The purpose of this study is to develop maneuvering models and systems of a simulator to improve the motion performance of autonomous underwater vehicles （AUVs） at the preliminary design stages in advance. The AUVs ...The purpose of this study is to develop maneuvering models and systems of a simulator to improve the motion performance of autonomous underwater vehicles （AUVs） at the preliminary design stages in advance. The AUVs simulation systems based on the standard submarine equations of motion in six-degree-of-freedom （6-DOF） integrated with the Euler-Rodriguez quaternion method for representing singularity-free AUV attitude and time-saving calculation, and with a nonlinear control model for maneuvering and depth control simulations, time-marching in the fourth-order Runge-Kutta scheme. For validation of the simulation codes, results of the ISiMI AUV open-loop tests including turning test and zigzag test as well as an AUV simulator on the basis of Euler-angle method were used to compare with the quaternion-based AUV simulator. The computational results from the proposed simulator agree well with those from both the ISiMI AUV experiments and the Euler-angle based simulations. Additionally, a new maneuvering procedure, namely ＂put-out＂ was implemented to test directional stability for a large-scale AUV in the proposed AUV simulator that can be considered for vehicles in space as well as in constrained planes.展开更多
For loops with UV divergences,assuming that the physical contributions of loops from UV regions are insignificant,a UV-free scheme method described by an equation is introduced to derive loop results without UV diverg...For loops with UV divergences,assuming that the physical contributions of loops from UV regions are insignificant,a UV-free scheme method described by an equation is introduced to derive loop results without UV divergences in the calculations,i.e.,a route of the analytic continuation T_(F)→T_(P)besides the traditional route∞-∞in the mathematical structure.This scheme provides a new perspective to an open question of the hierarchy problem of Higgs mass,i.e.,an alternative interpretation without fine-tuning within the standard model.展开更多
A trace analytical method based on solid-phase extraction gas chromatography-tandem mass spectrometry(SPE–GC–MS/MS)was developed for the rapid detection of 256 semi-volatile organic compounds(SVOCs),including 25 pol...A trace analytical method based on solid-phase extraction gas chromatography-tandem mass spectrometry(SPE–GC–MS/MS)was developed for the rapid detection of 256 semi-volatile organic compounds(SVOCs),including 25 polycyclic aromatic hydrocarbons(PAHs),70 polychlorinated biphenyls(PCBs),123 pesticides,20 phthalate esters(PAEs),4 organophosphate esters(OPEs),9 synthetic musks(SMs),and 5 UV filters(UVs)in water.No-tably,this method provided a decent linearity of calibration standards(R^(2)>0.999),excellent method limits of quantification(MLOQs)(0.12–11.41 ng/L),satisfactory matrix spiking recovery rates(60.4%–126%),and high precision(intra-day relative standard deviations(RSDs):1.0%–10.0%,inter-day RSDs:3.0%–15.0%,and inter-week RSDs:3.4%–15.7%),making it suitable for trace-level studies.Statistical analysis revealed that SVOCs with higher volatility exhibited enhanced recovery rates.Validation of the methodology involved analyzing SVOCs in real spring water and river water samples.Twenty-seven SVOCs were detected in spring water and 58 in river water,with an average concentration of 631.73 and 16,095 ng/L,respectively.Among the detected SVOCs,PAEs constituted the predominant proportion.This study underscored the presence of SVOCs contamination specifi-cally within the spring water,although SVOCs concentrations in river water were significantly greater than those found in spring water.In summary,this sensitive method based on SPE–GC–MS/MS was successfully developed and validated for the rapid analysis of a diverse array of 256 SVOCs at trace levels in water,including not only the traditional highly valued PAHs,PCBs,pesticides,and PAEs,but also the emerging OPEs,UVs,and SMs.展开更多
文摘The purpose of this study is to develop maneuvering models and systems of a simulator to improve the motion performance of autonomous underwater vehicles （AUVs） at the preliminary design stages in advance. The AUVs simulation systems based on the standard submarine equations of motion in six-degree-of-freedom （6-DOF） integrated with the Euler-Rodriguez quaternion method for representing singularity-free AUV attitude and time-saving calculation, and with a nonlinear control model for maneuvering and depth control simulations, time-marching in the fourth-order Runge-Kutta scheme. For validation of the simulation codes, results of the ISiMI AUV open-loop tests including turning test and zigzag test as well as an AUV simulator on the basis of Euler-angle method were used to compare with the quaternion-based AUV simulator. The computational results from the proposed simulator agree well with those from both the ISiMI AUV experiments and the Euler-angle based simulations. Additionally, a new maneuvering procedure, namely ＂put-out＂ was implemented to test directional stability for a large-scale AUV in the proposed AUV simulator that can be considered for vehicles in space as well as in constrained planes.
基金supported by the open project of the theoretical physics academic exchange platform of Chongqing University。
文摘For loops with UV divergences,assuming that the physical contributions of loops from UV regions are insignificant,a UV-free scheme method described by an equation is introduced to derive loop results without UV divergences in the calculations,i.e.,a route of the analytic continuation T_(F)→T_(P)besides the traditional route∞-∞in the mathematical structure.This scheme provides a new perspective to an open question of the hierarchy problem of Higgs mass,i.e.,an alternative interpretation without fine-tuning within the standard model.
基金supported by the National Natural Science Foundation of China(No.51939009)Shenzhen Science and Technology Program(Nos.JCYJ20241202125905008 and GXWD20201231165807007-20200810165349001).
文摘A trace analytical method based on solid-phase extraction gas chromatography-tandem mass spectrometry(SPE–GC–MS/MS)was developed for the rapid detection of 256 semi-volatile organic compounds(SVOCs),including 25 polycyclic aromatic hydrocarbons(PAHs),70 polychlorinated biphenyls(PCBs),123 pesticides,20 phthalate esters(PAEs),4 organophosphate esters(OPEs),9 synthetic musks(SMs),and 5 UV filters(UVs)in water.No-tably,this method provided a decent linearity of calibration standards(R^(2)>0.999),excellent method limits of quantification(MLOQs)(0.12–11.41 ng/L),satisfactory matrix spiking recovery rates(60.4%–126%),and high precision(intra-day relative standard deviations(RSDs):1.0%–10.0%,inter-day RSDs:3.0%–15.0%,and inter-week RSDs:3.4%–15.7%),making it suitable for trace-level studies.Statistical analysis revealed that SVOCs with higher volatility exhibited enhanced recovery rates.Validation of the methodology involved analyzing SVOCs in real spring water and river water samples.Twenty-seven SVOCs were detected in spring water and 58 in river water,with an average concentration of 631.73 and 16,095 ng/L,respectively.Among the detected SVOCs,PAEs constituted the predominant proportion.This study underscored the presence of SVOCs contamination specifi-cally within the spring water,although SVOCs concentrations in river water were significantly greater than those found in spring water.In summary,this sensitive method based on SPE–GC–MS/MS was successfully developed and validated for the rapid analysis of a diverse array of 256 SVOCs at trace levels in water,including not only the traditional highly valued PAHs,PCBs,pesticides,and PAEs,but also the emerging OPEs,UVs,and SMs.
