Electroacoustic Tomography(EAT)is an imaging technique that detects ultrasound waves induced by electrical pulses,offering a solution for real-time electroporation monitoring.This study presents EAT system using a dua...Electroacoustic Tomography(EAT)is an imaging technique that detects ultrasound waves induced by electrical pulses,offering a solution for real-time electroporation monitoring.This study presents EAT system using a dual-frequency ultrasound array.The broadband nature of electroacoustic signals requires ultrasound detector to cover both the high-frequency range(around 6MHz)signals generated by small targets and the low-frequency range(around 1MHz)signals generated by large targets.In our EAT system,we use the 6 MHz array to detect high-frequency signals from the electrodes,and the 1 MHz array for the electrical field.To test this,we conducted simulations using COMSOL Multiphysics^(®) and MATLAB's k-Wave toolbox,followed by experiments using a custom-built setup with a dual-frequency transducer and real-time data acquisition.The results demonstrated that the dual-frequency EAT system could accurately and simultaneously monitor the electroporation process,effectively showing both the treatment area and electrode placement with the application of 1 kV electric pulses with 100 ns duration.The axial resolution of the 6MHz array for EAT was 0.45 mm,significantly better than the 2mm resolution achieved with the 1MHz array.These findings validate the potential of dual-frequency EAT as a superior method for real-time electroporation monitoring.展开更多
Vehicle-induced response separation is a crucial issue in structural health monitoring(SHM).This paper proposes a block-wise sliding recursive wavelet transform algorithm to meet the real-time processing requirements ...Vehicle-induced response separation is a crucial issue in structural health monitoring(SHM).This paper proposes a block-wise sliding recursive wavelet transform algorithm to meet the real-time processing requirements of monitoring data.To extend the separation target from a fixed dataset to a continuously updating data stream,a block-wise sliding framework is first developed.This framework is further optimized considering the characteristics of real-time data streams,and its advantage in computational efficiency is theoretically demonstrated.During the decomposition and reconstruction processes,information from neighboring data blocks is fully utilized to reduce algorithmic complexity.In addition,a delay-setting strategy is introduced for each processing window to mitigate boundary effects,thereby balancing accuracy and efficiency.Simulated signal experiments are conducted to determine the optimal delay configuration and to verify the algorithm’s superior performance,achieving a lower Root Mean Square Error(RMSE)and only 0.0249 times the average computational time compared with the original algorithm.Furthermore,strain signals from the Lieshi River Bridge are employed to validate the method.The proposed algorithm successfully separates the static trend from vehicle-induced responses in real time across different sampling frequencies,demonstrating its effectiveness and applicability in real-time bridge monitoring.展开更多
Most existing path planning approaches rely on discrete expansions or localized heuristics that can lead to extended re-planning,inefficient detours,and limited adaptability to complex obstacle distributions.These iss...Most existing path planning approaches rely on discrete expansions or localized heuristics that can lead to extended re-planning,inefficient detours,and limited adaptability to complex obstacle distributions.These issues are particularly pronounced when navigating cluttered or large-scale environments that demand both global coverage and smooth trajectory generation.To address these challenges,this paper proposes a Wave Water Simulator(WWS)algorithm,leveraging a physically motivated wave equation to achieve inherently smooth,globally consistent path planning.In WWS,wavefront expansions naturally identify safe corridors while seamlessly avoiding local minima,and selective corridor focusing reduces computational overhead in large or dense maps.Comprehensive simulations and real-world validations-encompassing both indoor and outdoor scenarios-demonstrate that WWS reduces path length by 2%-13%compared to conventional methods,while preserving gentle curvature and robust obstacle clearance.Furthermore,WWS requires minimal parameter tuning across diverse domains,underscoring its broad applicability to warehouse robotics,field operations,and autonomous service vehicles.These findings confirm that the proposed wave-based framework not only bridges the gap between local heuristics and global coverage but also sets a promising direction for future extensions toward dynamic obstacle scenarios and multi-agent coordination.展开更多
To investigate the energy relief effect of real-time drilling in preventing rockburst in high-stress rock,a series of high-stress real-time drilling uniaxial compression tests were conducted on red sandstone specimens...To investigate the energy relief effect of real-time drilling in preventing rockburst in high-stress rock,a series of high-stress real-time drilling uniaxial compression tests were conducted on red sandstone specimens using the SG4500 drilling rig.Results showed that the mechanical behavior(i.e.peak strength and rockburst intensity)of the rock was weakened under high-stress real-time drilling and exhibited a downward trend as the drilling diameter increased.The real-time drilling energy dissipation index(ERD)was proposed to characterize the energy relief during high-stress real-time drilling.The ERD exhibited a linear increase with the real-time drilling diameter.Furthermore,the elastic strain energy of post-drilling rock showed a linear relationship with the square of stress across different stress levels,which also applied to the peak elastic strain energy and the square of peak stress.This findingreveals the intrinsic link between the weakening effect of peak elastic strain energy and peak strength due to high-stress real-time drilling,confirmingthe consistency between energy relief and pressure relief effects.By establishing relationships among rockburst proneness,peak elastic strain energy,and peak strength,it was demonstrated that high-stress real-time drilling reduces rockburst proneness through energy dissipation.Specifically,both peak elastic strain energy and rockburst proneness decreased with larger drill bit diameters,consistent with reductions in peak strength,rockburst intensity,and fractal dimensions of high-stress real-time drilled rock.These results validate the energy relief mechanism of real-time drilling in mitigating rockburst risks.展开更多
An innovative real-time monitoring method for surrounding rock damage based on microseismic time-lapse double-difference tomography is proposed for delayed dynamic damage identification and insufficient detection of a...An innovative real-time monitoring method for surrounding rock damage based on microseismic time-lapse double-difference tomography is proposed for delayed dynamic damage identification and insufficient detection of adverse geological conditions in deep-buried tunnel construction.The installation techniques for microseismic sensors were optimized by mounting sensors at bolt ends which significantly improves signal-to-noise ratio(SNR)and anti-interference capability compared to conventional borehole placement.Subsequently,a 3D wave velocity evolution model that incorporates construction-induced disturbances was established,enabling the first visualization of spatiotemporal variations in surrounding rock wave velocity.It finds significant wave velocity reduction near the tunnel face,with roof and floor damage zones extending 40–50 m;wave velocities approaching undisturbed levels at 15 m ahead of the working face and on the laterally undisturbed side;pronounced spatial asymmetry in wave velocity distribution—values on the left side exceed those on the right,with a clear stress concentration or transition zone located 10–15 m;and systematically lower velocities behind the face than in front,indicating asymmetric rock damage development.These results provide essential theoretical support and practical guidance for optimizing dynamic construction strategies,enabling real-time adjustment of support parameters,and establishing safety early warning systems in deep-buried tunnel engineering.展开更多
Online examinations have become a dominant assessment mode,increasing concerns over academic integrity.To address the critical challenge of detecting cheating behaviours,this study proposes a hybrid deep learning appr...Online examinations have become a dominant assessment mode,increasing concerns over academic integrity.To address the critical challenge of detecting cheating behaviours,this study proposes a hybrid deep learning approach that combines visual detection and temporal behaviour classification.The methodology utilises object detection models—You Only Look Once(YOLOv12),Faster Region-based Convolutional Neural Network(RCNN),and Single Shot Detector(SSD)MobileNet—integrated with classification models such as Convolutional Neural Networks(CNN),Bidirectional Gated Recurrent Unit(Bi-GRU),and CNN-LSTM(Long Short-Term Memory).Two distinct datasets were used:the Online Exam Proctoring(EOP)dataset from Michigan State University and the School of Computer Science,Duy Tan Unievrsity(SCS-DTU)dataset collected in a controlled classroom setting.A diverse set of cheating behaviours,including book usage,unauthorised interaction,internet access,and mobile phone use,was categorised.Comprehensive experiments evaluated the models based on accuracy,precision,recall,training time,inference speed,and memory usage.We evaluate nine detector-classifier pairings under a unified budget and score them via a calibrated harmonic mean of detection and classification accuracies,enabling deployment-oriented selection under latency and memory constraints.Macro-Precision/Recall/F1 and Receiver Operating Characteristic-Area Under the Curve(ROC-AUC)are reported for the top configurations,revealing consistent advantages of object-centric pipelines for fine-grained cheating cues.The highest overall score is achieved by YOLOv12+CNN(97.15%accuracy),while SSD-MobileNet+CNN provides the best speed-efficiency trade-off for edge devices.This research provides valuable insights into selecting and deploying appropriate deep learning models for maintaining exam integrity under varying resource constraints.展开更多
The highly dynamic nature,strong uncertainty,and coupled multiple safety constraints inherent in carrier aircraft recovery operations pose severe challenges for real-time decision-making.Addressing bolter scenarios,th...The highly dynamic nature,strong uncertainty,and coupled multiple safety constraints inherent in carrier aircraft recovery operations pose severe challenges for real-time decision-making.Addressing bolter scenarios,this study proposes an intelligent decision-making framework based on a deep long short-term memory Q-network.This framework transforms the real-time sequencing for bolter recovery problem into a partially observable Markov decision process.It employs a stacked long shortterm memory network to accurately capture the long-range temporal dependencies of bolter event chains and fuel consumption.Furthermore,it integrates a prioritized experience replay training mechanism to construct a safe and adaptive scheduling system capable of millisecond-level real-time decision-making.Experimental demonstrates that,within large-scale mass recovery scenarios,the framework achieves zero safety violations in static environments and maintains a fuel safety violation rate below 10%in dynamic scenarios,with single-step decision times at the millisecond level.The model exhibits strong generalization capability,effectively responding to unforeseen emergent situations—such as multiple bolters and fuel emergencies—without requiring retraining.This provides robust support for efficient carrier-based aircraft recovery operations.展开更多
An in-depth understanding of the behaviours of solid propellants under low-velocity impact loads is crucial for enhancing their safety in applications such as aerospace propulsion.This study investigated the dynamic r...An in-depth understanding of the behaviours of solid propellants under low-velocity impact loads is crucial for enhancing their safety in applications such as aerospace propulsion.This study investigated the dynamic responses of single ammonium perchlorate(AP)/octogen(HMX)particles embedded in a hydroxyl-terminated polybutadiene(HTPB)binder under dynamic compression loading via real-time synchrotron-based X-ray phase contrast imaging and a modified split Hopkinson pressure bar(SHPB)system.The compression of the viscoelastic binder and subsequent dynamic fracturing of the AP/HMX particles were captured.During compression,transverse cracks developed within the AP particles,and their propagation led to particle fracturing,resulting in ductile fracturing.Unlike AP,HMX generated numerous short cracks within the internal and edge regions simultaneously,leading to fragmentation and brittle fracturing.Moreover,particle damage reduced the modulus of the sample,shifting its dynamic stress response from nonlinear elasticity to strain softening and further strain hardening as the binder exhibited plastic deformation.A compression simulation incorporating a real particle microscopic structure was established to study the mechanical response of the interface and particles.The simulation results agreed with the experimental observations.These results indicate that the shear stress at the HTPB-AP interface is greater than that at the HTPB-HMX interface,which is a factor influencing the differences in the mesoscale damage mechanisms of the particles.展开更多
The effect of real-time high temperature and thermal treatment on the mechanical characteristics and crack evolution of granite with different grain sizes(i.e.,0.5 mm,0.7 mm and 1.0 mm)is investigated by numerical sim...The effect of real-time high temperature and thermal treatment on the mechanical characteristics and crack evolution of granite with different grain sizes(i.e.,0.5 mm,0.7 mm and 1.0 mm)is investigated by numerical simulation employing a grain-based model,and the impact of initial cracks on thermal-induced strengthening is also examined by integrating random cracks within the model before tests.The results revealed that thermal stress,induced by the mismatch in thermal expansion coefficient between various minerals,is the primary distinction between rock specimens in real-time high temperature and thermal treatment.With increasing temperature,the thermal stress gradually accumulates in quartz minerals under real-time high temperature but releases after thermal treatment.The high local contact force significantly affects the peak stress and crack evolution.Uniaxial compression simulation results demonstrate that progressive accumulation of thermal stress induces degradation in macroscopic peak strength and increase of microcrack density.The grain size controls the ratio of intergranular contacts to intragranular contacts,and leads to an increase in strong contact number in the intragrain and a decrease in strong contact number in the intergrain.The strengthening of uniaxial compression strength in the experiment can be well simulated by controlling the number of pre-existing initial cracks in the numerical model.Our conclusions are beneficial to a better understanding of the underlying mechanisms of thermal damage and thermal strengthening of granite for deep geological engineering.展开更多
Real-time simulation of large-scale wind farms with detailed modeling can provide accurate insights into system transient behaviors,but entails challenges in computing resources.This paper develops a compact real-time...Real-time simulation of large-scale wind farms with detailed modeling can provide accurate insights into system transient behaviors,but entails challenges in computing resources.This paper develops a compact real-time simulator based on the field programmable gate array(FPGA)for large-scale wind farms,in which the spatial-temporal parallel design method is proposed to address the huge computation resource demand associated with detailed modeling.The wind farm is decoupled into several subsystems based on model consistency,and the electrical system and control system of each subsystem are solved in parallel.Both the module-level pipeline technique and superscalar pipeline technique are introduced to the wind farms’simulation to effectively improve the utilization of hardware resources.In case studies,real-time simulations of two modified wind farms are separately carried out on a single FPGA,including one with 13 permanent magnet synchronous generators under a time-step of 11µs,and the other with 30 squirrel-cage induction generators under a time-step of 8µs.Simulation tests,under different scenarios,are implemented to validate the numerical performance of the real-time simulator,and a comparison with the commercial tool PSCAD/EMTDC demonstrates the accuracy and effectiveness of the proposed design.展开更多
To improve the safety of construction workers and help workers remotely control humanoid robots in construc-tion,this study designs and implements a computer vision based virtual construction simulation system.For thi...To improve the safety of construction workers and help workers remotely control humanoid robots in construc-tion,this study designs and implements a computer vision based virtual construction simulation system.For this pur-pose,human skeleton motion data are collected using a Ki-nect depth camera,and the obtained data are optimized via abnormal data elimination,smoothing,and normalization.MediaPipe extracts three-dimensional hand motion coordi-nates for accurate human posture tracking.Blender is used to build a virtual worker and site model,and the virtual worker motion is controlled based on the quaternion inverse kinematics algorithm while limiting the joint angle to en-hance the authenticity of motion simulation.Experimental results show that the system frame rate is stable at 60 frame/s,end-to-end delay is less than 20 ms,and virtual task comple-tion time is close to the real scene,verifying its engineering applicability.The proposed system can drive virtual work-ers to perform tasks and provide technical support for con-struction safety training.展开更多
This paper presents the results of a concept capability demonstration pilot study, the aim of which was to investigate how inexpensive gaming software and hardware technologies could be exploited in the development an...This paper presents the results of a concept capability demonstration pilot study, the aim of which was to investigate how inexpensive gaming software and hardware technologies could be exploited in the development and evaluation of a simulator prototype for training Royal Navy mine clearance divers, specifically focusing on the detection and accurate reporting of the location and condition of underwater ordnance. The simulator was constructed using the Blender open source 3D modelling toolkit and game engine, and featured not only an interactive 3D editor for underwater scenario generation by instructors, but also a real-time, 3D After Action Review(AAR) system for formative assessment and feedback.The simulated scenarios and AAR architecture were based on early human factors observations and briefings conducted at the UK's Defence Diving School(DDS), an organisation that provides basic military diving training for all Royal Navy and Army(Royal Engineers) divers. An experimental pilot study was undertaken to determine whether or not basic navigational and mine detection components of diver performance could be improved as a result of exposing participants to the AAR system, delivered between simulated diving scenarios. The results suggest that the provision of AAR was accompanied by significant performance improvements in the positive identification of simulated underwater ordnance(in contrast to non-ordnance objects) and on participants' description of their location, their immediate in-water or seabed context and their structural condition. Only marginal improvements were found with participants' navigational performance in terms of their deviation accuracies from a pre-programmed expert search path. Overall, this project contributes to the growing corpus of evidence supporting the development of simulators that demonstrate the value of exploiting open source gaming software and the significance of adopting established games design techniques in delivering highly engaging scenarios to defence training communities.展开更多
The paper intfoduces a PC-DSP based real-time digital simulator which is portable in size and aimed at the closed-loop testing of various types of protective relays for their design and application. The simulator can ...The paper intfoduces a PC-DSP based real-time digital simulator which is portable in size and aimed at the closed-loop testing of various types of protective relays for their design and application. The simulator can be widely used in not only concerning utilities but also manufacturers and research / certification institutes because of its many functions. The hardware architecture and software implementation of the simulator are described. The main features and functions of the simulator are also展开更多
On January 11, 2010, the grand ceremony to present the 2009 National Scientific and Technological Award was held in Beijing. The project—Development and Implementation of Full-Digital Real-Time
Background Atrial fibrillation(AF)is the most common sustained cardiac arrhythmia that can cause severe heart problems.Catheter ablation is one of the most ideal procedures for the treatment of AF.Physicians qualified...Background Atrial fibrillation(AF)is the most common sustained cardiac arrhythmia that can cause severe heart problems.Catheter ablation is one of the most ideal procedures for the treatment of AF.Physicians qualified to perform this procedure need to be highly skilled in manipulating the relevant surgical devices.This study proposes an interactive surgical simulator with high fidelity to facilitate efficient training and low-cost medical education.Methods We used a shared centerline model to simulate the interaction between multiple surgical devices.An improved adaptive deviation-feedback approach is proposed to accelerate the convergence of each iteration.The periodical beating of the human heart was also simulated in real time using the position-based dynamics(PBD)framework to achieve higher fidelity.We then present a novel method for handling the interaction between the devices and the beating heart mesh model.Experiments were conducted in a homemade simulator prototype to evaluate the robustness,performance,and flexibility of the proposed method.Preliminary evaluation of the simulator was performed by medical students,residents,and surgeons.Results The interaction between surgical devices,static vascular meshes,and beating heart mesh was stably simulated in a frame rate suitable for interaction.Conclusion Our simulator is capable of simulating the procedure of catheter ablation with high fidelity and provides immersive visual experiences and haptic feedback.展开更多
A nuclear power plant real-time engineering simulator was developed based on general-purpose ther- mal-hydraulic system simulation code RELAP5. It mainly consists of three parts:improved thermal-hydraulic system simul...A nuclear power plant real-time engineering simulator was developed based on general-purpose ther- mal-hydraulic system simulation code RELAP5. It mainly consists of three parts:improved thermal-hydraulic system simulation code RELAP5,control and protection system and human-machine interface. A normal transient of CHASHMA nuclear power plant turbine step load change from 100% to 90% of full power,was simulated by the en- gineering simulator as an application example. This paper presents structure and main features of the engineering simulator,and application results are shown and discussed.展开更多
A model suitable for describing the mechanical response of thin elastic objects is proposed to simulate the deformation of guide wires in minimally invasive interventions. The main objective of this simulation is to p...A model suitable for describing the mechanical response of thin elastic objects is proposed to simulate the deformation of guide wires in minimally invasive interventions. The main objective of this simulation is to provide doctors an opportunity to rehearse the surgery and select an optimal operation plan before the real surgery. In this model the guide wire is discretized with the multi-body representation and its elastic energy derivate from elastic theory is a polynomial function of the nodal displacements. The vascular structure is represented by a tetrahedron mesh extended from the triangular mesh of the artery, which can be extracted from the patient＇s CT image data. The model applies the energy decline process of the conjugate gradient method to the deformation simulation of the guide wire. Experimental results show that the polynomial relationship between elastic energy and nodal displacements tremendously simplifies the evaluation of the conjugate gradient method and significantly improves the model＇s efficiency. Compared with models depending on an explicit scheme for evaluation, the new model is not only non-conditionally stable but also more efficient. The model can be applied to the real-time simulation of guide wire in a vascular structure.展开更多
Real-time hybrid simulation is an efficient and cost-effective dynamic testing technique for performance evaluation of structural systems subjected to earthquake loading with rate-dependent behavior. A loading assembl...Real-time hybrid simulation is an efficient and cost-effective dynamic testing technique for performance evaluation of structural systems subjected to earthquake loading with rate-dependent behavior. A loading assembly with multiple actuators is required to impose realistic boundary conditions on physical specimens. However, such a testing system is expected to exhibit significant dynamic coupling of the actuators and suffer from time lags that are associated with the dynamics of the servo-hydraulic system, as well as control-structure interaction （CSI）. One approach to reducing experimental errors considers a multi-input, multi-output （MIMO） controller design, yielding accurate reference tracking and noise rejection. In this paper, a framework for multi-axial real-time hybrid simulation （maRTHS） testing is presented. The methodology employs a real-time feedback-feedforward controller for multiple actuators commanded in Cartesian coordinates. Kinematic transformations between actuator space and Cartesian space are derived for all six-degrees-of- freedom of the moving platform. Then, a frequency domain identification technique is used to develop an accurate MIMO transfer function of the system. Further, a Cartesian-domain model-based feedforward-feedback controller is implemented for time lag compensation and to increase the robustness of the reference tracking for given model uncertainty. The framework is implemented using the 1/5th-scale Load and Boundary Condition Box （LBCB） located at the University of Illinois at Urbana- Champaign. To demonstrate the efficacy of the proposed methodology, a single-story frame subjected to earthquake loading is tested. One of the columns in the fraane is represented physically in the laboratory as a cantilevered steel column. For real- time execution, the numerical substructure, kinematic transformations, and controllers are implemented on a digital signal processor. Results show excellent performance of the maRTHS framework when six-degrees-of-freedom are controUed at the interface between substructures.展开更多
A class of hybrid algorithms of real-time simulation based on evaluation of non-integerstep right-hand side function are presented in this paper. And some results of the convergence and stability of the algorithms are...A class of hybrid algorithms of real-time simulation based on evaluation of non-integerstep right-hand side function are presented in this paper. And some results of the convergence and stability of the algorithms are given. Using the class of algorithms, evaluation for the right-hand side function is needed once in every integration-step. Moreover, comparing with the other methods with the same amount of work, their numerical stability regions are larger and the method errors are smaller, and the numerical experiments show that the algorithms are very effective.展开更多
基金supported by the National Institute of Health(R37CA240806,U01CA288351,and R50CA283816)support from UCI Chao Family Comprehensive Cancer Center(P30CA062203).
文摘Electroacoustic Tomography(EAT)is an imaging technique that detects ultrasound waves induced by electrical pulses,offering a solution for real-time electroporation monitoring.This study presents EAT system using a dual-frequency ultrasound array.The broadband nature of electroacoustic signals requires ultrasound detector to cover both the high-frequency range(around 6MHz)signals generated by small targets and the low-frequency range(around 1MHz)signals generated by large targets.In our EAT system,we use the 6 MHz array to detect high-frequency signals from the electrodes,and the 1 MHz array for the electrical field.To test this,we conducted simulations using COMSOL Multiphysics^(®) and MATLAB's k-Wave toolbox,followed by experiments using a custom-built setup with a dual-frequency transducer and real-time data acquisition.The results demonstrated that the dual-frequency EAT system could accurately and simultaneously monitor the electroporation process,effectively showing both the treatment area and electrode placement with the application of 1 kV electric pulses with 100 ns duration.The axial resolution of the 6MHz array for EAT was 0.45 mm,significantly better than the 2mm resolution achieved with the 1MHz array.These findings validate the potential of dual-frequency EAT as a superior method for real-time electroporation monitoring.
基金the support of the Major Science and Technology Project of Yunnan Province,China(Grant No.202502AD080007)the National Natural Science Foundation of China(Grant No.52378288)。
文摘Vehicle-induced response separation is a crucial issue in structural health monitoring(SHM).This paper proposes a block-wise sliding recursive wavelet transform algorithm to meet the real-time processing requirements of monitoring data.To extend the separation target from a fixed dataset to a continuously updating data stream,a block-wise sliding framework is first developed.This framework is further optimized considering the characteristics of real-time data streams,and its advantage in computational efficiency is theoretically demonstrated.During the decomposition and reconstruction processes,information from neighboring data blocks is fully utilized to reduce algorithmic complexity.In addition,a delay-setting strategy is introduced for each processing window to mitigate boundary effects,thereby balancing accuracy and efficiency.Simulated signal experiments are conducted to determine the optimal delay configuration and to verify the algorithm’s superior performance,achieving a lower Root Mean Square Error(RMSE)and only 0.0249 times the average computational time compared with the original algorithm.Furthermore,strain signals from the Lieshi River Bridge are employed to validate the method.The proposed algorithm successfully separates the static trend from vehicle-induced responses in real time across different sampling frequencies,demonstrating its effectiveness and applicability in real-time bridge monitoring.
文摘Most existing path planning approaches rely on discrete expansions or localized heuristics that can lead to extended re-planning,inefficient detours,and limited adaptability to complex obstacle distributions.These issues are particularly pronounced when navigating cluttered or large-scale environments that demand both global coverage and smooth trajectory generation.To address these challenges,this paper proposes a Wave Water Simulator(WWS)algorithm,leveraging a physically motivated wave equation to achieve inherently smooth,globally consistent path planning.In WWS,wavefront expansions naturally identify safe corridors while seamlessly avoiding local minima,and selective corridor focusing reduces computational overhead in large or dense maps.Comprehensive simulations and real-world validations-encompassing both indoor and outdoor scenarios-demonstrate that WWS reduces path length by 2%-13%compared to conventional methods,while preserving gentle curvature and robust obstacle clearance.Furthermore,WWS requires minimal parameter tuning across diverse domains,underscoring its broad applicability to warehouse robotics,field operations,and autonomous service vehicles.These findings confirm that the proposed wave-based framework not only bridges the gap between local heuristics and global coverage but also sets a promising direction for future extensions toward dynamic obstacle scenarios and multi-agent coordination.
基金supported by the National Natural Science Foundation of China(Grant No.42077244)the Postgraduate Research&Practice Innovation Program of Jiangsu Province(Grant No.KYCX24_0434).
文摘To investigate the energy relief effect of real-time drilling in preventing rockburst in high-stress rock,a series of high-stress real-time drilling uniaxial compression tests were conducted on red sandstone specimens using the SG4500 drilling rig.Results showed that the mechanical behavior(i.e.peak strength and rockburst intensity)of the rock was weakened under high-stress real-time drilling and exhibited a downward trend as the drilling diameter increased.The real-time drilling energy dissipation index(ERD)was proposed to characterize the energy relief during high-stress real-time drilling.The ERD exhibited a linear increase with the real-time drilling diameter.Furthermore,the elastic strain energy of post-drilling rock showed a linear relationship with the square of stress across different stress levels,which also applied to the peak elastic strain energy and the square of peak stress.This findingreveals the intrinsic link between the weakening effect of peak elastic strain energy and peak strength due to high-stress real-time drilling,confirmingthe consistency between energy relief and pressure relief effects.By establishing relationships among rockburst proneness,peak elastic strain energy,and peak strength,it was demonstrated that high-stress real-time drilling reduces rockburst proneness through energy dissipation.Specifically,both peak elastic strain energy and rockburst proneness decreased with larger drill bit diameters,consistent with reductions in peak strength,rockburst intensity,and fractal dimensions of high-stress real-time drilled rock.These results validate the energy relief mechanism of real-time drilling in mitigating rockburst risks.
基金support of the National Natural Science Foundation of China(No.52274176)the Guangdong Province Key Areas R&D Program(No.2022B0101070001)+5 种基金Chongqing Elite Innovation and Entrepreneurship Leading talent Project(No.CQYC20220302517)the Chongqing Natural Science Foundation Innovation and Development Joint Fund(No.CSTB2022NSCQ-LZX0079)the National Key Research and Development Program Young Scientists Project(No.2022YFC2905700)the Chongqing Municipal Education Commission“Shuangcheng Economic Circle Construction in Chengdu-Chongqing Area”Science and Technology Innovation Project(No.KJCX2020031)the Fundamental Research Funds for the Central Universities(No.2024CDJGF-009)the Key Project for Technological Innovation and Application Development in Chongqing(No.CSTB2025TIAD-KPX0029).
文摘An innovative real-time monitoring method for surrounding rock damage based on microseismic time-lapse double-difference tomography is proposed for delayed dynamic damage identification and insufficient detection of adverse geological conditions in deep-buried tunnel construction.The installation techniques for microseismic sensors were optimized by mounting sensors at bolt ends which significantly improves signal-to-noise ratio(SNR)and anti-interference capability compared to conventional borehole placement.Subsequently,a 3D wave velocity evolution model that incorporates construction-induced disturbances was established,enabling the first visualization of spatiotemporal variations in surrounding rock wave velocity.It finds significant wave velocity reduction near the tunnel face,with roof and floor damage zones extending 40–50 m;wave velocities approaching undisturbed levels at 15 m ahead of the working face and on the laterally undisturbed side;pronounced spatial asymmetry in wave velocity distribution—values on the left side exceed those on the right,with a clear stress concentration or transition zone located 10–15 m;and systematically lower velocities behind the face than in front,indicating asymmetric rock damage development.These results provide essential theoretical support and practical guidance for optimizing dynamic construction strategies,enabling real-time adjustment of support parameters,and establishing safety early warning systems in deep-buried tunnel engineering.
文摘Online examinations have become a dominant assessment mode,increasing concerns over academic integrity.To address the critical challenge of detecting cheating behaviours,this study proposes a hybrid deep learning approach that combines visual detection and temporal behaviour classification.The methodology utilises object detection models—You Only Look Once(YOLOv12),Faster Region-based Convolutional Neural Network(RCNN),and Single Shot Detector(SSD)MobileNet—integrated with classification models such as Convolutional Neural Networks(CNN),Bidirectional Gated Recurrent Unit(Bi-GRU),and CNN-LSTM(Long Short-Term Memory).Two distinct datasets were used:the Online Exam Proctoring(EOP)dataset from Michigan State University and the School of Computer Science,Duy Tan Unievrsity(SCS-DTU)dataset collected in a controlled classroom setting.A diverse set of cheating behaviours,including book usage,unauthorised interaction,internet access,and mobile phone use,was categorised.Comprehensive experiments evaluated the models based on accuracy,precision,recall,training time,inference speed,and memory usage.We evaluate nine detector-classifier pairings under a unified budget and score them via a calibrated harmonic mean of detection and classification accuracies,enabling deployment-oriented selection under latency and memory constraints.Macro-Precision/Recall/F1 and Receiver Operating Characteristic-Area Under the Curve(ROC-AUC)are reported for the top configurations,revealing consistent advantages of object-centric pipelines for fine-grained cheating cues.The highest overall score is achieved by YOLOv12+CNN(97.15%accuracy),while SSD-MobileNet+CNN provides the best speed-efficiency trade-off for edge devices.This research provides valuable insights into selecting and deploying appropriate deep learning models for maintaining exam integrity under varying resource constraints.
基金supported by the National Natural Science Foundation of China(Grant No.62403486)。
文摘The highly dynamic nature,strong uncertainty,and coupled multiple safety constraints inherent in carrier aircraft recovery operations pose severe challenges for real-time decision-making.Addressing bolter scenarios,this study proposes an intelligent decision-making framework based on a deep long short-term memory Q-network.This framework transforms the real-time sequencing for bolter recovery problem into a partially observable Markov decision process.It employs a stacked long shortterm memory network to accurately capture the long-range temporal dependencies of bolter event chains and fuel consumption.Furthermore,it integrates a prioritized experience replay training mechanism to construct a safe and adaptive scheduling system capable of millisecond-level real-time decision-making.Experimental demonstrates that,within large-scale mass recovery scenarios,the framework achieves zero safety violations in static environments and maintains a fuel safety violation rate below 10%in dynamic scenarios,with single-step decision times at the millisecond level.The model exhibits strong generalization capability,effectively responding to unforeseen emergent situations—such as multiple bolters and fuel emergencies—without requiring retraining.This provides robust support for efficient carrier-based aircraft recovery operations.
基金supported by the National Natural Science Foundation of China(U2341288 and 12302492)。
文摘An in-depth understanding of the behaviours of solid propellants under low-velocity impact loads is crucial for enhancing their safety in applications such as aerospace propulsion.This study investigated the dynamic responses of single ammonium perchlorate(AP)/octogen(HMX)particles embedded in a hydroxyl-terminated polybutadiene(HTPB)binder under dynamic compression loading via real-time synchrotron-based X-ray phase contrast imaging and a modified split Hopkinson pressure bar(SHPB)system.The compression of the viscoelastic binder and subsequent dynamic fracturing of the AP/HMX particles were captured.During compression,transverse cracks developed within the AP particles,and their propagation led to particle fracturing,resulting in ductile fracturing.Unlike AP,HMX generated numerous short cracks within the internal and edge regions simultaneously,leading to fragmentation and brittle fracturing.Moreover,particle damage reduced the modulus of the sample,shifting its dynamic stress response from nonlinear elasticity to strain softening and further strain hardening as the binder exhibited plastic deformation.A compression simulation incorporating a real particle microscopic structure was established to study the mechanical response of the interface and particles.The simulation results agreed with the experimental observations.These results indicate that the shear stress at the HTPB-AP interface is greater than that at the HTPB-HMX interface,which is a factor influencing the differences in the mesoscale damage mechanisms of the particles.
基金Project(51879135)supported by the Taishan Scholars Program,ChinaProject(52309130)supported by the National Natural Science Foundation of China+1 种基金Project(SKLGME023003)supported by the Open Research Fund of State Key Laboratory of Geomechanics and Geotechnical Engineering Safety,ChinaProject(2022AH051754)supported by the Natural Science Research Project of Anhui Universities,China。
文摘The effect of real-time high temperature and thermal treatment on the mechanical characteristics and crack evolution of granite with different grain sizes(i.e.,0.5 mm,0.7 mm and 1.0 mm)is investigated by numerical simulation employing a grain-based model,and the impact of initial cracks on thermal-induced strengthening is also examined by integrating random cracks within the model before tests.The results revealed that thermal stress,induced by the mismatch in thermal expansion coefficient between various minerals,is the primary distinction between rock specimens in real-time high temperature and thermal treatment.With increasing temperature,the thermal stress gradually accumulates in quartz minerals under real-time high temperature but releases after thermal treatment.The high local contact force significantly affects the peak stress and crack evolution.Uniaxial compression simulation results demonstrate that progressive accumulation of thermal stress induces degradation in macroscopic peak strength and increase of microcrack density.The grain size controls the ratio of intergranular contacts to intragranular contacts,and leads to an increase in strong contact number in the intragrain and a decrease in strong contact number in the intergrain.The strengthening of uniaxial compression strength in the experiment can be well simulated by controlling the number of pre-existing initial cracks in the numerical model.Our conclusions are beneficial to a better understanding of the underlying mechanisms of thermal damage and thermal strengthening of granite for deep geological engineering.
基金This work was supported by the National Natural Science Foundation of China under Grant No.U1866207,No.51807131No.51961135101the Swedish Research Council under Grant No.2018-06007。
文摘Real-time simulation of large-scale wind farms with detailed modeling can provide accurate insights into system transient behaviors,but entails challenges in computing resources.This paper develops a compact real-time simulator based on the field programmable gate array(FPGA)for large-scale wind farms,in which the spatial-temporal parallel design method is proposed to address the huge computation resource demand associated with detailed modeling.The wind farm is decoupled into several subsystems based on model consistency,and the electrical system and control system of each subsystem are solved in parallel.Both the module-level pipeline technique and superscalar pipeline technique are introduced to the wind farms’simulation to effectively improve the utilization of hardware resources.In case studies,real-time simulations of two modified wind farms are separately carried out on a single FPGA,including one with 13 permanent magnet synchronous generators under a time-step of 11µs,and the other with 30 squirrel-cage induction generators under a time-step of 8µs.Simulation tests,under different scenarios,are implemented to validate the numerical performance of the real-time simulator,and a comparison with the commercial tool PSCAD/EMTDC demonstrates the accuracy and effectiveness of the proposed design.
基金The Eighth National “Ten Thousand Talents Plan for Top Young Talents” of Chinathe National Natural Science Foundation of China (No. 52478117, 52378120)。
文摘To improve the safety of construction workers and help workers remotely control humanoid robots in construc-tion,this study designs and implements a computer vision based virtual construction simulation system.For this pur-pose,human skeleton motion data are collected using a Ki-nect depth camera,and the obtained data are optimized via abnormal data elimination,smoothing,and normalization.MediaPipe extracts three-dimensional hand motion coordi-nates for accurate human posture tracking.Blender is used to build a virtual worker and site model,and the virtual worker motion is controlled based on the quaternion inverse kinematics algorithm while limiting the joint angle to en-hance the authenticity of motion simulation.Experimental results show that the system frame rate is stable at 60 frame/s,end-to-end delay is less than 20 ms,and virtual task comple-tion time is close to the real scene,verifying its engineering applicability.The proposed system can drive virtual work-ers to perform tasks and provide technical support for con-struction safety training.
基金undertaken as part of a University of Birmingham Year 4(MEng)Final Year Project,with funding made available from internal resources at the University of Birmingham’s School of Electronic,Electrical&Systems Engineering
文摘This paper presents the results of a concept capability demonstration pilot study, the aim of which was to investigate how inexpensive gaming software and hardware technologies could be exploited in the development and evaluation of a simulator prototype for training Royal Navy mine clearance divers, specifically focusing on the detection and accurate reporting of the location and condition of underwater ordnance. The simulator was constructed using the Blender open source 3D modelling toolkit and game engine, and featured not only an interactive 3D editor for underwater scenario generation by instructors, but also a real-time, 3D After Action Review(AAR) system for formative assessment and feedback.The simulated scenarios and AAR architecture were based on early human factors observations and briefings conducted at the UK's Defence Diving School(DDS), an organisation that provides basic military diving training for all Royal Navy and Army(Royal Engineers) divers. An experimental pilot study was undertaken to determine whether or not basic navigational and mine detection components of diver performance could be improved as a result of exposing participants to the AAR system, delivered between simulated diving scenarios. The results suggest that the provision of AAR was accompanied by significant performance improvements in the positive identification of simulated underwater ordnance(in contrast to non-ordnance objects) and on participants' description of their location, their immediate in-water or seabed context and their structural condition. Only marginal improvements were found with participants' navigational performance in terms of their deviation accuracies from a pre-programmed expert search path. Overall, this project contributes to the growing corpus of evidence supporting the development of simulators that demonstrate the value of exploiting open source gaming software and the significance of adopting established games design techniques in delivering highly engaging scenarios to defence training communities.
文摘The paper intfoduces a PC-DSP based real-time digital simulator which is portable in size and aimed at the closed-loop testing of various types of protective relays for their design and application. The simulator can be widely used in not only concerning utilities but also manufacturers and research / certification institutes because of its many functions. The hardware architecture and software implementation of the simulator are described. The main features and functions of the simulator are also
文摘On January 11, 2010, the grand ceremony to present the 2009 National Scientific and Technological Award was held in Beijing. The project—Development and Implementation of Full-Digital Real-Time
基金the National Natural Science Foundation of China(61672510)the Shenzhen Basic Research Program(JCYJ20180507182441903).
文摘Background Atrial fibrillation(AF)is the most common sustained cardiac arrhythmia that can cause severe heart problems.Catheter ablation is one of the most ideal procedures for the treatment of AF.Physicians qualified to perform this procedure need to be highly skilled in manipulating the relevant surgical devices.This study proposes an interactive surgical simulator with high fidelity to facilitate efficient training and low-cost medical education.Methods We used a shared centerline model to simulate the interaction between multiple surgical devices.An improved adaptive deviation-feedback approach is proposed to accelerate the convergence of each iteration.The periodical beating of the human heart was also simulated in real time using the position-based dynamics(PBD)framework to achieve higher fidelity.We then present a novel method for handling the interaction between the devices and the beating heart mesh model.Experiments were conducted in a homemade simulator prototype to evaluate the robustness,performance,and flexibility of the proposed method.Preliminary evaluation of the simulator was performed by medical students,residents,and surgeons.Results The interaction between surgical devices,static vascular meshes,and beating heart mesh was stably simulated in a frame rate suitable for interaction.Conclusion Our simulator is capable of simulating the procedure of catheter ablation with high fidelity and provides immersive visual experiences and haptic feedback.
文摘A nuclear power plant real-time engineering simulator was developed based on general-purpose ther- mal-hydraulic system simulation code RELAP5. It mainly consists of three parts:improved thermal-hydraulic system simulation code RELAP5,control and protection system and human-machine interface. A normal transient of CHASHMA nuclear power plant turbine step load change from 100% to 90% of full power,was simulated by the en- gineering simulator as an application example. This paper presents structure and main features of the engineering simulator,and application results are shown and discussed.
文摘A model suitable for describing the mechanical response of thin elastic objects is proposed to simulate the deformation of guide wires in minimally invasive interventions. The main objective of this simulation is to provide doctors an opportunity to rehearse the surgery and select an optimal operation plan before the real surgery. In this model the guide wire is discretized with the multi-body representation and its elastic energy derivate from elastic theory is a polynomial function of the nodal displacements. The vascular structure is represented by a tetrahedron mesh extended from the triangular mesh of the artery, which can be extracted from the patient＇s CT image data. The model applies the energy decline process of the conjugate gradient method to the deformation simulation of the guide wire. Experimental results show that the polynomial relationship between elastic energy and nodal displacements tremendously simplifies the evaluation of the conjugate gradient method and significantly improves the model＇s efficiency. Compared with models depending on an explicit scheme for evaluation, the new model is not only non-conditionally stable but also more efficient. The model can be applied to the real-time simulation of guide wire in a vascular structure.
基金CONICYT-Chile through Becas Chile Scholarship under Grant No.72140204Universidad Tecnica Federico Santa Maria(Chile)through Faculty Development Scholarship under Grant No.208-13
文摘Real-time hybrid simulation is an efficient and cost-effective dynamic testing technique for performance evaluation of structural systems subjected to earthquake loading with rate-dependent behavior. A loading assembly with multiple actuators is required to impose realistic boundary conditions on physical specimens. However, such a testing system is expected to exhibit significant dynamic coupling of the actuators and suffer from time lags that are associated with the dynamics of the servo-hydraulic system, as well as control-structure interaction （CSI）. One approach to reducing experimental errors considers a multi-input, multi-output （MIMO） controller design, yielding accurate reference tracking and noise rejection. In this paper, a framework for multi-axial real-time hybrid simulation （maRTHS） testing is presented. The methodology employs a real-time feedback-feedforward controller for multiple actuators commanded in Cartesian coordinates. Kinematic transformations between actuator space and Cartesian space are derived for all six-degrees-of- freedom of the moving platform. Then, a frequency domain identification technique is used to develop an accurate MIMO transfer function of the system. Further, a Cartesian-domain model-based feedforward-feedback controller is implemented for time lag compensation and to increase the robustness of the reference tracking for given model uncertainty. The framework is implemented using the 1/5th-scale Load and Boundary Condition Box （LBCB） located at the University of Illinois at Urbana- Champaign. To demonstrate the efficacy of the proposed methodology, a single-story frame subjected to earthquake loading is tested. One of the columns in the fraane is represented physically in the laboratory as a cantilevered steel column. For real- time execution, the numerical substructure, kinematic transformations, and controllers are implemented on a digital signal processor. Results show excellent performance of the maRTHS framework when six-degrees-of-freedom are controUed at the interface between substructures.
文摘A class of hybrid algorithms of real-time simulation based on evaluation of non-integerstep right-hand side function are presented in this paper. And some results of the convergence and stability of the algorithms are given. Using the class of algorithms, evaluation for the right-hand side function is needed once in every integration-step. Moreover, comparing with the other methods with the same amount of work, their numerical stability regions are larger and the method errors are smaller, and the numerical experiments show that the algorithms are very effective.
