The composite time scale(CTS)provides a stable,accurate,and reliable time scale for modern society.The improvement of CTS’s real-time performance will improve its stability,which strengths related applications’perfo...The composite time scale(CTS)provides a stable,accurate,and reliable time scale for modern society.The improvement of CTS’s real-time performance will improve its stability,which strengths related applications’performance.Aiming at this goal,a method achieved by determining the optimal calculation interval and accelerating adjustment stage is proposed in this paper.The determinants of the CTS’s calculation interval(characteristics of the clock ensemble,the measurement noise,the time and frequency synchronization system’s noise and the auxiliary output generator noise floor)are studied and the optimal calculation interval is obtained.We also investigate the effect of ensemble algorithm’s initial parameters on the CTS’s adjustment stage.A strategy to get the reasonable initial parameters of ensemble algorithm is designed.The results show that the adjustment stage can be finished rapidly or even can be shorten to zero with reasonable initial parameters.On this basis,we experimentally generate a distributed CTS with a calculation interval of 500 s and its stability outperforms those of the member clocks when the averaging time is longer than1700 s.The experimental result proves that the CTS’s real-time performance is significantly improved.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
Fire rescue challenges and solutions have evolved from straightfor-ward plane rescue to encompass 3D space due to the rise of high-rise city buildings.Hence,this study facilitates a system with quick and simplified on...Fire rescue challenges and solutions have evolved from straightfor-ward plane rescue to encompass 3D space due to the rise of high-rise city buildings.Hence,this study facilitates a system with quick and simplified on-site launching and generates real-time location data,enabling fire rescuers to arrive at the intended spot faster and correctly for effective and precise rescue.Auto-positioning with step-by-step instructions is proposed when launching the locating system,while no extra measuring instrument like Total Station(TS)is needed.Real-time location tracking is provided via a 3D space real-time locating system(RTLS)constructed using Ultra-wide Bandwidth technology(UWB),which requires electromagnetic waves to pass through concrete walls.A hybrid weighted least squares with a time difference of arrival(WLS/TDOA)positioning method is proposed to address real path-tracking issues in 3D space and to meet RTLS requirements for quick computing in real-world applications.The 3D WLS/TDOA algorithm is theoretically constructed with the Cramer-Rao lower bound(CRLB).The computing complexity is reduced to the lower bound for embedded hardware to directly compute the time differential of the arriving signals using the time-to-digital converter(TDC).The results of the experiments show that the errors are controlled when the positioning algorithm is applied in various complicated situations to fulfill the requirements of engineering applications.The statistical analysis of the data reveals that the proposed UWB RTLS auto-positioning system can track target tags with an accuracy of 0.20 m.展开更多
Light levels determine regeneration in stands and a key concern is how to regulate the light environment of different stand types to the requirements of the understory.In this study,we selected three stands typical in...Light levels determine regeneration in stands and a key concern is how to regulate the light environment of different stand types to the requirements of the understory.In this study,we selected three stands typical in south China(a Cryptomeria japonica plantation,a Quercus acutissima plantation,and a mixed stand of both)and three thinning intensities to determine the best understory light environ-ment for 3-year-old Phoebe bournei seedlings.The canopy structure,understory light environment,and photosynthe-sis and growth indicators were assessed following thin-ning.Thinning improved canopy structure and understory light availability of each stand;species composition was the reason for differences in the understory light environ-ment.Under the same thinning intensity,the mixed stand had the greatest light radiation and most balanced spectral composition.P.bournei photosynthesis and growth were closely related to the light environment;all three stands required heavy thinning to create an effective and sustained understory light environment.In a suitable understory light environment,the efficiency of light interception,absorption,and use by seedlings was enhanced,resulting in a higher carbon assimilation the main limiting factor was stomatal conductance.As a shade-avoidance signal,red/far-red radia-tion is a critical factor driving changes in photosynthesis and growth of P.bournei seedlings,and a reduction increased light absorption and use capacity and height:diameter ratios.The growth advantage transformed from diameter to height,enabling seedlings to access more light.Our findings suggest that the regeneration of shade-tolerant species such as P.bournei could be enhanced if a targeted approach to thinning based on stand type was adopted.展开更多
Deep engineering disasters,such as rockbursts and collapses,are more related to the shear slip of rock joints.A novel multifunctional device was developed to study the shear failure mechanism in rocks.Using this devic...Deep engineering disasters,such as rockbursts and collapses,are more related to the shear slip of rock joints.A novel multifunctional device was developed to study the shear failure mechanism in rocks.Using this device,the complete shearedeformation process and long-term shear creep tests could be performed on rocks under constant normal stiffness(CNS)or constant normal loading(CNL)conditions in real-time at high temperature and true-triaxial stress.During the research and development process,five key technologies were successfully broken through:(1)the ability to perform true-triaxial compressioneshear loading tests on rock samples with high stiffness;(2)a shear box with ultra-low friction throughout the entire stress space of the rock sample during loading;(3)a control system capable of maintaining high stress for a long time and responding rapidly to the brittle fracture of a rock sample as well;(4)a refined ability to measure the volumetric deformation of rock samples subjected to true triaxial shearing;and(5)a heating system capable of maintaining uniform heating of the rock sample over a long time.By developing these technologies,loading under high true triaxial stress conditions was realized.The apparatus has a maximum normal stiffness of 1000 GPa/m and a maximum operating temperature of 300C.The differences in the surface temperature of the sample are constant to within5C.Five types of true triaxial shear tests were conducted on homogeneous sandstone to verify that the apparatus has good performance and reliability.The results show that temperature,lateral stress,normal stress and time influence the shear deformation,failure mode and strength of the sandstone.The novel apparatus can be reliably used to conduct true-triaxial shear tests on rocks subjected to high temperatures and stress.展开更多
The problem of prescribed performance tracking control for unknown time-delay nonlinear systems subject to output constraints is dealt with in this paper. In contrast with related works, only the most fundamental requ...The problem of prescribed performance tracking control for unknown time-delay nonlinear systems subject to output constraints is dealt with in this paper. In contrast with related works, only the most fundamental requirements, i.e., boundedness and the local Lipschitz condition, are assumed for the allowable time delays. Moreover, we focus on the case where the reference is unknown beforehand, which renders the standard prescribed performance control designs under output constraints infeasible. To conquer these challenges, a novel robust prescribed performance control approach is put forward in this paper.Herein, a reverse tuning function is skillfully constructed and automatically generates a performance envelop for the tracking error. In addition, a unified performance analysis framework based on proof by contradiction and the barrier function is established to reveal the inherent robustness of the control system against the time delays. It turns out that the system output tracks the reference with a preassigned settling time and good accuracy,without constraint violations. A comparative simulation on a two-stage chemical reactor is carried out to illustrate the above theoretical findings.展开更多
Solid solution-strengthened copper alloys have the advantages of a simple composition and manufacturing process,high mechanical and electrical comprehensive performances,and low cost;thus,they are widely used in high-...Solid solution-strengthened copper alloys have the advantages of a simple composition and manufacturing process,high mechanical and electrical comprehensive performances,and low cost;thus,they are widely used in high-speed rail contact wires,electronic component connectors,and other devices.Overcoming the contradiction between low alloying and high performance is an important challenge in the development of solid solution-strengthened copper alloys.Taking the typical solid solution-strengthened alloy Cu-4Zn-1Sn as the research object,we proposed using the element In to replace Zn and Sn to achieve low alloying in this work.Two new alloys,Cu-1.5Zn-1Sn-0.4In and Cu-1.5Zn-0.9Sn-0.6In,were designed and prepared.The total weight percentage content of alloying elements decreased by 43%and 41%,respectively,while the product of ultimate tensile strength(UTS)and electrical conductivity(EC)of the annealed state increased by 14%and 15%.After cold rolling with a 90%reduction,the UTS of the two new alloys reached 576 and 627MPa,respectively,the EC was 44.9%IACS and 42.0%IACS,and the product of UTS and EC(UTS×EC)was 97%and 99%higher than that of the annealed state alloy.The dislocations proliferated greatly in cold-rolled alloys,and the strengthening effects of dislocations reached 332 and 356 MPa,respectively,which is the main reason for the considerable improvement in mechanical properties.展开更多
In current practice of bolt reaming and anchoring of roadways in soft coal and rock mass,resin cartridges bend easily under the strong pushing and stirring of bolts,and the resin accumulates in the bolt-reamed area an...In current practice of bolt reaming and anchoring of roadways in soft coal and rock mass,resin cartridges bend easily under the strong pushing and stirring of bolts,and the resin accumulates in the bolt-reamed area and does not participate in the stirring.As a result,bolts encounter high drilling resistance and cannot reach the bottom of drillholes.The effective anchorage length is far less than the actual anchorage length.Bolts are not centered,and the shear is misaligned at the joint surface in the reaming area,which leads to cracking of the whole anchoring solid and large shear deformation of bolts.This study systematically analyzes the characteristics of roadway bolt reaming and anchoring.The influences of resin stirring force,bolt pull-out force,and reamingeanchoring solid strength on reamingeanchoring performance were analyzed theoretically.The main purpose is to develop a device that enhances reaming and anchoring.The mechanism through which the device strengthens the reamingeanchoring solid was analyzed theoretically.Numerical simulation and experiments were carried out to verify the improved performance of the small-pore reaming and anchoring using the proposed technology.The results showed that the stirring migration rate of the resin cartridge is greatly improved by adding the device to bolts.The reaction rate of the anchoring mixture,stirring pressure,pull-out force of the reaming and anchoring system,bolt concentricity,and shear and compressive strengths of the anchoring solid are also enhanced in the reaming area.This ensures that the resin cartridge in the reaming area is completely stirred,which greatly improves the shear resistance of the reamingeanchoring solid.Meanwhile,the drilling performance,torsional force,and stirring efficiency of bolts are maximized and prevail over those of conventional bolts.展开更多
Currently,more than ten ultrahigh arch dams have been constructed or are being constructed in China.Safety control is essential to long-term operation of these dams.This study employed the flexibility coefficient and ...Currently,more than ten ultrahigh arch dams have been constructed or are being constructed in China.Safety control is essential to long-term operation of these dams.This study employed the flexibility coefficient and plastic complementary energy norm to assess the structural safety of arch dams.A comprehensive analysis was conducted,focusing on differences among conventional methods in characterizing the structural behavior of the Xiaowan arch dam in China.Subsequently,the spatiotemporal characteristics of the measured performance of the Xiaowan dam were explored,including periodicity,convergence,and time-effect characteristics.These findings revealed the governing mechanism of main factors.Furthermore,a heterogeneous spatial panel vector model was developed,considering both common factors and specific factors affecting the safety and performance of arch dams.This model aims to comprehensively illustrate spatial heterogeneity between the entire structure and local regions,introducing a specific effect quantity to characterize local deformation differences.Ultimately,the proposed model was applied to the Xiaowan arch dam,accurately quantifying the spatiotemporal heterogeneity of dam performance.Additionally,the spatiotemporal distri-bution characteristics of environmental load effects on different parts of the dam were reasonably interpreted.Validation of the model prediction enhances its credibility,leading to the formulation of health diagnosis criteria for future long-term operation of the Xiaowan dam.The findings not only enhance the predictive ability and timely control of ultrahigh arch dams'performance but also provide a crucial basis for assessing the effectiveness of engineering treatment measures.展开更多
The performance characteristics,particularly the starting performance of direct line-fed induction motors,which are mainly influenced by the design of the rotor,are crucial considerations for end-users.It is quite a c...The performance characteristics,particularly the starting performance of direct line-fed induction motors,which are mainly influenced by the design of the rotor,are crucial considerations for end-users.It is quite a challenging issue for motor manufacturers to enhance the starting performance of existing mass-produced motors with minimal modifications and expenses.In this paper,a simple and cost-effective method to improve the starting performance of a commercial squirrel-cage induction motor(SCIM)is proposed.The influence of geometric parameters of the end-ring on the performance characteristics,including starting(locked rotor)torque,pull-up and break down torque,starting current,rotor electric parameters,current density,power losses,and efficiency have been comprehensively investigated.It has been revealed that among the other end-ring design parameters,the ring thickness has a significant effect on the performance characteristics.An optimal end-ring thickness is determined,and its performance characteristics have been compared to those of its initial counterpart.Numeric and parametric analyses have been conducted using a 2D time-stepping finite element method(FEM).The FEM results were validated using experimental measurements obtained from an 11 kW SCIM prototype.展开更多
This paper studies the problem of time-varying formation control with finite-time prescribed performance for nonstrict feedback second-order multi-agent systems with unmeasured states and unknown nonlinearities.To eli...This paper studies the problem of time-varying formation control with finite-time prescribed performance for nonstrict feedback second-order multi-agent systems with unmeasured states and unknown nonlinearities.To eliminate nonlinearities,neural networks are applied to approximate the inherent dynamics of the system.In addition,due to the limitations of the actual working conditions,each follower agent can only obtain the locally measurable partial state information of the leader agent.To address this problem,a neural network state observer based on the leader state information is designed.Then,a finite-time prescribed performance adaptive output feedback control strategy is proposed by restricting the sliding mode surface to a prescribed region,which ensures that the closed-loop system has practical finite-time stability and that formation errors of the multi-agent systems converge to the prescribed performance bound in finite time.Finally,a numerical simulation is provided to demonstrate the practicality and effectiveness of the developed algorithm.展开更多
Aqueous zinc-ion batteries(AZIBs)are one of the most compelling alternatives of lithium-ion batteries due to their inherent safety and economics viability.In response to the growing demand for green and sustainable en...Aqueous zinc-ion batteries(AZIBs)are one of the most compelling alternatives of lithium-ion batteries due to their inherent safety and economics viability.In response to the growing demand for green and sustainable energy storage solutions,organic electrodes with the scalability from inexpensive starting materials and potential for biodegradation after use have become a prominent choice for AZIBs.Despite gratifying progresses of organic molecules with electrochemical performance in AZIBs,the research is still in infancy and hampered by certain issues due to the underlying complex electrochemistry.Strategies for designing organic electrode materials for AZIBs with high specific capacity and long cycling life are discussed in detail in this review.Specifically,we put emphasis on the unique electrochemistry of different redox-active structures to provide in-depth understanding of their working mechanisms.In addition,we highlight the importance of molecular size/dimension regarding their profound impact on electrochemical performances.Finally,challenges and perspectives are discussed from the developing point of view for future AZIBs.We hope to provide a valuable evaluation on organic electrode materials for AZIBs in our context and give inspiration for the rational design of high-performance AZIBs.展开更多
With the improvement of equipment reliability,human factors have become the most uncertain part in the system.The standardized Plant Analysis of Risk-Human Reliability Analysis(SPAR-H)method is a reliable method in th...With the improvement of equipment reliability,human factors have become the most uncertain part in the system.The standardized Plant Analysis of Risk-Human Reliability Analysis(SPAR-H)method is a reliable method in the field of human reliability analysis(HRA)to evaluate human reliability and assess risk in large complex systems.However,the classical SPAR-H method does not consider the dependencies among performance shaping factors(PSFs),whichmay cause overestimation or underestimation of the risk of the actual situation.To address this issue,this paper proposes a new method to deal with the dependencies among PSFs in SPAR-H based on the Pearson correlation coefficient.First,the dependence between every two PSFs is measured by the Pearson correlation coefficient.Second,the weights of the PSFs are obtained by considering the total dependence degree.Finally,PSFs’multipliers are modified based on the weights of corresponding PSFs,and then used in the calculating of human error probability(HEP).A case study is used to illustrate the procedure and effectiveness of the proposed method.展开更多
Precipitous Arctic sea-ice decline and the corresponding increase in Arctic open-water areas in summer months give more space for sea-ice growth in the subsequent cold seasons. Compared to the decline of the entire Ar...Precipitous Arctic sea-ice decline and the corresponding increase in Arctic open-water areas in summer months give more space for sea-ice growth in the subsequent cold seasons. Compared to the decline of the entire Arctic multiyear sea ice,changes in newly formed sea ice indicate more thermodynamic and dynamic information on Arctic atmosphere–ocean–ice interaction and northern mid–high latitude atmospheric teleconnections. Here, we use a large multimodel ensemble from phase 6 of the Coupled Model Intercomparison Project(CMIP6) to investigate future changes in wintertime newly formed Arctic sea ice. The commonly used model-democracy approach that gives equal weight to each model essentially assumes that all models are independent and equally plausible, which contradicts with the fact that there are large interdependencies in the ensemble and discrepancies in models' performances in reproducing observations. Therefore, instead of using the arithmetic mean of well-performing models or all available models for projections like in previous studies, we employ a newly developed model weighting scheme that weights all models in the ensemble with consideration of their performance and independence to provide more reliable projections. Model democracy leads to evident bias and large intermodel spread in CMIP6 projections of newly formed Arctic sea ice. However, we show that both the bias and the intermodel spread can be effectively reduced by the weighting scheme. Projections from the weighted models indicate that wintertime newly formed Arctic sea ice is likely to increase dramatically until the middle of this century regardless of the emissions scenario.Thereafter, it may decrease(or remain stable) if the Arctic warming crosses a threshold(or is extensively constrained).展开更多
Successfully utilized non-axisymmetric endwalls to enhance turbine efficiencies(aerodynamic and turbine inlet temperatures)by controlling the characteristics of the secondary flow in a blade passage.This is accomplish...Successfully utilized non-axisymmetric endwalls to enhance turbine efficiencies(aerodynamic and turbine inlet temperatures)by controlling the characteristics of the secondary flow in a blade passage.This is accomplished by steady-state numerical hydrodynamics and deep knowledge of the field of flow.Because of the interaction between mainstream and purge flow contributing supplementary losses in the stage,non-axisymmetric endwalls are highly susceptible to the inception of purge flow exit compared to the flat and any advantage rapidly vanishes.The conclusions reveal that the supreme endwall pattern could yield a lowering of the gross pressure loss at the design stage and is related to the size of the top-loss location being productively lowered.This has led to diminished global thermal exchange lowered in the passage of the vane alone.The reverse flow adjacent to the suction side corner of the endwall is migrated farther from the vane surface,as the deviated pressure spread on the endwall accelerates the flow and progresses the reverse flow core still downstream.The depleted association between the tornado-like vortex and the corner vortex adjacent to the suction side corner of the endwall is the dominant mechanism of control in the contoured end wall.In this publication,we show that the non-axisymmetric endwall contouring by selective numerical shape change method at most prominent locations is advantageous in lowering the thermal load in turbines to augment the net heat flux reduction as well as the aerodynamic performance using multi-objective optimization.展开更多
This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance system...This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance systems of missiles is challenging.As our contribution,the velocity control channel is designed to deal with the intractable velocity problem and improve tracking accuracy.The global prescribed performance function,which guarantees the tracking error within the set range and the global convergence of the tracking guidance system,is first proposed based on the traditional PPF.Then,a tracking guidance strategy is derived using the integral sliding mode control techniques to make the sliding manifold and tracking errors converge to zero and avoid singularities.Meanwhile,an improved switching control law is introduced into the designed tracking guidance algorithm to deal with the chattering problem.A back propagation neural network(BPNN)extended state observer(BPNNESO)is employed in the inner loop to identify disturbances.The obtained results indicate that the proposed tracking guidance approach achieves the trajectory tracking guidance objective without and with disturbances and outperforms the existing tracking guidance schemes with the lowest tracking errors,convergence times,and overshoots.展开更多
Deep reinforcement learning(DRL) has demonstrated significant potential in industrial manufacturing domains such as workshop scheduling and energy system management.However, due to the model's inherent uncertainty...Deep reinforcement learning(DRL) has demonstrated significant potential in industrial manufacturing domains such as workshop scheduling and energy system management.However, due to the model's inherent uncertainty, rigorous validation is requisite for its application in real-world tasks. Specific tests may reveal inadequacies in the performance of pre-trained DRL models, while the “black-box” nature of DRL poses a challenge for testing model behavior. We propose a novel performance improvement framework based on probabilistic automata,which aims to proactively identify and correct critical vulnerabilities of DRL systems, so that the performance of DRL models in real tasks can be improved with minimal model modifications.First, a probabilistic automaton is constructed from the historical trajectory of the DRL system by abstracting the state to generate probabilistic decision-making units(PDMUs), and a reverse breadth-first search(BFS) method is used to identify the key PDMU-action pairs that have the greatest impact on adverse outcomes. This process relies only on the state-action sequence and final result of each trajectory. Then, under the key PDMU, we search for the new action that has the greatest impact on favorable results. Finally, the key PDMU, undesirable action and new action are encapsulated as monitors to guide the DRL system to obtain more favorable results through real-time monitoring and correction mechanisms. Evaluations in two standard reinforcement learning environments and three actual job scheduling scenarios confirmed the effectiveness of the method, providing certain guarantees for the deployment of DRL models in real-world applications.展开更多
This work investigates the influence of the type sludge on drainage, plant development, purification performances and biosolids quality. Drainage properties were measured through the frequency of clogging, the percent...This work investigates the influence of the type sludge on drainage, plant development, purification performances and biosolids quality. Drainage properties were measured through the frequency of clogging, the percentage of leachate recovered and the dryness of accumulated sludge. Plant development was measured through the density, the height and the stem diameter. Purification performance was evaluated from the reduction rate. Biosolids quality was measured after 3 months of maturation. The results show that the clogging frequencies were 9.5%;0% and 3.7%;the volume of leachate recovered was 42.2%;20.4% and 24.7% and, the dryness was 33.4%;61.1% and 52.4% for FS-ST, FS-STT and SS respectively. Plants densities were about, with densities 197.1, 171.3 and 178.3 plants/m2 in beds fed respectively with FS-ST, FS-STT and SS. Despite the high removal rates, the concentrations of pollutants in the leachates are above the Senegalese standard NS 05-061 for discharge into the environment. The biosolids are all mature with C/N and NH4+/NO3?ratios lower than 12 and 1 respectively. The biosolids are also rich in organic and mineral elements. The concentrations of Ascaris eggs are higher than the WHO recommendations. These biosolids should be stored for additional time or composted.展开更多
基金the National Key Research and Development Program of China(Grant No.2021YFA1402102)the National Natural Science Foundation of China(Grant No.62171249)the Fund by Tsinghua University Initiative Scientific Research Program.
文摘The composite time scale(CTS)provides a stable,accurate,and reliable time scale for modern society.The improvement of CTS’s real-time performance will improve its stability,which strengths related applications’performance.Aiming at this goal,a method achieved by determining the optimal calculation interval and accelerating adjustment stage is proposed in this paper.The determinants of the CTS’s calculation interval(characteristics of the clock ensemble,the measurement noise,the time and frequency synchronization system’s noise and the auxiliary output generator noise floor)are studied and the optimal calculation interval is obtained.We also investigate the effect of ensemble algorithm’s initial parameters on the CTS’s adjustment stage.A strategy to get the reasonable initial parameters of ensemble algorithm is designed.The results show that the adjustment stage can be finished rapidly or even can be shorten to zero with reasonable initial parameters.On this basis,we experimentally generate a distributed CTS with a calculation interval of 500 s and its stability outperforms those of the member clocks when the averaging time is longer than1700 s.The experimental result proves that the CTS’s real-time performance is significantly improved.
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.
文摘Fire rescue challenges and solutions have evolved from straightfor-ward plane rescue to encompass 3D space due to the rise of high-rise city buildings.Hence,this study facilitates a system with quick and simplified on-site launching and generates real-time location data,enabling fire rescuers to arrive at the intended spot faster and correctly for effective and precise rescue.Auto-positioning with step-by-step instructions is proposed when launching the locating system,while no extra measuring instrument like Total Station(TS)is needed.Real-time location tracking is provided via a 3D space real-time locating system(RTLS)constructed using Ultra-wide Bandwidth technology(UWB),which requires electromagnetic waves to pass through concrete walls.A hybrid weighted least squares with a time difference of arrival(WLS/TDOA)positioning method is proposed to address real path-tracking issues in 3D space and to meet RTLS requirements for quick computing in real-world applications.The 3D WLS/TDOA algorithm is theoretically constructed with the Cramer-Rao lower bound(CRLB).The computing complexity is reduced to the lower bound for embedded hardware to directly compute the time differential of the arriving signals using the time-to-digital converter(TDC).The results of the experiments show that the errors are controlled when the positioning algorithm is applied in various complicated situations to fulfill the requirements of engineering applications.The statistical analysis of the data reveals that the proposed UWB RTLS auto-positioning system can track target tags with an accuracy of 0.20 m.
基金This study was supported by the National Natural Science Foundation of China(Grant No.31870613)Guizhou Province High-level Innovative Talents Training Plan Project(2016)5661.
文摘Light levels determine regeneration in stands and a key concern is how to regulate the light environment of different stand types to the requirements of the understory.In this study,we selected three stands typical in south China(a Cryptomeria japonica plantation,a Quercus acutissima plantation,and a mixed stand of both)and three thinning intensities to determine the best understory light environ-ment for 3-year-old Phoebe bournei seedlings.The canopy structure,understory light environment,and photosynthe-sis and growth indicators were assessed following thin-ning.Thinning improved canopy structure and understory light availability of each stand;species composition was the reason for differences in the understory light environ-ment.Under the same thinning intensity,the mixed stand had the greatest light radiation and most balanced spectral composition.P.bournei photosynthesis and growth were closely related to the light environment;all three stands required heavy thinning to create an effective and sustained understory light environment.In a suitable understory light environment,the efficiency of light interception,absorption,and use by seedlings was enhanced,resulting in a higher carbon assimilation the main limiting factor was stomatal conductance.As a shade-avoidance signal,red/far-red radia-tion is a critical factor driving changes in photosynthesis and growth of P.bournei seedlings,and a reduction increased light absorption and use capacity and height:diameter ratios.The growth advantage transformed from diameter to height,enabling seedlings to access more light.Our findings suggest that the regeneration of shade-tolerant species such as P.bournei could be enhanced if a targeted approach to thinning based on stand type was adopted.
基金financial support from the National Natural Science Foundation of China(Grant Nos.52209125 and 51839003).
文摘Deep engineering disasters,such as rockbursts and collapses,are more related to the shear slip of rock joints.A novel multifunctional device was developed to study the shear failure mechanism in rocks.Using this device,the complete shearedeformation process and long-term shear creep tests could be performed on rocks under constant normal stiffness(CNS)or constant normal loading(CNL)conditions in real-time at high temperature and true-triaxial stress.During the research and development process,five key technologies were successfully broken through:(1)the ability to perform true-triaxial compressioneshear loading tests on rock samples with high stiffness;(2)a shear box with ultra-low friction throughout the entire stress space of the rock sample during loading;(3)a control system capable of maintaining high stress for a long time and responding rapidly to the brittle fracture of a rock sample as well;(4)a refined ability to measure the volumetric deformation of rock samples subjected to true triaxial shearing;and(5)a heating system capable of maintaining uniform heating of the rock sample over a long time.By developing these technologies,loading under high true triaxial stress conditions was realized.The apparatus has a maximum normal stiffness of 1000 GPa/m and a maximum operating temperature of 300C.The differences in the surface temperature of the sample are constant to within5C.Five types of true triaxial shear tests were conducted on homogeneous sandstone to verify that the apparatus has good performance and reliability.The results show that temperature,lateral stress,normal stress and time influence the shear deformation,failure mode and strength of the sandstone.The novel apparatus can be reliably used to conduct true-triaxial shear tests on rocks subjected to high temperatures and stress.
基金supported in part by the National Natural Science Foundation of China (62103093)the National Key Research and Development Program of China (2022YFB3305905)+6 种基金the Xingliao Talent Program of Liaoning Province of China (XLYC2203130)the Fundamental Research Funds for the Central Universities of China (N2108003)the Natural Science Foundation of Liaoning Province (2023-MS-087)the BNU Talent Seed Fund,UIC Start-Up Fund (R72021115)the Guangdong Key Laboratory of AI and MM Data Processing (2020KSYS007)the Guangdong Provincial Key Laboratory IRADS for Data Science (2022B1212010006)the Guangdong Higher Education Upgrading Plan 2021–2025 of “Rushing to the Top,Making Up Shortcomings and Strengthening Special Features” with UIC Research,China (R0400001-22,R0400025-21)。
文摘The problem of prescribed performance tracking control for unknown time-delay nonlinear systems subject to output constraints is dealt with in this paper. In contrast with related works, only the most fundamental requirements, i.e., boundedness and the local Lipschitz condition, are assumed for the allowable time delays. Moreover, we focus on the case where the reference is unknown beforehand, which renders the standard prescribed performance control designs under output constraints infeasible. To conquer these challenges, a novel robust prescribed performance control approach is put forward in this paper.Herein, a reverse tuning function is skillfully constructed and automatically generates a performance envelop for the tracking error. In addition, a unified performance analysis framework based on proof by contradiction and the barrier function is established to reveal the inherent robustness of the control system against the time delays. It turns out that the system output tracks the reference with a preassigned settling time and good accuracy,without constraint violations. A comparative simulation on a two-stage chemical reactor is carried out to illustrate the above theoretical findings.
基金financially supported by the National Key Research and Development Program of China(No.2021YFB3803101)the National Natural Science Foundation of China(Nos.52022011,51974028,and 52090041)+1 种基金the Xiaomi Young Scholars ProgramChina National Postdoctoral Program for Innovative Talents(No.BX20230042)。
文摘Solid solution-strengthened copper alloys have the advantages of a simple composition and manufacturing process,high mechanical and electrical comprehensive performances,and low cost;thus,they are widely used in high-speed rail contact wires,electronic component connectors,and other devices.Overcoming the contradiction between low alloying and high performance is an important challenge in the development of solid solution-strengthened copper alloys.Taking the typical solid solution-strengthened alloy Cu-4Zn-1Sn as the research object,we proposed using the element In to replace Zn and Sn to achieve low alloying in this work.Two new alloys,Cu-1.5Zn-1Sn-0.4In and Cu-1.5Zn-0.9Sn-0.6In,were designed and prepared.The total weight percentage content of alloying elements decreased by 43%and 41%,respectively,while the product of ultimate tensile strength(UTS)and electrical conductivity(EC)of the annealed state increased by 14%and 15%.After cold rolling with a 90%reduction,the UTS of the two new alloys reached 576 and 627MPa,respectively,the EC was 44.9%IACS and 42.0%IACS,and the product of UTS and EC(UTS×EC)was 97%and 99%higher than that of the annealed state alloy.The dislocations proliferated greatly in cold-rolled alloys,and the strengthening effects of dislocations reached 332 and 356 MPa,respectively,which is the main reason for the considerable improvement in mechanical properties.
基金supported by the National Natural Science Foundation of China-Liaoning Joint Fund Key Project(Grant No.U1908222)the National Natural Science Foundation of China Youth Science Fund(Grant No.52104087).
文摘In current practice of bolt reaming and anchoring of roadways in soft coal and rock mass,resin cartridges bend easily under the strong pushing and stirring of bolts,and the resin accumulates in the bolt-reamed area and does not participate in the stirring.As a result,bolts encounter high drilling resistance and cannot reach the bottom of drillholes.The effective anchorage length is far less than the actual anchorage length.Bolts are not centered,and the shear is misaligned at the joint surface in the reaming area,which leads to cracking of the whole anchoring solid and large shear deformation of bolts.This study systematically analyzes the characteristics of roadway bolt reaming and anchoring.The influences of resin stirring force,bolt pull-out force,and reamingeanchoring solid strength on reamingeanchoring performance were analyzed theoretically.The main purpose is to develop a device that enhances reaming and anchoring.The mechanism through which the device strengthens the reamingeanchoring solid was analyzed theoretically.Numerical simulation and experiments were carried out to verify the improved performance of the small-pore reaming and anchoring using the proposed technology.The results showed that the stirring migration rate of the resin cartridge is greatly improved by adding the device to bolts.The reaction rate of the anchoring mixture,stirring pressure,pull-out force of the reaming and anchoring system,bolt concentricity,and shear and compressive strengths of the anchoring solid are also enhanced in the reaming area.This ensures that the resin cartridge in the reaming area is completely stirred,which greatly improves the shear resistance of the reamingeanchoring solid.Meanwhile,the drilling performance,torsional force,and stirring efficiency of bolts are maximized and prevail over those of conventional bolts.
基金supported by the National Natural Science Foundation of China(Grant No.52079046).
文摘Currently,more than ten ultrahigh arch dams have been constructed or are being constructed in China.Safety control is essential to long-term operation of these dams.This study employed the flexibility coefficient and plastic complementary energy norm to assess the structural safety of arch dams.A comprehensive analysis was conducted,focusing on differences among conventional methods in characterizing the structural behavior of the Xiaowan arch dam in China.Subsequently,the spatiotemporal characteristics of the measured performance of the Xiaowan dam were explored,including periodicity,convergence,and time-effect characteristics.These findings revealed the governing mechanism of main factors.Furthermore,a heterogeneous spatial panel vector model was developed,considering both common factors and specific factors affecting the safety and performance of arch dams.This model aims to comprehensively illustrate spatial heterogeneity between the entire structure and local regions,introducing a specific effect quantity to characterize local deformation differences.Ultimately,the proposed model was applied to the Xiaowan arch dam,accurately quantifying the spatiotemporal heterogeneity of dam performance.Additionally,the spatiotemporal distri-bution characteristics of environmental load effects on different parts of the dam were reasonably interpreted.Validation of the model prediction enhances its credibility,leading to the formulation of health diagnosis criteria for future long-term operation of the Xiaowan dam.The findings not only enhance the predictive ability and timely control of ultrahigh arch dams'performance but also provide a crucial basis for assessing the effectiveness of engineering treatment measures.
文摘The performance characteristics,particularly the starting performance of direct line-fed induction motors,which are mainly influenced by the design of the rotor,are crucial considerations for end-users.It is quite a challenging issue for motor manufacturers to enhance the starting performance of existing mass-produced motors with minimal modifications and expenses.In this paper,a simple and cost-effective method to improve the starting performance of a commercial squirrel-cage induction motor(SCIM)is proposed.The influence of geometric parameters of the end-ring on the performance characteristics,including starting(locked rotor)torque,pull-up and break down torque,starting current,rotor electric parameters,current density,power losses,and efficiency have been comprehensively investigated.It has been revealed that among the other end-ring design parameters,the ring thickness has a significant effect on the performance characteristics.An optimal end-ring thickness is determined,and its performance characteristics have been compared to those of its initial counterpart.Numeric and parametric analyses have been conducted using a 2D time-stepping finite element method(FEM).The FEM results were validated using experimental measurements obtained from an 11 kW SCIM prototype.
基金the National Natural Science Foundation of China(62203356)Fundamental Research Funds for the Central Universities of China(31020210502002)。
文摘This paper studies the problem of time-varying formation control with finite-time prescribed performance for nonstrict feedback second-order multi-agent systems with unmeasured states and unknown nonlinearities.To eliminate nonlinearities,neural networks are applied to approximate the inherent dynamics of the system.In addition,due to the limitations of the actual working conditions,each follower agent can only obtain the locally measurable partial state information of the leader agent.To address this problem,a neural network state observer based on the leader state information is designed.Then,a finite-time prescribed performance adaptive output feedback control strategy is proposed by restricting the sliding mode surface to a prescribed region,which ensures that the closed-loop system has practical finite-time stability and that formation errors of the multi-agent systems converge to the prescribed performance bound in finite time.Finally,a numerical simulation is provided to demonstrate the practicality and effectiveness of the developed algorithm.
基金supported in part by the National Natural Science Foundation of China(Nos.22075027,52003030)Starting Grant from Beijing Institute of Technology and financial support from the State Key Laboratory of Explosion Science and Technology(YBKT21-06,YKBT23-05).
文摘Aqueous zinc-ion batteries(AZIBs)are one of the most compelling alternatives of lithium-ion batteries due to their inherent safety and economics viability.In response to the growing demand for green and sustainable energy storage solutions,organic electrodes with the scalability from inexpensive starting materials and potential for biodegradation after use have become a prominent choice for AZIBs.Despite gratifying progresses of organic molecules with electrochemical performance in AZIBs,the research is still in infancy and hampered by certain issues due to the underlying complex electrochemistry.Strategies for designing organic electrode materials for AZIBs with high specific capacity and long cycling life are discussed in detail in this review.Specifically,we put emphasis on the unique electrochemistry of different redox-active structures to provide in-depth understanding of their working mechanisms.In addition,we highlight the importance of molecular size/dimension regarding their profound impact on electrochemical performances.Finally,challenges and perspectives are discussed from the developing point of view for future AZIBs.We hope to provide a valuable evaluation on organic electrode materials for AZIBs in our context and give inspiration for the rational design of high-performance AZIBs.
基金Shanghai Rising-Star Program(Grant No.21QA1403400)Shanghai Sailing Program(Grant No.20YF1414800)Shanghai Key Laboratory of Power Station Automation Technology(Grant No.13DZ2273800).
文摘With the improvement of equipment reliability,human factors have become the most uncertain part in the system.The standardized Plant Analysis of Risk-Human Reliability Analysis(SPAR-H)method is a reliable method in the field of human reliability analysis(HRA)to evaluate human reliability and assess risk in large complex systems.However,the classical SPAR-H method does not consider the dependencies among performance shaping factors(PSFs),whichmay cause overestimation or underestimation of the risk of the actual situation.To address this issue,this paper proposes a new method to deal with the dependencies among PSFs in SPAR-H based on the Pearson correlation coefficient.First,the dependence between every two PSFs is measured by the Pearson correlation coefficient.Second,the weights of the PSFs are obtained by considering the total dependence degree.Finally,PSFs’multipliers are modified based on the weights of corresponding PSFs,and then used in the calculating of human error probability(HEP).A case study is used to illustrate the procedure and effectiveness of the proposed method.
基金supported by the Chinese–Norwegian Collaboration Projects within Climate Systems jointly funded by the National Key Research and Development Program of China (Grant No.2022YFE0106800)the Research Council of Norway funded project,MAPARC (Grant No.328943)+2 种基金the support from the Research Council of Norway funded project,COMBINED (Grant No.328935)the National Natural Science Foundation of China (Grant No.42075030)the Postgraduate Research and Practice Innovation Program of Jiangsu Province (KYCX23_1314)。
文摘Precipitous Arctic sea-ice decline and the corresponding increase in Arctic open-water areas in summer months give more space for sea-ice growth in the subsequent cold seasons. Compared to the decline of the entire Arctic multiyear sea ice,changes in newly formed sea ice indicate more thermodynamic and dynamic information on Arctic atmosphere–ocean–ice interaction and northern mid–high latitude atmospheric teleconnections. Here, we use a large multimodel ensemble from phase 6 of the Coupled Model Intercomparison Project(CMIP6) to investigate future changes in wintertime newly formed Arctic sea ice. The commonly used model-democracy approach that gives equal weight to each model essentially assumes that all models are independent and equally plausible, which contradicts with the fact that there are large interdependencies in the ensemble and discrepancies in models' performances in reproducing observations. Therefore, instead of using the arithmetic mean of well-performing models or all available models for projections like in previous studies, we employ a newly developed model weighting scheme that weights all models in the ensemble with consideration of their performance and independence to provide more reliable projections. Model democracy leads to evident bias and large intermodel spread in CMIP6 projections of newly formed Arctic sea ice. However, we show that both the bias and the intermodel spread can be effectively reduced by the weighting scheme. Projections from the weighted models indicate that wintertime newly formed Arctic sea ice is likely to increase dramatically until the middle of this century regardless of the emissions scenario.Thereafter, it may decrease(or remain stable) if the Arctic warming crosses a threshold(or is extensively constrained).
文摘Successfully utilized non-axisymmetric endwalls to enhance turbine efficiencies(aerodynamic and turbine inlet temperatures)by controlling the characteristics of the secondary flow in a blade passage.This is accomplished by steady-state numerical hydrodynamics and deep knowledge of the field of flow.Because of the interaction between mainstream and purge flow contributing supplementary losses in the stage,non-axisymmetric endwalls are highly susceptible to the inception of purge flow exit compared to the flat and any advantage rapidly vanishes.The conclusions reveal that the supreme endwall pattern could yield a lowering of the gross pressure loss at the design stage and is related to the size of the top-loss location being productively lowered.This has led to diminished global thermal exchange lowered in the passage of the vane alone.The reverse flow adjacent to the suction side corner of the endwall is migrated farther from the vane surface,as the deviated pressure spread on the endwall accelerates the flow and progresses the reverse flow core still downstream.The depleted association between the tornado-like vortex and the corner vortex adjacent to the suction side corner of the endwall is the dominant mechanism of control in the contoured end wall.In this publication,we show that the non-axisymmetric endwall contouring by selective numerical shape change method at most prominent locations is advantageous in lowering the thermal load in turbines to augment the net heat flux reduction as well as the aerodynamic performance using multi-objective optimization.
基金the National Natural Science Foundation of China(Grant No.12072090).
文摘This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance systems of missiles is challenging.As our contribution,the velocity control channel is designed to deal with the intractable velocity problem and improve tracking accuracy.The global prescribed performance function,which guarantees the tracking error within the set range and the global convergence of the tracking guidance system,is first proposed based on the traditional PPF.Then,a tracking guidance strategy is derived using the integral sliding mode control techniques to make the sliding manifold and tracking errors converge to zero and avoid singularities.Meanwhile,an improved switching control law is introduced into the designed tracking guidance algorithm to deal with the chattering problem.A back propagation neural network(BPNN)extended state observer(BPNNESO)is employed in the inner loop to identify disturbances.The obtained results indicate that the proposed tracking guidance approach achieves the trajectory tracking guidance objective without and with disturbances and outperforms the existing tracking guidance schemes with the lowest tracking errors,convergence times,and overshoots.
基金supported by the Shanghai Science and Technology Committee (22511105500)the National Nature Science Foundation of China (62172299, 62032019)+2 种基金the Space Optoelectronic Measurement and Perception LaboratoryBeijing Institute of Control Engineering(LabSOMP-2023-03)the Central Universities of China (2023-4-YB-05)。
文摘Deep reinforcement learning(DRL) has demonstrated significant potential in industrial manufacturing domains such as workshop scheduling and energy system management.However, due to the model's inherent uncertainty, rigorous validation is requisite for its application in real-world tasks. Specific tests may reveal inadequacies in the performance of pre-trained DRL models, while the “black-box” nature of DRL poses a challenge for testing model behavior. We propose a novel performance improvement framework based on probabilistic automata,which aims to proactively identify and correct critical vulnerabilities of DRL systems, so that the performance of DRL models in real tasks can be improved with minimal model modifications.First, a probabilistic automaton is constructed from the historical trajectory of the DRL system by abstracting the state to generate probabilistic decision-making units(PDMUs), and a reverse breadth-first search(BFS) method is used to identify the key PDMU-action pairs that have the greatest impact on adverse outcomes. This process relies only on the state-action sequence and final result of each trajectory. Then, under the key PDMU, we search for the new action that has the greatest impact on favorable results. Finally, the key PDMU, undesirable action and new action are encapsulated as monitors to guide the DRL system to obtain more favorable results through real-time monitoring and correction mechanisms. Evaluations in two standard reinforcement learning environments and three actual job scheduling scenarios confirmed the effectiveness of the method, providing certain guarantees for the deployment of DRL models in real-world applications.
文摘This work investigates the influence of the type sludge on drainage, plant development, purification performances and biosolids quality. Drainage properties were measured through the frequency of clogging, the percentage of leachate recovered and the dryness of accumulated sludge. Plant development was measured through the density, the height and the stem diameter. Purification performance was evaluated from the reduction rate. Biosolids quality was measured after 3 months of maturation. The results show that the clogging frequencies were 9.5%;0% and 3.7%;the volume of leachate recovered was 42.2%;20.4% and 24.7% and, the dryness was 33.4%;61.1% and 52.4% for FS-ST, FS-STT and SS respectively. Plants densities were about, with densities 197.1, 171.3 and 178.3 plants/m2 in beds fed respectively with FS-ST, FS-STT and SS. Despite the high removal rates, the concentrations of pollutants in the leachates are above the Senegalese standard NS 05-061 for discharge into the environment. The biosolids are all mature with C/N and NH4+/NO3?ratios lower than 12 and 1 respectively. The biosolids are also rich in organic and mineral elements. The concentrations of Ascaris eggs are higher than the WHO recommendations. These biosolids should be stored for additional time or composted.