A data and physical model dual-driven based trajectory estimator for long-term navigation

Long-term navigation ability based on consumer-level wearable inertial sensors plays an essential role towards various emerging fields, for instance, smart healthcare, emergency rescue, soldier positioning et al. The performance of existing long-term navigation algorithm is limited by the cumulative error of inertial sensors, disturbed local magnetic field, and complex motion modes of the pedestrian. This paper develops a robust data and physical model dual-driven based trajectory estimation(DPDD-TE) framework, which can be applied for long-term navigation tasks. A Bi-directional Long Short-Term Memory(Bi-LSTM) based quasi-static magnetic field(QSMF) detection algorithm is developed for extracting useful magnetic observation for heading calibration, and another Bi-LSTM is adopted for walking speed estimation by considering hybrid human motion information under a specific time period. In addition, a data and physical model dual-driven based multi-source fusion model is proposed to integrate basic INS mechanization and multi-level constraint and observations for maintaining accuracy under long-term navigation tasks, and enhanced by the magnetic and trajectory features assisted loop detection algorithm. Real-world experiments indicate that the proposed DPDD-TE outperforms than existing algorithms, and final estimated heading and positioning accuracy indexes reaches 5° and less than 2 m under the time period of 30 min, respectively.

Displacement field reconstruction in landslide physical modeling by using a terrain laser scanner e Part 1:Methodology,error analysis and validation

Laser scanning technology has been widely used in landslide aspects.However,the existing deformation analysis based on terrain laser scanners can only provide limited information,which is insufficient for understanding landslide kinematics and failure mechanisms.To overcome this limitation,this paper proposes an automated method for processing point clouds collected in landslide physical modeling.This method allows the acquisition of quantitative three-dimensional(3D)deformation field information.The results show the organized and spatially related point cloud segmentation in terms of spherical targets.The segmented point clouds can be fitted to determine the locations of all preset targets and their corresponding location changes.The proposed method has been validated based on theoretical analysis and numerical and physical tests,which indicates that it can batch-process massive data sets with high computational efficiency and good noise resistance.Compared to existing methods,this method shows a significant potential for understanding landslide kinematics and failure mechanisms and advancing the application of 3D laser scanning in geotechnical modeling.

Maximum initial primary wave model for low-Froude-number reservoir landslides based on wave theory

The impulse waves induced by large-reservoir landslides can be characterized by a low Froude number.However,systematic research on predictive models specifically targeting the initial primary wave is lacking.Taking the Shuipingzi 1#landslide that occurred in the Baihetan Reservoir area of the Jinsha River in China as an engineering example,this study established a large-scale physical model(with dimensions of 30 m×29 m×3.5 m at a scale of 1:150)and conducted scaled experiments on 3D landslide-induced impulse waves.During the process in which a sliding mass displaced and compressed a body of water to generate waves,the maximum initial wave amplitude was found to be positively correlated with the sliding velocity and the volume of the landslide.With the increase in the water depth,the wave amplitude initially increased and then decreased.The duration of pressure exertion by the sliding mass at its maximum velocity directly correlated with an elevated wave amplitude.Based on the theories of low-amplitude waves and energy conservation,while considering the energy conversion efficiency,a predictive model for the initial wave amplitude was derived.This model could fit and validate the functions of wavelength and wave velocity.The accuracy of the initial wave amplitude was verified using physical experiment data,with a prediction accuracy for the maximum initial wave amplitude reaching 90%.The conversion efficiency(η)directly determined the accuracy of the estimation formula.Under clear conditions for landslide-induced impulse wave generation,estimating the value ofηthrough analogy cases was feasible.This study has derived the landslide-induced impulse waves amplitude prediction formula from the standpoints of wave theory and energy conservation,with greater consideration given to the intrinsic characteristics in the formation process of landslide-induced impulse waves,thereby enhancing the applicability and extensibility of the formula.This can facilitate the development of empirical estimation methods for landslide-induced impulse waves toward universality.

Rainfall-triggered waste dump instability analysis based on surface 3D deformation in physical model test

Landslide is the second largest natural disaster after earthquake. It is of significance to study the evolution laws and failure mechanism of landslides based on its surface 3D deformation information. Based on the rainfall-triggered waste dump instability model test, we studied the failure mechanisms of the waste dump by integrating surface deformation and internal slope stress and proposed novel parameters for identifying landslide stability. We developed a noncontact measurement device, which can obtain millimeter-level 3D deformation data for surface scene in physical model test;Then we developed the similar materials and established a test model for a waste dump. Based on the failure characteristics of slope surface, internal stress of slope body and displacement contours during the whole process, we divided the slope instability process in model test into four stages: rainfall infiltration and surface erosion, shallow sliding, deep sliding, and overall instability. Based on the obtained surface deformation data, we calculated the volume change during slope instability process and compared it with the point displacement on slope surface. The results showed that the volume change can not only reflect the slow-ultra acceleration process of slope failure, but also fully reflect the above four stages and reduce the fluctuations caused by random factors. Finally, this paper proposed two stability identification parameters: the volume change rate above the slip surface and the relative velocity of volume change rate. According to the calculation of these two parameters in model test, they can be used for study the deformation and failure mechanism of slope stability.

Displacement field reconstruction in landslide physical modeling by using a terrain laser scanner e Part 2:Application and large strain/displacement and water effect analysis

Deformation analysis is fundamental in geotechnical modeling.Nevertheless,there is still a lack of an effective method to obtain the deformation field under various experimental conditions.In this study,we introduce a processebased physical modeling of a pileereinforced reservoir landslide and present an improved deformation analysis involving large strains and water effects.We collect multieperiod point clouds using a terrain laser scanner and reconstruct its deformation field through a point cloud processing workflow.The results show that this method can accurately describe the landslide surface deformation at any time and area by both scalar and vector fields.The deformation fields in different profiles of the physical model and different stages of the evolutionary process provide adequate and detailed landslide information.We analyze the large strain upstream of the pile caused by the pile installation and the consequent violent deformation during the evolutionary process.Furthermore,our method effectively overcomes the challenges of identifying targets commonly encountered in geotechnical modeling where water effects are considered and targets are polluted,which facilitates the deformation analysis at the wading area in a reservoir landslide.Eventually,combining subsurface deformation as well as numerical modeling,we comprehensively analyze the kinematics and failure mechanisms of this complicated object involving landslides and pile foundations as well as water effects.This method is of great significance for any geotechnical modeling concerning large-strain analysis and water effects.

Physical model investigation on effects of drainage condition and cement addition on consolidation behavior of tailings slurry within backfilled stopes

Estimation of stressses within the tailings slurry during self-weight consolidation is a critical issue for cost-effective barricade design and efficient backfill planning in underground mine stopes.This process requires a good understanding of self-weight consolidation behaviors of the tailings slurry within practical stopes,where many factors can have significant effects on the consolidation,including drainage condition and cement addition.In this paper,the prepared tailings slurry with different cement contents(0,4.76wt%,and 6.25wt%)was poured into1.2 m-high columns,which allowed three drainage scenarios(undrained,partial lateral drainage near the bottom part,and full lateral drainage boundaries)to investigate the effects of drainage condition and cement addition on the consolidation behavior of the tailings slurry.The consolidation behavior was analyzed in terms of pore water pressure(PWP),settlement,volume of drainage water,and residual water content.The results indicate that increasing the length of the drainage boundary or cement content aids in PWP dissipation.In addition,constructing an efficient drainage boundary was more favorable to PWP dissipation than increasing cement addition.The final stable PWP on the column floor was not sensitive to cement addition.The final settlement of uncemented tailings slurry was independent of drainage conditions,and that of cemented tailings slurry decreased with the increase in cement addition.Notably,more pore water can drain out from the cemented tailings slurry than the uncemented tailings slurry during consolidation.

Modeling of liquid film thickness around Taylor bubbles rising in vertical stagnant and co-current slug flowing liquids

The hydrodynamic study of the liquid film around Taylor bubbles in slug flow has great significance for understanding parallel flow and interaction between Taylor bubbles.The prediction models for liquid film thickness mainly focus on stagnant flow,and some of them remain inaccurate performance.However,in the industrial process,the slug flow essentially is co-current flow.Therefore,in this paper,the liquid film thickness is studied by theoretical analysis and experimental methods under two conditions of stagnant and co-current flow.Firstly,under the condition of stagnant flow,the present work is based on Batchelor's theory,and modifies Batchelor's liquid film thickness model,which effectively improves its prediction accuracy.Under the condition of co-current flow,the prediction model of average liquid film thickness in slug flow is established by force and motion analysis.Taylor bubble length is introduced into the model as an important parameter.Dynamic experiments were carried out in the pipe with an inner diameter of 20 mm.The liquid film thickness,Taylor bubble velocity and length were measured by distributed ultrasonic sensor and intrusive cross-correlation conductivity sensor.Comparing the predicted value of the model with the measured results,the relative error is controlled within 10%.

Packet Scheduling in Rechargeable Wireless Sensor Networks under SINR Model

Two packet scheduling algorithms for rechargeable sensor networks are proposed based on the signal to interference plus noise ratio model.They allocate different transmission slots to conflicting packets and overcome the challenges caused by the fact that the channel state changes quickly and is uncontrollable.The first algorithm proposes a prioritybased framework for packet scheduling in rechargeable sensor networks.Every packet is assigned a priority related to the transmission delay and the remaining energy of rechargeable batteries,and the packets with higher priority are scheduled first.The second algorithm mainly focuses on the energy efficiency of batteries.The priorities are related to the transmission distance of packets,and the packets with short transmission distance are scheduled first.The sensors are equipped with low-capacity rechargeable batteries,and the harvest-store-use model is used.We consider imperfect batteries.That is,the battery capacity is limited,and battery energy leaks over time.The energy harvesting rate,energy retention rate and transmission power are known.Extensive simulation results indicate that the battery capacity has little effect on the packet scheduling delay.Therefore,the algorithms proposed in this paper are very suitable for wireless sensor networks with low-capacity batteries.

Hydrodynamic Performance of a Newly-Designed Pelagic and Demersal Trawls Using Physical Modeling and Analytical Methods for Cameroonian Industrial Fisheries

This study proposed the newly-designed Pelagic and demersal trawls for the fishing vessels operating in Cameroonian waters in pelagic and demersal fishing grounds. The engineering performances of both trawls were investigated using physical modelling method and analytical method based on the predicted equations. In a flume tank, a series of physical model tests based on Tauti’s law were performed to investigate the hydrodynamic and geometrical performances of both trawls and to assess the applicability of the analytical methods based on predicted equations. The results showed that in model scale, the working towing speed and door spread for the pelagic trawl were 3.5 knots and 1.85 m, respectively, and for the bottom trawl net they were 4.0 knots and 1.8 m. At that speed and door spread, the drag force, net opening height, and wing-end spread of the pelagic model trawl were 36.73 N, 0.89 m, and 0.86 m, respectively, and the swept area was 0.76 m2. Bottom trawl speed and door spread were 30.43 N, 0.38 m, and 0.45 m, respectively, and the swept area was 0.25 m2. The maximum difference between the experimental and analytical results of hydrodynamic performances was less than 56.22% and 41.45%, respectively, for pelagic and bottom trawls, the results of the geometrical performances obtained using predicted equations were close to the experimental results in the flume tank with a maximum relative error less than 12.85%. The newly developed pelagic and bottom trawls had advanced engineering performance for high catch efficiency and selectivity and could be used in commercial fishing operations in Cameroonian waters.

Large-scale complex physical modeling and precisionanalysis

Large-scale 3D physical models of complex structures can be used to simulate hydrocarbon exploration areas. The high-fidelity simulation of actual structures poses challenges to model building and quality control. Such models can be used to collect wideazimuth, multi-azimuth, and full-azimuth seismic data that can be used to verify various 3D processing and interpretation methods. Faced with nonideal imaging problems owing to the extensive complex surface conditions and subsurface structures in the oil-rich foreland basins of western China, we designed and built the KS physical model based on the complex subsurface structure. This is the largest and most complex 3D physical model built to date. The physical modeling technology advancements mainly involve 1） the model design method, 2） the model casting flow, and 3） data acquisition. A 3D velocity model of the physical model was obtained for the first time, and the model building precision was quantitatively analyzed. The absolute error was less than 3 mm, which satisfies the experimental requirements. The 3D velocity model obtained from 3D measurements of the model layers is the basis for testing various imaging methods. Furthermore, the model is considered a standard in seismic physical modeling technology.

The analysis of frequency-dependent characteristics for fluid detection: a physical model experiment

According to the Chapman multi-scale rock physical model, the seismic response characteristics vary for different fluid-saturated reservoirs. For class I AVO reservoirs and gas-saturation, the seismic response is a high-frequency bright spot as the amplitude energy shifts. However, it is a low-frequency shadow for the Class III AVO reservoirs saturated with hydrocarbons. In this paper, we verified the high-frequency bright spot results of Chapman for the Class I AVO response using the frequency-dependent analysis of a physical model dataset. The physical model is designed as inter-bedded thin sand and shale based on real field geology parameters. We observed two datasets using fixed offset and 2D geometry with different fluid- saturated conditions. Spectral and time-frequency analyses methods are applied to the seismic datasets to describe the response characteristics for gas-, water-, and oil-saturation. The results of physical model dataset processing and analysis indicate that reflection wave tuning and fluid-related dispersion are the main seismic response characteristic mechanisms. Additionally, the gas saturation model can be distinguished from water and oil saturation for Class I AVO utilizing the frequency-dependent abnormal characteristic. The frequency-dependent characteristic analysis of the physical model dataset verified the different spectral response characteristics corresponding to the different fluid-saturated models. Therefore, by careful analysis of real field seismic data, we can obtain the abnormal spectral characteristics induced by the fluid variation and implement fluid detection using seismic data directly.

Quantitative characterizations of anisotropic dynamic properties in organic-rich shale with different kerogen content

Understanding the quantitative responses of anisotropic dynamic properties in organic-rich shale with different kerogen content(KC)is of great significance in hydrocarbon exploration and development.Conducting controlled experiments with a single variable is challenging for natural shales due to their high variations in components,diagenesis conditions,or pore fluid.We employed the hot-pressing technique to construct 11 well-controlled artificial shale with varying KC.These artificial shale samples were successive machined into prismatic shape for ultrasonic measurements along different directions.Observations revealed bedding perpendicular P-wave velocities are more sensitive to the increasing KC than bedding paralleling velocities due to the preferential alignments of kerogen.All elastic stiffnesses except C_(13)are generally decreasing with the increasing KC,the variation of C_(1) and C_(33)on kerogen content are more sensitive than those of C_(44)and C_(66).Apparent dynamic mechanical parameters(v and E)were found to have linear correlation with the true ones from complete anisotropic equations independent of KC,which hold value towards the interpretation of well logs consistently across formations,Anisotropic mechanical parameters(ΔE and brittlenessΔB)tend to decrease with the reducing KC,withΔB showing great sensitivity to KC variations.In the range of low KC(<10%),the V_(P)/V_(S) ratio demonstrated a linearly negative correlation with KC,and the V_(P)/V_(S) ratio magnitude of less than 1.75may serve as a significant characterization for highly organic-rich(>10%)shale,compilation of data from natural organic rich-shales globally verified the similar systematic relationships that can be empirically used to predict the fraction of KC in shales.

An experimental study on horizontal well waterflooding in the Cretaceous porous carbonate reservoir of Oman

Porous carbonate reservoirs,prevalent in the Middle East,are lithologically dominated by bioclastic limestones,exhibiting high porosity,low permeability,intricate pore structure,and strong heterogeneity.Waterflooding through horizontal wells is commonly used for exploiting these reservoirs.However,challenges persist,such as significant uncertainty and complex operational procedures regarding adjustment effects during the exploitation.The USH reservoir of the Cretaceous D oilfield,Oman exemplifies typical porous carbonate reservoirs.It initially underwent depletion drive using vertical wells,followed by horizontal well waterflooding in the late stage.Currently,the oilfield is confronted with substantial developmental challenges,involving the understanding of residual oil distribution,effective water cut control,and sustaining oil production since it has entered the late development stage.Employing a microscopic visualization displacement system equipped with electrodes,this study elucidated the waterflooding mechanisms and residual oil distribution in the late-stage development of the USH reservoir.The results reveal that the reservoir's vertical stacking patterns act as the main factor affecting the horizontal well waterflooding efficacy.Distinct water flow channels emerge under varying reservoir stacking patterns,with post-waterflooding residual oil predominantly distributed at the reservoir's top and bottom.The oil recovery can be enhanced by adjusting the waterflooding's flow line and intensity.The findings of this study will provide theoretical insights of waterflooding mechanisms and injection-production adjustments for exploiting other porous carbonate reservoirs in the Middle East through horizontal wells.

Case study on the mechanics of NPR anchor cable compensation for large deformation tunnel in soft rock in the Transverse Mountain area,China

A study was conducted to analyze the deformation mechanism of strongly weathered quartz schist in the Daliangshan Tunnel,located in the western Transverse Mountain area.A large deformation problem was experienced during the tunnel construction.To mitigate this problem,a support system was designed incorporating negative Poisson ratio(NPR)anchor cables with negative Poisson ratio effect.Physical model experiments,field experiments,and numerical simulation experiments were conducted to investigate the compensation mechanical behavior of NPR anchor cables.The large deformations of soft rocks in the Daliangshan Tunnel are caused by a high ground stress,a high degree of joint fracture development,and a high degree of surrounding rock fragmentation.A compensation mechanics support system combining long and short NPR anchor cables was suggested to provide sufficient counter-support force(approximately 350 kN)for the surrounding rock inside the tunnel.Comparing the NPR anchor cable support system with the original support system used in the Daliangshan tunnel showed that an NPR anchor cable support system,combining cables of 6.3 m and 10.3 m in length,effectively prevented convergence of surrounding rock deformation,and the integrated settlement convergence value remained below 300 mm.This study provides an effective scientific basis for resolving large deformation problems in deeply buried soft rocks in western transverse mountain areas.

The influence of inter-band rock on rib spalling in longwall panel with large mining height

In order to improve rib stability,failure criteria and instability mode of a thick coal seam with inter-band rock layer are analysed in this study.A three-dimensional mechanical model is established for the rib by considering the rock layer.A safety factor is defined foy the rib,and it is observed that the safety factor exhibits a positive correlation with the thickness and strength of the inter-band rock.A calculation method for determining critical parameters of the rock layer is presented to ensure the rib stability.It is revealed that incomplete propagation of the fracture at the hard rock constitutes a fundamental prerequisite for ensuring the rib stability.The influence of the position of the inter-band rock in the coal seam on failure mechanism of the rib was thoroughly investigated by developing a series of physical models for the rib at the face area.The best position for the inter-band rock in the coal seam is at a height of 1.5 m away from the roof line,which tends to provide a good stability state for the rib.For different inter-band rock positions,two ways of controlling rib by increasing supports stiffness and flexible grouting reinforcement are proposed.

A flexible ultra-broadband multi-layered absorber working at 2 GHz-40 GHz printed by resistive ink

A flexible extra broadband metamaterial absorber(MMA)stacked with five layers working at 2 GHz–40 GHz is investigated.Each layer is composed of polyvinyl chloride(PVC),polyimide(PI),and a frequency selective surface(FSS),which is printed on PI using conductive ink.To investigate this absorber,both one-dimensional analogous circuit analysis and three-dimensional full-wave simulation based on a physical model are provided.Various crucial electromagnetic properties,such as absorption,effective impedance,complex permittivity and permeability,electric current distribution and magnetic field distribution at resonant peak points,are studied in detail.Analysis shows that the working frequency of this absorber covers entire S,C,X,Ku,K and Ka bands with a minimum thickness of 0.098λ_(max)(λ_(max) is the maximum wavelength in the absorption band),and the fractional bandwidth(FBW)reaches 181.1%.Moreover,the reflection coefficient is less than-10 dB at 1.998 GHz–40.056 GHz at normal incidence,and the absorptivity of the plane wave is greater than 80%when the incident angle is smaller than 50°.Furthermore,the proposed absorber is experimentally validated,and the experimental results show good agreement with the simulation results,which demonstrates the potential applicability of this absorber at 2 GHz–40 GHz.

Crack mechanism of ground fissures in loess layer of Fenwei Basin, China

The Fenwei Basin, covered by loess, experiences severe ground fissure disasters. These disasters disrupt the continuity of the loess and pose significant threats to engineering construction safety along transportation routes. Nevertheless, the crack characteristics and the influence zone of ground fissures in the loess layer remain inadequately investigated. To effectively prevent and control ground fissure disasters, physical model tests and the PFC(particle flow code) numerical simulation method are used to investigate the crack mechanism of buried ground fissures in the loess layer. The results show that there are two main cracks in the layer profile, which have a Y-shape morphology. As the dip angle of the preset cracks increased from 60° to 90°, the main deformation zone at the surface gradually shifted towards the footwall. The process of crack propagation from depth to surface is divided into five stages. Additionally, the results confirm the accuracy of the width of the rupture zone d2in the footwall calculated by the cantilever beam theory. These findings can offer theoretical guidance for determining the avoidance distance of ground fissures in loess regions, as well as for implementing disaster prevention and corresponding control measures for various stages of buried ground fissure propagation.

Physics-based seismic analysis of ancient wood structure:fault-to-structure simulation

Based on the domain reduction method,this study employs an SEM-FEM hybrid workflow which integrates the advantages of the spectral element method(SEM)for flexible and highly efficient simulation of seismic wave propagation in a three-dimensional(3D)regional-scale geophysics model and the finite element method(FEM)for fine simulation of structural response including soil-structure interaction,and performs a physics-based simulation from initial fault rupture on an ancient wood structure.After verification of the hybrid workflow,a large-scale model of an ancient wood structure in the Beijing area,The Tower of Buddhist Incense,is established and its responses under the 1665 Tongxian earthquake and the 1730 Yiheyuan earthquake are simulated.The results from the simulated ground motion and seismic response of the wood structure under the two earthquakes demonstrate that this hybrid workflow can be employed to efficiently provide insight into the relationships between geophysical parameters and the structural response,and is of great significance toward accurate input for seismic simulation of structures under specific site and fault conditions.

Wide angle reflections in OBC seismic physical model experiment

Wide angle acquisition has been taken as a significant measure to obtain high quality seismic data and is getting greater attention, In this paper, we discuss ocean bottom cable （OBC） seismic wide angle reflections on the basis of a layered model experiment. Some experiment results don＇t support theoretical conclusions. The main experimental conclusions are： 1. Wide angle reflection energies are stronger than non-wide-angle reflections （up to twice as strong） but there is a big difference between observations and theoretical calculations that suggest the wide angle reflection energies are 15 times the non- wide-angle reflection energy. The reflection energy increases gradually rather than sharply as the theoretical calculations suggest. 2. The reflection events remain hyperbolic when the offset increases. 3. Wide angle reflection dominant frequency is about 20-30% less than non- wide-angle reflections and decreases as the offset increases. The non-wide-angle reflection dominant frequency shows no obvious variation for small offsets. 4. There is no wave shape mutation or polarity reversal near the critical angle. 5. The reflection event group features are the same for both cases of incidence angle greater and less than the critical angle. 6. Direct arrivals, multiples, and water bottom refractions influence the wide angle reflections of the sea floor.

Shear wave velocity prediction:A review of recent progress and future opportunities

Shear logs,also known as shear velocity logs,are used for various types of seismic analysis,such as determining the relationship between amplitude variation with offset(AVO)and interpreting multiple types of seismic data.This log is an important tool for analyzing the properties of rocks and interpreting seismic data to identify potential areas of oil and gas reserves.However,these logs are often not collected due to cost constraints or poor borehole conditions possibly leading to poor data quality,though there are various approaches in practice for estimating shear wave velocity.In this study,a detailed review of the recent advances in the various techniques used to measure shear wave(S-wave)velocity is carried out.These techniques include direct and indirect measurement,determination of empirical relationships between S-wave velocity and other parameters,machine learning,and rock physics models.Therefore,this study creates a collection of employed techniques,enhancing the existing knowledge of this significant topic and offering a progressive approach for practical implementation in the field.