Nonlinear trajectory tracking control of a new autonomous underwater vehicle in complex sea conditions

Autonomous underwater vehicles (AUVs) navigating in complex sea conditions usually require a strong control system to keep the fastness and stability. The nonlinear trajectory tracking control system of a new AUV in complex sea conditions was presented. According to the theory of submarines,the six-DOF kinematic and dynamic models were decomposed into two mutually non-coupled vertical and horizontal plane subsystems. Then,different sliding mode control algorithms were used to study the trajectory tracking control. Because the yaw angle and yaw angle rate rather than the displacement of the new AUV can be measured directly on the horizontal plane,the sliding mode control algorithm combining cross track error method and line of sight method was used to fulfill its high-precision trajectory tracking control in the complex sea conditions. As the vertical displacement of the new AUV can be measured,in order to achieve the tracking of time-varying depth signal,a stable sliding mode controller was designed based on the single-input multi-state system,which took into account the characteristic of the hydroplane and the amplitude and rate constraints of the hydroplane angle. Moreover,the application of dynamic boundary layer can improve the robustness and control accuracy of the system. The computational results show that the designed sliding mode control systems of the horizontal and vertical planes can ensure the trajectory tracking performance and accuracy of the new AUV in complex sea conditions. The impacts of currents and waves on the sliding mode controller of the new AUV were analyzed qualitatively and quantitatively by comparing the trajectory tracking performance of the new AUV in different sea conditions,which provides an effective theoretical guidance and technical support for the control system design of the new AUV in real complex environment.

Stiffness Degradation of Undisturbed Saturated Soft Clay in the Yangtze Estuary Under Complex Stress Conditions

Stiffness degradation will occur due to the generation of accumulated pore pressure in saturated soft clays under cyclic loading. The soil static-dynamic multi-purpose triaxial and torsional shear apparatus in Dalian University of Technology was employed to perform different types of test on the saturated soft marine clay in the Yangtze Estuary. Undisturbed samples of the clay were subjected to undrained cyclic vertical and torsional coupling shear and cyclic torsional shear after three-directional anisotropic consolidation with different initial consolidation parameters. Investigated were the effects of the initial orientation angle of the major principal stress, initial ratio of deviatoric stress, initial coefficient of intermediate principal stress and continuous rotation of principal stress axes on the stiffness degradation. It is found that the degradation index decreases （or degradation degree increases） significantly with increasing initial orientation angle of the major principal stress and initial ratio of deviatoric stress. Compared with the effects of the initial orientation angle of the major principal stress and initial ratio of deviatoric stress, the effect of initial coefficient of intermediate principal stress is less evident and this trend is more clearly reflected by the results of the cyclic torsional shear tests than those of the cyclic coupling shear tests. At the same cycle number, the degradation index obtained from the cyclic torsional shear test is higher than that from the cyclic coupling shear test. The main reason is that the continuous rotation in principal stress directions during cyclic coupling shear damages the original structure of the soil more than the cyclic torsional shear does.Based on a series of experiments, a mathematical model for stiffness degradation is proposed and the relevant parameters are determined.

Research on characters of surrounding rock in complex geology conditions and supporting time

The methods combined by test, field monitoring and theoretical analysis were adopted to do the systemic research on the rock mass from micro-structure to macro-deformation, and rheological model of Jinchuan rock mass was established to discuss the reasonable supporting time. Resuhs show that supporting after suitable stress and displacement release can benefit for the long-term stability of surrounding rock.

Nonlinear Dynamic Characteristics of the Vectored Thruster AUV in Complex Sea Conditions

The mobility of the vectored thruster AUV in different environment is the important premise of control system design. The new type of autonomous underwater vehicle (AUV) equipped with rudders and vectored thrusters which are combined to control the course is studied. Firstly, Euler angles representation and quaternion method are applied to establish six-DOF kinematic model respectively, then Newton second law and Lagrangian approach are used to deduce the vectored thruster AUV’s nonlinear dynamic equations with six degrees of freedom (DOF) respectively in complex sea conditions based on the random wave theory according to the structural and kinetic characteristics of the vectored thruster AUV in this paper. The kinematic models and dynamic models based on different theories have the same expression and conclusion, which shows that the kinematic models and dynamic models of the vectored thruster AUV are accurate. The Runge-Kutta arithmetic is used to solve the dynamic equations, which not only can simulate the motions such as cruise and hover but also can describe the vehicle’s low-frequency and high-frequency motion. The results of computation show that the mobility of the vectored thruster AUV in interference-free environment and the integrated signals including low-frequency motion signal and high-frequency motion signal in environmental disturbance accord with practical situation, which not only solve the problem of especial singularities when the pitch angle θ = ±90° but also clears up the difficulties of computation and display of the coupled nonlinear motion equations in complex sea conditions. Moreover, the high maneuverability of the vectored thruster AUV equipped with rudders and vectored thrusters is validated, which lays a foundation for the control system design.

Development of the nano-composite cement:Application in regulating grouting in complex ground conditions

Improvement of the fluidity and setting time of grouting materials has been recognized as an effective approach of seepage prevention in foundation works, and it is quite common to be used for handling severe leakages in complex ground conditions, such as loose, broken and fully fissured stratum. For the purposed of better meeting the engineering requirements, experimental studies were conducted in this study with focus on the nanocomposite grouting materials and the related controlled grouting technology. As compared with the commonly used silicate-sulpho-aluminate composite cement, which is characterized by relatively poor rheological property, quick setting time and low strength, the most suitable nano-material with proper reactants were selected intentionally to improve the mentioned attributes of composite cement. Due to the setting time and strength of the targeted cement slurry behaving with poor performance of harmonization to engineering construction problems, hydration synergistic effect of these composites were investigated in our experiments. Results showed that the properties of grouting materials, including initial fluidity, setting time, ideal right-angle thickening, and early strength and late strength were sufficient to produce an expected grouting application. It is therefore advocated that the refined grouting material could provide a better solution to fix grouting problems in complex ground cementing operations.

Liquid Metal-Based Self-Healable and Elastic Conductive Fiber in Complex Operating Conditions

Flexible conductive fibers are essential for wearable electronics and smart electronic textiles.However,in complex operating conditions,conductive fibers will inevitably fracture or damage.Herein,we have developed an elastic conductive self-healable fiber(C-SHF),of which the electrical and mechanical properties can efficiently heal in a wide operating range,including room temperature,underwater,and low temperature.This advantage can be owed to the combination of reversible covalent imine bond and disulfide bond,as well as the instantaneous self-healing ability of liquid metal.The C-SHF,with stretchability,conductivity stability,and universal self-healing properties,can be used as an electrical signal transmission line at high strain and under different operating conditions.Besides,C-SHF was assembled into a double-layer capacitor structure to construct a self-healable sensor,which can effectively respond to pressure as a wearable motion detector.

FEM simulation and experimental verification of roll forming and springback process under complex contact conditions

The application of advanced high strength steel （AHSS） has an important significance in the development of the lightweight of automobile, but the parts made of AHSS usually have defects, such as fracture and large amount of springback, etc. In this paper, a model of multi-pass roll form- ing and springback process of AHSS is established with finite element software ABAQUS. Then a roll forming experiment is performed, and simulation and experimental results have been compared and analyzed. The model is established under complex contact conditions, including self-contact condi- tion. The results shows that during the process of sheet bending, large Mises stresses appear at ben- ding corners. The smaller the bending radius is, the larger the Mises stress and strain are. Thick- ness of sheet metal changes exceeds a certain limit, the differently if the bending radius is different. When the bending radius change tendency of the sheet thickness turns from increase to decrease.

Critical Cyclic Stress Ratio of Undisturbed Saturated Soft Clay in the Yangtze Estuary under Complex Stress Conditions

There exists a critical cyclic stress ratio when sand or clay is subjected to cyclic loading. It is an index dis-tinguishing stable state or failure state. The soil static and dynamic universal triaxial and torsional shear apparatus de-veloped by Dalian University of Technology in China was employed to perform different types of tests on saturated soft marine clay in the Yangtze estuary. Undisturbed samples were subjected to undrained cyclic vertical and torsional coupling shear and cyclic torsional shear after three-directional anisotropic consolidation with different initial consoli-dation parameters. The effects of initial orientation angle of major principal stress, initial ratio of deviatoric stress,initial coefficient of intermediate principal stress and stress mode of cyclic shear on the critical cyclic stress ratio wereinvestigated. It is found that the critical cyclic stress ratio decreases significantly with increasing initial orientation angle of major principal stress and initial ratio of deviatoric stress. Compared with the effects of the initial orientationangle of major principal stress and initial ratio of deviatoric stress, the effect of initial coefficient of intermediate prin-cipal stress is less evident. Under the same consolidation condition, the critical cyclic stress ratio from the cyclic cou-pling shear test is lower than that from the cyclic torsional shear test, indicating that the stress mode of cyclic shear has an obvious effect on the critical cyclic stress ratio. The main reason is that the continuous rotation in principal stressdirections during cyclic coupling shear damages the original structure of soil more than the cyclic torsional shear does.

Automated pattern-directed refactoring for complex conditional statements

Complex conditional statement is one of the bad code smells, which affects the quality of the code and design of software. In the proposed approach, two commonly-used design patterns for handling complex conditional statements are selected, and they are the factory method pattern and the strategy pattem. Two pattern-directed refactoring approaches based on the two design patterns are proposed. Each approach contains a refactoring opportunities identification algorithm and an automated refactoring algorithm. After parsing the abstract syntax tree generated from source code, the refactoring opportunities are identified effectively and automatically. Then, for candidate code, refactoring algorithms are executed automatically, which are used to simplify or remove complex conditional statements. By empirical analysis and quality assessment, the code after refactoring has better maintainability and extensibility, and the proposed approach for automated pattern-directed refactoring succeeds to reduce code size and complexity of classes.

Development and applications of the quasi‐dynamic triaxial apparatus for deep rocks

The mechanical behaviors of deep rocks have always posed a challenge for the implementation and safe operation of major underground engineering projects.To this end,this study modified the existing mainstream rock mechanics instruments equipped with a dynamic disturbance loading system and developed a second‐generation TFD‐2000/D triaxial instrument.The first‐generation device is equipped with an independent disturbance system and an advanced EDC‐580 all‐digital servo controller,which can apply disturbing load independently,implement the function of cyclic disturbance,and combine dynamic and static disturbances.The instrument was found to be reliable for use in analyzing the damage process of rocks in the disturbance test of marbles.The second‐generation instrument tackles three limitations of the first‐generation instrument:(i)it upgrades the strain measurement system and uses extensometers with linear variable differential transformers to accurately measure deformation;(ii)it uses the self‐balanced chamber to replace the Hoek–Franklin triaxial cell and auto‐balancing triaxial pressure chamber;and(iii)the loading rod is independently equipped with an EDC‐580 all‐digital servo controller,which measures precise loads.The experimental findings confirmed that the second‐generation instrument can be used for rock mechanics testing under cyclic disturbance loading,the disturbance–stress relaxation cycle,and the creep–fatigue cycle.In this sense,the second‐generation instrument can be a useful addition to deep rock mechanical instruments and provide a valuable reference.

Behavior of transporting pipeline sections without and with hydrogen exposure based on full-scale tests

Pipeline transport of hydrogen is one of today’s economic and environmental challenges.In order to find safe and reliable application of both existing gas and build new pipelines,it is essential to carry out tests on full-scale pipeline section,including the potentially more dangerous places than the main pipe,the girth welds.For the investigations,pipeline sections of P355NH steel with girth welds were prepared and exposed to pure hydrogen at twice the maximum allowable operating pressure for 41 days.Subsequently,full-scale burst tests were carried out and specimens were cut and prepared from the typical locations of the failed pipeline sections for mechanical,and macro-and microstructural investigations.The results obtained were evaluated and compared with data from previous full-scale tests on pipeline sections without hydrogen exposure.The results showed differences in the behavior of pipeline sections loaded in different ways,with different characteristics of the materials and the welded joints,both in the cases without hydrogen exposure and in the cases exposed to hydrogen.

NUMERICAL SIMULATION OF LEVEE BREACH FLOWS UNDER COMPLEX BOUNDARY CONDITIONS

Levee or dam failure can cause a significant disaster in most cases. A good prediction of the flood process especially in a real complex terrain is necessary for working out emergency plans for levee or dam breaches. Numerical simulations of levee or dam breach flow were carried out often with constant flow parameters and in relatively simple channels rather than in natural rivers with complex boundaries. This article presents our dedicated studies on the 2-D numerical model of levee or dam breach hydraulics with finite difference schemes. The good performance of the model is demonstrated by comparisons with the theoretical solution of an idealized dam-break flow over a frictionless flat rectangular channel. The model is also validated through its stability and conservation properties. The model is applied to simulate the flood propagation under complex boundary conditions, and the unsteady flood process in a river and in the dry floodplain with a complex bed terrain simultaneously. Furthermore, with respect to engineering practice, the numerical solutions can give special guidance to the effects of parameters such as the flood depth at different sites and the inundated area at different time periods after the levee breach and the travel time of the flood waves, which may be very important for practicing engineers in an efficient flood management.

Analysis and innovation of key technologies for autonomous underwater vehicles

As the mission needs of the autonomous underwater vehicles(AUV) have become increasingly varied and complex,the AUVs are developing in the direction of systematism, multifunction, and clustering technology, which promotes the progress of key technologies and proposes a series of technical problems. Therefore, it is necessary to make systemic analysis and in-depth study for the progress of AUV's key technologies and innovative applications. The multi-functional mission needs and its key technologies involved in complex sea conditions are pointed out through analyzing the domestic and foreign technical programs, functional characteristics and future development plans. Furthermore, the overall design of a multi-moving state AUV is proposed. Then, technical innovations of the key technologies, such as thrust vector, propeller design, kinematics and dynamics, navigation control, and ambient flow field characteristics, are made, combining with the structural characteristics and motion characteristics of the new multi-moving state AUV. The results verify the good performance of the multi-moving state AUV and provide a theoretical guidance and technical support for the design of new AUV in real complex sea conditions.

Experimental and modelling studies of the transient tribological behaviour of a two-phase lubricant under complex loading conditions

The transient tribological phenomenon and premature lubricant breakdown have been widely observed in metal forming,leading to excessive friction at the contact interfaces.In this research,the transient tribological behaviour of a two-phase lubricant were studied under complex loading conditions,featuring abrupt interfacial temperature,contact load,and sliding speed changes,thus representing the severe interfacial conditions observed in warm/hot metal forming applications.The strong experimental evidence indicates that the evolution of friction was attributed to the physical diminution and chemical decomposition effects.As such,a visco-mechanochemical interactive friction model was developed to accurately predict the transient tribological behaviour of the two-phase lubricant under complex loading conditions.The new friction model exhibited close agreements between the modelling and experimental results.

Research Review on Marine Search and Rescue

Locating the marine target in a quick and precise way is the crucial point of implementing SAR （search and rescue） at sea, which involves aspects of developing SAR strategy and detects the marine targets. As the effect of marine target detection restricts the SAR result directly, the study has focused on reviewing the previous research about marine target detection, especially dim marine target detection. What＇s more, small target detection under complex sea status is one of the severe challenges which is research＇s hotspot and needs more endeavor. Current research results and future research directions are discussed in the paper. The findings can provide systematic view of implementing maritime search and rescue for field researchers and governors.

SOLUTION OF DIFFERENT HOLES SHAPE BORDERS OF FIBRE REINFORCED COMPOSITE PLATES BY INTEGRAL EQUATIONS

Accurate boundary conditions of composite material plates with different holes are founded to settle boundary condition problems of complex holes by conformal mapping method upon the nonhomogeneous anisotropic elastic and complex function theory. And then the two stress functions required were founded on Cauchy integral by boundary conditions. The final stress distributions of opening structure and the analytical solution on composite material plate with rectangle hole and wing manholes were achieved. The influences on hole-edge stress concentration factors are discussed under different loads and fiber direction cases, and then contrast calculates are carried through FEM.

Analysis on the Failure Causes of the Collapsed Tubing in an Oil Well

Due to the influence of multiple factors such as internal and external formation and mechanical pressure, medium corrosion and construction operation environment, a tubing collapse failure occurred in an oil well. In order to determine the failure cause of the tubing, physical and chemical tests and mechanical properties analysis were carried out on the failed tubing sample and the intact tubing. The results show that the chemical composition, ultrasonic and magnetic particle inspection, metallographic test, Charpy impact energy and external pressure mechanical property test of the failed tubing all meet the requirements of API Spec 5CT-2021 standard, but the yield strength of the failed tubing does not meet the requirements of API Spec 5CT-2021 standard. Through the analysis of the working conditions, it can be seen that the anti-extrusion strength of the tubing collapse does not meet the API 5C3 anti-extrusion strength standard. The failure type of the well tubing is tubing collapse caused by large internal and external pressure difference.

The vertical shaft construction technology of cutter head transformation of large diameter shield

Taking vertical shaft construction of cutter transformation of the Beijing underground diameter shield for example,the design and construction of cutter structure transformation under complex boundary conditions for large diameter shield were discussed.Practice about how to ensure the structure safety of the shaft as well as well-coordinated shield construction was explored,and reliable solutions were provided successfully,which can provide reference for similar projects.

LZ Complexity Distance of DNA Sequences and Its Application in Phylogenetic Tree Reconstruction

DNA sequences can be treated as finite-length symbol strings over a four-letter alphabet （A, C, T, G）. As a universal and computable complexity measure, LZ complexity is valid to describe the complexity of DNA sequences. In this study, a concept of conditional LZ complexity between two sequences is proposed according to the principle of LZ complexity measure. An LZ complexity distance metric between two nonnull sequences is defined by utilizing conditional LZ complexity. Based on LZ complexity distance, a phylogenetic tree of 26 species of placental mammals （Eutheria） with three outgroup species was reconstructed from their complete mitochondrial genomes. On the debate that which two of the three main groups of placental mammals, namely Primates, Ferungulates, and Rodents, are more closely related, the phylogenetic tree reconstructed based on LZ complexity distance supports the suggestion that Primates and Ferungulates are more closely related.

How are children with medical complexity being identified in epidemiological studies?A systematic review

Background There are different definitions to identify/classify children with medical complexity(CMC).We aimed to investigate and describe the definitions used to classify CMC in epidemiological studies.Methods PubMed,SciELO,LILACS,and EMBASE were searched from 2015 to 2020(last updated September 15th,2020)for original studies that presented the definition used to classify/identify CMC in the scientific research method.We applied the Preferred Reporting Items for Systematic Reviews and Meta-Analyses methodology.From the included studies,the following were identified:first author,year of publication,design,population,study period,the definition of CMC used,limitations,and strengths.Results Nine hundred and sixty-seven records were identified in the searched databases,and 42 met the inclusion criteria.Of the 42 studies included,the four most frequent definitions used in the articles included in this review were classification of CMC into nine diagnostic categories based on the International Classification of Diseases,Ninth Revision(ICD-9)(35.7%,15 articles);update of the previous classification for ICD-10 codes with the inclusion of other conditions in the definition(21.4%,nine articles);definition based on a medical complexity algorithm for classification(16.7%,seven articles);and a risk rating system(7.1%,three articles).Conclusions CMC definitions using diagnostic codes were more frequent.However,several limitations were found in its uses.Our research highlighted the need to improve health information systems to accurately characterize the CMC population and promote the provision of comprehensive care.