In recent years,there has been a growing demand for more efficient and robust control strategies in cooperative multi-robot systems.This paper introduces the cascade explicit tube model predictive controller(CET-MPC),...In recent years,there has been a growing demand for more efficient and robust control strategies in cooperative multi-robot systems.This paper introduces the cascade explicit tube model predictive controller(CET-MPC),a control architecture designed specifically for distributed aerial robot systems.By integrating an explicit model predictive controller(MPC)with a tube MPC,our approach significantly reduces online computational demands while enhancing robustness against disturbances such as wind and measurement noise,as well as uncertainties in inertia parameters.Further,we incorporate a cascade controller to minimize steady-state errors and improve system performance dynamically.The results of this assessment provide valuable insights into the effectiveness and reliability of the CET-MPC approach under realistic operating conditions.The simulation results of flight scenarios for multi-agent quadrotors demonstrate the controller’s stability and accurate tracking of the desired path.By addressing the complexities of quadrotors’six degrees of freedom,this controller serves as a versatile solution applicable to a wide range of multi-robot systems with varying degrees of freedom,demonstrating its adaptability and scalability beyond the quadrotor domain.展开更多
Inferring phylogenetic trees from molecular sequences is a cornerstone of evolutionary biology.Many standard phylogenetic methods(such as maximum-likelihood[ML])rely on explicit models of sequence evolution and thus o...Inferring phylogenetic trees from molecular sequences is a cornerstone of evolutionary biology.Many standard phylogenetic methods(such as maximum-likelihood[ML])rely on explicit models of sequence evolution and thus often suffer from model misspecification or inadequacy.The on-rising deep learning(DL)techniques offer a powerful alternative.Deep learning employs multi-layered artificial neural networks to progressively transform input data into more abstract and complex representations.DL methods can autonomously uncover meaningful patterns from data,thereby bypassing potential biases introduced by predefined features(Franklin,2005;Murphy,2012).Recent efforts have aimed to apply deep neural networks(DNNs)to phylogenetics,with a growing number of applications in tree reconstruction(Suvorov et al.,2020;Zou et al.,2020;Nesterenko et al.,2022;Smith and Hahn,2023;Wang et al.,2023),substitution model selection(Abadi et al.,2020;Burgstaller-Muehlbacher et al.,2023),and diversification rate inference(Voznica et al.,2022;Lajaaiti et al.,2023;Lambert et al.,2023).In phylogenetic tree reconstruction,PhyDL(Zou et al.,2020)and Tree_learning(Suvorov et al.,2020)are two notable DNN-based programs designed to infer unrooted quartet trees directly from alignments of four amino acid(AA)and DNA sequences,respectively.展开更多
The implicit Colebrook equation has been the standard for estimating pipe friction factor in a fully developed turbulent regime. Several alternative explicit models to the Colebrook equation have been proposed. To dat...The implicit Colebrook equation has been the standard for estimating pipe friction factor in a fully developed turbulent regime. Several alternative explicit models to the Colebrook equation have been proposed. To date, most of the accurate explicit models have been those with three logarithmic functions, but they require more computational time than the Colebrook equation. In this study, a new explicit non-linear regression model which has only two logarithmic functions is developed. The new model, when compared with the existing extremely accurate models, gives rise to the least average and maximum relative errors of 0.0025% and 0.0664%, respectively. Moreover, it requires far less computational time than the Colebrook equation. It is therefore concluded that the new explicit model provides a good trade-off between accuracy and relative computational efficiency for pipe friction factor estimation in the fully developed turbulent flow regime.展开更多
Dual atomic catalysts(DAC),particularly copper(Cu_(2))-based nitrogen(N)doped graphene,show great potential to effectively convert CO_(2)and nitrate(NO_(3)-)into important industrial chemicals such as ethylene,glycol,...Dual atomic catalysts(DAC),particularly copper(Cu_(2))-based nitrogen(N)doped graphene,show great potential to effectively convert CO_(2)and nitrate(NO_(3)-)into important industrial chemicals such as ethylene,glycol,acetamide,and urea through an efficient catalytical process that involves C–C and C–N coupling.However,the origin of the coupling activity remained unclear,which substantially hinders the rational design of Cu-based catalysts for the N-integrated CO_(2)reduction reaction(CO_(2)RR).To address this challenge,this work performed advanced density functional theory calculations incorporating explicit solvation based on a Cu_(2)-based N-doped carbon(Cu_(2)N_(6)C_(10))catalyst for CO_(2)RR.These calculations are aimed to gain insight into the reaction mechanisms for the synthesis of ethylene,acetamide,and urea via coupling in the interfacial reaction micro-environment.Due to the sluggishness of CO_(2),the formation of a solvation electric layer by anions(F^(-),Cl^(-),Br^(-),and I^(-))and cations(Na+,Mg^(2+),K+,and Ca^(2+))leads to electron transfer towards the Cu surface.This process significantly accelerates the reduction of CO_(2).These results reveal that*CO intermediates play a pivotal role in N-integrated CO_(2)RR.Remarkably,the Cu_(2)-based N-doped carbon catalyst examined in this study has demonstrated the most potential for C–N coupling to date.Our findings reveal that through the process of a condensation reaction between*CO and NH_(2)OH for urea synthesis,*NO_(3)-is reduced to*NH_(3),and*CO_(2)to*CCO at dual Cu atom sites.This dual-site reduction facilitates the synthesis of acetamide through a nucleophilic reaction between NH_(3)and the ketene intermediate.Furthermore,we found that the I-and Mg^(2+)ions,influenced by pH,were highly effective for acetamide and ammonia synthesis,except when F-and Ca^(2+)were present.Furthermore,the mechanisms of C–N bond formation were investigated via ab-initio molecular dynamics simulations,and we found that adjusting the micro-environment can change the dominant side reaction,shifting from hydrogen production in acidic conditions to water reduction in alkaline ones.This study introduces a novel approach using ion-H_(2)O cages to significantly enhance the efficiency of C–N coupling reactions.展开更多
In precision machining of complex curved surface parts with high performance, geometry accuracy is not the only constraint, but the performance should also be met. Performance of this kind of parts is closely related ...In precision machining of complex curved surface parts with high performance, geometry accuracy is not the only constraint, but the performance should also be met. Performance of this kind of parts is closely related to the geometrical and physical parameters, so the final actual size and shape are affected by multiple source constraints, such as geometry, physics, and performance. These parts are rather difficult to be manufactured and new manufacturing method according to performance requirement is urgently needed. Based on performance and manufacturing requirements for complex curved surface parts, a new classification method is proposed, which divided the complex curved surface parts into two categories： surface re-design complex curved surface parts with multi-source constraints（PRCS） and surface unique complex curved surface parts with pure geometric constraints（PUCS）. A correlation model is constructed between the performance and multi-source constraints for PRCS, which reveals the correlation between the performance and multi-source constraints. A re-design method is also developed. Through solving the correlation model of the typical paws performance-associated surface, the mapping relation between the performance-associated surface and the related removal amount is obtained. The explicit correlation model and the method for the corresponding related removal amount of the performance-associated surface are built based on the classification of surface re-design complex curved surface parts with multi-source constraints. Research results have been used in the actual processing of the typical parts such as radome, common bottom components, nozzle, et al., which shows improved efficiency and accuracy of the precision machining for the surface re-design parts with complex curved surface.展开更多
An explicit algebraic stress model (EASM) has been formulated for two-dimensional turbulent buoyant flows using a five-term tensor representation in a prior study. The derivation was based on partitioning the buoyant ...An explicit algebraic stress model (EASM) has been formulated for two-dimensional turbulent buoyant flows using a five-term tensor representation in a prior study. The derivation was based on partitioning the buoyant flux tensor into a two-dimensional and a three-dimensional component. The five-term basis was formed with the two-dimensional component of the buoyant flux tensor. As such, the derived EASM is limited to two-dimensional flows only. In this paper, a more general approach using a seven-term representation without partitioning the buoyant flux tensor is used to derive an EASM valid for two- and three-dimensional turbulent buoyant flows. Consequently, the basis tensors are formed with the fully three-dimensional buoyant flux tensor. The derived EASM has the two-dimensional flow as a special case. The matrices and the representation coefficients are further simplified using a four-term representation. When this four-term representation model is applied to calculate two-dimensional homogeneous buoyant flows, the results are essentially identical with those obtained previously using the two-dimensional component of the buoyant flux tensor. Therefore, the present approach leads to a more general EASM formulation that is equally valid for two- and three-dimensional turbulent buoyant flows.展开更多
This work is to develop a blending-based multiple model adaptive explicit predictive control scheme for nonlinear MiMo systems that can handle parametric uncertainties.Here,for each identification model,an explicit no...This work is to develop a blending-based multiple model adaptive explicit predictive control scheme for nonlinear MiMo systems that can handle parametric uncertainties.Here,for each identification model,an explicit nonlinear model predictive control(ENMPC)law is computed in advance for the corresponding model.The generated control inputs from the set of ENMPC controllers are being blended online using a weighting vector that is continuously updated by the proposed adaptive identification schemes.The proposed control scheme is used to govern the tracking of a highly nonlinear helicopter model known as the twin rotor MIMO system(TRMS).Here,an extended Kalman filter(EKF)is used to estimate the unavailable states of the TRMS.Finally,simulation and experimental results are presented to prove that the proposed controller gives better performance than some reported works in the literature.The effectiveness of the proposed controller is demonstrated by experimental studies of the TRMS model.展开更多
As develops in deep sub micron designs,the interconnect crosstalk becomes much more serious.Espe cially, the coupling inductance can not be ignored in gigahertz designs.So shield insertion is an efficient techniq...As develops in deep sub micron designs,the interconnect crosstalk becomes much more serious.Espe cially, the coupling inductance can not be ignored in gigahertz designs.So shield insertion is an efficient technique to reduce the inductive noise.In this paper,the characteristics of on chip mutual inductance (as well as self) for coplanar,micro stripline and stripline structures are introduced first.Then base on the coplanar interconnect structures,the effective coupling K eff model and the RLC explicit noise model are proposed respectively.The results of experiments show that these two models both have high fidelity.展开更多
The existing research on the path following of the autonomous electric vehicle(AEV)mainly focuses on the path planning and the kinematic control.However,the dynamic control with the state observation and the communica...The existing research on the path following of the autonomous electric vehicle(AEV)mainly focuses on the path planning and the kinematic control.However,the dynamic control with the state observation and the communication delay is usually ignored,so the path following performance of the AEV cannot be ensured.This article studies the observer-based path following control strategy for the AEV with the communication delay via a robust explicit model predictive control approach.Firstly,a projected interval unscented Kalman filter is proposed to observe the vehicle sideslip angle and yaw rate.The observer considers the state constraints during the observation process,and the robustness of the observer is also considered.Secondly,an explicit model predictive control is designed to reduce the computational complexity.Thirdly,considering the efficiency of the information transmission,the influence of the communication delay is considered when designing the observer-based path following control strategy.Finally,the numerical simulation and the hardware-in-the-loop test are conducted to examine the effectiveness and practicability of the proposed strategy.展开更多
Friction factor estimation is essential in fluid flow in pipes calculations. The Colebrook equation, which is a referential standard for its estimation, is implicit in friction factor, f. This implies that f can only ...Friction factor estimation is essential in fluid flow in pipes calculations. The Colebrook equation, which is a referential standard for its estimation, is implicit in friction factor, f. This implies that f can only be obtained via iterative solution. Sequel to this, explicit approximations of the Colebrook equation developed using analytical approaches have been proposed. A shift in paradigm is the application of artificial intelligence in the area of fluid flow. The use of artificial neural network, an artificial intelligence technique for prediction of friction factor was investigated in this study. The network having a 2-30-30-1 topology was trained using the Levenberg-Marquardt back propagation algorithm. The inputs to the network consisted of 60,000 dataset of Reynolds number and relative roughness which were transformed to logarithmic scales. The performance evaluation of the model gives rise to a mean square error value of 2.456 × 10<sup>–15</sup> and a relative error of not more than 0.004%. The error indices are less than those of previously developed neural network models and a vast majority of the non neural networks are based on explicit analytical approximations of the Colebrook equation.展开更多
The Tilt Quad Rotor(TQR) has complex dynamics characteristics, especially in conversion mode. It is difficult to build the dynamic model of the TQR and the environmental factors have a great influence on it. To solve ...The Tilt Quad Rotor(TQR) has complex dynamics characteristics, especially in conversion mode. It is difficult to build the dynamic model of the TQR and the environmental factors have a great influence on it. To solve the problem of control in conversion mode of TQR, this paper carries out the design of the controller based on improved Active Disturbance Rejection Control(ADRC). According to the characteristics of flight in conversion mode, Tracking Differentiator(TD) with explicit model is used to solve the problem of multiple integrals when the system is high-order system. Extended State Observer(ESO) with Radial Basis Function(RBF) neural network is used to estimate and compensate for internal and external uncertainties, and the adaptive sliding mode control in Nonlinear State Error Feedback(NLSEF) is used to improve the response speed of the controller and reduce the parameters which should be tuned. Through the flight control simulation of the TQR, the validity and rationality of the control system are verified.展开更多
Initial growing space is of critical importance to growth and quality development of individual trees. We investigated how mortality, growth （diameter at breast height, total height）, natural pruning （height to fir...Initial growing space is of critical importance to growth and quality development of individual trees. We investigated how mortality, growth （diameter at breast height, total height）, natural pruning （height to first dead and first live branch and branchiness） and stem and crown form of 24-year-old pedunculate oak （Quercus robur [L.]） and European ash （Fraxinus excelsior [L.]） were affected by initial spacing. Data were recorded from two replicate single-species Nelder wheels located in southern Germany with eight initial stocking regimes varying from 1,020 to 30,780 seedlings·ha？1. Mortality substantially decreased with increasing initial growing space but significantly differed among the two species, averaging 59% and 15% for oak and ash plots, respectively. In contrast to oak, the low self-thinning rate found in the ash plots over the investigated study period resulted in a high number of smaller intermediate or suppressed trees, eventually retarding individual tree as well as overall stand development. As a result, oak gained greater stem dimensions throughout all initial spacing regimes and the average height of ash significantly increased with initial growing space. The survival of lower crown class ashes also appeared to accelerate self-pruning dynamics. In comparison to oak, we observed less dead and live primary branches as well as a smaller number of epicormic shoots along the first 6 m of the lower stem of dominant and co-dominant ashes in all spacing regimes. Whereas stem form of both species was hardly affected by initial growing space, the percentage of brushy crowns significantly increased with initial spacing in oak and ash. Our findings suggest that initial stockings of ca. 12,000 seedlings per hectare in oak and 2,500 seedlings per hectare in ash will guarantee a sufficient number of at least 300 potential crop trees per hectare in pure oak and ash plantations at the end of the self-thinning phase, respectively. If the problem of epicormic shoots and inadequate self-pruning can be controlled with trainer species, the initial stocking may be reduced significantly in oak.展开更多
In order to investigate the seismic performance of geosynthetic reinforced and pile supported(GRPS) embankment under seismic loads, an input method for three-dimensional oblique incidence of P wave was proposed. This ...In order to investigate the seismic performance of geosynthetic reinforced and pile supported(GRPS) embankment under seismic loads, an input method for three-dimensional oblique incidence of P wave was proposed. This method is based on the explicit finite element method while considering the viscous-spring artificial boundary(VSAB) condition. Using the proposed method, a numerical study was conducted, and the influence of oblique incidence on the seismic response of GRPS embankment under the oblique incident P waves was analyzed. The results indicate that in comparison with vertical incidence, the oblique incidence can significantly increase the displacement, velocity and acceleration of key locations in the GRPS embankment. The existence of geosynthetics can alleviate the impact of seismic load on the response of the embankment to a certain degree. Moreover, the number of reinforcement layers and modulus of geogrid also greatly influence the seismic performance of GRPS embankment.展开更多
Vegetation in hot and arid valleys is a crucial indicator of ecosystem health,but is vulnerable to human activities and environmental change.Using the Longkaikou Reservoir in the Jinsha River in southwestern China as ...Vegetation in hot and arid valleys is a crucial indicator of ecosystem health,but is vulnerable to human activities and environmental change.Using the Longkaikou Reservoir in the Jinsha River in southwestern China as a case study,we developed a spatially explicit model that combined the plant growth,fruiting,seed dispersal,and seed germination stages to reveal the potential impact of multiple human activities(reservoir construction,logging,grazing,and aerial seeding) on the vegetation dynamics of Dodonaea viscosa and Pinus yunnanensis.After reservoir construction,the grassland area of 68 km^(2) in 2003 decreased to 24 km^(2) in 2018,replaced by forest,shrubland,and bodies of water,and the precipitation increased during the dry season,which indicated the improvement of the local plant and soil environment.Our model predicted that when soil moisture decreased by more than 20% compared to current levels,the area of D.viscosa increased greatly at low elevations;however,when at higher soil moisture,P.yunnanensis would occupy more of the study area.Logging and grazing would slightly change the spatial pattern of vegetation and delay P.yunnanensis communities from achieving stability by directly reducing plant biomass.Countermeasures such as aerial seeding would increase the total area by 13.13 km^(2) and 8.09 km^(2) of two plants,respectively,and accelerate the stabilization of plant communities.The effects of multiple human activities on vegetation may counteract each other;for example,logging decreased the P.yunnanensis area whereas aerial seeding increased it,and plant biomass changed in response to this pressure.Given the complex relationships between vegetation and human impacts,our study provides a scientific basis for vegetation restoration and ecological security in this hot and arid valley.展开更多
An abstraction method developed for the explicit linear temporal logic model checking was geared towards reducing the useless part of the state space during the abstraction period. This reduces the cost during the abs...An abstraction method developed for the explicit linear temporal logic model checking was geared towards reducing the useless part of the state space during the abstraction period. This reduces the cost during the abstraction period relative to models requiring many useless states. A dining-philosophers example comparing this abstraction method with conventional methods indicates that a large proportion of the state space has been reduced by this abstraction method. Finally, the abstract method is shown to be correct and an analysis is given to show how such a large proportion of states can be reduced.展开更多
A popular explicit analytic Borowy 2C PV module model is proposed for power generation prediction.The maximum power point and the open-circuit point which are calculated in this model cannot be equal to the data given...A popular explicit analytic Borowy 2C PV module model is proposed for power generation prediction.The maximum power point and the open-circuit point which are calculated in this model cannot be equal to the data given by manufacturers under standard test condition(STC).The derivation of this model has never been mentioned in any literatures.The parameter forms of 2C model in this paper are more simplified,and the model is decomposed into a STC sub-model and an incremental sub-model.The STC model is derived successfully from an ideal single-diode circuit model.Relative error estimations are developed to do the conformity error measurements.The analysis results showed that though the biases at those critical points are very small,the conformity will depend on both of the two ratio values I_(m)/I_(sc) and V_(m)/V_(oc),which can be used to verify whether 2C model is applicable for the PV module produced by a particular manufacturer.展开更多
Purpose–The purpose of this paper is to simplify the Explicit Nonlinear Model Predictive Controller(ENMPC)by linearizing the trajectory with Quantum-behaved Pigeon-Inspired Optimization(QPIO).Design/methodology/appro...Purpose–The purpose of this paper is to simplify the Explicit Nonlinear Model Predictive Controller(ENMPC)by linearizing the trajectory with Quantum-behaved Pigeon-Inspired Optimization(QPIO).Design/methodology/approach–The paper deduces the nonlinear model of the quadrotor and uses the ENMPC to track the trajectory.Since the ENMPC has high demand for the state equation,the trajectory needed to be differentiated many times.When the trajectory is complicate or discontinuous,QPIO is proposed to linearize the trajectory.Then the linearized trajectory will be used in the ENMPC.Findings–Applying the QPIO algorithm allows the unequal distance sample points to be acquired to linearize the trajectory.Comparing with the equidistant linear interpolation,the linear interpolation error will be smaller.Practical implications–Small-sized quadrotors were adopted in this research to simplify the model.The model is supposed to be accurate and differentiable to meet the requirements of ENMPC.Originality/value–Traditionally,the quadrotor model was usually linearized in the research.In this paper,the quadrotormodel waskept nonlinear and the trajectorywill be linearizedinstead.Unequaldistance sample points were utilized to linearize the trajectory.In this way,the authors can get a smaller interpolation error.This method can also be applied to discrete systems to construct the interpolation for trajectory tracking.展开更多
The hindrance of boundary to particle transport exists widely in various industrial applications.In this study,the wall drag force of parallel plates on settling particles was revealed through settling experiment.High...The hindrance of boundary to particle transport exists widely in various industrial applications.In this study,the wall drag force of parallel plates on settling particles was revealed through settling experiment.High-speed camera was used to record and analyze the settling process of particles in parallel plates that are filled with Newtonian fluids.A total of 600 experiments were carried out,involving the range of relative diameter and particle Reynolds number of 0.01-0.95 and 0.004-14.30,respectively.The wall drag coefficient was defined to quantitatively analyze the wall drag force of the parallel plates.The influence of relative diameter,particle properties,rheological properties,and the settling dynamic process on the wall drag coefficient was revealed,and the wall drag coefficient model with mean relative error of 5.90% was established.Furthermore,an explicit settling velocity model with mean relative error of 8.96% for the particle in parallel plates was developed by introducing a dimensionless variable independent of settling velocity,the Archimedes number.Finally,a calculation example was provided to clarify the using process of the explicit model.This research is expected to provide guidance for optimizing water hydraulic fracturing in the oil and gas industry.展开更多
This paper introduces a three dielectric layer hybrid solvation model for treating electrostatic interactions of biomolecules in solvents using the PoissonBoltzmann equation.In this model,an interior spherical cavity ...This paper introduces a three dielectric layer hybrid solvation model for treating electrostatic interactions of biomolecules in solvents using the PoissonBoltzmann equation.In this model,an interior spherical cavity will contain the solute and some explicit solvent molecules,and an intermediate buffer layer and an exterior layer contain the bulk solvent.A special dielectric permittivity profile is used to achieve a continuous dielectric transition from the interior cavity to the exterior layer.The selection of this special profile using a harmonic interpolation allows an analytical solution of the model by generalizing the classical Kirkwood series expansion.Discrete image charges are used to speed up calculations for the electrostatic potential within the interior and buffer layer regions.Semi-analytical and least squares methods are used to construct an accurate discrete image approximation for the reaction field due to solvent with or without salt effects.In particular,the image charges obtained by the least squares method provide accurate approximations to the reaction field independent of the ionic concentration of the solvent.Numerical results are presented to validate the accuracy and effectiveness of the image charge methods.展开更多
文摘In recent years,there has been a growing demand for more efficient and robust control strategies in cooperative multi-robot systems.This paper introduces the cascade explicit tube model predictive controller(CET-MPC),a control architecture designed specifically for distributed aerial robot systems.By integrating an explicit model predictive controller(MPC)with a tube MPC,our approach significantly reduces online computational demands while enhancing robustness against disturbances such as wind and measurement noise,as well as uncertainties in inertia parameters.Further,we incorporate a cascade controller to minimize steady-state errors and improve system performance dynamically.The results of this assessment provide valuable insights into the effectiveness and reliability of the CET-MPC approach under realistic operating conditions.The simulation results of flight scenarios for multi-agent quadrotors demonstrate the controller’s stability and accurate tracking of the desired path.By addressing the complexities of quadrotors’six degrees of freedom,this controller serves as a versatile solution applicable to a wide range of multi-robot systems with varying degrees of freedom,demonstrating its adaptability and scalability beyond the quadrotor domain.
基金supported by the National Key R&D Program of China(2022YFD1401600)the National Science Foundation for Distinguished Young Scholars of Zhejang Province,China(LR23C140001)supported by the Key Area Research and Development Program of Guangdong Province,China(2018B020205003 and 2020B0202090001).
文摘Inferring phylogenetic trees from molecular sequences is a cornerstone of evolutionary biology.Many standard phylogenetic methods(such as maximum-likelihood[ML])rely on explicit models of sequence evolution and thus often suffer from model misspecification or inadequacy.The on-rising deep learning(DL)techniques offer a powerful alternative.Deep learning employs multi-layered artificial neural networks to progressively transform input data into more abstract and complex representations.DL methods can autonomously uncover meaningful patterns from data,thereby bypassing potential biases introduced by predefined features(Franklin,2005;Murphy,2012).Recent efforts have aimed to apply deep neural networks(DNNs)to phylogenetics,with a growing number of applications in tree reconstruction(Suvorov et al.,2020;Zou et al.,2020;Nesterenko et al.,2022;Smith and Hahn,2023;Wang et al.,2023),substitution model selection(Abadi et al.,2020;Burgstaller-Muehlbacher et al.,2023),and diversification rate inference(Voznica et al.,2022;Lajaaiti et al.,2023;Lambert et al.,2023).In phylogenetic tree reconstruction,PhyDL(Zou et al.,2020)and Tree_learning(Suvorov et al.,2020)are two notable DNN-based programs designed to infer unrooted quartet trees directly from alignments of four amino acid(AA)and DNA sequences,respectively.
文摘The implicit Colebrook equation has been the standard for estimating pipe friction factor in a fully developed turbulent regime. Several alternative explicit models to the Colebrook equation have been proposed. To date, most of the accurate explicit models have been those with three logarithmic functions, but they require more computational time than the Colebrook equation. In this study, a new explicit non-linear regression model which has only two logarithmic functions is developed. The new model, when compared with the existing extremely accurate models, gives rise to the least average and maximum relative errors of 0.0025% and 0.0664%, respectively. Moreover, it requires far less computational time than the Colebrook equation. It is therefore concluded that the new explicit model provides a good trade-off between accuracy and relative computational efficiency for pipe friction factor estimation in the fully developed turbulent flow regime.
基金National Natural Science Foundation of China(U22B20149,22308376)Outstanding Young Scholars Foundation of China University of Petroleum(Beijing)(2462023BJRC015)Foundation of United Institute for Carbon Neutrality(CNIF20230209)。
文摘Dual atomic catalysts(DAC),particularly copper(Cu_(2))-based nitrogen(N)doped graphene,show great potential to effectively convert CO_(2)and nitrate(NO_(3)-)into important industrial chemicals such as ethylene,glycol,acetamide,and urea through an efficient catalytical process that involves C–C and C–N coupling.However,the origin of the coupling activity remained unclear,which substantially hinders the rational design of Cu-based catalysts for the N-integrated CO_(2)reduction reaction(CO_(2)RR).To address this challenge,this work performed advanced density functional theory calculations incorporating explicit solvation based on a Cu_(2)-based N-doped carbon(Cu_(2)N_(6)C_(10))catalyst for CO_(2)RR.These calculations are aimed to gain insight into the reaction mechanisms for the synthesis of ethylene,acetamide,and urea via coupling in the interfacial reaction micro-environment.Due to the sluggishness of CO_(2),the formation of a solvation electric layer by anions(F^(-),Cl^(-),Br^(-),and I^(-))and cations(Na+,Mg^(2+),K+,and Ca^(2+))leads to electron transfer towards the Cu surface.This process significantly accelerates the reduction of CO_(2).These results reveal that*CO intermediates play a pivotal role in N-integrated CO_(2)RR.Remarkably,the Cu_(2)-based N-doped carbon catalyst examined in this study has demonstrated the most potential for C–N coupling to date.Our findings reveal that through the process of a condensation reaction between*CO and NH_(2)OH for urea synthesis,*NO_(3)-is reduced to*NH_(3),and*CO_(2)to*CCO at dual Cu atom sites.This dual-site reduction facilitates the synthesis of acetamide through a nucleophilic reaction between NH_(3)and the ketene intermediate.Furthermore,we found that the I-and Mg^(2+)ions,influenced by pH,were highly effective for acetamide and ammonia synthesis,except when F-and Ca^(2+)were present.Furthermore,the mechanisms of C–N bond formation were investigated via ab-initio molecular dynamics simulations,and we found that adjusting the micro-environment can change the dominant side reaction,shifting from hydrogen production in acidic conditions to water reduction in alkaline ones.This study introduces a novel approach using ion-H_(2)O cages to significantly enhance the efficiency of C–N coupling reactions.
基金supported by Key Program of National Natural Science Foundation of China(Grant No.50835001)Program for New Century Excellent Talents in University,China(Grant No.NCET-13-0081)
文摘In precision machining of complex curved surface parts with high performance, geometry accuracy is not the only constraint, but the performance should also be met. Performance of this kind of parts is closely related to the geometrical and physical parameters, so the final actual size and shape are affected by multiple source constraints, such as geometry, physics, and performance. These parts are rather difficult to be manufactured and new manufacturing method according to performance requirement is urgently needed. Based on performance and manufacturing requirements for complex curved surface parts, a new classification method is proposed, which divided the complex curved surface parts into two categories： surface re-design complex curved surface parts with multi-source constraints（PRCS） and surface unique complex curved surface parts with pure geometric constraints（PUCS）. A correlation model is constructed between the performance and multi-source constraints for PRCS, which reveals the correlation between the performance and multi-source constraints. A re-design method is also developed. Through solving the correlation model of the typical paws performance-associated surface, the mapping relation between the performance-associated surface and the related removal amount is obtained. The explicit correlation model and the method for the corresponding related removal amount of the performance-associated surface are built based on the classification of surface re-design complex curved surface parts with multi-source constraints. Research results have been used in the actual processing of the typical parts such as radome, common bottom components, nozzle, et al., which shows improved efficiency and accuracy of the precision machining for the surface re-design parts with complex curved surface.
文摘An explicit algebraic stress model (EASM) has been formulated for two-dimensional turbulent buoyant flows using a five-term tensor representation in a prior study. The derivation was based on partitioning the buoyant flux tensor into a two-dimensional and a three-dimensional component. The five-term basis was formed with the two-dimensional component of the buoyant flux tensor. As such, the derived EASM is limited to two-dimensional flows only. In this paper, a more general approach using a seven-term representation without partitioning the buoyant flux tensor is used to derive an EASM valid for two- and three-dimensional turbulent buoyant flows. Consequently, the basis tensors are formed with the fully three-dimensional buoyant flux tensor. The derived EASM has the two-dimensional flow as a special case. The matrices and the representation coefficients are further simplified using a four-term representation. When this four-term representation model is applied to calculate two-dimensional homogeneous buoyant flows, the results are essentially identical with those obtained previously using the two-dimensional component of the buoyant flux tensor. Therefore, the present approach leads to a more general EASM formulation that is equally valid for two- and three-dimensional turbulent buoyant flows.
文摘This work is to develop a blending-based multiple model adaptive explicit predictive control scheme for nonlinear MiMo systems that can handle parametric uncertainties.Here,for each identification model,an explicit nonlinear model predictive control(ENMPC)law is computed in advance for the corresponding model.The generated control inputs from the set of ENMPC controllers are being blended online using a weighting vector that is continuously updated by the proposed adaptive identification schemes.The proposed control scheme is used to govern the tracking of a highly nonlinear helicopter model known as the twin rotor MIMO system(TRMS).Here,an extended Kalman filter(EKF)is used to estimate the unavailable states of the TRMS.Finally,simulation and experimental results are presented to prove that the proposed controller gives better performance than some reported works in the literature.The effectiveness of the proposed controller is demonstrated by experimental studies of the TRMS model.
文摘As develops in deep sub micron designs,the interconnect crosstalk becomes much more serious.Espe cially, the coupling inductance can not be ignored in gigahertz designs.So shield insertion is an efficient technique to reduce the inductive noise.In this paper,the characteristics of on chip mutual inductance (as well as self) for coplanar,micro stripline and stripline structures are introduced first.Then base on the coplanar interconnect structures,the effective coupling K eff model and the RLC explicit noise model are proposed respectively.The results of experiments show that these two models both have high fidelity.
基金Supported by the National Key Research and Development Program of China(Grant No.2023YFE0204700)the National Natural Science Foundation of China(Grant Nos.52472402 and 52302469)+7 种基金the Guangdong Basic and Applied Basic Research Foundation(Grant Nos.2023A1515012327 and 2024A1515010449)the research grant of the University of Macao(Grant No.MYRG GRG2023-00235-FST-UMDF)Shandong Provincial Natural Science Foundation(Grant No.ZR2023ME133)the Fundamental Research Funds for the Central Universities(Grant No.N2403012)the Science and Technology Development Fund of Macao SAR(Grant No.0091/2023/AMJ)the China Postdoctoral Science Foundation(Grant Nos.2023M740538 and AM2024003)the Zhuhai Science and Technology Innovation Bureau(Grant No.2220004003107)the Yunfu Science and Technology Project(Grant No.2024090202).
文摘The existing research on the path following of the autonomous electric vehicle(AEV)mainly focuses on the path planning and the kinematic control.However,the dynamic control with the state observation and the communication delay is usually ignored,so the path following performance of the AEV cannot be ensured.This article studies the observer-based path following control strategy for the AEV with the communication delay via a robust explicit model predictive control approach.Firstly,a projected interval unscented Kalman filter is proposed to observe the vehicle sideslip angle and yaw rate.The observer considers the state constraints during the observation process,and the robustness of the observer is also considered.Secondly,an explicit model predictive control is designed to reduce the computational complexity.Thirdly,considering the efficiency of the information transmission,the influence of the communication delay is considered when designing the observer-based path following control strategy.Finally,the numerical simulation and the hardware-in-the-loop test are conducted to examine the effectiveness and practicability of the proposed strategy.
文摘Friction factor estimation is essential in fluid flow in pipes calculations. The Colebrook equation, which is a referential standard for its estimation, is implicit in friction factor, f. This implies that f can only be obtained via iterative solution. Sequel to this, explicit approximations of the Colebrook equation developed using analytical approaches have been proposed. A shift in paradigm is the application of artificial intelligence in the area of fluid flow. The use of artificial neural network, an artificial intelligence technique for prediction of friction factor was investigated in this study. The network having a 2-30-30-1 topology was trained using the Levenberg-Marquardt back propagation algorithm. The inputs to the network consisted of 60,000 dataset of Reynolds number and relative roughness which were transformed to logarithmic scales. The performance evaluation of the model gives rise to a mean square error value of 2.456 × 10<sup>–15</sup> and a relative error of not more than 0.004%. The error indices are less than those of previously developed neural network models and a vast majority of the non neural networks are based on explicit analytical approximations of the Colebrook equation.
基金sponsored by China Aerodynamics Research and Development Center Rotor Aerodynamics Key Laboratory opening topic fund。
文摘The Tilt Quad Rotor(TQR) has complex dynamics characteristics, especially in conversion mode. It is difficult to build the dynamic model of the TQR and the environmental factors have a great influence on it. To solve the problem of control in conversion mode of TQR, this paper carries out the design of the controller based on improved Active Disturbance Rejection Control(ADRC). According to the characteristics of flight in conversion mode, Tracking Differentiator(TD) with explicit model is used to solve the problem of multiple integrals when the system is high-order system. Extended State Observer(ESO) with Radial Basis Function(RBF) neural network is used to estimate and compensate for internal and external uncertainties, and the adaptive sliding mode control in Nonlinear State Error Feedback(NLSEF) is used to improve the response speed of the controller and reduce the parameters which should be tuned. Through the flight control simulation of the TQR, the validity and rationality of the control system are verified.
文摘Initial growing space is of critical importance to growth and quality development of individual trees. We investigated how mortality, growth （diameter at breast height, total height）, natural pruning （height to first dead and first live branch and branchiness） and stem and crown form of 24-year-old pedunculate oak （Quercus robur [L.]） and European ash （Fraxinus excelsior [L.]） were affected by initial spacing. Data were recorded from two replicate single-species Nelder wheels located in southern Germany with eight initial stocking regimes varying from 1,020 to 30,780 seedlings·ha？1. Mortality substantially decreased with increasing initial growing space but significantly differed among the two species, averaging 59% and 15% for oak and ash plots, respectively. In contrast to oak, the low self-thinning rate found in the ash plots over the investigated study period resulted in a high number of smaller intermediate or suppressed trees, eventually retarding individual tree as well as overall stand development. As a result, oak gained greater stem dimensions throughout all initial spacing regimes and the average height of ash significantly increased with initial growing space. The survival of lower crown class ashes also appeared to accelerate self-pruning dynamics. In comparison to oak, we observed less dead and live primary branches as well as a smaller number of epicormic shoots along the first 6 m of the lower stem of dominant and co-dominant ashes in all spacing regimes. Whereas stem form of both species was hardly affected by initial growing space, the percentage of brushy crowns significantly increased with initial spacing in oak and ash. Our findings suggest that initial stockings of ca. 12,000 seedlings per hectare in oak and 2,500 seedlings per hectare in ash will guarantee a sufficient number of at least 300 potential crop trees per hectare in pure oak and ash plantations at the end of the self-thinning phase, respectively. If the problem of epicormic shoots and inadequate self-pruning can be controlled with trainer species, the initial stocking may be reduced significantly in oak.
基金Projects(41202220,41472278,51478438)supported by the National Natural Science Foundation of ChinaProjects(20120022120003,20134101120009)supported by the Research Fund for the Doctoral Program of Higher Education,China+1 种基金Project(2652012065)supported by the Fundamental Research Funds for the Central Universities,ChinaProject(14A560014)supported by the Key Project of Education Department in Henan Province,China
文摘In order to investigate the seismic performance of geosynthetic reinforced and pile supported(GRPS) embankment under seismic loads, an input method for three-dimensional oblique incidence of P wave was proposed. This method is based on the explicit finite element method while considering the viscous-spring artificial boundary(VSAB) condition. Using the proposed method, a numerical study was conducted, and the influence of oblique incidence on the seismic response of GRPS embankment under the oblique incident P waves was analyzed. The results indicate that in comparison with vertical incidence, the oblique incidence can significantly increase the displacement, velocity and acceleration of key locations in the GRPS embankment. The existence of geosynthetics can alleviate the impact of seismic load on the response of the embankment to a certain degree. Moreover, the number of reinforcement layers and modulus of geogrid also greatly influence the seismic performance of GRPS embankment.
基金financially supported by the National Key R&D Plan of China (No.2016YFC0502209)the NSFC-Shandong Joint Fund (No.U1806217)+1 种基金the National Natural Science Foundation of China (No.52009006)the Interdiscipline Research Funds of Beijing Normal University。
文摘Vegetation in hot and arid valleys is a crucial indicator of ecosystem health,but is vulnerable to human activities and environmental change.Using the Longkaikou Reservoir in the Jinsha River in southwestern China as a case study,we developed a spatially explicit model that combined the plant growth,fruiting,seed dispersal,and seed germination stages to reveal the potential impact of multiple human activities(reservoir construction,logging,grazing,and aerial seeding) on the vegetation dynamics of Dodonaea viscosa and Pinus yunnanensis.After reservoir construction,the grassland area of 68 km^(2) in 2003 decreased to 24 km^(2) in 2018,replaced by forest,shrubland,and bodies of water,and the precipitation increased during the dry season,which indicated the improvement of the local plant and soil environment.Our model predicted that when soil moisture decreased by more than 20% compared to current levels,the area of D.viscosa increased greatly at low elevations;however,when at higher soil moisture,P.yunnanensis would occupy more of the study area.Logging and grazing would slightly change the spatial pattern of vegetation and delay P.yunnanensis communities from achieving stability by directly reducing plant biomass.Countermeasures such as aerial seeding would increase the total area by 13.13 km^(2) and 8.09 km^(2) of two plants,respectively,and accelerate the stabilization of plant communities.The effects of multiple human activities on vegetation may counteract each other;for example,logging decreased the P.yunnanensis area whereas aerial seeding increased it,and plant biomass changed in response to this pressure.Given the complex relationships between vegetation and human impacts,our study provides a scientific basis for vegetation restoration and ecological security in this hot and arid valley.
基金Supported by the National Natural Science Foundation of China(No. 60635020)the Basic Research Foundation of Tsinghua National Laboratory for Information Science and Technology(TNList)
文摘An abstraction method developed for the explicit linear temporal logic model checking was geared towards reducing the useless part of the state space during the abstraction period. This reduces the cost during the abstraction period relative to models requiring many useless states. A dining-philosophers example comparing this abstraction method with conventional methods indicates that a large proportion of the state space has been reduced by this abstraction method. Finally, the abstract method is shown to be correct and an analysis is given to show how such a large proportion of states can be reduced.
基金This work was partially supported by Key Science,Technology Project of Zhejiang Province(LZ12E07001)National Natural Science Foundation of China(51307038).
文摘A popular explicit analytic Borowy 2C PV module model is proposed for power generation prediction.The maximum power point and the open-circuit point which are calculated in this model cannot be equal to the data given by manufacturers under standard test condition(STC).The derivation of this model has never been mentioned in any literatures.The parameter forms of 2C model in this paper are more simplified,and the model is decomposed into a STC sub-model and an incremental sub-model.The STC model is derived successfully from an ideal single-diode circuit model.Relative error estimations are developed to do the conformity error measurements.The analysis results showed that though the biases at those critical points are very small,the conformity will depend on both of the two ratio values I_(m)/I_(sc) and V_(m)/V_(oc),which can be used to verify whether 2C model is applicable for the PV module produced by a particular manufacturer.
文摘Purpose–The purpose of this paper is to simplify the Explicit Nonlinear Model Predictive Controller(ENMPC)by linearizing the trajectory with Quantum-behaved Pigeon-Inspired Optimization(QPIO).Design/methodology/approach–The paper deduces the nonlinear model of the quadrotor and uses the ENMPC to track the trajectory.Since the ENMPC has high demand for the state equation,the trajectory needed to be differentiated many times.When the trajectory is complicate or discontinuous,QPIO is proposed to linearize the trajectory.Then the linearized trajectory will be used in the ENMPC.Findings–Applying the QPIO algorithm allows the unequal distance sample points to be acquired to linearize the trajectory.Comparing with the equidistant linear interpolation,the linear interpolation error will be smaller.Practical implications–Small-sized quadrotors were adopted in this research to simplify the model.The model is supposed to be accurate and differentiable to meet the requirements of ENMPC.Originality/value–Traditionally,the quadrotor model was usually linearized in the research.In this paper,the quadrotormodel waskept nonlinear and the trajectorywill be linearizedinstead.Unequaldistance sample points were utilized to linearize the trajectory.In this way,the authors can get a smaller interpolation error.This method can also be applied to discrete systems to construct the interpolation for trajectory tracking.
基金the Strategic Cooperation Technology Projects of CNPC and CUPB(ZLZX2020-03)the National Science and Technology Major Project(No.2016ZX05028)China Scholarship Council(No.201906440166)for their financial support.
文摘The hindrance of boundary to particle transport exists widely in various industrial applications.In this study,the wall drag force of parallel plates on settling particles was revealed through settling experiment.High-speed camera was used to record and analyze the settling process of particles in parallel plates that are filled with Newtonian fluids.A total of 600 experiments were carried out,involving the range of relative diameter and particle Reynolds number of 0.01-0.95 and 0.004-14.30,respectively.The wall drag coefficient was defined to quantitatively analyze the wall drag force of the parallel plates.The influence of relative diameter,particle properties,rheological properties,and the settling dynamic process on the wall drag coefficient was revealed,and the wall drag coefficient model with mean relative error of 5.90% was established.Furthermore,an explicit settling velocity model with mean relative error of 8.96% for the particle in parallel plates was developed by introducing a dimensionless variable independent of settling velocity,the Archimedes number.Finally,a calculation example was provided to clarify the using process of the explicit model.This research is expected to provide guidance for optimizing water hydraulic fracturing in the oil and gas industry.
基金The authors would like to thank the financial support provided by the National Institutes of Health(Grant No.1R01GM083600-02)Z.Xu is also partially supported by the Charlotte Research Institute through a Duke Postdoctoral FellowshipW.Cai and Z.Xu are also partially supported by the Department of Energy(Grant No.DEFG0205ER25678).
文摘This paper introduces a three dielectric layer hybrid solvation model for treating electrostatic interactions of biomolecules in solvents using the PoissonBoltzmann equation.In this model,an interior spherical cavity will contain the solute and some explicit solvent molecules,and an intermediate buffer layer and an exterior layer contain the bulk solvent.A special dielectric permittivity profile is used to achieve a continuous dielectric transition from the interior cavity to the exterior layer.The selection of this special profile using a harmonic interpolation allows an analytical solution of the model by generalizing the classical Kirkwood series expansion.Discrete image charges are used to speed up calculations for the electrostatic potential within the interior and buffer layer regions.Semi-analytical and least squares methods are used to construct an accurate discrete image approximation for the reaction field due to solvent with or without salt effects.In particular,the image charges obtained by the least squares method provide accurate approximations to the reaction field independent of the ionic concentration of the solvent.Numerical results are presented to validate the accuracy and effectiveness of the image charge methods.
