For multi-agent reinforcement learning in Markov games, knowledge extraction and sharing are key research problems. State list extracting means to calculate the optimal shared state path from state trajectories with c...For multi-agent reinforcement learning in Markov games, knowledge extraction and sharing are key research problems. State list extracting means to calculate the optimal shared state path from state trajectories with cycles. A state list extracting algorithm checks cyclic state lists of a current state in the state trajectory, condensing the optimal action set of the current state. By reinforcing the optimal action selected, the action policy of cyclic states is optimized gradually. The state list extracting is repeatedly learned and used as the experience knowledge which is shared by teams. Agents speed up the rate of convergence by experience sharing. Competition games of preys and predators are used for the experiments. The results of experiments prove that the proposed algorithms overcome the lack of experience in the initial stage, speed up learning and improve the performance.展开更多
Autonomous umanned aerial vehicle(UAV) manipulation is necessary for the defense department to execute tactical missions given by commanders in the future unmanned battlefield. A large amount of research has been devo...Autonomous umanned aerial vehicle(UAV) manipulation is necessary for the defense department to execute tactical missions given by commanders in the future unmanned battlefield. A large amount of research has been devoted to improving the autonomous decision-making ability of UAV in an interactive environment, where finding the optimal maneuvering decisionmaking policy became one of the key issues for enabling the intelligence of UAV. In this paper, we propose a maneuvering decision-making algorithm for autonomous air-delivery based on deep reinforcement learning under the guidance of expert experience. Specifically, we refine the guidance towards area and guidance towards specific point tasks for the air-delivery process based on the traditional air-to-surface fire control methods.Moreover, we construct the UAV maneuvering decision-making model based on Markov decision processes(MDPs). Specifically, we present a reward shaping method for the guidance towards area and guidance towards specific point tasks using potential-based function and expert-guided advice. The proposed algorithm could accelerate the convergence of the maneuvering decision-making policy and increase the stability of the policy in terms of the output during the later stage of training process. The effectiveness of the proposed maneuvering decision-making policy is illustrated by the curves of training parameters and extensive experimental results for testing the trained policy.展开更多
Since its establishment about ten years ago, TEDA has taken advantage of eachopportune time created by China’s policy of opening wider and wider to the outsideworld and the rapid economic growth to deepen its reform ...Since its establishment about ten years ago, TEDA has taken advantage of eachopportune time created by China’s policy of opening wider and wider to the outsideworld and the rapid economic growth to deepen its reform and extend its exploitation,and thus has maintained a favorable momentum and an extraordinary high speed foreconomic development. With the total economic output of the whole area raised to展开更多
Sequestration of carbon dioxide(CO<sub>2</sub>)in deep,unminable coalseam is an innovative technology,because it can not only reduce greenhouse gas in the atmosphere,but also enhance coalbed methane recove...Sequestration of carbon dioxide(CO<sub>2</sub>)in deep,unminable coalseam is an innovative technology,because it can not only reduce greenhouse gas in the atmosphere,but also enhance coalbed methane recovery(CO<sub>2</sub>-ECBM).Lots of research have been carried out on this topic in recent years.展开更多
Contemporary Chinese political research usually adopts three basic methods of field investigation,theoretical creation and practical participation,which respectively correspond to the life logic,theoretical logic and ...Contemporary Chinese political research usually adopts three basic methods of field investigation,theoretical creation and practical participation,which respectively correspond to the life logic,theoretical logic and practical logic in political functioning.Field investigation has become an important approach to"understanding Chinese politics"and promoting the localization of contemporary Chinese political research.Meanwhile,the new perspective of theoretical field besides empirical field marks the self-awareness and transition of the methodology in Chinese political research.To study Chinese experience itself,we should not only consciously focus upon China,but also continuously promote experience based on field research,as well as perfect and improve the research through the interaction between experience,theory and practice.The popular paradigms at home and abroad,including"authoritarianism"and"a developmental country",fail to explain Chinese experience and Chinese political development,so we still need a theoretical paradigm more appropriate to Chinese experience and practice.展开更多
As joint operations have become a key trend in modern military development,unmanned aerial vehicles(UAVs)play an increasingly important role in enhancing the intelligence and responsiveness of combat systems.However,t...As joint operations have become a key trend in modern military development,unmanned aerial vehicles(UAVs)play an increasingly important role in enhancing the intelligence and responsiveness of combat systems.However,the heterogeneity of aircraft,partial observability,and dynamic uncertainty in operational airspace pose significant challenges to autonomous collision avoidance using traditional methods.To address these issues,this paper proposes an adaptive collision avoidance approach for UAVs based on deep reinforcement learning.First,a unified uncertainty model incorporating dynamic wind fields is constructed to capture the complexity of joint operational environments.Then,to effectively handle the heterogeneity between manned and unmanned aircraft and the limitations of dynamic observations,a sector-based partial observation mechanism is designed.A Dynamic Threat Prioritization Assessment algorithm is also proposed to evaluate potential collision threats from multiple dimensions,including time to closest approach,minimum separation distance,and aircraft type.Furthermore,a Hierarchical Prioritized Experience Replay(HPER)mechanism is introduced,which classifies experience samples into high,medium,and low priority levels to preferentially sample critical experiences,thereby improving learning efficiency and accelerating policy convergence.Simulation results show that the proposed HPER-D3QN algorithm outperforms existing methods in terms of learning speed,environmental adaptability,and robustness,significantly enhancing collision avoidance performance and convergence rate.Finally,transfer experiments on a high-fidelity battlefield airspace simulation platform validate the proposed method's deployment potential and practical applicability in complex,real-world joint operational scenarios.展开更多
Aramid fibers,due to their relatively high inter-yarn friction,high strength,high modulus,and other characteristics,have become a typical representative of flexible anti-ballistic materials in modern warfare.Current r...Aramid fibers,due to their relatively high inter-yarn friction,high strength,high modulus,and other characteristics,have become a typical representative of flexible anti-ballistic materials in modern warfare.Current research on the anti-penetration of aramid fabrics mostly focuses unilaterally on the structure and performance of aramid fabrics or the shape and size of projectiles,with fewer studies on the coupled effect of both on ballistic performance.This study analyzes how the coupling relationship(or size effect)between the projectile and fiber bundle dimensions affects the fabric ballistic performance from a mesoscopic scale perspective.Taking plain weave aramid fabric as the research object,considering different diameter projectiles,through a large number of ballistic impact tests and numerical simulations,parameters such as ballistic limit velocity,average energy absorption of fabric,and specific energy absorption ratio(average energy absorption of fabric divided by projectile cross-sectional area)are obtained for ballistic performance analysis.The influence law of projectile size on the ballistic performance of high-performance fabrics is as follows:The relative range of fitted ballistic limit velocity at different target positions gradually decreases and then stabilizes as the projectile diameter increases,indicating that the fabric structure effect gradually disappears at a projectile diameter of 12 mm;The average ballistic limit velocity at three impact positions,P1,P2,and P3,provides the corresponding ballistic limit velocity for 1000D aramid fabric,which increases with projectile diameter but the rate of increase slows down at an inflection point,which in this study occurs where the fabric structure effect nearly disappears at a projectile diameter of 12 mm;The energy absorption ratio increases and then decreases as the projectile diameter increases from 4 mm to 20 mm,reaching a peak at the diameter of 12 mm due to the gradual disappearance of the fabric structural effect.The projectile diameter of 12 mm corresponds to the coupling size of 11.159,which provides a size design reference for the macroscopic-based continuum models of aramid plain weave fabrics.展开更多
Reusable and flexible capturing of space debris is highly required in future aerospace technologies.A tendon-actuated flexible robotic arm is therefore proposed for capturing floating targets in this paper.Firstly,an ...Reusable and flexible capturing of space debris is highly required in future aerospace technologies.A tendon-actuated flexible robotic arm is therefore proposed for capturing floating targets in this paper.Firstly,an accurate dynamic model of the flexible robotic arm is established by using the absolute nodal coordinate formulation(ANCF)in the framework of the arbitrary Lagrangian-Eulerian(ALE)description and the natural coordinate formulation(NCF).The contact and self-contact dynamics of the flexible robotic arm when bending and grasping an object are considered via a fast contact detection approach.Then,the dynamic simulations of the flexible robotic arm for capturing floating targets are carried out to study the influence of the position,size,and mass of the target object on the grasping performance.Finally,a principle prototype of the tendon-actuated flexible robotic arm is manufactured to validate the dynamic model.The corresponding grasping experiments for objects of various shapes are also conducted to illustrate the excellent performance of the flexible robotic arm.展开更多
The study of the charge conjugation and parity(CP)violation of hyperon is the precision frontier for probing possible new CP violation sources beyond the standard model(SM).With the large number of quantum entangled h...The study of the charge conjugation and parity(CP)violation of hyperon is the precision frontier for probing possible new CP violation sources beyond the standard model(SM).With the large number of quantum entangled hyperonantihyperon pairs to be produced at Super Tau-Charm Facility(STCF),the CP asymmetry of hyperon is expected to be tested with a statistical sensitivity of 10^(−4) or even better.To cope with the statistical precision,the systematic effects from various aspects are critical and need to be studied in detail.In this paper,the sensitivity effects on the CP violation parameters associated with the detector resolution,including those of the position and momentum,are studied and discussed in detail.The results provide valuable guidance for the design of STCF detector.展开更多
Correction:J Cotton Res 8,27(2025)https://doi.org/10.1186/s42397-025-00228-y During the publication process of the original article(Soltani Toularoud et al.2025),the article title has been wrongly captured.Te article ...Correction:J Cotton Res 8,27(2025)https://doi.org/10.1186/s42397-025-00228-y During the publication process of the original article(Soltani Toularoud et al.2025),the article title has been wrongly captured.Te article title should be corrected from:of butisanstar and clopyralid herbicides on Gos-sypium hirsutum L.growth:insights from a pot experiment to:Residual efects of butisanstar and clopyralid herbi-cides on Gossypium hirsutum L.growth:insights from a pot experiment Te original article(Soltani Toularoud et al.2025)has been updated.Te publisher apologizes to the authors and readers for the inconvenience caused.展开更多
Multiple quadrotors target encirclement is widely used in the intelligent field,as it can effectively monitor and control target behavior.However,it faces the danger of collision,as well as difficulties in localizatio...Multiple quadrotors target encirclement is widely used in the intelligent field,as it can effectively monitor and control target behavior.However,it faces the danger of collision,as well as difficulties in localization and tracking.Therefore,we propose a complete target encirclement method.Firstly,based on Hooke's law,a collision avoidance controller is designed to maintain a safe flying distance among quadrotors.Then,based on the consensus theory,a formation tracking controller is designed to meet the requirements of formation transformation and encirclement tasks,and a stability proof based on Lyapunov was provided.Besides,the target detection is designed based on YOLOv5s,and the target location model is constructed based on the principle of pinhole projection and triangle similarity.Finally,we conducted experiments on the built platform,with 3 reconnaissance quadrotors detecting and localization 3 target vehicles and 7 hunter quadrotors tracking them.The results show that the minimum average error for localization targets with reconnaissance quadrotors can reach 0.1354 m,while the minimum average error for tracking with hunter quadrotors is only 0.2960 m.No quadrotors collision occurred in the whole formation transformation and tracking experiment.In addition,compared with the advanced methods,the proposed method has better performance.展开更多
Rockburst is a common disaster in deep underground engineering,which seriously impacts project construction safety.Understanding its causes and burst resistance mechanism is of significance for rockburst prevention an...Rockburst is a common disaster in deep underground engineering,which seriously impacts project construction safety.Understanding its causes and burst resistance mechanism is of significance for rockburst prevention and mitigation.We developed a new type of high strength,large elongation,and strong energy-absorbing material,and conducted comparative tests on both basic and anchored rock specimens with such material.We analyzed the rockburst process,energy release and peak stress of the rock,and force and deformation withstood by the energy-absorbing bolts.The experimental results show that the energy reduction rate of the rocks reinforced by energy-absorbing bolts is more than 80%,compared with that of the basic rock.The force exerted on the energy-absorbing bolts increases suddenly when the rockburst occurs,and the strength utilization rates of the energy-absorbing bolts under strain rockburst and impact rockburst conditions are 73.3%and 61.2%,respectively.Rockburst also causes non-uniform shear deformation of the anchor bolt.Based on the rockburst energy criterion,the peak stress of the anchored rock is 2.2 times and 2.5 times the uniaxial compressive strength of the rock,respectively,under strain rockburst and impact rockburst conditions.The energy required for rockburst is 396.0 and 478.4 kJ/m^(3),respectively.The energy-anchoring bolts can effectively reduce the likelihood of rockburst.The results can provide a reference for support design for burst-prone rock in underground engineering.展开更多
Most of the existing studies on tunnel blast wave are based on spherical or grouped charges, however,conventional weapons are mostly cylindrical rather than spherical. In order to analyze the impact of cylindrical cha...Most of the existing studies on tunnel blast wave are based on spherical or grouped charges, however,conventional weapons are mostly cylindrical rather than spherical. In order to analyze the impact of cylindrical charges on the tunnel blast wave loads and to develop a quantitative calculation method, this study carried out experimental and numerical research. Initially, external explosion experiments were conducted using both 35 kg spherical charges and cylindrical charges with aspect ratio of 4.8 at two different distances from the tunnel entrance. Comparative analysis of the blast wave parameters in the tunnel revealed that the explosive equivalent of the cylindrical charges was significantly higher than that of the spherical charges. To address this, an equivalent coefficient κ based on the spherical charges was proposed for the cylindrical charges. Subsequently, numerical simulations were conducted for the experimental conditions, and the numerical simulation results match the experiments well. Through numerical calculations, the reliability of the equivalent coefficient κ under the experimental conditions was verified, and comparison analysis indicated that the explosion energy of cylindrical charges spreads more radially, resulting in more explosion energy entering the tunnel, which is the fundamental reason for the increase in tunnel blast wave loads. Additionally, analyzing the explosion energy ratio entering the tunnel is an effective method for calculating the equivalent coefficient κ. Finally, through more than one hundred sets of numerical calculation results, the impact of the proportional distance λ and the ratio of charge mass to the tunnel cross-section dimension φ on the equivalence coefficients κ was investigated. An empirical formula for the equivalence coefficient κ was derived through fitting, and the accuracy of the formula was validated through literature experimental results. The research findings of this paper will provide valuable guidance for the calculation of blast wave loads in tunnel.展开更多
In order to accommodate higher speeds,heavier axle weights,and vibration damping criteria,a new floating slab structure was proposed.The new type of floating slab track structure was composed of three prefabricated fl...In order to accommodate higher speeds,heavier axle weights,and vibration damping criteria,a new floating slab structure was proposed.The new type of floating slab track structure was composed of three prefabricated floating slabs longitudinally interconnected with magnesium ammonium phosphate concrete(MPC).This study investigated the dynamic performance of the structure.We constructd a full-scale indoor experimental model to scrutinize the disparities in the impact performance between a longitudinally connected floating slab track and its longitudinally disconnected counterpart.Additionally,a long-term fatigue experiment was conducted to assess the impact performance of longitudinally connected floating slab tracks under fatigue loading.The findings are described in the following.1)The new structure effectively suppresses ground vibrations,exhibiting a well-balanced energy distribution profile.However,the imposition of fatigue loading leads to a reduction in the damping performance of the steel spring damping system,thereby reducing its capacity to attenuate structural vibrations and leading to an increase in ground vibration energy;2)After 107 loading cycles,the attenuation rate of the vibration acceleration for the MPC increases by 171.9%.Conversely,at the corresponding disconnected location,the attenuation rate of ground vibration acceleration decreases by 65.6%.In conclusion,longitudinally connected floating slab tracks exhibit superior vibration reduction performance.While the vibration reduction performance of longitudinally connected floating slab tracks may diminish to some extent during long-term service,these tracks continue to meet specific vibration reduction requirements.展开更多
This paper investigates the influence of numerical methods and mesh resolution on the prediction accuracy of the aerodynamic behaviors of a 1/20 scaled generic high-speed train(HST)model.A thorough comparison is made ...This paper investigates the influence of numerical methods and mesh resolution on the prediction accuracy of the aerodynamic behaviors of a 1/20 scaled generic high-speed train(HST)model.A thorough comparison is made between partially averaged Navier-Stokes(PANS),large eddy simulation(LES),and wind tunnel experiments,covering aerodynamic forces,surface pressure,velocity distribution,and Reynolds stress and turbulent kinetic energy in the wake region.The Reynolds number for both simulations and experiments is set to 4.75×10^(5).The results show that the PANS approach accurately predicts flow characteristics observed in experiments and fine LES calculations,even with a low resolution grid.PANS exhibits a distinct advantage over LES when grid resolutions are insufficient for resolving near wall flow structures around the HST,both in open-air conditions and crosswind environments.Additionally,grid refinement improves the predictive accuracy of the HST's aerodynamic performance,particularly in the presence of small yaw angle.展开更多
William Blake’s "Infant Joy" and its companion poem "Infant Sorrow" present both an innocent way and an experienced way of seeing the newborn babies. This paper analyzes how different choice of di...William Blake’s "Infant Joy" and its companion poem "Infant Sorrow" present both an innocent way and an experienced way of seeing the newborn babies. This paper analyzes how different choice of diction, the creation of contrasting scenes and tones as well as the deliberate use of different rhyme schemes contribute to establishing their contrasting themes and enabling the readers to see this special moment of human experience innocently or with experience.展开更多
基金supported by the National Natural Science Foundation of China (61070143 61173088)
文摘For multi-agent reinforcement learning in Markov games, knowledge extraction and sharing are key research problems. State list extracting means to calculate the optimal shared state path from state trajectories with cycles. A state list extracting algorithm checks cyclic state lists of a current state in the state trajectory, condensing the optimal action set of the current state. By reinforcing the optimal action selected, the action policy of cyclic states is optimized gradually. The state list extracting is repeatedly learned and used as the experience knowledge which is shared by teams. Agents speed up the rate of convergence by experience sharing. Competition games of preys and predators are used for the experiments. The results of experiments prove that the proposed algorithms overcome the lack of experience in the initial stage, speed up learning and improve the performance.
基金supported by the Key Research and Development Program of Shaanxi (2022GXLH-02-09)the Aeronautical Science Foundation of China (20200051053001)the Natural Science Basic Research Program of Shaanxi (2020JM-147)。
文摘Autonomous umanned aerial vehicle(UAV) manipulation is necessary for the defense department to execute tactical missions given by commanders in the future unmanned battlefield. A large amount of research has been devoted to improving the autonomous decision-making ability of UAV in an interactive environment, where finding the optimal maneuvering decisionmaking policy became one of the key issues for enabling the intelligence of UAV. In this paper, we propose a maneuvering decision-making algorithm for autonomous air-delivery based on deep reinforcement learning under the guidance of expert experience. Specifically, we refine the guidance towards area and guidance towards specific point tasks for the air-delivery process based on the traditional air-to-surface fire control methods.Moreover, we construct the UAV maneuvering decision-making model based on Markov decision processes(MDPs). Specifically, we present a reward shaping method for the guidance towards area and guidance towards specific point tasks using potential-based function and expert-guided advice. The proposed algorithm could accelerate the convergence of the maneuvering decision-making policy and increase the stability of the policy in terms of the output during the later stage of training process. The effectiveness of the proposed maneuvering decision-making policy is illustrated by the curves of training parameters and extensive experimental results for testing the trained policy.
文摘Since its establishment about ten years ago, TEDA has taken advantage of eachopportune time created by China’s policy of opening wider and wider to the outsideworld and the rapid economic growth to deepen its reform and extend its exploitation,and thus has maintained a favorable momentum and an extraordinary high speed foreconomic development. With the total economic output of the whole area raised to
文摘Sequestration of carbon dioxide(CO<sub>2</sub>)in deep,unminable coalseam is an innovative technology,because it can not only reduce greenhouse gas in the atmosphere,but also enhance coalbed methane recovery(CO<sub>2</sub>-ECBM).Lots of research have been carried out on this topic in recent years.
文摘Contemporary Chinese political research usually adopts three basic methods of field investigation,theoretical creation and practical participation,which respectively correspond to the life logic,theoretical logic and practical logic in political functioning.Field investigation has become an important approach to"understanding Chinese politics"and promoting the localization of contemporary Chinese political research.Meanwhile,the new perspective of theoretical field besides empirical field marks the self-awareness and transition of the methodology in Chinese political research.To study Chinese experience itself,we should not only consciously focus upon China,but also continuously promote experience based on field research,as well as perfect and improve the research through the interaction between experience,theory and practice.The popular paradigms at home and abroad,including"authoritarianism"and"a developmental country",fail to explain Chinese experience and Chinese political development,so we still need a theoretical paradigm more appropriate to Chinese experience and practice.
基金supported by the National Key Research and Development Program of China(No.2022YFB4300902).
文摘As joint operations have become a key trend in modern military development,unmanned aerial vehicles(UAVs)play an increasingly important role in enhancing the intelligence and responsiveness of combat systems.However,the heterogeneity of aircraft,partial observability,and dynamic uncertainty in operational airspace pose significant challenges to autonomous collision avoidance using traditional methods.To address these issues,this paper proposes an adaptive collision avoidance approach for UAVs based on deep reinforcement learning.First,a unified uncertainty model incorporating dynamic wind fields is constructed to capture the complexity of joint operational environments.Then,to effectively handle the heterogeneity between manned and unmanned aircraft and the limitations of dynamic observations,a sector-based partial observation mechanism is designed.A Dynamic Threat Prioritization Assessment algorithm is also proposed to evaluate potential collision threats from multiple dimensions,including time to closest approach,minimum separation distance,and aircraft type.Furthermore,a Hierarchical Prioritized Experience Replay(HPER)mechanism is introduced,which classifies experience samples into high,medium,and low priority levels to preferentially sample critical experiences,thereby improving learning efficiency and accelerating policy convergence.Simulation results show that the proposed HPER-D3QN algorithm outperforms existing methods in terms of learning speed,environmental adaptability,and robustness,significantly enhancing collision avoidance performance and convergence rate.Finally,transfer experiments on a high-fidelity battlefield airspace simulation platform validate the proposed method's deployment potential and practical applicability in complex,real-world joint operational scenarios.
基金National Natural Science Foundation of China(Grant Nos.12172179,11802141 and U2341244)National Natural Science Foundation for Young Scientists of China(Grant No.12202207)+3 种基金China Postdoctoral Science Foundation(Grant No.2022M711623)Natural Science Foundation of Jiangsu Province(Grant No.BK20220968)Open Funds for Key Laboratory of Impact and Safety Engineering(Ningbo University),Ministry of Education(Grant No.CJ202201)Open Funds for Shock and Vibration of Engineering Materials and Structures Key Laboratory of Sichuan Province(Grant No.22kfgk03)。
文摘Aramid fibers,due to their relatively high inter-yarn friction,high strength,high modulus,and other characteristics,have become a typical representative of flexible anti-ballistic materials in modern warfare.Current research on the anti-penetration of aramid fabrics mostly focuses unilaterally on the structure and performance of aramid fabrics or the shape and size of projectiles,with fewer studies on the coupled effect of both on ballistic performance.This study analyzes how the coupling relationship(or size effect)between the projectile and fiber bundle dimensions affects the fabric ballistic performance from a mesoscopic scale perspective.Taking plain weave aramid fabric as the research object,considering different diameter projectiles,through a large number of ballistic impact tests and numerical simulations,parameters such as ballistic limit velocity,average energy absorption of fabric,and specific energy absorption ratio(average energy absorption of fabric divided by projectile cross-sectional area)are obtained for ballistic performance analysis.The influence law of projectile size on the ballistic performance of high-performance fabrics is as follows:The relative range of fitted ballistic limit velocity at different target positions gradually decreases and then stabilizes as the projectile diameter increases,indicating that the fabric structure effect gradually disappears at a projectile diameter of 12 mm;The average ballistic limit velocity at three impact positions,P1,P2,and P3,provides the corresponding ballistic limit velocity for 1000D aramid fabric,which increases with projectile diameter but the rate of increase slows down at an inflection point,which in this study occurs where the fabric structure effect nearly disappears at a projectile diameter of 12 mm;The energy absorption ratio increases and then decreases as the projectile diameter increases from 4 mm to 20 mm,reaching a peak at the diameter of 12 mm due to the gradual disappearance of the fabric structural effect.The projectile diameter of 12 mm corresponds to the coupling size of 11.159,which provides a size design reference for the macroscopic-based continuum models of aramid plain weave fabrics.
基金funded by the"14th Five-Year Plan"Civil Aerospace Pre-research Project of China(Grant No.D010301).
文摘Reusable and flexible capturing of space debris is highly required in future aerospace technologies.A tendon-actuated flexible robotic arm is therefore proposed for capturing floating targets in this paper.Firstly,an accurate dynamic model of the flexible robotic arm is established by using the absolute nodal coordinate formulation(ANCF)in the framework of the arbitrary Lagrangian-Eulerian(ALE)description and the natural coordinate formulation(NCF).The contact and self-contact dynamics of the flexible robotic arm when bending and grasping an object are considered via a fast contact detection approach.Then,the dynamic simulations of the flexible robotic arm for capturing floating targets are carried out to study the influence of the position,size,and mass of the target object on the grasping performance.Finally,a principle prototype of the tendon-actuated flexible robotic arm is manufactured to validate the dynamic model.The corresponding grasping experiments for objects of various shapes are also conducted to illustrate the excellent performance of the flexible robotic arm.
基金supported by the National Key R&D Program of China(2022YFA1602200)the International Partnership Program of the Chinese Academy of Sciences(211134KYSB20200057).
文摘The study of the charge conjugation and parity(CP)violation of hyperon is the precision frontier for probing possible new CP violation sources beyond the standard model(SM).With the large number of quantum entangled hyperonantihyperon pairs to be produced at Super Tau-Charm Facility(STCF),the CP asymmetry of hyperon is expected to be tested with a statistical sensitivity of 10^(−4) or even better.To cope with the statistical precision,the systematic effects from various aspects are critical and need to be studied in detail.In this paper,the sensitivity effects on the CP violation parameters associated with the detector resolution,including those of the position and momentum,are studied and discussed in detail.The results provide valuable guidance for the design of STCF detector.
文摘Correction:J Cotton Res 8,27(2025)https://doi.org/10.1186/s42397-025-00228-y During the publication process of the original article(Soltani Toularoud et al.2025),the article title has been wrongly captured.Te article title should be corrected from:of butisanstar and clopyralid herbicides on Gos-sypium hirsutum L.growth:insights from a pot experiment to:Residual efects of butisanstar and clopyralid herbi-cides on Gossypium hirsutum L.growth:insights from a pot experiment Te original article(Soltani Toularoud et al.2025)has been updated.Te publisher apologizes to the authors and readers for the inconvenience caused.
基金the National Natural Science Foundation of China(Grant Nos.62303348 and 62173242)the Aeronautical Science Foundation of China(Grant No.2024M071048002)the National Science Fund for Distinguished Young Scholars(Grant No.62225308)to provide fund for conducting experiments.
文摘Multiple quadrotors target encirclement is widely used in the intelligent field,as it can effectively monitor and control target behavior.However,it faces the danger of collision,as well as difficulties in localization and tracking.Therefore,we propose a complete target encirclement method.Firstly,based on Hooke's law,a collision avoidance controller is designed to maintain a safe flying distance among quadrotors.Then,based on the consensus theory,a formation tracking controller is designed to meet the requirements of formation transformation and encirclement tasks,and a stability proof based on Lyapunov was provided.Besides,the target detection is designed based on YOLOv5s,and the target location model is constructed based on the principle of pinhole projection and triangle similarity.Finally,we conducted experiments on the built platform,with 3 reconnaissance quadrotors detecting and localization 3 target vehicles and 7 hunter quadrotors tracking them.The results show that the minimum average error for localization targets with reconnaissance quadrotors can reach 0.1354 m,while the minimum average error for tracking with hunter quadrotors is only 0.2960 m.No quadrotors collision occurred in the whole formation transformation and tracking experiment.In addition,compared with the advanced methods,the proposed method has better performance.
基金Projects(51927807,52074164,42477166,42077267,42277174)supported by the National Natural Science Foundation of ChinaProject(2024JCCXSB01)supported by the Fundamental Research Funds for the Central Universities,ChinaProject(KFJJ24-01M)supported by the State Key Laboratory of Explosion Science and Safety Protection,Beijing Institute of Technology,China。
文摘Rockburst is a common disaster in deep underground engineering,which seriously impacts project construction safety.Understanding its causes and burst resistance mechanism is of significance for rockburst prevention and mitigation.We developed a new type of high strength,large elongation,and strong energy-absorbing material,and conducted comparative tests on both basic and anchored rock specimens with such material.We analyzed the rockburst process,energy release and peak stress of the rock,and force and deformation withstood by the energy-absorbing bolts.The experimental results show that the energy reduction rate of the rocks reinforced by energy-absorbing bolts is more than 80%,compared with that of the basic rock.The force exerted on the energy-absorbing bolts increases suddenly when the rockburst occurs,and the strength utilization rates of the energy-absorbing bolts under strain rockburst and impact rockburst conditions are 73.3%and 61.2%,respectively.Rockburst also causes non-uniform shear deformation of the anchor bolt.Based on the rockburst energy criterion,the peak stress of the anchored rock is 2.2 times and 2.5 times the uniaxial compressive strength of the rock,respectively,under strain rockburst and impact rockburst conditions.The energy required for rockburst is 396.0 and 478.4 kJ/m^(3),respectively.The energy-anchoring bolts can effectively reduce the likelihood of rockburst.The results can provide a reference for support design for burst-prone rock in underground engineering.
文摘Most of the existing studies on tunnel blast wave are based on spherical or grouped charges, however,conventional weapons are mostly cylindrical rather than spherical. In order to analyze the impact of cylindrical charges on the tunnel blast wave loads and to develop a quantitative calculation method, this study carried out experimental and numerical research. Initially, external explosion experiments were conducted using both 35 kg spherical charges and cylindrical charges with aspect ratio of 4.8 at two different distances from the tunnel entrance. Comparative analysis of the blast wave parameters in the tunnel revealed that the explosive equivalent of the cylindrical charges was significantly higher than that of the spherical charges. To address this, an equivalent coefficient κ based on the spherical charges was proposed for the cylindrical charges. Subsequently, numerical simulations were conducted for the experimental conditions, and the numerical simulation results match the experiments well. Through numerical calculations, the reliability of the equivalent coefficient κ under the experimental conditions was verified, and comparison analysis indicated that the explosion energy of cylindrical charges spreads more radially, resulting in more explosion energy entering the tunnel, which is the fundamental reason for the increase in tunnel blast wave loads. Additionally, analyzing the explosion energy ratio entering the tunnel is an effective method for calculating the equivalent coefficient κ. Finally, through more than one hundred sets of numerical calculation results, the impact of the proportional distance λ and the ratio of charge mass to the tunnel cross-section dimension φ on the equivalence coefficients κ was investigated. An empirical formula for the equivalence coefficient κ was derived through fitting, and the accuracy of the formula was validated through literature experimental results. The research findings of this paper will provide valuable guidance for the calculation of blast wave loads in tunnel.
基金Project(2022-Major-14)supported by the Science and Technology Research and Development Program Project of China Railway Group Limited。
文摘In order to accommodate higher speeds,heavier axle weights,and vibration damping criteria,a new floating slab structure was proposed.The new type of floating slab track structure was composed of three prefabricated floating slabs longitudinally interconnected with magnesium ammonium phosphate concrete(MPC).This study investigated the dynamic performance of the structure.We constructd a full-scale indoor experimental model to scrutinize the disparities in the impact performance between a longitudinally connected floating slab track and its longitudinally disconnected counterpart.Additionally,a long-term fatigue experiment was conducted to assess the impact performance of longitudinally connected floating slab tracks under fatigue loading.The findings are described in the following.1)The new structure effectively suppresses ground vibrations,exhibiting a well-balanced energy distribution profile.However,the imposition of fatigue loading leads to a reduction in the damping performance of the steel spring damping system,thereby reducing its capacity to attenuate structural vibrations and leading to an increase in ground vibration energy;2)After 107 loading cycles,the attenuation rate of the vibration acceleration for the MPC increases by 171.9%.Conversely,at the corresponding disconnected location,the attenuation rate of ground vibration acceleration decreases by 65.6%.In conclusion,longitudinally connected floating slab tracks exhibit superior vibration reduction performance.While the vibration reduction performance of longitudinally connected floating slab tracks may diminish to some extent during long-term service,these tracks continue to meet specific vibration reduction requirements.
基金Project(2024YFB4303300)supported by the National Key R&D Program of ChinaProject(52202429)supported by the National Natural Science Foundation of ChinaProject(2023JJ40747)supported by the Natural Science Foundation of Hunan Province,China。
文摘This paper investigates the influence of numerical methods and mesh resolution on the prediction accuracy of the aerodynamic behaviors of a 1/20 scaled generic high-speed train(HST)model.A thorough comparison is made between partially averaged Navier-Stokes(PANS),large eddy simulation(LES),and wind tunnel experiments,covering aerodynamic forces,surface pressure,velocity distribution,and Reynolds stress and turbulent kinetic energy in the wake region.The Reynolds number for both simulations and experiments is set to 4.75×10^(5).The results show that the PANS approach accurately predicts flow characteristics observed in experiments and fine LES calculations,even with a low resolution grid.PANS exhibits a distinct advantage over LES when grid resolutions are insufficient for resolving near wall flow structures around the HST,both in open-air conditions and crosswind environments.Additionally,grid refinement improves the predictive accuracy of the HST's aerodynamic performance,particularly in the presence of small yaw angle.
文摘William Blake’s "Infant Joy" and its companion poem "Infant Sorrow" present both an innocent way and an experienced way of seeing the newborn babies. This paper analyzes how different choice of diction, the creation of contrasting scenes and tones as well as the deliberate use of different rhyme schemes contribute to establishing their contrasting themes and enabling the readers to see this special moment of human experience innocently or with experience.
