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Direct Path Detection Method in Indoor Location 被引量:1
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作者 华虎 李征 《Journal of Donghua University(English Edition)》 EI CAS 2006年第3期97-101,共5页
A search algorithm for the detection of a direct path signal in the presence of dense multipath in indoor environment using UWB is Woposed. This algorithm is based on signal correlation and differential coefficient. S... A search algorithm for the detection of a direct path signal in the presence of dense multipath in indoor environment using UWB is Woposed. This algorithm is based on signal correlation and differential coefficient. Statistical analysis of the algorithm is given out and computer simulation results are presented to validate the effectiveness of the algorithm. The results based on the algorithm pml3osed are compared with those based on Maximum Likelihood Estimator(MLE) and Peak Tracking(PT) in the simulation which shows that this algorithm achieves the highest accuracy in most cases and gives out relatively stable results in different Signal Noise Ratio(SNR). 展开更多
关键词 direct path MULTIpath CORRELATION indoorlocation UWB.
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On the direct path problem of s-elementary frame wavelets 被引量:1
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作者 DAI XingDe 1 , DIAO YuanAn 1 & GUO XunXiang 2,1 Department of Mathematics and Statistics, University of North Carolina at Charlotte, Charlotte, NC 28223, USA 2 Department of Mathematics, Southwestern University of Finance and Economics, Chengdu 611130, China 《Science China Mathematics》 SCIE 2010年第12期3187-3196,共10页
In this paper, we discuss the path-connectivity between two s-elementary normalized tight frame wavelets via the so-called direct paths. We show that the existence of such a direct path is equivalent to the non-existe... In this paper, we discuss the path-connectivity between two s-elementary normalized tight frame wavelets via the so-called direct paths. We show that the existence of such a direct path is equivalent to the non-existence of an atom of a σ-algebra defined over the defining sets of the corresponding frame wavelets, using a mapping defined by the natural translation and dilation operations between the sets. In particular, this gives an equivalent condition for the existence of a direct path between two s-elementary wavelets. 展开更多
关键词 WAVELETS FRAME WAVELETS FRAME wavelet sets path-connectivity of WAVELETS direct path
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Definition of failure criterion for frozen soil under directional shear-stress path 被引量:1
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作者 Dun Chen Wei Ma +3 位作者 GuoYu Li ZhiWei Zhou YanHu Mu ShiJie Chen 《Research in Cold and Arid Regions》 CSCD 2019年第6期428-434,共7页
A series of directional shear tests on remolded frozen soil was carried out at 10°C by using a hollow cylinder apparatus to study failure criterion under a directional shear-stress path.Directional shear tests we... A series of directional shear tests on remolded frozen soil was carried out at 10°C by using a hollow cylinder apparatus to study failure criterion under a directional shear-stress path.Directional shear tests were conducted at five shear rates(10,20,30,40,and 50 kPa/min)and five intermediate principal stress coefficients(b=0,0.25,0.5,0.75,and 1),with the mean principal stress(p=4.5 MPa)kept constant.The results show that the torsional strength and the generalized strength both increase with the increase of the shear rates.According to the failure modes of frozen soil under different shear rates,the specimens present obvious plastic failure and shear band;and the torsional shear component dominates the failure modes of hollow cylindrical specimens.A shear rate of 30 kPa/min is chosen as the loading rate in the directional shear tests of frozen soil.The shape of the failure curve in theπplane is dependent on the directional anglesαof the major prin cipal stress.It is reasonable to use the strain-hardening curves to define the deviatoric stress value atγg=15%(generalized shear strain)as the failure criterion of frozen soil under a directional shear-stress path. 展开更多
关键词 frozen soil hollow cylinder apparatus intermediate principal stress coefficient failure criterion directional shear-stress path
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Microstructures,micro-segregation and solidification path of directionally solidified Ti-45Al-5Nb alloy 被引量:7
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作者 Liang-shun Luo Tong Liu +3 位作者 Kun Li Yan-qing Su Jing-jie Guo Heng-zhi Fu 《China Foundry》 SCIE 2016年第2期107-113,共7页
To investigate the effect of solidification parameters on the solidification path and microstructure evolution of Ti-45Al-5Nb(at.%) alloy, Bridgman-type directional solidification and thermodynamics calculations were ... To investigate the effect of solidification parameters on the solidification path and microstructure evolution of Ti-45Al-5Nb(at.%) alloy, Bridgman-type directional solidification and thermodynamics calculations were performed on the alloy. The microstructures, micro-segregation and solidification path were investigated.The results show that the β phase is the primary phase of the alloy at growth rates of 5-20 μm·s^(-1) under the temperature gradients of 15-20 K·mm^(-1), and the primary phase is transformed into an α phase at relatively higher growth rates(V >20 μm·s^(-1)). The mainly S-segregation and β-segregation can be observed in Ti-45Al-5Nb alloy at a growth rate of 10 μm·s^(-1) under a temperature gradient of 15 K·mm^(-1). The increase of temperature gradient to 20 K·mm^(-1) can eliminate β-segregation, but has no obvious effect on S-segregation. The results also show that 5 at.% Nb addition can expand the β phase region, increase the melting point of the alloy and induce the solidification path to become complicated. The equilibrium solidification path of Ti-45Al-5Nb alloy can be described as L L→β L+β L+β→αα+β_R β→ααα→γα+γα→α_2+γγ_R+(α_2+γ), in which β_R and γ_R mean the residual β and 展开更多
关键词 TiAl-Nb alloy directional solidification MICROSTRUCTURE MICRO-SEGREGATION solidification path
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New paths and research directions in CO_(2) conversion by electro-, photoand plasma catalysis
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作者 Claudio Ampelli Maria L.Carreon Yuefeng Liu 《Journal of Energy Chemistry》 SCIE EI CAS CSCD 2024年第12期300-301,共2页
CO_(2) conversion into value-added products by electro-, photoand plasma catalysis under mild operating conditions(ambient temperature and pressure) is an emerging area to achieve carbon circularity by producing chemi... CO_(2) conversion into value-added products by electro-, photoand plasma catalysis under mild operating conditions(ambient temperature and pressure) is an emerging area to achieve carbon circularity by producing chemicals and fuels using directly renewable energy. Among all CO_(2) conversion approaches, the electrocatalytic reduction of CO_(2) is the most mature technology, capable of achieving high productivity(i.e. high current densities) at large scale, especially for producing carbon monoxide(CO), but with many examples showing selectivity to C_(2) carbon products. 展开更多
关键词 New paths and research directions in CO_(2)conversion by electro photoand plasma catalysis
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煤矿履带式定向钻机双向直线移动路径视觉规划
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作者 朱明鎏 杜昭 侯树宏 《煤矿机械》 2026年第1期201-207,共7页
枣泉煤矿130207综采工作面履带式定向钻机在钻场间转场与孔口精准定位过程中面临着长距离、双向直线推进难题,传统路径规划方法受限于动态障碍物分布随机、粉尘干扰严重及感知滞后等复杂工况,难以实现实时精准的避障调整。提出了一种基... 枣泉煤矿130207综采工作面履带式定向钻机在钻场间转场与孔口精准定位过程中面临着长距离、双向直线推进难题,传统路径规划方法受限于动态障碍物分布随机、粉尘干扰严重及感知滞后等复杂工况,难以实现实时精准的避障调整。提出了一种基于改进双向动态跳点搜索(JPS)算法的视觉规划方法。该方法首先通过引入安全距离约束改进双向动态JPS算法,构建面向井下动态环境的路径规划核心;建立融合巷道边界约束的平面空间模型,实现钻机运动空间的精确描述;通过布置防爆型激光摄像机组采集巷道三维点云数据,采用高斯滤波算法消除井下粉尘、水雾造成的测量噪声,完成环境感知系统的构建;基于实时采集的点云数据,建立障碍物动态跟踪机制,准确识别液压支架、采煤机等移动设备;最后,引入以局部修正次数为阈值的全局重规划机制,实现钻机移动路径的闭环优化与动态修正。现场实验表明,该方法使ZYL-17000D型定向钻机在46组障碍物测试中实现零碰撞事故,双向移动路径总长增率控制在5.9%以内,显著提升了钻机在复杂井下环境中的转场安全性与孔口定位效率。 展开更多
关键词 履带式定向钻机 路径规划 点云数据处理 改进双向动态JPS算法 动态修正
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基于四轮独立转向的农情巡检车运动控制方法研究
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作者 魏新华 孟宪博 +4 位作者 宋琦 沈有柏 孙磊 钱美玲 朱子余 《农机化研究》 北大核心 2026年第1期250-259,共10页
针对四轮独立转向农业巡检车在复杂农田环境下的运动控制难题,提出了一种融合高精度路径跟踪与姿态调节的协同控制方法。通过构建四轮独立转向驱动系统,采用伺服电机与轮毂电机的协同控制机制,实现了巡检车辆的全向移动功能;基于运动学... 针对四轮独立转向农业巡检车在复杂农田环境下的运动控制难题,提出了一种融合高精度路径跟踪与姿态调节的协同控制方法。通过构建四轮独立转向驱动系统,采用伺服电机与轮毂电机的协同控制机制,实现了巡检车辆的全向移动功能;基于运动学建模,推导了单轮约束方程并建立了多模式运动学模型,系统阐释了直行、斜行、原地转向和四轮转向4种典型运动模式的运动学特性;设计了参数自适应控制策略,通过实时感知横向误差和航向偏差动态调整控制增益,同时结合抗饱和积分PI控制器优化纵向速度跟踪性能,有效解决了农田多源干扰下的运动稳定性问题。仿真与田间试验结果表明:该系统在不同运动模式下横向偏移率不超过1.2%;自适应控制使路径跟踪收敛时间缩短27.59%,横向误差降低75.00%,航向偏差得到显著抑制。研究成果构建了面向农业巡检车的运动控制理论框架与工程实现方案,特别在狭窄田垄通行和多障碍物规避场景中展现出优越的机动性能,横向定位精度提升至厘米级,为智慧农业精准监测提供了可靠的技术装备支撑。 展开更多
关键词 巡检车 全向移动 农情监测 运动学模型 路径跟踪 参数自适应 LYAPUNOV方法
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A~*算法在Shortest-Path方面的优化研究 被引量:4
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作者 梁昭阳 蓝茂俊 陈正铭 《计算机系统应用》 2018年第7期255-259,共5页
在游戏和地理信息系统开发等领域中,专门针对最短路径搜索方面的优化研究较多,尤其是最短路径中启发式搜索算法中的A*算法的效率优化研究.本文将针对在人工智能或算法研究中的使用的地图大多数是基于任意图而不是网格图的状况,通过任意... 在游戏和地理信息系统开发等领域中,专门针对最短路径搜索方面的优化研究较多,尤其是最短路径中启发式搜索算法中的A*算法的效率优化研究.本文将针对在人工智能或算法研究中的使用的地图大多数是基于任意图而不是网格图的状况,通过任意图与网格图及方向的相结合,提出了三种优化A*算法的启发式函数搜索策略,较好地减小了算法搜索的范围和规模,有效地提高了A*算法的运行效率.最后的实验结果显示,与传统的A*算法相比较,优化启发搜索策略后的A*算法寻径更快速,更准确,计算效率更高. 展开更多
关键词 启发式搜索策略 A^*算法 方向 最短路径搜索
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EZDCP:A new static task scheduling algorithm with edge-zeroing based on dynamic critical paths 被引量:1
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作者 陈志刚 华强胜 《Journal of Central South University of Technology》 2003年第2期140-144,共5页
A new static task scheduling algorithm named edge-zeroing based on dynamic critical paths is proposed. The main ideas of the algorithm are as follows: firstly suppose that all of the tasks are in different clusters; s... A new static task scheduling algorithm named edge-zeroing based on dynamic critical paths is proposed. The main ideas of the algorithm are as follows: firstly suppose that all of the tasks are in different clusters; secondly, select one of the critical paths of the partially clustered directed acyclic graph; thirdly, try to zero one of graph communication edges; fourthly, repeat above three processes until all edges are zeroed; finally, check the generated clusters to see if some of them can be further merged without increasing the parallel time. Comparisons of the previous algorithms with edge-zeroing based on dynamic critical paths show that the new algorithm has not only a low complexity but also a desired performance comparable or even better on average to much higher complexity heuristic algorithms. 展开更多
关键词 EZDCP directed ACYCLIC graph DYNAMIC critical path TASK scheduling algorithm
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An Integrated Causal Path Identification Method
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作者 FEI Nina YANG Youlong 《Wuhan University Journal of Natural Sciences》 CAS CSCD 2019年第4期305-313,共9页
Finding causality merely from observed data is a fundamental problem in science. The most basic form of this causal problem is to determine whether X leads to Y or Y leads to X in the case of joint observation of two ... Finding causality merely from observed data is a fundamental problem in science. The most basic form of this causal problem is to determine whether X leads to Y or Y leads to X in the case of joint observation of two variables X, Y. In statistics, path analysis is used to describe the direct dependence between a set of variables. But in fact, we usually do not know the causal order between variables. However, ignoring the direction of the causal path will prevent researchers from analyzing or using causal models. In this study, we propose a method for estimating causality based on observed data. First, observed variables are cleaned and valid variables are retained. Then, a direct linear non-Gaussian acyclic graph models(DirectLiNGAM) estimates the causal order K between variables. The third step is to estimate the adjacency matrix B of the causal relationship based on K. Next, since B is not convenient for model interpretation, we use adaptive lasso to prune the causal path and variables. Further, a causal path graph and a recursive model are established. Finally, we test and debug the recursive model, obtain a causal model with good fit, and estimate the direct, indirect and total effects between causal variables. This paper overcomes the randomness assigning causal order to variables. This study is different from the researcher’s understanding of his own model by generating some form of simulation data. The simplest and relatively unsmooth statistical learning method used in this study has obvious advantages in the field of interpretable machine learning. 展开更多
关键词 OBSERVED VARIABLE path analysis CAUSAL order direct LiNGAM CAUSAL path GRAPH CAUSAL effect
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新时代人文经济学自主知识体系建构:方向抉择与重大使命 被引量:6
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作者 任平 《山东社会科学》 北大核心 2025年第1期5-14,共10页
准确理解和把握新时代人文经济学核心要义成为推进马克思主义中国化时代化理论创新的重大热点议程。近年来,研究和践行习近平总书记关于新时代人文经济学的新思想新观点新论断取得了重大进展。持续深化新时代人文经济学自主知识体系建... 准确理解和把握新时代人文经济学核心要义成为推进马克思主义中国化时代化理论创新的重大热点议程。近年来,研究和践行习近平总书记关于新时代人文经济学的新思想新观点新论断取得了重大进展。持续深化新时代人文经济学自主知识体系建构研究需要进一步抉择方向和明确使命。一是要进一步以更高站位、更高境界深化对习近平总书记提出新时代人文经济学新论断作为中国式现代化高质量发展的人文逻辑的重大意义的理解,深化对新时代人文经济学核心要义如何引领中国式现代化摆脱和超越资本逻辑宰制的西方式现代化以“理性人假设”和“资本拜物教”单纯追求“物的现代化”所固有的“人文缺失”弊端,走向以“人民为中心”的“人的现代化”的新未来,选择“物质文明与精神文明协调发展”新道路的理解;二是要扎根中国大地,提炼实践样本丰富的中国经验创造中国理论;三是要系统梳理、全面汲取中华优秀传统文化、外来优秀文化和马克思主义中蕴含的人文经济思想资源,以资构建新时代人文经济学自主知识体系;四是要进一步准确把握新时代人文经济学的核心要义和深化理论创新的切入点,布展新时代人文经济学自主知识体系建构的基本格局。 展开更多
关键词 人文经济学 方向抉择 重大使命 主要路径
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Comparison of two different methods for determining flow direction in catchment hydrological modeling
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作者 Guang-ju ZHAO Jun-feng GAO +1 位作者 Peng TIAN Kun TIAN 《Water Science and Engineering》 EI CAS 2009年第4期1-15,共15页
Digital elevation models (DEMs) are widely used to define the flow direction in distributed hydrological models for simulation of streamflow. In recent decades, numerous methods for flow direction determination have... Digital elevation models (DEMs) are widely used to define the flow direction in distributed hydrological models for simulation of streamflow. In recent decades, numerous methods for flow direction determination have been applied successfully to mountainous regions. Nevertheless, some problems still exist when those methods are used for flat or gently sloped areas The present study reviews the conventional methods of determining flow direction for such landscapes and analyzes the problems of these methods. Two different methods of determining flow direction are discussed and were applied to the Xitiaoxi Catchment, located in the Taihu Basin in southern China, which has both mountainous and flat terrain. Both the agree method and the shortest path method use drainage networks derived from a remote sensing image to determine the correct location of the stream. The results indicate that the agree method provides a better fit with the DEM for the hilly region than the shortest path method. For the flat region where the flow has been diverted and rerouted by land managers, both methods require observation of the drainage network to determine the flow direction. In order to clarify the applicability of the two methods, both are employed in catchment hydrological models conceptually based on the Xinanjiang model and implemented with PCRaster. The simulation results show that both methods can be successfully applied in hydrological modeling. There are no evident differences in the modeled discharge when using the two methods at different spatial scales. 展开更多
关键词 DEM flow direction determination agree method shortest path method hydrological modeling Taihu Basin
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数字技术赋能职业教育的转型方向与推进路径 被引量:1
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作者 吕栋腾 《天津职业大学学报》 2025年第1期43-47,共5页
在当前科技革命和数字化浪潮下,数字化和智能化已成为助推我国经济社会发展的新动能。数字技术的快速迭代和扩散应用不断催生大量新技术、新产业和新模式,对深化职业教育建设改革提出新要求。职业教育数字化转型应锚定国家创新驱动发展... 在当前科技革命和数字化浪潮下,数字化和智能化已成为助推我国经济社会发展的新动能。数字技术的快速迭代和扩散应用不断催生大量新技术、新产业和新模式,对深化职业教育建设改革提出新要求。职业教育数字化转型应锚定国家创新驱动发展战略,以产业前沿现实需求为导向,深刻认识数字技术赋能职业教育建设改革的重要作用,通过推进数字化教育理念变革,加快数字化技能人才培养,营造良好数字化转型生态,推动职业院校全面数字化转型,构建新型发展模式,提升关键办学能力和服务效能,助推经济社会高质量发展。 展开更多
关键词 数字技术 职业教育 转型方向 实践路径
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一种基于带权有向图的印刷电路板群组布线算法
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作者 邓新国 张鑫泓 +2 位作者 陈家瑞 刘清海 陈传东 《计算机研究与发展》 北大核心 2025年第8期1948-1961,共14页
布线是印刷电路板设计中的重要一环.现有的印刷电路板设计多依赖于电子设计自动化工具的处理,而传统的自动布线研究多聚焦于总线布线,没有将布线时确定的群组作为研究对象.由于未经总线分组,可能存在群组中线网较多的情况,这将导致群组... 布线是印刷电路板设计中的重要一环.现有的印刷电路板设计多依赖于电子设计自动化工具的处理,而传统的自动布线研究多聚焦于总线布线,没有将布线时确定的群组作为研究对象.由于未经总线分组,可能存在群组中线网较多的情况,这将导致群组所占据的线宽与线间距比原先总线布线中各总线组分别占据的线宽与线间距更大,从而给实际布线带来了新的挑战.为此,提出一种基于带权有向图的群组布线算法.首先构建仅含有合并边以及它们之间邻接关系的Hanan网格图.接着,利用合并边信息构建带权有向图,完成对电路板上布线资源的表示.然后,使用一种具有多线避让功能的启发式搜索算法来进行布线规划.最后,通过将布线归类为数种可能的情况分别考虑,完成详细布线并得到群组布线的最终结果.实验结果表明,所提算法在已经测试过的工业界复杂例子上均能达到100%的布通率,并且不会违反所有工业印刷电路板基准用例的设计规则约束. 展开更多
关键词 电子设计自动化 印刷电路板 群组布线 带权有向图 路径规划
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热力学第二定律中“方向性”释义 被引量:1
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作者 张恩仁 《大学化学》 2025年第1期369-374,共6页
深入探讨了热力学第二定律中“方向性”的科学内涵,揭示了其蕴含的两重不同涵义:自发变化的单向性与状态变化的双向性。结合封闭系统与环境相互作用的分析框架,阐述了第二定律所揭示的自发变化单向性,以及系统状态变化在不同条件下(等... 深入探讨了热力学第二定律中“方向性”的科学内涵,揭示了其蕴含的两重不同涵义:自发变化的单向性与状态变化的双向性。结合封闭系统与环境相互作用的分析框架,阐述了第二定律所揭示的自发变化单向性,以及系统状态变化在不同条件下(等温、等温等容、等温等压)所展现的双向性特征。全面分析了系统状态正反方向变化的路径特征。最后,结合实例应用,展示了热力学定律在指导理解实际变化过程中的重要作用,相关分析结果为物理化学教学提供了参考。 展开更多
关键词 第二定律 状态变化 变化方向 自发 路径特征
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Length of the Longest Path and Diameter in Orientations of Graphs
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作者 Bing Zhou 《Open Journal of Discrete Mathematics》 2017年第2期65-70,共6页
We say that a parameter p of directed graphs has the interval property if for every graph G?and orientations of G, p can take every value between its minimum and maximum values. Let &lambda;be the length of the lo... We say that a parameter p of directed graphs has the interval property if for every graph G?and orientations of G, p can take every value between its minimum and maximum values. Let &lambda;be the length of the longest directed path. A question asked by C. Lin in [1] is equivalent to the question of whether &lambda;has the interval property. In this note, we answer this question in the affirmative. We also show that the diameter of directed graphs does not have the interval property. 展开更多
关键词 directed GRAPHS Graph Orientation INTERVAL Property Longest path path LENGTH DIAMETER
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Trajectory Control: Directional MWD Inversely New Wellbore Positioning Accuracy Prediction Method
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作者 Ahmed Abd Alaziz Ibrahim Tagwa Ahmed Musa 《Journal of China University of Geosciences》 SCIE CSCD 2004年第4期425-433,共9页
The deviation control of directional drilling is essentially the controlling of two angles of the wellbore actually drilled, namely, the inclination and azimuth. In directional drilling the bit trajectory never coinci... The deviation control of directional drilling is essentially the controlling of two angles of the wellbore actually drilled, namely, the inclination and azimuth. In directional drilling the bit trajectory never coincides exactly with the planned path, which is usually a plane curve with straight, building, holding, and dropping sections in succession. The drilling direction is of course dependant on the direction of the resultant forces acting on the bit and it is quite a tough job to hit the optimum target at the hole bottom as required. The traditional passive methods for correcting the drilling path have not met the demand to improve the techniques of deviation control. A method for combining wellbore surveys to obtain a composite, more accurate well position relies on accepting the position of the well from the most accurate survey instrument used in a given section of the wellbore. The error in each position measurement is the sum of many independent root sources of error effects. The relationship between surveys and other influential factors is considered, along with an analysis of different points of view. The collaborative work describes, establishes a common starting point of wellbore position uncertainty model, definition of what constitutes an error model, mathematics of position uncertainty calculation and an error model for basic directional service. 展开更多
关键词 wellbore trajectory bit trajectory actual/planned path steerable directional tool measurement while drilling (MWD) logging while drilling (LWD) position uncertainty error accuracy prediction weighting function
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不同交叠路径3D打印钢纤维增强水泥基材料的抗压性能
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作者 廖维张 黄嘉俊 +1 位作者 阚效禹 袁婉莹 《土木与环境工程学报(中英文)》 北大核心 2025年第5期110-117,共8页
3D打印混凝土具有灵活、低碳、快速、无模板施工的优势,但界面黏结问题可能导致打印层结合不紧密,影响强度。交叠打印路径可减少该缺陷并增强层间黏结,提高抗压强度。对于钢纤维增强水泥基材料,钢纤维的分布方向易受打印路径的影响,交... 3D打印混凝土具有灵活、低碳、快速、无模板施工的优势,但界面黏结问题可能导致打印层结合不紧密,影响强度。交叠打印路径可减少该缺陷并增强层间黏结,提高抗压强度。对于钢纤维增强水泥基材料,钢纤维的分布方向易受打印路径的影响,交叠路径下的3D打印钢纤维增强水泥基材料的抗压强度研究尚不充分。采用平行路径和螺旋交叠路径两种3D打印方式,通过改变荷载与路径方向的夹角和螺旋交叠角制作钢纤维增强水泥基立方体试块,探究上述参数对其抗压强度的影响规律。结果表明:在X-Y平面内,平行路径抗压强度随荷载方向与路径方向夹角的变化先增后降,但均小于现浇试件;在X-Y平面内,当纤维的分布方向与加载方向平行时,抗压强度最大(X方向),当纤维的分布方向与加载方向垂直时,抗压强度最小(Y方向);30°、90°螺旋交叠路径在X、Y、Z方向的抗压强度明显高于平行路径;相比平行打印,螺旋交叠结构减小了力学各向异性;螺旋交叠的打印方式可作为提升构件抗压强度的有效措施。 展开更多
关键词 3D打印 钢纤维增强水泥基材料 抗压强度 路径方向 螺旋交叠结构
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基于改进滑模控制的水稻直播机路径跟踪研究 被引量:6
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作者 徐长赓 李彦明 +1 位作者 刘子翔 刘成良 《农机化研究》 北大核心 2025年第4期28-34,共7页
为了提高水稻直播机自动作业时路径跟踪的精度和稳定性,提出了一种基于新型非线性滑模面和改进快速变幂次趋近率的滑模路径跟踪控制方法。首先,建立Frenet坐标系下直播机的路径跟踪运动学模型;然后,为保证路径跟踪过程中横向偏差和航向... 为了提高水稻直播机自动作业时路径跟踪的精度和稳定性,提出了一种基于新型非线性滑模面和改进快速变幂次趋近率的滑模路径跟踪控制方法。首先,建立Frenet坐标系下直播机的路径跟踪运动学模型;然后,为保证路径跟踪过程中横向偏差和航向偏差全局收敛,采用双曲正切函数设计滑模面;最后,在快速幂次趋近率的基础上设计了变指数幂次项,提高了系统趋近速度并有效抑制了抖振。在Simulink上搭建模型并进行仿真,与基于快速幂次趋近率和指数趋近率的滑模控制方法相比,本文改进滑模控制方法的路径跟踪误差收敛时间最短并且无抖振现象发生。直播机采用改进算法以0.8 m/s的速度在水田实际自动作业时,横向偏差和航向偏差的平均绝对误差为0.016 9 m和1.099 9°,均方差为0.021 5 m和1.499 2°,提高了路径跟踪的精度和稳定性,满足了实际作业需求。 展开更多
关键词 水稻直播机 路径跟踪 滑模控制 趋近率
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面向大型激光装置集成安装的机器人自动路径规划 被引量:1
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作者 陈静 独伟锋 +3 位作者 裴国庆 熊召 杨科 周海 《强激光与粒子束》 北大核心 2025年第6期163-170,共8页
针对大型激光装置集成安装过程中的机器人路径规划问题,提出一种简单有效的改进A*算法。该算法较传统A*算法进行了三步改进:第一步是限制可行走方向,避免出现传统A*算法发生穿越障碍物情况;二是将其启发函数优化为加权曼哈顿距离函数,... 针对大型激光装置集成安装过程中的机器人路径规划问题,提出一种简单有效的改进A*算法。该算法较传统A*算法进行了三步改进:第一步是限制可行走方向,避免出现传统A*算法发生穿越障碍物情况;二是将其启发函数优化为加权曼哈顿距离函数,加速向x方向或者y方向扩展节点,改善限制可行走方向带来的遍历节点数激增现象;三是引入转弯惩罚项,减少路径规划过程中的转弯次数,提高路径规划搜索效率和质量。在不同大小的栅格地图中验证三步改进A*算法的性能,并与传统A*算法进行比较。实验结果表明,简单地图中,三步改进A*算法遍历节点数略高于传统A*算法,转弯次数与传统A*算法相当,但路径避障性能明显优于传统A*算法,更有利于机器人安全行走。复杂地图中,综合考虑遍历节点数、转弯次数和路径长度的优先关系后,可以实现调节三步改进A*算法参数至路径规划结果最优。 展开更多
关键词 路径规划 A~*算法 限制可行走方向 加权曼哈顿距离 转弯惩罚项
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