain an estimate of the leader’s output by utilizing the topology of the communication network.Second,a fixed-time disturbance observer is given to estimate the lumped disturbances for feedforward compensation.Finally,a nonsmooth antidisturbance backstepping tracking controller with feedforward compensation for lumped disturbances is designed.In order to mitigate the“explosion of complexity”in the tradi-tional backstepping approach,we have implemented a modified nonsmooth command filter to enhance the performance of the closed-loop system.The simulation results show that the pro-posed method is effective.展开更多
To ensure the safe performance of deep-sea mining vehicles(DSMVs),it is necessary to study the mechanical characteristics of the interaction between the seabed soil and the track plate.The rotation and digging motions...To ensure the safe performance of deep-sea mining vehicles(DSMVs),it is necessary to study the mechanical characteristics of the interaction between the seabed soil and the track plate.The rotation and digging motions of the track plate are important links in the contact between the driving mechanism of the DSMV and seabed soil.In this study,a numerical simulation is conducted using the coupled Eulerian–Lagrangian(CEL)large deformation numerical method to investigate the interaction between the track plate of the DSMV and the seabed soil under two working conditions:rotating condition and digging condition.First,a soil numerical model is established based on the elastoplastic mechanical characterization using the basic physical and mechanical properties of the seabed soil obtained by in situ sampling.Subsequently,the soil disturbance mechanism and the dynamic mechanical response of the track plate under rotating and digging conditions are obtained through the analysis of the sensitivity of the motion parameters,the grouser structure,the layered soil features and the soil heterogeneity.The results indicate that the above parameters remarkably influence the interaction between the DSMV and the seabed soil.Therefore,it is important to consider the rotating and digging motion of the DSMV in practical engineering to develop a detailed optimization design of the track plate.展开更多
In order to effectively defend against the threats of the hypersonic gliding vehicles(HGVs),HGVs should be tracked as early as possible,which is beyond the capability of the ground-based radars.Being benefited by the ...In order to effectively defend against the threats of the hypersonic gliding vehicles(HGVs),HGVs should be tracked as early as possible,which is beyond the capability of the ground-based radars.Being benefited by the developing megaconstellations in low-Earth orbit,this paper proposes a relay tracking mode to track HGVs to overcome the above problem.The whole tracking mission is composed of several tracking intervals with the same duration.Within each tracking interval,several appropriate satellites are dispatched to track the HGV.Satellites that are planned to take part in the tracking mission are selected by a new derived observability criterion.The tracking performances of the proposed tracking mode and the other two traditional tracking modes,including the stare and track-rate modes,are compared by simulation.The results show that the relay tracking mode can track the whole trajectory of a HGV,while the stare mode can only provide a very short tracking arc.Moreover,the relay tracking mode achieve higher tracking accuracy with fewer attitude controls than the track-rate mode.展开更多
Lateral intakes are common in rivers.The pump effciency and sediment deposition are determined by the local hydrodynamic characteristics and mainstream division width.The hydraulic characteristics of lateral withdrawa...Lateral intakes are common in rivers.The pump effciency and sediment deposition are determined by the local hydrodynamic characteristics and mainstream division width.The hydraulic characteristics of lateral withdrawal from inclined river slopes at different intake elevations should be investigated.Meanwhile,the division width exhibits significant vertical non-uniformity at an inclined river slope,which should be clarified.Hence,a three-dimensional(3-D)hydrodynamic and particle-tracking model was developed with the Open Source Field Operation and Manipulation(Open FOAM),and the model was validated with physical model tests for 90°lateral withdrawal from an inclined side bank.The flow fields,withdrawal sources,and division widths were investigated with different intake bottom elevations,withdrawal discharges,and main channel velocities.This study showed that under inclined side bank conditions,water entered the intake at an oblique angle,causing significant 3-D spiral flows in the intake rather than two-dimensional closed recirculation.A lower withdrawal discharge,a lower bottom elevation of the intake,or a higher main channel velocity could further strengthen this phenomenon.The average division width and turbulent kinetic energy were smaller under inclined side bank conditions than under vertical bank conditions.With a low intake bottom elevation,a low withdrawal discharge,or a high main channel velocity,the sources of lateral withdrawal were in similar ranges near the local inclined bank in the vertical direction.Under inclined slope conditions,sediment deposition near the intake entrance could be reduced,compared to that under vertical slope conditions.The results provide hydrodynamic and sediment references for engineering designs for natural rivers with inclined terrains.展开更多
基金Engineering and Physical Sciences Research Council (EPSRC) is also acknowledged for funding this work under Grant Number EP/N009207/1.
文摘Concrete slabs are widely used in modern railways to increase the inherent resilient quality of the tracks,provide safe and smooth rides,and reduce the maintenance frequency.In this paper,the elastic performance of a novel slab trackform for high-speed railways is investigated using three-dimensional finite element modelling in Abaqus.It is then compared to the performance of a ballasted track.First,slab and ballasted track models are developed to replicate the full-scale testing of track sections.Once the models are calibrated with the experimental results,the novel slab model is developed and compared against the calibrated slab track results.The slab and ballasted track models are then extended to create linear dynamic models,considering the track geodynamics,and simulating train passages at various speeds,for which the Ledsgard documented case was used to validate the models.Trains travelling at low and high speeds are analysed to investigate the track deflections and the wave propagation in the soil,considering the issues associated with critical speeds.Various train loading methods are discussed,and the most practical approach is retained and described.Moreover,correlations are made between the geotechnical parameters of modern high-speed rail and conventional standards.It is found that considering the same ground condition,the slab track deflections are considerably smaller than those of the ballasted track at high speeds,while they show similar behaviour at low speeds.
基金supported in part by the National Natural Science Foundation of China (62103093)the National Key Research and Development Program of China (2022YFB3305905)+6 种基金the Xingliao Talent Program of Liaoning Province of China (XLYC2203130)the Fundamental Research Funds for the Central Universities of China (N2108003)the Natural Science Foundation of Liaoning Province (2023-MS-087)the BNU Talent Seed Fund,UIC Start-Up Fund (R72021115)the Guangdong Key Laboratory of AI and MM Data Processing (2020KSYS007)the Guangdong Provincial Key Laboratory IRADS for Data Science (2022B1212010006)the Guangdong Higher Education Upgrading Plan 2021–2025 of “Rushing to the Top,Making Up Shortcomings and Strengthening Special Features” with UIC Research,China (R0400001-22,R0400025-21)。
文摘The problem of prescribed performance tracking control for unknown time-delay nonlinear systems subject to output constraints is dealt with in this paper. In contrast with related works, only the most fundamental requirements, i.e., boundedness and the local Lipschitz condition, are assumed for the allowable time delays. Moreover, we focus on the case where the reference is unknown beforehand, which renders the standard prescribed performance control designs under output constraints infeasible. To conquer these challenges, a novel robust prescribed performance control approach is put forward in this paper.Herein, a reverse tuning function is skillfully constructed and automatically generates a performance envelop for the tracking error. In addition, a unified performance analysis framework based on proof by contradiction and the barrier function is established to reveal the inherent robustness of the control system against the time delays. It turns out that the system output tracks the reference with a preassigned settling time and good accuracy,without constraint violations. A comparative simulation on a two-stage chemical reactor is carried out to illustrate the above theoretical findings.
基金Project supported by the National Science Fund for Distinguished Young Scholars(Grant No.T2125014)the Special Fund for Research on National Major Research Instruments of the National Natural Science Foundation of China(Grant No.11927808)the CAS Key Technology Research and Development Team Project(Grant No.GJJSTD20200005)。
文摘Atom tracking technology enhanced with innovative algorithms has been implemented in this study,utilizing a comprehensive suite of controllers and software independently developed domestically.Leveraging an on-board field-programmable gate array(FPGA)with a core frequency of 100 MHz,our system facilitates reading and writing operations across 16 channels,performing discrete incremental proportional-integral-derivative(PID)calculations within 3.4 microseconds.Building upon this foundation,gradient and extremum algorithms are further integrated,incorporating circular and spiral scanning modes with a horizontal movement accuracy of 0.38 pm.This integration enhances the real-time performance and significantly increases the accuracy of atom tracking.Atom tracking achieves an equivalent precision of at least 142 pm on a highly oriented pyrolytic graphite(HOPG)surface under room temperature atmospheric conditions.Through applying computer vision and image processing algorithms,atom tracking can be used when scanning a large area.The techniques primarily consist of two algorithms:the region of interest(ROI)-based feature matching algorithm,which achieves 97.92%accuracy,and the feature description-based matching algorithm,with an impressive 99.99%accuracy.Both implementation approaches have been tested for scanner drift measurements,and these technologies are scalable and applicable in various domains of scanning probe microscopy with broad application prospects in the field of nanoengineering.
基金supported in part by the National Natural Science Foundation of China(NSFC)under Grant 92267202in part by the Municipal Government of Quzhou under Grant 2023D027+2 种基金in part by the National Natural Science Foundation of China(NSFC)under Grant 62321001in part by the National Key Research and Development Program of China under Grant 2020YFA0711303in part by the Beijing Natural Science Foundation under Grant Z220004.
文摘Communicating on millimeter wave(mmWave)bands is ushering in a new epoch of mobile communication which provides the availability of 10 Gbps high data rate transmission.However,mmWave links are easily prone to short transmission range communication because of the serious free space path loss and the blockage by obstacles.To overcome these challenges,highly directional beams are exploited to achieve robust links by hybrid beamforming.Accurately aligning the transmitter and receiver beams,i.e.beam training,is vitally important to high data rate transmission.However,it may cause huge overhead which has negative effects on initial access,handover,and tracking.Besides,the mobility patterns of users are complicated and dynamic,which may cause tracking error and large tracking latency.An efficient beam tracking method has a positive effect on sustaining robust links.This article provides an overview of the beam training and tracking technologies on mmWave bands and reveals the insights for future research in the 6th Generation(6G)mobile network.Especially,some open research problems are proposed to realize fast,accurate,and robust beam training and tracking.We hope that this survey provides guidelines for the researchers in the area of mmWave communications.
基金supported in part by the National Key Research and Development Program of China under Grant 2018YFA0702501in part by NSFC under Grant 41974126,41674116 and 42004101。
文摘Picking velocities from semblances manually is laborious and necessitates experience. Although various methods for automatic velocity picking have been developed, there remains a challenge in efficiently incorporating information from nearby gathers to ensure picked velocity aligns with seismic horizons while also improving picking accuracy. The conventional method of velocity picking from a semblance volume is computationally demanding, highlighting a need for a more efficient strategy. In this study, we introduce a novel method for automatic velocity picking based on multi-object tracking. This dynamic tracking process across different semblance panels can integrate information from nearby gathers effectively while maintaining computational efficiency. First, we employ accelerated density clustering on the velocity spectrum to discern cluster centers without the requirement for prior knowledge regarding the number of clusters. These cluster centers embody the maximum likelihood velocities of the main subsurface structures. Second, our proposed method tracks key points within the semblance volume. Kalman filter is adopted to adjust the tracking process, followed by interpolation on these tracked points to construct the final velocity model. Our synthetic data example demonstrates that our proposed algorithm can effectively rectify the picking errors of the clustering algorithm. We further compare the performances of the clustering method(CM), the proposed tracking method(TM), and the variational method(VM) on a field dataset from the Gulf of Mexico. The results attest that our method offers superior accuracy than CM, achieves comparable accuracy with VM, and benefits from a reduced computational cost.
基金supported in part by the National Key Research and Development Program of China(2019YFB2204701)in part by the National Natural Science Foundation of China(61831006,62022023,and 62250610223)in part by the Big Data Computing Center at Southeast University for numerical calculation.
文摘This article proposes and demonstrates a retrodirective array(RDA)for two-way wireless communication with automatic beam tracking.The proposed RDA is enabled by specifically designed chips made using a domestic complementary metal-oxide semiconductor(CMOS)process.The highly integrated CMOS chip includes a receiving(Rx)chain,a transmitting(Tx)chain,and a unique tracking phaselocked loop(PLL)for the crucial conjugated phase recovery in the RDA.This article also proposes a method to reduce the beam pointing error(BPE)in a conventional RDA.To validate the above ideas simply yet without loss of generality,a 2.4 GHz RDA is demonstrated through two-way communication links between the Rx and Tx chains,and an on-chip quadrature coupler is designed to achieve a nonretrodirective signal suppression of 23 dBc.The experimental results demonstrate that the proposed RDA,which incorporates domestically manufactured low-cost 0.18 lm CMOS chips,is capable of automatically tracking beams covering±40with a reduced BPE.Each CMOS chip in the RDA has a compact size of 4.62 mm^(2) and a low power consumption of 0.15 W.To the best of the authors’knowledge,this is the first research to demonstrate an RDA with a fully customized CMOS chip for wireless communication with automatic beam tracking。
基金Funded by the National Natural Science Foundation of China(Nos.U1934206,52208299,and 52108260)the 2021 Tencent XPLORER PRIZE。
文摘In order to clarify the fatigue damage evolution of concrete exposed to flexural fatigue loads,ultrasonic pulse velocity(UPV),impact-echo technology and surface electrical resistance(SR) method were used.Damage variable based on the change of velocity of ultrasonic pulse(Du) and impact elastic wave(Di)were defined according to the classical damage theory.The influences of stress level,loading frequency and concrete strength on damage variable were measured.The experimental results show that Du and Di both present a three-stages trend for concrete exposed to fatigue loads.Since impact elastic wave is more sensitive to the microstructure damage in stage Ⅲ,the critical damage variable,i e,the damage variable before the final fracture of concrete of Di is slightly higher than that of Du.Meanwhile,the evolution of SR of concrete exposed to fatigue loads were analyzed and the relationship between SR and Du,SR and Di of concrete exposed to fatigue loads were established.It is found that the SR of concrete was decreased with the increasing fatigue cycles,indicating that surface electrical resistance method can also be applied to describe the damage of ballastless track concrete exposed to fatigue loads.
基金supported in part by the National Key R&D Program of China under Grant 2021YFB2011300the National Natural Science Foundation of China under Grant 52075262。
文摘This paper mainly focuses on the development of a learning-based controller for a class of uncertain mechanical systems modeled by the Euler-Lagrange formulation.The considered system can depict the behavior of a large class of engineering systems,such as vehicular systems,robot manipulators and satellites.All these systems are often characterized by highly nonlinear characteristics,heavy modeling uncertainties and unknown perturbations,therefore,accurate-model-based nonlinear control approaches become unavailable.Motivated by the challenge,a reinforcement learning(RL)adaptive control methodology based on the actor-critic framework is investigated to compensate the uncertain mechanical dynamics.The approximation inaccuracies caused by RL and the exogenous unknown disturbances are circumvented via a continuous robust integral of the sign of the error(RISE)control approach.Different from a classical RISE control law,a tanh(·)function is utilized instead of a sign(·)function to acquire a more smooth control signal.The developed controller requires very little prior knowledge of the dynamic model,is robust to unknown dynamics and exogenous disturbances,and can achieve asymptotic output tracking.Eventually,co-simulations through ADAMS and MATLAB/Simulink on a three degrees-of-freedom(3-DOF)manipulator and experiments on a real-time electromechanical servo system are performed to verify the performance of the proposed approach.
基金the Foundation of State Key Laboratory of Nuclear Resources and Environment(Grant Nos.NRE2021-01,2022NRE34)the National Natural Science Foundation of China(Grant No.42162013)+1 种基金the Third Xinjiang Scientific Expedition Program(Grant No.2022xjkk1301)the Fund of National Key Laboratory of Science and Technology on Remote Sensing Information and imagery Analysis,Beijing Research Institute of Uranium Geology(Grant No.6142A01210405).
文摘Xiazhuang uranium ore field,located in the southern part of the Nanling Metallogenic Belt,is considered one of the largest granite-related U regions in South China.In this paper,we contribute new apatite fission track data and thermal history modeling to constrain the exhumation history and evaluate preservation potential of the Xiazhuang Uranium ore field.Nine Triassic outcrop granite samples collected from different locations of Xiazhuang Uranium ore field yield AFT ages ranging from 43 to 24 Ma with similar mean confined fission track lengths ranging from 11.8±2.0 to 12.9±1.9μm and Dpar values between 1.01 and 1.51μm.The robustness time-temperature reconstructions of samples from the hanging wall of Huangpi fault show that the Xiazhuang Uranium ore field experienced a time of monotonous and slow cooling starting from middle Paleocene to middle Miocene(~60-10 Ma),followed by relatively rapid exhumation in the late Miocene(~10-5 Ma)and nearly thermal stability in the Pliocene-Quaternary(~5-0 Ma).The amount of exhumation after U mineralization since the Middle Paleogene was estimated as~4.3±1.8 km according to the integrated thermal history model.Previous studies indicate that the ore-forming ages of U deposits in the Xiazhuang ore field are mainly before Middle Paleocene and the mineralization depths are more than 4.4±1.2 km.Therefore,the exhumation history since middle Paleocene plays important roles in the preservation of the Xiazhuang Uranium ore field.
基金supported by the National Natural Science Foundation of China(Grant Nos.42175002,42030611,42075013)the Natural Science Foundation of Sichuan,China(Grant No.2023NSFSC0242)the Innovation Team Fund of Southwest Regional Meteorological Center,China Meteorological Administration(Grant No.XNQYCXTD-202202)。
文摘Existing studies contend that latent heating(LH)will replace sensible heating(SH)to become the dominant factor affecting the development of the Tibetan Plateau vortex(TPV)after it moves off the Tibetan Plateau(TP).However,in the process of the TPV moving off the TP requires that the airmass traverse the eastern slope of the Tibetan Plateau(ESTP)where the topography and diabatic heating(DH)conditions rapidly change.How LH gradually replaces SH to become the dominant factor in the development of the TPV over the ESTP is still not very clear.In this paper,an analysis of a typical case of a TPV with a long life history over the ESTP is performed by using multi-sourced meteorological data and model simulations.The results show that SH from the TP surface can change the TPV-associated precipitation distribution by temperature advection after the TPV moves off the TP.The LH can then directly promote the development of the TPV and has a certain guiding effect on the track of the TPV.The SH can control the active area of LH by changing the falling area of the TPV-associated precipitation,so it still plays a key role in the development and tracking of the TPV even though it has moved out of the main body of the TP.
基金supported by Graduate Funded Project(No.JY2022A017).
文摘The frequent missing values in radar-derived time-series tracks of aerial targets(RTT-AT)lead to significant challenges in subsequent data-driven tasks.However,the majority of imputation research focuses on random missing(RM)that differs significantly from common missing patterns of RTT-AT.The method for solving the RM may experience performance degradation or failure when applied to RTT-AT imputation.Conventional autoregressive deep learning methods are prone to error accumulation and long-term dependency loss.In this paper,a non-autoregressive imputation model that addresses the issue of missing value imputation for two common missing patterns in RTT-AT is proposed.Our model consists of two probabilistic sparse diagonal masking self-attention(PSDMSA)units and a weight fusion unit.It learns missing values by combining the representations outputted by the two units,aiming to minimize the difference between the missing values and their actual values.The PSDMSA units effectively capture temporal dependencies and attribute correlations between time steps,improving imputation quality.The weight fusion unit automatically updates the weights of the output representations from the two units to obtain a more accurate final representation.The experimental results indicate that,despite varying missing rates in the two missing patterns,our model consistently outperforms other methods in imputation performance and exhibits a low frequency of deviations in estimates for specific missing entries.Compared to the state-of-the-art autoregressive deep learning imputation model Bidirectional Recurrent Imputation for Time Series(BRITS),our proposed model reduces mean absolute error(MAE)by 31%~50%.Additionally,the model attains a training speed that is 4 to 8 times faster when compared to both BRITS and a standard Transformer model when trained on the same dataset.Finally,the findings from the ablation experiments demonstrate that the PSDMSA,the weight fusion unit,cascade network design,and imputation loss enhance imputation performance and confirm the efficacy of our design.
文摘Six degrees of freedom(6DoF)input interfaces are essential formanipulating virtual objects through translation or rotation in three-dimensional(3D)space.A traditional outside-in tracking controller requires the installation of expensive hardware in advance.While inside-out tracking controllers have been proposed,they often suffer from limitations such as interaction limited to the tracking range of the sensor(e.g.,a sensor on the head-mounted display(HMD))or the need for pose value modification to function as an input interface(e.g.,a sensor on the controller).This study investigates 6DoF pose estimation methods without restricting the tracking range,using a smartphone as a controller in augmented reality(AR)environments.Our approach involves proposing methods for estimating the initial pose of the controller and correcting the pose using an inside-out tracking approach.In addition,seven pose estimation algorithms were presented as candidates depending on the tracking range of the device sensor,the tracking method(e.g.,marker recognition,visual-inertial odometry(VIO)),and whether modification of the initial pose is necessary.Through two experiments(discrete and continuous data),the performance of the algorithms was evaluated.The results demonstrate enhanced final pose accuracy achieved by correcting the initial pose.Furthermore,the importance of selecting the tracking algorithm based on the tracking range of the devices and the actual input value of the 3D interaction was emphasized.
基金supported by the National Defense Basic Scientific Research Project(JCKY2020130C025)the National Science and Technology Major Project(J2019-III-0020-0064,J2019-V-0014-0109)。
文摘In this paper,fixed-time consensus tracking for mul-tiagent systems(MASs)with dynamics in the form of strict feed-back affine nonlinearity is addressed.A fixed-time antidistur-bance consensus tracking protocol is proposed,which consists of a distributed fixed-time observer,a fixed-time disturbance observer,a nonsmooth antidisturbance backstepping controller,and the fixed-time stability analysis is conducted by using the Lyapunov theory correspondingly.This paper includes three main improvements.First,a distributed fixed-time observer is developed for each follower to obtain an estimate of the leader’s output by utilizing the topology of the communication network.Second,a fixed-time disturbance observer is given to estimate the lumped disturbances for feedforward compensation.Finally,a nonsmooth antidisturbance backstepping tracking controller with feedforward compensation for lumped disturbances is designed.In order to mitigate the“explosion of complexity”in the tradi-tional backstepping approach,we have implemented a modified nonsmooth command filter to enhance the performance of the closed-loop system.The simulation results show that the pro-posed method is effective.
基金supported by the Natural Science Foundation of Hainan Province(Grant No.520LH015)the Fundamental Research Funds for the Central Universities and the Major Projects of Strategic Emerging Industries in Shanghai(Grant No.BH3230001).
文摘To ensure the safe performance of deep-sea mining vehicles(DSMVs),it is necessary to study the mechanical characteristics of the interaction between the seabed soil and the track plate.The rotation and digging motions of the track plate are important links in the contact between the driving mechanism of the DSMV and seabed soil.In this study,a numerical simulation is conducted using the coupled Eulerian–Lagrangian(CEL)large deformation numerical method to investigate the interaction between the track plate of the DSMV and the seabed soil under two working conditions:rotating condition and digging condition.First,a soil numerical model is established based on the elastoplastic mechanical characterization using the basic physical and mechanical properties of the seabed soil obtained by in situ sampling.Subsequently,the soil disturbance mechanism and the dynamic mechanical response of the track plate under rotating and digging conditions are obtained through the analysis of the sensitivity of the motion parameters,the grouser structure,the layered soil features and the soil heterogeneity.The results indicate that the above parameters remarkably influence the interaction between the DSMV and the seabed soil.Therefore,it is important to consider the rotating and digging motion of the DSMV in practical engineering to develop a detailed optimization design of the track plate.
基金supported by the Science and Technology Innovation Program of Hunan Province(2021RC3078)。
文摘In order to effectively defend against the threats of the hypersonic gliding vehicles(HGVs),HGVs should be tracked as early as possible,which is beyond the capability of the ground-based radars.Being benefited by the developing megaconstellations in low-Earth orbit,this paper proposes a relay tracking mode to track HGVs to overcome the above problem.The whole tracking mission is composed of several tracking intervals with the same duration.Within each tracking interval,several appropriate satellites are dispatched to track the HGV.Satellites that are planned to take part in the tracking mission are selected by a new derived observability criterion.The tracking performances of the proposed tracking mode and the other two traditional tracking modes,including the stare and track-rate modes,are compared by simulation.The results show that the relay tracking mode can track the whole trajectory of a HGV,while the stare mode can only provide a very short tracking arc.Moreover,the relay tracking mode achieve higher tracking accuracy with fewer attitude controls than the track-rate mode.
基金supported by the National Natural Science Foundation of China(Grant No.52379061)the Natural Science Foundation of Jiangsu Province(Grant No.BK20230099)the Key Laboratory of Water Grid Project and Regulation of Ministry of Water Resources(Grant No.QTKS0034W23292).
文摘Lateral intakes are common in rivers.The pump effciency and sediment deposition are determined by the local hydrodynamic characteristics and mainstream division width.The hydraulic characteristics of lateral withdrawal from inclined river slopes at different intake elevations should be investigated.Meanwhile,the division width exhibits significant vertical non-uniformity at an inclined river slope,which should be clarified.Hence,a three-dimensional(3-D)hydrodynamic and particle-tracking model was developed with the Open Source Field Operation and Manipulation(Open FOAM),and the model was validated with physical model tests for 90°lateral withdrawal from an inclined side bank.The flow fields,withdrawal sources,and division widths were investigated with different intake bottom elevations,withdrawal discharges,and main channel velocities.This study showed that under inclined side bank conditions,water entered the intake at an oblique angle,causing significant 3-D spiral flows in the intake rather than two-dimensional closed recirculation.A lower withdrawal discharge,a lower bottom elevation of the intake,or a higher main channel velocity could further strengthen this phenomenon.The average division width and turbulent kinetic energy were smaller under inclined side bank conditions than under vertical bank conditions.With a low intake bottom elevation,a low withdrawal discharge,or a high main channel velocity,the sources of lateral withdrawal were in similar ranges near the local inclined bank in the vertical direction.Under inclined slope conditions,sediment deposition near the intake entrance could be reduced,compared to that under vertical slope conditions.The results provide hydrodynamic and sediment references for engineering designs for natural rivers with inclined terrains.