Search Results (1,161)

The Kuroshio Current’s flow velocity imposes exacting requirements on underwater vehicle propulsive systems. Ecological preservation necessitates low-noise propeller designs to mitigate operational disturbances. As technological evolution advances toward greater intelligence and system integration, intelligent unmanned systems are positioning themselves as a critical frontier in marine innovation. In recent years, the global research community has increased its efforts towards the development of high-maneuverability underwater vehicles. However, propeller design optimization ignores the key balance between acoustic performance and hydrodynamic efficiency, as well as the appropriate speed threshold for blade rotation. In order to solve this problem, the propeller design of the NACA 65A010 airfoil is optimized by using OpenProp v3.3.4 and XFlow 2022 software, aiming at innovating the propulsion system of shallow water agile submersibles. The study presents an integrated design framework combining lattice Boltzmann method (LBM) simulations synergized with fully Lagrangian-LES modeling, implementing rotational speed thresholds to detect cavitation inception, followed by advanced acoustic propagation analysis. Through rigorous comparative assessment of hydrodynamic metrics, we establish an optimization protocol for propeller selection tailored to littoral zone operational demands. Studies have shown that increasing the number of propeller blades can reduce the single-blade load and delay cavitation, but too many blades will aggravate the complexity of the flow field, resulting in reduced efficiency and noise rebound. It is concluded that the propeller with five blades, a diameter of 234 mm, and a speed of 500 RPM exhibits the best performance. Under these conditions, the water efficiency is 69.01%, and the noise is the lowest, which basically realizes the balance between hydrodynamic efficiency and acoustic performance. This paradigm-shifting research carries substantial implications for next-generation marine vehicles, particularly in optimizing operational stealth and energy efficiency through intelligent propulsion architecture. Full article

The Furuta pendulum is a well-known benchmark in the field of underactuated mechanical systems due to its reduced number of control inputs compared to its degrees of freedom, and richly nonlinear behavior. This work addresses the challenge of accurately modeling and controlling such a system without relying on traditional linearization techniques. In contrast to the common approach based on Lagrangian analytical modeling and state–space linearization, we propose a methodology that integrates a high-fidelity multibody model developed in Simscape Multibody (MATLAB), capturing the complete nonlinear dynamics of the system. The multibody model includes all geometric, inertial, and joint parameters of the physical hardware and interfaces directly with Simulink, enabling realistic simulation and control integration. To validate the physical fidelity of the multibody model, we perform a frequency-domain analysis of the pendulum’s natural free response. The dominant vibration frequency extracted from the simulation is compared with the theoretical prediction, demonstrating accurate capture of the system’s inertial and dynamic properties. This validation strategy strengthens the reliability of the model as a digital twin. The classical analytical formulation is provided to validate the simulation model and serve as a comparative framework. This dual modeling strategy allows for benchmarking control strategies against a trustworthy nonlinear digital twin of the Furuta pendulum. Preliminary experimental results using a physical prototype validate the feasibility of the proposed approach and set the foundation for future work in advanced nonlinear control design using the multibody representation as a digital validation tool. Full article

Background: Rock–blast design is a canonical inverse problem that joins elastodynamic partial differential equations (PDEs), fracture mechanics, and stochastic heterogeneity. Objective: Guided by the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) protocol, a systematic review of mathematical methods for geomechanically informed blast modelling and optimisation is provided. Methods: A Scopus–Web of Science search (2000–2025) retrieved 2415 records; semantic filtering and expert screening reduced the corpus to 97 studies. Topic modelling with Bidirectional Encoder Representations from Transformers Topic (BERTOPIC) and bibliometrics organised them into (i) finite-element and finite–discrete element simulations, including arbitrary Lagrangian–Eulerian (ALE) formulations; (ii) geomechanics-enhanced empirical laws; and (iii) machine-learning surrogates and multi-objective optimisers. Results: High-fidelity simulations delimit blast-induced damage with ≤0.2 m mean absolute error; extensions of the Kuznetsov–Ram equation cut median-size mean absolute percentage error (MAPE) from 27% to 15%; Gaussian-process and ensemble learners reach a coefficient of determination ($R^2>0.95$) while providing closed-form uncertainty; Pareto optimisers lower peak particle velocity (PPV) by up to 48% without productivity loss. Synthesis: Four themes emerge—surrogate-assisted PDE-constrained optimisation, probabilistic domain adaptation, Bayesian model fusion for digital-twin updating, and entropy-based energy metrics. Conclusions: Persisting challenges in scalable uncertainty quantification, coupled discrete–continuous fracture solvers, and rigorous fusion of physics-informed and data-driven models position blast design as a fertile test bed for advances in applied mathematics, numerical analysis, and machine-learning theory. Full article

This study numerically investigates the suitability of biomass particles of varying diameters as alternative reducing agents in the blast furnace raceway zone, where harsh conditions can create internal gradients affecting conversion. An internally resolved 1D Lagrangian particle model, fully integrated into the open-source CFD toolbox OpenFOAM^®, is used to model temperature and species gradients within thermally thick particles. The particle model is coupled with the surrounding Eulerian phase and includes drying, pyrolysis, oxidation, and gasification submodels. Results show that only biomass particles smaller than 250 μm fully convert in the raceway, while larger particles carry unconverted material beyond, potentially reducing blast furnace efficiency. Full article

The widespread application of large underground water tank structures in urban areas necessitates reliable design guidelines to ensure their safety as critical infrastructure. This paper investigated the seismic response of large underground water tank structures considering fluid–structure interaction (FSI). Coupled Eulerian–Lagrangian (CEL) was employed to analyze the highly nonlinear FSI caused by intense fluid sloshing during earthquakes. The patterns of fluid sloshing amplitude observed from the finite element model were summarized based on analyses of fluid velocity, hydrodynamic stress components, and overall kinetic energy. In addition, the seismic response of the water tank structure was thoroughly assessed and compared with the simulation results of the empty tank structure. The results indicate that significant fluid sloshing occurs within the structure under seismic excitation. The amplitude of fluid sloshing increases horizontally from the center toward the edges of the structure, corresponding to higher hydrodynamic loads at the side area of the structure. By comparing the analysis results of the water tank structure with and without water, it was concluded that FSI is the primary cause of structural damage during an earthquake. The hydrodynamic loads on the roof, diversion walls, and external walls lead to significant localized damage. Full article

Mesoscale coastal eddies are key components of ocean circulation, mediating the transport of heat, nutrients, and marine debris. The Surface Water and Ocean Topography (SWOT) mission provides high-resolution sea surface height data, offering a novel opportunity to improve the observation and characterization of these features, especially in coastal regions where conventional altimetry is limited. In this study, we investigate a mesoscale anticyclonic coastal eddy observed southwest of Mallorca Island, in the Balearic Sea, to assess the impact of SWOT-enhanced altimetry in resolving its structure and dynamics. Initial eddy identification is performed using satellite ocean color imagery, followed by a qualitative and quantitative comparison of multiple altimetric datasets, ranging from conventional nadir altimetry to wide-swath products derived from SWOT. We analyze multiple altimetric variables—Sea Level Anomaly, Absolute Dynamic Topography, Velocity Magnitude, Eddy Kinetic Energy, and Relative Vorticity—highlighting substantial differences in spatial detail and intensity. Our results show that SWOT-enhanced observations significantly improve the spatial characterization and dynamical depiction of the eddy. Furthermore, Lagrangian transport simulations reveal how altimetric resolution influences modeled transport pathways and retention patterns. These findings underline the critical role of SWOT in advancing the monitoring of coastal mesoscale processes and improving our ability to model oceanic transport mechanisms. Full article

Three-dimensional (3D) computational fluid dynamic (CFD) simulations have been performed to investigate the complex flow features and stripping of fluid materials from a cylindrical water drop at the late-stage in a Shock Liquid Drop Interaction (SLDI) process when the drop’s downstream end experiences compression after it is impacted by a supersonic shock wave ($Ma$ = 1.47). The drop trajectory/breakup has been simulated using a Lagrangian model and the unsteady Reynolds-averaged Navier–Stokes (URANS) approach has been employed for simulating the ambient airflow. The Kelvin–Helmholtz Rayleigh–Taylor (KHRT) breakup model has been used to capture the liquid drop fragmentation process and a coupled level-set volume of fluid (CLSVOF) method has been applied to investigate the topological transformations at the air/water interface. The predicted changes of the drop length/width/area with time have been compared against experimental measurements, and a very good agreement has been obtained. The complex flow features and the qualitative characteristics of the material stripping process in the compression phase, as well as disintegration and flattening of the drop are analyzed via comprehensive flow visualization. Characteristics of the drop distortion and fragmentation in the stripping breakup mode, and the development of turbulence at the later stage of the shock drop interaction process are also examined. Finally, this study investigated the effect of increasing $Ma$ on the breakup of a water drop by shear stripping. The results show that the shed fluid materials and micro-drops are spread over a narrower distribution as $Ma$ increases. It illustrates that the flattened area bounded by the downstream separation points experienced less compression, and the liquid sheet suffered a slower growth. Full article

This paper focuses on the integrated modeling and disturbance rejection of the aerial work quadrotor with a robotic arm. First, to address the issues of model incompleteness and parameter uncertainty commonly encountered in traditional Newton–Euler-based modeling approaches for such a system, the Lagrangian energy conservation principle is adopted. By treating the quadrotor and robotic arm as a unified system, an integrated dynamic model is developed, which accurately captures the coupled dynamics between the aerial platform and the manipulator. The innovative approach fills the gap in existing research where model expressions are incomplete and parameters are ambiguous. Next, to reduce the adverse effects of the robotic arm’s motion on the entire system stability, a finite-time disturbance observer and a fast non-singular terminal sliding mode controller (FNTSMC) are designed. Lyapunov theory is used to prove the finite-time stability of the closed-loop system. It breaks through the limitations of the traditional Lipschitz framework and, for the first time at both the theoretical and methodological levels, achieves finite-time convergence control for the aerial work quadrotor with a robotic arm system. Finally, comparative simulations with the integral sliding mode controller (ISMC), sliding mode controller (SMC), and PID controller demonstrate that the proposed algorithm reduces the regulation time by more than 45% compared to ISMC and SMC, and decreases the overshoot by at least 68% compared to the PID controller, which improves the convergence performance and disturbance rejection capability of the closed-loop system. Full article

The new generation of robots (Industry 5.0 and beyond) is expected to be accompanied by the massive introduction of autonomous and cooperative agents in our society, both in the industrial and service sectors. Cooperation with humans will be simplified by humanoid robots with a similar kinematic outline and a similar kinematic redundancy, which is required by the diversity of tasks that will be performed. A bio-inspired approach is proposed for coordinating the redundant DOFs of such agents. This approach is based on the ideomotor theory of action, combined with the passive motion paradigm, to implicitly address the degrees of freedom problem, without any kinematic inversion, while producing coordinated motor patterns structured according to the typical features of biological motion. At the same time, since the approach is force-field-based, it allows us to integrate the computational loop parallel modules that exploit the redundancy of the system for satisfying geometric or kinematic constraints implemented by appropriate repulsive force fields. Moreover, the model is expanded to include dynamic constraints associated with the Lagrangian dynamics of the humanoid robot to improve the energetic efficiency of the generated actions. Full article

The increasing levels of ozone pollution have become a significant environmental issue in urban areas worldwide. Previous studies have confirmed that the urban ozone pollution in China is mainly controlled by volatile organic compounds (VOCs) rather than nitrogen oxides. Therefore, a study on the emission characteristics and source analysis of VOCs is important for controlling urban ozone pollution. In this study, hourly concentrations of 57 VOC species in four groups were obtained in April 2022, a period of high ozone pollution in Kunming, China. The ozone formation potential analysis showed that the accumulated reactive VOCs significantly contributed to the subsequent ozone formation, particularly aromatics (44.16%) and alkanes (32.46%). In addition, the ozone production rate in Kunming is mainly controlled by VOCs based on the results of the empirical kinetic modeling approach (K_NOx/K_VOCs = 0.25). The hybrid single-particle Lagrangian integrated trajectory model and polar coordinate diagram showed high VOC and ozone concentrations from the southwest outside the province (50.28%) and the south in local areas (12.78%). Six factors were obtained from the positive matrix factorization model: vehicle exhaust (31.80%), liquefied petroleum gas usage (24.16%), the petrochemical industry (17.81%), fuel evaporation (11.79%), coal burning (7.47%), and solvent usage (6.97%). These findings underscore that reducing anthropogenic VOC emissions and strengthening controls on the related sources could provide a scientifically robust strategy for mitigating ozone pollution in Kunming. Full article

Accurate short-term precipitation forecasting (nowcasting) based on weather radar data is essential for managing weather-related risks, particularly in applications such as airport operations, urban flood prevention, and public safety during outdoor events. This study proposes a computationally efficient nowcasting method based on a Lagrangian advection scheme, estimating both the translation and rotation of radar-observed precipitation fields without relying on machine learning or resource-intensive computation. The method was tested on a two-year dataset (2022–2023) over Tuscany, using data collected from the Italian Civil Protection Department’s radar network. Forecast performance was evaluated using the Critical Success Index (CSI) and Mean Absolute Error (MAE) across varying spatial domains (1° × 1° to 2° × 2°) and precipitation regimes. The results show that, for high-intensity events (average rate > 1 mm/h), the method achieved CSI scores exceeding 0.5 for lead times up to 2 h. In the case of low-intensity rainfall (average rate < 0.3 mm/h), its forecasting skill dropped after 20–30 min. Forecast accuracy was shown to be highly sensitive to the temporal stability of precipitation intensity. The method performed well under quasi-stationary stratiform conditions, whereas its skill declined during rapidly evolving convective events. The method has low computational requirements, with forecasts generated in under one minute on standard hardware, and it is well suited for real-time application in regional meteorological centres. Overall, the findings highlight the method’s effective balance between simplicity and performance, making it a practical and scalable option for operational nowcasting in settings with limited computational capacity. Its deployment is currently being planned at the LaMMA Consortium, the official meteorological service of Tuscany. Full article

The spray evaporation process in the boiler desuperheater involves complex droplet behaviors and fluid–thermal coupling, and its temperature distribution characteristics greatly affect the performance and safety of industrial processes. To better understand the process characteristics and develop the optimal desuperheater design, computational fluid dynamics (CFDs) was applied to numerically investigate the flow and thermal characteristics. The Eulerian–Lagrangian approach was used to describe the two-phase flow characteristics. Both primary and secondary droplet breakup, the coupling effect of gas–liquid and stochastic collision and coalescence of droplets were considered in the model. The plain-orifice atomizer model was applied to simulate the atomization process. The numerical model was validated with the plant data. The spray tube structure was found to greatly affect the flow pattern, resulting in the uneven velocity distribution, significant temperature difference, and local reverse flow downstream of the orifices. The velocity and temperature distributions tend to be more uniform due to the complete evaporation and turbulent mixing. Smaller orifices are beneficial for generating smaller-sized droplets, thereby promoting the mass and heat transfer between the steam and droplets. Under the same operating conditions, the desuperheating range of cases with 21, 15, and 9 orifices is 33.7 K, 32.0 K, and 29.8 K, respectively, indicating that the desuperheater with more orifices (i.e., with smaller orifices) shows better desuperheating ability. Additionally, a venturi-type desuperheater was numerically studied and compared with the straight liner case. By contrast, discernible differences in velocity and temperature distribution characteristics can be observed in the venturi case. The desuperheating range of the venturi and straight liner cases is 38.1 K and 35.4 K, respectively. The velocity acceleration through the venturi throat facilitates the droplet breakup and improves mixing, thereby achieving better desuperheating ability and temperature uniformity. Based on the investigation of the spray evaporation process, the complex droplet behaviors and fluid–thermal coupling characteristics in an industrial boiler desuperheater under high temperature and high pressure can be better understood, and effective guidance for the process and design optimizations can be provided. Full article

Aviation is widely recognised to have global-scale climate impacts through the formation of ozone (O₃) in the upper troposphere and lower stratosphere (UTLS), driven by emissions of nitrogen oxides (NO_X). Ozone is known to be one of the most potent greenhouse gases formed from the interaction of aircraft emission plumes with atmospheric species. This paper follows up on previous research, where a Photochemical Trajectory Model was shown to be a robust measure of ozone formation along flight trajectories post-flight. We use a combination of a global Lagrangian chemistry-transport model and a box model to quantify the impacts of aircraft NO_X on UTLS ozone over a five-day timescale. This work expands on the spatial and temporal range, as well as the chemical accuracy reported previously, with a greater range of NO_X chemistry relevant chemical species. Based on these models, route optimisation has been investigated, through the use of network theory and algorithms. This is to show the potential inclusion of an understanding of climate-sensitive regions of the atmosphere on route planning can have on aviation’s impact on Earth’s Thermal Radiation balance with existing resources and technology. Optimised flight trajectories indicated reductions in O₃ formation per unit NO_X are in the range 1–40% depending on the spatial aspect of the flight. Temporally, local winter times and equatorial regions are generally found to have the most significant O₃ formation per unit NO_X; moreover, hotspots were found over the Pacific and Indian Ocean. Full article

Over-the-air federated learning (Air-FL) has emerged as a promising paradigm that integrates communication and learning, which offers significant potential to enhance model training efficiency and optimize communication resource utilization. This paper addresses the challenge of interference management in multi-cell Air-FL systems, focusing on parallel multi-task scenarios where each cell independently executes distinct training tasks. We begin by analyzing the impact of aggregation errors on local model performance within each cell, aiming to minimize the cumulative optimality gap across all cells. To this end, we formulate an optimization framework that jointly optimizes device transmit power and denoising factors. Leveraging the Pareto boundary theory, we design a centralized optimization scheme that characterizes the trade-offs in system performance. Building upon this, we propose a distributed power control optimization scheme based on interference temperature (IT). This approach decomposes the globally coupled problem into locally solvable subproblems, thereby enabling each cell to adjust its transmit power independently using only local channel state information (CSI). To tackle the non-convexity inherent in these subproblems, we first transform them into convex problems and then develop an analytical solution framework grounded in Lagrangian duality theory. Coupled with a dynamic IT update mechanism, our method iteratively approximates the Pareto optimal boundary. The simulation results demonstrate that the proposed scheme outperforms baseline methods in terms of training convergence speed, cross-cell performance balance, and test accuracy. Moreover, it achieves stable convergence within a limited number of iterations, which validates its practicality and effectiveness in multi-task edge intelligence systems. Full article

Infectious diseases can spread through virus-laden respiratory droplets exhaled into the air. Ventilation systems are crucial in indoor settings as they can dilute or eliminate these droplets, underscoring the importance of understanding their efficacy in the management of indoor infections. Within the field of fluid dynamics methods, the dispersed droplets may be approached through either a Lagrangian framework or an Eulerian framework. In this study, various Eulerian methodologies are systematically compared against the Eulerian–Lagrangian (E-L) approach across three different scenarios: the pseudo-single-phase model (PSPM) for assessing the transport of gaseous pollutants in an office with displacement ventilation (DV), stratum ventilation (SV), and mixing ventilation (MV); the two-fluid model (TFM) for evaluating the transport of non-evaporating particles within an office with DV and MV; and the two-fluid model-population balance equation (TFM-PBE) approach for analyzing the transport of evaporating droplets in a ward with MV. The Eulerian and Lagrangian approaches present similar agreement with the experimental data, indicating that the two approaches are comparable in accuracy. The computational cost of the E-L approach is closely related to the number of tracked droplets; therefore, the Eulerian approach is recommended when the number of droplets required by the simulation is large. Finally, the performances of DV, SV, and MV are presented and discussed. DV creates a stratified environment due to buoyant flows, which transport respiratory droplets upward. MV provides a well-mixed environment, resulting in a uniform dispersion of droplets. SV supplies fresh air directly to the breathing zone, thereby effectively reducing infection risk. Consequently, DV and SV are preferred to reduce indoor infection. Full article