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无人机多机协作探索煤矿灾变环境算法 被引量:2
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作者 刘栋 童敏明 路红蕊 《计算机应用》 CSCD 北大核心 2017年第8期2401-2404,2420,共5页
针对目前煤矿灾变环境下救援机器人探索效率低的问题,提出了一种使用无人机多机协同探索煤矿灾变环境的改进型边界探索算法。该算法在效用值边界探索算法的基础上增加了对无人机导航角度因素的考虑,同时引入分散度函数作为评判机制来构... 针对目前煤矿灾变环境下救援机器人探索效率低的问题,提出了一种使用无人机多机协同探索煤矿灾变环境的改进型边界探索算法。该算法在效用值边界探索算法的基础上增加了对无人机导航角度因素的考虑,同时引入分散度函数作为评判机制来构建目标函数,并使用蚁群算法对该目标函数进行求解。最后利用Matlab软件在栅格化地图上进行了仿真实验。实验结果表明,和效用值边界探索算法相比,改进型边界探索算法减少了探测过程中的重复覆盖和拥挤现象,缩短了探测时间,降低了约30%的能量消耗,提高了无人机多机系统的整体探索效率。 展开更多
关键词 无人机多机 边界探索 分散度函数 环境侦测 探索效率
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Deduction and Validation of an Eulerian-Eulerian Model for Turbulent Dilute Two-Phase Flows by Means of the Phase Indicator Function-Disperse Elements Probability Density Function
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作者 Santiago Laín Ricardo Aliod 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2000年第3期189-202,共14页
A statistical formalism overcoming some conceptual and practical difficulties arising in existing two-phase flow (2PHF) mathematical modelling has been applied to propose a model for dilute 2PHF turbulent Hows. Phase ... A statistical formalism overcoming some conceptual and practical difficulties arising in existing two-phase flow (2PHF) mathematical modelling has been applied to propose a model for dilute 2PHF turbulent Hows. Phase interaction terms with a clear physical meaning enter the equations and the formalism provides some guidelines for the avoidance of closure assumptions or the rational approximation of these terms. Continuous phase averaged continuity, momentum, turbulent kinetic energy and turbulence dissipation rate equations have been rigorously and systematically obtained in a single step. These equations display a structure similar to that for single-phase flows. It is also assumed that dispersed phase dynamics is well described by a probability density function (pdf) equation and Eulerian continuity, momentum and fluctuating kinetic energy equations for the dispersed phase are deduced. An extension of the standard k-e turbulence model for the continuous phase is used. A gradient transport model is adopted for the dispersed phase fluctuating fluxes of momentum and kinetic energy at the non-colliding, large inertia limit. This model is then used to predict the behaviour of three axisymmetric turbulent jets of air laden with solid particles varying in size and concentration. Qualitative and quantitative numerical predictions compare reasonably well with the three different sets of experimental results, studying the influence of particle size, loading ratio and flow confinement velocity. 展开更多
关键词 two-phase flow turbulence phase indicator function pdf ensemble average jet
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Calculation on model of weakening hydrogen bond of thick oil of petroleum
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作者 MiN Xin-min WANG Xu-chao +1 位作者 CHEN Feng CHEN Yan-ling 《Journal of Energy and Power Engineering》 2009年第12期53-59,共7页
The process of use catalyst or functional material that contains iron ion to weaken -O-H-O- hydrogen bond of the thick oil to reduce viscidity or crack, in aspects of the ion charge. covalent bond order, total energy ... The process of use catalyst or functional material that contains iron ion to weaken -O-H-O- hydrogen bond of the thick oil to reduce viscidity or crack, in aspects of the ion charge. covalent bond order, total energy and the average distance of Fe-O. is studied with density function theory and discrete variational method (DFT-DVM), one of the first principle methods. With the decrease of the distance of Fe-O. the charge of Fe ion increases, the charge of hydrogen ion decreases, and hydrogen bond is weakened. There are obvious and more stable effects to use the catalyst that contains multiple metal ions or increase the catalyst amount in weakening hydrogen bond of the thick oil. This theoretic work is helpful to exploit and process the thick oil of petroleum and maybe overcome the crisis of petroleum energy is approaching to us. 展开更多
关键词 calculation: hydrogen bond: weaken: thick oil: petroleum
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