Effect of low-speed waterjet pressure on the rock-breaking performance of unsubmerged cavitating abrasive waterjet

Unsubmerged cavitating abrasive waterjet(UCAWJ)has been shown to artificially create a submerged environment that produces shear cavitation,which effectively enhances rock-breaking performance.The shear cavitation generation and collapse intensity depend on the pressure difference between the intermediate high-speed abrasive waterjet and the coaxial low-speed waterjet.However,the effect of the pressure of the coaxial low-speed waterjet is pending.For this purpose,the effect of low-speed waterjet pressure on rock-breaking performance at different standoff distances was experimentally investigated,and the effects of erosion time and ruby nozzle diameter on erosion performance were discussed.Finally,the micromorphology of the sandstone was observed at different locations.The results show that increased erosion time and ruby nozzle diameter can significantly improve the rock-breaking performance.At different standoff distances,the mass loss increases first and then decreases with the increase of low-speed waterjet pressure,the maximum mass loss is 10.4 g at a low-speed waterjet pressure of0.09 MPa.The surface morphology of cavitation erosion was measured using a 3D profiler,the increase in both erosion depth and surface roughness indicated a significant increase in the intensity of the shear cavitation collapse.At a low-speed waterjet pressure of 0.18 MPa,the cavitation erosion surface depth can reach 600μm with a roughness of 127μm.

Multi-UAV cooperative maneuver decision-making for pursuitevasion using improved MADRL

Aiming at the problem of multi-UAV pursuit-evasion confrontation, a UAV cooperative maneuver method based on an improved multi-agent deep reinforcement learning(MADRL) is proposed. In this method, an improved Comm Net network based on a communication mechanism is introduced into a deep reinforcement learning algorithm to solve the multi-agent problem. A layer of gated recurrent unit(GRU) is added to the actor-network structure to remember historical environmental states. Subsequently,another GRU is designed as a communication channel in the Comm Net core network layer to refine communication information between UAVs. Finally, the simulation results of the algorithm in two sets of scenarios are given, and the results show that the method has good effectiveness and applicability.

Cooperative guidance law based on super-twisting observer for target maneuvering

To solve the problem that multiple missiles should simultaneously attack unmeasurable maneuvering targets,a guidance law with temporal consistency constraint based on the super-twisting observer is proposed.Firstly,the relative motion equations between multiple missiles and targets are established,and the topological model among multiple agents is considered.Secondly,based on the temporal consistency constraint,a cooperative guidance law for simultaneous arrival with finite-time convergence is derived.Finally,the unknown target maneuver-ing is regarded as bounded interference.Based on the second-order sliding mode theory,a super-twisting sliding mode observer is devised to observe and track the bounded interfer-ence,and the stability of the observer is proved.Compared with the existing research,this approach only needs to obtain the sliding mode variable which simplifies the design process.The simulation results show that the designed cooperative guidance law for maneuvering targets achieves the expected effect.It ensures successful cooperative attacks,even when confronted with strong maneuvering targets.

Research on Maneuver Decision-Making of Multi-Agent Adversarial Game in a Random Interference Environment

The strategy evolution process of game players is highly uncertain due to random emergent situations and other external disturbances.This paper investigates the issue of strategy interaction and behavioral decision-making among game players in simulated confrontation scenarios within a random interference environment.It considers the possible risks that random disturbances may pose to the autonomous decision-making of game players,as well as the impact of participants’manipulative behaviors on the state changes of the players.A nonlinear mathematical model is established to describe the strategy decision-making process of the participants in this scenario.Subsequently,the strategy selection interaction relationship,strategy evolution stability,and dynamic decision-making process of the game players are investigated and verified by simulation experiments.The results show that maneuver-related parameters and random environmental interference factors have different effects on the selection and evolutionary speed of the agent’s strategies.Especially in a highly uncertain environment,even small information asymmetry or miscalculation may have a significant impact on decision-making.This also confirms the feasibility and effectiveness of the method proposed in the paper,which can better explain the behavioral decision-making process of the agent in the interaction process.This study provides feasibility analysis ideas and theoretical references for improving multi-agent interactive decision-making and the interpretability of the game system model.

An air combat maneuver pattern extraction based on time series segmentation and clustering analysis

Target maneuver recognition is a prerequisite for air combat situation awareness,trajectory prediction,threat assessment and maneuver decision.To get rid of the dependence of the current target maneuver recognition method on empirical criteria and sample data,and automatically and adaptively complete the task of extracting the target maneuver pattern,in this paper,an air combat maneuver pattern extraction based on time series segmentation and clustering analysis is proposed by combining autoencoder,G-G clustering algorithm and the selective ensemble clustering analysis algorithm.Firstly,the autoencoder is used to extract key features of maneuvering trajectory to remove the impacts of redundant variables and reduce the data dimension;Then,taking the time information into account,the segmentation of Maneuver characteristic time series is realized with the improved FSTS-AEGG algorithm,and a large number of maneuver primitives are extracted;Finally,the maneuver primitives are grouped into some categories by using the selective ensemble multiple time series clustering algorithm,which can prove that each class represents a maneuver action.The maneuver pattern extraction method is applied to small scale air combat trajectory and can recognize and correctly partition at least 71.3%of maneuver actions,indicating that the method is effective and satisfies the requirements for engineering accuracy.In addition,this method can provide data support for various target maneuvering recognition methods proposed in the literature,greatly reduce the workload and improve the recognition accuracy.

Research on Feature Extraction Method for Low-Speed Reciprocating Bearings Based on Segmented Short Signal Modulation Signal Bispectrum Slicing

Bearing condition monitoring and fault diagnosis (CMFD) can investigate bearing faults in the early stages, preventing the subsequent impacts of machine bearing failures effectively. CMFD for low-speed, non-continuous operation bearings, such as yaw bearings and pitch bearings in wind turbines, and rotating support bearings in space launch towers, presents more challenges compared to continuous rolling bearings. Firstly, these bearings have very slow speeds, resulting in weak collected fault signals that are heavily masked by severe noise interference. Secondly, their limited rotational angles during operation lead to a restricted number of fault signals. Lastly, the interference from deceleration and direction-changing impact signals significantly affects fault impact signals. To address these challenges, this paper proposes a method for extracting fault features in low-speed reciprocating bearings based on short signal segmentation and modulation signal bispectrum (MSB) slicing. This method initially separates short signals corresponding to individual cycles from the vibration signals based on encoder signals. Subsequently, MSB analysis is performed on each short signal to generate MSB carrier-slice spectra. The optimal carrier frequency and its corresponding modulation signal slice spectrum are determined based on the carrier-slice spectra. Finally, the MSB modulation signal slice spectra of the short signal set are averaged to obtain the overall average feature of the sliced spectra.

Research on Maneuverability and Si mulation of Underwater Vehicles for Pipeline Detection and Maintenance

For the maintenance of the pipelines which pipe oil from oil fields in the Bohai Gulf of China, an underwater vehicle for pipeline detection and maintenance （PDM-UV） is designed. In this paper, the maneuverability and motion simulation of PDM-UV are studied. A general dynamic equation to describe the hydrodynamics of PDM-UV is presented. For a deep understanding of the dynamics of PDM-UV, which is somewhat different from normal underwater vehicles in configuration, the maneuverability is discussed in terms of hydrodynamic coefficients with experimental results. Finally, the whole motion simulation system is introduced and simulation results are presented to demonstrate the feasibility and correctness of the simulation platform.

Maneuverability simulation of a mini autonomous underwater vehicle

In order to simulate the under water motion of a mini autonomous underwater vehicle( AUV) and an- alyze its maneuverability,the dynamical characteristic of the mini AUV was researched. The 6-DOF motion equations were founded. Through model experiment with accessory bodies,the hydrodynamics of AUV body including resistance,main inertial and viscous hydrodynamic coefficients was obtained. The hydrodynamics of rudders was gained through theoretical calculation. Simulation computation of the vehicle was carried out through numerical integration of the motion equations. A motion simulation system was constructed. Four typical maneuvers in horizontal and vertical planes were simulated and the maneuverability of the mini AUV was forecasted. The simulation results reflect the basic motion characteristic of mini AUV and validate the feasibility and correctness of the whole system. The simulation system can be a testing platform for the design and debugging of motion controller and an effective tool for the development of AUV.

SOME CHARACTERISTICS OF LOW-SPEED STREAKS UNDER SHEARED AIR-WATER INTERFACES

The characteristics of low-speed fluid streaks occurring under sheared air-water interfaces were examined by means of hydrogen bubble visualization technique. A critical shear condition under which the streaky structure first appears was determined to be u(tau) approximate to 0.19 cm/s. The mean spanwise streak spacing increases with distance from the water surface owing to merging and bursting processes, and a linear relationship describing variation of non-dimensional spacing <(<lambda>+)over bar> versus y(+) was found essentially independent of shear stress on the interface. Values of <(<lambda>+)over bar>, however, are remarkably smaller than their counterparts in the near-wall region of turbulent boundary layers. Though low-speed streaks occur randomly in time and space, the streak spacing exhibits a lognormal probability distribution behavior. A tentative explanation concerning the formation of streaky structure is suggested, and the fact that <(<lambda>+)over bar> takes rather smaller values than that in wall turbulence is briefly discussed.

POD analysis of the instability mode of a low-speed streak in a laminar boundary layer

The instability of one single low-speed streak in a zero-pressure-gradient laminar boundary layer is investigated experimentally via both hydrogen bubble visualization and planar particle image velocimetry(PIV) measurement. A single low-speed streak is generated and destabilized by the wake of an interference wire positioned normal to the wall and in the upstream. The downstream development of the streak includes secondary instability and self-reproduction process, which leads to the generation of two additional streaks appearing on either side of the primary one. A proper orthogonal decomposition(POD) analysis of PIV measured velocity field is used to identify the components of the streak instability in the POD mode space: for a sinuous/varicose type of POD mode, its basis functions present anti-symmetric/symmetric distributions about the streak centerline in the streamwise component, and the symmetry condition reverses in the spanwise component. It is further shown that sinuous mode dominates the turbulent kinematic energy(TKE) through the whole streak evolution process, the TKE content first increases along the streamwise direction to a saturation value and then decays slowly. In contrast, varicose mode exhibits a sustained growth of the TKE content,suggesting an increasing competition of varicose instability against sinuous instability.

Experimental investigation on vibration characteristics of the medium-low-speed maglev vehicle-turnout coupled system

The steel turnout is one of the key components in the medium–low-speed maglev line system.However,the vehicle under active control is prone to vehicle–turnout coupled vibration,and thus,it is necessary to identify the vibration characteristics of this coupled system through field tests.To this end,dynamic performance tests were conducted on a vehicle–turnout coupled system in a medium–low-speed maglev test line.Firstly,the dynamic response data of the coupled system under various operating conditions were obtained.Then,the natural vibration characteristics of the turnout were analysed using the free attenuation method and the finite element method,indicating a good agreement between the simulation results and the measured results;the acceleration response characteristics of the coupled system were analysed in detail,and the ride quality of the vehicle was assessed by Sperling index.Finally,the frequency distribution characteristics of the coupled system were discussed.All these test results could provide references for model validation and optimized design of medium–low-speed maglev transport systems.

Mechatronic Design and Maneuverability Analysis of a Novel Robotic Shark

In this paper,the mechatronic design and maneuverability analysis of a novel robotic shark are presented.To obtain good maneuverability,a barycenter regulating device is designed to assist the posture adjustment at low speeds.Based on the Newton-Euler approach,an analytical dynamic model is established with particular consideration of pectoral fins for threedimensional motions.The hydrodynamic coefficients are computed using computational fluid dynamics(CFD)methods.Oscillation amplitudes and phases are determined by fitting an optimized fish body wave.The performance of the robotic shark is estimated by varying the oscillation frequency and offset angle.The results show that with oscillation frequency increasing,the swimming speed increases linearly.The robotic shark reaches the maximum swimming speed of 1.05 m/s with an oscillation frequency of 1.2 Hz.Furthermore,the turning radius decreases nonlinearly as the offset angle increased.The robotic shark reaches the minimum turning radius of 1.4 times the body length with 0.2 Hz frequency and 12°offset angle.In the vertical plane,as the pectoral fin angle increases,the diving velocity increases nonlinearly with increase rate slowing down.

Numerical study on evolution of subharmonic varicose low-speed streaks in turbulent channel flow

The evolution of two spanwise-aligned low-speed streaks in a wall turbulent flow, triggered by the instability of the subharmonic varicose （SV） mode, is studied by a direct numerical simulation （DNS） method in a small spatial-periodic channel. The results show that the SV low-speed streaks are self-sustained at the early stage, and then transform into subharmonic sinuous （SS） low-speed streaks. Initially, the streamwise vortex sheets are formed by shearing, and then evolve into zigzag vortex sheets due to the mutual induction. As the intensification of the SV low-speed streaks becomes prominent, the tilted streamwise vortex tubes and the V-like streamwise vortex tubes can be formed simultaneously by increasing ＋~. When the SV low-speed streaks break down, new zigzag streamwise vortices will be generated, thus giving birth to the next sustaining cycle of the SV low-speed streaks. When the second breakdown happens, new secondary V-like streamwise vortices instead of zigzag streamwise vortices will be generated. Because of the sweep motion of the fluid induced by the secondary V-like streamwise vortices, each decayed low-speed streak can be divided into two parts, and each part combines with the part of another streak, finally leading to the formation of SS low-speed streaks.

High-frequency characterization of high-speed modulators and photodetectors in a link with low-speed photonic sampling

We propose a low-speed photonic sampling for independent high-frequency characterization of a Mach–Zehnder modulator(MZM)and a photodetector(PD)in an optical link.A low-speed mode-locked laser diode(MLLD)provides an ultrawideband optical stimulus with scalable frequency range,working as the photonic sampling source of the link.The uneven spectrum lines of the MLLD are firstly characterized with symmetric modulation within the interesting frequency range.Then,the electro-optic modulated signals are down-converted to the first Nyquist frequency range,yielding the self-referenced extraction of modulation depth and half-wave voltage of the MZM without correcting the responsivity fluctuation of the PD in the link.Finally,the frequency responsivity of the PD is self-referenced measured under null modulation of the MZM.As frequency responses of the MZM and the PD can be independently obtained,our method allows self-referenced high-frequency measurement for a high-speed optical link.In the proof-of-concept experiment,a 96.9 MS/s MLLD is used for measuring a MZM and a PD within the frequency range up to 50 GHz.The consistency between our method and the conventional method verifies that the ultra-wideband and self-referenced high-frequency characterization of high-speed MZMs and PDs.

Numerical simulation on evolution of subharmonic low-speed streaks in minimal channel turbulent flow

The evolution of low-speed streaks in the turbulent boundary layer of the minimum channel flow unit at a low Reynolds number is simulated by the direct numer- ical simulation （DNS） based on the standard Fourier-Chebyshev spectral method. The subharmonic sinuous （SS） mode for two spanwise-aligned low-speed streaks is excited by imposing the initial perturbations. The possibilities and the physical realities of the turbulent sustaining in the minimal channel unit are examined. Based on such a flow field environment, the evolution of the low-speed streaks during a cycle of turbulent sus- taining, including lift-up, oscillation, and breakdown, is investigated. The development of streamwise vortices and the dynamics of vortex structures are examined. The results show that the vortices generated from the same streak are staggered along the streamwise direction, while the vortices induced by different streaks tilt toward the normal direction due to the mutual induction effect. It is the spatial variations of the streamwise vortices that cause the lift-up of the streaks. By resolving the transport dynamics of enstrophy, the strength of the vortices is found to continuously grow in the logarithmic layer through the vortex stretching mechanism during the evolution of streaks. The enhancement of the vortices contributes to the spanwise oscillation and the following breakdown of the low-speed streaks.

Optimizing the Exhaust System of Marine Diesel Engines to Improve Low-speed Performances and Cylinder Working Conditions

Proper design of exhaust systems in marine high-power turbocharged diesel engines can contribute to improve the low-speed performance of these engines and make the working conditions of the cylinders more uniform.Here a high-power marine 16-cylinder V-type turbocharged diesel engine is simulated using the GT-Power software.The results reveal the differences induced by different exhaust system structures,such as an 8-cylinder-inpipe exhaust system with single/double superchargers and a 4-cylinder-in-pipe exhaust system with a single supercharger.After a comparative analysis,the 8-cylinder type with double superchargers is determined to be the optimal solution,and the structure of the exhaust system is further optimized.The simulations show that the optimized maximum exhaust temperature difference among cylinders is reduced by 66%.Finally,the simulation results and the optimized performance of the designed exhaust system are verified through experiments.

AIRCRAFT LIFT AND MANEUVERABILITY ENHANCEMENT BY GENETIC GEOMETRY OPTIMIZATION OF LEX CONFIGURATION

To enhance the maneuverability of the selected aircraft model, a standard genetic algorithm （GA） is used as an optimization method for the preliminary design of the leading-edge extension （LEX） layout. The aerodynamic loads and the maximum lift coefficient of the complete aircraft configuration （fuselage＋wing＋tail） are computed by using the modified three-dimensional low-order panel method in conjunction with the semi-empirical formulas of DATCOM. Results show that the lift coefficient increases approximately 20.5%- 15.3% for Mach number 0. 4-0.8 and 6.8% for Mach number 1.2, and its maximum value approximately 9.5% -15.0% for Machnumber 0.2-0.95when LEXis installed. A 6.6%-8.0 % gain at altitudes of 1-5 km on the turn rate maneuverability and the corner speed have been achieved in the subsonic regime.

Dynamics of low-speed streak evolution and interaction in laminar boundary layer

The present paper presents an experimental effort on the regeneration process of two low-speed laminar streaks in a zero-pressure-gradient laminar boundary layer. Two vertical thin wires separated by a spanwise distance of 30 mm are used to introduce disturbances of two rolls of transitional Karmain vortex street to the downstream boundary layer. Both hydrogen bubble visualization and particle image velocimetry （PIV） measurement show that two lowspeed streaks are induced through leading-edge receptivity process. As these streaks develop in the downstream, two additional low-speed streaks begin to appear outboard of the flank of the original two, together with complex dynamics of streak splitting and merging. A flow pattern of four streaks aligned along the spanwise direction occurs finally in the far downstream. It is found that besides the mechanisms of streak breakdown, the streak interaction is also an important factor characterizing the instability of low speed streaks and their regeneration process.

On Self Recovery Mechanism and Additional Maneuverability of a Mini Mobile Robot

Ordinary mobile robots have some kind of moving mechanisms attached to one rigid body. When working on rough terrain or in other hazard environments, there existed some possibilities that the robot will be turned up side down, thus causing losses to the robot's expedition. Multi bodied mobile robots provide a solution to that problem. Using active joints between bodies, the robot can recover from turnover situation by itself. In this paper, the authors discuss the joint arrangements and the additional maneuverability resulted from joints between body segments.

Discussion on the Correlative Problem of Maneuverability Model Test for Vessels with Large Scale

It is well known that model test is one of approaches to investigate the maneuverability of vessels and the correlative method is an important problem of model test for vessels with large scale. Some of correlative problems,which should be solved with care in model test,are presented from analysis of the similarity principle for the ship maneuverability in this paper.A corrective method of appropriate angle of rudder is provided based on the result of maneuverability model test for a tanker with large scale and the corresponding prediction of the maneuverability for full scale tanker is satisfactory in view of engineering practice.