Currently,the cranes used at sea do not have enough flexibility,efficiency,and safety.Thus,this study proposed a floating multirobot coordinated towing system to meet the demands for offshore towing.Because of the fle...Currently,the cranes used at sea do not have enough flexibility,efficiency,and safety.Thus,this study proposed a floating multirobot coordinated towing system to meet the demands for offshore towing.Because of the flexibility of rope-driven robots,the one-way pulling characteristics of the rope,and the floating characteristics of the base,towing robots are easily overturned.First,the spatial configuration of the towing system was established according to the towing task,and the kinematic model of the towing system was established using the coordinate transformation.Then,the dynamic model of the towing system was established according to the rigid-body dynamics and hydrodynamic theory.Finally,the stability of the towing system was analyzed using the stability cone method.The simulation experiments provide a reference for the practical application of the floating multirobot coordinated towing system,which can improve the stability of towing systems by changing the configuration of the towing robot.展开更多
For cone beam computed tomography(CBCT),there has long been a desire to modulate the intensity and distribution of the X-rays to accommodate the patient’s anatomy as the gantry rotates from one projection to another....For cone beam computed tomography(CBCT),there has long been a desire to modulate the intensity and distribution of the X-rays to accommodate the patient’s anatomy as the gantry rotates from one projection to another.This would reduce both image artifacts and radiation dose.However,the current beam modulation setups,such as dynamic bowtie filters,may be too complex for practical use in clinical applications.This study aimed to investigate a simplified dynamic beam filtration strategy for CBCT imaging to reduce image artifacts and radiation dose.In this study,the beam filtration was designed to vary dynamically as the CBCT gantry rotates around the object.Specifically,two distinct components were integrated:the sheet filter part and the bowtie filter part.The dynamic beam filtration setup has two working schemes,one is a combination of dynamic sheet filter and dynamic bowtie filter,denoted as dynamic filterdynamic bowtie(DFDB);the other is a combination of dynamic sheet filter and static bowtie filter,denoted as dynamic filter-static bowtie(DFSB).Numerical imaging experiments were performed for three human body parts:the shoulder,chest,and knee.In addition,the Monte Carlo simulation platform MC-GPU was used to generate the dose distribution maps.Results showed that the proposed DFDB and DFSB beam filtration schemes can significantly reduce the image artifacts and thus improve the CBCT image quality.Depending on the scanned object,the total radiation dose could be reduced by 30%.The proposed simple dynamic beam filtration strategy,especially the DFSB approach,could be beneficial in the future to improve the CBCT image quality with reduced image artifacts and radiation dose.展开更多
Field emission electric propulsion(FEEP) thrusters possess excellent characteristics, such as high specific impulse, low power requirements, compact size and precise pointing capabilities,making them ideal propulsion ...Field emission electric propulsion(FEEP) thrusters possess excellent characteristics, such as high specific impulse, low power requirements, compact size and precise pointing capabilities,making them ideal propulsion devices for micro-nano satellites. However, the detection of certain aspects, such as the evolution process of the liquid cone and the physical quantities at the cone apex, proves challenging due to the minute size of the needle tip and the vacuum environment in which they operate. Consequently, this paper introduces a computational fluid dynamics(CFD) model to gain insight into the formation process of the liquid cone on the tip apex of indium FEEP. The CFD model is based on electrohydrodynamic(EHD) equations and the volume of fluid(VOF) method. The entire cone formation process can be divided into three stages, and the time-dependent characteristics of the physical quantities at the cone apex are investigated. The influences of film thickness, apex radius size and applied voltage are compared.The results indicate a gradual increase in the values of electrostatic stress and surface tension stress at the cone apex over an initial period, followed by a rapid escalation within a short duration.Apex configurations featuring a small radius, thick film and high voltage exhibit a propensity for liquid cone formation, and the cone growth time decreases as the film thickness increases.Moreover, some unstable behavior is observed during the cone formation process.展开更多
基金Supported by the National Natural Science Foundation of China under Grant No.51965032the Natural Science Foundation of Gansu Province of China under Grant No.22JR5RA319+2 种基金the Excellent Doctoral Student Foundation of Gansu Province of China under Grant No.23JRRA842the Sichuan Province Engineering Technology Research Center of General Aircraft Maintenance under Grant No.GAMRC2023YB05the Key Research and Development Project of Lanzhou Jiaotong University under Grant No.LZJTUZDYF2302.
文摘Currently,the cranes used at sea do not have enough flexibility,efficiency,and safety.Thus,this study proposed a floating multirobot coordinated towing system to meet the demands for offshore towing.Because of the flexibility of rope-driven robots,the one-way pulling characteristics of the rope,and the floating characteristics of the base,towing robots are easily overturned.First,the spatial configuration of the towing system was established according to the towing task,and the kinematic model of the towing system was established using the coordinate transformation.Then,the dynamic model of the towing system was established according to the rigid-body dynamics and hydrodynamic theory.Finally,the stability of the towing system was analyzed using the stability cone method.The simulation experiments provide a reference for the practical application of the floating multirobot coordinated towing system,which can improve the stability of towing systems by changing the configuration of the towing robot.
文摘For cone beam computed tomography(CBCT),there has long been a desire to modulate the intensity and distribution of the X-rays to accommodate the patient’s anatomy as the gantry rotates from one projection to another.This would reduce both image artifacts and radiation dose.However,the current beam modulation setups,such as dynamic bowtie filters,may be too complex for practical use in clinical applications.This study aimed to investigate a simplified dynamic beam filtration strategy for CBCT imaging to reduce image artifacts and radiation dose.In this study,the beam filtration was designed to vary dynamically as the CBCT gantry rotates around the object.Specifically,two distinct components were integrated:the sheet filter part and the bowtie filter part.The dynamic beam filtration setup has two working schemes,one is a combination of dynamic sheet filter and dynamic bowtie filter,denoted as dynamic filterdynamic bowtie(DFDB);the other is a combination of dynamic sheet filter and static bowtie filter,denoted as dynamic filter-static bowtie(DFSB).Numerical imaging experiments were performed for three human body parts:the shoulder,chest,and knee.In addition,the Monte Carlo simulation platform MC-GPU was used to generate the dose distribution maps.Results showed that the proposed DFDB and DFSB beam filtration schemes can significantly reduce the image artifacts and thus improve the CBCT image quality.Depending on the scanned object,the total radiation dose could be reduced by 30%.The proposed simple dynamic beam filtration strategy,especially the DFSB approach,could be beneficial in the future to improve the CBCT image quality with reduced image artifacts and radiation dose.
基金supported by National Natural Science Foundation of China(No.52075334)。
文摘Field emission electric propulsion(FEEP) thrusters possess excellent characteristics, such as high specific impulse, low power requirements, compact size and precise pointing capabilities,making them ideal propulsion devices for micro-nano satellites. However, the detection of certain aspects, such as the evolution process of the liquid cone and the physical quantities at the cone apex, proves challenging due to the minute size of the needle tip and the vacuum environment in which they operate. Consequently, this paper introduces a computational fluid dynamics(CFD) model to gain insight into the formation process of the liquid cone on the tip apex of indium FEEP. The CFD model is based on electrohydrodynamic(EHD) equations and the volume of fluid(VOF) method. The entire cone formation process can be divided into three stages, and the time-dependent characteristics of the physical quantities at the cone apex are investigated. The influences of film thickness, apex radius size and applied voltage are compared.The results indicate a gradual increase in the values of electrostatic stress and surface tension stress at the cone apex over an initial period, followed by a rapid escalation within a short duration.Apex configurations featuring a small radius, thick film and high voltage exhibit a propensity for liquid cone formation, and the cone growth time decreases as the film thickness increases.Moreover, some unstable behavior is observed during the cone formation process.
