Theoretical analysis and engineering application of controllable shock wave technology for enhancing coalbed methane in soft and low‑permeability coal seams

Coalbed methane(CBM)is a significant factor in triggering coal and gas outburst disaster,while also serving as a clean fuel.With the increasing depth of mining operations,coal seams that exhibit high levels of gas content and low permeability have become increasingly prevalent.While controllable shockwave(CSW)technology has proven effective in enhancing CBM in laboratory settings,there is a lack of reports on its field applications in soft and low-permeability coal seams.This study establishes the governing equations for stress waves induced by CSW.Laplace numerical inversion was employed to analyse the dynamic response of the coal seam during CSW antireflection.Additionally,quantitative calculations were performed for the crushed zone,fracture zone,and effective CSW influence range,which guided the selection of field test parameters.The results of the field test unveiled a substantial improvement in the gas permeability coefficient,the average rate of pure methane flowrate,and the mean gas flowrate within a 10 m radius of the antireflection borehole.These enhancements were notable,showing increases of 3 times,13.72 times,and 11.48 times,respectively.Furthermore,the field test performed on the CSW antireflection gas extraction hole cluster demonstrated a noticeable improvement in CBM extraction.After antireflection,the maximum peak gas concentration and maximum peak pure methane flow reached 71.2%and 2.59 m^(3)/min,respectively.These findings will offer valuable guidance for the application of CSW antireflection technology in soft and low-permeability coal seams.

Fracture propagation and evolution law of indirect fracturing in the roof of broken soft coal seams

Indirect fracturing in the roof of broken soft coal seams has been demonstrated to be a feasible technology.In this work,the No.5 coal seam in the Hancheng block was taken as the research object.Based on the findings of true triaxial hydraulic fracturing experiments and field pilot under this technology and the cohesive element method,a 3D numerical model of indirect fracturing in the roof of broken soft coal seams was established,the fracture morphology propagation and evolution law under different conditions was investigated,and analysis of main controlling factors of fracture parameters was conducted with the combination weight method,which was based on grey incidence,analytic hierarchy process and entropy weight method.The results show that“士”-shaped fractures,T-shaped fractures,cross fractures,H-shaped fractures,and“干”-shaped fractures dominated by horizontal fractures were formed.Different parameter combinations can form different fracture morphologies.When the coal seam permeability is lower and the minimum horizontal principal stress difference between layers and fracturing fluid injection rate are both larger,it tends to form“士”-shaped fractures.When the coal seam permeability and minimum horizontal principal stress between layers and perforation position are moderate,cross fractures are easily generated.Different fracture parameters have different main controlling factors.Engineering factors of perforation location,fracturing fluid injection rate and viscosity are the dominant factors of hydraulic fracture shape parameters.This study can provide a reference for the design of indirect fracturing in the roof of broken soft coal seams.

The Soft X-ray Imager(SXI)on the SMILE Mission

The Soft X-ray Imager(SXI)is part of the scientific payload of the Solar wind Magnetosphere Ionosphere Link Explorer(SMILE)mission.SMILE is a joint science mission between the European Space Agency(ESA)and the Chinese Academy of Sciences(CAS)and is due for launch in 2025.SXI is a compact X-ray telescope with a wide field-of-view(FOV)capable of encompassing large portions of Earth’s magnetosphere from the vantage point of the SMILE orbit.SXI is sensitive to the soft X-rays produced by the Solar Wind Charge eXchange(SWCX)process produced when heavy ions of solar wind origin interact with neutral particles in Earth’s exosphere.SWCX provides a mechanism for boundary detection within the magnetosphere,such as the position of Earth’s magnetopause,because the solar wind heavy ions have a very low density in regions of closed magnetic field lines.The sensitivity of the SXI is such that it can potentially track movements of the magnetopause on timescales of a few minutes and the orbit of SMILE will enable such movements to be tracked for segments lasting many hours.SXI is led by the University of Leicester in the United Kingdom(UK)with collaborating organisations on hardware,software and science support within the UK,Europe,China and the United States.

Finding the magnetopause location using soft X-ray observations and a statistical inverse method

Variability in the location and shape of the dayside magnetopause is attributed to magnetic reconnection,a fundamental process that enables the transfer of mass,energy,and momentum from the solar wind into the magnetosphere.The spatial and temporal properties of the magnetopause,under varying solar and magnetospheric conditions,remain largely unknown because empirical studies using in-situ observations are challenging to interpret.Global wide field-of-view(FOV)imaging is the only means to simultaneously observe the spatial distribution of the plasma properties over the vast dayside magnetospheric region and,subsequently,quantify the energy transport from the interplanetary medium into the terrestrial magnetosphere.Two upcoming missions,ESA/CAS SMILE and NASA’s LEXI will provide wide-field imagery of the dayside magnetosheath in soft X-rays,an emission generated by charge exchange interactions between high charge-state heavy ions of solar wind origin and exospheric neutral atoms.High-cadence two-dimensional observations of the magnetosheath will allow the estimation of dynamic properties of its inner boundary,the magnetopause,and enable studies of its response to changes in the solar wind dynamic pressure and interplanetary magnetic field orientation.This work introduces a statistically-based estimation approach based on inverse theory to estimate the spatial distribution of magnetosheath soft X-ray emissivities and,with this,identify the location of the magnetopause over the Sun−Earth line.To do so,we simulate the magnetosheath structure using the MHD-based OpenGGCM model and generate synthetic soft X-ray images using LEXI’s orbit and attitude information.Our results show that 3-D estimations using the described statistically-based technique are robust against Poisson-distributed shot noise inherent to soft X-ray images.Also,our proposed methodology shows that the accuracy of both three-dimensional(3-D)estimation and the magnetopause standoff distance calculation highly depends on the observational point.

Estimating the subsolar magnetopause position from soft X-ray images using a low-pass image filter

The Lunar Environment heliospheric X-ray Imager(LEXI)and Solar wind Magnetosphere Ionosphere Link Explorer(SMILE)missions will image the Earth’s dayside magneto pause and cusps in soft X-rays after their respective launches in the near future,to specify glo bal magnetic reconnection modes for varying solar wind conditions.To suppo rt the success of these scientific missions,it is critical to develop techniques that extract the magnetopause locations from the observed soft X-ray images.In this research,we introduce a new geometric equation that calculates the subsolar magnetopause position(RS)from a satellite position,the look direction of the instrument,and the angle at which the X-ray emission is maximized.Two assumptions are used in this method:(1)The look direction where soft X-ray emissions are maximized lies tangent to the magnetopause,and(2)the magnetopause surface near the subsolar point is almost spherical and thus RSis nea rly equal to the radius of the magneto pause curvature.We create synthetic soft X-ray images by using the Open Geospace General Circulation Model(OpenGGCM)global magnetohydrodynamic model,the galactic background,the instrument point spread function,and Poisson noise.We then apply the fast Fourier transform and Gaussian low-pass filte rs to the synthetic images to re move noise and obtain accurate look angles for the soft X-ray pea ks.From the filte red images,we calculate RS and its accuracy for different LEXI locations,look directions,and solar wind densities by using the OpenGGCM subsolar magnetopause location as ground truth.Our method estimates RS with an accuracy of<0.3 RE when the solar wind density exceeds>10 cm-3.The accuracy improves for greater solar wind densities and during southward interplanetary magnetic fields.The method ca ptures the magnetopause motion during southwa rd interplaneta ry magnetic field turnings.Consequently,the technique will enable quantitative analysis of the magnetopause motion and help reveal the dayside reconnection modes for dynamic solar wind conditions.This technique will suppo rt the LEXI and SMILE missions in achieving their scientific o bjectives.

SMILE soft X-ray Imager flight model CCD370 pre-flight device characterisation

Throughout the SMILE mission the satellite will be bombarded by radiation which gradually damages the focal plane devices and degrades their performance.In order to understand the changes of the CCD370s within the soft X-ray Imager,an initial characterisation of the devices has been carried out to give a baseline performance level.Three CCDs have been characterised,the two flight devices and the flight spa re.This has been carried out at the Open University in a bespo ke cleanroom measure ment facility.The results show that there is a cluster of bright pixels in the flight spa re which increases in size with tempe rature.However at the nominal ope rating tempe rature(-120℃) it is within the procure ment specifications.Overall,the devices meet the specifications when ope rating at -120℃ in 6 × 6 binned frame transfer science mode.The se rial charge transfer inefficiency degrades with temperature in full frame mode.However any charge losses are recovered when binning/frame transfer is implemented.

Stability analysis of longwall top-coal caving face in extra-thick coal seams based on an innovative numerical hydraulic support model

The relationship between support and surrounding rock is of great significance to the control of surrounding rock in mining process.In view of the fact that most of the existing numerical simulation methods construct virtual elements and stress servo control to approximately replace the hydraulic support problem,this paper establishes a new numerical model of hydraulic support with the same working characteristics as the actual hydraulic support by integrating numerical simulation software Rhino,Griddle and FLAC3D,which can realize the simulation of different working conditions.Based on this model,the influence mechanism of the supporting strength of hydraulic support on surrounding rock stress regulation and coal stability in front of the top coal caving face in extra thick coal seam were researched.Firstly,under different support intensity,the abutment pressure of the bearing coal and the coal in front of it presents the “three-stage”evolution characteristics.The influence range of support intensity is 15%–30%.Secondly,1.5 MPa is the upper limit of impact that the support strength can have on the front coal failure area.Thirdly,within a displacement range of 2.76 m from the coal wall,a support strength of1.5 MPa provides optimal control of the horizontal displacement of the coal.

Mechanical properties and acoustic emission characteristics of soft rock with different water contents under dynamic disturbance

Uniaxial compression tests and cyclic loading acoustic emission tests were conducted on 20%,40%,60%,80%,dry and saturated muddy sandstone by using a creep impact loading system to investigate the mechanical properties and acoustic emission characteristics of soft rocks with different water contents under dynamic disturbance.The mechanical properties and acoustic emission characteristics of muddy sandstones at different water contents were analysed.Results of experimental studies show that water is a key factor in the mechanical properties of rocks,softening them,increasing their porosity,reducing their brittleness and increasing their plasticity.Under uniaxial compression,the macroscopic damage characteristics of the muddy sandstone change from mono-bevel shear damage and‘X’type conjugate bevel shear damage to a roadway bottom-drum type damage as the water content increases.Dynamic perturbation has a strengthening effect on the mechanical properties of samples with 60%and less water content,and a weakening effect on samples with 80%and more water content,but the weakening effect is not obvious.Macroscopic damage characteristics of dry samples remain unchanged,water samples from shear damage and tensile–shear composite damage gradually transformed into cleavage damage,until saturation transformation monoclinic shear damage.The evolution of acoustic emission energy and event number is mainly divided into four stages:loading stage(Ⅰ),dynamic loading stage(Ⅱ),yield failure stage(Ⅲ),and post-peak stage(Ⅳ),the acoustic emission characteristics of the stages were different for different water contents.The characteristic value of acoustic emission key point frequency gradually decreases,and the damage degree of the specimen increases,corresponding to low water content—high main frequency—low damage and high water content—low main frequency—high damage.

Two methods for separating the magnetospheric solar wind charge exchange soft X-ray emission from the diffuse X-ray background

Solar wind charge exchange(SWCX)is the process of solar wind high-valence ions exchanging charges with neutral components and generating soft X-rays.Recently,detecting the SWCX emission from the magnetosphere is proposed as a new technique to study the magnetosphere using panoramic soft X-ray imaging.To better prepare for the data analysis of upcoming magnetospheric soft X-ray imaging missions,this paper compares the magnetospheric SWCX emission obtained by two methods in an XMM-Newton observation,during which the solar wind changed dramatically.The two methods differ in the data used to fit the diffuse X-ray background(DXB)parameters in spectral analysis.The method adding data from the ROSAT All-Sky Survey(RASS)is called the RASS method.The method using the quiet observation data is called the Quiet method,where quiet observations usually refer to observations made by the same satellite with the same target but under weaker solar wind conditions.Results show that the spectral compositions of magnetospheric SWCX emission obtained by the two methods are very similar,and the changes in intensity over time are highly consistent,although the intensity obtained by the RASS method is about 2.68±0.56 keV cm^(-2)s^(-1)sr^(-1)higher than that obtained by the Quiet method.Since the DXB intensity obtained by the RASS method is about 2.84±0.74 keV cm^(-2)s^(-1)sr^(-1)lower than that obtained by the Quiet method,and the linear correlation coefficient between the difference of SWCX and DXB obtained by the two methods in diffe rent energy band is close to-1,the diffe rences in magnetospheric SWCX can be fully attributed to the diffe rences in the fitted DXB.The difference between the two methods is most significant when the energy is less than 0.7 keV,which is also the main energy band of SWCX emission.In addition,the difference between the two methods is not related to the SWCX intensity and,to some extent,to solar wind conditions,because SWCX intensity typically va ries with the solar wind.In summary,both methods are robust and reliable,and should be considered based on the best available options.

Hybrid-Vlasov simulation of soft X-ray emissions at the Earth’s dayside magnetospheric boundaries

Solar wind charge exchange produces emissions in the soft X-ray energy range which can enable the study of near-Earth space regions such as the magnetopause,the magnetosheath and the polar cusps by remote sensing techniques.The Solar wind Magnetosphere Ionosphere Link Explorer(SMILE)and Lunar Environment heliospheric X-ray Imager(LEXI)missions aim to obtain soft Xray images of near-Earth space thanks to their Soft X-ray Imager(SXI)instruments.While earlier modeling works have already simulated soft X-ray images as might be obtained by SMILE SXI during its mission,the numerical models used so far are all based on the magnetohydrodynamics description of the space plasma.To investigate the possible signatures of ion-kinetic-scale processes in soft Xray images,we use for the first time a global hybrid-Vlasov simulation of the geospace from the Vlasiator model.The simulation is driven by fast and tenuous solar wind conditions and purely southward interplanetary magnetic field.We first produce global X-ray images of the dayside near-Earth space by placing a virtual imaging satellite at two different locations,providing meridional and equatorial views.We then analyze regional features present in the images and show that they correspond to signatures in soft X-ray emissions of mirrormode wave structures in the magnetosheath and flux transfer events(FTEs)at the magnetopause.Our results suggest that,although the time scales associated with the motion of those transient phenomena will likely be significantly smaller than the integration time of the SMILE and LEXI imagers,mirror-mode structures and FTEs can cumulatively produce detectable signatures in the soft X-ray images.For instance,a local increase by 30%in the proton density at the dayside magnetopause resulting from the transit of multiple FTEs leads to a 12%enhancement in the line-of-sight-and time-integrated soft X-ray emissivity originating from this region.Likewise,a proton density increase by 14%in the magnetosheath associated with mirror-mode structures can result in an enhancement in the soft X-ray signal by 4%.These are likely conservative estimates,given that the solar wind conditions used in the Vlasiator run can be expected to generate weaker soft X-ray emissions than the more common denser solar wind.These results will contribute to the preparatory work for the SMILE and LEXI missions by providing the community with quantitative estimates of the effects of small-scale,transient phenomena occurring on the dayside.

Path Planning and Tracking Control for Parking via Soft Actor-Critic Under Non-Ideal Scenarios

Parking in a small parking lot within limited space poses a difficult task. It often leads to deviations between the final parking posture and the target posture. These deviations can lead to partial occupancy of adjacent parking lots, which poses a safety threat to vehicles parked in these parking lots. However, previous studies have not addressed this issue. In this paper, we aim to evaluate the impact of parking deviation of existing vehicles next to the target parking lot(PDEVNTPL) on the automatic ego vehicle(AEV) parking, in terms of safety, comfort, accuracy, and efficiency of parking. A segmented parking training framework(SPTF) based on soft actor-critic(SAC) is proposed to improve parking performance. In the proposed method, the SAC algorithm incorporates strategy entropy into the objective function, to enable the AEV to learn parking strategies based on a more comprehensive understanding of the environment. Additionally, the SPTF simplifies complex parking tasks to maintain the high performance of deep reinforcement learning(DRL). The experimental results reveal that the PDEVNTPL has a detrimental influence on the AEV parking in terms of safety, accuracy, and comfort, leading to reductions of more than 27%, 54%, and 26%respectively. However, the SAC-based SPTF effectively mitigates this impact, resulting in a considerable increase in the parking success rate from 71% to 93%. Furthermore, the heading angle deviation is significantly reduced from 2.25 degrees to 0.43degrees.

Direct 4D printing of functionally graded hydrogel networks for biodegradable,untethered,and multimorphic soft robots

Recent advances in functionally graded additive manufacturing(FGAM)technology have enabled the seamless hybridization of multiple functionalities in a single structure.Soft robotics can become one of the largest beneficiaries of these advances,through the design of a facile four-dimensional(4D)FGAM process that can grant an intelligent stimuli-responsive mechanical functionality to the printed objects.Herein,we present a simple binder jetting approach for the 4D printing of functionally graded porous multi-materials(FGMM)by introducing rationally designed graded multiphase feeder beds.Compositionally graded cross-linking agents gradually form stable porous network structures within aqueous polymer particles,enabling programmable hygroscopic deformation without complex mechanical designs.Furthermore,a systematic bed design incorporating additional functional agents enables a multi-stimuli-responsive and untethered soft robot with stark stimulus selectivity.The biodegradability of the proposed 4D-printed soft robot further ensures the sustainability of our approach,with immediate degradation rates of 96.6%within 72 h.The proposed 4D printing concept for FGMMs can create new opportunities for intelligent and sustainable additive manufacturing in soft robotics.

Simulation of the SMILE Soft X-ray Imager response to a southward interplanetary magnetic field turning

The Solar wind Magnetosphere Ionosphere Link Explorer(SMILE)Soft X-ray Imager(SXI)will shine a spotlight on magnetopause dynamics during magnetic reconnection.We simulate an event with a southward interplanetary magnetic field turning and produce SXI count maps with a 5-minute integration time.By making assumptions about the magnetopause shape,we find the magnetopause standoff distance from the count maps and compare it with the one obtained directly from the magnetohydrodynamic(MHD)simulation.The root mean square deviations between the reconstructed and MHD standoff distances do not exceed 0.2 RE(Earth radius)and the maximal difference equals 0.24 RE during the 25-minute interval around the southward turning.

融入混合注意力的低缩放因子SeamCarving篡改检测算法

针对现有的Seam Carving篡改检测算法对于低缩放因子情况存在检测精度不高、鲁棒性不强的问题,提出一种融入混合注意力机制的Seam Carving篡改检测算法。首先,利用BayarConv2D约束卷积对图像进行预处理,充分学习图像的噪声特征,并通过矩阵乘法与RGB图像进行特征融合;然后,采用ResNet作为骨干网络进行特征学习,引入残差传播和残差反馈机制,凸显Seam Carving的操作痕迹;最后,利用混合注意力机制同时提取相邻位置和通道之间的特征,更好地捕捉全局特征,进而将其输入全连接层进行分类。实验结果表明,在BOSSbase1.01数据集上,当缩放因子为1%和9%时,检测精度分别达到了89.48%和97.94%,优于现有主流方法,同时具有较低的计算复杂度和较好的鲁棒性,能够抵抗JPEG压缩攻击。

MHz cut-off frequency and permeability mechanism of iron-based soft magnetic composites

The lack of soft magnetic composites with high power density in MHz frequency range has become an obstacle in the efficient operation of the electrical and electronic equipments.Here,a promising method to increase the cut-off frequency of iron-based soft magnetic composites to hundreds of MHz is reported.The cut-off frequency is increased from 10 MHz to 1 GHz by modulating the height of the ring,the distribution of particles,and the particle size.The mechanism of cut-off frequency and permeability is the coherent rotation of domain modulated by inhomogeneous field due to the eddy current effect.An empirical formula for the cut-off frequency in a magnetic ring composed of iron-based particles is established from experimental data.This work provides an effective approach to fabricate soft magnetic composites with a cut-off frequency in hundreds of MHz.

基于动态规划的Seam Carving裁剪算法

随着科技的发展,图像应用和分享越来越普遍。图像尺寸调整在不同设备和屏幕上的显示非常重要。传统的方法只是简单地复制或计算像素值,而不考虑图像内容的重要性。然而,基于动态规划的Seam Carving裁剪算法提出了一种更优化的方法。该算法采用多尺度处理,对不同尺度的图像进行Seam Carving操作,并将处理结果整合起来,以实现更全面、更精细的图像调整。

An Automatic Implementation of Oropharyngeal Swab Sampling for Diagnosing Respiratory Infectious Diseases via Soft Robotic End-Effectors

The most widely adopted method for diagnosing respiratory infectious diseases is to conduct polymerase chain reaction(PCR)assays on patients’respiratory specimens,which are collected through either nasal or oropharyngeal swabs.The manual swab sampling process poses a high risk to the examiner and may cause false-negative results owing to improper sampling.In this paper,we propose a pneumatically actuated soft end-effector specifically designed to achieve all of the tasks involved in swab sampling.The soft end-effector utilizes circumferential instability to ensure grasping stability,and exhibits several key properties,including high load-to-weight ratio,error tolerance,and variable swab-tip stiffness,leading to successful automatic robotic oropharyngeal swab sampling,from loosening and tightening the transport medium tube cap,holding the swab,and conducting sampling,to snapping off the swab tail and sterilizing itself.Using an industrial collaborative robotic arm,we integrated the soft end-effector,force sensor,camera,lights,and remote-control stick,and developed a robotic oropharyngeal swab sampling system.Using this swab sampling system,we conducted oropharyngeal swab-sampling tests on 20 volunteers.Our Digital PCR assay results(RNase P RNA gene absolute copy numbers for the samples)revealed that our system successfully collected sufficient numbers of cells from the pharyngeal wall for respiratory disease diagnosis.In summary,we have developed a pharyngeal swab-sampling system based on an“enveloping”soft actuator,studied the sampling process,and imple-mented whole-process robotic oropharyngeal swab-sampling.

Insights into carbon dioxide sequestration into coal seams through coupled gas flow-adsorption-deformation modelling

Injecting carbon dioxide(CO_(2))into coal seams may unlock substantial carbon sequestration potential.Since the coal acts like a carbon filter,it can preferentially absorb significant amounts of CO_(2).To explore this further,desorption of the adsorbed gas due to pressure drop is investigated in this paper,to achieve an improved understanding of the long-term fate of injected CO_(2) during post-injection period.This paper presents a dual porosity model coupling gas flow,adsorption and geomechanics for studying coupled processes and effectiveness of CO_(2) sequestration in coals.A new adsorption?desorption model derived based on thermodynamics is incorporated,particularly,the desorption hysteresis is considered.The reliability of the proposed adsorption-desorption isotherm is examined via validation tests.It is indicated that occurrence of desorption hysteresis is attributed to the adsorption-induced pore deformation.After injection ceases,the injected gas continues to propagate further from the injection well,while the pressure in the vicinity of the injection well experiences a significant drop.Although the adsorbed gas near the well also decreases,this decrease is less compared to that in pressure because of desorption hysteresis.The unceasing spread of CO_(2) and drops of pressure and adsorbed gas depend on the degree of desorption hysteresis and heterogeneity of coals,which should be considered when designing CO_(2) sequestration into coal seams.

Estimating the yield stress of soft materials via laser-induced breakdown spectroscopy

Taking three typical soft samples prepared respectively by loose packings of 77-,95-,and 109-μm copper grains as examples,we perform an experiment to investigate the energy-dependent laser-induced breakdown spectroscopy(LIBS)of soft materials.We discovered a reversal phenomenon in the trend of energy dependence of plasma emission intensity:increasing initially and then decreasing separated by a well-defined critical energy.The trend reversal is attributed to the laser-induced recoil pressure at the critical energy just matching the sample's yield strength.As a result,a one-to-one correspondence can be well established between the samples'yield stress and the critical energy that is easily obtainable from LIBS measurements.This allows us to propose an innovative method for estimating the yield stress of soft materials via LIBS with attractive advantages including in-situ remote detection,real-time data collection,and minimal destructive to sample.

Applications of Soft Computing Methods in Backbreak Assessment in Surface Mines: A Comprehensive Review

Geo-engineering problems are known for their complexity and high uncertainty levels,requiring precise defini-tions,past experiences,logical reasoning,mathematical analysis,and practical insight to address them effectively.Soft Computing(SC)methods have gained popularity in engineering disciplines such as mining and civil engineering due to computer hardware and machine learning advancements.Unlike traditional hard computing approaches,SC models use soft values and fuzzy sets to navigate uncertain environments.This study focuses on the application of SC methods to predict backbreak,a common issue in blasting operations within mining and civil projects.Backbreak,which refers to the unintended fracturing of rock beyond the desired blast perimeter,can significantly impact project timelines and costs.This study aims to explore how SC methods can be effectively employed to anticipate and mitigate the undesirable consequences of blasting operations,specifically focusing on backbreak prediction.The research explores the complexities of backbreak prediction and highlights the potential benefits of utilizing SC methods to address this challenging issue in geo-engineering projects.