Up to present,the problem of the evaluation of fault diagnosability for nonlinear systems has been investigated by many researchers.However,no attempt has been done to evaluate the diagnosability of multiple faults oc...Up to present,the problem of the evaluation of fault diagnosability for nonlinear systems has been investigated by many researchers.However,no attempt has been done to evaluate the diagnosability of multiple faults occurring simultaneously for nonlinear systems.This paper proposes a method based on differential geometry theories to solve this problem.Then the evaluation of fault diagnosability for affine nonlinear systems with multiple faults occurring simultaneously is achieved.To deal with the effect of control laws on the evaluation results of fault diagnosability,a design scheme of the evaluation of fault diagnosability is proposed.Then the influence of uncertainties on the evaluation results of fault diagnosability for affine nonlinear systems with multiple faults occurring simultaneously is analyzed.The numerical simulation results are obtained to show the effectiveness of the proposed evaluation scheme of fault diagnosability.展开更多
The volatile and semi-volatile components in tobacco flavor additives were extracted by both simultaneous distillation extraction and solid-phase micro-extraction. Extraction conditions for solid-phase micro-extractio...The volatile and semi-volatile components in tobacco flavor additives were extracted by both simultaneous distillation extraction and solid-phase micro-extraction. Extraction conditions for solid-phase micro-extraction were optimized with information theory. Then, detection were accomplished by gas chromatography-mass spectrometry. Characteristic of each method was compared. Qualitative analysis and quantitative analysis of 6# tobacco flavor sample were accomplished through both simultaneous distillation extraction and solid-phase micro-extraction. The experimental results show that solid-phase micro-extraction method is the first choice for qualitative analysis and simultaneous distillation extraction is another good selection for quantitative analysis. By means of simultaneous distillation extraction, 20 components are identified, accounting for 92.77% of the total peak areas. Through solid-phase micro-extraction, there are 17 components identified accounting for 91.49% of the total peak areas. The main aromatic components in 6# tobacco flavor sample are propanoic acid, 2-hydroxy-, ethyl ester, menthol and menthyl acetate. The presented method has been successfully used for quality control of tobacco flavor.展开更多
An extended Kalman filter approach of simultaneous localization and mapping(SLAM) was proposed based on local maps. A local frame of reference was established periodically at the position of the robot, and then the ob...An extended Kalman filter approach of simultaneous localization and mapping(SLAM) was proposed based on local maps. A local frame of reference was established periodically at the position of the robot, and then the observations of the robot and landmarks were fused into the global frame of reference. Because of the independence of the local map, the approach does not cumulate the estimate and calculation errors which are produced by SLAM using Kalman filter directly. At the same time, it reduces the computational complexity. This method is proven correct and feasible in simulation experiments.展开更多
Reagents are optimized for the simultaneous determination of trace amounts of Cu^(2+), Cd^(2+) and Co^(2+) in zinc sulfate solution, which contains an extremely large excess of Zn^(2+). First, the reagents and their d...Reagents are optimized for the simultaneous determination of trace amounts of Cu^(2+), Cd^(2+) and Co^(2+) in zinc sulfate solution, which contains an extremely large excess of Zn^(2+). First, the reagents and their doses for the experiment are selected according to the characteristics of the zinc sulfate solution. Then, the reagent doses are optimized by analyzing the influence of reagent dose on the polarographic parameters(i.e. half-wave potential E_(1/2) and limiting diffusion current I_p). Finally, the optimization results are verified by simultaneously determining trace amounts of Cu^(2+), Cd^(2+) and Co^(2+) in the presence of an extremely large excess of Zn^(2+). The determination results indicate that the optimized reagents exhibit wide linearity, low detection limits, high accuracy and good precision for the simultaneous determination of trace amounts of Cu^(2+), Cd^(2+) and Co^(2+) in the presence of an extremely large excess of Zn^(2+).展开更多
A synthesis method for global stability and performance of input constrained linear systems, which uses a linear outputfeedback controller and a static anti-windup compensator is investigated. Different from the tradi...A synthesis method for global stability and performance of input constrained linear systems, which uses a linear outputfeedback controller and a static anti-windup compensator is investigated. Different from the traditional two-step anti-windup design procedure, the proposed method synthesizes all controller parameters simultaneously. Sufficient conditions for global stability and minimizing the induced L2 gain are formulated and solved as a linear matrix inequalities（LMIs） optimization problem, which also provides an opportunity to search for a better performance tradeoff between the linear controller and the anti-windup compensator.The well-posedness of the close-loop system is also guaranteed.Simulation results show the effectiveness of the proposed method.展开更多
At present,simultaneous localization and mapping(SLAM) for an autonomous underwater vehicle(AUV)is a research hotspot.Aiming at the problem of non-linear model and non-Gaussian noise in AUV motion,an improved method o...At present,simultaneous localization and mapping(SLAM) for an autonomous underwater vehicle(AUV)is a research hotspot.Aiming at the problem of non-linear model and non-Gaussian noise in AUV motion,an improved method of variance reduction fast simultaneous localization and mapping(FastSLAM) with simulated annealing is proposed to solve the problems of particle degradation,particle depletion and particle loss in traditional FastSLAM,which lead to the reduction of AUV location estimation accuracy.The adaptive exponential fading factor is generated by the anneal function of simulated annealing algorithm to improve the effective particle number and replace resampling.By increasing the weight of small particles and decreasing the weight of large particles,the variance of particle weight can be reduced,the number of effective particles can be increased,and the accuracy of AUV location and feature location estimation can be improved to some extent by retaining more information carried by particles.The experimental results based on trial data show that the proposed simulated annealing variance reduction FastSLAM method avoids particle degradation,maintains the diversity of particles,weakened the degeneracy and improves the accuracy and stability of AUV navigation and localization system.展开更多
Mining operation, especially underground coal mining, always has the remarkable risks of ground control. Passive seismic velocity tomography based on simultaneous iterative reconstructive technique （SIRT） inversion ...Mining operation, especially underground coal mining, always has the remarkable risks of ground control. Passive seismic velocity tomography based on simultaneous iterative reconstructive technique （SIRT） inversion is used to deduce the stress redistribution around the longwall mining panel. The mining-induced microseismic events were recorded by mounting an array of receivers on the surface, above the active panel. After processing and filtering the seismic data, the three-dimensional tomography images of the p-wave velocity variations by SIRT passive seismic velocity tomography were provided. To display the velocity changes on coal seam level and subsequently to infer the stress redistribution, these three-dimensional tomograms into the coal seam level were sliced. In addition, the boundary element method （BEM） was used to simulate the stress redistribution. The results show that the inferred stresses from the passive seismic tomograms are conformed to numerical models and theoretical concept of the stress redistribution around the longwall panel. In velocity tomograms, the main zones of the stress redistribution arotmd the panel, including front and side abutment pressures, and gob stress are obvious and also the movement of stress zones along the face advancement is evident. Moreover, the effect of the advance rate of the face on the stress redistribution is demonstrated in tomography images. The research result proves that the SIRT passive seismic velocity tomography has an ultimate potential for monitoring the changes of stress redistribution around the longwall mining panel continuously and subsequently to improve safety of mining operations.展开更多
Immune evolutionary algorithms with domain knowledge were presented to solve the problem of simultaneous localization and mapping for a mobile robot in unknown environments. Two operators with domain knowledge were de...Immune evolutionary algorithms with domain knowledge were presented to solve the problem of simultaneous localization and mapping for a mobile robot in unknown environments. Two operators with domain knowledge were designed in algorithms, where the feature of parallel line segments without the problem of data association was used to construct a vaccination operator, and the characters of convex vertices in polygonal obstacle were extended to develop a pulling operator of key point grid. The experimental results of a real mobile robot show that the computational expensiveness of algorithms designed is less than other evolutionary algorithms for simultaneous localization and mapping and the maps obtained are very accurate. Because immune evolutionary algorithms with domain knowledge have some advantages, the convergence rate of designed algorithms is about 44% higher than those of other algorithms.展开更多
Based on the impact of the stress perturbation effect created by simultaneous propagation of multiple fractures in the process of simultaneous hydraulic fracturing, a thorough research on the mechanism and adaptation ...Based on the impact of the stress perturbation effect created by simultaneous propagation of multiple fractures in the process of simultaneous hydraulic fracturing, a thorough research on the mechanism and adaptation of simultaneous fracturing of double horizontal wells in ultra-low permeability sandstone reservoirs was conducted by taking two adjacent horizontal wells(well Yangping-1 and well Yangping-2 located in Longdong area of China Changqing Oilfield) as field test wells. And simultaneous fracturing optimal design of two adjacent horizontal wells was finished and employed in field test. Micro-seismic monitoring analysis of fracture propagation during the stimulation treatment shows that hydraulic fractures present a pattern of complicated network expansion, and the well test data after fracturing show that the daily production of well Yangping-1 and well Yangping-2 reach105.8 t/d and 87.6 t/d, which are approximately 9.4 times and 7.8 times the daily production of a fractured vertical well in the same area, respectively. Field test reflects that simultaneous hydraulic fracturing of two adjacent horizontal wells can enlarge the expansion area of hydraulic fractures to obtain a lager drainage area and realize the full stimulation of ultra-low permeability sandstone reservoirs in China Changqing oilfield. Therefore, simultaneous fracturing of two adjacent horizontal wells provides a good opportunity in stimulation techniques for the efficient development of ultra-low permeability reservoirs in China Changqing oilfield,and it has great popularization value and can provide a new avenue for the application of stimulation techniques in ultra-low permeability reservoirs in China.展开更多
In order to improve the design level of partially embedded single piles under simultaneous axial and lateral loads, the differential solutions were deduced, in which the soil was treated as an ideal, elastic, homogene...In order to improve the design level of partially embedded single piles under simultaneous axial and lateral loads, the differential solutions were deduced, in which the soil was treated as an ideal, elastic, homogeneous, semi-infinite isotropic medium. A comparison was made between model test results and the obtained solutions to show their validity. The calculation results indicate that the horizontal displacement and bending moment of the pile increase with increases of the axial and lateral loads. The maximum horizontal displacement and bending moment decrease by 37.9% and 13.9%, respectively, when the elastic modulus of soil increases from 4 MPa to 20 MPa. The Poisson ratio of soil plays a marginal role in pile responses. There is a critical pile length under the ground, beyond which the pile behaves as though it was infinitely long. The presented solutions can make allowance for the continuous nature of soil, and if condition permits, they can approach exact ones.展开更多
To compare the adsorption kinetics of Cu, Zn and Cd introduced into red soils simultaneously and sequentially as well as their distribution coefficients, the ability of red soils to retain heavy metals was evaluated b...To compare the adsorption kinetics of Cu, Zn and Cd introduced into red soils simultaneously and sequentially as well as their distribution coefficients, the ability of red soils to retain heavy metals was evaluated by performing batch experiments. The results indicate that Cu is preferentially adsorbed by red soils no matter in simultaneous or in sequential situation. The adsorption amount of Cd is the minimum in simultaneous competitive adsorption experiment. As heavy metals are added into red soils sequentially, the heavy metal adsorptions are relatively hard to reach equilibrium in 2 h. Red soils retain more Cd than Zn, which is opposite to the result in simultaneous adsorption. The addition sequences of heavy metals affect their adsorbed amounts in red soils to a certain extent. The joint distribution coefficients of metals in simultaneous adsorption are slightly higher than those in sequential adsorption.展开更多
An active set truncated-Newton algorithm (ASTNA) is proposed to solve the large-scale bound constrained sub-problems. The global convergence of the algorithm is obtained and two groups of numerical experiments are mad...An active set truncated-Newton algorithm (ASTNA) is proposed to solve the large-scale bound constrained sub-problems. The global convergence of the algorithm is obtained and two groups of numerical experiments are made for the various large-scale problems of varying size. The comparison results between ASTNA and the subspace limited memory quasi-Newton algorithm and between the modified augmented Lagrange multiplier methods combined with ASTNA and the modified barrier function method show the stability and effectiveness of ASTNA for simultaneous optimization of distillation column.展开更多
A newly designed approach of simultaneous stabilization is given for linear discrete time-delay systems. The problem of stabilization for a collection of systems is discussed initially. Adequate condition are obtained...A newly designed approach of simultaneous stabilization is given for linear discrete time-delay systems. The problem of stabilization for a collection of systems is discussed initially. Adequate condition are obtained in terms of linear matrix inequalities （LMIs） which are independent of time delays such that the resultant collection of discrete time-delay systems are stable with an upper bound of the quadratic performance index. Subsequently, controllers are designed such that the resultant closed-loop discrete time-delay systems are simultaneously stabilized with the upper bound of the quadratic performance index. Finally,a numerical example is given to illustrate the design method.展开更多
As competition in the market for discrete part prod uc ts gets harder and harder the requirements for extreme manufacturing operati on efficiencies get increasingly accentuated. Therefore requirements for well behaved...As competition in the market for discrete part prod uc ts gets harder and harder the requirements for extreme manufacturing operati on efficiencies get increasingly accentuated. Therefore requirements for well behaved manufacturing operation control get more and more significant. The purpose of the paper is to establish a framework for development of formal m ethods for design of systems for simultaneous control of continuous manufacturin g task processes and resource allocation of discrete part manufacturing. In the paper states which are needed for feedback control of continuous manufact uring task processes are defined and an example is presented. States which are necessary for feedback control of distribution of manufacturing resources are defined. The definition is based on the states defined for feedba ck control of the continuous processes of discrete part manufacturing tasks. An exemple is presented. Based on use of the state variables two types of equations are described, the pu rpose of which it is to represent the constraints to which control of the manufa cturing system is subject. Characteristic instances of the equations are presen ted. Methods for design of systems which can control continuous tasks are presented. Methods for design of systems which can control resource allocation are presente d. Methods for design of systems which can simultaneously control continuous tas k processes and resource allocation as the resource allocation is subject to con tinuos task execution constraints are presented.展开更多
在智慧矿山建设的背景下,智能化设备的应用日益成为矿山智慧化改造的主要内容,用于巡检、危险区域勘测等任务的煤矿井下智能机器人运行依赖于数字地图构建和机器人自身定位,但大多数传统的定位方法在煤矿井下出现了低效甚至失效的情况,...在智慧矿山建设的背景下,智能化设备的应用日益成为矿山智慧化改造的主要内容,用于巡检、危险区域勘测等任务的煤矿井下智能机器人运行依赖于数字地图构建和机器人自身定位,但大多数传统的定位方法在煤矿井下出现了低效甚至失效的情况,同步定位与建图技术(Simultaneous Localization and Mapping,SLAM)成为了煤矿井下智能机器人定位方法的较优选择。然而,受制于激光雷达的高成本,以及相机在井下的低光照环境性能不佳,需要设计一种兼顾低成本和具有井下低光照环境适应性的SLAM定位方法,故提出了一种具有井下暗光照适应性煤矿井下机器人定位方法。首先,采集了陕西省宝鸡市凤县某煤矿井下的实景图像和SLAM所需的相机与IMU数据,根据图像制作了非匹配的暗光与正常光数据集,经过数据扩增达到3560张图像。设计了结合自注意力模块的EnlightenGAN图像增强网络,在不依赖配对数据集的情况下兼顾图像不同区域的依赖关系应对图像光照不均区域。在ORB-SLAM3框架的基础上,引入全局部图像检测对输入图像进行筛分,引入基于解析解的IMU初始化改进策略提高初始化速度,并引入了改进的图像增强网络对低光照以及光照不均的图像进行增强处理。在EuRoC数据集上的试验表明,基于图像增强的煤矿井下智能机器人定位方法能够在低光照环境下降低13.7%的ERMS和15.24%的ESD。在2个实际煤矿巷道场景中,系统能够识别低光照环境、增加SLAM系统提取的特征点数量,减少定位轨迹的漂移现象,最终改善系统在巷道低光照区域的定位效果。展开更多
煤矿井下视觉同步定位与地图构建SLAM(Simultaneous Localization and Mapping)应用中,光照变化与低纹理场景严重影响特征点的提取和匹配结果,导致位姿估计失败,影响定位精度。提出一种基于改进定向快速旋转二值描述符ORB(Oriented Fast...煤矿井下视觉同步定位与地图构建SLAM(Simultaneous Localization and Mapping)应用中,光照变化与低纹理场景严重影响特征点的提取和匹配结果,导致位姿估计失败,影响定位精度。提出一种基于改进定向快速旋转二值描述符ORB(Oriented Fast and Rotated Brief)-SLAM3算法的煤矿井下移动机器人双目视觉定位算法SL-SLAM。针对光照变化场景,在前端使用光照稳定性的Super-Point特征点提取网络替换原始ORB特征点提取算法,并提出一种特征点网格限定法,有效剔除无效特征点区域,增加位姿估计稳定性。针对低纹理场景,在前端引入稳定的线段检测器LSD(Line Segment Detector)线特征提取算法,并提出一种点线联合算法,按照特征点网格对线特征进行分组,根据特征点的匹配结果进行线特征匹配,降低线特征匹配复杂度,节约位姿估计时间。构建了点特征和线特征的重投影误差模型,在线特征残差模型中添加角度约束,通过点特征和线特征的位姿增量雅可比矩阵建立点线特征重投影误差统一成本函数。局部建图线程使用ORB-SLAM3经典的局部优化方法调整点、线特征和关键帧位姿,并在后端线程中进行回环修正、子图融合和全局捆绑调整BA(Bundle Adjustment)。在EuRoC数据集上的试验结果表明,SL-SLAM的绝对位姿误差APE(Absolute Pose Error)指标优于其他对比算法,并取得了与真值最接近的轨迹预测结果:均方根误差相较于ORB-SLAM3降低了17.3%。在煤矿井下模拟场景中的试验结果表明,SL-SLAM能适应光照变化和低纹理场景,可以满足煤矿井下移动机器人的定位精度和稳定性要求。展开更多
基金the Natural Science Foundation of Fujian Province,China(2019J05024)the Education Department Foundation of Fujian Province,China(JAT170091).
文摘Up to present,the problem of the evaluation of fault diagnosability for nonlinear systems has been investigated by many researchers.However,no attempt has been done to evaluate the diagnosability of multiple faults occurring simultaneously for nonlinear systems.This paper proposes a method based on differential geometry theories to solve this problem.Then the evaluation of fault diagnosability for affine nonlinear systems with multiple faults occurring simultaneously is achieved.To deal with the effect of control laws on the evaluation results of fault diagnosability,a design scheme of the evaluation of fault diagnosability is proposed.Then the influence of uncertainties on the evaluation results of fault diagnosability for affine nonlinear systems with multiple faults occurring simultaneously is analyzed.The numerical simulation results are obtained to show the effectiveness of the proposed evaluation scheme of fault diagnosability.
文摘The volatile and semi-volatile components in tobacco flavor additives were extracted by both simultaneous distillation extraction and solid-phase micro-extraction. Extraction conditions for solid-phase micro-extraction were optimized with information theory. Then, detection were accomplished by gas chromatography-mass spectrometry. Characteristic of each method was compared. Qualitative analysis and quantitative analysis of 6# tobacco flavor sample were accomplished through both simultaneous distillation extraction and solid-phase micro-extraction. The experimental results show that solid-phase micro-extraction method is the first choice for qualitative analysis and simultaneous distillation extraction is another good selection for quantitative analysis. By means of simultaneous distillation extraction, 20 components are identified, accounting for 92.77% of the total peak areas. Through solid-phase micro-extraction, there are 17 components identified accounting for 91.49% of the total peak areas. The main aromatic components in 6# tobacco flavor sample are propanoic acid, 2-hydroxy-, ethyl ester, menthol and menthyl acetate. The presented method has been successfully used for quality control of tobacco flavor.
基金Project(60234030) supported by the National Natural Science Foundation of China project(A1420060159) supported by the National Basic Research
文摘An extended Kalman filter approach of simultaneous localization and mapping(SLAM) was proposed based on local maps. A local frame of reference was established periodically at the position of the robot, and then the observations of the robot and landmarks were fused into the global frame of reference. Because of the independence of the local map, the approach does not cumulate the estimate and calculation errors which are produced by SLAM using Kalman filter directly. At the same time, it reduces the computational complexity. This method is proven correct and feasible in simulation experiments.
基金Projects(61533021,61321003,61273185)supported by the National Natural Science Foundation of ChinaProject(2015CX007)supported by the Innovation-driven Plan in Central South University,ChinaProject(13JJ8003)supported by the Joint Fund of Hunan Provincial Natural Science Foundation of China
文摘Reagents are optimized for the simultaneous determination of trace amounts of Cu^(2+), Cd^(2+) and Co^(2+) in zinc sulfate solution, which contains an extremely large excess of Zn^(2+). First, the reagents and their doses for the experiment are selected according to the characteristics of the zinc sulfate solution. Then, the reagent doses are optimized by analyzing the influence of reagent dose on the polarographic parameters(i.e. half-wave potential E_(1/2) and limiting diffusion current I_p). Finally, the optimization results are verified by simultaneously determining trace amounts of Cu^(2+), Cd^(2+) and Co^(2+) in the presence of an extremely large excess of Zn^(2+). The determination results indicate that the optimized reagents exhibit wide linearity, low detection limits, high accuracy and good precision for the simultaneous determination of trace amounts of Cu^(2+), Cd^(2+) and Co^(2+) in the presence of an extremely large excess of Zn^(2+).
基金supported by the National Natural Science Foundation of China(6107402761273083)
文摘A synthesis method for global stability and performance of input constrained linear systems, which uses a linear outputfeedback controller and a static anti-windup compensator is investigated. Different from the traditional two-step anti-windup design procedure, the proposed method synthesizes all controller parameters simultaneously. Sufficient conditions for global stability and minimizing the induced L2 gain are formulated and solved as a linear matrix inequalities（LMIs） optimization problem, which also provides an opportunity to search for a better performance tradeoff between the linear controller and the anti-windup compensator.The well-posedness of the close-loop system is also guaranteed.Simulation results show the effectiveness of the proposed method.
基金supported by the National Science Fund of China under Grants 61603034China Postdoctoral Science Foundation under Grant 2019M653870XB+1 种基金Beijing Municipal Natural Science Foundation (3182027)Fundamental Research Funds for the Central Universities,China,FRF-GF-17-B44,and XJS191315
文摘At present,simultaneous localization and mapping(SLAM) for an autonomous underwater vehicle(AUV)is a research hotspot.Aiming at the problem of non-linear model and non-Gaussian noise in AUV motion,an improved method of variance reduction fast simultaneous localization and mapping(FastSLAM) with simulated annealing is proposed to solve the problems of particle degradation,particle depletion and particle loss in traditional FastSLAM,which lead to the reduction of AUV location estimation accuracy.The adaptive exponential fading factor is generated by the anneal function of simulated annealing algorithm to improve the effective particle number and replace resampling.By increasing the weight of small particles and decreasing the weight of large particles,the variance of particle weight can be reduced,the number of effective particles can be increased,and the accuracy of AUV location and feature location estimation can be improved to some extent by retaining more information carried by particles.The experimental results based on trial data show that the proposed simulated annealing variance reduction FastSLAM method avoids particle degradation,maintains the diversity of particles,weakened the degeneracy and improves the accuracy and stability of AUV navigation and localization system.
文摘Mining operation, especially underground coal mining, always has the remarkable risks of ground control. Passive seismic velocity tomography based on simultaneous iterative reconstructive technique （SIRT） inversion is used to deduce the stress redistribution around the longwall mining panel. The mining-induced microseismic events were recorded by mounting an array of receivers on the surface, above the active panel. After processing and filtering the seismic data, the three-dimensional tomography images of the p-wave velocity variations by SIRT passive seismic velocity tomography were provided. To display the velocity changes on coal seam level and subsequently to infer the stress redistribution, these three-dimensional tomograms into the coal seam level were sliced. In addition, the boundary element method （BEM） was used to simulate the stress redistribution. The results show that the inferred stresses from the passive seismic tomograms are conformed to numerical models and theoretical concept of the stress redistribution around the longwall panel. In velocity tomograms, the main zones of the stress redistribution arotmd the panel, including front and side abutment pressures, and gob stress are obvious and also the movement of stress zones along the face advancement is evident. Moreover, the effect of the advance rate of the face on the stress redistribution is demonstrated in tomography images. The research result proves that the SIRT passive seismic velocity tomography has an ultimate potential for monitoring the changes of stress redistribution around the longwall mining panel continuously and subsequently to improve safety of mining operations.
基金Projects(60234030 60404021) supported by the National Natural Science Foundation of China
文摘Immune evolutionary algorithms with domain knowledge were presented to solve the problem of simultaneous localization and mapping for a mobile robot in unknown environments. Two operators with domain knowledge were designed in algorithms, where the feature of parallel line segments without the problem of data association was used to construct a vaccination operator, and the characters of convex vertices in polygonal obstacle were extended to develop a pulling operator of key point grid. The experimental results of a real mobile robot show that the computational expensiveness of algorithms designed is less than other evolutionary algorithms for simultaneous localization and mapping and the maps obtained are very accurate. Because immune evolutionary algorithms with domain knowledge have some advantages, the convergence rate of designed algorithms is about 44% higher than those of other algorithms.
基金Project(51404204)supported by the National Natural Science Foundation of ChinaProject(20135121120002)supported by Specialized Research Fund for the Doctoral Program of Higher Education of ChinaProject(2014QHZ005)supported by Scientific Research Starting Projecting of SWPU,China
文摘Based on the impact of the stress perturbation effect created by simultaneous propagation of multiple fractures in the process of simultaneous hydraulic fracturing, a thorough research on the mechanism and adaptation of simultaneous fracturing of double horizontal wells in ultra-low permeability sandstone reservoirs was conducted by taking two adjacent horizontal wells(well Yangping-1 and well Yangping-2 located in Longdong area of China Changqing Oilfield) as field test wells. And simultaneous fracturing optimal design of two adjacent horizontal wells was finished and employed in field test. Micro-seismic monitoring analysis of fracture propagation during the stimulation treatment shows that hydraulic fractures present a pattern of complicated network expansion, and the well test data after fracturing show that the daily production of well Yangping-1 and well Yangping-2 reach105.8 t/d and 87.6 t/d, which are approximately 9.4 times and 7.8 times the daily production of a fractured vertical well in the same area, respectively. Field test reflects that simultaneous hydraulic fracturing of two adjacent horizontal wells can enlarge the expansion area of hydraulic fractures to obtain a lager drainage area and realize the full stimulation of ultra-low permeability sandstone reservoirs in China Changqing oilfield. Therefore, simultaneous fracturing of two adjacent horizontal wells provides a good opportunity in stimulation techniques for the efficient development of ultra-low permeability reservoirs in China Changqing oilfield,and it has great popularization value and can provide a new avenue for the application of stimulation techniques in ultra-low permeability reservoirs in China.
基金Projects(50708093,51208409)supported by the National Natural Science Foundation of ChinaProject(DB01129)supported by the Talent Foundation of Xi’an University of Architecture and Technology,China
文摘In order to improve the design level of partially embedded single piles under simultaneous axial and lateral loads, the differential solutions were deduced, in which the soil was treated as an ideal, elastic, homogeneous, semi-infinite isotropic medium. A comparison was made between model test results and the obtained solutions to show their validity. The calculation results indicate that the horizontal displacement and bending moment of the pile increase with increases of the axial and lateral loads. The maximum horizontal displacement and bending moment decrease by 37.9% and 13.9%, respectively, when the elastic modulus of soil increases from 4 MPa to 20 MPa. The Poisson ratio of soil plays a marginal role in pile responses. There is a critical pile length under the ground, beyond which the pile behaves as though it was infinitely long. The presented solutions can make allowance for the continuous nature of soil, and if condition permits, they can approach exact ones.
基金Projects(40971179,41271294)supported by the National Natural Science Foundation of ChinaProject(NCET-09-330)supported by the Program for New Century Excellent Talents in University,ChinaProject(11JJ3041)supported by the Natural Science Foundation of Hunan Province,China
文摘To compare the adsorption kinetics of Cu, Zn and Cd introduced into red soils simultaneously and sequentially as well as their distribution coefficients, the ability of red soils to retain heavy metals was evaluated by performing batch experiments. The results indicate that Cu is preferentially adsorbed by red soils no matter in simultaneous or in sequential situation. The adsorption amount of Cd is the minimum in simultaneous competitive adsorption experiment. As heavy metals are added into red soils sequentially, the heavy metal adsorptions are relatively hard to reach equilibrium in 2 h. Red soils retain more Cd than Zn, which is opposite to the result in simultaneous adsorption. The addition sequences of heavy metals affect their adsorbed amounts in red soils to a certain extent. The joint distribution coefficients of metals in simultaneous adsorption are slightly higher than those in sequential adsorption.
基金Project (2002CB312200) supported by the National Key Basic Research and Development Program of China Project(03JJY3109) supported by the Natural Science Foundation of Hunan Province
文摘An active set truncated-Newton algorithm (ASTNA) is proposed to solve the large-scale bound constrained sub-problems. The global convergence of the algorithm is obtained and two groups of numerical experiments are made for the various large-scale problems of varying size. The comparison results between ASTNA and the subspace limited memory quasi-Newton algorithm and between the modified augmented Lagrange multiplier methods combined with ASTNA and the modified barrier function method show the stability and effectiveness of ASTNA for simultaneous optimization of distillation column.
基金Supported by National Natural Science Foundation of China （60774011, 60674024）, Natural Science Foundation of Zhejiang Province （Y105141）, and Natural Science Foundation of Fujian Province （2008J0026）
基金This project was Supported by the National Natural Science Foundation of China (50335020,60574011) PostdoctoralFund (2005038553) Science Research Important Foundation in Hubei Provincial Department of Education(2002z04001).
文摘A newly designed approach of simultaneous stabilization is given for linear discrete time-delay systems. The problem of stabilization for a collection of systems is discussed initially. Adequate condition are obtained in terms of linear matrix inequalities （LMIs） which are independent of time delays such that the resultant collection of discrete time-delay systems are stable with an upper bound of the quadratic performance index. Subsequently, controllers are designed such that the resultant closed-loop discrete time-delay systems are simultaneously stabilized with the upper bound of the quadratic performance index. Finally,a numerical example is given to illustrate the design method.
文摘As competition in the market for discrete part prod uc ts gets harder and harder the requirements for extreme manufacturing operati on efficiencies get increasingly accentuated. Therefore requirements for well behaved manufacturing operation control get more and more significant. The purpose of the paper is to establish a framework for development of formal m ethods for design of systems for simultaneous control of continuous manufacturin g task processes and resource allocation of discrete part manufacturing. In the paper states which are needed for feedback control of continuous manufact uring task processes are defined and an example is presented. States which are necessary for feedback control of distribution of manufacturing resources are defined. The definition is based on the states defined for feedba ck control of the continuous processes of discrete part manufacturing tasks. An exemple is presented. Based on use of the state variables two types of equations are described, the pu rpose of which it is to represent the constraints to which control of the manufa cturing system is subject. Characteristic instances of the equations are presen ted. Methods for design of systems which can control continuous tasks are presented. Methods for design of systems which can control resource allocation are presente d. Methods for design of systems which can simultaneously control continuous tas k processes and resource allocation as the resource allocation is subject to con tinuos task execution constraints are presented.
文摘在智慧矿山建设的背景下,智能化设备的应用日益成为矿山智慧化改造的主要内容,用于巡检、危险区域勘测等任务的煤矿井下智能机器人运行依赖于数字地图构建和机器人自身定位,但大多数传统的定位方法在煤矿井下出现了低效甚至失效的情况,同步定位与建图技术(Simultaneous Localization and Mapping,SLAM)成为了煤矿井下智能机器人定位方法的较优选择。然而,受制于激光雷达的高成本,以及相机在井下的低光照环境性能不佳,需要设计一种兼顾低成本和具有井下低光照环境适应性的SLAM定位方法,故提出了一种具有井下暗光照适应性煤矿井下机器人定位方法。首先,采集了陕西省宝鸡市凤县某煤矿井下的实景图像和SLAM所需的相机与IMU数据,根据图像制作了非匹配的暗光与正常光数据集,经过数据扩增达到3560张图像。设计了结合自注意力模块的EnlightenGAN图像增强网络,在不依赖配对数据集的情况下兼顾图像不同区域的依赖关系应对图像光照不均区域。在ORB-SLAM3框架的基础上,引入全局部图像检测对输入图像进行筛分,引入基于解析解的IMU初始化改进策略提高初始化速度,并引入了改进的图像增强网络对低光照以及光照不均的图像进行增强处理。在EuRoC数据集上的试验表明,基于图像增强的煤矿井下智能机器人定位方法能够在低光照环境下降低13.7%的ERMS和15.24%的ESD。在2个实际煤矿巷道场景中,系统能够识别低光照环境、增加SLAM系统提取的特征点数量,减少定位轨迹的漂移现象,最终改善系统在巷道低光照区域的定位效果。
文摘煤矿井下视觉同步定位与地图构建SLAM(Simultaneous Localization and Mapping)应用中,光照变化与低纹理场景严重影响特征点的提取和匹配结果,导致位姿估计失败,影响定位精度。提出一种基于改进定向快速旋转二值描述符ORB(Oriented Fast and Rotated Brief)-SLAM3算法的煤矿井下移动机器人双目视觉定位算法SL-SLAM。针对光照变化场景,在前端使用光照稳定性的Super-Point特征点提取网络替换原始ORB特征点提取算法,并提出一种特征点网格限定法,有效剔除无效特征点区域,增加位姿估计稳定性。针对低纹理场景,在前端引入稳定的线段检测器LSD(Line Segment Detector)线特征提取算法,并提出一种点线联合算法,按照特征点网格对线特征进行分组,根据特征点的匹配结果进行线特征匹配,降低线特征匹配复杂度,节约位姿估计时间。构建了点特征和线特征的重投影误差模型,在线特征残差模型中添加角度约束,通过点特征和线特征的位姿增量雅可比矩阵建立点线特征重投影误差统一成本函数。局部建图线程使用ORB-SLAM3经典的局部优化方法调整点、线特征和关键帧位姿,并在后端线程中进行回环修正、子图融合和全局捆绑调整BA(Bundle Adjustment)。在EuRoC数据集上的试验结果表明,SL-SLAM的绝对位姿误差APE(Absolute Pose Error)指标优于其他对比算法,并取得了与真值最接近的轨迹预测结果:均方根误差相较于ORB-SLAM3降低了17.3%。在煤矿井下模拟场景中的试验结果表明,SL-SLAM能适应光照变化和低纹理场景,可以满足煤矿井下移动机器人的定位精度和稳定性要求。
