The supercritical CO_(2) Brayton cycle is considered a promising energy conversion system for Generation IV reactors for its simple layout,compact structure,and high cycle efficiency.Mathematical models of four Brayto...The supercritical CO_(2) Brayton cycle is considered a promising energy conversion system for Generation IV reactors for its simple layout,compact structure,and high cycle efficiency.Mathematical models of four Brayton cycle layouts are developed in this study for different reactors to reduce the cost and increase the thermohydraulic performance of nuclear power generation to promote the commercialization of nuclear energy.Parametric analysis,multi-objective optimizations,and four decision-making methods are applied to obtain each Brayton scheme’s optimal thermohydraulic and economic indexes.Results show that for the same design thermal power scale of reactors,the higher the core’s exit temperature,the better the Brayton cycle’s thermo-economic performance.Among the four-cycle layouts,the recompression cycle(RC)has the best overall performance,followed by the simple recuperation cycle(SR)and the intercooling cycle(IC),and the worst is the reheating cycle(RH).However,RH has the lowest total cost of investment(C_(tot))of$1619.85 million,and IC has the lowest levelized cost of energy(LCOE)of 0.012$/(kWh).The nuclear Brayton cycle system’s overall performance has been improved due to optimization.The performance of the molten salt reactor combined with the intercooling cycle(MSR-IC)scheme has the greatest improvement,with the net output power(W_(net)),thermal efficiencyη_(t),and exergy efficiency(η_(e))improved by 8.58%,8.58%,and 11.21%,respectively.The performance of the lead-cooled fast reactor combined with the simple recuperation cycle scheme was optimized to increase C_(tot) by 27.78%.In comparison,the internal rate of return(IRR)increased by only 7.8%,which is not friendly to investors with limited funds.For the nuclear Brayton cycle,the molten salt reactor combined with the recompression cycle scheme should receive priority,and the gas-cooled fast reactor combined with the reheating cycle scheme should be considered carefully.展开更多
Electrocatalytic reduction of CO_(2)into high energy-density fuels and value-added chemicals under mild conditions can promote the sustainable cycle of carbon and decrease current energy and environmental problems.Con...Electrocatalytic reduction of CO_(2)into high energy-density fuels and value-added chemicals under mild conditions can promote the sustainable cycle of carbon and decrease current energy and environmental problems.Constructing electrocatalyst with high activity,selectivity,stability,and low cost is really matter to realize industrial application of electrocatalytic CO_(2)reduction(ECR).Metal-nitrogen-carbon(M-N-C),especially Ni-N-C,display excellent performance,such as nearly 100%CO selectivity,high current density,outstanding tolerance,etc.,which is considered to possess broad application prospects.Based on the current research status,starting from the mechanism of ECR and the existence form of Ni active species,the latest research progress of Ni-N-C electrocatalysts in CO_(2)electroreduction is systematically summarized.An overview is emphatically interpreted on the regulatory strategies for activity optimization over Ni-N-C,including N coordination modulation,vacancy defects construction,morphology design,surface modification,heteroatom activation,and bimetallic cooperation.Finally,some urgent problems and future prospects on designing Ni-N-C catalysts for ECR are discussed.This review aims to provide the guidance for the design and development of Ni-N-C catalysts with practical application.展开更多
Sb_(2)Se_(3) with unique one-dimensional(1D) crystal structure exhibits exceptional deformation tolerance,demonstrating great application potential in flexible devices.However,the power conversion efficiency(PCE) of f...Sb_(2)Se_(3) with unique one-dimensional(1D) crystal structure exhibits exceptional deformation tolerance,demonstrating great application potential in flexible devices.However,the power conversion efficiency(PCE) of flexible Sb_(2)Se_(3) photovoltaic devices is temporarily limited by the complicated intrinsic defects and the undesirable contact interfaces.Herein,a high-quality Sb_(2)Se_(3) absorber layer with large crystal grains and benign [hkl] growth orientation can be first prepared on a Mo foil substrate.Then NaF intermediate layer is introduced between Mo and Sb_(2)Se_(3),which can further optimize the growth of Sb_(2)Se_(3)thin film.Moreover,positive Na ion diffusion enables it to dramatically lower barrier height at the back contact interface and passivate harmful defects at both bulk and heterojunction.As a result,the champion substrate structured Mo-foil/Mo/NaF/Sb_(2)Se_(3)/CdS/ITO/Ag flexible thin-film solar cell delivers an obviously higher efficiency of 8.03% and a record open-circuit voltage(V_(OC)) of 0.492 V.This flexible Sb_(2)Se_(3) device also exhibits excellent stability and flexibility to stand large bending radius and multiple bending times,as well as superior weak light photo-response with derived efficiency of 12.60%.This work presents an effective strategy to enhance the flexible Sb_(2)Se_(3) device performance and expand its potential photovoltaic applications.展开更多
The dynamic traveling salesman problem(DTSP)is significant in logistics distribution in real-world applications in smart cities,but it is uncertain and difficult to solve.This paper proposes a scheme library-based ant...The dynamic traveling salesman problem(DTSP)is significant in logistics distribution in real-world applications in smart cities,but it is uncertain and difficult to solve.This paper proposes a scheme library-based ant colony optimization(ACO)with a two-optimization(2-opt)strategy to solve the DTSP efficiently.The work is novel and contributes to three aspects:problemmodel,optimization framework,and algorithmdesign.Firstly,in the problem model,traditional DTSP models often consider the change of travel distance between two nodes over time,while this paper focuses on a special DTSP model in that the node locations change dynamically over time.Secondly,in the optimization framework,the ACO algorithm is carried out in an offline optimization and online application framework to efficiently reuse the historical information to help fast respond to the dynamic environment.The framework of offline optimization and online application is proposed due to the fact that the environmental change inDTSPis caused by the change of node location,and therefore the newenvironment is somehowsimilar to certain previous environments.This way,in the offline optimization,the solutions for possible environmental changes are optimized in advance,and are stored in a mode scheme library.In the online application,when an environmental change is detected,the candidate solutions stored in the mode scheme library are reused via ACO to improve search efficiency and reduce computational complexity.Thirdly,in the algorithm design,the ACO cooperates with the 2-opt strategy to enhance search efficiency.To evaluate the performance of ACO with 2-opt,we design two challenging DTSP cases with up to 200 and 1379 nodes and compare them with other ACO and genetic algorithms.The experimental results show that ACO with 2-opt can solve the DTSPs effectively.展开更多
This paper presents a topology optimization approach for the surface flows on variable design domains.Via this approach,the matching between the pattern of a surface flow and the 2-manifold used to define the pattern ...This paper presents a topology optimization approach for the surface flows on variable design domains.Via this approach,the matching between the pattern of a surface flow and the 2-manifold used to define the pattern can be optimized,where the 2-manifold is implicitly defined on another fixed 2-manifold named as the base manifold.The fiber bundle topology optimization approach is developed based on the description of the topological structure of the surface flow by using the differential geometry concept of the fiber bundle.The material distribution method is used to achieve the evolution of the pattern of the surface flow.The evolution of the implicit 2-manifold is realized via a homeomorphous map.The design variable of the pattern of the surface flow and that of the implicit 2-manifold are regularized by two sequentially implemented surface-PDE filters.The two surface-PDE filters are coupled,because they are defined on the implicit 2-manifold and base manifold,respectively.The surface Navier-Stokes equations,defined on the implicit 2-manifold,are used to describe the surface flow.The fiber bundle topology optimization problem is analyzed using the continuous adjoint method implemented on the first-order Sobolev space.Several numerical examples have been provided to demonstrate this approach,where the combination of the viscous dissipation and pressure drop is used as the design objective.展开更多
In order to improve the seismic performance of adjacent buildings,two types of tuned inerter damper(TID)damping systems for adjacent buildings are proposed,which are composed of springs,inerter devices and dampers in ...In order to improve the seismic performance of adjacent buildings,two types of tuned inerter damper(TID)damping systems for adjacent buildings are proposed,which are composed of springs,inerter devices and dampers in serial or in parallel.The dynamic equations of TID adjacent building damping systems were derived,and the H2 norm criterion was used to optimize and adjust them,so that the system had the optimum damping performance under white noise random excitation.Taking TID frequency ratio and damping ratio as optimization parameters,the optimum analytical solutions of the displacement frequency response of the undamped structure under white noise excitation were obtained.The results showed that compared with the classic TMD,TID could obtain a better damping effect in the adjacent buildings.Comparing the TIDs composed of serial or parallel,it was found that the parallel TIDs had more significant advantages in controlling the peak displacement frequency response,while the H2 norm of the displacement frequency response of the damping system under the coupling of serial TID was smaller.Taking the adjacent building composed of two ten-story frame structures as an example,the displacement and energy collection time history analysis of the adjacent building coupled with the optimum design parameter TIDs were carried out.It was found that TID had a better damping effect in the full-time range compared with the classic TMD.This paper also studied the potential power of TID in adjacent buildings,which can be converted into available power resources during earthquakes.展开更多
Real-time interaction with uncertain and dynamic environments is essential for robotic systems to achieve functions such as visual perception,force interaction,spatial obstacle avoidance,and motion planning.To ensure ...Real-time interaction with uncertain and dynamic environments is essential for robotic systems to achieve functions such as visual perception,force interaction,spatial obstacle avoidance,and motion planning.To ensure the reliability and determinism of system execution,a flexible real-time control system architecture and interaction algorithm are required.The ROS framework was designed to improve the reusability of robotic software development by providing a distributed structure,hardware abstraction,message-passing mechanism,and application prototypes.Rich ecosystems for robotic development have been built around ROS1 and ROS2 architectures based on the Linux system.However,because of the fairness scheduling principle of the default Linux system design and the complexity of the kernel,the system does not have real-time computing.To achieve a balance between real-time and non-real-time computing,this paper uses the transmission mechanism of ROS2,combines it with the scheduling mechanism of the Linux operating system,and uses Preempt_RT to enhance the real-time computing of ROS1 and ROS2.The real-time performance evaluation of ROS1 and ROS2 is conducted from multiple perspectives,including throughput,transmission mode,QoS service quality,frequency,number of subscription nodes and EtherCAT master.This paper makes two significant contributions:firstly,it employs Preempt_RT to optimize the native ROS2 system,effectively enhancing the real-time performance of native ROS2 message transmission;secondly,it conducts a comprehensive evaluation of the real-time performance of both native and optimized ROS2 systems.This comparison elucidates the benefits of the optimized ROS2 architecture regarding real-time performance,with results vividly demonstrated through illustrative figures.展开更多
Diabetes mellitus is a long-term condition characterized by hyperglycemia.It could lead to plenty of difficulties.According to rising morbidity in recent years,the world’s diabetic patients will exceed 642 million by...Diabetes mellitus is a long-term condition characterized by hyperglycemia.It could lead to plenty of difficulties.According to rising morbidity in recent years,the world’s diabetic patients will exceed 642 million by 2040,implying that one out of every ten persons will be diabetic.There is no doubt that this startling figure requires immediate attention from industry and academia to promote innovation and growth in diabetes risk prediction to save individuals’lives.Due to its rapid development,deep learning(DL)was used to predict numerous diseases.However,DLmethods still suffer from their limited prediction performance due to the hyperparameters selection and parameters optimization.Therefore,the selection of hyper-parameters is critical in improving classification performance.This study presents Convolutional Neural Network(CNN)that has achieved remarkable results in many medical domains where the Bayesian optimization algorithm(BOA)has been employed for hyperparameters selection and parameters optimization.Two issues have been investigated and solved during the experiment to enhance the results.The first is the dataset class imbalance,which is solved using Synthetic Minority Oversampling Technique(SMOTE)technique.The second issue is the model’s poor performance,which has been solved using the Bayesian optimization algorithm.The findings indicate that the Bayesian based-CNN model superbases all the state-of-the-art models in the literature with an accuracy of 89.36%,F1-score of 0.88.6,andMatthews Correlation Coefficient(MCC)of 0.88.6.展开更多
CO_(2) dry fracturing is a promising alternative method to water fracturing in tight gas reservoirs,especially in water-scarce areas such as the Loess Plateau.The CO_(2) flowback efficiency is a critical factor that a...CO_(2) dry fracturing is a promising alternative method to water fracturing in tight gas reservoirs,especially in water-scarce areas such as the Loess Plateau.The CO_(2) flowback efficiency is a critical factor that affects the final gas production effect.However,there have been few studies focusing on the flowback characteristics after CO_(2) dry fracturing.In this study,an extensive core-to-field scale study was conducted to investigate CO_(2) flowback characteristics and CH_(4) production behavior.Firstly,to investigate the impact of core properties and production conditions on CO_(2) flowback,a series of laboratory experiments at the core scale were conducted.Then,the key factors affecting the flowback were analyzed using the grey correlation method based on field data.Finally,taking the construction parameters of Well S60 as an example,a dual-permeability model was used to characterize the different seepage fields in the matrix and fracture for tight gas reservoirs.The production parameters after CO_(2) dry fracturing were then optimized.Experimental results demonstrate that CO_(2) dry fracturing is more effective than slickwater fracturing,with a 9.2%increase in CH_(4) recovery.The increase in core permeability plays a positive role in improving CH_(4) production and CO_(2) flowback.The soaking process is mainly affected by CO_(2) diffusion,and the soaking time should be controlled within 12 h.Increasing the flowback pressure gradient results in a significant increase in both CH_(4) recovery and CO_(2) flowback efficiency.While,an increase in CO_(2) injection is not conducive to CH_(4) production and CO_(2) flowback.Based on the experimental and field data,the important factors affecting flowback and production were comprehensively and effectively discussed.The results show that permeability is the most important factor,followed by porosity and effective thickness.Considering flowback efficiency and the influence of proppant reflux,the injection volume should be the minimum volume that meets the requirements for generating fractures.The soaking time should be short which is 1 day in this study,and the optimal bottom hole flowback pressure should be set at 10 MPa.This study aims to improve the understanding of CO_(2) dry fracturing in tight gas reservoirs and provide valuable insights for optimizing the process parameters.展开更多
Interval type-2 fuzzy neural networks(IT2FNNs)can be seen as the hybridization of interval type-2 fuzzy systems(IT2FSs) and neural networks(NNs). Thus, they naturally inherit the merits of both IT2 FSs and NNs. Althou...Interval type-2 fuzzy neural networks(IT2FNNs)can be seen as the hybridization of interval type-2 fuzzy systems(IT2FSs) and neural networks(NNs). Thus, they naturally inherit the merits of both IT2 FSs and NNs. Although IT2 FNNs have more advantages in processing uncertain, incomplete, or imprecise information compared to their type-1 counterparts, a large number of parameters need to be tuned in the IT2 FNNs,which increases the difficulties of their design. In this paper,big bang-big crunch(BBBC) optimization and particle swarm optimization(PSO) are applied in the parameter optimization for Takagi-Sugeno-Kang(TSK) type IT2 FNNs. The employment of the BBBC and PSO strategies can eliminate the need of backpropagation computation. The computing problem is converted to a simple feed-forward IT2 FNNs learning. The adoption of the BBBC or the PSO will not only simplify the design of the IT2 FNNs, but will also increase identification accuracy when compared with present methods. The proposed optimization based strategies are tested with three types of interval type-2 fuzzy membership functions(IT2FMFs) and deployed on three typical identification models. Simulation results certify the effectiveness of the proposed parameter optimization methods for the IT2 FNNs.展开更多
基金This work was supported of National Natural Science Foundation of China Fund(No.52306033)State Key Laboratory of Engines Fund(No.SKLE-K2022-07)the Jiangxi Provincial Postgraduate Innovation Special Fund(No.YC2022-s513).
文摘The supercritical CO_(2) Brayton cycle is considered a promising energy conversion system for Generation IV reactors for its simple layout,compact structure,and high cycle efficiency.Mathematical models of four Brayton cycle layouts are developed in this study for different reactors to reduce the cost and increase the thermohydraulic performance of nuclear power generation to promote the commercialization of nuclear energy.Parametric analysis,multi-objective optimizations,and four decision-making methods are applied to obtain each Brayton scheme’s optimal thermohydraulic and economic indexes.Results show that for the same design thermal power scale of reactors,the higher the core’s exit temperature,the better the Brayton cycle’s thermo-economic performance.Among the four-cycle layouts,the recompression cycle(RC)has the best overall performance,followed by the simple recuperation cycle(SR)and the intercooling cycle(IC),and the worst is the reheating cycle(RH).However,RH has the lowest total cost of investment(C_(tot))of$1619.85 million,and IC has the lowest levelized cost of energy(LCOE)of 0.012$/(kWh).The nuclear Brayton cycle system’s overall performance has been improved due to optimization.The performance of the molten salt reactor combined with the intercooling cycle(MSR-IC)scheme has the greatest improvement,with the net output power(W_(net)),thermal efficiencyη_(t),and exergy efficiency(η_(e))improved by 8.58%,8.58%,and 11.21%,respectively.The performance of the lead-cooled fast reactor combined with the simple recuperation cycle scheme was optimized to increase C_(tot) by 27.78%.In comparison,the internal rate of return(IRR)increased by only 7.8%,which is not friendly to investors with limited funds.For the nuclear Brayton cycle,the molten salt reactor combined with the recompression cycle scheme should receive priority,and the gas-cooled fast reactor combined with the reheating cycle scheme should be considered carefully.
基金financially supported by the National Natural Science Foundation of China(22278380,22108259)China Postdoctoral Science Foundation(2021M692911,2022T150589)
文摘Electrocatalytic reduction of CO_(2)into high energy-density fuels and value-added chemicals under mild conditions can promote the sustainable cycle of carbon and decrease current energy and environmental problems.Constructing electrocatalyst with high activity,selectivity,stability,and low cost is really matter to realize industrial application of electrocatalytic CO_(2)reduction(ECR).Metal-nitrogen-carbon(M-N-C),especially Ni-N-C,display excellent performance,such as nearly 100%CO selectivity,high current density,outstanding tolerance,etc.,which is considered to possess broad application prospects.Based on the current research status,starting from the mechanism of ECR and the existence form of Ni active species,the latest research progress of Ni-N-C electrocatalysts in CO_(2)electroreduction is systematically summarized.An overview is emphatically interpreted on the regulatory strategies for activity optimization over Ni-N-C,including N coordination modulation,vacancy defects construction,morphology design,surface modification,heteroatom activation,and bimetallic cooperation.Finally,some urgent problems and future prospects on designing Ni-N-C catalysts for ECR are discussed.This review aims to provide the guidance for the design and development of Ni-N-C catalysts with practical application.
基金supported by the National Natural Science Foundation of China(Grant Nos.62104156,62074102)the Guangdong Basic and Applied Basic Research Foundation(Grant Nos.2023A1515011256,2022A1515010979)China+1 种基金Science and Technology plan project of Shenzhen(Grant Nos.20220808165025003,20200812000347001)Chinasupported by the open foundation of Guangxi Key Laboratory of Processing for Non-ferrous Metals and Featured Materials,State Key Laboratory of Featured Metal Materials and Life-cycle Safety for Composite Structures,Guangxi University(Grant No.2022GXYSOF13)。
文摘Sb_(2)Se_(3) with unique one-dimensional(1D) crystal structure exhibits exceptional deformation tolerance,demonstrating great application potential in flexible devices.However,the power conversion efficiency(PCE) of flexible Sb_(2)Se_(3) photovoltaic devices is temporarily limited by the complicated intrinsic defects and the undesirable contact interfaces.Herein,a high-quality Sb_(2)Se_(3) absorber layer with large crystal grains and benign [hkl] growth orientation can be first prepared on a Mo foil substrate.Then NaF intermediate layer is introduced between Mo and Sb_(2)Se_(3),which can further optimize the growth of Sb_(2)Se_(3)thin film.Moreover,positive Na ion diffusion enables it to dramatically lower barrier height at the back contact interface and passivate harmful defects at both bulk and heterojunction.As a result,the champion substrate structured Mo-foil/Mo/NaF/Sb_(2)Se_(3)/CdS/ITO/Ag flexible thin-film solar cell delivers an obviously higher efficiency of 8.03% and a record open-circuit voltage(V_(OC)) of 0.492 V.This flexible Sb_(2)Se_(3) device also exhibits excellent stability and flexibility to stand large bending radius and multiple bending times,as well as superior weak light photo-response with derived efficiency of 12.60%.This work presents an effective strategy to enhance the flexible Sb_(2)Se_(3) device performance and expand its potential photovoltaic applications.
基金supported in part by the National Research Foundation of Korea (NRF-2021H1D3A2A01082705).
文摘The dynamic traveling salesman problem(DTSP)is significant in logistics distribution in real-world applications in smart cities,but it is uncertain and difficult to solve.This paper proposes a scheme library-based ant colony optimization(ACO)with a two-optimization(2-opt)strategy to solve the DTSP efficiently.The work is novel and contributes to three aspects:problemmodel,optimization framework,and algorithmdesign.Firstly,in the problem model,traditional DTSP models often consider the change of travel distance between two nodes over time,while this paper focuses on a special DTSP model in that the node locations change dynamically over time.Secondly,in the optimization framework,the ACO algorithm is carried out in an offline optimization and online application framework to efficiently reuse the historical information to help fast respond to the dynamic environment.The framework of offline optimization and online application is proposed due to the fact that the environmental change inDTSPis caused by the change of node location,and therefore the newenvironment is somehowsimilar to certain previous environments.This way,in the offline optimization,the solutions for possible environmental changes are optimized in advance,and are stored in a mode scheme library.In the online application,when an environmental change is detected,the candidate solutions stored in the mode scheme library are reused via ACO to improve search efficiency and reduce computational complexity.Thirdly,in the algorithm design,the ACO cooperates with the 2-opt strategy to enhance search efficiency.To evaluate the performance of ACO with 2-opt,we design two challenging DTSP cases with up to 200 and 1379 nodes and compare them with other ACO and genetic algorithms.The experimental results show that ACO with 2-opt can solve the DTSPs effectively.
基金Supported by National Natural Science Foundation of China (Grant No.51875545)Innovation Grant of Changchun Institute of Optics+2 种基金Fine Mechanics and Physics (CIOMP)CAS Project for Young Scientists in Basic Research of China (Grant No.YSBR-066)Science and Technology Development Program of Jilin Province of China (Grant No.SKL202302020)。
文摘This paper presents a topology optimization approach for the surface flows on variable design domains.Via this approach,the matching between the pattern of a surface flow and the 2-manifold used to define the pattern can be optimized,where the 2-manifold is implicitly defined on another fixed 2-manifold named as the base manifold.The fiber bundle topology optimization approach is developed based on the description of the topological structure of the surface flow by using the differential geometry concept of the fiber bundle.The material distribution method is used to achieve the evolution of the pattern of the surface flow.The evolution of the implicit 2-manifold is realized via a homeomorphous map.The design variable of the pattern of the surface flow and that of the implicit 2-manifold are regularized by two sequentially implemented surface-PDE filters.The two surface-PDE filters are coupled,because they are defined on the implicit 2-manifold and base manifold,respectively.The surface Navier-Stokes equations,defined on the implicit 2-manifold,are used to describe the surface flow.The fiber bundle topology optimization problem is analyzed using the continuous adjoint method implemented on the first-order Sobolev space.Several numerical examples have been provided to demonstrate this approach,where the combination of the viscous dissipation and pressure drop is used as the design objective.
基金This research was funded by the Natural Science Research Project of Higher Education Institutions in Anhui Province(Grant No.2022AH040045)the Anhui Provincial Natural Science Foundation(Grant No.2008085QE245)the Project of Science and Technology Plan of Department of Housing and Urban-Rural Development of Anhui Province(Grant No.2021-YF22).
文摘In order to improve the seismic performance of adjacent buildings,two types of tuned inerter damper(TID)damping systems for adjacent buildings are proposed,which are composed of springs,inerter devices and dampers in serial or in parallel.The dynamic equations of TID adjacent building damping systems were derived,and the H2 norm criterion was used to optimize and adjust them,so that the system had the optimum damping performance under white noise random excitation.Taking TID frequency ratio and damping ratio as optimization parameters,the optimum analytical solutions of the displacement frequency response of the undamped structure under white noise excitation were obtained.The results showed that compared with the classic TMD,TID could obtain a better damping effect in the adjacent buildings.Comparing the TIDs composed of serial or parallel,it was found that the parallel TIDs had more significant advantages in controlling the peak displacement frequency response,while the H2 norm of the displacement frequency response of the damping system under the coupling of serial TID was smaller.Taking the adjacent building composed of two ten-story frame structures as an example,the displacement and energy collection time history analysis of the adjacent building coupled with the optimum design parameter TIDs were carried out.It was found that TID had a better damping effect in the full-time range compared with the classic TMD.This paper also studied the potential power of TID in adjacent buildings,which can be converted into available power resources during earthquakes.
基金Supported by National Key Research and Development Program of China(Grant No.2019YFB1309900)Institute for Guo Qiang,Tsinghua University of China(Grant No.2019GQG0007).
文摘Real-time interaction with uncertain and dynamic environments is essential for robotic systems to achieve functions such as visual perception,force interaction,spatial obstacle avoidance,and motion planning.To ensure the reliability and determinism of system execution,a flexible real-time control system architecture and interaction algorithm are required.The ROS framework was designed to improve the reusability of robotic software development by providing a distributed structure,hardware abstraction,message-passing mechanism,and application prototypes.Rich ecosystems for robotic development have been built around ROS1 and ROS2 architectures based on the Linux system.However,because of the fairness scheduling principle of the default Linux system design and the complexity of the kernel,the system does not have real-time computing.To achieve a balance between real-time and non-real-time computing,this paper uses the transmission mechanism of ROS2,combines it with the scheduling mechanism of the Linux operating system,and uses Preempt_RT to enhance the real-time computing of ROS1 and ROS2.The real-time performance evaluation of ROS1 and ROS2 is conducted from multiple perspectives,including throughput,transmission mode,QoS service quality,frequency,number of subscription nodes and EtherCAT master.This paper makes two significant contributions:firstly,it employs Preempt_RT to optimize the native ROS2 system,effectively enhancing the real-time performance of native ROS2 message transmission;secondly,it conducts a comprehensive evaluation of the real-time performance of both native and optimized ROS2 systems.This comparison elucidates the benefits of the optimized ROS2 architecture regarding real-time performance,with results vividly demonstrated through illustrative figures.
基金This research/paper was fully supported by Universiti Teknologi PETRONAS,under the Yayasan Universiti Teknologi PETRONAS(YUTP)Fundamental Research Grant Scheme(015LC0-311).
文摘Diabetes mellitus is a long-term condition characterized by hyperglycemia.It could lead to plenty of difficulties.According to rising morbidity in recent years,the world’s diabetic patients will exceed 642 million by 2040,implying that one out of every ten persons will be diabetic.There is no doubt that this startling figure requires immediate attention from industry and academia to promote innovation and growth in diabetes risk prediction to save individuals’lives.Due to its rapid development,deep learning(DL)was used to predict numerous diseases.However,DLmethods still suffer from their limited prediction performance due to the hyperparameters selection and parameters optimization.Therefore,the selection of hyper-parameters is critical in improving classification performance.This study presents Convolutional Neural Network(CNN)that has achieved remarkable results in many medical domains where the Bayesian optimization algorithm(BOA)has been employed for hyperparameters selection and parameters optimization.Two issues have been investigated and solved during the experiment to enhance the results.The first is the dataset class imbalance,which is solved using Synthetic Minority Oversampling Technique(SMOTE)technique.The second issue is the model’s poor performance,which has been solved using the Bayesian optimization algorithm.The findings indicate that the Bayesian based-CNN model superbases all the state-of-the-art models in the literature with an accuracy of 89.36%,F1-score of 0.88.6,andMatthews Correlation Coefficient(MCC)of 0.88.6.
基金support from the National Natural Science Foundation of China(No.51904324,No.51974348)the Prospective Basic Major Science and Technology Projects for the 14th Five Year Plan(No.2021DJ2202).
文摘CO_(2) dry fracturing is a promising alternative method to water fracturing in tight gas reservoirs,especially in water-scarce areas such as the Loess Plateau.The CO_(2) flowback efficiency is a critical factor that affects the final gas production effect.However,there have been few studies focusing on the flowback characteristics after CO_(2) dry fracturing.In this study,an extensive core-to-field scale study was conducted to investigate CO_(2) flowback characteristics and CH_(4) production behavior.Firstly,to investigate the impact of core properties and production conditions on CO_(2) flowback,a series of laboratory experiments at the core scale were conducted.Then,the key factors affecting the flowback were analyzed using the grey correlation method based on field data.Finally,taking the construction parameters of Well S60 as an example,a dual-permeability model was used to characterize the different seepage fields in the matrix and fracture for tight gas reservoirs.The production parameters after CO_(2) dry fracturing were then optimized.Experimental results demonstrate that CO_(2) dry fracturing is more effective than slickwater fracturing,with a 9.2%increase in CH_(4) recovery.The increase in core permeability plays a positive role in improving CH_(4) production and CO_(2) flowback.The soaking process is mainly affected by CO_(2) diffusion,and the soaking time should be controlled within 12 h.Increasing the flowback pressure gradient results in a significant increase in both CH_(4) recovery and CO_(2) flowback efficiency.While,an increase in CO_(2) injection is not conducive to CH_(4) production and CO_(2) flowback.Based on the experimental and field data,the important factors affecting flowback and production were comprehensively and effectively discussed.The results show that permeability is the most important factor,followed by porosity and effective thickness.Considering flowback efficiency and the influence of proppant reflux,the injection volume should be the minimum volume that meets the requirements for generating fractures.The soaking time should be short which is 1 day in this study,and the optimal bottom hole flowback pressure should be set at 10 MPa.This study aims to improve the understanding of CO_(2) dry fracturing in tight gas reservoirs and provide valuable insights for optimizing the process parameters.
基金supported by the National Natural Science Foundation of China (61873079,51707050)
文摘Interval type-2 fuzzy neural networks(IT2FNNs)can be seen as the hybridization of interval type-2 fuzzy systems(IT2FSs) and neural networks(NNs). Thus, they naturally inherit the merits of both IT2 FSs and NNs. Although IT2 FNNs have more advantages in processing uncertain, incomplete, or imprecise information compared to their type-1 counterparts, a large number of parameters need to be tuned in the IT2 FNNs,which increases the difficulties of their design. In this paper,big bang-big crunch(BBBC) optimization and particle swarm optimization(PSO) are applied in the parameter optimization for Takagi-Sugeno-Kang(TSK) type IT2 FNNs. The employment of the BBBC and PSO strategies can eliminate the need of backpropagation computation. The computing problem is converted to a simple feed-forward IT2 FNNs learning. The adoption of the BBBC or the PSO will not only simplify the design of the IT2 FNNs, but will also increase identification accuracy when compared with present methods. The proposed optimization based strategies are tested with three types of interval type-2 fuzzy membership functions(IT2FMFs) and deployed on three typical identification models. Simulation results certify the effectiveness of the proposed parameter optimization methods for the IT2 FNNs.