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
Recent progress in microwave absorption materials stimulates the extensive exploration of rare earth oxide materials.Herein,we report the synthesis of a hollow sphere-based carbon material compounded with rare earth o...Recent progress in microwave absorption materials stimulates the extensive exploration of rare earth oxide materials.Herein,we report the synthesis of a hollow sphere-based carbon material compounded with rare earth oxides.Hollow N-doped carbon nano-spheres loaded ceria composites(H-NC@CeO_(2))were designed and prepared by the template method,combined with in-situ coating,pyrolysis and chemical etching.By controlling the loading content of H-NC@CeO_(2)and adjusting the impedance matching of the material,the H-NC@CeO_(2)/PS(polystyrene)composite exhibited a minimum reflection loss(RL)of-50.8 dB and an effective absorption band-width(EAB)of 4.64 GHz at a filler ratio of 20wt%and a thickness of 2 mm.In accordance with measured electromagnetic parameters,simulations using the high frequency structure simulator(HFSS)software were conducted to investigate the impact of the honeycomb structure on the electromagnetic wave performance of H-NC@CeO_(2)/PS.By calculating the surface electric field and the material’s bulk loss density,the mechanism of electromagnetic loss for the honeycomb structure was elaborated.A method for structural design and man-ufacturing of broadband absorbing devices was proposed and a broadband absorber with an EAB of 11.9 GHz was prepared.This study presents an innovative approach to designing advanced electromagnetic(EM)wave absorbing materials with broad absorption band-widths.展开更多
Compared with traditional open surgery,laparoscopic surgery significantly reduces bodily trauma,postoperative pain,and hospitalization duration.However,owing to the small size of incisions and the counterintuitive mot...Compared with traditional open surgery,laparoscopic surgery significantly reduces bodily trauma,postoperative pain,and hospitalization duration.However,owing to the small size of incisions and the counterintuitive motion of surgical tools,longer training cycles are required for surgeons to achieve fine operational skills.This paper presents a laparoscopic surgery simulator with haptic-feedback control(LSHC-6)that provides a reliable and cost-effective training alternative for surgeons.In addition to the structural diagram,kinematic analysis,and gravity compensation algorithm,a particle swarm optimization algorithm(PSO)is applied to optimize the structural parameters of the simulator by evaluating its workspace,global dexterity,and gravity compensation ability.A prototype system was developed and evaluated using two training experiments.The results demonstrate that the simulator exhibits good operational fluidity,workspace,and stable force output,effectively meeting the needs of laparoscopic surgical training.展开更多
Large-scale physical simulation is essential for advancing our understanding of natural gas hydrates exploitation mechanism.However,cylinder-shaped simulators often face challenges in balancing large volume,controllab...Large-scale physical simulation is essential for advancing our understanding of natural gas hydrates exploitation mechanism.However,cylinder-shaped simulators often face challenges in balancing large volume,controllability,and comprehensive monitoring.In this study,we developed a fan columnshaped hydrate simulator(FCHS)with an internal angle of 6°,a radius of 3 m,and an inner height of0.3 m,resulting in an effective volume of~142 L.Moreover,the FCHS is equipped with an integrated"thermal-pressure-acoustic"sensing system,enabling in-situ monitoring of temperature,pressure,and P-wave velocity evolution during hydrate formation and dissociation process.The experimental results indicate that a pressure gradient successfully established from the reservoir center toward its boundaries during depressurization stage,and pressure propagation is relatively slow,resulting in a radial pressure difference of 3-4 MPa within a 3 m range.Once the system reaches pressure equilibrium,the pressure difference decreases to 0.3-0.4 MPa.The depressurization at the wellbore promotes hydrate dissociation in the near-well region,resulting in the radial temperature difference reaches~1.5℃ along the radial direction.The acoustic data reveals that a radial gradient in hydrate saturation gradually forms from the center to the boundary during depressurization-induced gas production.The evolutions of spatio-temporal multi-fields obtained in the FCHS are consist with that of field production.The FCHS proves to be a cutting-edge platform for experimental simulation of NGH exploitation and carbon sequestration processes.展开更多
The size and shape effect(SSE)of components has become a critical issue for mechanical properties,application reliability,and processing.In this study,the creep rupture life(CRL)of components with different wall thick...The size and shape effect(SSE)of components has become a critical issue for mechanical properties,application reliability,and processing.In this study,the creep rupture life(CRL)of components with different wall thicknesses and positions in a combustion chamber casing simulator made of K439B superalloy was investigated.The intrinsic mechanisms of the SSE were explored from the dendrite structure,volume fraction and size of theγ'phase,and element segregation,etc.It is shown that this casting exhibits a strong SSE of creep rupture life,characterized by a significant difference in the CRL values up to 60%with the variation of wall thickness and position in the casing.In terms of casting technology,the influence of SSE on CRL is actually determined by the cooling rate.The SSE on the creep rupture life originates from the dendrite structure(such as the secondary dendrite arm spacing),volume fraction size of theγ'phase in the dendrite trunk,and elements segregation rate.This work may have implications for the design and application of engineering components with large sizes and complex structures.展开更多
The ground-based experimental tests are crucial to verify the related technologies of the drag-free satellite.This work presents a design method of the ground simulator testbed for emulating the planar dynamics of the...The ground-based experimental tests are crucial to verify the related technologies of the drag-free satellite.This work presents a design method of the ground simulator testbed for emulating the planar dynamics of the space drag-free systems.In this paper,the planar dynamic characteristics of the drag-free satellite with double test masses are analyzed and nondimensionalized.A simulator vehicle composed of an air bearing testbed and two inverted pendulums is devised on the basic of equivalent mass and equivalent stiffness proposed firstly in this paper.And the dynamic model of the simulator equivalent to the sensitive axis motion of the test mass and the planar motion of the satellite is derived from the Euler-Lagrange method.Then,the dynamic equivalence conditions between the space prototype system and the ground model system are derived from Pi theorem.To satisfy these conditions,the scaling laws of two systems and requirements for the inverted pendulum are put forward.Besides,the corresponding control scaling laws and a closed-loop control strategy are deduced and applied to establishing the numerical simulation experiments of underactuated system.Subsequently,the comparative simulation results demonstrate the similarity of dynamical behavior between the scaled-down ground model and the space prototype.As a result,the rationality and effectiveness of the design method are proved,facilitating the ground simulation of future gravitational wave detection satellites.展开更多
BACKGROUND Although exposure therapy is a proven treatment for post-traumatic stress disorder(PTSD),empirical research is difficult due to ethical issues.Recently,virtual reality-based content that can provide space a...BACKGROUND Although exposure therapy is a proven treatment for post-traumatic stress disorder(PTSD),empirical research is difficult due to ethical issues.Recently,virtual reality-based content that can provide space and time similar to reality for exposure therapy techniques is increasing.AIM To examine exposure therapy using driving simulations in patients with PTSD due to traffic accidents with PTSD symptoms.METHODS The intervention was provided to two individuals who experienced PTSD symptoms after a traffic accident using a driving simulator.Among the singlesubject experimental designs,the ABA(baseline-intervention-baseline)design was used,and the PTSD checklist and brain wave frequency were used to measure the results.RESULTS In all participants,the standard category departure time of the electroencephalogram decreased from baseline,and PTSD symptoms decreased after the intervention.CONCLUSION These results suggest the potential use of a driving simulator as an exposure treatment tool for PTSD.展开更多
The design of a compound control is presented for the servo system of hydraulic flight motion simulator, which suffers from highly nonlinear dynamics, large parameter time-variation and severe load coupling among chan...The design of a compound control is presented for the servo system of hydraulic flight motion simulator, which suffers from highly nonlinear dynamics, large parameter time-variation and severe load coupling among channels. The compound control is composed of a robust feedback controller and a feedforward compensator. The design aim is to achieve high tracking perform- ance even in the presence of considerable uncertainty, external disturbance and load coupling among channels. Toward this aim the feedback controller for rejecting perturbation and disturbance is designed by usingμ synthesis optimization technique and the feedforward compensator for compensating time lag of dynamic system is established based on the basic idea of zero phase error tracking. To validate the proposed control strategy, simulations and experiments are implemented, and show that the result- ing system is highly robust against model perturbation and possesses excellent capability of suppressing the load coupling and improving the tracking performance.展开更多
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 Research Funding of Hangzhou International Innovation Institute of Beihang Uni-versity,China(No.2024KQ130)the National Natural Science Foundation of China(Nos.52073010 and 52373259).
文摘Recent progress in microwave absorption materials stimulates the extensive exploration of rare earth oxide materials.Herein,we report the synthesis of a hollow sphere-based carbon material compounded with rare earth oxides.Hollow N-doped carbon nano-spheres loaded ceria composites(H-NC@CeO_(2))were designed and prepared by the template method,combined with in-situ coating,pyrolysis and chemical etching.By controlling the loading content of H-NC@CeO_(2)and adjusting the impedance matching of the material,the H-NC@CeO_(2)/PS(polystyrene)composite exhibited a minimum reflection loss(RL)of-50.8 dB and an effective absorption band-width(EAB)of 4.64 GHz at a filler ratio of 20wt%and a thickness of 2 mm.In accordance with measured electromagnetic parameters,simulations using the high frequency structure simulator(HFSS)software were conducted to investigate the impact of the honeycomb structure on the electromagnetic wave performance of H-NC@CeO_(2)/PS.By calculating the surface electric field and the material’s bulk loss density,the mechanism of electromagnetic loss for the honeycomb structure was elaborated.A method for structural design and man-ufacturing of broadband absorbing devices was proposed and a broadband absorber with an EAB of 11.9 GHz was prepared.This study presents an innovative approach to designing advanced electromagnetic(EM)wave absorbing materials with broad absorption band-widths.
基金Supported by the National Key Research and Development Program of China(Grant No.2022YFB4500604)in part by the Natural Science Foundation of Guangdong Province,China(Grant No.2022A1515010100 and 2024A1515010140).
文摘Compared with traditional open surgery,laparoscopic surgery significantly reduces bodily trauma,postoperative pain,and hospitalization duration.However,owing to the small size of incisions and the counterintuitive motion of surgical tools,longer training cycles are required for surgeons to achieve fine operational skills.This paper presents a laparoscopic surgery simulator with haptic-feedback control(LSHC-6)that provides a reliable and cost-effective training alternative for surgeons.In addition to the structural diagram,kinematic analysis,and gravity compensation algorithm,a particle swarm optimization algorithm(PSO)is applied to optimize the structural parameters of the simulator by evaluating its workspace,global dexterity,and gravity compensation ability.A prototype system was developed and evaluated using two training experiments.The results demonstrate that the simulator exhibits good operational fluidity,workspace,and stable force output,effectively meeting the needs of laparoscopic surgical training.
基金support received from the National Natural Science Foundation of China(22127812,22578482,22278433)the National Key Research and Development Program of China(2021YFC2800902)。
文摘Large-scale physical simulation is essential for advancing our understanding of natural gas hydrates exploitation mechanism.However,cylinder-shaped simulators often face challenges in balancing large volume,controllability,and comprehensive monitoring.In this study,we developed a fan columnshaped hydrate simulator(FCHS)with an internal angle of 6°,a radius of 3 m,and an inner height of0.3 m,resulting in an effective volume of~142 L.Moreover,the FCHS is equipped with an integrated"thermal-pressure-acoustic"sensing system,enabling in-situ monitoring of temperature,pressure,and P-wave velocity evolution during hydrate formation and dissociation process.The experimental results indicate that a pressure gradient successfully established from the reservoir center toward its boundaries during depressurization stage,and pressure propagation is relatively slow,resulting in a radial pressure difference of 3-4 MPa within a 3 m range.Once the system reaches pressure equilibrium,the pressure difference decreases to 0.3-0.4 MPa.The depressurization at the wellbore promotes hydrate dissociation in the near-well region,resulting in the radial temperature difference reaches~1.5℃ along the radial direction.The acoustic data reveals that a radial gradient in hydrate saturation gradually forms from the center to the boundary during depressurization-induced gas production.The evolutions of spatio-temporal multi-fields obtained in the FCHS are consist with that of field production.The FCHS proves to be a cutting-edge platform for experimental simulation of NGH exploitation and carbon sequestration processes.
基金financially supported by the National Science and Technology Major Project of China (No.J2019-VI-0004-0117)a Laboratory Fund Project (6142903220101)。
文摘The size and shape effect(SSE)of components has become a critical issue for mechanical properties,application reliability,and processing.In this study,the creep rupture life(CRL)of components with different wall thicknesses and positions in a combustion chamber casing simulator made of K439B superalloy was investigated.The intrinsic mechanisms of the SSE were explored from the dendrite structure,volume fraction and size of theγ'phase,and element segregation,etc.It is shown that this casting exhibits a strong SSE of creep rupture life,characterized by a significant difference in the CRL values up to 60%with the variation of wall thickness and position in the casing.In terms of casting technology,the influence of SSE on CRL is actually determined by the cooling rate.The SSE on the creep rupture life originates from the dendrite structure(such as the secondary dendrite arm spacing),volume fraction size of theγ'phase in the dendrite trunk,and elements segregation rate.This work may have implications for the design and application of engineering components with large sizes and complex structures.
基金supported by the National Key Research and Development Program of China (Grant No.2021YFC2202604)the Strategy Priority Research Program of Chinese Academy of Sciences (Grant No.XDA1502110101).
文摘The ground-based experimental tests are crucial to verify the related technologies of the drag-free satellite.This work presents a design method of the ground simulator testbed for emulating the planar dynamics of the space drag-free systems.In this paper,the planar dynamic characteristics of the drag-free satellite with double test masses are analyzed and nondimensionalized.A simulator vehicle composed of an air bearing testbed and two inverted pendulums is devised on the basic of equivalent mass and equivalent stiffness proposed firstly in this paper.And the dynamic model of the simulator equivalent to the sensitive axis motion of the test mass and the planar motion of the satellite is derived from the Euler-Lagrange method.Then,the dynamic equivalence conditions between the space prototype system and the ground model system are derived from Pi theorem.To satisfy these conditions,the scaling laws of two systems and requirements for the inverted pendulum are put forward.Besides,the corresponding control scaling laws and a closed-loop control strategy are deduced and applied to establishing the numerical simulation experiments of underactuated system.Subsequently,the comparative simulation results demonstrate the similarity of dynamical behavior between the scaled-down ground model and the space prototype.As a result,the rationality and effectiveness of the design method are proved,facilitating the ground simulation of future gravitational wave detection satellites.
文摘BACKGROUND Although exposure therapy is a proven treatment for post-traumatic stress disorder(PTSD),empirical research is difficult due to ethical issues.Recently,virtual reality-based content that can provide space and time similar to reality for exposure therapy techniques is increasing.AIM To examine exposure therapy using driving simulations in patients with PTSD due to traffic accidents with PTSD symptoms.METHODS The intervention was provided to two individuals who experienced PTSD symptoms after a traffic accident using a driving simulator.Among the singlesubject experimental designs,the ABA(baseline-intervention-baseline)design was used,and the PTSD checklist and brain wave frequency were used to measure the results.RESULTS In all participants,the standard category departure time of the electroencephalogram decreased from baseline,and PTSD symptoms decreased after the intervention.CONCLUSION These results suggest the potential use of a driving simulator as an exposure treatment tool for PTSD.
文摘The design of a compound control is presented for the servo system of hydraulic flight motion simulator, which suffers from highly nonlinear dynamics, large parameter time-variation and severe load coupling among channels. The compound control is composed of a robust feedback controller and a feedforward compensator. The design aim is to achieve high tracking perform- ance even in the presence of considerable uncertainty, external disturbance and load coupling among channels. Toward this aim the feedback controller for rejecting perturbation and disturbance is designed by usingμ synthesis optimization technique and the feedforward compensator for compensating time lag of dynamic system is established based on the basic idea of zero phase error tracking. To validate the proposed control strategy, simulations and experiments are implemented, and show that the result- ing system is highly robust against model perturbation and possesses excellent capability of suppressing the load coupling and improving the tracking performance.
