A Stroke-Limitation AMD Control System with Variable Gain and Limited Area for High-Rise Buildings

Collisions between a moving mass and an anti-collision device increase structural responses and threaten structural safety.An active mass damper(AMD)with stroke limitations is often used to avoid collisions.However,a strokelimited AMD control system with a fixed limited area shortens the available AMD stroke and leads to significant control power.To solve this problem,the design approach with variable gain and limited area(VGLA)is proposed in this study.First,the boundary of variable-limited areas is calculated based on the real-time status of the moving mass.The variable gain(VG)expression at the variable limited area is deduced by considering the saturation of AMD stroke.Then,numerical simulations of a stroke-limited AMD control system with VGLA are conducted on a high-rise building structure.These numerical simulations show that the proposed approach has superior strokelimitation performance compared with a stroke-limited AMD control system with a fixed limited area.Finally,the proposed approach is validated through experiments on a four-story steel frame.

Method for the posture control of bionic mechanical wheel-legged vehicles in hilly and mountainous areas

In response to the weaknesses of traditional agricultural equipment chassis with poor environmental adaptability and inferior mobility, a novel unmanned agricultural machinery chassis has been developed that can operate stably and efficiently under various complex terrain conditions. Initially, a new wheel-legged structure was designed by drawing inspiration from the motion principles of grasshopper hind legs and combining them with pneumatic-hydraulic linkage mechanisms. Kinematic analysis was conducted on this wheel-legged configuration by utilizing the D-H parameter method, which revealed that its end effector has a travel range of 0-450 mm in the X-direction, 0-840 mm in the Y-direction, and 0-770 mm in the Z-direction, thereby providing the structural foundation for features such as independent four-wheel steering, adjustable wheel track, automatic vehicle body elevation adjustment, and maintaining a level body posture on different slopes. Subsequently, theoretical analysis and structural parameter calculations were completed to design each subsystem of the unmanned chassis. Further, kinematic analysis of the wheel-legged unmanned chassis was carried out using RecurDyn, which substantiated the feasibility of achieving functions like slope leveling and autonomous obstacle negotiation. An omnidirectional leveling control system was also established, taking into account factors such as pitch angle, roll angle, virtual leg deployment, and center of gravity height. Joint simulations using Adams and Matlab were performed on the wheel-legged unmanned chassis, comparing its leveling performance with that of a PID control system. The results indicated that the maximum absolute value of leveling error was 1.08° for the pitch angle and 1.19° for the roll angle, while the standard deviations were 0.216 47° for the pitch angle and 0.176 22° for the roll angle, demonstrating that the wheel-legged unmanned chassis surpassed the PID control system in leveling performance, thus validating the correctness and feasibility of its full-directional body posture leveling control in complex environments. Finally, the wheel-legged unmanned chassis was fabricated, assembled, and subjected to in-place leveling and ground clearance adjustment tests. The experimental outcomes showed that the vehicle was capable of achieving in-place leveling with response speed and leveling accuracy meeting practical operational requirements under the action of the posture control system. Moreover, the adjustable ground clearance proved sufficient to meet the demands of actual obstacle crossing scenarios.

Robust fixed-time flight controller for a dual-system convertible UAV in the cruise mode

This paper investigates the attitude tracking control problem for the cruise mode of a dual-system convertible unmanned aerial vehicle(UAV)in the presence of parameter uncertainties,unmodeled uncertainties and wind disturbances.First,a fixed-time disturbance observer(FXDO)based on the bi-limit homogeneity theory is designed to estimate the lumped disturbance of the convertible UAV model.Then,a fixed-time integral sliding mode control(FXISMC)is combined with the FXDO to achieve strong robustness and chattering reduction.Bi-limit homogeneity theory and Lyapunov theory are applied to provide detailed proof of the fixed-time stability.Finally,numerical simulation experimental results verify the robustness of the proposed algorithm to model parameter uncertainties and wind disturbances.In addition,the proposed algorithm is deployed in a open-source UAV autopilot and its effectiveness is further demonstrated by hardware-in-the-loop experimental results.

Precision Motion Control of Hydraulic Actuator Using Adaptive Back-Stepping Sliding Mode Controller

Hydraulic actuators are highly nonlinear when they are subjected to different types of model uncertainties and dynamic disturbances.These unfavorable factors adversely affect the control performance of the hydraulic actuator.Although various control methods have been employed to improve the tracking precision of the dynamic system,optimizing and adjusting control gain to mitigate the hydraulic actuator model uncertainties remains elusive.This study presents an adaptive back-stepping sliding mode controller(ABSMC)to enhance the trajectory tracking precision,where the virtual control law is constructed to replace the position error.The adaptive control theory is introduced in back-stepping controller design to compensate for the model uncertainties and time-varying disturbances.Based on Lyapunov theory,the finite-time convergence of the position tracking errors is proved.Furthermore,the effectiveness of the developed control scheme is conducted via extensive comparative experiments.

Path Tracking Controller Design of Automated Parking Systems via NMPC with an Instructible Solution

Parking difficulties have become a social issue that people have to solve.Automated parking system is practicable for quick par operations without a driver which can also greatly reduces the probability of parking accidents.The paper proposes a Lyapunov-based nonlinear model predictive controller embedding an instructable solution which is generated by the modified rear-wheel feedback method(RF-LNMPC)in order to improve the overall path tracking accuracy in parking conditions.Firstly,A discrete-time RF-LNMPC considering the position and attitude of the parking vehicle is proposed to increase the success rate of automated parking effectively.Secondly,the RF-LNMPC problem with a multi-objective cost function is solved by the Interior-Point Optimization,of which the iterative initial values are described as the instructable solutions calculated by combining modified rear-wheel feedback to improve the performance of local optimal solution.Thirdly,the details on the computation of the terminal constraint and terminal cost for the linear time-varying case is presented.The closed-loop stability is verified via Lyapunov techniques by considering the terminal constraint and terminal cost theoretically.Finally,the proposed RF-LNMPC is implemented on a selfdriving Lincoln MKZ platform and the experiment results have shown improved performance in parallel and vertical parking conditions.The Monte Carlo analysis also demonstrates good stability and repeatability of the proposed method which can be applied in practical use in the near future.

On-Chip Micro Temperature Controllers Based on Freestanding Thermoelectric Nano Films for Low-Power Electronics

Multidimensional integration and multifunctional com-ponent assembly have been greatly explored in recent years to extend Moore’s Law of modern microelectronics.However,this inevitably exac-erbates the inhomogeneity of temperature distribution in microsystems,making precise temperature control for electronic components extremely challenging.Herein,we report an on-chip micro temperature controller including a pair of thermoelectric legs with a total area of 50×50μm^(2),which are fabricated from dense and flat freestanding Bi2Te3-based ther-moelectric nano films deposited on a newly developed nano graphene oxide membrane substrate.Its tunable equivalent thermal resistance is controlled by electrical currents to achieve energy-efficient temperature control for low-power electronics.A large cooling temperature difference of 44.5 K at 380 K is achieved with a power consumption of only 445μW,resulting in an ultrahigh temperature control capability over 100 K mW^(-1).Moreover,an ultra-fast cooling rate exceeding 2000 K s^(-1) and excellent reliability of up to 1 million cycles are observed.Our proposed on-chip temperature controller is expected to enable further miniaturization and multifunctional integration on a single chip for microelectronics.

Laboratory Implementation of Direct Torque Controller based Speed Loop Pseudo Derivative Feedforward Controller for PMSM Drive

This paper,evaluate the effectiveness of a proposed speed loop pseudo derivative feedforward(PDFF)controller-based direct torque controller(DTC)for a PMSM drive against the performance of existing PI speed controller-based DTC and hysteresis current controller(HCC).The proposed PDFF-based speed regulator effectively reduces oscillation and overshoot associated with rotor angular speed,electromagnetic torque,and stator current.Two case studies,one using forward-to-reverse motoring operation and the other involving reverse-to-forward braking operation,has been validated to show the effectiveness of the proposed control strategy.The proposed controller's superior performance is demonstrated through experimental verification utilizing an FPGA controller for a 1.5 kW PMSM drive laboratory prototype.

Baoziwan-Majiashan Area of Jiyuan Oilfield Analysis of Reservoir Characteristics and Main Control Factors in Long 4 5 Section

Based on the sheet, scanning electron microscope and high pressure mercury analysis method, this paper takes Jiyuan oilfield-Ma Jia mountain district 4 5 sandstone reservoir as the research object, from the reservoir petrology, pore type and porosity, permeability, the system analyzed the reservoir characteristics and its control factors. The results show that the sandstone in the 4 5 section of Baoziwan-Majiashan area of Jiyuan oilfield is fine in size and high in filling content. The pore types were dominated by intergranular pores and dissolved pores, with a low face rate. The reservoir property is relatively poor, with mean porosity of 11.11% and mean permeability of 1.16 × 10−3 µm2. In the low porous, low otonic background, the development of relatively high pore hypertonic areas. Compaction and cementation should play a destructive role in reservoir properties, and dissolution should play a positive role in reservoir properties. Compaction adjusts the migration of clay minerals and miscellaneous bases in the original sediment in the study area, greatly reducing the porosity and permeability of the reservoir;the development of the cement cement, carbonate cementation and some quartz secondary compounds reduces the storage space;the dissolution effect, especially the secondary dissolution pores of the reservoir, which obviously improves the properties of the reservoir.

Characteristics and main controlling factors of intra-platform shoal thin-layer dolomite reservoirs:A case study of Middle Permian Qixia Formation in Gaoshiti-Moxi area of Sichuan Basin,SW China

Based on the study of the distribution of intra-platform shoals and the characteristics of dolomite reservoirs in the Middle Permian Qixia Formation in the Gaoshiti–Moxi area of the Sichuan Basin,SW China,the controlling factors of reservoir development were analyzed,and the formation model of“intra-platform shoal thin-layer dolomite reservoir”was established.The Qixia Formation is a regressive cycle from bottom to top,in which the first member(Qi1 Member)develops low-energy open sea microfacies,and the second member(Qi2 Member)evolves into intra-platform shoal and inter-shoal sea with decreases in sea level.The intra-platform shoal is mainly distributed near the top of two secondary shallowing cycles of the Qi2 Member.The most important reservoir rock of the Qixia Formation is thin-layer fractured-vuggy dolomite,followed by vuggy dolomite.The semi-filled saddle dolomite is common in fracture-vug,and intercrystalline pores and residual dissolution pores combined with fractures to form the effective pore-fracture network.Based on the coupling analysis of sedimentary and diagenesis characteristics,the reservoir formation model of“pre-depositional micro-paleogeomorphology controlling shoal,sedimentary shoal controlling dolomite,penecontemporaneous dolomite benefiting preservation of pores,and late hydrothermal action effectively improving reservoir quality”was systematically established.The“first-order high zone”micro-paleogeomorphology before the deposition of the Qixia Formation controlled the development of large area of intra-platform shoals in Gaoshiti area during the deposition of the Qi2 Member.Shoal facies is the basic condition of early dolomitization,and the distribution range of intra-platform shoal and dolomite reservoir is highly consistent.The grain limestone of shoal facies is transformed by two stages of dolomitization.The penecontemporaneous dolomitization is conducive to the preservation of primary pores and secondary dissolved pores.The burial hydrothermal fluid enters the early dolomite body along the fractures associated with the Emeishan basalt event,makes it recrystallized into medium–coarse crystal dolomite.With the intercrystalline pores and the residual vugs after the hydrothermal dissolution along the fractures,the high-quality intra-platform shoal-type thin-layer dolomite reservoirs are formed.The establishment of this reservoir formation model can provide important theoretical support for the sustainable development of Permian gas reservoirs in the Sichuan Basin.

Adaptive Nonlinear PD Controller of Two-Wheeled Self-Balancing Robot with External Force

This paper proposes an adaptive nonlinear proportional-derivative(ANPD)controller for a two-wheeled self-balancing robot(TWSB)modeled by the Lagrange equation with external forces.The proposed control scheme is designed based on the combination of a nonlinear proportional-derivative(NPD)controller and a genetic algorithm,in which the proportional-derivative(PD)parameters are updated online based on the tracking error and the preset error threshold.In addition,the genetic algorithm is employed to adaptively select initial controller parameters,contributing to system stability and improved control accuracy.The proposed controller is basic in design yet simple to implement.The ANPD controller has the advantage of being computationally lightweight and providing high robustness against external forces.The stability of the closed-loop system is rigorously analyzed and verified using Lyapunov theory,providing theoretical assurance of its robustness.Simulations and experimental results show that the TWSB robot with the proposed ANPD controller achieves quick balance and tracks target values with very small errors,demonstrating the effectiveness and performance of the proposed controller.The proposed ANPD controller demonstrates significant improvements in balancing and tracking performance for two-wheeled self-balancing robots,which has great applicability in the field of robot control systems.This represents a promising solution for applications requiring precise and stable motion control under varying external conditions.

A Fine-grained Building Height Control Method for Heritage Areas from the Perspective of Visual Integrity

This study proposes a refined methodology for controlling building heights in heritage areas.In order to protect the visual integrity of the heritage area,buildings should not obstruct the view from important site points and viewpoints to the periphery.By calculating the building height thresholds that buildings should not obscure the view from each viewpoint,the results of which are weighted and superimposed,and the values are extracted to each building unit as a refined building height control guideline.This study takes the Zhoukoudian area as a case study,applies the refined building height control criterion to the Zhoukoudian Site,and relies on this refined criterion to assess the visual integrity of the Zhoukoudian area,so as to realize the scientific planning and monitoring of the Zhoukoudian area.The refined building height control method can be applied to building height planning and visual landscape protection in large heritage areas.

Contact detumbling toward a nutating target through deformable effectors and prescribed performance controller

Detumbling operation toward a rotating target with nutation is meaningful for debris removal but challenging. In this study, a deformable end-effector is first designed based on the requirements for contacting the nutating target. A dual-arm robotic system installed with the deformable end-effectors is modeled and the movement of the end-tips is analyzed. The complex operation of the contact toward a nutating target places strict requirements on control accuracy and controller robustness. Thus, an improvement of the tracking error transformation is proposed and an adaptive sliding mode controller with prescribed performance is designed to guarantee the fast and precise motion of the effector during the contact detumbling.Finally, by employing the proposed effector and the controller,numerical simulations are carried out to verify the effectiveness and efficiency of the contact detumbling toward a nutating target.

Hierarchical Controller Synthesis Under Linear Temporal Logic Specifications Using Dynamic Quantization

Linear temporal logic(LTL)is an intuitive and expressive language to specify complex control tasks,and how to design an efficient control strategy for LTL specification is still a challenge.In this paper,we implement the dynamic quantization technique to propose a novel hierarchical control strategy for nonlinear control systems under LTL specifications.Based on the regions of interest involved in the LTL formula,an accepting path is derived first to provide a high-level solution for the controller synthesis problem.Second,we develop a dynamic quantization based approach to verify the realization of the accepting path.The realization verification results in the necessity of the controller design and a sequence of quantization regions for the controller design.Third,the techniques of dynamic quantization and abstraction-based control are combined together to establish the local-to-global control strategy.Both abstraction construction and controller design are local and dynamic,thereby resulting in the potential reduction of the computational complexity.Since each quantization region can be considered locally and individually,the proposed hierarchical mechanism is more efficient and can solve much larger problems than many existing methods.Finally,the proposed control strategy is illustrated via two examples from the path planning and tracking problems of mobile robots.

Intelligent Fractional-Order Controller for SMES Systems in Renewable Energy-Based Microgrid

An autonomous microgrid that runs on renewable energy sources is presented in this article.It has a supercon-ducting magnetic energy storage(SMES)device,wind energy-producing devices,and an energy storage battery.However,because such microgrids are nonlinear and the energy they create varies with time,controlling and managing the energy inside them is a difficult issue.Fractional-order proportional integral(FOPI)controller is recommended for the current research to enhance a standalone microgrid’s energy management and performance.The suggested dedicated control for the SMES comprises two loops:the outer loop,which uses the FOPI to regulate the DC-link voltage,and the inner loop,responsible for regulating the SMES current,is constructed using the intelligent FOPI(iFOPI).The FOPI+iFOPI parameters are best developed using the dandelion optimizer(DO)approach to achieve the optimum performance.The suggested FOPI+iFOPI controller’s performance is contrasted with a conventional PI controller for variations in wind speed and microgrid load.The optimal FOPI+iFOPI controller manages the voltage and frequency of the load.The behavior of the microgrid as a reaction to step changes in load and wind speed was measured using the proposed controller.MATLAB simulations were used to evaluate the recommended system’s performance.The results of the simulations showed that throughout all interruptions,the recommended microgrid provided the load with AC power with a constant amplitude and frequency.In addition,the required load demand was accurately reduced.Furthermore,the microgrid functioned incredibly well despite SMES and varying wind speeds.Results obtained under identical conditions were compared with and without the best FOPI+iFOPI controller.When utilizing the optimal FOPI+iFOPI controller with SMES,it was found that the microgrid performed better than the microgrid without SMES.

Main controlling factor and mechanism of gas-in-place content of the Lower Cambrian shale from different sedimentary facies in the western Hubei area, South China

The Lower Cambrian shale gas in the western Hubei area,South China has a great resource prospect,but the gas-in-place(GIP)content in different sedimentary facies varies widely,and the relevant mechanism has been not well understood.In the present study,two sets of the Lower Cambrian shale samples from the Wells YD4 and YD5 in the western Hubei area,representing the deep-water shelf facies and shallowwater platform facies,respectively,were investigated on the differences of pore types,pore structure and methane adsorption capacity between them,and the main controlling factor and mechanism of their methane adsorption capacities and GIP contents were discussed.The results show that the organic matter(OM)pores in the YD4 shale samples are dominant,while the inorganic mineral(IM)pores in the YD5 shale samples are primary,with underdeveloped OM pores.The pore specific surface area(SSA)and pore volume(PV)of the YD4 shale samples are mainly from micropores and mesopores,respectively,while those of the YD5 shale samples are mainly from micropores and macropores,respectively.The methane adsorption capacity of the YD4 shale samples is significantly higher than that of the YD5 shale samples,with a maximum absolute adsorption capacity of 3.13 cm^(3)/g and 1.31 cm^(3)/g in average,respectively.Compared with the shallow-water platform shale,the deep-water shelf shale has a higher TOC content,a better kerogen type and more developed OM pores,which is the main mechanism for its higher adsorption capacity.The GIP content models based on two samples with a similar TOC content selected respectively from the Wells YD4 and YD5 further indicate that the GIP content of the deep-water shelf shale is mainly 34 m^(3)/t within a depth range of 1000—4000 m,with shale gas exploration and development potential,while the shallow-water platform shale has normally a GIP content of<1 m^(3)/t,with little shale gas potential.Considering the geological and geochemical conditions of shale gas formation and preservation,the deep-water shelf facies is the most favorable target for the Lower Cambrian shale gas exploration and development in the western Hubei area,South China.

A Double-Interactively Recurrent Fuzzy Cerebellar Model Articulation Controller Model Combined with an Improved Particle Swarm Optimization Method for Fall Detection

In many Eastern and Western countries,falling birth rates have led to the gradual aging of society.Older adults are often left alone at home or live in a long-term care center,which results in them being susceptible to unsafe events(such as falls)that can have disastrous consequences.However,automatically detecting falls fromvideo data is challenging,and automatic fall detection methods usually require large volumes of training data,which can be difficult to acquire.To address this problem,video kinematic data can be used as training data,thereby avoiding the requirement of creating a large fall data set.This study integrated an improved particle swarm optimization method into a double interactively recurrent fuzzy cerebellar model articulation controller model to develop a costeffective and accurate fall detection system.First,it obtained an optical flow(OF)trajectory diagram from image sequences by using the OF method,and it solved problems related to focal length and object offset by employing the discrete Fourier transform(DFT)algorithm.Second,this study developed the D-IRFCMAC model,which combines spatial and temporal(recurrent)information.Third,it designed an IPSO(Improved Particle Swarm Optimization)algorithm that effectively strengthens the exploratory capabilities of the proposed D-IRFCMAC(Double-Interactively Recurrent Fuzzy Cerebellar Model Articulation Controller)model in the global search space.The proposed approach outperforms existing state-of-the-art methods in terms of action recognition accuracy on the UR-Fall,UP-Fall,and PRECIS HAR data sets.The UCF11 dataset had an average accuracy of 93.13%,whereas the UCF101 dataset had an average accuracy of 92.19%.The UR-Fall dataset had an accuracy of 100%,the UP-Fall dataset had an accuracy of 99.25%,and the PRECIS HAR dataset had an accuracy of 99.07%.

Analysis of debris flow control effect and hazard assessment in Xinqiao Gully,Wenchuan M_(s)8.0 earthquake area based on numerical simulation

Xinqiao Gully is located in the area of the 2008 Wenchuan M_(s)8.0 earthquake in Sichuan province,China.Based on the investigation of the 2023"6-26"Xinqiao Gully debris flow event,this study assessed the effectiveness of the debris flow control project and evaluated the debris flow hazards.Through field investigation and numerical simulation methods,the indicators of flow intensity reduction rate and storage capacity fullness were proposed to quantify the effectiveness of the engineering measures in the debris flow event.The simulation results show that the debris flow control project reduced the flow intensity by41.05%to 64.61%.The storage capacity of the dam decreases gradually from upstream to the mouth of the gully,thus effectively intercepting and controlling the debris flow.By evaluating the debris flow of different recurrence intervals,further measures are recommended for managing debris flow events.

A Multi-Center Randomized Controlled Study UsingΔP_(CO2)/Ca-v_(O2)as the Target to Guide Early Tissue Hypoperfusion in Sepsis in Plateau Areas

Objective:To explore the value of using the venous-arterial carbon dioxide partial pressure difference and the arterial-venous oxygen content difference ratio(ΔP_(CO2)/Ca-v_(O2))as targets to guide early tissue hypoperfusion in sepsis in plateau areas.Methods:90 sepsis patients admitted to the Third People’s Hospital of Xining and Golmud People’s Hospital from June 2017 to December 2022 were selected as the research subjects,and they were divided into the Scv_(O2)(central venous oxygen saturation)group and theΔP_(CO2)/Ca-v_(O2)group,with 45 cases in each group.The two groups were treated with early shock resuscitation according to different protocols.The hemodynamic characteristics of the two groups of patients before and after resuscitation were observed,and the volume responsiveness was evaluated.The ROC(receiver operating characteristic)curve was used to analyze the significance ofΔP_(CO2)/Ca-v_(O2),Scv_(O2),lactate,lactate clearance,and urine output in evaluating patient prognosis and the correlation betweenΔP_(CO2)/Ca-v_(O2)and the above indicators was explored.Results:Compared with before resuscitation,after fluid resuscitation,the heart rate(HR),mean arterial pressure(MAP),central venous pressure(CVP),cardiac index(CI),lactate,lactate clearance rate,and urine output of the two groups of patients were significantly improved(P<0.05);in terms of therapeutic effect,the 28-day mortality rate,6-hour fluid balance,and lactic acid clearance of theΔP_(CO2)/Ca-v_(O2)group were better than the Scv_(O2)group.The ROC characteristic curve showed that theΔP_(CO2)/Ca-v_(O2)value can effectively predict the prognosis of patients(AUC=0.907,sensitivity was 97%,specificity was 72.4%,and critical value was 1.84).ΔP_(CO2)/Ca-v_(O2)significantly correlated with Scv_(O2),lactic acid,and lactic acid clearance rate.Conclusion:TheΔP_(CO2)/Ca-v_(O2)value can be used to guide fluid resuscitation in early hypoperfusion in sepsis in plateau areas,improve patients’hemodynamics,reduce lactate indicators,and increase urine output.ΔP_(CO2)/Ca-v_(O2)level>1.84 can effectively improve patient prognosis.

Observer-Based Path Tracking Controller Design for Autonomous Ground Vehicles With Input Saturation

This paper investigates the problem of path tracking control for autonomous ground vehicles(AGVs),where the input saturation,system nonlinearities and uncertainties are considered.Firstly,the nonlinear path tracking system is formulated as a linear parameter varying(LPV)model where the variation of vehicle velocity is taken into account.Secondly,considering the noise effects on the measurement of lateral offset and heading angle,an observer-based control strategy is proposed,and by analyzing the frequency domain characteristics of the derivative of desired heading angle,a finite frequency H_∞index is proposed to attenuate the effects of the derivative of desired heading angle on path tracking error.Thirdly,sufficient conditions are derived to guarantee robust H_∞performance of the path tracking system,and the calculation of observer and controller gains is converted into solving a convex optimization problem.Finally,simulation examples verify the advantages of the control method proposed in this paper.

Ecological-Based Mining:A Coal-Water-Thermal Collaborative Paradigm in Ecologically Fragile Areas in Western China

A substantial reduction in groundwater level,exacerbated by coal mining activities,is intensifying water scarcity in western China’s ecologically fragile coal mining areas.China’s national strategic goal of achieving a carbon peak and carbon neutrality has made eco-friendly mining that prioritizes the protection and efficient use of water resources essential.Based on the resource characteristics of mine water and heat hazards,an intensive coal-water-thermal collaborative co-mining paradigm for the duration of the mining process is proposed.An integrated system for the production,supply,and storage of mining companion resources is achieved through technologies such as roof water inrush prevention and control,hydrothermal quality improvement,and deep-injection geological storage.An active preventive and control system achieved by adjusting the mining technology and a passive system centered on multiobjective drainage and grouting treatment are suggested,in accordance with the original geological characteristics and dynamic process of water inrush.By implementing advanced multi-objective drainage,specifically designed to address the“skylight-type”water inrush mode in the Yulin mining area of Shaanxi Province,a substantial reduction of 50%in water drillings and inflow was achieved,leading to stabilized water conditions that effectively ensure subsequent safe coal mining.An integrated-energy complementary model that incorporates the clean production concept of heat utilization is also proposed.The findings indicate a potential saving of 8419 t of standard coal by using water and air heat as an alternative heating source for the Xiaojihan coalmine,resulting in an impressive energy conservation of 50.2%and a notable 24.2%reduction in carbon emissions.The ultra-deep sustained water injection of 100 m^(3)·h^(-1)in a single well would not rupture the formation or cause water leakage,and 7.87×10^(5)t of mine water could be effectively stored in the Liujiagou Formation,presenting a viable method for mine-water management in the Ordos Basin and providing insights for green and low-carbon mining.