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Design and Simulation of Multi Unmanned Boat Cooperative ObstacleAvoidance System Based on 5G Edge Computing 基于 5G 边缘计算的多无人艇协同避障系统的设计与仿真
Pub Date : 2024-01-03 DOI: 10.2174/0126659980278013231127103015
Yinhui Rao, Yuanming Chen, Xiaobin Hong, Xiaodong Lin
Compared to single unmanned boat, multi unmanned boats have more flexible mobility and efficient task completion capabilities, which can effectively expand the types of tasks. However, the traditional independent path planning and obstacle avoidance methods of unmanned boats are difficult to meet the requirements of collaborative operation among multiple unmanned boats due to the lack of information exchange.According to the actual demand of multi unmanned boats cooperative operation, a method of multi unmanned boats cooperative obstacle avoidance based on 5G edge computing is proposed to realize the unified planning and scheduling of multi unmanned boats.Firstly, 5G technology and Kubeedge edge computing tools are used to build a multi unmanned boat collaborative obstacle avoidance system based on cloud, edge and end collaboration, and the Kubeedge edge computing platform was optimized by optimizing communication strategies, building a highly available Kubeedge cluster, building a Harbor image center, and using Web management interfaces to further improve the reliability and stability of the system. Secondly, the YOLOR-Deepport multi target recognition and tracking algorithm based on cloud, edge and end collaborative network is used to complete the recognition and tracking tasks of obstacle targets, and a set of EECBS path planning methods based on Kubedge centralized control platform is designed to plan collision free and efficient paths for each unmanned boat in real-time. Finally, the effectiveness of the system was verified through simulation experiments.The experimental results show that compared to the traditional autonomous planning obstacle avoidance method for unmanned boats, the collaborative planning obstacle avoidance method proposed in this paper can exhibit excellent performance in dense and narrow scenarios, with a more reasonable navigation path, a range reduction of 20% - 50%, and higher safety.The results show that the cooperative obstacle avoidance system based on 5G edge computing designed in the paper is feasible, and it can effectively realize the cooperative path planning and obstacle avoidance of multi unmanned boats.
与单艘无人艇相比,多艘无人艇具有更加灵活的机动性和高效的任务完成能力,能够有效拓展任务类型。根据多无人艇协同作业的实际需求,提出了一种基于5G边缘计算的多无人艇协同避障方法,以实现多无人艇的统一规划和调度。首先,利用5G技术和Kubeedge边缘计算工具构建了基于云、边、端协同的多无人艇协同避障系统,并通过优化通信策略、构建高可用Kubeedge集群、构建港湾图像中心、使用Web管理接口等方式优化了Kubeedge边缘计算平台,进一步提高了系统的可靠性和稳定性。其次,利用基于云、边、端协同网络的YOLOR-Deepport多目标识别与跟踪算法完成障碍物目标的识别与跟踪任务,并设计了一套基于Kubedge集中控制平台的EECBS路径规划方法,为每艘无人艇实时规划无碰撞的高效路径。实验结果表明,与传统的无人艇自主规划避障方法相比,本文提出的协同规划避障方法在密集、狭窄场景下表现优异,导航路径更合理,航程缩小20%-50%,安全性更高。
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引用次数: 0
Computational Study of Treated and Untreated Corn Husk Powder and Polycaprolactone for Microwave Shielding Using Finite Element Method 处理和未处理玉米皮粉和聚己内酯微波屏蔽的有限元计算研究
Pub Date : 2022-04-30 DOI: 10.2174/2665998002999220430124428
A. Yakubu, S. Abdullahi, S. Sahabi, G. Sani
IntroductionMicrowave devices and communication devices produce electric fields which may be dangerous to surrounding applications. These field can be shielded using conductive shells that are closed on all sides. These close conductive shells are often designed using thin metal foils. However, for many applications these enclosures can add significant cost and weight to a product and a minute gap in the enclosure can completely damage the benefits of the enclosure. Moreso, the metal foil are not flexible to complex geometry. The solution to the gap identified is to use a material that is light, flexible and durable which can shield unwanted electromagnetic wave (EM) waves. For this work, treated and untreated corn husk powder (CHP) was produced from agricultural waste residues by grinding into powder form, while polycaprolactone (PCL) was commercially obtained. MethodThe composites of the materials were synthesized using melt blending technique. The dielectric property of the produced materials were investigated using open ended coaxial probe technique. The dielectric constant values was used in the computational study of the composites using finite element method. ResultResults indicates that the dielectric property of the treated was greater than the untreated composites. The alkali treatment affected the value of the dielectric constant, shielding effectiveness, and transmission coefficients of the composites. The highest dielectric property obtained was 3.42 for the 30 % filler with a loss factor of 0.47. The filler played significant role in the values of shielding effectiveness (SE) obtained, where the highest filler was able to shield radiation by up to -4.21 dB at the frequency range measured. ConclusionFrom the electric field intensity, it was observed that the highest filler had the minimum transmitted intensity of 2185.87 v/m. Due to the high loss factor of 0.47 obtained for the 30 % filler content, waveguide terminators and other microwave components can be produced from this composite.
微波设备和通信设备产生的电场可能对周围的应用造成危险。这些磁场可以用四面封闭的导电壳屏蔽。这些紧密的导电壳通常使用薄金属箔设计。然而,对于许多应用来说,这些外壳可能会增加产品的成本和重量,并且外壳中的一分钟间隙可能会完全破坏外壳的好处。此外,金属箔对复杂的几何形状不灵活。解决这一差距的办法是使用一种轻便、灵活、耐用的材料,这种材料可以屏蔽不必要的电磁波。在这项工作中,通过将农业废渣磨成粉末生产处理过的和未处理过的玉米壳粉(CHP),同时商业生产聚己内酯(PCL)。方法采用熔融共混法制备复合材料。采用开放式同轴探针技术对所制备材料的介电性能进行了研究。采用有限元法对复合材料的介电常数进行了计算研究。结果经处理的复合材料的介电性能优于未处理的复合材料。碱处理影响了复合材料的介电常数、屏蔽效能和透射系数。30%填料的最高介电性能为3.42,损耗系数为0.47。填料在获得的屏蔽效能(SE)值中起着重要作用,其中最高的填料能够在测量的频率范围内屏蔽高达-4.21 dB的辐射。结论从电场强度来看,最高填料的透射强度最小为2185.87 v/m。由于30%填料含量的高损耗系数为0.47,因此可以用该复合材料生产波导终端和其他微波元件。
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引用次数: 0
Meet the Associate Editor-in-Chief 认识副主编
Pub Date : 2022-04-01 DOI: 10.2174/266599800201221128140437
Moore Philip
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引用次数: 0
Disinfection Electrical Hand Dryer Using Plasma and Ozone 使用等离子体和臭氧消毒的电动干手器
Pub Date : 2022-01-28 DOI: 10.2174/2665998002666220128154727
Andrew YT Leung
Electric hand dryers are more environmentally friendly than hand towels to eliminate solid waste and reduce maintenance of refilling. Hand dryers can attract microbes from the floor or wall. Likewise, hand towel attracts microbes from the environment. We present a two stages (ozone and plasma) disinfection electric hand dryer to dry hands by viral free air. Ozone can disinfect dryers’ wet internal surfaces and air but can be dangerous in high concentrations and for a long time. We use it for two seconds to disable microbes by 90%. In air exhaust reaching hands, there are a pair of plasma generators deactivating the remaining microbes and ozone at the air outlet. With the combination use of ozone and plasma, 99.9% of microbes were disabled. Plasma accelerates the neutralization of ozone to oxygen at the outlet
电动干手器比手巾更环保,可以减少固体废物,减少重新填充的维护。烘手机会吸引地板或墙壁上的微生物。同样,手巾也会吸引环境中的微生物。我们提出了一种两阶段(臭氧和等离子体)消毒的电动干手器,通过无病毒空气来干燥手。臭氧可以消毒干燥机潮湿的内部表面和空气,但高浓度和长时间使用可能是危险的。我们只用两秒钟就能使微生物丧失90%的活性。在排气到达的手上,有一对等离子发生器,使空气出口残留的微生物和臭氧失效。臭氧和等离子体联合使用,99.9%的微生物被杀灭。等离子体加速臭氧在出口处转化为氧气的过程
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引用次数: 0
Challenges, Trends and Solutions for Communication Networks and Cyber-Security in Smart Grid. 智能电网通信网络和网络安全的挑战、趋势和解决方案。
Pub Date : 2022-01-14 DOI: 10.2174/2665998002666220114145027
Qutaiba Ibrahim Ali, F. Alsharbaty
Power grid is one of the most important manifestations of the modern civilization and the engine of it where it is described as a digestive system of the civil life. It is a structure has three main functions: generation, transmission lines, distribution. This concept was appropriate for a century. However, the beginning of the twenty-first century brought dramatic changes on different domains: media, human growth, economic, environmental, political, and technical etc. Smart grid is a sophisticated structure including cyber and physical bodies hence it reinforces the sustainability, the energy management, the capability of integration with microgrids, and exploiting the renewable energy resources. The quantum leap of smart grid is related to the advanced communication networks that deal with the cyber part. Moreover, the communication networks of smart grid offer attractive capabilities such as monitoring, control, and protection at the level of real time. The wireless communication techniques in integration frame are promised solution to compensate the requirements of smart grid designing such as wireless local area networks, worldwide interoperability for microwave access, long term evolution, and narrowband- internet of things. These technologies could provide high capacity, flexibility, low-cost maintenance for smart grid. However, the multi-interfaces in smart grid may exploit by persons or agencies to implement different types of cyber-attacks may lead to dangerous damage. This research paper reviews the up-to-date researches in the field of smart grid to handle the new trends and topics in one frame in order to offer integration vision in this vital section. It concentrates on the section of communication networks the mainstay of smart grid. This paper discusses the challenging and requirements of adopting the wireless communication technologies and delves deeply into literature review to devise and suggest solutions to compensate the impairments efficiently. Moreover, it explores the cyber security that representing the real defiant to implement the concept of smart grid safely.
电网是现代文明最重要的表现形式之一,是现代文明的发动机,被描述为市民生活的消化系统。它是一种结构,主要有三种功能:发电、输电、配电。这个概念适用了一个世纪。然而,21世纪初在不同领域带来了巨大的变化:媒体、人类发展、经济、环境、政治和技术等。智能电网是一个复杂的结构,包括网络和物理实体,因此它加强了可持续性,能源管理,与微电网集成的能力,以及开发可再生能源。智能电网的飞跃与处理网络部分的先进通信网络有关。此外,智能电网的通信网络提供了具有吸引力的实时监视、控制和保护功能。集成框架下的无线通信技术是满足智能电网设计对无线局域网、微波接入的全球互操作性、长期演进和窄带物联网等要求的理想解决方案。这些技术可以为智能电网提供高容量、灵活性和低成本的维护。然而,智能电网的多接口可能被个人或机构利用,实施各种类型的网络攻击,造成危险的破坏。本文对智能电网领域的最新研究进行了综述,从一个框架来处理新趋势和新课题,以期为这一重要领域提供一体化的视野。重点介绍了智能电网的主体通信网部分。本文讨论了采用无线通信技术的挑战和要求,并深入研究了文献综述,以设计和提出有效补偿损害的解决方案。此外,本文还探讨了安全实施智能电网概念所代表的网络安全问题。
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引用次数: 0
Output Power Modeling of Wind Turbine Based on State Curve Analysis 基于状态曲线分析的风力机输出功率建模
Pub Date : 2021-12-06 DOI: 10.2174/2665998002666211206104809
Jiaying Huang, Wangqiang Niu, Xiaotong Wang
In wind power generation, the power curve can reflect the overall power generation performance of a wind turbine. How to make the power curve have high precision and be easy to interpret is a hot research topic.Because the current power curve modeling method is not comprehensive in feature selection, the simplified model and state curve of a wind turbine are introduced to avoid feature selection and make the model interpret easily.A power modeling method based on different working conditions is proposed. The wind turbine system is simplified into three physical models of blades, mechanical transmission and generator, and the energy transfer is expressed by mathematical expressions. The operation process of the wind turbine is divided into three phases: constant power (CP), constant speed (CS), and maximum power point tracking (MPPT), and the power expression of each phase is given after the analysis of state curves.The effectiveness of the proposed method is verified by the supervisory control and data acquisition (SCADA) data of a 2MW wind turbine. The experimental results show that the mean absolute percentage error (MAPE) index of the proposed power modeling method based on state curve analysis is 11.56%, which indicates that the power prediction result of this method is better than that of the sixth-order polynomial regression method, whose MAPE is 13.88%.The results show that the proposed method is feasible with high transparency and is interpreted easily.
在风力发电中,功率曲线可以反映风力发电机组的整体发电性能。如何使功率曲线具有较高的精度和易于解释的特点是一个研究热点。针对当前功率曲线建模方法特征选择不全面的问题,为了避免特征选择,使模型易于解释,引入了风电机组的简化模型和状态曲线。提出了一种基于不同工况的功率建模方法。将风力机系统简化为叶片、机械传动和发电机三个物理模型,并用数学表达式表示能量传递。将风力机的运行过程分为恒功率(CP)、恒转速(CS)和最大功率点跟踪(MPPT)三个阶段,通过对状态曲线的分析,给出各阶段的功率表达式。通过2MW风力发电机组的监控与数据采集(SCADA)数据验证了所提方法的有效性。实验结果表明,基于状态曲线分析的功率建模方法的平均绝对百分比误差(MAPE)指数为11.56%,表明该方法的功率预测结果优于六阶多项式回归方法的平均绝对百分比误差(MAPE)指数为13.88%。结果表明,该方法具有较高的透明性和易于解释的特点。
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引用次数: 1
Study on the fire resistance of concrete-filled steel tubular column to composite beam joints after earthquake damage 地震破坏后钢管混凝土柱对组合梁节点的耐火性能研究
Pub Date : 2021-09-07 DOI: 10.2174/2665998001666210907102634
Guo-Qiang Wei, S. Ji, Wenya Mao, Wen-Da Wang
Post-earthquake fire is one of the secondary disasters caused by the earthquake; many earthquakes around the world have brought about severe fires and led to enormous losses. It is of great significance to study the fire resistance of structures after earthquake to improve the level of urban disaster prevention and reduce the fire loss. A nonlinear finite element model of composite joints subjected to post-earthquake fires is established based on ABAQUS software. The state after the earthquake damage is imported into the thermal-stress analysis model through the restart request in ABAQUS, and considered as the initial state of the thermal-stress analysis model. It is noticed that when the damage index is less than 0.517, the damage level shows significant effect on the fire resistance, but the influence is no longer significant when the damage index reaches 0.781. When only the column is exposed to fire, the column showed obvious local buckling and overall bending deformation. Meanwhile, when the joint area below the concrete slab is exposed to fire, the joint shows a mixed failure mode of the excessive vertical displacement of beam end and column instability. The fire resistance of the composite joint decreases gradually with the increase of seismic damage level. The fire condition has a significant effect on the fire resistance of the composite joints; with the increase of fire area, the fire resistance of composite joints with same damage degrees decreases gradually.
地震后火灾是地震引起的次生灾害之一;世界各地的许多地震都带来了严重的火灾,造成了巨大的损失。研究地震后建筑物的耐火性能对提高城市防灾水平,减少火灾损失具有重要意义。基于ABAQUS软件,建立了复合材料节点在震后火灾作用下的非线性有限元模型。通过ABAQUS中的重启请求,将地震破坏后的状态导入热应力分析模型,作为热应力分析模型的初始状态。注意到当损伤指数小于0.517时,损伤等级对耐火性能的影响显著,但当损伤指数达到0.781时,影响不再显著。仅受火作用时,柱的局部屈曲变形明显,整体弯曲变形明显。同时,当混凝土板下方节点区域受火作用时,节点表现为梁端竖向位移过大和柱失稳的混合破坏模式。随着地震损伤等级的增加,复合节点的耐火性能逐渐降低。火灾条件对复合接头的耐火性能有显著影响;随着火灾面积的增大,相同损伤程度的复合材料接头的耐火性能逐渐降低。
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引用次数: 0
Meet the Editor-in-Chief 见见总编辑
Pub Date : 2021-06-03 DOI: 10.2174/266599800101210409114514
Jinde Cao
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引用次数: 1
An approach to improving the mechanical properties of friction stir spot welded joints on the basis of hook formation mechanism 基于钩形形成机理改善搅拌摩擦点焊接头力学性能的方法
Pub Date : 1969-12-31 DOI: 10.2174/2665998001999200614170038
S. Du, Huijie Liu, Yanying Hu, Tengfei Yang
Partial metallurgical bond (namely 'hook') is formed between the overlapped metal sheets duringfriction stir spot welding (FSSW). The geometry of hook is found to significantly affect the mechanicalperformance of FSSWed joints, while that how to adjust hook geometry to a better state remains to be studied. The conventional FSSW joints under different plunge depths and dwelling time were obtained. Thecross-sectional morphology of each spot weld was investigated to clarify the material flow behavior and deducethe formation mechanism of hook. The tensile shear strength and fracture features were examined to reveal theeffect of hook geometry on the mechanical properties.The weld geometry affects the tensile shear strength of FSSWed joints by determining their fracturemodes. The formation mechanism of hook is deduced by a material flow model. In the tool-plunging stage, thefaying interface is broken by upward-flowing materials, hook is therefore initiated and driven up gradually.During the tool-dwelling stage, hook continues to migrate to the low-pressure zone, surrounding the stir zone.The uncertainty of crack-propagating endpoint along hook makes it difficult to ensure themechanical properties of welds. If the hook endpoint has not yet reached the low-pressure zone at the end ofwelding process, welds with ideal hook geometry can be obtained. Target friction stir spot welds were producedby the use of a tool possessing smaller pin diameter.
在搅拌摩擦点焊(FSSW)过程中,重叠的金属板之间形成部分冶金键(即“钩”)。研究发现,钩的几何形状对FSSWed接头的力学性能有显著影响,而如何调整钩的几何形状以达到更好的状态还有待研究。得到了不同冲击深度和停留时间下的常规FSSW节点。对各点焊断面形貌进行了研究,阐明了材料的流动行为,推导了钩的形成机理。测试了钩的拉伸剪切强度和断裂特征,揭示了钩的几何形状对力学性能的影响。焊缝几何形状通过决定焊接接头的断裂方式来影响焊接接头的抗拉剪切强度。利用物料流模型推导了钩的形成机理。在下刀阶段,向上流动的物质破坏了接触面,钩被启动并逐渐向上推动。在工具停留阶段,钩子继续迁移到低压区,围绕搅拌区。裂纹沿钩扩展端点的不确定性给焊缝力学性能的保证带来了困难。如果在焊接过程结束时挂钩端点尚未到达低压区,则可以获得具有理想挂钩几何形状的焊缝。目标搅拌摩擦点焊采用了一种具有较小销径的工具。
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引用次数: 0
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Current Chinese Engineering Science
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