A micro-nano pore three-dimensional visualized real-time physical simulation of natural gas charging, in-situ pore-scale computation, pore network modelling, and apparent permeability evaluation theory were used to in...A micro-nano pore three-dimensional visualized real-time physical simulation of natural gas charging, in-situ pore-scale computation, pore network modelling, and apparent permeability evaluation theory were used to investigate laws of gas and water flow and their distribution, and controlling factors during the gas charging process in low-permeability(tight) sandstone reservoir. By describing features of gas-water flow and distribution and their variations in the micro-nano pore system, it is found that the gas charging in the low permeability(tight) sandstone can be divided into two stages, expansion stage and stable stage. In the expansion stage, the gas flows continuously first into large-sized pores then small-sized pores, and first into centers of the pores then edges of pores;pore-throats greater than 20 μm in radius make up the major pathway for gas charging. With the increase of charging pressure, movable water in the edges of large-sized pores and in the centers of small pores is displaced out successively. Pore-throats of 20-50 μm in radius and pore-throats less than 20 μm in radius dominate the expansion of gas charging channels at different stages of charging in turn, leading to reductions in pore-throat radius, throat length and coordination number of the pathway, which is the main increase stage of gas permeability and gas saturation. Among which, pore-throats 30-50 μm in radius control the increase pattern of gas saturation. In the stable stage, gas charging pathways have expanded to the maximum, so the pathways keep stable in pore-throat radius, throat length, and coordination number, and irreducible water remains in the pore system, the gas phase is in concentrated clusters, while the water phase is in the form of dispersed thin film, and the gas saturation and gas permeability tend stable. Connected pore-throats less than 20 μm in radius control the expansion limit of the charging pathways, the formation of stable gas-water distribution, and the maximum gas saturation. The heterogeneity of connected pore-throats affects the dynamic variations of gas phase charging and gas-water distribution. It can be concluded that the pore-throat configuration and heterogeneity of the micro-nanometer pore system control the dynamic variations of the low-permeability(tight) sandstone gas charging process and gas-water distribution features.展开更多
To fulfill the training requirements for the daily operations of multirotor unmanned aerial vehicles(UAVs)clusters,a UAV cluster collaborative task integrated simulation platform(UAV-TISP)was developed.The platform in...To fulfill the training requirements for the daily operations of multirotor unmanned aerial vehicles(UAVs)clusters,a UAV cluster collaborative task integrated simulation platform(UAV-TISP)was developed.The platform integrates a suite of hardware and software to simulate a range of collaborative UAV cluster operation scenarios.It features modules for collaborative task planning,UAV cluster simulations,and tactical monitoring.The platform significantly reduces training costs by eliminating physical drone dependencies while offering a flexible environment for testing swarm algorithms.UAV-TISP supports both individual UAV and swarm operations,incorporating high-fidelity flight dynamics,real-time communication via user datagram protocol(UDP),and collision avoidance strategies.Utilizing the OSGEarth engine,it enables dynamic 3D environment visualization and scenario customization.Three key task scenarios-route flight,formation reconstruction,and formation transformation-were tested to validate the platform’s efficacy.Results demonstrated robust formation maintenance,adaptive collision avoidance,and seamless task execution.Comparative analysis with Gazebo Sim revealed lower trajectory deviations in UAV-TISP,highlighting its superior accuracy in simulating real-world flight dynamics.Future work will focus on enhancing scalability for diverse UAV models,optimizing swarm networking under communication constraints,and expanding mission scenarios.UAV-TISP serves as a versatile tool for both operational training and advanced algorithm development in UAV cluster applications.展开更多
The hybrid CO_(2) thermal technique has achieved considerable success globally in extracting residual heavy oil from reserves following a long-term steam stimulation process.Using microscopic visualization experiments...The hybrid CO_(2) thermal technique has achieved considerable success globally in extracting residual heavy oil from reserves following a long-term steam stimulation process.Using microscopic visualization experiments and molecular dynamics(MD)simulations,this study investigates the microscopic enhanced oil recovery(EOR)mechanisms underlying residual oil removal using hybrid CO_(2) thermal systems.Based on the experimental models for the occurrence of heavy oil,this study evaluates the performance of hybrid CO_(2) thermal systems under various conditions using MD simulations.The results demonstrate that introducing CO_(2) molecules into heavy oil can effectively penetrate and decompose dense aggregates that are originally formed on hydrophobic surfaces.A stable miscible hybrid CO_(2) thermal system,with a high effective distribution ratio of CO_(2),proficiently reduces the interaction energies between heavy oil and rock surfaces,as well as within heavy oil.A visualization analysis of the interactions reveals that strong van der Waals(vdW)attractions occur between CO_(2) and heavy oil molecules,effectively promoting the decomposition and swelling of heavy oil.This unlocks the residual oil on the hydrophobic surfaces.Considering the impacts of temperature and CO_(2) concentration,an optimal gas-to-steam injection ratio(here,the CO_(2):steam ratio)ranging between 1:6 and 1:9 is recommended.This study examines the microscopic mechanisms underlying the hybrid CO_(2) thermal technique at a molecular scale,providing a significant theoretical guide for its expanded application in EOR.展开更多
Drilling and blasting,characterized by their efficiency,ubiquity,and cost-effectiveness,have emerged as predominant techniques in rock excavation;however,they are accompanied by enormous destructive power.Accurately c...Drilling and blasting,characterized by their efficiency,ubiquity,and cost-effectiveness,have emerged as predominant techniques in rock excavation;however,they are accompanied by enormous destructive power.Accurately controlling the blasting energy and achieving the directional fracture of a rock mass have become common problems in the field.A two-dimensional blasting(2D blasting)technique was proposed that utilizes the characteristic that the tensile strength of a rock mass is significantly lower than its compressive strength.After blasting,only a 2D crack surface is generated along the predetermined direction,eliminating the damage to the reserved rock mass caused by conventional blasting.However,the interior of a natural rock mass is a"black box",and the process of crack propagation is difficult to capture,resulting in an unclear 2D blasting mechanism.To this end,a single-hole polymethyl methacrylate(PMMA)test piece was used to conduct a 2D blasting experiment with the help of a high-speed camera to capture the dynamic crack propagation process and the digital image correlation(DIC)method to analyze the evolution law of surface strain on the test piece.On this basis,a three-dimensional(3D)finite element model was established based on the progressive failure theory to simulate the stress,strain,damage,and displacement evolution process of the model under 2D blasting.The simulation results were consistent with the experimental results.The research results reveal the 2D blasting mechanism and provide theoretical support for the application of 2D blasting technology in the field of rock excavation.展开更多
当前计算机组成原理课程的实验教学,以实体实验箱、基于Logisim和基于FPGA开发板的仿真实验设计为主,这些实验形式分别存在着故障率高、时空受限、缺少直观性、交互性差、设计门槛高和内容抽象等问题。针对存在的问题,课程组基于OBE理念...当前计算机组成原理课程的实验教学,以实体实验箱、基于Logisim和基于FPGA开发板的仿真实验设计为主,这些实验形式分别存在着故障率高、时空受限、缺少直观性、交互性差、设计门槛高和内容抽象等问题。针对存在的问题,课程组基于OBE理念,采用成熟的Unity3D引擎和3D Studio Max等仿真开发技术,设计并实现了计算机组成原理虚拟仿真实验平台。基于仿真实验平台,对实验内容、实验组织形式和考核评价方式等实践教学环节进行了改进,优化了线上线下混合式教学模式。教学实践显示,新的实践教学模式能够提升区分度,在提高学生的学习兴趣和有针对性的持续改进方面,有重要的意义。展开更多
Thin copper sheets as marker material were embedded into weld path of 2024 aluminium alloy plates and their final position after friction stir welding was examined by metallographic techniques. Referring to the visual...Thin copper sheets as marker material were embedded into weld path of 2024 aluminium alloy plates and their final position after friction stir welding was examined by metallographic techniques. Referring to the visualized material flow patterns, a three-dimensional model was developed to conduct the numerical simulation of the temperature profile and plastic material flow in friction stir welding. The calculated velocity contour of plastic flow in close proximity of the tool is generally consistent with the visualized results. As the tool rotation speed increases at a constant tool travel speed, the material flow near the pin gets stronger. The predicted shape and size of the weld nugget zone match with the experimentally measured ones.展开更多
针对多自由度机械臂在采摘过程中出现的路径规划速度慢、路径成本高以及因视觉定位误差和机械臂关节位置误差引起的采摘失败问题,提出了结合视觉伺服的改进随机快速搜索树算法(Improved rapidly-exploring random trees with visual ser...针对多自由度机械臂在采摘过程中出现的路径规划速度慢、路径成本高以及因视觉定位误差和机械臂关节位置误差引起的采摘失败问题,提出了结合视觉伺服的改进随机快速搜索树算法(Improved rapidly-exploring random trees with visual servoing,VS-IRRT),具体包括改进RRT算法和基于平移控制器的视觉伺服方法。改进的RRT算法通过使用基于超椭球引力偏置的采样方法和密度减小策略,增加树拓展的目的性,减小了树的采样密度,提高路径规划效率;引入贪心思想和B样条曲线,剔除多余节点,对剩下折线进行平滑处理,优化路径在机械臂上的实施效果;结合基于平移控制器的视觉伺服控制,减小了定位误差对采摘过程的影响。使用Matlab分别对改进RRT算法和基于平移控制器的视觉伺服在二维和三维空间中进行仿真模拟试验,结果表明,改进的RRT算法的采样点数较RRT^(*)-connect算法减少92.9%,规划时间较RRT^(*)-connect算法减少86.1%,路径成本较RRT算法也减少35.2%。使用六自由度机械臂进行采摘试验,VS-IRRT算法的采摘速度比RRT^(*)-connect算法提升48.36%,路径成本相较RRT减少17.14%,采摘成功率提升2.1个百分点,所以在特定的采摘应用场景,尤其在农业采摘场景中,VS-IRRT算法能够提升机械臂采摘的综合性能。展开更多
为了更直观、准确地表达和展示地震作用下城市燃气管网在实际地理环境中的空间关系及震害评估分析结果,基于VTK库、Adobe After Effects软件及Python语言提出了一种可全历程展示燃气管网在非一致地震激励下应变及破坏状态三维动态的可...为了更直观、准确地表达和展示地震作用下城市燃气管网在实际地理环境中的空间关系及震害评估分析结果,基于VTK库、Adobe After Effects软件及Python语言提出了一种可全历程展示燃气管网在非一致地震激励下应变及破坏状态三维动态的可视化模型方法。该方法包括3个模块:非一致地震激励下管网的基础数据提取及震害预测、三维可视化模型建立以及三维动态可视化模型建立。以西南某地区埋地燃气管网为例进行三维动态可视化模拟,立体直观展示该市管网在非一致地震激励下不同位置的应变响应及破坏情况,展示了该方法的三维动态可视化效果。展开更多
基金Supported by the National Natural Science Foundation of China (41330319 and 42072174)Foundation of China University of Petroleum Beijing (2462020XKBH016)Fellowship of China Postdoctoral Science Foundation (2020M680030)。
文摘A micro-nano pore three-dimensional visualized real-time physical simulation of natural gas charging, in-situ pore-scale computation, pore network modelling, and apparent permeability evaluation theory were used to investigate laws of gas and water flow and their distribution, and controlling factors during the gas charging process in low-permeability(tight) sandstone reservoir. By describing features of gas-water flow and distribution and their variations in the micro-nano pore system, it is found that the gas charging in the low permeability(tight) sandstone can be divided into two stages, expansion stage and stable stage. In the expansion stage, the gas flows continuously first into large-sized pores then small-sized pores, and first into centers of the pores then edges of pores;pore-throats greater than 20 μm in radius make up the major pathway for gas charging. With the increase of charging pressure, movable water in the edges of large-sized pores and in the centers of small pores is displaced out successively. Pore-throats of 20-50 μm in radius and pore-throats less than 20 μm in radius dominate the expansion of gas charging channels at different stages of charging in turn, leading to reductions in pore-throat radius, throat length and coordination number of the pathway, which is the main increase stage of gas permeability and gas saturation. Among which, pore-throats 30-50 μm in radius control the increase pattern of gas saturation. In the stable stage, gas charging pathways have expanded to the maximum, so the pathways keep stable in pore-throat radius, throat length, and coordination number, and irreducible water remains in the pore system, the gas phase is in concentrated clusters, while the water phase is in the form of dispersed thin film, and the gas saturation and gas permeability tend stable. Connected pore-throats less than 20 μm in radius control the expansion limit of the charging pathways, the formation of stable gas-water distribution, and the maximum gas saturation. The heterogeneity of connected pore-throats affects the dynamic variations of gas phase charging and gas-water distribution. It can be concluded that the pore-throat configuration and heterogeneity of the micro-nanometer pore system control the dynamic variations of the low-permeability(tight) sandstone gas charging process and gas-water distribution features.
文摘To fulfill the training requirements for the daily operations of multirotor unmanned aerial vehicles(UAVs)clusters,a UAV cluster collaborative task integrated simulation platform(UAV-TISP)was developed.The platform integrates a suite of hardware and software to simulate a range of collaborative UAV cluster operation scenarios.It features modules for collaborative task planning,UAV cluster simulations,and tactical monitoring.The platform significantly reduces training costs by eliminating physical drone dependencies while offering a flexible environment for testing swarm algorithms.UAV-TISP supports both individual UAV and swarm operations,incorporating high-fidelity flight dynamics,real-time communication via user datagram protocol(UDP),and collision avoidance strategies.Utilizing the OSGEarth engine,it enables dynamic 3D environment visualization and scenario customization.Three key task scenarios-route flight,formation reconstruction,and formation transformation-were tested to validate the platform’s efficacy.Results demonstrated robust formation maintenance,adaptive collision avoidance,and seamless task execution.Comparative analysis with Gazebo Sim revealed lower trajectory deviations in UAV-TISP,highlighting its superior accuracy in simulating real-world flight dynamics.Future work will focus on enhancing scalability for diverse UAV models,optimizing swarm networking under communication constraints,and expanding mission scenarios.UAV-TISP serves as a versatile tool for both operational training and advanced algorithm development in UAV cluster applications.
基金financially supported by the National Natural Science Foundation of China(No.U20B6003)the China Scholarship Council(No.202306440015)a project of the China Petroleum&Chemical Corporation(No.P22174)。
文摘The hybrid CO_(2) thermal technique has achieved considerable success globally in extracting residual heavy oil from reserves following a long-term steam stimulation process.Using microscopic visualization experiments and molecular dynamics(MD)simulations,this study investigates the microscopic enhanced oil recovery(EOR)mechanisms underlying residual oil removal using hybrid CO_(2) thermal systems.Based on the experimental models for the occurrence of heavy oil,this study evaluates the performance of hybrid CO_(2) thermal systems under various conditions using MD simulations.The results demonstrate that introducing CO_(2) molecules into heavy oil can effectively penetrate and decompose dense aggregates that are originally formed on hydrophobic surfaces.A stable miscible hybrid CO_(2) thermal system,with a high effective distribution ratio of CO_(2),proficiently reduces the interaction energies between heavy oil and rock surfaces,as well as within heavy oil.A visualization analysis of the interactions reveals that strong van der Waals(vdW)attractions occur between CO_(2) and heavy oil molecules,effectively promoting the decomposition and swelling of heavy oil.This unlocks the residual oil on the hydrophobic surfaces.Considering the impacts of temperature and CO_(2) concentration,an optimal gas-to-steam injection ratio(here,the CO_(2):steam ratio)ranging between 1:6 and 1:9 is recommended.This study examines the microscopic mechanisms underlying the hybrid CO_(2) thermal technique at a molecular scale,providing a significant theoretical guide for its expanded application in EOR.
基金supported by the National Natural Science Foundation of China(Grant Nos.52404155 and 52304111)State Key Laboratory for Geomechanics and Deep Underground Engineering,China University of Mining&Technology,Beijing(Grant No.XD2024006).
文摘Drilling and blasting,characterized by their efficiency,ubiquity,and cost-effectiveness,have emerged as predominant techniques in rock excavation;however,they are accompanied by enormous destructive power.Accurately controlling the blasting energy and achieving the directional fracture of a rock mass have become common problems in the field.A two-dimensional blasting(2D blasting)technique was proposed that utilizes the characteristic that the tensile strength of a rock mass is significantly lower than its compressive strength.After blasting,only a 2D crack surface is generated along the predetermined direction,eliminating the damage to the reserved rock mass caused by conventional blasting.However,the interior of a natural rock mass is a"black box",and the process of crack propagation is difficult to capture,resulting in an unclear 2D blasting mechanism.To this end,a single-hole polymethyl methacrylate(PMMA)test piece was used to conduct a 2D blasting experiment with the help of a high-speed camera to capture the dynamic crack propagation process and the digital image correlation(DIC)method to analyze the evolution law of surface strain on the test piece.On this basis,a three-dimensional(3D)finite element model was established based on the progressive failure theory to simulate the stress,strain,damage,and displacement evolution process of the model under 2D blasting.The simulation results were consistent with the experimental results.The research results reveal the 2D blasting mechanism and provide theoretical support for the application of 2D blasting technology in the field of rock excavation.
文摘当前计算机组成原理课程的实验教学,以实体实验箱、基于Logisim和基于FPGA开发板的仿真实验设计为主,这些实验形式分别存在着故障率高、时空受限、缺少直观性、交互性差、设计门槛高和内容抽象等问题。针对存在的问题,课程组基于OBE理念,采用成熟的Unity3D引擎和3D Studio Max等仿真开发技术,设计并实现了计算机组成原理虚拟仿真实验平台。基于仿真实验平台,对实验内容、实验组织形式和考核评价方式等实践教学环节进行了改进,优化了线上线下混合式教学模式。教学实践显示,新的实践教学模式能够提升区分度,在提高学生的学习兴趣和有针对性的持续改进方面,有重要的意义。
基金Project (GZ583) supported by the Sino-German Center for Science Promotion
文摘Thin copper sheets as marker material were embedded into weld path of 2024 aluminium alloy plates and their final position after friction stir welding was examined by metallographic techniques. Referring to the visualized material flow patterns, a three-dimensional model was developed to conduct the numerical simulation of the temperature profile and plastic material flow in friction stir welding. The calculated velocity contour of plastic flow in close proximity of the tool is generally consistent with the visualized results. As the tool rotation speed increases at a constant tool travel speed, the material flow near the pin gets stronger. The predicted shape and size of the weld nugget zone match with the experimentally measured ones.
文摘针对多自由度机械臂在采摘过程中出现的路径规划速度慢、路径成本高以及因视觉定位误差和机械臂关节位置误差引起的采摘失败问题,提出了结合视觉伺服的改进随机快速搜索树算法(Improved rapidly-exploring random trees with visual servoing,VS-IRRT),具体包括改进RRT算法和基于平移控制器的视觉伺服方法。改进的RRT算法通过使用基于超椭球引力偏置的采样方法和密度减小策略,增加树拓展的目的性,减小了树的采样密度,提高路径规划效率;引入贪心思想和B样条曲线,剔除多余节点,对剩下折线进行平滑处理,优化路径在机械臂上的实施效果;结合基于平移控制器的视觉伺服控制,减小了定位误差对采摘过程的影响。使用Matlab分别对改进RRT算法和基于平移控制器的视觉伺服在二维和三维空间中进行仿真模拟试验,结果表明,改进的RRT算法的采样点数较RRT^(*)-connect算法减少92.9%,规划时间较RRT^(*)-connect算法减少86.1%,路径成本较RRT算法也减少35.2%。使用六自由度机械臂进行采摘试验,VS-IRRT算法的采摘速度比RRT^(*)-connect算法提升48.36%,路径成本相较RRT减少17.14%,采摘成功率提升2.1个百分点,所以在特定的采摘应用场景,尤其在农业采摘场景中,VS-IRRT算法能够提升机械臂采摘的综合性能。
文摘为了更直观、准确地表达和展示地震作用下城市燃气管网在实际地理环境中的空间关系及震害评估分析结果,基于VTK库、Adobe After Effects软件及Python语言提出了一种可全历程展示燃气管网在非一致地震激励下应变及破坏状态三维动态的可视化模型方法。该方法包括3个模块:非一致地震激励下管网的基础数据提取及震害预测、三维可视化模型建立以及三维动态可视化模型建立。以西南某地区埋地燃气管网为例进行三维动态可视化模拟,立体直观展示该市管网在非一致地震激励下不同位置的应变响应及破坏情况,展示了该方法的三维动态可视化效果。
