Traditional 3D Magnetotelluric(MT) forward modeling and inversions are mostly based on structured meshes that have limited accuracy when modeling undulating surfaces and arbitrary structures. By contrast, unstructured...Traditional 3D Magnetotelluric(MT) forward modeling and inversions are mostly based on structured meshes that have limited accuracy when modeling undulating surfaces and arbitrary structures. By contrast, unstructured-grid-based methods can model complex underground structures with high accuracy and overcome the defects of traditional methods, such as the high computational cost for improving model accuracy and the difficulty of inverting with topography. In this paper, we used the limited-memory quasi-Newton(L-BFGS) method with an unstructured finite-element grid to perform 3D MT inversions. This method avoids explicitly calculating Hessian matrices, which greatly reduces the memory requirements. After the first iteration, the approximate inverse Hessian matrix well approximates the true one, and the Newton step(set to 1) can meet the sufficient descent condition. Only one calculation of the objective function and its gradient are needed for each iteration, which greatly improves its computational efficiency. This approach is well-suited for large-scale 3D MT inversions. We have tested our algorithm on data with and without topography, and the results matched the real models well. We can recommend performing inversions based on an unstructured finite-element method and the L-BFGS method for situations with topography and complex underground structures.展开更多
3-D rigid visco-plastic finite element method (FEM) is used in the analysisof metal forming processes, including strip and plate rolling, shape rolling, slab edging, specialstrip rolling. The shifted incomplete Choles...3-D rigid visco-plastic finite element method (FEM) is used in the analysisof metal forming processes, including strip and plate rolling, shape rolling, slab edging, specialstrip rolling. The shifted incomplete Cholesky decomposition of the stiffness matrix with thesolution of the equations for velocity increment by the conjugate gradient method is combined. Thistechnique, termed the shifted ICCG method, is then employed to solve the slab edging problem. Theperformance of this algorithm in terms of the number of iterations, friction variation, shiftedparameter psi and the results of simulation for processing parameters are analysed. Numerical testsand application of this technique verify the efficiency and stability of the shifted ICCG method inthe analysis of slab edging.展开更多
The dependence of elastic moduli of shales on the mineralogy and microstructure of shales is important for the prediction of sweet spots and shale gas production. Based on 3D digital images of the microstructure of Lo...The dependence of elastic moduli of shales on the mineralogy and microstructure of shales is important for the prediction of sweet spots and shale gas production. Based on 3D digital images of the microstructure of Longmaxi black shale samples using X-ray CT, we built detailed 3D digital images of cores with porosity properties and mineral contents. Next, we used finite-element （FE） methods to derive the elastic properties of the samples. The FE method can accurately model the shale mineralogy. Particular attention is paid to the derived elastic properties and their dependence on porosity and kerogen. The elastic moduli generally decrease with increasing porosity and kerogen, and there is a critical porosity （0.75） and kerogen content （ca. ≤3%） over which the elastic moduli decrease rapidly and slowly, respectively. The derived elastic moduli of gas- and oil-saturated digital cores differ little probably because of the low porosity （4.5%） of the Longmaxi black shale. Clearly, the numerical experiments demonstrated the feasibility of combining microstructure images of shale samples with elastic moduli calculations to predict shale properties.展开更多
E lement- partition- based methods for visualization of 3D unstructured grid data are presented. First, partition schemes for common elements, including curvilinear tetrahedra, pentahedra, hexahedra, etc., are given, ...E lement- partition- based methods for visualization of 3D unstructured grid data are presented. First, partition schemes for common elements, including curvilinear tetrahedra, pentahedra, hexahedra, etc., are given, so that complex elements can be divided into several rectilinear tetrahedra, and the visualization processes can be simplified.Then, a slice method for cloud map and an iso-surface method based on the partition schemes are described.展开更多
In the framework of finite volume method(FVM),two modified schemes of quadratic upstream interpolation for convective kinematics(QUICK),namely quasi-QUICK(Q-QUICK) and normal quasi-QUICK(NQ-QUICK),for improving the pr...In the framework of finite volume method(FVM),two modified schemes of quadratic upstream interpolation for convective kinematics(QUICK),namely quasi-QUICK(Q-QUICK) and normal quasi-QUICK(NQ-QUICK),for improving the precision of convective flux approximation are verified in 3D unsteady advectiondiffusion equation of pollutants on unstructured grids.The constructed auxiliary nodes for Q-QUICK or NQQUICK are composed of two neighboring nodes plus the next upwind node;the later node is generated from intersection of the line of current neighboring nodes and their corresponding interfaces.The numerical results show that Q-QUICK and NQ-QUICK overwhelm central differencing scheme(CDS) in computational accuracy and behave similar numerical stability to upwind difference scheme(UDS),hybrid differencing scheme(HDS) and power difference scheme(PDS) after applying the deferred correction method.Their corresponding CPU time is approximately equivalent to that of traditional difference schemes.In addition,their abilities for adapting high grid deformation are robust.It is so promising to apply the suggested schemes to simulate pollutant transportation on arbitrary 3D natural boundary in the hydraulic or environmental engineering.展开更多
A three-dimensional integrated model is developed for simulating transport and final fate of oil spills in seas.The model contains two main modules,flow and transport-fate modules.The flow module uses an unstructured ...A three-dimensional integrated model is developed for simulating transport and final fate of oil spills in seas.The model contains two main modules,flow and transport-fate modules.The flow module uses an unstructured finite-volume wave-ocean coupling model.Using unstructured meshes provides great flexibility for modeling the flow in complex geometries of tidal creeks,barriers and islands.In the transport-fate module the oil dispersion is solved using a particle-tracking method.Horizontal diffusion is simulated using random walk techniques in a Monte Carlo framework,whereas the vertical diffusion process is solved on the basis of the Langeven equation.The model simulates the most significant processes that affect the motion of oil particles,such as advection,surface spreading,evaporation,dissolution,emulsification and turbulent diffusion as well as the interaction of the oil particles with the shoreline,sedimentation and the temporal variations of oil viscosity,density and surface tension.The model simulates either continuous or instantaneous oil spills,and also other toxic matter.This model has been applied to simulate the oil spill accident in the Bohai Sea.In comparison with the observations,the numerical results indicate that the model is reasonably accurate.展开更多
For safety reasons,in the automated dispensing medicines process,robots and humans cooperate to accomplish the task of drug sorting and distribution.In this dynamic unstructured environment,such as a humanrobot collab...For safety reasons,in the automated dispensing medicines process,robots and humans cooperate to accomplish the task of drug sorting and distribution.In this dynamic unstructured environment,such as a humanrobot collaboration scenario,the safety of human,robot,and equipment in the environment is paramount.In this work,a practical and effective robot motion planning method is proposed for dynamic unstructured environments.To figure out the problems of blind zones of single depth sensor and dynamic obstacle avoidance,we first propose a method for establishing offline mapping and online fusion of multi-sensor depth images and 3D grids of the robot workspace,which is used to determine the occupation states of the 3D grids occluded by robots and obstacles and to conduct real-time estimation of the minimum distance between the robot and obstacles.Then,based on the reactive control method,the attractive and repulsive forces are calculated and transformed into robot joint velocities to avoid obstacles in real time.Finally,the robot’s dynamic obstacle avoidance ability is evaluated on an experimental platform with a UR5 robot and two KinectV2 RGB-D sensors,and the effectiveness of the proposed method is verified.展开更多
Wave breaking plays an important role in wave-structure interaction. A novel control volume finite element method with adaptive unstructured meshes is employed here to study 3-D breaking waves. The numerical framework...Wave breaking plays an important role in wave-structure interaction. A novel control volume finite element method with adaptive unstructured meshes is employed here to study 3-D breaking waves. The numerical framework consists of a ＂volume of fluid＂ type method for the interface capturing and adaptive unstructured meshes to improve computational efficiency. The numerical model is validated against experimental measurements of breaking wave over a sloping beach and is then used to study the breaking wave impact on a vertical circular cylinder on a slope. Detailed complex interfacial structures during wave impact, such as plunging jet formation and splash-up are captured in the simulation, demonstrating the capability of the present method.展开更多
基金financially supported by the National Natural Science Foundation of China(No.41774125)Key Program of National Natural Science Foundation of China(No.41530320)+1 种基金the Key National Research Project of China(Nos.2016YFC0303100 and 2017YFC0601900)the Strategic Priority Research Program of Chinese Academy of Sciences Pilot Special(No.XDA 14020102)
文摘Traditional 3D Magnetotelluric(MT) forward modeling and inversions are mostly based on structured meshes that have limited accuracy when modeling undulating surfaces and arbitrary structures. By contrast, unstructured-grid-based methods can model complex underground structures with high accuracy and overcome the defects of traditional methods, such as the high computational cost for improving model accuracy and the difficulty of inverting with topography. In this paper, we used the limited-memory quasi-Newton(L-BFGS) method with an unstructured finite-element grid to perform 3D MT inversions. This method avoids explicitly calculating Hessian matrices, which greatly reduces the memory requirements. After the first iteration, the approximate inverse Hessian matrix well approximates the true one, and the Newton step(set to 1) can meet the sufficient descent condition. Only one calculation of the objective function and its gradient are needed for each iteration, which greatly improves its computational efficiency. This approach is well-suited for large-scale 3D MT inversions. We have tested our algorithm on data with and without topography, and the results matched the real models well. We can recommend performing inversions based on an unstructured finite-element method and the L-BFGS method for situations with topography and complex underground structures.
基金supported by Huo Yingdong Young Teachers Foundation,Ministry of State Education of ChinaNational Natural Science Foundation of China(No.59904003).
文摘3-D rigid visco-plastic finite element method (FEM) is used in the analysisof metal forming processes, including strip and plate rolling, shape rolling, slab edging, specialstrip rolling. The shifted incomplete Cholesky decomposition of the stiffness matrix with thesolution of the equations for velocity increment by the conjugate gradient method is combined. Thistechnique, termed the shifted ICCG method, is then employed to solve the slab edging problem. Theperformance of this algorithm in terms of the number of iterations, friction variation, shiftedparameter psi and the results of simulation for processing parameters are analysed. Numerical testsand application of this technique verify the efficiency and stability of the shifted ICCG method inthe analysis of slab edging.
基金supported by the Chinese Academy of Sciences Strategic Leading Science and Technology projects(Grant No.XDB10010400)the China Postdoctoral Science Foundation(Grant No.2015M570142)
文摘The dependence of elastic moduli of shales on the mineralogy and microstructure of shales is important for the prediction of sweet spots and shale gas production. Based on 3D digital images of the microstructure of Longmaxi black shale samples using X-ray CT, we built detailed 3D digital images of cores with porosity properties and mineral contents. Next, we used finite-element （FE） methods to derive the elastic properties of the samples. The FE method can accurately model the shale mineralogy. Particular attention is paid to the derived elastic properties and their dependence on porosity and kerogen. The elastic moduli generally decrease with increasing porosity and kerogen, and there is a critical porosity （0.75） and kerogen content （ca. ≤3%） over which the elastic moduli decrease rapidly and slowly, respectively. The derived elastic moduli of gas- and oil-saturated digital cores differ little probably because of the low porosity （4.5%） of the Longmaxi black shale. Clearly, the numerical experiments demonstrated the feasibility of combining microstructure images of shale samples with elastic moduli calculations to predict shale properties.
文摘E lement- partition- based methods for visualization of 3D unstructured grid data are presented. First, partition schemes for common elements, including curvilinear tetrahedra, pentahedra, hexahedra, etc., are given, so that complex elements can be divided into several rectilinear tetrahedra, and the visualization processes can be simplified.Then, a slice method for cloud map and an iso-surface method based on the partition schemes are described.
基金the National Public Research Institutes for Basic Research and Development Operating Expenses Special Project (Nos.CKSF2010014/SL,YWF0905,CKSF2010011 and CKSF2012008/SL)the National Basic Research Program (973) of China(No.2007CB714106)
文摘In the framework of finite volume method(FVM),two modified schemes of quadratic upstream interpolation for convective kinematics(QUICK),namely quasi-QUICK(Q-QUICK) and normal quasi-QUICK(NQ-QUICK),for improving the precision of convective flux approximation are verified in 3D unsteady advectiondiffusion equation of pollutants on unstructured grids.The constructed auxiliary nodes for Q-QUICK or NQQUICK are composed of two neighboring nodes plus the next upwind node;the later node is generated from intersection of the line of current neighboring nodes and their corresponding interfaces.The numerical results show that Q-QUICK and NQ-QUICK overwhelm central differencing scheme(CDS) in computational accuracy and behave similar numerical stability to upwind difference scheme(UDS),hybrid differencing scheme(HDS) and power difference scheme(PDS) after applying the deferred correction method.Their corresponding CPU time is approximately equivalent to that of traditional difference schemes.In addition,their abilities for adapting high grid deformation are robust.It is so promising to apply the suggested schemes to simulate pollutant transportation on arbitrary 3D natural boundary in the hydraulic or environmental engineering.
基金supported by the National Natural Science Foundation of China (Grant No. 50839001)the National Basic Research Program of China ("973"Program)(Grant No. 2005CB724202)the Scientific Research Foundation of the Higher Education Institutions of Liaoning Province (Grant No. 2006T018)
文摘A three-dimensional integrated model is developed for simulating transport and final fate of oil spills in seas.The model contains two main modules,flow and transport-fate modules.The flow module uses an unstructured finite-volume wave-ocean coupling model.Using unstructured meshes provides great flexibility for modeling the flow in complex geometries of tidal creeks,barriers and islands.In the transport-fate module the oil dispersion is solved using a particle-tracking method.Horizontal diffusion is simulated using random walk techniques in a Monte Carlo framework,whereas the vertical diffusion process is solved on the basis of the Langeven equation.The model simulates the most significant processes that affect the motion of oil particles,such as advection,surface spreading,evaporation,dissolution,emulsification and turbulent diffusion as well as the interaction of the oil particles with the shoreline,sedimentation and the temporal variations of oil viscosity,density and surface tension.The model simulates either continuous or instantaneous oil spills,and also other toxic matter.This model has been applied to simulate the oil spill accident in the Bohai Sea.In comparison with the observations,the numerical results indicate that the model is reasonably accurate.
基金the Interdisciplinary Program of Shanghai Jiao Tong University(No.YG2019QNA25)。
文摘For safety reasons,in the automated dispensing medicines process,robots and humans cooperate to accomplish the task of drug sorting and distribution.In this dynamic unstructured environment,such as a humanrobot collaboration scenario,the safety of human,robot,and equipment in the environment is paramount.In this work,a practical and effective robot motion planning method is proposed for dynamic unstructured environments.To figure out the problems of blind zones of single depth sensor and dynamic obstacle avoidance,we first propose a method for establishing offline mapping and online fusion of multi-sensor depth images and 3D grids of the robot workspace,which is used to determine the occupation states of the 3D grids occluded by robots and obstacles and to conduct real-time estimation of the minimum distance between the robot and obstacles.Then,based on the reactive control method,the attractive and repulsive forces are calculated and transformed into robot joint velocities to avoid obstacles in real time.Finally,the robot’s dynamic obstacle avoidance ability is evaluated on an experimental platform with a UR5 robot and two KinectV2 RGB-D sensors,and the effectiveness of the proposed method is verified.
基金the financial support by the National Natural Science Foundation of China (Grant No. 51490673)the Open Awards of the State Key Laboratory of Coastal and Offshore Engineering+1 种基金funded by the EPSRC MEMPHIS multiphase Programme (Grant No. EP/K003976/1)funding from the European Union Seventh Framework Programme (FP7/20072013) under grant agreement No. 603663 for the research project PEARL (Preparing for Extreme and Rare events in coasta L regions)
文摘Wave breaking plays an important role in wave-structure interaction. A novel control volume finite element method with adaptive unstructured meshes is employed here to study 3-D breaking waves. The numerical framework consists of a ＂volume of fluid＂ type method for the interface capturing and adaptive unstructured meshes to improve computational efficiency. The numerical model is validated against experimental measurements of breaking wave over a sloping beach and is then used to study the breaking wave impact on a vertical circular cylinder on a slope. Detailed complex interfacial structures during wave impact, such as plunging jet formation and splash-up are captured in the simulation, demonstrating the capability of the present method.
