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Numerical simulation of a combined oxidation ditch flow using 3D k-ε turbulence model 被引量:8
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作者 LUO Lin LI Wei-min +1 位作者 DENG Yong-sen WANG Tao 《Journal of Environmental Sciences》 SCIE EI CAS CSCD 2005年第5期808-812,共5页
The standard three dimensional(3D) k-ε turbulence model was applied to simulate the flow field of a small scale combined oxidation ditch. The moving mesh approach was used to model the rotor of the ditch. Compariso... The standard three dimensional(3D) k-ε turbulence model was applied to simulate the flow field of a small scale combined oxidation ditch. The moving mesh approach was used to model the rotor of the ditch. Comparison of the computed and the measured data is acceptable. A vertical reverse flow zone in the ditch was found, and it played a very important role in the ditch flow behavior. The flow pattern in the ditch is discussed in detail, and approaches are suggested to improve the hydrodynamic performance in the ditch. 展开更多
关键词 oxidation ditch 3d simulation turbulence flow
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3D Modeling and Simulation of Fancy Fabrics in Weft Knitting 被引量:2
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作者 李英琳 杨连贺 +2 位作者 陈素英 袁静 李娜娜 《Journal of Donghua University(English Edition)》 EI CAS 2012年第4期351-358,共8页
Weft knitted fancy fabrics are widely used in knitted garment design. Due to the complexity of the structures, their modeling and simulation needs to be solved in three-dimensional (3D) CAD developments. In this paper... Weft knitted fancy fabrics are widely used in knitted garment design. Due to the complexity of the structures, their modeling and simulation needs to be solved in three-dimensional (3D) CAD developments. In this paper, 3D loop geometrical models of weft knitted fancy structures, including tuck stitch, jacquard stitch, transfer stitch and fleecy stitch, were developed based on an improved model of plain loop, and their central axes as some 3D space curves were achieved by using Non-Uniform Rational B-Splines (NURBS). The 3D visual simulation programme was written in C++ programming language using OpenGL, which was a function library of 3D graphics. Some examples of weft knitted fancy fabrics were generated and practical application of 3D simulation was discussed. 展开更多
关键词 weft knitted fabric fancy structures loop model three-dimensional (3d) simulation
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Modeling and simulation of 3D thermal stresses of large-sized castings in solidification processes 被引量:2
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作者 J.Q.Wang D.W.Yu +2 位作者 X.Sun S.F.Su B.Z.Li 《China Foundry》 SCIE CAS 2004年第S1期20-24,共5页
When heavy machines and large scaled receiver system of communication equipment are manufactured, it always needs to produce large-sized steel castings, aluminum castings and etc. Some defects of hot cracking by therm... When heavy machines and large scaled receiver system of communication equipment are manufactured, it always needs to produce large-sized steel castings, aluminum castings and etc. Some defects of hot cracking by thermal stress often appear during solidification process as these castings are produced, which results in failure of castings. Therefore predicting the effects of technological parameters for production of castings on the thermal stress during solidification process becomes an important means. In this paper, the mathematical models have been established and numerical calculation of temperature fields by using finite difference method (FDM) and then thermal stress fields by using finite element method (FEM) during solidification process of castings have been carried out. The technological parameters of production have been optimized by the results of calculation and the defects of hot cracking have been eliminated. Modeling and simulation of 3D thermal stress during solidification processes of large-sized castings provided a scientific basis, which promoted further development of advanced manufacturing technique. 展开更多
关键词 Large-sized castings simulation of 3d temperature fields simulation of 3d thermal stress fields defect of hot cracking solidification process
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3D simulation of near-fault strong ground motion: comparison between surface rupture fault and buried fault 被引量:1
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作者 刘启方 袁一凡 金星 《Earthquake Engineering and Engineering Vibration》 SCIE EI CSCD 2007年第4期337-344,共8页
In this paper, near-fault strong ground motions caused by a surface rupture fault (SRF) and a buried fault (BF) are numerically simulated and compared by using a time-space-decoupled, explicit finite element metho... In this paper, near-fault strong ground motions caused by a surface rupture fault (SRF) and a buried fault (BF) are numerically simulated and compared by using a time-space-decoupled, explicit finite element method combined with a multi-transmitting formula (MTF) of an artificial boundary. Prior to the comparison, verification of the explicit element method and the MTF is conducted. The comparison results show that the final dislocation of the SRF is larger than the BF for the same stress drop on the fault plane. The maximum final dislocation occurs on the fault upper line for the SRF; however, for the BE the maximum final dislocation is located on the fault central part. Meanwhile, the PGA, PGV and PGD of long period ground motions (≤ 1 Hz) generated by the SRF are much higher than those of the BF in the near-fault region. The peak value of the velocity pulse generated by the SRF is also higher than the BE Furthermore, it is found that in a very narrow region along the fault trace, ground motions caused by the SRF are much higher than by the BF. These results may explain why SRFs almost always cause heavy damage in near-fault regions compared to buried faults. 展开更多
关键词 near fault surface rupture fault long period ground motion 3d simulation
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3D Cohesive Finite Element Minimum Invasive Surgery Simulation Based on Kelvin‑Voigt Model
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作者 Yonghang Jiang Qinghua Song Xichun Luo 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2022年第3期161-173,共13页
Minimally invasive surgery is an important technique used for cytopathological examination.Recently,multiple studies have been conducted on a three-dimensional(3D)puncture simulation model as it can reveal the interna... Minimally invasive surgery is an important technique used for cytopathological examination.Recently,multiple studies have been conducted on a three-dimensional(3D)puncture simulation model as it can reveal the internal deformation state of the tissue at the micro level.In this study,a viscoelastic constitutive equation suitable for muscle tissue was derived.Additionally,a method was developed to define the fracture characteristics of muscle tissue material during the simulation process.The fracture of the muscle tissue in contact with the puncture needle was simulated using the cohesive zone model and a 3D puncture finite element model was established to analyze the deformation of the muscle tissue.The stress nephogram and reaction force under different parameters were compared and analyzed to study the deformation of the biological soft tissue and guide the actual operation process and reduce pain. 展开更多
关键词 Minimally invasive surgery Constitutive model 3d simulation Cohesive zone model
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Implementation of 3D Lattice Monte Carlo Simulation on a Cluster of Symmetric Multiprocessors
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作者 雷咏梅 蒋英 冯捷 《Journal of Shanghai University(English Edition)》 CAS 2002年第4期319-324,共6页
This paper presents a new approach to parallelize 3D lattice Monte Carlo algorithms used in the numerical simulation of polymer on ZiQiang 2000 a cluster of symmetric multiprocessors (SMPs). The combined load for cel... This paper presents a new approach to parallelize 3D lattice Monte Carlo algorithms used in the numerical simulation of polymer on ZiQiang 2000 a cluster of symmetric multiprocessors (SMPs). The combined load for cell and energy calculations over the time step is balanced together to form a single spatial decomposition. Basic aspects and strategies of running Monte Carlo calculations on parallel computers are studied. Different steps involved in porting the software on a parallel architecture based on ZiQiang 2000 running under Linux and MPI are described briefly. It is found that parallelization becomes more advantageous when either the lattice is very large or the model contains many cells and chains. 展开更多
关键词 parallel computing Monte Carlo method 3d simulation.
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Application of computer aided 3D simulation technique for complicated foot and ankle fractures
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作者 章莹 《外科研究与新技术》 2011年第2期109-110,共2页
Objective To investigate the effect of computer aided 3D simulation technique for treating complicated foot and ankle fractures precisely.Methods From November 2007 to August 2009,255 patients with complicated foot an... Objective To investigate the effect of computer aided 3D simulation technique for treating complicated foot and ankle fractures precisely.Methods From November 2007 to August 2009,255 patients with complicated foot and ankle fractures 展开更多
关键词 Application of computer aided 3d simulation technique for complicated foot and ankle fractures
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A NEW EFFICIENT 3D OSTEOTOMY ALGORITHM FOR COMPUTER OPERATION SIMULATION
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作者 Jing Li Guiping Jiang +1 位作者 Shuxiang Li Bin Yang(Dept. Of BME. The First Military Medical University)(Dept. Of Oral and Maxillofacial Surgery’ Sun Yat-sen University of Medical SciencesGuangZhou, Guangdong China 510515.) 《Chinese Journal of Biomedical Engineering(English Edition)》 1999年第3期43-43,共1页
关键词 OPENGL A NEW EFFICIENT 3d OSTEOTOMY ALGORITHM FOR COMPUTER OPERATION simulation
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An integrated spatial planning of the mountainous landscapes for ski sports in a case area at the eastern Türkiye
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作者 SATIR Onur TOSUN Busra +2 位作者 COSKUN OZYOL Funda OZDEMIR Omer Faruk BERBEROGLU Suha 《Journal of Mountain Science》 SCIE CSCD 2024年第3期754-767,共14页
Mountainous regions have disadvantages in economic development because of harsh physical and climatic conditions.However,winter tourism activities are one of the key components for supporting economic development in t... Mountainous regions have disadvantages in economic development because of harsh physical and climatic conditions.However,winter tourism activities are one of the key components for supporting economic development in the highlands.Establishing a ski resort area supports direct and indirect employment in a region,and it stops immigration from mountainous regions to other places.This research aimed to assess the potential ski areas using a multi criteria evaluation technique in the Van region which is located in the eastern part of Türkiye.In this context,snow cover duration,sun effect,slope,slope length,elevation,population density,distance from main roads and lake visibility were used as input factors in the decision making process.Each factor was standardized using a fuzzy technique based on existing well-known ski centers in Türkiye.The weight of inputs was defined by applying a survey to the professional skiers.The most important factors were detected as transportation opportunities and snow covers whereas,the least important factors were elevation and population density.Additionally,lake visibility was very important to make a difference from other existing facilities in the region.Therefore,it was included as constraints and lake visible areas were extracted at the final stage of the research.Potential ski areas were mapped in three levels as professional,intermediate and beginner skiers.One of the suitable areas was selected as a sample projection and for the 3D simulation of the ski investment area.Potential costs and benefits were discussed.It was found that a ski tourism area investment can be amortized in 3 years in the region. 展开更多
关键词 Winter sports and tourism Decision making 3d simulation and modelling Landscape planning GIS
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3D simulation of image-defined complex internal features using the numerical manifold method
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作者 WU Jie MA GuoWei 《Science China(Technological Sciences)》 SCIE EI CAS CSCD 2024年第4期1023-1039,共17页
The numerical simulation of internal features,such as inclusions and voids,is important to analyze their impact on the performance of composite materials.However,the complex geometries of internal features and the ind... The numerical simulation of internal features,such as inclusions and voids,is important to analyze their impact on the performance of composite materials.However,the complex geometries of internal features and the induced continuous-discontinuous(C-D)deformation fields are challenges to their numerical simulation.In this study,a 3D approach using a simple mesh to simulate irregular internal geometries is developed for the first time.With the help of a developed voxel crack model,image models that are efficient when recording complex geometries are directly imported into the simulation.Surface reconstructions,which are usually labor-intensive,are excluded from this approach.Moreover,using image models as the geometric input,image processing techniques are applied to detect material interfaces and develop contact pairs.Then,the C-D deformations of the complex internal features are directly calculated based on the numerical manifold method.The accuracy and convergence of the developed3D approach are examined based on multiple benchmarks.Successful 3D C-D simulation of sandstones with naturally formed complex microfeatures demonstrates the capability of the developed approach. 展开更多
关键词 3d continuous-discontinuous simulation image-based simulation complex internal features numerical manifold method voxel crack model structured mesh
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Airblast evolution initiated by Wangjiayan landslides in the M_(s)8.0 Wenchuan earthquake and its destructive capacity analysis
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作者 Yu-feng Wang Qian-gong Cheng Qi Zhu 《China Geology》 CAS CSCD 2024年第2期237-247,共11页
Airblasts,as one common phenomenon accompanied by rapid movements of landslides or rock/snow avalanches,commonly result in catastrophic damages and are attracting more and more scientific attention.To quantitatively a... Airblasts,as one common phenomenon accompanied by rapid movements of landslides or rock/snow avalanches,commonly result in catastrophic damages and are attracting more and more scientific attention.To quantitatively analyze the intensity of airblast initiated by landslides,the Wangjiayan landslide,occurred in the Wenchuan earthquake,is selected here with the landslide propagation and airblast evolution being studied using FLUENT by introducing the Voellmy rheological law.The results reveal that:(1)For the Wangjiayan landslide,its whole travelling duration is only 12 s with its maximum velocity reaching 36 m/s at t=10 s;(2)corresponding to the landslide propagation,the maximum velocity,28 m/s,of the airblast initiated by the landslide also appears at t=10 s with its maximum pressure reaching594.8 Pa,which is equivalent to violent storm;(3)under the attack of airblast,the load suffered by buildings in the airblast zone increases to 1300 Pa at t=9.4 s and sharply decreased to-7000 Pa as the rapid decrease of the velocity of the sliding mass at t=10 s,which is seriously unfavorable for buildings and might be the key reason for the destructive collapse of buildings in the airblast zone of the Wangjiayan landslide. 展开更多
关键词 LANDSLIDE Voellmy rheological law 3d FLUENT simulation Airblast INTENSITY Building destructive collapse Wenchuan earthquake Geological hazards survey engineering
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A 3D Simulator for Autonomous Robotic Fish 被引量:9
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作者 Jindong Liu Huosheng Hu 《International Journal of Automation and computing》 EI 2004年第1期42-50,共9页
This paper presents a 3D simulator used for studying the motion control and autonomous navigation of robotic fish. The simulator’s system structure and computation flow are presented. Simplified kinematics and hydrod... This paper presents a 3D simulator used for studying the motion control and autonomous navigation of robotic fish. The simulator’s system structure and computation flow are presented. Simplified kinematics and hydrodynamics models for a virtual robotic fish are proposed. Many other object models are created for water, obstacles, sonar sensors and a swimming pool. Experimental results show that the simulator provides a realistic and convenient way to develop autonomous navigation algorithms for robotic fish. 展开更多
关键词 3d simulator robotic fish autonomous navigation
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Numerical simulation of characteristics of semidiurnal tidal waves in sea region around Taiwan 被引量:5
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作者 Sha Wenyu, Lu Xingang, Chen Xi, Zhang Wenjing 1. Cullege of Meterology. Institute of Science and Engineering of the P. L. A. Nanjing 211101, China 《Acta Oceanologica Sinica》 SCIE CAS CSCD 2001年第3期317-330,共14页
POM97, an oceanic model, has been used for the first time to the numerical study on the tidal waves of the as Regions around Taiwan. In this paper, we have got the result that the semidiurnal tidal waves of these area... POM97, an oceanic model, has been used for the first time to the numerical study on the tidal waves of the as Regions around Taiwan. In this paper, we have got the result that the semidiurnal tidal waves of these area mainly are the co-operating tides which come from the south of 23'N of the western Pacific. Those semidiurnal tidal waves affecting the Taiwan Straits come respectively from the south and the north entrance of the channel, and the north tidal wave is stronger than the south one. The strongest tidal field is the area from the Meizhou Bay to the Xinhua Bay along the coast of Fujian Province, where the biggest amplitude of the M2 partial tide can reach 240 cm. The strongest tidal cur- rent fields lie in the Penghu watercourse, where the maximum velocity of the M2 partial tide can arrive at 196 m/s. In the horizontal structure of the tidal currets, we have found that there is a stream dot in the north of the channel, besides, there still exist four new ones. As for the vertical structure, it mainly is biassed to the right at the surface, and to the left near the bottom layer. 展开更多
关键词 Sea regions around Taiwan semidiurnal tidal waves 3 - D numerical simulation
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Three-dimensional simulation of fabrication process-dependent effects on single event effects of SiGe heterojunction bipolar transistor 被引量:1
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作者 张晋新 贺朝会 +3 位作者 郭红霞 李培 郭宝龙 吴宪祥 《Chinese Physics B》 SCIE EI CAS CSCD 2017年第8期542-550,共9页
The fabrication process dependent effects on single event effects (SEEs) are investigated in a commercial silicon- germanium heterojunction bipolar transistor (SiGe HBT) using three-dimensional (3D) TCAD simulat... The fabrication process dependent effects on single event effects (SEEs) are investigated in a commercial silicon- germanium heterojunction bipolar transistor (SiGe HBT) using three-dimensional (3D) TCAD simulations. The influences of device structure and doping concentration on SEEs are discussed via analysis of current transient and charge collection induced by ions strike. The results show that the SEEs representation of current transient is different from representation of the charge collection for the same process parameters. To be specific, the area of C/S junction is the key parameter that affects charge collection of SEE. Both current transient and charge collection are dependent on the doping of collector and substrate. The base doping slightly influences transient currents of base, emitter, and collector terminals. However, the SEEs of SiGe HBT are hardly affected by the doping of epitaxial base and the content of Ge. 展开更多
关键词 SiGe HBT single event effects fabrication process dependence 3d simulation
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Numerical simulation of the flow field of a flat torque converter 被引量:5
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作者 闫清东 刘城 魏巍 《Journal of Beijing Institute of Technology》 EI CAS 2012年第3期309-314,共6页
A flexible flat torque converter was proposed to fulfill the requirement of miniaturization and power density maximization for automobiles.Constructed by two arcs joined by lines,the torus was designed directly from d... A flexible flat torque converter was proposed to fulfill the requirement of miniaturization and power density maximization for automobiles.Constructed by two arcs joined by lines,the torus was designed directly from design path.The influence of flatness on the performance of the torque converter was evaluated.The software CFX and standard k-ε model were adopted to simulate the internal flow fields of the torque converter under different flatness ratios.The results indicated that the performance of the torque converter got worse as the flatness declined,but the capacity of pump increased.The efficiency and the torque ratio dropped slightly as the flatness ratio decreased.So the torque converter could be squashed appropriately to get high power density without too much efficiency sacrifice.But when the flatness ratio was below 0.2,there was a significant drop in the efficiency. 展开更多
关键词 torque converter 3d flow simulation flatness ratio efficiency high power density
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Numerical and Experimental Study of the 3D Effect on Connecting Arm of Vertical Axis Tidal Current Turbine 被引量:2
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作者 郭伟 康海贵 +2 位作者 陈兵 谢宇 王胤 《China Ocean Engineering》 SCIE EI CSCD 2016年第1期83-96,共14页
Vertical axis tidal current turbine is a promising device to extract energy from ocean current. One of the important components of the turbine is the connecting arm, which can bring about a significant effect on the p... Vertical axis tidal current turbine is a promising device to extract energy from ocean current. One of the important components of the turbine is the connecting arm, which can bring about a significant effect on the pressure distribution along the span of the turbine blade, herein we call it 3D effect. However, so far the effect is rarely reported in the research, moreover, in numerical simulation. In the present study, a 3D numerical model of the turbine with the connecting arm was developed by using FLUENT software compiling the UDF(User Defined Function) command. The simulation results show that the pressure distribution along the span of blade with the connecting arm model is significantly different from those without the connecting arm. To facilitate the validation of numerical model, the laboratory experiment has been carried out by using three different types of NACA aerofoil connecting arm and circle section connecting arm. And results show that the turbine with NACA0012 connecting arm has the best start-up performance which is 0.346 m/s and the peak point of power conversion coefficient is around 0.33. A further study has been performed and a conclusion is drawn that the aerofoil and thickness of connecting arm are the most important factors on the power conversion coefficient of the vertical axis tidal current turbine. 展开更多
关键词 connecting arm vertical axis tidal current turbine laboratory experimental study 3d numerical simulation UDF
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Numerical modeling of 3D DC resistivity method in the mixed space-wavenumber domain 被引量:1
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作者 Dai Shi-Kun Ling Jia-Xuan +4 位作者 Chen Qing-Rui Li Kun Zhang Qian-Jiang Zhao Dong-Dong Zhang Ying 《Applied Geophysics》 SCIE CSCD 2021年第3期361-374,432,433,共16页
Forward modeling is the basis of inversion imaging and quantitative interpretation for DC resistivity exploration.Currently,a numerical model of the DC resistivity method must be finely divided to obtain a highly accu... Forward modeling is the basis of inversion imaging and quantitative interpretation for DC resistivity exploration.Currently,a numerical model of the DC resistivity method must be finely divided to obtain a highly accurate solution under complex conditions,resulting in a long calculation time and large storage.Therefore,we propose a 3D numerical simulation method in a mixed space-wavenumber domain to overcome this challenge.The partial differential equation about abnormal potential is transformed into many independent ordinary differential equations with different wavenumbers using a 2D Fourier transform along the x axis and y axis direction.In this way,a large-scale 3D numerical simulation problem is decomposed into several 1D numerical simulation problems,which significantly reduces the computational and storage requirements.In addition,these ordinary 1D differential equations with different wavenumbers are independent of each other and high parallelelism of the algorithm.They are solved using a finite-element algorithm combined with a chasing method,and the obtained solution is modified using a contraction operator.In this method,the vertical direction is reserved as the spatial domain,then grid size can be determined flexibly based on the underground current density distribution,which considers the solution accuracy and calculation efficiency.In addition,for the first time,we use the contraction operator in the integral equation method to iterate the algorithm.The algorithm takes advantage of the high efficiency of the standard Fourier transform and chasing method,as well as the fast convergence of the contraction operator.We verified the accuracy of the algorithm and the convergence of the contraction operator.Compared with a volume integral method and goal-oriented adaptive finite-element method,the proposed algorithm has lower memory requirements and high computational efficiency,making it suitable for calculating a model with large-scale nodes.Moreover,different examples are used to verify the high adaptability and parallelism of the proposed algorithm.The findings show that the 3D numerical simulation method of DC resistivity method in a mixed space-wavenumber domain is highly efficient,precise,and parallel. 展开更多
关键词 3d DC numerical simulation a mixed space-wavenumber domain 2D Fourier transform contraction operator
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Parallel numerical simulations for quantized vortices in Bose-Einstein condensates
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作者 黄朝晖 王德生 《Chinese Physics B》 SCIE EI CAS CSCD 2007年第1期32-37,共6页
We employ the parallel computing technology to study numerically the three-dimensional structure of quantized vortices of Bose-Einstein condensates, For anisotropic cases, the bending process of vortices is described ... We employ the parallel computing technology to study numerically the three-dimensional structure of quantized vortices of Bose-Einstein condensates, For anisotropic cases, the bending process of vortices is described in detail by the decrease of Gross-Pitaevskii energy. A completely straight vortex and the steady and symmetrical multiple-vortex configurations are obtained. We analyse the effect of initial conditions and angular velocity on the number and shape of vortices. 展开更多
关键词 3d numerical simulations quantized vortices Bose-Einstein condensates parallel computing
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Three‑dimensional Modeling and Simulation of Muscle Tissue Puncture Process
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作者 Zongkai Lv Qinghua Song +3 位作者 Fan Gao Zhanqiang Liu Yi Wan Yonghang Jiang 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2022年第3期174-186,共13页
Needle biopsy is an essential part of modern clinical medicine.The puncture accuracy and sampling success rate of puncture surgery can be effectively improved through virtual surgery.There are few three-dimensional pu... Needle biopsy is an essential part of modern clinical medicine.The puncture accuracy and sampling success rate of puncture surgery can be effectively improved through virtual surgery.There are few three-dimensional puncture(3D)models,which have little significance for surgical guidance under complicated conditions and restrict the development of virtual surgery.In this paper,a 3D simulation of the muscle tissue puncture process is studied.Firstly,the mechanical properties of muscle tissue are measured.The Mooney-Rivlin(M-R)model is selected by considering the fitting accuracy and calculation speed.Subsequently,an accurate 3D dynamic puncture model is established.The failure criterion is used to define the breaking characteristics of the muscle,and the bilinear cohesion model defines the breaking process.Experiments with different puncture speeds are carried out through the built in vitro puncture platform.The experimental results are compared with the simulation results.The experimental and simulated reaction force curves are highly consistent,which verifies the accuracy of the model.Finally,the model under different parameters is studied.The simulation results of varying puncture depths and puncture speeds are analyzed.The 3D puncture model can provide more accurate model support for virtual surgery and help improve the success rate of puncture surgery. 展开更多
关键词 Puncture biopsy Muscle soft tissue 3d Puncture simulation
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An object oriented multi-robotic graphic simulation environment for programming the welding tasks
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作者 崔泽 赵杰 +1 位作者 崔岩 蔡鹤皋 《China Welding》 EI CAS 2002年第1期77-83,共7页
An object oriented multi robotic graphic simulation environment is described in this paper. Object oriented programming is used to model the physical objects of the robotic workcell in the form of software objects ... An object oriented multi robotic graphic simulation environment is described in this paper. Object oriented programming is used to model the physical objects of the robotic workcell in the form of software objects or classes. The virtual objects are defined to provide the user with a user friendly interface including realistic graphic simulation and clarify the software architecture. The programming method of associating the task object with active object effectively increases the software reusability, maintainability and modifiability. Task level programming is also demonstrated through a multi robot welding task that allows the user to concentrate on the most important aspects of the tasks. The multi thread programming technique is used to simulate the interaction of multiple tasks. Finally, a virtual test is carried out in the graphic simulation environment to observe design and program errors and fix them before downloading the software to the real workcell. 展开更多
关键词 object oriented programming task level programming welding task 3d graphic simulation expert system
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