Search Results (1,305)

This paper proposes a control method that combines a fractional-order sliding mode observer and a cooperative control strategy to address the problem of path-following for underactuated autonomous underwater vehicles (AUVs) in complex marine environments. First, a fractional-order sliding mode observer is designed, combining fractional calculus and double-power convergence laws to enhance the estimation accuracy of high-frequency disturbances. An adaptive gain mechanism is introduced to avoid dependence on the upper bound of disturbances. Second, a formation cooperative control strategy based on path parameter coordination is proposed. By setting independent reference points for each AUV and exchanging path parameters, formation consistency is achieved with low communication overhead. For the followers’ speed control problem, an error-based expected speed adjustment mechanism is introduced, and a hyperbolic tangent function is used to replace the traditional arctangent function to improve the response speed of the system. Numerical simulation results show that this control method performs well in terms of path-following accuracy, formation maintenance capability, and disturbance suppression, verifying its effectiveness and robustness in complex marine environments. Full article

The purpose of this research was to indicate the importance of an efficient design of steel frame structures, taking into account the fire design situation. In the case of steel frame structures, the typical mechanisms of failure (sway, beam, and mixed) are well known. Using this knowledge, combined with a reliability assessment of single nodes, may let designers reduce both the amount of material used for a structure and the total cost of the structure. In this article, one-story, single-nave frames with different loads were analyzed. Two types of loads were analyzed: symmetrical and unsymmetrical. Both cases resulted in different failure paths. The static analysis of the structure in the following minutes of the fire duration was carried out in the Robot Structural Analysis programme. The temperature load was computed according to the Eurocode recommendation with the assumption that the temperature of fire gases is described by the standard fire curve. Afterward, the system reliability analysis for the selected failure paths was conducted. Additionally, the displacement analysis was performed in the following minutes of the fire. The biggest challenge in the proposed method is that there are many potential failure paths, and checking all of them is very time-consuming, even when using advanced computers. Therefore, only selected collapse modes were analyzed. Full article

With the global increase in maritime activities, the frequency of maritime accidents has risen, underscoring the urgent need for faster and more efficient search and rescue (SAR) solutions. This study presents an intelligent unmanned aerial vehicle (UAV)-based maritime rescue system that combines GPS-driven dynamic path planning with vision-based dual-target detection and tracking. Developed within the Gazebo simulation environment and based on modular ROS architecture, the system supports stable takeoff and smooth transitions between multi-rotor and fixed-wing flight modes. An external command module enables real-time waypoint updates. This study proposes three path-planning schemes based on the characteristics of drones. Comparative experiments have demonstrated that the triangular path is the optimal route. Compared with the other schemes, this path reduces the flight distance by 30–40%. Robust target recognition is achieved using a darknet-ROS implementation of the YOLOv4 model, enhanced with data augmentation to improve performance in complex maritime conditions. A monocular vision-based ranging algorithm ensures accurate distance estimation and continuous tracking of rescue vessels. Furthermore, a dual-target-tracking algorithm—integrating motion prediction with color-based landing zone recognition—achieves a 96% success rate in precision landings under dynamic conditions. Experimental results show a 4% increase in the overall mission success rate compared to traditional SAR methods, along with significant gains in responsiveness and reliability. This research delivers a technically innovative and cost-effective UAV solution, offering strong potential for real-world maritime emergency response applications. Full article

Although artificial intelligence technologies have significantly enhanced autonomous robots’ capabilities in perception, decision-making, and planning, their autonomy may still fail when faced with complex, dynamic, or unpredictable environments. Therefore, it is critical to enable users to take over robot control in real-time and efficiently through teleoperation. The lightweight, wearable myoelectric armband, due to its portability and environmental robustness, provides a natural human–robot gesture interaction interface. However, current myoelectric teleoperation gesture control faces two major challenges: (1) poor intuitiveness due to visual-motor misalignment; and (2) low efficiency from discrete, single-degree-of-freedom control modes. To address these challenges, this study proposes an integrated myoelectric teleoperation interface. The interface integrates the following: (1) a novel hybrid reference frame aimed at effectively mitigating visual-motor misalignment; and (2) a finite state machine (FSM)-based control logic designed to enhance control efficiency and smoothness. Four experimental tasks were designed using different end-effectors (gripper/dexterous hand) and camera viewpoints (front/side view). Compared to benchmark methods, the proposed interface demonstrates significant advantages in task completion time, movement path efficiency, and subjective workload. This work demonstrates the potential of the proposed interface to significantly advance the practical application of wearable myoelectric sensors in human–robot interaction. Full article

This study employs molecular dynamics (MD) simulations to investigate the mechanical response and fracture behavior of penta-graphene, a novel two-dimensional carbon allotrope composed entirely of pentagonal rings with mixed sp²–sp³ hybridization and pronounced mechanical anisotropy. Atomistic simulations are carried out to evaluate the impact of structural defects on mechanical performance and to elucidate crack propagation mechanisms. The results reveal that void defects involving sp³-hybridized carbon atoms cause a more significant degradation in mechanical strength compared to those involving sp² atoms. During fracture, local atomic rearrangements and bond reconstructions lead to the formation of energetically favorable ring structures—such as hexagons and octagons—at the crack tip, promoting enhanced energy dissipation and fracture resistance. A central focus of this work is the evaluation of the critical stress intensity factor (SIF) under mixed-mode (I/II) loading conditions. The simulations demonstrate that the critical SIF is influenced by the loading phase angle, with pure mode I exhibiting a higher SIF than pure mode II. Notably, penta-graphene shows a critical SIF significantly higher than that of graphene, indicating exceptional fracture toughness that is rare among ultra-thin two-dimensional materials. This enhanced toughness is primarily attributed to penta-graphene’s capacity for substantial out-of-plane deformation prior to failure, which redistributes stress near the crack tip, delays crack initiation, and increases energy absorption. Additionally, the study examines crack growth paths as a function of loading phase angle, revealing that branching and kinking can occur even under pure mode I loading. Full article

This study investigates the complex dynamics of new-type urbanization in resource-based county-level cities, using Wuan City in Hebei Province, China, as a representative case. As China pursues a high-quality development agenda, cities historically dependent on resource extraction face profound challenges in achieving sustainable and inclusive urban growth. This research employs a multi-method approach—including Theil index analysis, industrial shift-share analysis, a Cobb–Douglas production function model, and a composite urbanization index—to quantitatively diagnose the constraints on Wuan’s development and assess its transformation efforts. Our empirical results reveal a multifaceted situation: while the urban–rural income gap has narrowed, rural income streams remain fragile. The shift-share analysis indicates that although Wuan’s traditional industries have regained competitiveness, the city’s economic structure is still burdened by a persistent negative structural component, hindering diversification. Furthermore, the economy exhibits characteristics of a labor-intensive growth model with inefficient capital deployment. These underlying issues are reflected in a comprehensive urbanization index that, after a period of rapid growth, has recently stagnated, signaling the exhaustion of the city’s traditional development mode. In response, Wuan attempts an “industrial transformation-driven new-type urbanization” path. This study details the three core strategies being implemented: (1) incremental population urbanization through development at the urban fringe and in industrial zones; (2) in situ urbanization of the existing rural population; and (3) the cultivation of specialized “characteristic small towns” to create new, diversified economic nodes. The findings from Wuan offer critical, actionable lessons for other resource-dependent regions. The case demonstrates that successful urban transformation requires not only industrial upgrading but also integrated, spatially aware planning and robust institutional support. We conclude that while Wuan’s model provides a valuable reference, its strategies must be adapted to local contexts, emphasizing the universal importance of institutional innovation, human capital investment, and a people-centered approach to achieving resilient and high-quality urbanization. Full article

In-band full-duplex (IBFD) technology has attracted significant attention for its potential to double the spectral efficiency by enabling a simultaneous transmission and reception over the same frequency channel. However, achieving high isolation between closely spaced transmit and receive paths remains a critical challenge. In this paper, a novel compact co-polarized monopole antenna with self-decoupling capability is proposed based on common-mode/differential-mode (CM/DM) theory. By innovatively folding the ends of the monopole elements, the antenna exploits the distinct behaviors under CM and DM excitations at a close spacing to achieve simultaneous impedance matching in both modes. This effectively enhances the isolation between antenna elements. The design enables self-interference suppression without requiring any additional decoupling structures, even under compact antenna and port spacing. Measurement results confirm that the proposed antenna achieves over 20 dB isolation within the 3.4–3.6 GHz operating band, with a compact spacing of 0.008 λ₀ (λ₀ corresponds to the wavelength at the center frequency). Full article

Laser ranging technology holds a key position in the military, aerospace, and industrial fields due to its high precision and non-contact measurement characteristics. As a core component, the performance of the photon detector directly determines the ranging accuracy and range. This paper systematically reviews the technological development of photonic detectors for laser ranging, with a focus on analyzing the working principles and performance differences of traditional photodiodes [PN (P-N junction photodiode), PIN (P-intrinsic-N photodiode), and APD (avalanche photodiode)] (such as the high-frequency response characteristics of PIN and the internal gain mechanism of APD), as well as their applications in short- and medium-range scenarios. Additionally, this paper discusses the unique advantages of special structures such as transmitting junction-type and Schottky-type detectors in applications like ultraviolet light detection. This article focuses on photon counting technology, reviewing the technological evolution of photomultiplier tubes (PMTs), single-photon avalanche diodes (SPADs), and superconducting nanowire single-photon detectors (SNSPDs). PMT achieves single-photon detection based on the external photoelectric effect but is limited by volume and anti-interference capability. SPAD achieves sub-decimeter accuracy in 100 km lidars through Geiger mode avalanche doubling, but it faces challenges in dark counting and temperature control. SNSPD, relying on the characteristics of superconducting materials, achieves a detection efficiency of 95% and a dark count rate of less than 1 cps in the 1550 nm band. It has been successfully applied in cutting-edge fields such as 3000 km satellite ranging (with an accuracy of 8 mm) and has broken through the near-infrared bottleneck. This study compares the differences among various detectors in core indicators such as ranging error and spectral response, and looks forward to the future technical paths aimed at improving the resolution of photon numbers and expanding the full-spectrum detection capabilities. It points out that the new generation of detectors represented by SNSPD, through material and process innovations, is promoting laser ranging to leap towards longer distances, higher precision, and wider spectral bands. It has significant application potential in fields such as space debris monitoring. Full article

Cyclic triaxial tests are frequently used in the laboratory to assess the liquefaction susceptibility of soils. This paper will serve a two-fold purpose: First, it will serve to explain how the mechanics of the tests represent the stresses that occur in the field. Topics covered include the differences in the stress paths for the soil in the field and in the lab, the differences in the actual stresses applied in the lab and the field, the differences between stress-controlled and strain-controlled tests, and the effects of other aspects of the testing methodology. The development of adjustment factors for converting the laboratory test results to the field is also briefly discussed. The second purpose of the paper is to serve as a guide to interpreting cyclic triaxial test results. The topics covered will include an examination of the two main liquefaction modes and the impact that the failure criteria selected have on the analysis, the differences between stress-controlled and strain-controlled test results, energy dissipation, and pore pressure generation. The author has run more than 1500 cyclic triaxial tests over the course of his career. He has found that, while the test is fairly straightforward to perform, it requires a much deeper understanding of the test mechanics and data interpretation in order to maximize the information gained from performing the test. This paper is intended as a guide, helping engineers to gain further insights into the test and its results. It has a target audience encompassing both those who are running their first tests and those who are looking to increase their understanding of the tests they have performed. Full article

Additive Manufacturing (AM) techniques, such as Fused Deposition Modeling (FDM) and Stereolithography (SLA), are increasingly adopted in various high-demand sectors, including the aerospace, biomedical engineering, and automotive industries, due to their design flexibility and material adaptability. However, the tribological performance and surface integrity of parts manufactured by AM are the biggest functional deployment challenges, especially in wear susceptibility or load-carrying applications. The current review provides a comprehensive overview of the tribological challenges and surface engineering solutions inherent in FDM and SLA processes. The overview begins with a comparative overview of material systems, process mechanics, and failure modes, highlighting prevalent wear mechanisms, such as abrasion, adhesion, fatigue, and delamination. The effect of influential factors (layer thickness, raster direction, infill density, resin curing) on wear behavior and surface integrity is critically evaluated. Novel post-processing techniques, such as vapor smoothing, thermal annealing, laser polishing, and thin-film coating, are discussed for their potential to endow surface durability and reduce friction coefficients. Hybrid manufacturing potential, where subtractive operations (e.g., rolling, peening) are integrated with AM, is highlighted as a path to functionally graded, high-performance surfaces. Further, the review highlights the growing use of finite element modeling, digital twins, and machine learning algorithms for predictive control of tribological performance at AM parts. Through material-level innovations, process optimization, and surface treatment techniques integration, the article provides actionable guidelines for researchers and engineers aiming at performance improvement of FDM and SLA-manufactured parts. Future directions, such as smart tribological, sustainable materials, and AI-based process design, are highlighted to drive the transition of AM from prototyping to end-use applications in high-demand industries. Full article

In the field of modern optical communication, radar signal processing and optical sensors, true time delay technology, as a key means of signal processing, can achieve the accurate control of the time delay of optical signals. This study presents a novel design that integrates a 2 × 2 Multi-Mode Interference (MMI) structure with a Mach–Zehnder modulator on a silicon nitride–lithium niobate (SiN-LiNbO₃) heterogeneous integrated optical platform. This configuration enables the selective interruption of optical wave paths. The upper path passes through an ultralow-loss Archimedes’ spiral waveguide delay line made of silicon nitride, where the five spiral structures provide delays of 10 ps, 20 ps, 40 ps, 80 ps, and 160 ps, respectively. In contrast, the lower path is straight through, without introducing an additional delay. By applying an electrical voltage, the state of the SiN-LiNbO₃ switch can be altered, facilitating the switching and reconfiguration of optical paths and ultimately enabling the combination of various delay values. Simulation results demonstrate that the proposed optical true delay line achieves a discrete, adjustable delay ranging from 10 ps to 310 ps with a step size of 10 ps. The delay loss is less than 0.013 dB/ps, the response speed reaches the order of ns, and the 3 dB-EO bandwidth is broader than 67 GHz. In comparison to other optical switches optical true delay lines in terms of the parameters of delay range, minimum adjustable delay, and delay loss, the proposed optical waveguide digital adjustable true delay line, which is based on an optical switch and an Archimedes’ spiral structure, has outstanding advantages in response speed and delay loss. Full article

Traditional PMUT ultrasonic ranging systems usually possess a large measurement blind area under the integrated transmit–receive mode, dramatically limiting its distance measurement in confined spaces, such as when determining the clearance of large bearing components. Here, a broadband PMUT rangefinder was designed by integrating six types of different cells with adjacent resonant frequencies into an array. Through overlapping and coupling of the bandwidths from the different cells, the proposed PMUTs showed a wide –6 dB fractional bandwidth of 108% in silicon oil. Due to the broadening of bandwidth, the device could obtain the maximum steady state with less excitation (5 cycles versus 14 cycles) and reduce its residual ring-down (ca. 6 μs versus 15 μs) compared with the traditional PMUT array with the same cells, resulting in a small blind area. The pulse–echo ranging experiments demonstrated that the blind area was effectively reduced to 4.4 mm in air or 12.8 mm in silicon oil, and the error was controlled within ±0.3 mm for distance measurements up to 250 mm. In addition, a specific ultrasound signal processing circuit with functions of transmitting, receiving, and processing ultrasonic waves was developed. Combining the processing circuit and PMUT device, the system was applied to determine the axial clearance of the main bearing in a tunneling machine. This work develops broadband PMUTs with a small blind area and high resolution for distance measurement in narrow and confined spaces, opening up a new path for ultrasonic ranging technology. Full article

Wind shear at the Hong Kong International Airport (HKIA) poses a significant safety risk due to terrain-induced airflow disruptions near the runways. Accurate assessment is essential for safeguarding aircraft during take-off and landing, as abrupt changes in wind speed or direction can compromise flight stability. This study introduces a hybrid framework for short-term wind shear prediction based on data collected from Doppler LiDAR systems positioned near the central and south runways of the HKIA. These systems provide high-resolution measurements of wind shear magnitude along critical flight paths. To predict wind shear more effectively, the proposed framework integrates a signal processing technique with a deep learning strategy. It begins with optimized variational mode decomposition (OVMD), which decomposes the wind shear time series into intrinsic mode functions (IMFs), each capturing distinct temporal characteristics. These IMFs are then modeled using bidirectional gated recurrent units (BiGRU), with hyperparameters optimized via the Tree-structured Parzen Estimator (TPE). To further enhance prediction accuracy, residual errors are corrected using Extreme Gradient Boosting (XGBoost), which captures discrepancies between the reconstructed signal and actual observations. The resulting OVMD–BiGRU–XGBoost framework exhibits strong predictive performance on testing data, achieving R² values of 0.729 and 0.926, RMSE values of 0.931 and 0.709, and MAE values of 0.624 and 0.521 for the central and south runways, respectively. Compared with GRUs, LSTM, BiLSTM, and ResNet-based baselines, the proposed framework achieves higher accuracy and a more effective representation of multi-scale temporal dynamics. It contributes to improving short-term wind shear prediction and supports operational planning and safety management in airport environments. Full article

We investigate the thermal conductivity of graphene Moiré superlattices formed by twisting bilayer graphene (TBG) at small angles, employing approach-to-equilibrium molecular dynamics and lattice dynamics calculations based on the Boltzmann Transport Equation. Our simulations reveal a non-monotonic dependence of the thermal conductivity on the twisting angle, with a local minimum near the first magic angle ($\theta \sim$1.1°). This behavior is attributed to the evolution of local stacking configurations—AA, AB, and saddle-point (SP)—across the Moiré superlattice, which strongly affect phonon transport. A detailed analysis of phonon mean free paths (MFP) and mode-resolved thermal conductivity shows that AA stacking suppresses thermal transport, while AB and SP stackings exhibit enhanced conductivity owing to more efficient low-frequency phonon transport. Furthermore, we establish a direct correlation between the thermal conductivity of twisted structures and the relative abundance of stacking domains within the Moiré supercell. Our results demonstrate that even very small changes in twisting angle (<2°) can lead to thermal conductivity variations of over 30%, emphasizing the high tunability of thermal transport in TBG. Full article

Hypersonic morphing vehicles (HMVs), renowned for their adaptive structural reconfiguration and cross-domain maneuverability, confront formidable reentry guidance challenges under multiple no-fly zones, stringent path constraints, and nonlinear dynamics exacerbated by morphing-induced aerodynamic uncertainties. To address these issues, this study proposes a hierarchical framework integrating an A-based energy-optimal waypoint planner, a deep deterministic policy gradient (DDPG)-driven morphing policy network, and a quasi-equilibrium glide condition (QEGC) guidance law with continuous sliding mode control. The A* algorithm generates heuristic trajectories circumventing no-fly zones, reducing the evaluation function by 6.2% compared to greedy methods, while DDPG optimizes sweep angles to minimize velocity loss and terminal errors (0.09 km position, 0.01 m/s velocity). The QEGC law ensures robust longitudinal-lateral tracking via smooth hyperbolic tangent switching. Simulations demonstrate generalization across diverse targets (terminal errors < 0.24 km) and robustness under Monte Carlo deviations (0.263 ± 0.184 km range, −12.7 ± 42.93 m/s velocity). This work bridges global trajectory planning with real-time morphing adaptation, advancing intelligent HMV control. Future research will extend this framework to ascent/dive phases and optimize its computational efficiency for onboard deployment. Full article