A micro-nano pore three-dimensional visualized real-time physical simulation of natural gas charging, in-situ pore-scale computation, pore network modelling, and apparent permeability evaluation theory were used to in...A micro-nano pore three-dimensional visualized real-time physical simulation of natural gas charging, in-situ pore-scale computation, pore network modelling, and apparent permeability evaluation theory were used to investigate laws of gas and water flow and their distribution, and controlling factors during the gas charging process in low-permeability(tight) sandstone reservoir. By describing features of gas-water flow and distribution and their variations in the micro-nano pore system, it is found that the gas charging in the low permeability(tight) sandstone can be divided into two stages, expansion stage and stable stage. In the expansion stage, the gas flows continuously first into large-sized pores then small-sized pores, and first into centers of the pores then edges of pores;pore-throats greater than 20 μm in radius make up the major pathway for gas charging. With the increase of charging pressure, movable water in the edges of large-sized pores and in the centers of small pores is displaced out successively. Pore-throats of 20-50 μm in radius and pore-throats less than 20 μm in radius dominate the expansion of gas charging channels at different stages of charging in turn, leading to reductions in pore-throat radius, throat length and coordination number of the pathway, which is the main increase stage of gas permeability and gas saturation. Among which, pore-throats 30-50 μm in radius control the increase pattern of gas saturation. In the stable stage, gas charging pathways have expanded to the maximum, so the pathways keep stable in pore-throat radius, throat length, and coordination number, and irreducible water remains in the pore system, the gas phase is in concentrated clusters, while the water phase is in the form of dispersed thin film, and the gas saturation and gas permeability tend stable. Connected pore-throats less than 20 μm in radius control the expansion limit of the charging pathways, the formation of stable gas-water distribution, and the maximum gas saturation. The heterogeneity of connected pore-throats affects the dynamic variations of gas phase charging and gas-water distribution. It can be concluded that the pore-throat configuration and heterogeneity of the micro-nanometer pore system control the dynamic variations of the low-permeability(tight) sandstone gas charging process and gas-water distribution features.展开更多
Thin copper sheets as marker material were embedded into weld path of 2024 aluminium alloy plates and their final position after friction stir welding was examined by metallographic techniques. Referring to the visual...Thin copper sheets as marker material were embedded into weld path of 2024 aluminium alloy plates and their final position after friction stir welding was examined by metallographic techniques. Referring to the visualized material flow patterns, a three-dimensional model was developed to conduct the numerical simulation of the temperature profile and plastic material flow in friction stir welding. The calculated velocity contour of plastic flow in close proximity of the tool is generally consistent with the visualized results. As the tool rotation speed increases at a constant tool travel speed, the material flow near the pin gets stronger. The predicted shape and size of the weld nugget zone match with the experimentally measured ones.展开更多
针对多自由度机械臂在采摘过程中出现的路径规划速度慢、路径成本高以及因视觉定位误差和机械臂关节位置误差引起的采摘失败问题,提出了结合视觉伺服的改进随机快速搜索树算法(Improved rapidly-exploring random trees with visual ser...针对多自由度机械臂在采摘过程中出现的路径规划速度慢、路径成本高以及因视觉定位误差和机械臂关节位置误差引起的采摘失败问题,提出了结合视觉伺服的改进随机快速搜索树算法(Improved rapidly-exploring random trees with visual servoing,VS-IRRT),具体包括改进RRT算法和基于平移控制器的视觉伺服方法。改进的RRT算法通过使用基于超椭球引力偏置的采样方法和密度减小策略,增加树拓展的目的性,减小了树的采样密度,提高路径规划效率;引入贪心思想和B样条曲线,剔除多余节点,对剩下折线进行平滑处理,优化路径在机械臂上的实施效果;结合基于平移控制器的视觉伺服控制,减小了定位误差对采摘过程的影响。使用Matlab分别对改进RRT算法和基于平移控制器的视觉伺服在二维和三维空间中进行仿真模拟试验,结果表明,改进的RRT算法的采样点数较RRT^(*)-connect算法减少92.9%,规划时间较RRT^(*)-connect算法减少86.1%,路径成本较RRT算法也减少35.2%。使用六自由度机械臂进行采摘试验,VS-IRRT算法的采摘速度比RRT^(*)-connect算法提升48.36%,路径成本相较RRT减少17.14%,采摘成功率提升2.1个百分点,所以在特定的采摘应用场景,尤其在农业采摘场景中,VS-IRRT算法能够提升机械臂采摘的综合性能。展开更多
为了了解流体在球阀不同开度下的流动状态及对应的流阻系数,应用商业软件Solid Works Flow Simulation对球阀不同开度的三维流场进行数值仿真模拟和可视化研究。模拟结果表明,在开度较小的情况下,阀芯横截面流速沿中心线呈对称分布,阀...为了了解流体在球阀不同开度下的流动状态及对应的流阻系数,应用商业软件Solid Works Flow Simulation对球阀不同开度的三维流场进行数值仿真模拟和可视化研究。模拟结果表明,在开度较小的情况下,阀芯横截面流速沿中心线呈对称分布,阀芯内部流场存在一对尺寸相等、方向相反的漩涡,且这对漩涡基本占据整个流道;同时出口管路也存在强烈的涡流,随着球阀开度的增大,流动达到稳定,漩涡消失。利用数值模拟结果,求解不同开度下球阀的流阻系数,并与实验拟合公式结果进行对比,验证了数值模拟方法的可靠性。根据球阀流阻系数与开度变化的趋势可知,当球阀开度增大到70%时,再增大开度对流阻系数的减小影响不大。模拟结果可为球阀结构设计和性能优化提供参考。展开更多
To improve fishing gear efficiency, it is important to understand the interactions among sea current, fishing vessel, line hauler, and catches during pelagic longline gear retrieval. In this study, fishing gear config...To improve fishing gear efficiency, it is important to understand the interactions among sea current, fishing vessel, line hauler, and catches during pelagic longline gear retrieval. In this study, fishing gear configuration parameters, operational parameters, and 3 D ocean current data were collected from Indian Ocean. Dynamic models of pelagic longline gear retrieval were built using the lumped mass method and solved using the Euler-Trapezoidal method. From the results, the pulling force of line hauler exerted on the gear was 2800–3600 N. There were no significant differences(P > 0.05) between the time of the hook retrieval measured at sea and that obtained from the simulation. The absolute values of the movement velocity at representative nodes along the X, Y, and Z axes were 0.01–25.5 m s^(-1). These results suggest that the dynamic model of longline fishing gear retrieval can be used to analyze the interactions among sea current, fishing vessel, line hauler, longline gear, and catches, and to acquire the basic data for optimizing the design of the line hauler. Moreover, the model can serve as a reference to study the hydrodynamic performance of other fishing gears during the hauling process.展开更多
AIM：To compare accuracy,reproducibility and test duration for the Snellen and the Early Treatment Diabetic Retinopathy Study（ETDRS）charts,two main tools used to measure visual acuity（VA）.·M ETHODS：A compute...AIM：To compare accuracy,reproducibility and test duration for the Snellen and the Early Treatment Diabetic Retinopathy Study（ETDRS）charts,two main tools used to measure visual acuity（VA）.·M ETHODS：A computer simulation was programmed to run multiple virtual patients,each with a unique set of assigned parameters,including VA,false-positive and false-negative error values.For each virtual patient,assigned VA was randomly chosen along a continuous scale spanning the range between 1.0 to 0.0 log MAR units（equivalent to 20/200 to 20/20）.Each of 30 000virtual patients were run ten times on each of the two VA charts.·RESULTS：Average test duration（expressed as the total number of characters presented during the test±SD）was12.6±11.1 and 31.2±14.7 characters,for the Snellen and ETDRS,respectively.Accuracy,defined as the absolute difference（±SD）between the assigned VA and the measured VA,expressed in log MAR units,was superior in the ETDRS charts：0.12±0.14 and 0.08±0.08,for the Snellen and ETDRS charts,respectively.Reproducibility,expressed as test-retest variability,was superior in the ETDRS charts：0.23±0.17 and 0.11±0.09 log MAR units,for the Snellen and ETDRS charts,respectively.·CONCLUSION：A comparison of true（assigned）VA to measured VA,demonstrated,on average,better accuracy and reproducibility of the ETDRS chart,but at the penalty of significantly longer test duration.These differences were most pronounced in the low VA range.The reproducibility using a simulation approach is in line with reproducibility values found in several clinical studies.展开更多
基金Supported by the National Natural Science Foundation of China (41330319 and 42072174)Foundation of China University of Petroleum Beijing (2462020XKBH016)Fellowship of China Postdoctoral Science Foundation (2020M680030)。
文摘A micro-nano pore three-dimensional visualized real-time physical simulation of natural gas charging, in-situ pore-scale computation, pore network modelling, and apparent permeability evaluation theory were used to investigate laws of gas and water flow and their distribution, and controlling factors during the gas charging process in low-permeability(tight) sandstone reservoir. By describing features of gas-water flow and distribution and their variations in the micro-nano pore system, it is found that the gas charging in the low permeability(tight) sandstone can be divided into two stages, expansion stage and stable stage. In the expansion stage, the gas flows continuously first into large-sized pores then small-sized pores, and first into centers of the pores then edges of pores;pore-throats greater than 20 μm in radius make up the major pathway for gas charging. With the increase of charging pressure, movable water in the edges of large-sized pores and in the centers of small pores is displaced out successively. Pore-throats of 20-50 μm in radius and pore-throats less than 20 μm in radius dominate the expansion of gas charging channels at different stages of charging in turn, leading to reductions in pore-throat radius, throat length and coordination number of the pathway, which is the main increase stage of gas permeability and gas saturation. Among which, pore-throats 30-50 μm in radius control the increase pattern of gas saturation. In the stable stage, gas charging pathways have expanded to the maximum, so the pathways keep stable in pore-throat radius, throat length, and coordination number, and irreducible water remains in the pore system, the gas phase is in concentrated clusters, while the water phase is in the form of dispersed thin film, and the gas saturation and gas permeability tend stable. Connected pore-throats less than 20 μm in radius control the expansion limit of the charging pathways, the formation of stable gas-water distribution, and the maximum gas saturation. The heterogeneity of connected pore-throats affects the dynamic variations of gas phase charging and gas-water distribution. It can be concluded that the pore-throat configuration and heterogeneity of the micro-nanometer pore system control the dynamic variations of the low-permeability(tight) sandstone gas charging process and gas-water distribution features.
基金Project (GZ583) supported by the Sino-German Center for Science Promotion
文摘Thin copper sheets as marker material were embedded into weld path of 2024 aluminium alloy plates and their final position after friction stir welding was examined by metallographic techniques. Referring to the visualized material flow patterns, a three-dimensional model was developed to conduct the numerical simulation of the temperature profile and plastic material flow in friction stir welding. The calculated velocity contour of plastic flow in close proximity of the tool is generally consistent with the visualized results. As the tool rotation speed increases at a constant tool travel speed, the material flow near the pin gets stronger. The predicted shape and size of the weld nugget zone match with the experimentally measured ones.
文摘针对多自由度机械臂在采摘过程中出现的路径规划速度慢、路径成本高以及因视觉定位误差和机械臂关节位置误差引起的采摘失败问题,提出了结合视觉伺服的改进随机快速搜索树算法(Improved rapidly-exploring random trees with visual servoing,VS-IRRT),具体包括改进RRT算法和基于平移控制器的视觉伺服方法。改进的RRT算法通过使用基于超椭球引力偏置的采样方法和密度减小策略,增加树拓展的目的性,减小了树的采样密度,提高路径规划效率;引入贪心思想和B样条曲线,剔除多余节点,对剩下折线进行平滑处理,优化路径在机械臂上的实施效果;结合基于平移控制器的视觉伺服控制,减小了定位误差对采摘过程的影响。使用Matlab分别对改进RRT算法和基于平移控制器的视觉伺服在二维和三维空间中进行仿真模拟试验,结果表明,改进的RRT算法的采样点数较RRT^(*)-connect算法减少92.9%,规划时间较RRT^(*)-connect算法减少86.1%,路径成本较RRT算法也减少35.2%。使用六自由度机械臂进行采摘试验,VS-IRRT算法的采摘速度比RRT^(*)-connect算法提升48.36%,路径成本相较RRT减少17.14%,采摘成功率提升2.1个百分点,所以在特定的采摘应用场景,尤其在农业采摘场景中,VS-IRRT算法能够提升机械臂采摘的综合性能。
文摘为了了解流体在球阀不同开度下的流动状态及对应的流阻系数,应用商业软件Solid Works Flow Simulation对球阀不同开度的三维流场进行数值仿真模拟和可视化研究。模拟结果表明,在开度较小的情况下,阀芯横截面流速沿中心线呈对称分布,阀芯内部流场存在一对尺寸相等、方向相反的漩涡,且这对漩涡基本占据整个流道;同时出口管路也存在强烈的涡流,随着球阀开度的增大,流动达到稳定,漩涡消失。利用数值模拟结果,求解不同开度下球阀的流阻系数,并与实验拟合公式结果进行对比,验证了数值模拟方法的可靠性。根据球阀流阻系数与开度变化的趋势可知,当球阀开度增大到70%时,再增大开度对流阻系数的减小影响不大。模拟结果可为球阀结构设计和性能优化提供参考。
基金funded by the National High Technology Research and Development Program of China (No. 2012 AA092302)the Specialized Research Fund for the Doctoral Program of Higher Education (No. 20113104110004)Shanghai Municipal Education Commission Innovation Project (No. 12ZZ168)
文摘To improve fishing gear efficiency, it is important to understand the interactions among sea current, fishing vessel, line hauler, and catches during pelagic longline gear retrieval. In this study, fishing gear configuration parameters, operational parameters, and 3 D ocean current data were collected from Indian Ocean. Dynamic models of pelagic longline gear retrieval were built using the lumped mass method and solved using the Euler-Trapezoidal method. From the results, the pulling force of line hauler exerted on the gear was 2800–3600 N. There were no significant differences(P > 0.05) between the time of the hook retrieval measured at sea and that obtained from the simulation. The absolute values of the movement velocity at representative nodes along the X, Y, and Z axes were 0.01–25.5 m s^(-1). These results suggest that the dynamic model of longline fishing gear retrieval can be used to analyze the interactions among sea current, fishing vessel, line hauler, longline gear, and catches, and to acquire the basic data for optimizing the design of the line hauler. Moreover, the model can serve as a reference to study the hydrodynamic performance of other fishing gears during the hauling process.
文摘AIM：To compare accuracy,reproducibility and test duration for the Snellen and the Early Treatment Diabetic Retinopathy Study（ETDRS）charts,two main tools used to measure visual acuity（VA）.·M ETHODS：A computer simulation was programmed to run multiple virtual patients,each with a unique set of assigned parameters,including VA,false-positive and false-negative error values.For each virtual patient,assigned VA was randomly chosen along a continuous scale spanning the range between 1.0 to 0.0 log MAR units（equivalent to 20/200 to 20/20）.Each of 30 000virtual patients were run ten times on each of the two VA charts.·RESULTS：Average test duration（expressed as the total number of characters presented during the test±SD）was12.6±11.1 and 31.2±14.7 characters,for the Snellen and ETDRS,respectively.Accuracy,defined as the absolute difference（±SD）between the assigned VA and the measured VA,expressed in log MAR units,was superior in the ETDRS charts：0.12±0.14 and 0.08±0.08,for the Snellen and ETDRS charts,respectively.Reproducibility,expressed as test-retest variability,was superior in the ETDRS charts：0.23±0.17 and 0.11±0.09 log MAR units,for the Snellen and ETDRS charts,respectively.·CONCLUSION：A comparison of true（assigned）VA to measured VA,demonstrated,on average,better accuracy and reproducibility of the ETDRS chart,but at the penalty of significantly longer test duration.These differences were most pronounced in the low VA range.The reproducibility using a simulation approach is in line with reproducibility values found in several clinical studies.
