Search Results (2,614)

The escalating development of Maritime Autonomous Surface Ships (MASS) has imposed rigorous demands on the precision, continuity, and resilience of onboard integrated navigation systems. However, in complicated marine settings, data from the Global Navigation Satellite System (GNSS) and Doppler Velocity Log (DVL) are frequently corrupted by multipath effects and non-line-of-sight (NLOS) interference. These disturbances introduce anomalous observations that violate Gaussian noise assumptions, thereby severely deteriorating the robustness and estimation quality of traditional sliding-window factor graph optimization (SW-FGO). To mitigate this problem, this study introduces a novel integrated navigation strategy termed gradient-adaptive factor graph optimization (GA-FGO). By designing a gradient-adaptive robust objective function within the factor graph structure, the proposed method dynamically re-weights constraints from the inertial navigation system (INS), GNSS, and DVL. This mechanism adequately suppresses the influence of measurement outliers at the optimization level. Furthermore, a unified solution framework utilizing iterative reweighted least squares (IRLS) and the Gauss–Newton method is established to simultaneously perform adaptive weight updates and state estimation. Validation was based on offline field data benchmarked against the Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF), and standard SW-FGO. The simulation results demonstrated that the GA-FGO algorithm achieves superior positioning accuracy and estimation stability under realistic measurement conditions. Full article

A Monte Carlo based fractal prediction model is proposed to describe the evolution of surface morphology during the running-in process. The model accounts for the random and fractal characteristics of worn surfaces. The Weierstrass–Mandelbrot function is employed to simulate rough surfaces and establish the correlation between fractal dimension and surface roughness. By integrating traditional sliding wear models with surface effect functions, a unified prediction framework is developed. Experiments are conducted to obtain worn surface parameters and calculate fractal dimensions at different running-in stages. Model parameters are optimized by minimizing the variance between experimental and predicted results. Monte Carlo simulations are then introduced to represent the stochastic nature of the friction system, thereby improving prediction accuracy and objectivity. The proposed model reveals locally random yet globally convergent patterns, which are consistent with experimental observations. It effectively captures the stochastic evolution of surface morphology and provides a reliable approach for predicting worn surface behavior during running-in. Full article

Sliding mode control (SMC) is a robust nonlinear control framework that enforces system trajectories onto predefined manifolds, providing strong robustness guarantees against uncertainties. However, SMC inherently introduces unwanted transients or chattering in system state trajectories, which may cause issues especially for sensitive applications such as regulation of drug administration. This paper proposes a multi-input smooth sliding mode control (MISSMC) strategy that combines radiotherapy and chemotherapy for a nonlinear tumor–immune dynamical system described by ordinary differential equations. The closed-loop system is first analyzed to establish key qualitative properties: all state variables remain positive and bounded, the sliding surfaces exhibit asymptotic convergence, and explicit analytical upper bounds on the cumulative therapy doses are derived under clinically motivated constraints. On this basis, a smooth hyperbolic-tangent sliding manifold and associated control law are designed to regulate the radiation and drug infusion rates. While the use of a hyperbolic-tangent smoothing function effectively suppresses chattering, it introduces a small steady-state error due to the presence of a boundary layer. To address this limitation, integral action is incorporated into the sliding surfaces, ensuring asymptotic convergence of tumor state and reducing residual steady-state error, while enhancing robustness against model uncertainties and parameter variations. Numerical simulations, based on a brain-tumor case study, show that the proposed smooth SMC markedly suppresses transient overshoots in both states and control inputs, while preserving effective tumor reduction. Compared with a conventional (non-smooth) SMC scheme, the MISSMC controller reduces baseline radiation and chemotherapy intensities on average by roughly 70%. Similarly, MISSMC lowers the overall cumulative doses on average by about 40%, without degrading the therapeutic outcome. The resulting integral smooth SMC framework therefore offers a rigorous nonlinear-systems approach to designing combined radio-chemotherapy protocols with guaranteed positivity, boundedness, and asymptotic stabilization of the closed-loop system, together with explicit bounds on the control inputs. Full article

This study investigates the influence of surface texturing on temperature distribution in lubricated sliding contacts using infrared thermography. The work addresses the broader challenge of understanding thermal effects in conformal hydrodynamic contacts, where localized heating and viscosity variations can significantly affect tribological performance. A pin-on-disc configuration was employed, featuring steel pins with laser-etched micro-dimples that slid against a sapphire disc, allowing for thermal imaging of the contact zone. A dual-bandpass filter infrared thermography technique was developed and rigorously calibrated to distinguish between the temperatures of the steel surface and the lubricant film. Friction measurements and laser-induced fluorescence were used in parallel to assess contact conditions and the behavior of the lubricant film. The results show that surface textures can alter local frictional heating and contribute to non-uniform temperature distributions, particularly in parallel contact geometries. Lubricant temperature was consistently higher than the surface temperature, highlighting the role of shear heating within the fluid film. However, within the tested parameter range, no unambiguous viscosity-wedge signature was identified beyond the dominant temperature-driven viscosity reduction captured by the in situ correction. The method provides a novel means of experimentally resolving temperature fields in sliding textured contacts, offering a valuable foundation for validating thermo-hydrodynamic models in lubricated tribological systems. Full article

This study first assessed the friction and wear properties of two polytetrafluoroethylene materials sliding against electroplated chrome and high-velocity oxy-fuel-sprayed WC-10Co-4Cr coatings. Subsequently, the sealing performance of three different structure seals made from these two polytetrafluoroethylene materials was investigated on both electroplated chrome and high-velocity oxy-fuel-sprayed WC-10Co-4Cr coatings. The study results indicate the following: in terms of changes in the counter-face surface roughness, both the electroplated chrome and high-velocity oxy-fuel-sprayed WC-10Co-4Cr surfaces exhibited an increase in surface roughness after sliding, demonstrating the phenomenon of “soft material wearing hard material.” Moreover, the changes in surface roughness were greater after sliding against wollastonite mineral-filled polytetrafluoroethylene than against polyether ether ketone-filled polytetrafluoroethylene, indicating that wollastonite mineral-filled polytetrafluoroethylene was more likely to cause damage to the metal surface. Regarding the friction coefficient and wear amount, under dry friction conditions, both materials exhibited higher friction coefficients but lower wear rates on high-velocity oxy-fuel-sprayed WC-10Co-4Cr surfaces, while showing lower friction coefficients but higher wear rates on electroplated chrome surfaces. This behavior was related to the ease of transfer film formation and the stability of the transfer films formed by polytetrafluoroethylene materials on the two surfaces. In terms of the products’ sealing performance, test results showed that, for composite seals with polytetrafluoroethylene as the counter-face, sealing performance was better on high-velocity oxy-fuel-sprayed WC-10Co-4Cr surfaces than on electroplated chrome surfaces. For seals with rubber as the counter-face, there was little difference in sealing performance between high-velocity oxy-fuel-sprayed WC-10Co-4Cr and electroplated chrome surfaces. Full article

Steel wire ropes are key load-bearing components in systems such as mine hoisting, bridge cableways, elevators, and cranes, and frictional wear is among the earliest occurring and most easily accumulated form of damage. Under actual working conditions, micro-relative sliding occurs both along the internal wires of the rope and at the contact surfaces with sheaves and ropes, leading to frictional wear, crack propagation, and fatigue failure. Frictional wear, a complex phenomenon influenced by structural layout, contact load, vibration conditions, lubrication, and environmental corrosion, critically determines the service life and load-bearing capacity of steel wire ropes. Recent experimental and numerical studies have significantly clarified the fundamental mechanisms and patterns of internal and external frictional wear in steel wire ropes, offering theoretical support for the distribution of wear, fatigue evolution, and fracture behavior. Meanwhile, non-destructive testing techniques have emerged as a vital tool for the real-time monitoring of wear conditions in steel wire ropes. This review summarizes the research progress on the generation, characteristics, effects, and protection of frictional wear in steel wire ropes, and proposes future directions for tribology and service safety research of steel wire ropes. Full article

The stability of high and steep rock slopes in open-pit mines, particularly under ecological restoration, remains a significant concern. However, the quantitative assessment of the influence of vegetation restoration on slope stability is still underexplored. This study assessed the stability of a high and steep limestone slope in the Kazimiao mining area, Ningxia, before and after ecological restoration, utilizing Rocscience Slide software and 3D laser scanning point cloud data. The limit equilibrium method was applied to simulate slope stability under multiple conditions: natural, rainfall (20 mm/h to 200 mm/h), seismic (magnitude 6 to 9), and coupled slope-cutting–seismic scenarios. Results indicated that the slope’s safety factor increased slightly from 2.041 to 2.096 after restoration, demonstrating a marginal improvement in stability. Under rainfall conditions, the safety factor decreased from 1.861 to 1.342 (before restoration) and 1.979 to 1.408 (after restoration), showing limited but positive effects of revegetation. Seismic simulations revealed a decrease in stability with increasing magnitudes, as safety factors dropped from 1.761 to 0.916 in magnitude 9 conditions. These findings highlight the limited role of vegetation in enhancing slope stability, which is primarily determined by the intrinsic properties of the rock mass, while also contributing positively to surface integrity, erosion resistance, and ecological recovery. This study provides a novel framework for evaluating slope stability and ecological restoration performance in mining areas. Full article

With the increase in mining intensity and scale, the damage to groundwater resources and surface ecology caused by coal mining has become the main problem facing coal development. Coal mining can cause a redistribution of stress field and stress concentration in local areas of overlying rock, resulting in varying degrees of movement and damage to the overlying rock. Quantitative analysis of the degree of migration and damage in different areas of overlying rock and zoning control is crucial for achieving loss reduction and green mining. In this paper, the overburden damage is divided into regions according to the different causes of formation, regional characteristics of severity, and other factors, and the specific calculation method is given. UDEC7.0 numerical simulation software is used to simulate the overlying rock damage, and the best mining parameters are provided through the area changes in different zones. The research conclusions are as follows: according to the different damage states of overburden rock, the damage of overburden rock can be divided into four parts: I, caving fracture zone, II, fracture development zone, III, sliding failure zone, and IV, slight failure zone. In the four zones, the damage in zones II and IV is relatively light. During the mining process, attention should be given to controlling the development of Zone I to prevent it from abnormally enlarging; for Zone II, hydraulic fracturing can be used when there is a thick, hard key layer that poses a water inrush risk; for Zone III, the focus should be on preventing surface step fractures caused by it. For example, when a thick, hard key layer is present in Zone II, hydraulic fracturing can be applied to avoid large area hanging roofs and severe rock pressure. When the mining height is low, it mainly affects the proportion of regions I and III. With the increase in mining height, the main affected region becomes the II region. The larger the mining height is, the larger the proportion of the II region. With the increase in propulsion speed, the impact range on the surface increases, but the area with severe damage is relatively reduced. With the increase in mining width, the proportion of relatively seriously damaged areas increased. On-site measurements have shown that when the speeds of 120,401 and 22,207 working faces are slow, the rock layer pressure shows a dense state, the overburden fracture is more fully developed, and the area proportion of I and II zones is increased, which reflects the phenomenon of dense surface fracture development on the surface. When the advancing speed is large, the area proportions of zones III and IV increase, and the damage scope decreases. The on-site testing verified the conclusions drawn from theoretical analysis and numerical simulation, which can guide other mines under similar conditions to achieve safe and green production. Full article

In this work, we develop a disturbance suppression-oriented fuzzy sliding mode secured sampled-data controller for third-order parabolic partial differential equations that ought to cope with nonlinearities, hybrid cyber attacks, and modeled disturbances. This endeavor is mainly driven by formulating an observer model with a T–S fuzzy mode of execution that retrieves the latent state variables of the perceived system. Progressing onward, the disturbance observers are formulated to estimate the modeled disturbances emerging from the exogenous systems. In due course, the information received from the system and disturbance estimators, coupled with the sliding surface, is compiled to fabricate the developed controller. Furthermore, in the realm of security, hybrid cyber attacks are scrutinized through the use of stochastic variables that abide by the Bernoulli distributed white sequence, which combat their unpredictability. Proceeding further in this framework, a set of linear matrix inequality conditions is established that relies on the Lyapunov stability theory. Precisely, the refined looped Lyapunov–Krasovskii functional paradigm, which reflects in the sampling period that is intricately split into non-uniform intervals by leveraging a fractional-order parameter, is deployed. In line with this pursuit, a strictly $({\Phi }_1,{\Phi }_2,{\Phi }_3)-\varrho$ dissipative framework is crafted with the intent to curb norm-bounded disturbances. A simulation-backed numerical example is unveiled in the closing segment to underscore the potency and efficacy of the developed control design technique. Full article

In recognising both the emerging industrial applications of multi-link robotic manipulators and the inherent challenges of modelling and controlling their highly complex nonlinear dynamics, this work proposes a completely model-free terminal sliding mode control (MFTSMC) design approach to reduce the sensitivity and complexity often associated with model-based routines. Consequently, the proposed design achieves strong robustness, simplicity, and good operation tuning by eliminating the need for system modelling and enabling direct operator–machine interaction. Simulink simulations on a 3-link case subjected to different disturbance conditions (free, low-frequency, high-frequency, and mixed) show rapid dynamic convergence, good tracking precision, and strong disturbance rejection. The system reaches the sliding surface within 0.07 s, maintains steady-state errors around ${10}^{-2}$, and achieves a smooth torque response with low energy costs. The benchmark results confirm the finite-time convergence and demonstrate that the proposed framework is practical and scalable for multi-DOF systems and has potential for underactuated manipulators. It should be noted that a generalised dynamic model for a planar n-link manipulator is presented in the study for (1) the ground truth of the manipulator in simulation (not for the MFTSMC design), (2) the model-based controller designs in comparison to the MFTSMC, and (3) understanding the dynamic characteristics. Full article

The influence of electron beam treatment parameters (electron gun speed, electron beam current, scanning frequency, and sweep type) on the structure and properties of the surface layer of the composite material AlMg3-5SiC has been investigated. Composite specimens of AlMg₃ alloy reinforced with 5 wt.% silicon carbide particles were manufactured via the stir casting process. Experimentally, processing modes with heat input from 120 to 240 J/mm yield a modified layer thickness from 74 to 1705 µm. Heat input should not exceed 150 J/mm to ensure a smooth and defect-free surface layer. The macro- and microstructure were examined using optical microscopy. Brinell hardness was measured. Friction and wear tests were performed under dry sliding friction conditions using the “bushing on plate” scheme. This evaluated the tribological properties of the composite material in its original cast state and after modifying treatment. Due to the matrix alloy structure refinement by 5–10 times, the surface layer’s hardness increases by 11% after treatment. The modified specimens have superior tribological properties to the initial ones. Wear rate reduces by 17.5%, the average friction coefficient reduces by 32%, and the root mean squared error of the friction coefficient, which measures friction process stability, reduces by 50% at a specific load of 2.5 MPa. Therefore, the electron beam treatment process is a useful method for producing high-quality and uniform wear-resistant aluminum matrix composite surface layers. Full article

Creeping landslides constitute the predominant form of long-term, slow-moving geohazards in high mountain gorge regions. Under the combined influence of gravity and external triggering factors, these landslides undergo persistent deformation, posing continuous threats to major transportation corridors, hydropower infrastructures, and nearby settlements. Li County is located within the active tectonic belt along the eastern margin of the Tibetan Plateau, characterized by highly variable topography, intensely fractured rock masses, and dense development of creeping landslides. The slip surfaces are typically deeply buried and concealed. Consequently, conventional drilling and profile-based investigations, limited by high costs, sparse sampling points, and poor spatial continuity, are insufficient for identifying the deep-seated structures of such landslides. To address this challenge, this study applies Small Baseline Subset Interferometric Synthetic Aperture Radar (SBAS-InSAR) to obtain ascending and descending deformation rate fields for 2022–2024, revealing pronounced spatial heterogeneity and persistent activity across three types of landslides. Based on the principle of mass conservation, the sliding-surface depths of eight typical landslides were inverted, revealing pronounced heterogeneity. The maximum sliding-surface depths range from 32 to 98 m and show strong agreement with borehole and profile data (R² > 0.92; RMSE ±4.96–±16.56 m), confirming the reliability of the inversion method. The GeoDetector model was used to quantitatively evaluate the dominant factors controlling landslide depth. Elevation was identified as the primary control factor, while slope aspect exhibited significant influence in several landslides. All factor combinations showed either “bi-factor enhancement” or “nonlinear enhancement”, indicating that slip-surface depth is governed by synergistic interactions among multiple factors. Boxplot-based statistical analyses further revealed three typical patterns of slip-surface variation with elevation and slope, based on which the landslides were classified into rotational, push-type translational, and traction-type translational categories. By integrating statistical patterns with mechanical models, the study achieves a transition from “form” to “state”, enabling inference of the internal mechanical conditions and evolutionary stages from the observed surface morphology. The results of this study provide an effective technical approach for deep structural detection, identification of controlling factors, and stability evaluation of creeping landslides in high mountain gorge environments. Full article

This study presents a systematic investigation of laser surface hardening of 9CrSi tool steel with the aim of establishing the relationships between processing parameters, microstructural evolution, and resulting mechanical and tribological properties under the applied laser conditions. The influence of laser power, modulation frequency, and scanning speed on the hardened layer depth, microstructure, and surface properties was analyzed. Laser treatment produced a martensitic surface layer with varying fractions of retained austenite, while the transition zone consisted of martensite, granular pearlite, and carbide particles. X-ray diffraction identified the presence of α′-Fe, γ-Fe, and Fe₃C phases, with peak broadening associated with increased lattice microstrain induced by rapid self-quenching. The surface microhardness increased from approximately 220 HV_0.1 in the untreated state to 950–1000 HV_0.1 after laser hardening, with hardened layer thicknesses ranging from about 500 to 750 µm depending on the processing regime. Instrumented indentation showed higher elastic modulus values for all hardened conditions. Tribological tests under dry sliding conditions revealed reduced coefficients of friction and more than an order-of-magnitude decrease in wear rate compared with untreated steel. The results provide a parameter–microstructure–performance map for laser-hardened 9CrSi steel, demonstrating how variations in laser processing conditions affect hardened layer characteristics and functional performance. Full article

This paper investigates the global polynomial synchronization (GPS) problem for quaternion-valued neural networks (QVNNs) featuring proportional delay, parameter uncertainty, and external disturbance. A combined approach of sliding mode control (SMC) and a non-separation strategy is adopted to achieve this goal. First, an integral-type sliding surface is designed for the system. Then, by constructing a delay-free Lyapunov functional and leveraging the properties of the quaternion vector norm and inequality techniques, sufficient conditions are derived to achieve GPS for the sliding mode dynamics. Furthermore, both a SMC law and an adaptive SMC law are designed, with a reachability analysis confirming that the system trajectories reach the predefined sliding surface in finite time. Finally, numerical examples with graphical analysis are provided to verify the obtained results, along with their application in color image pattern storage and retrieval. Full article

The rocket sled slider is a key connection component between the rocket sled and the track for support, guidance and load-bearing, ensuring the system’s safe and reliable operation. Wear of sliders under high—velocity and heavy—load conditions is crucial for equipment reliability. This study establishes a wear prediction model for sled rails using ANSYS, incorporating a dimensionless acceleration factor into the simulation. By analyzing dynamic characteristics of contact friction stress, wear volume, depth, and stress over time, the tribological characteristics of 30CrMnSiNi2A steel sliders were studied. The simulation results showed that during dry—friction sliding, slider wear is highly related to speed and load, increasing significantly as they increase. The slider’s contact surface has non-uniform stress distribution with stress concentration and gradient changes. Quantitative analysis has revealed that friction stress is positively correlated with load, and its sensitivity to speed changes is high at low speeds and relatively low at high speeds. Full article