This paper solves the problem of model-free dual-arm space robot maneuvering after non-cooperative target capture under high control quality requirements.The explicit system model is unavailable,and the maneuvering mi...This paper solves the problem of model-free dual-arm space robot maneuvering after non-cooperative target capture under high control quality requirements.The explicit system model is unavailable,and the maneuvering mission is disturbed by the measurement noise and the target adversarial behavior.To address these problems,a model-free Combined Adaptive-length Datadriven Predictive Controller(CADPC)is proposed.It consists of a separated subsystem identification method and a combined predictive control strategy.The subsystem identification method is composed of an adaptive data length,thereby reducing sensitivity to undetermined measurement noises and disturbances.Based on the subsystem identification,the combined predictive controller is established,reducing calculating resource.The stability of the CADPC is rigorously proven using the Input-to-State Stable(ISS)theorem and the small-gain theorem.Simulations demonstrate that CADPC effectively handles the model-free space robot post operation in the presence of significant disturbances,state measurement noise,and control input errors.It achieves improved steady-state accuracy,reduced steady-state control consumption,and minimized control input chattering.展开更多
Steady speed control of agricultural machinery can improve operating quality and efficiency.To address the impact of farmland slope variations on the speed stability of unmanned operation agricultural machinery,a hybr...Steady speed control of agricultural machinery can improve operating quality and efficiency.To address the impact of farmland slope variations on the speed stability of unmanned operation agricultural machinery,a hybrid control method was proposed.This method included a hybrid controller composed of a slope-based controller and a proportional-integral-derivative(PID)controller.The speed of agricultural machinery was influenced by longitudinal forces,which were divided into two parts:one part was slope-related forces and conventional resistance,and the other was hard-to-estimate forces,such as sliding friction.For the first part,a slope-based controller was designed;for the second part,a PID controller was implemented.By combining these two controllers,the system can dynamically adjust the throttle opening and the brake master cylinder pressure,ensuring steady speed travel on sloping farmland.Simulation tests at a target speed of 7 km/h demonstrated that the proposed controller maintained a stable speed,achieving a root mean square error of 0.13 km/h and a mean absolute percentage error of 1.6%.Field tests on a practical experimental platform validated the method’s effectiveness,with results showing consistent control performance across varying slope conditions.The proposed controller demonstrated superior control performance.Experimental data verified that this method can achieve precise control of the agricultural machinery’s movement speed,meeting the stability requirements for agricultural operations.展开更多
This paper studies cooperative robust parallel operation of multiple actuators over an undirected communication graph.The plant is modeled as an uncertain linear system,and the actuators are linear and identical.Based...This paper studies cooperative robust parallel operation of multiple actuators over an undirected communication graph.The plant is modeled as an uncertain linear system,and the actuators are linear and identical.Based on the internal model principle,a distributed dynamic output feedback control law is proposed to achieve both robust output regulation of the closed-loop system and plant input sharing among the actuators.A practical example of five motors cooperatively driving an uncertain shaft under an external load torque is presented to show the effectiveness of the proposed control law.展开更多
Acute exposure to high altitude can cause acute altitude illnesses and is associated with impaired cognitive and physical performance.The most effective preventive strategies currently recommended include environmenta...Acute exposure to high altitude can cause acute altitude illnesses and is associated with impaired cognitive and physical performance.The most effective preventive strategies currently recommended include environmental acclimatization(slow ascent and/or pre-acclimatization)or pharmacological support of acclimatization using acetazolamide.However,these strategies are not practical for high-altitude exposures that require rapid and unplanned ascent,high physical and mental performance,such as rescue missions or military operations.Dexamethasone and other modulators of the glucocorticoid system take effect quickly and are effective alternatives for preventing acute altitude illnesses when rapidly ascending to high altitudes.As the efficacy of dexamethasone in preventing acute mountain illnesses remains controversial,a review of existing studies on the use of dexamethasone for the prevention of acute mountain sickness was conducted,aiming to determine the best strategy.Possible mechanisms of protection against acute altitude illnesses are discussed based on the results of clinical trials.The data indicate that dexamethasone is most effective at altitudes above 4000 m at doses of 8–16 mg/d.Appropriately designed and powered trials are needed to obtain more evidence-based results on the dosage and timing of dexamethasone administration,and to provide optimized recommendations for the application of this powerful pharmacological tool.展开更多
Digital twin technology brings more opportunities and challenges to chemical engineering in both academic and industry.A complex process could have multiple digitalization needs,including simulation,monitoring,operato...Digital twin technology brings more opportunities and challenges to chemical engineering in both academic and industry.A complex process could have multiple digitalization needs,including simulation,monitoring,operator training,etc.;thus,a hierarchical digital twin would be a comprehensive solution to that.In this study,a novel and general framework of the digital twin is proposed for operations in process industry.With the hierarchical structure,the framework can handle various tasks driven by different roles in process industry,including managers,engineers,and operators.To complete these tasks,the framework consists of three modules:OAS(Operation Analysis System),OMS(Operation Monitoring System),and OTS(Operator Training System).Each module focuses on one unique type of demand from the staff,as well as interactions among them enabling efficient data sharing.Based on the hierarchical framework,a digital twin system is applied for one complex industrial nitration process,which successfully enhances the operation efficiency and safety in several industrial scenarios with different demands.展开更多
Although wind energy is volatile,the output of a wind-storage plant is partially dispatchable,making it a promising paradigm on the generation side.A grid-friendly wind-storage plant ought to be able to continuously o...Although wind energy is volatile,the output of a wind-storage plant is partially dispatchable,making it a promising paradigm on the generation side.A grid-friendly wind-storage plant ought to be able to continuously output the desired power over a certain period of time.This paper proposes a dependable dynamic capacity provision scheme of a wind-storage plant over a daily horizon.It stipulates a minimum number of periods during which the committed capacity must be fulfilled and a maximum mismatch during the remaining periods when the desired power output is not achievable.In the general case,the day-ahead piecewise constant capacity provision results in a two-stage stochastic program formulated as a mixed-integer linear program.Specifically,for constant capacity provision,a decomposition algorithm is developed to determine the global optimal solution,and the complexity grows linearly with the number of scenarios.Given the committed capacity trajectory,the real-time operation problem is modeled as a four-state stochastic dynamic program.The discrete state-action values are derived recursively via the principle of optimality.Real-time dispatch actions are generated by using the action-value tabular leveraging inexact ultra-short-term forecasts.Numerical tests over one year demonstrate that the proposed method successfully fulfills reliable operation on 355 days and achieve an optimality gap of 9.47%compared with the ex-post optimum,which is comparable to model predictive control using exact 2–3-hour-ahead wind power forecasts.展开更多
Behind the removal of tariffs lies a multiplication of benefits for both China and Africa A transformative policy is set to significantly reshape economic relations between China and Africa.China’s policy to grant ze...Behind the removal of tariffs lies a multiplication of benefits for both China and Africa A transformative policy is set to significantly reshape economic relations between China and Africa.China’s policy to grant zero-tariff treatment to imports from the 53 African nations with diplomatic ties will go into effect on 1 May this year.This initiative,which Chinese Foreign Minister Wang Yi likened to an arithmetic operation during this year’s Two Sessions,marks a further step in China’s efforts to boost imports from Africa.展开更多
Underwater images often affect the effectiveness of underwater visual tasks due to problems such as light scattering,color distortion,and detail blurring,limiting their application performance.Existing underwater imag...Underwater images often affect the effectiveness of underwater visual tasks due to problems such as light scattering,color distortion,and detail blurring,limiting their application performance.Existing underwater image enhancement methods,although they can improve the image quality to some extent,often lead to problems such as detail loss and edge blurring.To address these problems,we propose FENet,an efficient underwater image enhancement method.FENet first obtains three different scales of images by image downsampling and then transforms them into the frequency domain to extract the low-frequency and high-frequency spectra,respectively.Then,a distance mask and a mean mask are constructed based on the distance and magnitude mean for enhancing the high-frequency part,thus improving the image details and enhancing the effect by suppressing the noise in the low-frequency part.Affected by the light scattering of underwater images and the fact that some details are lost if they are directly reduced to the spatial domain after the frequency domain operation.For this reason,we propose a multi-stage residual feature aggregation module,which focuses on detail extraction and effectively avoids information loss caused by global enhancement.Finally,we combine the edge guidance strategy to further enhance the edge details of the image.Experimental results indicate that FENet outperforms current state-of-the-art underwater image enhancement methods in quantitative and qualitative evaluations on multiple publicly available datasets.展开更多
Efficient implementation of fundamental matrix operations on quantum computers,such as matrix products and Hadamard operations,holds significant potential for accelerating machine learning algorithms.A critical prereq...Efficient implementation of fundamental matrix operations on quantum computers,such as matrix products and Hadamard operations,holds significant potential for accelerating machine learning algorithms.A critical prerequisite for quantum implementations is the effective encoding of classical data into quantum states.We propose two quantum computing frameworks for preparing the distinct encoded states corresponding to matrix operations,including the matrix product,matrix sum,matrix Hadamard product and division.Quantum algorithms based on the digital encoding computing framework are capable of implementing the matrix Hadamard operation with a time complexity of O(poly log(mn/ε))and the matrix product with a time complexity of O(poly log(mnl/ε)),achieving an exponential speedup in contrast to the classical methods of O(mn)and O(mnl).Quantum algorithms based on the analog-encoding framework are capable of implementing the matrix Hadamard operation with a time complexity of O(k_(1)√mn·poly log(mn/ε))and the matrix product with a time complexity of O(k_(2)√1·poly log(mnl/ε)),where k_(1)and k_(2)are coefficients correlated with the elements of the matrix,achieving a square speedup in contrast to the classical counterparts.As applications,we construct an oracle that can access the trace of a matrix within logarithmic time,and propose several algorithms to respectively estimate the trace of a matrix,the trace of the product of two matrices,and the trace inner product of two matrices within logarithmic time.展开更多
[Objective]This study aims to investigate the multi-body hydrodynamic interaction mechanisms during offshore lifting operations of aquaculture net cages in wind-fishery integration systems.By integrating numerical sim...[Objective]This study aims to investigate the multi-body hydrodynamic interaction mechanisms during offshore lifting operations of aquaculture net cages in wind-fishery integration systems.By integrating numerical simulations and dynamic analysis methods,this study systematically investigates the coupled dynamic response characteristics during the cage-carrier vessel separation process to reveal its dynamic evolution patterns and key influence mechanisms.[Method]Based on potential flow theory,a fully coupled dynamic analysis model of crane vessel-net cage-semi-submersible barge was established for a marine ranch project in Guangdong.The complete lifting process was dynamically simulated using SESAM software.Five typical operating sea states were configured to investigate the influence of wave parameters on the system's motion response under combined wave-current-wind actions.[Result]The results demonstrate that wave period dominates the system stability.Under short-period conditions,the system maintains stable motion with relatively small horizontal relative displacements,while long-period conditions excite low-frequency resonance,leading to significant slow-drift motions.Vertical response analysis reveals that long-period waves cause severe relative displacement fluctuations between the cage and semi-submersible vessel,with actual displacement amplitudes doubling the preset safety target of 2.045 m.Quantitative analysis further indicates that when significant wave height increases from 1.0 m to 1.5 m,the actual displacement amplitude increases by approximately 20%relative to the target displacement of 2.045 m,demonstrating that its influence is significantly weaker than the displacement variations induced by wave period changes.The complete dynamic simulation successfully captures the continuous dynamic response characteristics during the lifting process.[Conclusion]This research clarifies the influence mechanisms of wave parameters on the cage lifting process,identifying wave period as the crucial factor for operational safety.An operation window assessment method incorporating multi-body coupling effects is established,proposing a safety criterion with peak period not exceeding six seconds as the core requirement.The findings provide theoretical foundation for safe installation of marine ranch net cages and offer valuable references for similar offshore lifting operations.展开更多
Sports Medicine and Health Science(SMHS)has a short but impressive history.Following two diligent years of preplanning,SMHS was founded in 2019 by Co-Editors-in-Chief Dr.J.Larry Durstine and Dr.Quansheng Su.Dr.J.Larry...Sports Medicine and Health Science(SMHS)has a short but impressive history.Following two diligent years of preplanning,SMHS was founded in 2019 by Co-Editors-in-Chief Dr.J.Larry Durstine and Dr.Quansheng Su.Dr.J.Larry Durstine is retiring from his position on December 31,2025 and I am honored to accept the role of Editor-in-Chief(EIC)of SMHS along with Dr.Su.I want to begin my term as EIC by thanking Dr.J.Larry Durstine for his hard work and excellent editorial leadership during the first six years of journal operation.My job as the new EIC of SMHS will be to build on the already established excellence of the journal.展开更多
In order to solve the problems of slow dynamic response and difficult multi-source coordination of solar electric vehicle charging stations under intermittent renewable energy,this paper proposes a hardware-algorithm ...In order to solve the problems of slow dynamic response and difficult multi-source coordination of solar electric vehicle charging stations under intermittent renewable energy,this paper proposes a hardware-algorithm co-design framework:the T-type three-level bidirectional converter(100 kHz switching frequency)based on silicon carbide(SiC)MOSFET is deeply integrated with fuzzy model predictive control(Fuzzy-MPC).At the hardware level,the switching trajectory and resonance suppression circuit(attenuation resonance peak 18 dB)are optimized,and the total loss is reduced by 23%compared with the traditional silicon-based IGBT.At the algorithm level,the adaptive parameter update mechanism and multi-objective rolling optimization are adopted,and the 5 ms level dynamic power allocation is realized by relying on edge computing.Experiments on 800 V DC microgrid(including 600 kW photovoltaic and 150 A·h energy storage)built based on MATLAB/Simulink hardware-in-the-loop(HIL)platform show that the system shortens the battery charging time from 42 to 28 min(the charging speed is increased by 33%).Through the 78%valley power utilization rate,the power purchase cost of high-priced power grids was significantly reduced,and the levelized electricity price decreased by 10.3%;Under the irradiation fluctuation,the renewable energy consumption rate increases by 10.1%,and the DC bus voltage fluctuation is stable within±10 V when the load step is±30%.The co-design provides an economically feasible and dynamically robust solution for the efficient integration of PV-ESG-EV in the smart grid.展开更多
Amidst evolving user behavior driven by the development of the internet,enhancing the operational quality of trade publishing knowledge service platforms has become a significant challenge for publishing institutions....Amidst evolving user behavior driven by the development of the internet,enhancing the operational quality of trade publishing knowledge service platforms has become a significant challenge for publishing institutions.To address this issue,this paper employs a combined approach of theoretical analysis and case study,introducing the SICAS(Sense-Interest-Connection-Action-Share)user consumption behavior analysis model and selecting“CITIC Academy”as the case study subject.It systematically examines and summarizes the platform’s operational practices and specific strategies,aiming to offer strategic insights and practical references for the operational improvement and sustainable,high-quality development of trade publishing knowledge service platforms.展开更多
The world’s most powerful offshore wind turbine has begun feeding electricity into the grid off the coast of southeast China,marking a major technological leap in the country’s wind power industry.The colossal turbi...The world’s most powerful offshore wind turbine has begun feeding electricity into the grid off the coast of southeast China,marking a major technological leap in the country’s wind power industry.The colossal turbine,developed and installed by China Three Gorges Corp.(CTG),is located in the Phase II Liuao offshore wind farm,more than 30 km off the coast of Fujian in waters deeper than 40 metres.The 20-mw unit successfully completed commissioning and started operation on 5 February,CTG announced.展开更多
A three-dimensional multiphase particle-in-cell(MP-PIC)method was adopted to establish a liquid-solid two-phase flow model accounting for complex fracture networks.The model was validated using physical experimental d...A three-dimensional multiphase particle-in-cell(MP-PIC)method was adopted to establish a liquid-solid two-phase flow model accounting for complex fracture networks.The model was validated using physical experimental data.On this basis,the main factors influencing proppant transport in fracture network were analyzed.The study shows that proppant transport in fracture network can be divided into three stages:initial filling,dominant channel formation and fracture network extension.These correspond to three transport patterns:patch-like accumulation near the wellbore,preferential placement along main fractures,and improved the coverage of planar placement as fluid flows into branch fractures.Higher proppant density,lower fracturing fluid viscosity,lower injection rate,and larger proppant grain size result in shorter proppant transport distance and smaller planar placement coefficient.The use of low-density,small-diameter proppant combined with high-viscosity fracturing fluid and appropriately increased injection rate can effectively enlarge the stimulated volume.A smaller angle between the main fracture and branch fractures leads to longer proppant banks,broader coverage,more uniform distribution,and better stimulation performance in branch fractures.In contrast,a larger angle increases the likelihood of proppant accumulation near the branch fracture entrance and reduces the planar placement coefficient.展开更多
The increasing penetration of renewable energy sources(RES)imposes stringent flexibility requirements on thermal power units(TPUs).Integrating molten salt thermal storage systems(MSTS)and thermal-electric coupling tec...The increasing penetration of renewable energy sources(RES)imposes stringent flexibility requirements on thermal power units(TPUs).Integrating molten salt thermal storage systems(MSTS)and thermal-electric coupling technologies into TPUs has the potential to improve their operational flexibility and regulation capability.However,existing research seldom investigates the combined effects of MSTS retrofitting and thermal-electric output coupling on short-term dispatchability,especially under rapid load variation conditions.This study proposes a comprehensive modeling and multi-timescale optimization framework for MSTS-retrofitted TPUs with rapid load variation capability,enabling coordinated thermal and electrical dispatch in both day-ahead and real-time stages.The TPU model incorporates steam heating,electric heating,MSTS charge and discharge characteristics,and ladder typer ramping constraints,enabling detailed representation of thermal-electric coupling interactions.The proposed scheduling framework consists of a day-ahead economic dispatch model and a minute-level intraday rolling optimization.In the day-ahead stage,the model maximizes operational revenue while considering flexibility reserve requirements,multi-period peak shaving,reserve allocation,and thermal-electric coupling strategies that coordinate steam and electric heating with MSTS charging and discharging.In the intraday rolling stage,real-time RES fluctuations and load variations are incorporated to update dispatch decisions,ensuring continuous power–heat balance and efficient use of stored thermal energy.Simulation results verify that thermal-electric coupling enhances the system’s capability to maintain real-time power balance,while MSTS operation effectively mitigates output fluctuations and supports stable,economical operation for addressing RES variation.展开更多
Hybrid MMC(Hy-MMC)has broad application prospects because of the negative level output ability in its bridge arm.A Hy-MMC topology with a high-modulation ratio is designed in this paper.A second-harmonic current injec...Hybrid MMC(Hy-MMC)has broad application prospects because of the negative level output ability in its bridge arm.A Hy-MMC topology with a high-modulation ratio is designed in this paper.A second-harmonic current injection(SHCI)strategy based on Hy-MMC in high-modulation operation is also proposed to improve the power density of Hy-MMC effectively in steady-state operation.The amplitude of SHCI is determined from the perspective of the root mean square(RMS)value of bridge arm current,and the optimal initial phase angle is determined from the multi-objective optimization(capacitor voltage ripple of sub-modules(SMs),power loss,and peak value of bridge arm current).The effectiveness and engineering practicability of the proposed SHCI strategy based on Hy-MMC in high-modulation operation is verified by the electromagnetic transient(EMT)simulation using PSCAD/EMTDC®.The simulation results show that the capacitor voltage ripple of SMs can be effectively decreased by 61.98%or the capacitance can be decreased by 40%.The power loss is also analyzed.In addition,little influence of low capacitance on multi-operation conditions of Hy-MMC is verified by EMT simulation.展开更多
In order to cope with the global environmental crisis caused by energy generation and achieve carbon neutrality,it is imperative to promote a new power system dominated by renewable energy sources(RESs).This paper foc...In order to cope with the global environmental crisis caused by energy generation and achieve carbon neutrality,it is imperative to promote a new power system dominated by renewable energy sources(RESs).This paper focuses on the uncertainty of RESs and the distribution characteristics of carbon emission flows(CEFs),and studies the low-carbon operation and power system planning problem.Firstly,this paper extends the uncertainty of RES to the meteorological field and establishes meteorological robust constraints of photovoltaic(PV)generation.Based on the CEF theory,the carbon transmission trajectory is accurately delineated to improve the operation of power system.Considering further constraints from the power flow,CEF,and component operation characteristics of the active distribution network(ADN),this paper formulates a low-carbon joint planning model of ADN with PV,battery energy storage system(BESS),and distributed gas generator(DGG),taking into account economy and carbon reduction.In the case study,the low-carbon planning and operation scheme are analyzed in detail across multiple dimensions including time and space.The solution results show that the planning model can effectively leverage the low-carbon performance of PV and BESS,and improve the distribution of CEF.Through case comparison,the model can also efficiently reduce the total cost of the system and enhance carbon emission reduction benefits by 35.10 to 41.04%.展开更多
Present of wind power is sporadically and cannot be utilized as the only fundamental load of energy sources.This paper proposes a wind-solar hybrid energy storage system(HESS)to ensure a stable supply grid for a longe...Present of wind power is sporadically and cannot be utilized as the only fundamental load of energy sources.This paper proposes a wind-solar hybrid energy storage system(HESS)to ensure a stable supply grid for a longer period.A multi-objective genetic algorithm(MOGA)and state of charge(SOC)region division for the batteries are introduced to solve the objective function and configuration of the system capacity,respectively.MATLAB/Simulink was used for simulation test.The optimization results show that for a 0.5 MW wind power and 0.5 MW photovoltaic system,with a combination of a 300 Ah lithium battery,a 200 Ah lead-acid battery,and a water storage tank,the proposed strategy reduces the system construction cost by approximately 18,000 yuan.Additionally,the cycle count of the electrochemical energy storage systemincreases from4515 to 4660,while the depth of discharge decreases from 55.37%to 53.65%,achieving shallow charging and discharging,thereby extending battery life and reducing grid voltage fluctuations significantly.The proposed strategy is a guide for stabilizing the grid connection of wind and solar power generation,capability allocation,and energy management of energy conservation systems.展开更多
BACKGROUND A total of 100 patients diagnosed with mixed hemorrhoids from October 2022 to September 2023 in our hospital were randomly divided into groups by dice rolling and compared with the efficacy of different tre...BACKGROUND A total of 100 patients diagnosed with mixed hemorrhoids from October 2022 to September 2023 in our hospital were randomly divided into groups by dice rolling and compared with the efficacy of different treatment options.AIM To analyze the clinical effect and prognosis of mixed hemorrhoids treated with polidocanol injection combined with automatic elastic thread ligation operation(RPH).METHODS A total of 100 patients with mixed hemorrhoids who visited our hospital from October 2022 to September 2023 were selected and randomly divided into the control group(n=50)and the treatment group(n=50)by rolling the dice.The procedure for prolapse and hemorrhoids(PPH)was adopted in the control group,while polidocanol foam injection+RPH was adopted in the treatment group.The therapeutic effects,operation time,wound healing time,hospital stay,pain situation(24 hours post-operative pain score,first defecation pain score),quality of life(QOL),incidence of complications(post-operative hemorrhage,edema,infection),incidence of anal stenosis 3 months post-operatively and recurrence rate 1 year post-operatively of the two groups were compared.RESULTS Compared with the control group,the total effective rate of treatment group was higher,and the difference was significant(P<0.05).The operation time/wound healing time/hospital stay in the treatment group were shorter than those in the control group(P<0.05).The pain scores at 24 hours after operation/first defecation pain score of the treatment group was significantly lower than those in the control group(P<0.05).After surgery,the QOL scores of the two groups decreased,with the treatment group having higher scores than that of the control group(P<0.05).Compared with the control group,the incidence of postoperative complications in the treatment group was lower,and the difference was significant(P<0.05);However,there was no significant difference in the incidence of postoperative bleeding between the two groups(P>0.05);There was no significant difference in the incidence of anal stenosis 3 months after operation and the recurrence rate 1 year after operation between the two groups(P>0.05).CONCLUSION For patients with mixed hemorrhoids,the therapeutic effect achieved by using polidocanol injection combined with RPH was better.The wounds of the patients healed faster,the postoperative pain was milder,QOL improved,and the incidence of complications was lower,and the short-term and long-term prognosis was good.展开更多
基金supported by the National Natural Science Foundation of China(No.12372045)the National Key Research and the Development Program of China(Nos.2023YFC2205900,2023YFC2205901)。
文摘This paper solves the problem of model-free dual-arm space robot maneuvering after non-cooperative target capture under high control quality requirements.The explicit system model is unavailable,and the maneuvering mission is disturbed by the measurement noise and the target adversarial behavior.To address these problems,a model-free Combined Adaptive-length Datadriven Predictive Controller(CADPC)is proposed.It consists of a separated subsystem identification method and a combined predictive control strategy.The subsystem identification method is composed of an adaptive data length,thereby reducing sensitivity to undetermined measurement noises and disturbances.Based on the subsystem identification,the combined predictive controller is established,reducing calculating resource.The stability of the CADPC is rigorously proven using the Input-to-State Stable(ISS)theorem and the small-gain theorem.Simulations demonstrate that CADPC effectively handles the model-free space robot post operation in the presence of significant disturbances,state measurement noise,and control input errors.It achieves improved steady-state accuracy,reduced steady-state control consumption,and minimized control input chattering.
文摘Steady speed control of agricultural machinery can improve operating quality and efficiency.To address the impact of farmland slope variations on the speed stability of unmanned operation agricultural machinery,a hybrid control method was proposed.This method included a hybrid controller composed of a slope-based controller and a proportional-integral-derivative(PID)controller.The speed of agricultural machinery was influenced by longitudinal forces,which were divided into two parts:one part was slope-related forces and conventional resistance,and the other was hard-to-estimate forces,such as sliding friction.For the first part,a slope-based controller was designed;for the second part,a PID controller was implemented.By combining these two controllers,the system can dynamically adjust the throttle opening and the brake master cylinder pressure,ensuring steady speed travel on sloping farmland.Simulation tests at a target speed of 7 km/h demonstrated that the proposed controller maintained a stable speed,achieving a root mean square error of 0.13 km/h and a mean absolute percentage error of 1.6%.Field tests on a practical experimental platform validated the method’s effectiveness,with results showing consistent control performance across varying slope conditions.The proposed controller demonstrated superior control performance.Experimental data verified that this method can achieve precise control of the agricultural machinery’s movement speed,meeting the stability requirements for agricultural operations.
基金Supported by the Shenzhen Key Laboratory of Control Theory and Intelligent Systems (ZDSYS20220330161800001)the National Natural Science Foundation of China (62303207)the Guangdong Basic and Applied Basic Research Foundation (2024A1515010725)。
文摘This paper studies cooperative robust parallel operation of multiple actuators over an undirected communication graph.The plant is modeled as an uncertain linear system,and the actuators are linear and identical.Based on the internal model principle,a distributed dynamic output feedback control law is proposed to achieve both robust output regulation of the closed-loop system and plant input sharing among the actuators.A practical example of five motors cooperatively driving an uncertain shaft under an external load torque is presented to show the effectiveness of the proposed control law.
文摘Acute exposure to high altitude can cause acute altitude illnesses and is associated with impaired cognitive and physical performance.The most effective preventive strategies currently recommended include environmental acclimatization(slow ascent and/or pre-acclimatization)or pharmacological support of acclimatization using acetazolamide.However,these strategies are not practical for high-altitude exposures that require rapid and unplanned ascent,high physical and mental performance,such as rescue missions or military operations.Dexamethasone and other modulators of the glucocorticoid system take effect quickly and are effective alternatives for preventing acute altitude illnesses when rapidly ascending to high altitudes.As the efficacy of dexamethasone in preventing acute mountain illnesses remains controversial,a review of existing studies on the use of dexamethasone for the prevention of acute mountain sickness was conducted,aiming to determine the best strategy.Possible mechanisms of protection against acute altitude illnesses are discussed based on the results of clinical trials.The data indicate that dexamethasone is most effective at altitudes above 4000 m at doses of 8–16 mg/d.Appropriately designed and powered trials are needed to obtain more evidence-based results on the dosage and timing of dexamethasone administration,and to provide optimized recommendations for the application of this powerful pharmacological tool.
基金support of the“Pioneer”and“Leading Goose”Research&Development Program of Zhejiang(2024C01028)the State Key Laboratory of Industrial Control Technology,China(ICT2024C04)are gratefully acknowledged.
文摘Digital twin technology brings more opportunities and challenges to chemical engineering in both academic and industry.A complex process could have multiple digitalization needs,including simulation,monitoring,operator training,etc.;thus,a hierarchical digital twin would be a comprehensive solution to that.In this study,a novel and general framework of the digital twin is proposed for operations in process industry.With the hierarchical structure,the framework can handle various tasks driven by different roles in process industry,including managers,engineers,and operators.To complete these tasks,the framework consists of three modules:OAS(Operation Analysis System),OMS(Operation Monitoring System),and OTS(Operator Training System).Each module focuses on one unique type of demand from the staff,as well as interactions among them enabling efficient data sharing.Based on the hierarchical framework,a digital twin system is applied for one complex industrial nitration process,which successfully enhances the operation efficiency and safety in several industrial scenarios with different demands.
基金supported by the Smart Grid-National Science and Technology Major Project of China(2024ZD0802000).
文摘Although wind energy is volatile,the output of a wind-storage plant is partially dispatchable,making it a promising paradigm on the generation side.A grid-friendly wind-storage plant ought to be able to continuously output the desired power over a certain period of time.This paper proposes a dependable dynamic capacity provision scheme of a wind-storage plant over a daily horizon.It stipulates a minimum number of periods during which the committed capacity must be fulfilled and a maximum mismatch during the remaining periods when the desired power output is not achievable.In the general case,the day-ahead piecewise constant capacity provision results in a two-stage stochastic program formulated as a mixed-integer linear program.Specifically,for constant capacity provision,a decomposition algorithm is developed to determine the global optimal solution,and the complexity grows linearly with the number of scenarios.Given the committed capacity trajectory,the real-time operation problem is modeled as a four-state stochastic dynamic program.The discrete state-action values are derived recursively via the principle of optimality.Real-time dispatch actions are generated by using the action-value tabular leveraging inexact ultra-short-term forecasts.Numerical tests over one year demonstrate that the proposed method successfully fulfills reliable operation on 355 days and achieve an optimality gap of 9.47%compared with the ex-post optimum,which is comparable to model predictive control using exact 2–3-hour-ahead wind power forecasts.
文摘Behind the removal of tariffs lies a multiplication of benefits for both China and Africa A transformative policy is set to significantly reshape economic relations between China and Africa.China’s policy to grant zero-tariff treatment to imports from the 53 African nations with diplomatic ties will go into effect on 1 May this year.This initiative,which Chinese Foreign Minister Wang Yi likened to an arithmetic operation during this year’s Two Sessions,marks a further step in China’s efforts to boost imports from Africa.
基金supported in part by the National Natural Science Foundation of China[Grant number 62471075]the Major Science and Technology Project Grant of the Chongqing Municipal Education Commission[Grant number KJZD-M202301901].
文摘Underwater images often affect the effectiveness of underwater visual tasks due to problems such as light scattering,color distortion,and detail blurring,limiting their application performance.Existing underwater image enhancement methods,although they can improve the image quality to some extent,often lead to problems such as detail loss and edge blurring.To address these problems,we propose FENet,an efficient underwater image enhancement method.FENet first obtains three different scales of images by image downsampling and then transforms them into the frequency domain to extract the low-frequency and high-frequency spectra,respectively.Then,a distance mask and a mean mask are constructed based on the distance and magnitude mean for enhancing the high-frequency part,thus improving the image details and enhancing the effect by suppressing the noise in the low-frequency part.Affected by the light scattering of underwater images and the fact that some details are lost if they are directly reduced to the spatial domain after the frequency domain operation.For this reason,we propose a multi-stage residual feature aggregation module,which focuses on detail extraction and effectively avoids information loss caused by global enhancement.Finally,we combine the edge guidance strategy to further enhance the edge details of the image.Experimental results indicate that FENet outperforms current state-of-the-art underwater image enhancement methods in quantitative and qualitative evaluations on multiple publicly available datasets.
基金Project supported by the National Natural Science Foundation of China(Grant No.61573266)the Natural Science Basic Research Program of Shaanxi(Grant No.2021JM-133)the Fundamental Research Funds for the Central Universities and the Innovation Fund of Xidian University(Grant No.YJSJ25009)。
文摘Efficient implementation of fundamental matrix operations on quantum computers,such as matrix products and Hadamard operations,holds significant potential for accelerating machine learning algorithms.A critical prerequisite for quantum implementations is the effective encoding of classical data into quantum states.We propose two quantum computing frameworks for preparing the distinct encoded states corresponding to matrix operations,including the matrix product,matrix sum,matrix Hadamard product and division.Quantum algorithms based on the digital encoding computing framework are capable of implementing the matrix Hadamard operation with a time complexity of O(poly log(mn/ε))and the matrix product with a time complexity of O(poly log(mnl/ε)),achieving an exponential speedup in contrast to the classical methods of O(mn)and O(mnl).Quantum algorithms based on the analog-encoding framework are capable of implementing the matrix Hadamard operation with a time complexity of O(k_(1)√mn·poly log(mn/ε))and the matrix product with a time complexity of O(k_(2)√1·poly log(mnl/ε)),where k_(1)and k_(2)are coefficients correlated with the elements of the matrix,achieving a square speedup in contrast to the classical counterparts.As applications,we construct an oracle that can access the trace of a matrix within logarithmic time,and propose several algorithms to respectively estimate the trace of a matrix,the trace of the product of two matrices,and the trace inner product of two matrices within logarithmic time.
文摘[Objective]This study aims to investigate the multi-body hydrodynamic interaction mechanisms during offshore lifting operations of aquaculture net cages in wind-fishery integration systems.By integrating numerical simulations and dynamic analysis methods,this study systematically investigates the coupled dynamic response characteristics during the cage-carrier vessel separation process to reveal its dynamic evolution patterns and key influence mechanisms.[Method]Based on potential flow theory,a fully coupled dynamic analysis model of crane vessel-net cage-semi-submersible barge was established for a marine ranch project in Guangdong.The complete lifting process was dynamically simulated using SESAM software.Five typical operating sea states were configured to investigate the influence of wave parameters on the system's motion response under combined wave-current-wind actions.[Result]The results demonstrate that wave period dominates the system stability.Under short-period conditions,the system maintains stable motion with relatively small horizontal relative displacements,while long-period conditions excite low-frequency resonance,leading to significant slow-drift motions.Vertical response analysis reveals that long-period waves cause severe relative displacement fluctuations between the cage and semi-submersible vessel,with actual displacement amplitudes doubling the preset safety target of 2.045 m.Quantitative analysis further indicates that when significant wave height increases from 1.0 m to 1.5 m,the actual displacement amplitude increases by approximately 20%relative to the target displacement of 2.045 m,demonstrating that its influence is significantly weaker than the displacement variations induced by wave period changes.The complete dynamic simulation successfully captures the continuous dynamic response characteristics during the lifting process.[Conclusion]This research clarifies the influence mechanisms of wave parameters on the cage lifting process,identifying wave period as the crucial factor for operational safety.An operation window assessment method incorporating multi-body coupling effects is established,proposing a safety criterion with peak period not exceeding six seconds as the core requirement.The findings provide theoretical foundation for safe installation of marine ranch net cages and offer valuable references for similar offshore lifting operations.
文摘Sports Medicine and Health Science(SMHS)has a short but impressive history.Following two diligent years of preplanning,SMHS was founded in 2019 by Co-Editors-in-Chief Dr.J.Larry Durstine and Dr.Quansheng Su.Dr.J.Larry Durstine is retiring from his position on December 31,2025 and I am honored to accept the role of Editor-in-Chief(EIC)of SMHS along with Dr.Su.I want to begin my term as EIC by thanking Dr.J.Larry Durstine for his hard work and excellent editorial leadership during the first six years of journal operation.My job as the new EIC of SMHS will be to build on the already established excellence of the journal.
基金Jiangsu Provincial College Student Innovation and Entrepreneurship Program(Grant No.SJCX25_2184)—“Multi-energy Complementary Optimization and Vehicle-Storage Bidirectional Interaction Technology Driven by Novel 5E Framework”(Principal Investigator:Yuan-Yuan ShiFunding Agency:Jiangsu Provincial Education Department)+3 种基金Huaian Natural Science Research Project(Grant No.HAB2024046)—“Optimal Control of Flexible Cold-Heat-Power Integrated System with Source-Grid-Load-Storage Coordination”(Principal Investigator:Jie JiFunding Agency:Huaian Science and Technology Bureau)Huaiyin Institute of TechnologyUniversity-funded Project(GrantNo.HGYK202511)—“Data-driven CooperativeOptimization Dispatch for Source-Grid-Load Systems”(Principal Investigator:Chu-Tong ZhangFunding Agency:Huaiyin Institute of Technology).
文摘In order to solve the problems of slow dynamic response and difficult multi-source coordination of solar electric vehicle charging stations under intermittent renewable energy,this paper proposes a hardware-algorithm co-design framework:the T-type three-level bidirectional converter(100 kHz switching frequency)based on silicon carbide(SiC)MOSFET is deeply integrated with fuzzy model predictive control(Fuzzy-MPC).At the hardware level,the switching trajectory and resonance suppression circuit(attenuation resonance peak 18 dB)are optimized,and the total loss is reduced by 23%compared with the traditional silicon-based IGBT.At the algorithm level,the adaptive parameter update mechanism and multi-objective rolling optimization are adopted,and the 5 ms level dynamic power allocation is realized by relying on edge computing.Experiments on 800 V DC microgrid(including 600 kW photovoltaic and 150 A·h energy storage)built based on MATLAB/Simulink hardware-in-the-loop(HIL)platform show that the system shortens the battery charging time from 42 to 28 min(the charging speed is increased by 33%).Through the 78%valley power utilization rate,the power purchase cost of high-priced power grids was significantly reduced,and the levelized electricity price decreased by 10.3%;Under the irradiation fluctuation,the renewable energy consumption rate increases by 10.1%,and the DC bus voltage fluctuation is stable within±10 V when the load step is±30%.The co-design provides an economically feasible and dynamically robust solution for the efficient integration of PV-ESG-EV in the smart grid.
文摘Amidst evolving user behavior driven by the development of the internet,enhancing the operational quality of trade publishing knowledge service platforms has become a significant challenge for publishing institutions.To address this issue,this paper employs a combined approach of theoretical analysis and case study,introducing the SICAS(Sense-Interest-Connection-Action-Share)user consumption behavior analysis model and selecting“CITIC Academy”as the case study subject.It systematically examines and summarizes the platform’s operational practices and specific strategies,aiming to offer strategic insights and practical references for the operational improvement and sustainable,high-quality development of trade publishing knowledge service platforms.
文摘The world’s most powerful offshore wind turbine has begun feeding electricity into the grid off the coast of southeast China,marking a major technological leap in the country’s wind power industry.The colossal turbine,developed and installed by China Three Gorges Corp.(CTG),is located in the Phase II Liuao offshore wind farm,more than 30 km off the coast of Fujian in waters deeper than 40 metres.The 20-mw unit successfully completed commissioning and started operation on 5 February,CTG announced.
基金Supported by the National Natural Science Foundation of China(U21B2071,U23B20156)。
文摘A three-dimensional multiphase particle-in-cell(MP-PIC)method was adopted to establish a liquid-solid two-phase flow model accounting for complex fracture networks.The model was validated using physical experimental data.On this basis,the main factors influencing proppant transport in fracture network were analyzed.The study shows that proppant transport in fracture network can be divided into three stages:initial filling,dominant channel formation and fracture network extension.These correspond to three transport patterns:patch-like accumulation near the wellbore,preferential placement along main fractures,and improved the coverage of planar placement as fluid flows into branch fractures.Higher proppant density,lower fracturing fluid viscosity,lower injection rate,and larger proppant grain size result in shorter proppant transport distance and smaller planar placement coefficient.The use of low-density,small-diameter proppant combined with high-viscosity fracturing fluid and appropriately increased injection rate can effectively enlarge the stimulated volume.A smaller angle between the main fracture and branch fractures leads to longer proppant banks,broader coverage,more uniform distribution,and better stimulation performance in branch fractures.In contrast,a larger angle increases the likelihood of proppant accumulation near the branch fracture entrance and reduces the planar placement coefficient.
基金funded by State Grid Jiangsu Electric Power Co.,Ltd.Science and Technology Project,grant number J2023118.
文摘The increasing penetration of renewable energy sources(RES)imposes stringent flexibility requirements on thermal power units(TPUs).Integrating molten salt thermal storage systems(MSTS)and thermal-electric coupling technologies into TPUs has the potential to improve their operational flexibility and regulation capability.However,existing research seldom investigates the combined effects of MSTS retrofitting and thermal-electric output coupling on short-term dispatchability,especially under rapid load variation conditions.This study proposes a comprehensive modeling and multi-timescale optimization framework for MSTS-retrofitted TPUs with rapid load variation capability,enabling coordinated thermal and electrical dispatch in both day-ahead and real-time stages.The TPU model incorporates steam heating,electric heating,MSTS charge and discharge characteristics,and ladder typer ramping constraints,enabling detailed representation of thermal-electric coupling interactions.The proposed scheduling framework consists of a day-ahead economic dispatch model and a minute-level intraday rolling optimization.In the day-ahead stage,the model maximizes operational revenue while considering flexibility reserve requirements,multi-period peak shaving,reserve allocation,and thermal-electric coupling strategies that coordinate steam and electric heating with MSTS charging and discharging.In the intraday rolling stage,real-time RES fluctuations and load variations are incorporated to update dispatch decisions,ensuring continuous power–heat balance and efficient use of stored thermal energy.Simulation results verify that thermal-electric coupling enhances the system’s capability to maintain real-time power balance,while MSTS operation effectively mitigates output fluctuations and supports stable,economical operation for addressing RES variation.
基金supported by National Natural Science Foundation of China(52277094).
文摘Hybrid MMC(Hy-MMC)has broad application prospects because of the negative level output ability in its bridge arm.A Hy-MMC topology with a high-modulation ratio is designed in this paper.A second-harmonic current injection(SHCI)strategy based on Hy-MMC in high-modulation operation is also proposed to improve the power density of Hy-MMC effectively in steady-state operation.The amplitude of SHCI is determined from the perspective of the root mean square(RMS)value of bridge arm current,and the optimal initial phase angle is determined from the multi-objective optimization(capacitor voltage ripple of sub-modules(SMs),power loss,and peak value of bridge arm current).The effectiveness and engineering practicability of the proposed SHCI strategy based on Hy-MMC in high-modulation operation is verified by the electromagnetic transient(EMT)simulation using PSCAD/EMTDC®.The simulation results show that the capacitor voltage ripple of SMs can be effectively decreased by 61.98%or the capacitance can be decreased by 40%.The power loss is also analyzed.In addition,little influence of low capacitance on multi-operation conditions of Hy-MMC is verified by EMT simulation.
基金supported by the Key Program of National Natural Science Foundation of China under Grant 52130702.
文摘In order to cope with the global environmental crisis caused by energy generation and achieve carbon neutrality,it is imperative to promote a new power system dominated by renewable energy sources(RESs).This paper focuses on the uncertainty of RESs and the distribution characteristics of carbon emission flows(CEFs),and studies the low-carbon operation and power system planning problem.Firstly,this paper extends the uncertainty of RES to the meteorological field and establishes meteorological robust constraints of photovoltaic(PV)generation.Based on the CEF theory,the carbon transmission trajectory is accurately delineated to improve the operation of power system.Considering further constraints from the power flow,CEF,and component operation characteristics of the active distribution network(ADN),this paper formulates a low-carbon joint planning model of ADN with PV,battery energy storage system(BESS),and distributed gas generator(DGG),taking into account economy and carbon reduction.In the case study,the low-carbon planning and operation scheme are analyzed in detail across multiple dimensions including time and space.The solution results show that the planning model can effectively leverage the low-carbon performance of PV and BESS,and improve the distribution of CEF.Through case comparison,the model can also efficiently reduce the total cost of the system and enhance carbon emission reduction benefits by 35.10 to 41.04%.
基金supported by a Horizontal Project on the Development of a Hybrid Energy Storage Simulation Model for Wind Power Based on an RT-LAB Simulation System(PH2023000190)the Inner Mongolia Natural Science Foundation Project and the Optimization of Exergy Efficiency of a Hybrid Energy Storage System with Crossover Control for Wind Power(2023JQ04).
文摘Present of wind power is sporadically and cannot be utilized as the only fundamental load of energy sources.This paper proposes a wind-solar hybrid energy storage system(HESS)to ensure a stable supply grid for a longer period.A multi-objective genetic algorithm(MOGA)and state of charge(SOC)region division for the batteries are introduced to solve the objective function and configuration of the system capacity,respectively.MATLAB/Simulink was used for simulation test.The optimization results show that for a 0.5 MW wind power and 0.5 MW photovoltaic system,with a combination of a 300 Ah lithium battery,a 200 Ah lead-acid battery,and a water storage tank,the proposed strategy reduces the system construction cost by approximately 18,000 yuan.Additionally,the cycle count of the electrochemical energy storage systemincreases from4515 to 4660,while the depth of discharge decreases from 55.37%to 53.65%,achieving shallow charging and discharging,thereby extending battery life and reducing grid voltage fluctuations significantly.The proposed strategy is a guide for stabilizing the grid connection of wind and solar power generation,capability allocation,and energy management of energy conservation systems.
文摘BACKGROUND A total of 100 patients diagnosed with mixed hemorrhoids from October 2022 to September 2023 in our hospital were randomly divided into groups by dice rolling and compared with the efficacy of different treatment options.AIM To analyze the clinical effect and prognosis of mixed hemorrhoids treated with polidocanol injection combined with automatic elastic thread ligation operation(RPH).METHODS A total of 100 patients with mixed hemorrhoids who visited our hospital from October 2022 to September 2023 were selected and randomly divided into the control group(n=50)and the treatment group(n=50)by rolling the dice.The procedure for prolapse and hemorrhoids(PPH)was adopted in the control group,while polidocanol foam injection+RPH was adopted in the treatment group.The therapeutic effects,operation time,wound healing time,hospital stay,pain situation(24 hours post-operative pain score,first defecation pain score),quality of life(QOL),incidence of complications(post-operative hemorrhage,edema,infection),incidence of anal stenosis 3 months post-operatively and recurrence rate 1 year post-operatively of the two groups were compared.RESULTS Compared with the control group,the total effective rate of treatment group was higher,and the difference was significant(P<0.05).The operation time/wound healing time/hospital stay in the treatment group were shorter than those in the control group(P<0.05).The pain scores at 24 hours after operation/first defecation pain score of the treatment group was significantly lower than those in the control group(P<0.05).After surgery,the QOL scores of the two groups decreased,with the treatment group having higher scores than that of the control group(P<0.05).Compared with the control group,the incidence of postoperative complications in the treatment group was lower,and the difference was significant(P<0.05);However,there was no significant difference in the incidence of postoperative bleeding between the two groups(P>0.05);There was no significant difference in the incidence of anal stenosis 3 months after operation and the recurrence rate 1 year after operation between the two groups(P>0.05).CONCLUSION For patients with mixed hemorrhoids,the therapeutic effect achieved by using polidocanol injection combined with RPH was better.The wounds of the patients healed faster,the postoperative pain was milder,QOL improved,and the incidence of complications was lower,and the short-term and long-term prognosis was good.
