Generating dynamically feasible trajectory for fixed-wing Unmanned Aerial Vehicles(UAVs)in dense obstacle environments remains computationally intractable.This paper proposes a Safe Flight Corridor constrained Sequent...Generating dynamically feasible trajectory for fixed-wing Unmanned Aerial Vehicles(UAVs)in dense obstacle environments remains computationally intractable.This paper proposes a Safe Flight Corridor constrained Sequential Convex Programming(SFC-SCP)to improve the computation efficiency and reliability of trajectory generation.SFC-SCP combines the front-end convex polyhedron SFC construction and back-end SCP-based trajectory optimization.A Sparse A^(*)Search(SAS)driven SFC construction method is designed to efficiently generate polyhedron SFC according to the geometric relation among obstacles and collision-free waypoints.Via transforming the nonconvex obstacle-avoidance constraints to linear inequality constraints,SFC can mitigate infeasibility of trajectory planning and reduce computation complexity.Then,SCP casts the nonlinear trajectory optimization subject to SFC into convex programming subproblems to decrease the problem complexity.In addition,a convex optimizer based on interior point method is customized,where the search direction is calculated via successive elimination to further improve efficiency.Simulation experiments on dense obstacle scenarios show that SFC-SCP can generate dynamically feasible safe trajectory rapidly.Comparative studies with state-of-the-art SCP-based methods demonstrate the efficiency and reliability merits of SFC-SCP.Besides,the customized convex optimizer outperforms off-the-shelf optimizers in terms of computation time.展开更多
High-entropy oxides(HEOs)derive their exceptional properties from the atomic-level homogenization of multiple constituent elements within the crystal lattice,which induces a sophisticated local environment that fundam...High-entropy oxides(HEOs)derive their exceptional properties from the atomic-level homogenization of multiple constituent elements within the crystal lattice,which induces a sophisticated local environment that fundamentally reconfigures electron density distributions and coordination environment at active sites.However,the mechanisms by which multi-component systems in HEOs precisely regulate high-activity catalytic sites remain poorly understood.This work addresses this gap by designing medium-entropy perovskite oxides through the strategic incorporation of transition metals with distinct electronegativities and ionic radii,aiming to unravel how local environmental modifications impact the energy band location,coordination states,and adsorption behavior of the Co site.A family of A_(4)BO_(4)-type medium-entropy oxides PrSr(Fe_(0.2)Co_(0.2)Ni_(0.2)Cu_(0.2)M_(0.2))O_(4)(M=Sc,Cr,Mn)was successfully synthesized.Divergent atomic properties among Sc,Cr,and Mn(electronegativity,ionic size,and metal-oxygen bond strength)triggered pronounced electron redistribution,effectively tuning the d-band center of Co.Remarkably,Cr substitution significantly enhanced O_(4) adsorption at Co-active sites,as indicated by an elongated O-O bond length(1.234Å→1.279Å).Concurrently,Cr doping destabilized the M'-O-Cr bonds(M'=Fe,Co,Ni,Cu)and lowered the thermodynamic barrier for oxygen vacancy formation.Electrochemical tests revealed that PrSr(Fe_(0.2)Co_(0.2)Ni_(0.2)Cu_(0.2)Cr_(0.2))O_(4)(PSMO-Cr)exhibited the highest electrical conductivity and fastest oxygen surface exchange kinetics.At 700℃,the area-specific resistance(ASR)of the PSMO-Cr cathode was 0.07Ωcm^(2).Corresponding fuel cells achieved a maximum power density of 0.76 W cm^(-2).In electrolysis mode,the maximum current density reached 0.56 A cm^(-2) under 1.3 V at 700℃using PSMO-Cr as the anode.These results demonstrate that PSMO-Cr is a promising bifunctional catalyst for energy conversion applications.展开更多
On January 19,2026,China's first structural interest rate cut of the year took effect.The People's Bank of China announced a 0.25 percentage point reduction in relending and rediscount rates,targeting key sect...On January 19,2026,China's first structural interest rate cut of the year took effect.The People's Bank of China announced a 0.25 percentage point reduction in relending and rediscount rates,targeting key sectors like small and micro enterprises(SMEs),technological innovation,and green transition.For the textile industry,where small and medium-sized enterprises account for over 90%of traditional manufacturing,the policy benefits will inject strong momentum into the high-quality development from multiple dimensions,including reduced financing costs,support for transformation funds,and expansion of foreign trade markets.展开更多
This paper discusses the design and software-in-theloop implementation of adaptive formation controllers for fixedwing unmanned aerial vehicles(UAVs) with parametric uncertainty in their structure, namely uncertain ma...This paper discusses the design and software-in-theloop implementation of adaptive formation controllers for fixedwing unmanned aerial vehicles(UAVs) with parametric uncertainty in their structure, namely uncertain mass and inertia. In fact, when aiming at autonomous flight, such parameters cannot assumed to be known as they might vary during the mission(e.g.depending on the payload). Modeling and autopilot design for such autonomous fixed-wing UAVs are presented. The modeling is implemented in Matlab, while the autopilot is based on ArduPilot, a popular open-source autopilot suite. Specifically, the ArduP ilot functionalities are emulated in Matlab according to the Ardupilot documentation and code, which allows us to perform software-in-the-loop simulations of teams of UAVs embedded with actual autopilot protocols. An overview of realtime path planning, trajectory tracking and formation control resulting from the proposed platform is given. The software-inthe-loop simulations show the capability of achieving different UAV formations while handling uncertain mass and inertia.展开更多
For the automatic tracking of unknown moving targets on the ground,most of the commonly used methods involve circling above the target.With such a tracking mode,there is a moving laser spot on the target,which will br...For the automatic tracking of unknown moving targets on the ground,most of the commonly used methods involve circling above the target.With such a tracking mode,there is a moving laser spot on the target,which will bring trouble for cooperative manned helicopters.In this paper,we propose a new way of tracking,where an unmanned aerial vehicle(UAV) circles on one side of the tracked target.A circular path algorithm is developed for monitoring the relative position between the UAV and the target considering the real-time range and the bearing angle.This can determine the center of the new circular path if the predicted range between the UAV and the target does not meet the monitoring requirements.A transition path algorithm is presented for planning the transition path between circular paths that constrain the turning radius of the UAV.The transition path algorithm can generate waypoints that meet the flight ability.In this paper,we analyze the entire method and detail the scope of applications.We formulate an observation angle as an evaluation index.A series of simulations and evaluation index comparisons verify the effectiveness of the proposed algorithms.展开更多
Cooperative path planning is an important area in fixed-wing UAV swarm.However,avoiding multiple timevarying obstacles and avoiding local optimum are two challenges for existing approaches in a dynamic environment.Fir...Cooperative path planning is an important area in fixed-wing UAV swarm.However,avoiding multiple timevarying obstacles and avoiding local optimum are two challenges for existing approaches in a dynamic environment.Firstly,a normalized artificial potential field optimization is proposed by reconstructing a novel function with anisotropy in each dimension,which can make the flight speed of a fixed UAV swarm independent of the repulsive/attractive gain coefficient and avoid trapping into local optimization and local oscillation.Then,taking into account minimum velocity and turning angular velocity of fixed-wing UAV swarm,a strategy of decomposing target vector to avoid moving obstacles and pop-up threats is proposed.Finally,several simulations are carried out to illustrate superiority and effectiveness.展开更多
This paper tackles the formation-containment control problem of fixed-wing unmanned aerial vehicle(UAV)swarm with model uncertainties for dynamic target tracking in three-dimensional space in the faulty case of UAVs’...This paper tackles the formation-containment control problem of fixed-wing unmanned aerial vehicle(UAV)swarm with model uncertainties for dynamic target tracking in three-dimensional space in the faulty case of UAVs’actuator and sensor.The fixed-wing UAV swarm under consideration is organized as a“multi-leader-multi-follower”structure,in which only several leaders can obtain the dynamic target information while others only receive the neighbors’information through the communication network.To simultaneously realize the formation,containment,and dynamic target tracking,a two-layer control framework is adopted to decouple the problem into two subproblems:reference trajectory generation and trajectory tracking.In the upper layer,a distributed finite-time estimator(DFTE)is proposed to generate each UAV’s reference trajectory in accordance with the control objective.Subsequently,a distributed composite robust fault-tolerant trajectory tracking controller is developed in the lower layer,where a novel adaptive extended super-twisting(AESTW)algorithm with a finite-time extended state observer(FTESO)is involved in solving the robust trajectory tracking control problem under model uncertainties,actuator,and sensor faults.The proposed controller simultaneously guarantees rapidness and enhances the system’s robustness with fewer chattering effects.Finally,corresponding simulations are carried out to demonstrate the effectiveness and competitiveness of the proposed two-layer fault-tolerant cooperative control scheme.展开更多
To overcome the problems encountered in predicting the endurance of electricpowered fixed-wing unmanned aerial vehicles(UAVs),which were stemmed from the dynamic changes in electric power system efficiency and battery...To overcome the problems encountered in predicting the endurance of electricpowered fixed-wing unmanned aerial vehicles(UAVs),which were stemmed from the dynamic changes in electric power system efficiency and battery discharge characteristics under different operating conditions,the required battery power model and battery discharge model were studied.The required battery power model was determined using an approximate model of electric power system efficiency based on wind tunnel testing and the self-adaptive penalty function.Furthermore,current correction and ambient temperature correction terms were proposed for the trained Kriging model representing the discharge characteristics under standard operation,and then the discharged capacity-terminal voltage model was established.Through numerical integration of this model with the required battery power model,the electric-powered fixed-wing UAV endurance prediction model was obtained.Laboratory tests indicated that the proposed endurance model could precisely calculate the battery discharge time and accurately describe the battery discharge process.The similarity of the theoretical and flight test results reflected the accuracy of the proposed endurance model as well as the importance of considering dynamic changes in power system efficiency in endurance calculations.The proposed endurance model meeting precision requirements can be used in practical engineering applications.展开更多
There are fundamental performance compromises between rotary-wing and fixed-wing UAVs. The general solution to address this well-known problem is the design of a platform with some degree of reconfigurable airframes. ...There are fundamental performance compromises between rotary-wing and fixed-wing UAVs. The general solution to address this well-known problem is the design of a platform with some degree of reconfigurable airframes. For critical missions (civilian or military), it is imperative that mechanical complexity is kept to a minimum to help achieve mission success. This work proposes that the tried-and-true radio controlled (RC) aerobatic airplanes can be implemented as basis for fixed-wing UAVs having both speed and vertical takeoff and landing (VTOL) capabilities. These powerful and highly maneuverable airplanes have non-rotatable nacelles, yet capable of deep stall maneuvers. The power requirements for VTOL and level flight of an aerobatic RC airplane are evaluated and they are compared to those of a RC helicopter of similar flying weight. This work provides quantitative validation that commercially available RC aerobatic airplanes can serve as platform to build VTOL capable fixed-wing UAVs that are agile, cost effective, reliable and easy maintenance.展开更多
In recent years,medium entropy alloys have become a research hotspot due to their excellent physical and chemical performances.By controlling reasonable elemental composition and processing parameters,the medium entro...In recent years,medium entropy alloys have become a research hotspot due to their excellent physical and chemical performances.By controlling reasonable elemental composition and processing parameters,the medium entropy alloys can exhibit similar properties to high entropy alloys and have lower costs.In this paper,a FeCoNi medium entropy alloy precursor was prepared via sol-gel and coprecipitation methods,respectively,and FeCoNi medium entropy alloys were prepared by carbothermal and hydrogen reduction.The phases and magnetic properties of FeCoNi medium entropy alloy were investigated.Results showed that FeCoNi medium entropy alloy was produced by carbothermal and hydrogen reduction at 1500℃.Some carbon was detected in the FeCoNi medium entropy alloy prepared by carbothermal reduction.The alloy prepared by hydrogen reduction was uniform and showed a relatively high purity.Moreover,the hydrogen reduction product exhibited better saturation magnetization and lower coercivity.展开更多
The battlefield situation changes rapidly because underwater targets'are concealment and the sea environment is uncertain.So,a great number of situation information greatly increase,which need to be dealt with in ...The battlefield situation changes rapidly because underwater targets'are concealment and the sea environment is uncertain.So,a great number of situation information greatly increase,which need to be dealt with in the course of scouting underwater targets.Situation assessment in sea battlefield with a lot of uncertain information is studied,and a new situation assessment method of scouting underwater targets with fixed-wing patrol aircraft is proposed based on the cloud Bayesian network,which overcomes the deficiency of the single cloud model in reasoning ability and the defect of Bayesian network in knowledge representation.Moreover,in the method,the cloud model knowledge deal with the input data of Bayesian network reasoning,and the advantages in knowledge representation of cloud theory and reasoning of Bayesian network are applied;also,the fuzziness and stochasticity of cloud theory in knowledge expression,the reasoning ability of Bayesian network,are combined.Then,the situation assessment model of scouting underwater targets with fixed-wing patrol aircraft is established.Hence,the directed acyclic graph of Bayesian network structure is constructed and the assessment index is determined.Next,the cloud model is used to deal with Bayesian network,and the discrete Bayesian network is obtained.Moreover,after CPT of each node and the transformation between certainty degree and probability are accomplished;the final situation level is obtained through a probability synthesis formula.Therefore,the target type and the operational intention of the other side are deduced to form the battlefield situation.Finally,simulations are carried out,and the rationality and validity of the proposed method are testified by simulation results.By this method,the battlefield situation can be gained.And this method has a wider application range,especially for large sample data processing,and it has better practicability.展开更多
Modern day VTOL fixed-wing aircraft based on quadplane design is relative<span style="font-family:Verdana;">ly simple and reliable due to lack of complex mechanical components</span><span styl...Modern day VTOL fixed-wing aircraft based on quadplane design is relative<span style="font-family:Verdana;">ly simple and reliable due to lack of complex mechanical components</span><span style="font-family:Verdana;"> com</span><span style="font-family:Verdana;">pared to tilt-wings or tilt-rotors in the pre-80’s era. Radio-controlled </span><span style="font-family:Verdana;">aerobatic airplanes have thrust-to-weight ratio of greater than unity and are capable of performing a range of impressive maneuvers including the so-called harrier maneuver. We hereby present a new maneuver known as the retarded harrier </span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;">that is applicable to un/manned fixed-wing aircraft for achieving VTOL flight with a better forward flight performance than a quadplane in terms of weight, speed and esthetics.</span></span></span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"> An airplane with tandem roto-stabilizers is also presented as an efficient airframe to achieve VTOL via retarded harrier maneuver, and detailed analysis is given for hovering at 45° and 60° and comparison is made against the widely adopted quadplane. This work also includes experimental demonstration of retarded harrier maneuver using a small remotely pilot airplane of wingspan 650 mm.</span></span></span>展开更多
Developing high-performance alloys with gigapascal strength and excellent ductility is crucial for modern engineering applications.The concept of multi-component high/medium entropy alloys(H/MEAs)provides an innovativ...Developing high-performance alloys with gigapascal strength and excellent ductility is crucial for modern engineering applications.The concept of multi-component high/medium entropy alloys(H/MEAs)provides an innovative approach to designing such alloys.In this work,we developed the Co_(1.5)CrNi_(1.5)Al_(0.2)Ti_(0.2)MEA,which exhibits outstanding mechanical properties at room temperature through low-temperature pre-aging followed by annealing treatment.Tensile testing reveals that the MEA possesses an ultrahigh yield strength of 20±0785 MPa,an ultimate tensile strength of 2365±70 MPa,and exceptional ductility of 15.8%±1.7%.The superior tensile properties are attributed to the formation of fully recrystal-lized heterogeneous structures(HGS)composed of ultrafine grain(UFG)and fine grain(FG)regions,along with discontinuous precipitation of coherent nano-size lamellar L1_(2)precipitates.The mechanical incompatibility between the UFG region and the FG regions during deformation induces the accumulation of a large number of geometrically necessary dislocations at the interface,resulting in strain distribution and hetero-deformation-induced(HDI)stress accumulation,contributing significantly to HDI strengthening.HDI strengthening,precipitation strengthening,and grain boundary strengthening are the primary mechanisms responsible for the ultra-high yield strength of the MEA.During deformation,the dominant deformation mechanisms include dislocation slip,deformation-induced stacking faults,and Lomer-Cottrell locks,with minor deformation twinning.The synergistic interaction of these multiple deformation modes provides the MEA with excellent work hardening capability,delaying plastic instability and achieving an excellent combination of strength and ductility.This study provides an effective strategy for synergistically strengthening MEAs by combining HDI strengthening with traditional strengthening mechanisms.These findings pave the way for the development of advanced structural materials with high performance tailored for demanding applications in engineering.展开更多
The influence of Nb-V microalloying on the hot deformation behavior and microstructures of medium Mn steel(MMS)was investigated by uniaxial hot compression tests.By establishing the constitutive equations for simulati...The influence of Nb-V microalloying on the hot deformation behavior and microstructures of medium Mn steel(MMS)was investigated by uniaxial hot compression tests.By establishing the constitutive equations for simulating the measured flow curves,we successfully constructed deformation activation energy(Q)maps and processing maps for identifying the region of flow instability.We concluded the following consequences of Nb-V alloying for MMS.(i)The critical strain increases and the increment diminishes with the increasing deformation temperature,suggesting that NbC precipitates more efficiently retard dynamic recrystallization(DRX)in MMS compared with solute Nb.(ii)The deformation activation energy of MMS is significantly increased and even higher than that of some reported high Mn steels,suggesting that its ability to retard DRX is greater than that of the high Mn content.(iii)The hot workability of MMS is improved by narrowing the hot processing window for the unstable flow stress,in which fine recrystallized and coarse unrecrystallized grains are present.展开更多
The growing demand for material properties in challenging environments has led to a surge of interest in rapid composition design. Given the great potential composition space, the field of high/medium entropy alloys (...The growing demand for material properties in challenging environments has led to a surge of interest in rapid composition design. Given the great potential composition space, the field of high/medium entropy alloys (H/MEAs) still lacks effective atomic-scale composition design and screening schemes, which hinders the accurate prediction of desired composition and properties. This study proposes a novel approach for rapidly designing the composition of materials with the aim of overcoming the trade-off between strength and ductility in metal matrix composites. The effect of chemical composition on stacking fault energy (SFE), shear modulus, and phase stability was investigated through the use of molecular dynamics (MD) and thermodynamic calculation software. The alloy's low SFE, highest shear modulus, and stable face-centered cubic (FCC) phase have been identified as three standard physical quantities for rapid screening to characterize the deformation mechanism, ultimate tensile strength, phase stability, and ductility of the alloy. The calculation results indicate that the optimal composition space is expected to fall within the ranges of 17 %–34 % Ni, 33 %–50 % Co, and 25 %–33 % Mn. The comparison of stress-strain curves for various predicted components using simulated and experimental results serves to reinforce the efficacy of the method. This indicates that the screening criteria offer a necessary design concept, deviating from traditional strategies and providing crucial guidance for the rapid development and application of MEAs.展开更多
Low-concentration coal mine methane(LC-CMM),which is predominantly composed of methane,serves as a clean and low-carbon energy resource with significant potential for utilization.Utilizing LC-CMM as fuel for solid oxi...Low-concentration coal mine methane(LC-CMM),which is predominantly composed of methane,serves as a clean and low-carbon energy resource with significant potential for utilization.Utilizing LC-CMM as fuel for solid oxide fuel cells(SOFCs)represents an efficient and promising strategy for its effective utilization.However,direct application in Ni-based anodes induces carbon deposition,which severely degrades cell performance.Herein,a medium-entropy oxide Sr_(2)FeNi_(0.1)Cr_(0.3)Mn_(0.3)Mo_(0.3)O_(6−δ)(SFNCMM)was developed as an anode internal reforming catalyst.Following reduction treatment,FeNi_(3) nano-alloy particles precipitate on the surface of the material,thereby significantly enhancing its catalytic activity for LC-CMM reforming process.The catalyst achieved a methane conversion rate of 53.3%,demonstrating excellent catalytic performance.Electrochemical evaluations revealed that SFNCMM-Gd_(0.1)Ce_(0.9)O_(2−δ)(GDC)with a weight ratio of 7:3 exhibited superior electrochemical performance when employed as the anodic catalytic layer.With H_(2) and LC-CMM as fuels,the single cell achieved maximum power densities of 1467.32 and 1116.97 mW·cm^(−2) at 800℃,respectively,with corresponding polarization impedances of 0.17 and 1.35Ω·cm^(2).Furthermore,the single cell maintained stable operation for over 100 h under LC-CMM fueling without significant carbon deposition,confirming its robust resistance to carbon formation.These results underscore the potential of medium-entropy oxides as highly effective catalytic layers for mitigating carbon deposition in SOFCs.展开更多
BACKGROUND Oil-based iodinated contrast media have excellent contrast properties and are widely used for hysterosalpingographic evaluation of female infertility.On abdominal radiography and computed tomography(CT)scan...BACKGROUND Oil-based iodinated contrast media have excellent contrast properties and are widely used for hysterosalpingographic evaluation of female infertility.On abdominal radiography and computed tomography(CT)scans,their radiodensity is similar to that of metallic objects,which can sometimes lead to diagnostic confusion in the postoperative settings.In this case,retained oil-based contrast medium was observed on an abdominal radiograph following a cesarean section,making it difficult to differentiate from an intraperitoneal foreign body from surgery.The patient was a 37-year-old pregnant woman who was referred to our hospital at 32 weeks and 1 day of pregnancy due to complete placenta previa for mana-gement of pregnancy and delivery.An elective cesarean section was performed at 37 weeks and 3 days.A plain abdominal radiograph taken immediately after surgery revealed a near-round,hyperdense,mass-like shadow with a regular margin in the pelvic cavity.An intraperitoneal foreign body was suspected;therefore,an abdominal CT scan was performed.The foreign body was located on the left side of the pouch of Douglas and had a CT value of 7000 Hounsfield units,similar to that of metals.The CT value strongly suggested the presence of an artificial object.However,further inquiries with the patient and her previous physician revealed a history of hysterosalpingography.Accordingly,retained oil-based iodinated contrast medium was suspected,and observation of the object’s course was adopted.CONCLUSION When intraperitoneal foreign bodies are suspected on postoperative radiographs,the possibility of oil-based iodinated contrast medium retention should be considered.展开更多
[Objectives]To evaluate the performance of two rapid chromogenic media for the detection of Bacillus cereus in milk powder,and verify the media's inclusivity,exclusivity,and accuracy,and to assess their applicabil...[Objectives]To evaluate the performance of two rapid chromogenic media for the detection of Bacillus cereus in milk powder,and verify the media's inclusivity,exclusivity,and accuracy,and to assess their applicability for the quantitative detection of B.cereus.[Methods]B.cereus in milk powder samples was quantified using two rapid chromogenic media in combination with the national standard method.Agreement between the quantitative results from the three methods was subsequently assessed for agreement via a paired t-test.[Results]No significant differences were observed between the bacterial counts yielded by the two rapid chromogenic media and the national standard method(P>0.05),with excellent agreement between them.[Conclusions]The method of rapid chromogenic culture medium is rapid and simple.展开更多
We present a spatial analysis of Bitcoin-accepting merchants using BTC Map,a global crowdsourced dataset built on OpenStreetMap,to provide ground-level evidence on Bitcoin’s payment ecosystem.While prior research emp...We present a spatial analysis of Bitcoin-accepting merchants using BTC Map,a global crowdsourced dataset built on OpenStreetMap,to provide ground-level evidence on Bitcoin’s payment ecosystem.While prior research emphasizes macroeconomic drivers,our analysis of approximately 11,000 merchants shows that local adoption is more strongly shaped by community dynamics and sectoral niches.Acknowledging quality variance in crowdsourced data,we focus on verified regional clusters.We find a global concentration of adoption in the hospitality sector,localised clusters driven by grassroots initiatives rather than national policy and significant presence in alternative healthcare and IT services.These findings highlight the limits of top-down interventions such as El Salvador’s legal tender law and underscore the role of social networks in sustaining adoption.By contrasting spatial micro-level evidence with national studies,this work positions merchant data as a key lens for understanding Bitcoin’s evolving role as a medium of exchange.展开更多
The dynamics of fluid and non-buoyant particles in a librating horizontal annulus is studied experimentally.In the absence of librations,the granular material forms a cylindrical layer near the outer boundary of the a...The dynamics of fluid and non-buoyant particles in a librating horizontal annulus is studied experimentally.In the absence of librations,the granular material forms a cylindrical layer near the outer boundary of the annulus and undergoes rigid-body rotation with the fluid and the annulus.It is demonstrated that the librational liquefaction of the granular material results in pattern formation.This self-organization process stems from the excitation of inertial modes induced by the oscillatory motion of liquefied granular material under the influence of the gravitational force.The inertial wave induces vortical fluid flow which entrains particles from rest and forms eroded areas that are equidistant from each other along the axis of rotation.Theoretical analysis and experiments demonstrate that a liquefied layer of granular material oscillates with a radian frequency equal to the angular velocity of the annulus and interacts with the inertial wave it excites.The new phenomenon of libration-induced pattern formation is of practical interest as it can be used to control multiphase flows and mass transfer in rotating containers in a variety of industrial processes.展开更多
基金supported by the National Natural Science Foundation of China(No.62203256)。
文摘Generating dynamically feasible trajectory for fixed-wing Unmanned Aerial Vehicles(UAVs)in dense obstacle environments remains computationally intractable.This paper proposes a Safe Flight Corridor constrained Sequential Convex Programming(SFC-SCP)to improve the computation efficiency and reliability of trajectory generation.SFC-SCP combines the front-end convex polyhedron SFC construction and back-end SCP-based trajectory optimization.A Sparse A^(*)Search(SAS)driven SFC construction method is designed to efficiently generate polyhedron SFC according to the geometric relation among obstacles and collision-free waypoints.Via transforming the nonconvex obstacle-avoidance constraints to linear inequality constraints,SFC can mitigate infeasibility of trajectory planning and reduce computation complexity.Then,SCP casts the nonlinear trajectory optimization subject to SFC into convex programming subproblems to decrease the problem complexity.In addition,a convex optimizer based on interior point method is customized,where the search direction is calculated via successive elimination to further improve efficiency.Simulation experiments on dense obstacle scenarios show that SFC-SCP can generate dynamically feasible safe trajectory rapidly.Comparative studies with state-of-the-art SCP-based methods demonstrate the efficiency and reliability merits of SFC-SCP.Besides,the customized convex optimizer outperforms off-the-shelf optimizers in terms of computation time.
基金supported by the National Natural Science Foundation of China(51872078,52272197,52572219)Heilongjiang Provincial Natural Science Foundation of China(LH2024E106)。
文摘High-entropy oxides(HEOs)derive their exceptional properties from the atomic-level homogenization of multiple constituent elements within the crystal lattice,which induces a sophisticated local environment that fundamentally reconfigures electron density distributions and coordination environment at active sites.However,the mechanisms by which multi-component systems in HEOs precisely regulate high-activity catalytic sites remain poorly understood.This work addresses this gap by designing medium-entropy perovskite oxides through the strategic incorporation of transition metals with distinct electronegativities and ionic radii,aiming to unravel how local environmental modifications impact the energy band location,coordination states,and adsorption behavior of the Co site.A family of A_(4)BO_(4)-type medium-entropy oxides PrSr(Fe_(0.2)Co_(0.2)Ni_(0.2)Cu_(0.2)M_(0.2))O_(4)(M=Sc,Cr,Mn)was successfully synthesized.Divergent atomic properties among Sc,Cr,and Mn(electronegativity,ionic size,and metal-oxygen bond strength)triggered pronounced electron redistribution,effectively tuning the d-band center of Co.Remarkably,Cr substitution significantly enhanced O_(4) adsorption at Co-active sites,as indicated by an elongated O-O bond length(1.234Å→1.279Å).Concurrently,Cr doping destabilized the M'-O-Cr bonds(M'=Fe,Co,Ni,Cu)and lowered the thermodynamic barrier for oxygen vacancy formation.Electrochemical tests revealed that PrSr(Fe_(0.2)Co_(0.2)Ni_(0.2)Cu_(0.2)Cr_(0.2))O_(4)(PSMO-Cr)exhibited the highest electrical conductivity and fastest oxygen surface exchange kinetics.At 700℃,the area-specific resistance(ASR)of the PSMO-Cr cathode was 0.07Ωcm^(2).Corresponding fuel cells achieved a maximum power density of 0.76 W cm^(-2).In electrolysis mode,the maximum current density reached 0.56 A cm^(-2) under 1.3 V at 700℃using PSMO-Cr as the anode.These results demonstrate that PSMO-Cr is a promising bifunctional catalyst for energy conversion applications.
文摘On January 19,2026,China's first structural interest rate cut of the year took effect.The People's Bank of China announced a 0.25 percentage point reduction in relending and rediscount rates,targeting key sectors like small and micro enterprises(SMEs),technological innovation,and green transition.For the textile industry,where small and medium-sized enterprises account for over 90%of traditional manufacturing,the policy benefits will inject strong momentum into the high-quality development from multiple dimensions,including reduced financing costs,support for transformation funds,and expansion of foreign trade markets.
基金supported by the Fundamental Research Funds for the Central Universities(4007019109)(RECON-STRUCT)the Special Guiding Funds for Double First-class(4007019201)the Joint TU Delft-CSSC Project ‘Multi-agent Coordination with Networked Constraints’(MULTI-COORD)
文摘This paper discusses the design and software-in-theloop implementation of adaptive formation controllers for fixedwing unmanned aerial vehicles(UAVs) with parametric uncertainty in their structure, namely uncertain mass and inertia. In fact, when aiming at autonomous flight, such parameters cannot assumed to be known as they might vary during the mission(e.g.depending on the payload). Modeling and autopilot design for such autonomous fixed-wing UAVs are presented. The modeling is implemented in Matlab, while the autopilot is based on ArduPilot, a popular open-source autopilot suite. Specifically, the ArduP ilot functionalities are emulated in Matlab according to the Ardupilot documentation and code, which allows us to perform software-in-the-loop simulations of teams of UAVs embedded with actual autopilot protocols. An overview of realtime path planning, trajectory tracking and formation control resulting from the proposed platform is given. The software-inthe-loop simulations show the capability of achieving different UAV formations while handling uncertain mass and inertia.
基金the Deanship of Scientific Research at King Saud University through research group number(RG-1440-048)。
文摘For the automatic tracking of unknown moving targets on the ground,most of the commonly used methods involve circling above the target.With such a tracking mode,there is a moving laser spot on the target,which will bring trouble for cooperative manned helicopters.In this paper,we propose a new way of tracking,where an unmanned aerial vehicle(UAV) circles on one side of the tracked target.A circular path algorithm is developed for monitoring the relative position between the UAV and the target considering the real-time range and the bearing angle.This can determine the center of the new circular path if the predicted range between the UAV and the target does not meet the monitoring requirements.A transition path algorithm is presented for planning the transition path between circular paths that constrain the turning radius of the UAV.The transition path algorithm can generate waypoints that meet the flight ability.In this paper,we analyze the entire method and detail the scope of applications.We formulate an observation angle as an evaluation index.A series of simulations and evaluation index comparisons verify the effectiveness of the proposed algorithms.
文摘Cooperative path planning is an important area in fixed-wing UAV swarm.However,avoiding multiple timevarying obstacles and avoiding local optimum are two challenges for existing approaches in a dynamic environment.Firstly,a normalized artificial potential field optimization is proposed by reconstructing a novel function with anisotropy in each dimension,which can make the flight speed of a fixed UAV swarm independent of the repulsive/attractive gain coefficient and avoid trapping into local optimization and local oscillation.Then,taking into account minimum velocity and turning angular velocity of fixed-wing UAV swarm,a strategy of decomposing target vector to avoid moving obstacles and pop-up threats is proposed.Finally,several simulations are carried out to illustrate superiority and effectiveness.
基金the National Natural Science Foundation of China(61933010)the Natural Science Basic Research Plan in Shaanxi Province of China(2023-JC-QN-0733).
文摘This paper tackles the formation-containment control problem of fixed-wing unmanned aerial vehicle(UAV)swarm with model uncertainties for dynamic target tracking in three-dimensional space in the faulty case of UAVs’actuator and sensor.The fixed-wing UAV swarm under consideration is organized as a“multi-leader-multi-follower”structure,in which only several leaders can obtain the dynamic target information while others only receive the neighbors’information through the communication network.To simultaneously realize the formation,containment,and dynamic target tracking,a two-layer control framework is adopted to decouple the problem into two subproblems:reference trajectory generation and trajectory tracking.In the upper layer,a distributed finite-time estimator(DFTE)is proposed to generate each UAV’s reference trajectory in accordance with the control objective.Subsequently,a distributed composite robust fault-tolerant trajectory tracking controller is developed in the lower layer,where a novel adaptive extended super-twisting(AESTW)algorithm with a finite-time extended state observer(FTESO)is involved in solving the robust trajectory tracking control problem under model uncertainties,actuator,and sensor faults.The proposed controller simultaneously guarantees rapidness and enhances the system’s robustness with fewer chattering effects.Finally,corresponding simulations are carried out to demonstrate the effectiveness and competitiveness of the proposed two-layer fault-tolerant cooperative control scheme.
文摘To overcome the problems encountered in predicting the endurance of electricpowered fixed-wing unmanned aerial vehicles(UAVs),which were stemmed from the dynamic changes in electric power system efficiency and battery discharge characteristics under different operating conditions,the required battery power model and battery discharge model were studied.The required battery power model was determined using an approximate model of electric power system efficiency based on wind tunnel testing and the self-adaptive penalty function.Furthermore,current correction and ambient temperature correction terms were proposed for the trained Kriging model representing the discharge characteristics under standard operation,and then the discharged capacity-terminal voltage model was established.Through numerical integration of this model with the required battery power model,the electric-powered fixed-wing UAV endurance prediction model was obtained.Laboratory tests indicated that the proposed endurance model could precisely calculate the battery discharge time and accurately describe the battery discharge process.The similarity of the theoretical and flight test results reflected the accuracy of the proposed endurance model as well as the importance of considering dynamic changes in power system efficiency in endurance calculations.The proposed endurance model meeting precision requirements can be used in practical engineering applications.
文摘There are fundamental performance compromises between rotary-wing and fixed-wing UAVs. The general solution to address this well-known problem is the design of a platform with some degree of reconfigurable airframes. For critical missions (civilian or military), it is imperative that mechanical complexity is kept to a minimum to help achieve mission success. This work proposes that the tried-and-true radio controlled (RC) aerobatic airplanes can be implemented as basis for fixed-wing UAVs having both speed and vertical takeoff and landing (VTOL) capabilities. These powerful and highly maneuverable airplanes have non-rotatable nacelles, yet capable of deep stall maneuvers. The power requirements for VTOL and level flight of an aerobatic RC airplane are evaluated and they are compared to those of a RC helicopter of similar flying weight. This work provides quantitative validation that commercially available RC aerobatic airplanes can serve as platform to build VTOL capable fixed-wing UAVs that are agile, cost effective, reliable and easy maintenance.
基金financially supported by the National Natural Science Foundation of China(Nos.52074078 and 52374327)the Applied Fundamental Research Program of Liaoning Province,China(No.2023JH2/101600002)+3 种基金the Liaoning Provincial Natural Science Foundation,China(No.2022-YQ-09)the Shenyang Young Middle-Aged Scientific and Technological Innovation Talent Support Program,China(No.RC220491)the Liaoning Province Steel Industry-University-Research Innovation Alliance Cooperation Project of Bensteel Group,China(No.KJBLM202202)the Fundamental Research Funds for the Central Universities,China(Nos.N2201023 and N2325009)。
文摘In recent years,medium entropy alloys have become a research hotspot due to their excellent physical and chemical performances.By controlling reasonable elemental composition and processing parameters,the medium entropy alloys can exhibit similar properties to high entropy alloys and have lower costs.In this paper,a FeCoNi medium entropy alloy precursor was prepared via sol-gel and coprecipitation methods,respectively,and FeCoNi medium entropy alloys were prepared by carbothermal and hydrogen reduction.The phases and magnetic properties of FeCoNi medium entropy alloy were investigated.Results showed that FeCoNi medium entropy alloy was produced by carbothermal and hydrogen reduction at 1500℃.Some carbon was detected in the FeCoNi medium entropy alloy prepared by carbothermal reduction.The alloy prepared by hydrogen reduction was uniform and showed a relatively high purity.Moreover,the hydrogen reduction product exhibited better saturation magnetization and lower coercivity.
基金Natural Science Foundation of Shangdong,Grant/Award Number:ZR2019MF065.
文摘The battlefield situation changes rapidly because underwater targets'are concealment and the sea environment is uncertain.So,a great number of situation information greatly increase,which need to be dealt with in the course of scouting underwater targets.Situation assessment in sea battlefield with a lot of uncertain information is studied,and a new situation assessment method of scouting underwater targets with fixed-wing patrol aircraft is proposed based on the cloud Bayesian network,which overcomes the deficiency of the single cloud model in reasoning ability and the defect of Bayesian network in knowledge representation.Moreover,in the method,the cloud model knowledge deal with the input data of Bayesian network reasoning,and the advantages in knowledge representation of cloud theory and reasoning of Bayesian network are applied;also,the fuzziness and stochasticity of cloud theory in knowledge expression,the reasoning ability of Bayesian network,are combined.Then,the situation assessment model of scouting underwater targets with fixed-wing patrol aircraft is established.Hence,the directed acyclic graph of Bayesian network structure is constructed and the assessment index is determined.Next,the cloud model is used to deal with Bayesian network,and the discrete Bayesian network is obtained.Moreover,after CPT of each node and the transformation between certainty degree and probability are accomplished;the final situation level is obtained through a probability synthesis formula.Therefore,the target type and the operational intention of the other side are deduced to form the battlefield situation.Finally,simulations are carried out,and the rationality and validity of the proposed method are testified by simulation results.By this method,the battlefield situation can be gained.And this method has a wider application range,especially for large sample data processing,and it has better practicability.
文摘Modern day VTOL fixed-wing aircraft based on quadplane design is relative<span style="font-family:Verdana;">ly simple and reliable due to lack of complex mechanical components</span><span style="font-family:Verdana;"> com</span><span style="font-family:Verdana;">pared to tilt-wings or tilt-rotors in the pre-80’s era. Radio-controlled </span><span style="font-family:Verdana;">aerobatic airplanes have thrust-to-weight ratio of greater than unity and are capable of performing a range of impressive maneuvers including the so-called harrier maneuver. We hereby present a new maneuver known as the retarded harrier </span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;">that is applicable to un/manned fixed-wing aircraft for achieving VTOL flight with a better forward flight performance than a quadplane in terms of weight, speed and esthetics.</span></span></span><span style="font-family:Verdana;"><span style="font-family:Verdana;"><span style="font-family:Verdana;"> An airplane with tandem roto-stabilizers is also presented as an efficient airframe to achieve VTOL via retarded harrier maneuver, and detailed analysis is given for hovering at 45° and 60° and comparison is made against the widely adopted quadplane. This work also includes experimental demonstration of retarded harrier maneuver using a small remotely pilot airplane of wingspan 650 mm.</span></span></span>
基金supported by the National Key Research and Development Program of China(No.2022YFA1603800)the National Natural Science Foundation of China(No.12274362).
文摘Developing high-performance alloys with gigapascal strength and excellent ductility is crucial for modern engineering applications.The concept of multi-component high/medium entropy alloys(H/MEAs)provides an innovative approach to designing such alloys.In this work,we developed the Co_(1.5)CrNi_(1.5)Al_(0.2)Ti_(0.2)MEA,which exhibits outstanding mechanical properties at room temperature through low-temperature pre-aging followed by annealing treatment.Tensile testing reveals that the MEA possesses an ultrahigh yield strength of 20±0785 MPa,an ultimate tensile strength of 2365±70 MPa,and exceptional ductility of 15.8%±1.7%.The superior tensile properties are attributed to the formation of fully recrystal-lized heterogeneous structures(HGS)composed of ultrafine grain(UFG)and fine grain(FG)regions,along with discontinuous precipitation of coherent nano-size lamellar L1_(2)precipitates.The mechanical incompatibility between the UFG region and the FG regions during deformation induces the accumulation of a large number of geometrically necessary dislocations at the interface,resulting in strain distribution and hetero-deformation-induced(HDI)stress accumulation,contributing significantly to HDI strengthening.HDI strengthening,precipitation strengthening,and grain boundary strengthening are the primary mechanisms responsible for the ultra-high yield strength of the MEA.During deformation,the dominant deformation mechanisms include dislocation slip,deformation-induced stacking faults,and Lomer-Cottrell locks,with minor deformation twinning.The synergistic interaction of these multiple deformation modes provides the MEA with excellent work hardening capability,delaying plastic instability and achieving an excellent combination of strength and ductility.This study provides an effective strategy for synergistically strengthening MEAs by combining HDI strengthening with traditional strengthening mechanisms.These findings pave the way for the development of advanced structural materials with high performance tailored for demanding applications in engineering.
基金financial support from the National Natural Science Foundation of China(Nos.52233018 and 51831002)the China Baowu Low Carbon Metallurgy Innovation Foudation(No.BWLCF202213)。
文摘The influence of Nb-V microalloying on the hot deformation behavior and microstructures of medium Mn steel(MMS)was investigated by uniaxial hot compression tests.By establishing the constitutive equations for simulating the measured flow curves,we successfully constructed deformation activation energy(Q)maps and processing maps for identifying the region of flow instability.We concluded the following consequences of Nb-V alloying for MMS.(i)The critical strain increases and the increment diminishes with the increasing deformation temperature,suggesting that NbC precipitates more efficiently retard dynamic recrystallization(DRX)in MMS compared with solute Nb.(ii)The deformation activation energy of MMS is significantly increased and even higher than that of some reported high Mn steels,suggesting that its ability to retard DRX is greater than that of the high Mn content.(iii)The hot workability of MMS is improved by narrowing the hot processing window for the unstable flow stress,in which fine recrystallized and coarse unrecrystallized grains are present.
基金funding from the National Natural Science Foundation of China(Nos.52063017 and 52061025)the Major Science and Technology Project of Gansu Province(Nos.22ZD6GA008 and 20ZD7GJ008)+3 种基金the Natural Science Foundation of Gansu Province(No.23JRRA820)The Science and Technology Project of Major Science and Technology Project of Gansu Province(No.22ZD6GA008)the Science and Technology Project of Gansu Province(No.23YFGA0058)the College Industry Support Plan of Gansu Province(No.2023CYZC-27).
文摘The growing demand for material properties in challenging environments has led to a surge of interest in rapid composition design. Given the great potential composition space, the field of high/medium entropy alloys (H/MEAs) still lacks effective atomic-scale composition design and screening schemes, which hinders the accurate prediction of desired composition and properties. This study proposes a novel approach for rapidly designing the composition of materials with the aim of overcoming the trade-off between strength and ductility in metal matrix composites. The effect of chemical composition on stacking fault energy (SFE), shear modulus, and phase stability was investigated through the use of molecular dynamics (MD) and thermodynamic calculation software. The alloy's low SFE, highest shear modulus, and stable face-centered cubic (FCC) phase have been identified as three standard physical quantities for rapid screening to characterize the deformation mechanism, ultimate tensile strength, phase stability, and ductility of the alloy. The calculation results indicate that the optimal composition space is expected to fall within the ranges of 17 %–34 % Ni, 33 %–50 % Co, and 25 %–33 % Mn. The comparison of stress-strain curves for various predicted components using simulated and experimental results serves to reinforce the efficacy of the method. This indicates that the screening criteria offer a necessary design concept, deviating from traditional strategies and providing crucial guidance for the rapid development and application of MEAs.
基金supported by the National Key R&D Program of China(No.2024YFB4007501)the Natural Science Foundation of Jiangsu Province(No.BK20240109)the project of Jiangsu Key Laboratory for Clean Utilization of Carbon Resources(No.BM2024007).
文摘Low-concentration coal mine methane(LC-CMM),which is predominantly composed of methane,serves as a clean and low-carbon energy resource with significant potential for utilization.Utilizing LC-CMM as fuel for solid oxide fuel cells(SOFCs)represents an efficient and promising strategy for its effective utilization.However,direct application in Ni-based anodes induces carbon deposition,which severely degrades cell performance.Herein,a medium-entropy oxide Sr_(2)FeNi_(0.1)Cr_(0.3)Mn_(0.3)Mo_(0.3)O_(6−δ)(SFNCMM)was developed as an anode internal reforming catalyst.Following reduction treatment,FeNi_(3) nano-alloy particles precipitate on the surface of the material,thereby significantly enhancing its catalytic activity for LC-CMM reforming process.The catalyst achieved a methane conversion rate of 53.3%,demonstrating excellent catalytic performance.Electrochemical evaluations revealed that SFNCMM-Gd_(0.1)Ce_(0.9)O_(2−δ)(GDC)with a weight ratio of 7:3 exhibited superior electrochemical performance when employed as the anodic catalytic layer.With H_(2) and LC-CMM as fuels,the single cell achieved maximum power densities of 1467.32 and 1116.97 mW·cm^(−2) at 800℃,respectively,with corresponding polarization impedances of 0.17 and 1.35Ω·cm^(2).Furthermore,the single cell maintained stable operation for over 100 h under LC-CMM fueling without significant carbon deposition,confirming its robust resistance to carbon formation.These results underscore the potential of medium-entropy oxides as highly effective catalytic layers for mitigating carbon deposition in SOFCs.
文摘BACKGROUND Oil-based iodinated contrast media have excellent contrast properties and are widely used for hysterosalpingographic evaluation of female infertility.On abdominal radiography and computed tomography(CT)scans,their radiodensity is similar to that of metallic objects,which can sometimes lead to diagnostic confusion in the postoperative settings.In this case,retained oil-based contrast medium was observed on an abdominal radiograph following a cesarean section,making it difficult to differentiate from an intraperitoneal foreign body from surgery.The patient was a 37-year-old pregnant woman who was referred to our hospital at 32 weeks and 1 day of pregnancy due to complete placenta previa for mana-gement of pregnancy and delivery.An elective cesarean section was performed at 37 weeks and 3 days.A plain abdominal radiograph taken immediately after surgery revealed a near-round,hyperdense,mass-like shadow with a regular margin in the pelvic cavity.An intraperitoneal foreign body was suspected;therefore,an abdominal CT scan was performed.The foreign body was located on the left side of the pouch of Douglas and had a CT value of 7000 Hounsfield units,similar to that of metals.The CT value strongly suggested the presence of an artificial object.However,further inquiries with the patient and her previous physician revealed a history of hysterosalpingography.Accordingly,retained oil-based iodinated contrast medium was suspected,and observation of the object’s course was adopted.CONCLUSION When intraperitoneal foreign bodies are suspected on postoperative radiographs,the possibility of oil-based iodinated contrast medium retention should be considered.
基金Supported by the Inner Mongolia Autonomous Region's Key Research and Achievement Transformation Plan(2025YFSH0029).
文摘[Objectives]To evaluate the performance of two rapid chromogenic media for the detection of Bacillus cereus in milk powder,and verify the media's inclusivity,exclusivity,and accuracy,and to assess their applicability for the quantitative detection of B.cereus.[Methods]B.cereus in milk powder samples was quantified using two rapid chromogenic media in combination with the national standard method.Agreement between the quantitative results from the three methods was subsequently assessed for agreement via a paired t-test.[Results]No significant differences were observed between the bacterial counts yielded by the two rapid chromogenic media and the national standard method(P>0.05),with excellent agreement between them.[Conclusions]The method of rapid chromogenic culture medium is rapid and simple.
基金funded in part by the Rapid Response Fund of the AI for Collective Intelligence(AI4CI)hub,a UKRI National AI Research Hub(grant ref EP/Y028392/1).
文摘We present a spatial analysis of Bitcoin-accepting merchants using BTC Map,a global crowdsourced dataset built on OpenStreetMap,to provide ground-level evidence on Bitcoin’s payment ecosystem.While prior research emphasizes macroeconomic drivers,our analysis of approximately 11,000 merchants shows that local adoption is more strongly shaped by community dynamics and sectoral niches.Acknowledging quality variance in crowdsourced data,we focus on verified regional clusters.We find a global concentration of adoption in the hospitality sector,localised clusters driven by grassroots initiatives rather than national policy and significant presence in alternative healthcare and IT services.These findings highlight the limits of top-down interventions such as El Salvador’s legal tender law and underscore the role of social networks in sustaining adoption.By contrasting spatial micro-level evidence with national studies,this work positions merchant data as a key lens for understanding Bitcoin’s evolving role as a medium of exchange.
基金funded by the Ministry of Education of the Russian Federation within the framework of a state assignment,number 1023032300071-6-2.3.1.
文摘The dynamics of fluid and non-buoyant particles in a librating horizontal annulus is studied experimentally.In the absence of librations,the granular material forms a cylindrical layer near the outer boundary of the annulus and undergoes rigid-body rotation with the fluid and the annulus.It is demonstrated that the librational liquefaction of the granular material results in pattern formation.This self-organization process stems from the excitation of inertial modes induced by the oscillatory motion of liquefied granular material under the influence of the gravitational force.The inertial wave induces vortical fluid flow which entrains particles from rest and forms eroded areas that are equidistant from each other along the axis of rotation.Theoretical analysis and experiments demonstrate that a liquefied layer of granular material oscillates with a radian frequency equal to the angular velocity of the annulus and interacts with the inertial wave it excites.The new phenomenon of libration-induced pattern formation is of practical interest as it can be used to control multiphase flows and mass transfer in rotating containers in a variety of industrial processes.
