This article investigates the robust current tracking control problem of three-phase grid-connected inverters with LCL filter under external disturbance by a dynamic state feedback control method.First,this paper cons...This article investigates the robust current tracking control problem of three-phase grid-connected inverters with LCL filter under external disturbance by a dynamic state feedback control method.First,this paper constructs an internal model to learn the information of the states and input of the grid-connected inverter under steady state.Second,by utilizing the internal model principle,the paper turns the tracking control problem into the robust stabilization control problem based on some appropriate coordinate transformations.Then,The paper designs a dynamics state feedback control law to deal with this robust stabilization problem,and thus the solution of the robust current tracking control problem of three-phase grid-connected inverters can be obtained.This control method can ensure the asymptotic stability of the closedloop system.Finally,the paper illustrates the effectiveness of the proposed control approach through several groups of simulations,and compares it with the feedforward control method to verify the robustness of the proposed control method to uncertain parameters.展开更多
The stator of the maglev track plays a crucial role in the operation of the maglev system.Currently,the efficiency of maglev track inspection is limited by several factors,including the large span of elevated structur...The stator of the maglev track plays a crucial role in the operation of the maglev system.Currently,the efficiency of maglev track inspection is limited by several factors,including the large span of elevated structures,manual visual inspection,short inspection window times,and limited GPS positioning accuracy.To address these issues,this paper proposes a deep learning-based method for detecting and locating stator surface damage.This study establishes a maglev track stator surface image dataset,trains different object detection models,and compares their performance.Ultimately,YOLO and ByteTrack object tracking algorithms were chosen as the basic framework and enhanced to achieve automatic identification of high-speed maglev track stator surface damage images and track and count stator surface localization feature images.By matching the identified damaged images with their corresponding stator segment and beam segment sequence numbers,the location of the damage is pinpointed to the corresponding stator segment,enabling rapid and accurate identification and localization of complex damage to the maglev track stator surface.展开更多
The characterization of track irregularities is crucial in railway dynamics,as track irregularities are the primary source of internal excitation in railway systems.In this paper,three mathematical models are proposed...The characterization of track irregularities is crucial in railway dynamics,as track irregularities are the primary source of internal excitation in railway systems.In this paper,three mathematical models are proposed to characterize the track irregularities under different circumstances.The first model is a novel explicit track spectrum function,which performs better in reflecting the inherent periodic components of track irregularities than the existing track spectra.On this foundation,the second model,a parameterized track spectrum random model,is proposed to represent the vast measured track irregularities from the probabilistic perspective.Finally,the third model,an imprecise track spectrum interval model based on a neighborhood uniform sampling Bootstrap method,is presented to identify the confidential interval of the track spectra when the track irregularity data are limited.Three examples are illustrated to demonstrate the feasibility of the three track irregularity models in characterizing the track irregularities in different conditions.This research can help capture the railway deformation status and optimize track maintenance strategies.展开更多
This study presents a comprehensive evaluation of tropical cyclone(TC)forecast performance in the western North Pacific from 2013 to 2022,based on operational forecasts issued by the China Meteorological Administratio...This study presents a comprehensive evaluation of tropical cyclone(TC)forecast performance in the western North Pacific from 2013 to 2022,based on operational forecasts issued by the China Meteorological Administration.The analysis reveals systematic improvements in both track and intensity forecasts over the decade,with distinct error characteristics observed across various forecast parameters.Track forecast errors have steadily decreased,particularly for longer lead times,while error magnitudes have increased with longer forecast lead times.Intensity forecasts show similar progressive enhancements,with maximum sustained wind speed errors decreasing by 0.26 m/s per year for 120 h forecasts.The study also identifies several key patterns in forecast performance:typhoon-grade or stronger TCs exhibit smaller track errors than week or weaker systems;intensity forecasts systematically overestimate weaker TCs while underestimating stronger systems;and spatial error distributions show greater track inaccuracies near landmasses and regional intensity biases.These findings highlight both the significant advances in TC forecasting capability achieved through improved modeling and observational systems,and the remaining challenges in predicting TC changes and landfall behavior,providing valuable benchmarks for future forecast system development.展开更多
The Jianghan Basin,at the junction of the Jiangnan and Qinling-Dabie orogenic belts,has a complete Cretaceous to Paleogene stratigraphic record.However,the exhumation history of its source terrains is not well underst...The Jianghan Basin,at the junction of the Jiangnan and Qinling-Dabie orogenic belts,has a complete Cretaceous to Paleogene stratigraphic record.However,the exhumation history of its source terrains is not well understood.We conducted fission track age analysis on zircon grains(n=441)from the Cretaceous and Paleogene strata in the western Jianghan Basin.The Radial Plotter software is utilized to identify peak ages that indicate thermal events and the history of exhumation.The oldest peak at 810 Ma records the Neoproterozoic collisional orogeny between the Yangtze Craton and Cathaysian Block.Ages of 645-558 Ma reflect the convergence between the South China Block and Gondwana.Early Paleozoic ages document the collision leading to the exhumation of the western Jiangnan Orogenic Belt.Late Paleozoic to early Mesozoic peak ages correspond to the Indosinian orogeny.During the Mesozoic,the subduction of the Paleo-Pacific Plate resulted in further exhumation.The absence of Paleogene zircon fission track peak ages in the basin strata suggests limited exhumation during this period,likely due to tectonic quiescence and arid climatic conditions.展开更多
This study investigates the influence of loading frequency on the fatigue behavior of ballastless track concrete for high-speed railways,aiming to support the development of concrete capable of withstanding higher ope...This study investigates the influence of loading frequency on the fatigue behavior of ballastless track concrete for high-speed railways,aiming to support the development of concrete capable of withstanding higher operational speeds.Fatigue tests were conducted at loading frequencies ranging from 5 to 40 Hz,with a focus on fatigue life,damage evolution,energy dissipation,and residual fatigue strain in the concrete.The results indicate that between 5 and 15 Hz,the fatigue life and energy dissipation remain relatively stable,with minimal damage evolution and small residual strains.As the frequency increases to 15-20 Hz,the fatigue life and energy dissipation gradually decrease,while damage accumulation and residual strain increase.Beyond 20 Hz,both fatigue life and energy dissipation decrease rapidly,damage accumulation becomes more pronounced,and residual strain continues to rise.These phenomena are primarily attributed to the increased strain rate and load change rate at higher frequencies,which affect the microstructure evolution and lead to reduced fatigue performance.展开更多
Quantifying the timing and amplitude of multiple subsidence or uplift stages in sedimentary basins is crucial for understanding their tectonic evolution.In this study,18 samples from 10 drilling wells in the Pearl Riv...Quantifying the timing and amplitude of multiple subsidence or uplift stages in sedimentary basins is crucial for understanding their tectonic evolution.In this study,18 samples from 10 drilling wells in the Pearl River Mouth Basin(PRMB)were subjected to apatite and zircon fission track analyses,and suitable samples were selected for thermal history simulation using Hefty.The thermal history simulation results,combined with balanced cross-section analysis,constrain the Cenozoic tectonothermal history of the PRMB.The results indicate that the PRMB underwent differential uplift in the early Paleogene,followed by regional thermal subsidence in the late Paleogene.Subsequently,the PRMB began tectonic activation in the late Miocene due to the Dongsha movement,marked by two rapid cooling events of ca.11–6.5 and 6.5 Myr to the present.These cooling events are characterized by a gradual migration from east to west.The first rapid cooling event can be attributed to the NW-SE compressive stress field in the northeastern South China Sea,driven by the clockwise rotation of the Philippine Sea Plate during the late Miocene.The second rapid cooling event is linked to intensive arc-continental collision and the Taiwan Orogeny triggered by the rapid WNW-ward migration of the Philippine Sea Plate.展开更多
To address the issues of frequent identity switches(IDs)and degraded identification accuracy in multi object tracking(MOT)under complex occlusion scenarios,this study proposes an occlusion-robust tracking framework ba...To address the issues of frequent identity switches(IDs)and degraded identification accuracy in multi object tracking(MOT)under complex occlusion scenarios,this study proposes an occlusion-robust tracking framework based on face-pedestrian joint feature modeling.By constructing a joint tracking model centered on“intra-class independent tracking+cross-category dynamic binding”,designing a multi-modal matching metric with spatio-temporal and appearance constraints,and innovatively introducing a cross-category feature mutual verification mechanism and a dual matching strategy,this work effectively resolves performance degradation in traditional single-category tracking methods caused by short-term occlusion,cross-camera tracking,and crowded environments.Experiments on the Chokepoint_Face_Pedestrian_Track test set demonstrate that in complex scenes,the proposed method improves Face-Pedestrian Matching F1 area under the curve(F1 AUC)by approximately 4 to 43 percentage points compared to several traditional methods.The joint tracking model achieves overall performance metrics of IDF1:85.1825%and MOTA:86.5956%,representing improvements of 0.91 and 0.06 percentage points,respectively,over the baseline model.Ablation studies confirm the effectiveness of key modules such as the Intersection over Area(IoA)/Intersection over Union(IoU)joint metric and dynamic threshold adjustment,validating the significant role of the cross-category identity matching mechanism in enhancing tracking stability.Our_model shows a 16.7%frame per second(FPS)drop vs.fairness of detection and re-identification in multiple object tracking(FairMOT),with its cross-category binding module adding aboute 10%overhead,yet maintains near-real-time performance for essential face-pedestrian tracking at small resolutions.展开更多
Accurately estimating depth from underwater monocular images is essential for the target tracking task of unmanned underwater vehicles.This work proposes a method based on the Lpg-Lap Unet architecture.First,the Unet ...Accurately estimating depth from underwater monocular images is essential for the target tracking task of unmanned underwater vehicles.This work proposes a method based on the Lpg-Lap Unet architecture.First,the Unet architecture integrates Laplacian pyramid depth residuals and Sobel operators to improve the boundary details in depth images,which may suffer from the feature loss caused by upsampling and the blurriness of underwater images.Multiscale local planar guidance layers then fully exploit the intermediate depth features,and a comprehensive loss function ensures robustness and accuracy.Experimental results on benchmarks demonstrate the effectiveness of Lpg-Lap Unet and its superior performance over state-of-the-art models.An underwater target tracking system is then designed to further validate its real-time capabilities in the AirSim simulation platform.展开更多
Hypervelocity rocket sled systems are critical for testing advanced military technologies,yet track damage at speeds exceeding Mach 5 remains a significant challenge for system reliability and performance.In this stud...Hypervelocity rocket sled systems are critical for testing advanced military technologies,yet track damage at speeds exceeding Mach 5 remains a significant challenge for system reliability and performance.In this study,we investigated the hypervelocity impact response and protection for highstrength U71 Mn or bainitic steel used in rocket sled tracks.Flyer plate impact experiments using a two-stage light-gas gun were conducted to study the hypervelocity collision response,followed by the microstructural characterization via optical microscope,scanning electron microscopy equipped with electron backscatter diffraction to reveal underlying damage mechanisms.Then,the calibrated thermalmechanical coupled finite element simulations using the Johnson-Cook constitutive model and MieGrüneisen equation of state were carried out.Results indicated that bainitic steel exhibits superior impact resistance with predominantly smooth scratch-dominated damage due to its higher ductility.In contrast,U71 Mn suffered significant material spallation and crack propagation arising from brittle fracture mechanisms.Zinc-rich epoxy primer coatings effectively mitigated stress concentration and temperature rise in the substrate at impacting velocities below 2.4 km/s,so as to suppress the microstructural damage such as adiabatic shear bands and dynamic recrystallization.However,coating protection diminished at ultra-high-speed impacts due to the coating failure.Dimensional analysis established quantitative relationships of the gouge damage size to projectile mass,impact velocity,and material yield strength.This study provides in-depth insights into damage mechanisms in hypervelocity rail systems,demonstrating that bainitic steel combined with protective coatings can significantly enhance impact resistance and system reliability,offering valuable guidance for the design and optimization of hypervelocity testing platforms.展开更多
Mobile service robots(MSRs)in hospital environments require precise and robust trajectory tracking to ensure reliable operation under dynamic conditions,including model uncertainties and external disturbances.This stu...Mobile service robots(MSRs)in hospital environments require precise and robust trajectory tracking to ensure reliable operation under dynamic conditions,including model uncertainties and external disturbances.This study presents a cognitive control strategy that integrates a Numerical Feedforward Inverse Dynamic Controller(NFIDC)with a Feedback Radial Basis Function Neural Network(FRBFNN).The robot’s mechanical structure was designed in SolidWorks 2022 SP2.0 and validated under operational loads using finite element analysis in ANSYS 2022 R1.The NFIDC-FRBFNN framework merges proactive inverse dynamic compensation with adaptive neural learning to achieve smooth torque responses and accurate motion control.A two-stage simulation evaluation was conducted.In the first stage,the controller was tested in a simulated hospital environment under both ideal and non-ideal conditions.In the second,it was benchmarked against four established controllers-Neural Network Model Reference Adaptive(NNMRA),Z-number Fuzzy Logic(Z-FL),Adaptive Dynamic Controller(ADC),and Fuzzy Logic-PID(FL-PID)—using circular and lemniscate trajectories.Across ten runs,the proposed controller achieved the lowest tracking errors under all conditions.Under ideal conditions,it achieved average improvements of 55.24%,75.75%,and 55.20%in integral absolute error(IAE),integral squared error(ISE),and mean absolute error(MAE),respectively,with coefficient of variation(CV)reductions above 55%.Under non-ideal conditions,average improvements exceeded 64%in IAE,77%in ISE,and 66%in MAE,while maintaining CV reductions above 57%.These results confirm that the NFIDC-FRBFNN controller offers superior accuracy,robustness,and consistency for real-time path tracking in healthcare robotics.展开更多
基金Supported by the Fundamental Research Funds for the Central Universities(2024ZYGXZR047)the National Natural Science Foundation of China(62373156)the Guangdong Basic and Applied Basic Research Foundation(2024A1515011736)。
文摘This article investigates the robust current tracking control problem of three-phase grid-connected inverters with LCL filter under external disturbance by a dynamic state feedback control method.First,this paper constructs an internal model to learn the information of the states and input of the grid-connected inverter under steady state.Second,by utilizing the internal model principle,the paper turns the tracking control problem into the robust stabilization control problem based on some appropriate coordinate transformations.Then,The paper designs a dynamics state feedback control law to deal with this robust stabilization problem,and thus the solution of the robust current tracking control problem of three-phase grid-connected inverters can be obtained.This control method can ensure the asymptotic stability of the closedloop system.Finally,the paper illustrates the effectiveness of the proposed control approach through several groups of simulations,and compares it with the feedforward control method to verify the robustness of the proposed control method to uncertain parameters.
基金supported in part by the National Natural Science Foundation of China under Grant 52432012in part by the Shanghai Science and Technology Project with 25ZR1402508。
文摘The stator of the maglev track plays a crucial role in the operation of the maglev system.Currently,the efficiency of maglev track inspection is limited by several factors,including the large span of elevated structures,manual visual inspection,short inspection window times,and limited GPS positioning accuracy.To address these issues,this paper proposes a deep learning-based method for detecting and locating stator surface damage.This study establishes a maglev track stator surface image dataset,trains different object detection models,and compares their performance.Ultimately,YOLO and ByteTrack object tracking algorithms were chosen as the basic framework and enhanced to achieve automatic identification of high-speed maglev track stator surface damage images and track and count stator surface localization feature images.By matching the identified damaged images with their corresponding stator segment and beam segment sequence numbers,the location of the damage is pinpointed to the corresponding stator segment,enabling rapid and accurate identification and localization of complex damage to the maglev track stator surface.
基金supported by the National Natural Science Foundation of China(Grant No.52208445,52478321,52378468)the Fundamental Research Funds for the Central Universities(Grant No.G2021KY05105)+7 种基金the Basic Research Program of Natural Science in Shaanxi Province(Grant No.2022JQ-369)the Open Foundation of National Engineering Laboratory for High Speed Railway Construction(No.HSR202001)the Youth Talent Support Program Project of Xi’an Association for Science and Technology(Grant No.959202413090)Science and Technology Research and Development Program Project of China railway group limited(Major Special Project,No.:2020-Special-022021-Special-082023-Special-07)Innovation-driven project of Central South University(2023CXQD072)the National Natural Science Foundation of Hunan Province(Grant No.:2022-JJ-20071).
文摘The characterization of track irregularities is crucial in railway dynamics,as track irregularities are the primary source of internal excitation in railway systems.In this paper,three mathematical models are proposed to characterize the track irregularities under different circumstances.The first model is a novel explicit track spectrum function,which performs better in reflecting the inherent periodic components of track irregularities than the existing track spectra.On this foundation,the second model,a parameterized track spectrum random model,is proposed to represent the vast measured track irregularities from the probabilistic perspective.Finally,the third model,an imprecise track spectrum interval model based on a neighborhood uniform sampling Bootstrap method,is presented to identify the confidential interval of the track spectra when the track irregularity data are limited.Three examples are illustrated to demonstrate the feasibility of the three track irregularity models in characterizing the track irregularities in different conditions.This research can help capture the railway deformation status and optimize track maintenance strategies.
基金supported by the National Key R&D Program of China [grant number 2023YFC3008004]。
文摘This study presents a comprehensive evaluation of tropical cyclone(TC)forecast performance in the western North Pacific from 2013 to 2022,based on operational forecasts issued by the China Meteorological Administration.The analysis reveals systematic improvements in both track and intensity forecasts over the decade,with distinct error characteristics observed across various forecast parameters.Track forecast errors have steadily decreased,particularly for longer lead times,while error magnitudes have increased with longer forecast lead times.Intensity forecasts show similar progressive enhancements,with maximum sustained wind speed errors decreasing by 0.26 m/s per year for 120 h forecasts.The study also identifies several key patterns in forecast performance:typhoon-grade or stronger TCs exhibit smaller track errors than week or weaker systems;intensity forecasts systematically overestimate weaker TCs while underestimating stronger systems;and spatial error distributions show greater track inaccuracies near landmasses and regional intensity biases.These findings highlight both the significant advances in TC forecasting capability achieved through improved modeling and observational systems,and the remaining challenges in predicting TC changes and landfall behavior,providing valuable benchmarks for future forecast system development.
基金the financial support provided by the National Natural Science Foundation of China(Grant No.41972212)the Hubei Chutian Scholars Talent Program(Grant No.8210403)。
文摘The Jianghan Basin,at the junction of the Jiangnan and Qinling-Dabie orogenic belts,has a complete Cretaceous to Paleogene stratigraphic record.However,the exhumation history of its source terrains is not well understood.We conducted fission track age analysis on zircon grains(n=441)from the Cretaceous and Paleogene strata in the western Jianghan Basin.The Radial Plotter software is utilized to identify peak ages that indicate thermal events and the history of exhumation.The oldest peak at 810 Ma records the Neoproterozoic collisional orogeny between the Yangtze Craton and Cathaysian Block.Ages of 645-558 Ma reflect the convergence between the South China Block and Gondwana.Early Paleozoic ages document the collision leading to the exhumation of the western Jiangnan Orogenic Belt.Late Paleozoic to early Mesozoic peak ages correspond to the Indosinian orogeny.During the Mesozoic,the subduction of the Paleo-Pacific Plate resulted in further exhumation.The absence of Paleogene zircon fission track peak ages in the basin strata suggests limited exhumation during this period,likely due to tectonic quiescence and arid climatic conditions.
基金sponsored by the National Natural Science Foundation of China(Grant No.52438002)the New Cornerstone Science Foundation through the XPLORER PRIZE.
文摘This study investigates the influence of loading frequency on the fatigue behavior of ballastless track concrete for high-speed railways,aiming to support the development of concrete capable of withstanding higher operational speeds.Fatigue tests were conducted at loading frequencies ranging from 5 to 40 Hz,with a focus on fatigue life,damage evolution,energy dissipation,and residual fatigue strain in the concrete.The results indicate that between 5 and 15 Hz,the fatigue life and energy dissipation remain relatively stable,with minimal damage evolution and small residual strains.As the frequency increases to 15-20 Hz,the fatigue life and energy dissipation gradually decrease,while damage accumulation and residual strain increase.Beyond 20 Hz,both fatigue life and energy dissipation decrease rapidly,damage accumulation becomes more pronounced,and residual strain continues to rise.These phenomena are primarily attributed to the increased strain rate and load change rate at higher frequencies,which affect the microstructure evolution and lead to reduced fatigue performance.
基金funded by the National Natural Science Foundation of China(Nos.42121005,92358302,42302233)the Science and Technology Innovation Project of Laoshan Laboratory(No.LSKJ202204400)the Fundamental Research Funds for the Central Universities(No.202172003)。
文摘Quantifying the timing and amplitude of multiple subsidence or uplift stages in sedimentary basins is crucial for understanding their tectonic evolution.In this study,18 samples from 10 drilling wells in the Pearl River Mouth Basin(PRMB)were subjected to apatite and zircon fission track analyses,and suitable samples were selected for thermal history simulation using Hefty.The thermal history simulation results,combined with balanced cross-section analysis,constrain the Cenozoic tectonothermal history of the PRMB.The results indicate that the PRMB underwent differential uplift in the early Paleogene,followed by regional thermal subsidence in the late Paleogene.Subsequently,the PRMB began tectonic activation in the late Miocene due to the Dongsha movement,marked by two rapid cooling events of ca.11–6.5 and 6.5 Myr to the present.These cooling events are characterized by a gradual migration from east to west.The first rapid cooling event can be attributed to the NW-SE compressive stress field in the northeastern South China Sea,driven by the clockwise rotation of the Philippine Sea Plate during the late Miocene.The second rapid cooling event is linked to intensive arc-continental collision and the Taiwan Orogeny triggered by the rapid WNW-ward migration of the Philippine Sea Plate.
基金supported by the confidential research grant No.a8317。
文摘To address the issues of frequent identity switches(IDs)and degraded identification accuracy in multi object tracking(MOT)under complex occlusion scenarios,this study proposes an occlusion-robust tracking framework based on face-pedestrian joint feature modeling.By constructing a joint tracking model centered on“intra-class independent tracking+cross-category dynamic binding”,designing a multi-modal matching metric with spatio-temporal and appearance constraints,and innovatively introducing a cross-category feature mutual verification mechanism and a dual matching strategy,this work effectively resolves performance degradation in traditional single-category tracking methods caused by short-term occlusion,cross-camera tracking,and crowded environments.Experiments on the Chokepoint_Face_Pedestrian_Track test set demonstrate that in complex scenes,the proposed method improves Face-Pedestrian Matching F1 area under the curve(F1 AUC)by approximately 4 to 43 percentage points compared to several traditional methods.The joint tracking model achieves overall performance metrics of IDF1:85.1825%and MOTA:86.5956%,representing improvements of 0.91 and 0.06 percentage points,respectively,over the baseline model.Ablation studies confirm the effectiveness of key modules such as the Intersection over Area(IoA)/Intersection over Union(IoU)joint metric and dynamic threshold adjustment,validating the significant role of the cross-category identity matching mechanism in enhancing tracking stability.Our_model shows a 16.7%frame per second(FPS)drop vs.fairness of detection and re-identification in multiple object tracking(FairMOT),with its cross-category binding module adding aboute 10%overhead,yet maintains near-real-time performance for essential face-pedestrian tracking at small resolutions.
基金partially supported by the Natural Science Foundation of Shandong Province,China(No.ZR2023ME009)the National Natural Science Foundation of China(No.51909252)。
文摘Accurately estimating depth from underwater monocular images is essential for the target tracking task of unmanned underwater vehicles.This work proposes a method based on the Lpg-Lap Unet architecture.First,the Unet architecture integrates Laplacian pyramid depth residuals and Sobel operators to improve the boundary details in depth images,which may suffer from the feature loss caused by upsampling and the blurriness of underwater images.Multiscale local planar guidance layers then fully exploit the intermediate depth features,and a comprehensive loss function ensures robustness and accuracy.Experimental results on benchmarks demonstrate the effectiveness of Lpg-Lap Unet and its superior performance over state-of-the-art models.An underwater target tracking system is then designed to further validate its real-time capabilities in the AirSim simulation platform.
基金financial support from the National Key Research and Development Program(Grant No.2024YFA1209801)the National Natural Science Foundation of China(Grant Nos.12302140,12325204)+4 种基金the China Postdoctoral Science Foundation(Grant No.2023M732794)the Fundamental Research Funds for the Central Universities of China(Grant No.sxzy012023213)the Scientific Research Program of Shaanxi Province(Grant No.2023JC-XJ-02)the Young Talent Support Program of Xi'an Science and Technology Association(Grant No.959202413069)Postdoctoral Fellowship Program(Grade B)of China Postdoctoral Science Foundation(Grant No.GZB20230575)。
文摘Hypervelocity rocket sled systems are critical for testing advanced military technologies,yet track damage at speeds exceeding Mach 5 remains a significant challenge for system reliability and performance.In this study,we investigated the hypervelocity impact response and protection for highstrength U71 Mn or bainitic steel used in rocket sled tracks.Flyer plate impact experiments using a two-stage light-gas gun were conducted to study the hypervelocity collision response,followed by the microstructural characterization via optical microscope,scanning electron microscopy equipped with electron backscatter diffraction to reveal underlying damage mechanisms.Then,the calibrated thermalmechanical coupled finite element simulations using the Johnson-Cook constitutive model and MieGrüneisen equation of state were carried out.Results indicated that bainitic steel exhibits superior impact resistance with predominantly smooth scratch-dominated damage due to its higher ductility.In contrast,U71 Mn suffered significant material spallation and crack propagation arising from brittle fracture mechanisms.Zinc-rich epoxy primer coatings effectively mitigated stress concentration and temperature rise in the substrate at impacting velocities below 2.4 km/s,so as to suppress the microstructural damage such as adiabatic shear bands and dynamic recrystallization.However,coating protection diminished at ultra-high-speed impacts due to the coating failure.Dimensional analysis established quantitative relationships of the gouge damage size to projectile mass,impact velocity,and material yield strength.This study provides in-depth insights into damage mechanisms in hypervelocity rail systems,demonstrating that bainitic steel combined with protective coatings can significantly enhance impact resistance and system reliability,offering valuable guidance for the design and optimization of hypervelocity testing platforms.
基金supported by the Malaysia Ministry of Higher Education under Fundamental Research Grant Scheme with Project Code:FRGS/1/2024/TK07/USM/02/3.
文摘Mobile service robots(MSRs)in hospital environments require precise and robust trajectory tracking to ensure reliable operation under dynamic conditions,including model uncertainties and external disturbances.This study presents a cognitive control strategy that integrates a Numerical Feedforward Inverse Dynamic Controller(NFIDC)with a Feedback Radial Basis Function Neural Network(FRBFNN).The robot’s mechanical structure was designed in SolidWorks 2022 SP2.0 and validated under operational loads using finite element analysis in ANSYS 2022 R1.The NFIDC-FRBFNN framework merges proactive inverse dynamic compensation with adaptive neural learning to achieve smooth torque responses and accurate motion control.A two-stage simulation evaluation was conducted.In the first stage,the controller was tested in a simulated hospital environment under both ideal and non-ideal conditions.In the second,it was benchmarked against four established controllers-Neural Network Model Reference Adaptive(NNMRA),Z-number Fuzzy Logic(Z-FL),Adaptive Dynamic Controller(ADC),and Fuzzy Logic-PID(FL-PID)—using circular and lemniscate trajectories.Across ten runs,the proposed controller achieved the lowest tracking errors under all conditions.Under ideal conditions,it achieved average improvements of 55.24%,75.75%,and 55.20%in integral absolute error(IAE),integral squared error(ISE),and mean absolute error(MAE),respectively,with coefficient of variation(CV)reductions above 55%.Under non-ideal conditions,average improvements exceeded 64%in IAE,77%in ISE,and 66%in MAE,while maintaining CV reductions above 57%.These results confirm that the NFIDC-FRBFNN controller offers superior accuracy,robustness,and consistency for real-time path tracking in healthcare robotics.
