Search Results (281)

To reduce the conservatism of local trajectory planning in dynamic road scenarios caused by redundant projection of predicted trajectories, this paper proposes a hierarchical hybrid trajectory-planning framework with a time-to-arrival (TTA)-driven dynamic risk-filtering mechanism. In the Frenet coordinate system, road boundaries, ego states, and static and dynamic obstacles are represented uniformly to construct an S–L fused risk field and an S–T spatiotemporal interaction graph, enabling the filtering of temporally irrelevant conflict regions based on TTA relationships. At the path-planning layer, risk-guided adaptive sampling is integrated with dynamic programming and quadratic programming to improve search efficiency and trajectory quality. At the speed-planning layer, spatiotemporal coordination is achieved through non-uniform discretization, safe-corridor extraction, and speed-profile optimization. Simulation results show that the proposed method generates safe, smooth, continuous, and executable local trajectories in scenarios involving static-obstacle avoidance, adjacent-vehicle cut-ins, non-motorized road-user crossings, and mixed multi-obstacle interactions, while reducing unnecessary deceleration and detours. Ablation results further indicate that adaptive sampling reduces the number of DP search nodes by approximately 50% and the average planning time by about 30%, while maintaining a nearly unchanged minimum safety distance. These findings demonstrate that the proposed framework effectively suppresses redundant conflict regions and improves planning efficiency, solution feasibility, and motion continuity without compromising safety. Full article

Conventional image stitching pipelines predominantly rely on homographic alignment, whose planar assumption often breaks down in dual-camera configurations capturing non-planar scenes, producing geometric warping, bulging, and structural distortion. To address these limitations, this paper presents SENA (Seamlessly Natural), a geometry-driven image stitching approach with three complementary contributions. First, we propose a hierarchical affine-based warping strategy that combines global affine initialization, local affine refinement, and a smooth free-form deformation field regulated by seamguard adaptive smoothing. This multi-scale design preserves local shape, parallelism, and aspect ratios, thereby reducing the hallucinated distortions commonly associated with homography-based models. Second, SENA incorporates a geometry-driven adequate zone detection mechanism that identifies regions with reduced parallax directly from the disparity consistency of correspondences filtered by RANSAC, without relying on semantic segmentation or depth estimation. Third, within this zone, anchor-based seamline cutting and segmentation enforce one-to-one geometric correspondence between image pairs, reducing ghosting and smearing artifacts. Extensive experiments demonstrate that SENA achieves 26.2 dB PSNR and 0.84 SSIM, obtains the lowest BRISQUE score (33.4) among compared methods, and reduces runtime by 79% on average across resolutions. These results confirm improved structural fidelity and computational efficiency while maintaining competitive alignment accuracy. Full article

This study proposes a new fabrication process for terahertz Fresnel zone plates on high-resistivity silicon substrates. It involves ion implantation surface modification, ultra-precision diamond turning, and magnetron sputtering, followed by polishing. Ductile-regime cutting is used to form smooth microgrooves, which are selectively metallized to create alternating opaque and transparent zones for terahertz waves. Finite-element simulations are performed to design the zone structure and to evaluate the effect of process-induced radius errors. A 3 μm amorphous layer is formed via ion implantation, which significantly enhances the ductile-to-brittle transition depth of silicon from 55 nm to about 535 nm while causing only minor changes in terahertz transmittance. The results demonstrate that the proposed method can produce high-quality Fresnel zone plates on silicon and offers a practical route to compact diffractive terahertz components. Full article

To address the poor cutting stability and deterioration of hole quality caused by the inherent trade-off between chip evacuation performance and drill-body stiffness in U-drilling, a multi-objective optimization framework was established. The design variables were the core thicknesses ${\mathrm{L}}_1$ and ${\mathrm{L}}_2$ of the inner and outer chip flutes, the inner and outer offset angles ${\mathrm{\theta }}_1$ and ${\mathrm{\theta }}_2$, and the inner and outer helix angles ${\mathrm{\beta }}_1$ and ${\mathrm{\beta }}_2$. The objectives were to maximize the chip evacuation force and minimize the drill-body strain (which serves as an equivalent indicator of maximizing drill-body stiffness). The chip evacuation force was rapidly evaluated using a mechanistic chip evacuation force model derived from mechanism-based analysis. The drill-body strain was efficiently predicted using a GA–BP neural-network surrogate model. An NSGA-II algorithm combined with the entropy-weighted TOPSIS method was employed to solve the optimization problem, yielding the optimal parameter combination for the U-drill chip-flute geometry. The results show that drilling experiments on 42CrMo under the optimal structural parameter combination reduced the cutting forces in the $x$, $y$, and $z$ directions by approximately 11.2%, 13.1%, and 11.8%, respectively. The root-mean-square acceleration in the $x$ and $y$-directions decreased by about 17.3% and 22.9%, respectively. These improvements effectively enhanced the hole-wall surface roughness and hole diameter accuracy, and further improved chip evacuation smoothness and cutting stability of the U-drill. Full article

Wind power generation exhibits pronounced volatility and intermittency, and direct grid connection may cause instability in grid frequency. To address this issue, this paper proposes an optimisation strategy for hybrid energy storage systems to mitigate wind power fluctuations, integrating lithium-ion batteries with supercapacitors within wind power systems. Firstly, the grid-connected power of wind turbines and the reference power of the energy storage system are determined through dynamic weight adjustment using a weighted filtering algorithm combining adaptive exponential smoothing and recursive averaging algorithms. Secondly, the fish-eagle optimisation algorithm is employed to refine variational modal decomposition parameters. The modal components derived from decomposing the energy storage system’s reference power are converted into Hilbert marginal spectra. Following determination of the cut-off frequency, high-frequency signal components are managed by supercapacitors, while low-frequency components are handled by lithium-ion batteries. Finally, an optimised configuration model for the hybrid energy storage system is constructed to minimise the annual lifecycle target cost. Case study analysis demonstrates that this approach effectively smooths fluctuations in wind power output while fully leveraging the complementary characteristics of both energy storage types, achieving a balance between system economics and overall performance. Full article

Variable cross-section rotors demonstrate significant potential for enhancing screw vacuum pump performance. This study proposes a variable-radius and variable-pitch screw rotor with a seven-segment fully smooth profile, accompanied by its parametric design methodology. Corresponding clearance design methods are provided, resulting in optimized clearance distribution. A thermodynamic model incorporating four leakage channels was developed. This model effectively simulates screw vacuum pump performance and has been experimentally validated. Systematic analysis was conducted on the effects of key parameters on pump geometric characteristics and performance, with comparative studies against two traditional constant cross-section rotors. Results demonstrate that the proposed design method enables rapid and precise generation of new 3D rotor models. The clearance optimization results validate the design expectations. The variable-radius design achieves cross-sectional variation, and its combination with variable pitch produces a dual internal compression effect, to which the variable radius contributes more significantly. With an increasing cone angle, the internal volume ratio rises significantly. Compared with conventional constant cross-section rotors, the rotor demonstrates superior performance in internal volume ratio, sealing characteristics, and structural integrity, notably cutting shaft power by 52.9% versus equal-pitch rotors. These findings provide an effective solution for developing high-performance screw vacuum pumps. Full article

Non-contact anterior cruciate ligament (ACL) injuries cause substantial time loss in female football. Although altered lower-limb muscle excitation is a modifiable risk factor, the reliability of surface electromyography (sEMG) during dynamic tasks in female players remains uncertain. This repeated-measures reliability study examined sEMG during a single-leg jump landing (LAND) and 90° sidestep cut (CUT) in 16 second-tier English female footballers. We evaluated reliability across: (1) within- versus between-session measures; (2) mean versus peak amplitudes; (3) pre-initial contact (PRE-IC) versus post-initial contact (POST-IC) phases; and (4) 10 ms versus 50 ms smoothing windows. Reliability was quantified using intraclass correlation coefficient (ICC[2,k]) and absolute measurement error. Within-session ICCs were moderate to excellent (LAND 0.61 to 0.95; CUT 0.68 to 0.96), whereas between-session ICCs varied from poor to excellent (LAND −0.48 to 0.94; CUT −0.08 to 0.93). Mean amplitudes showed marginally higher ICCs and lower absolute error than peaks. Phase-specific patterns were task-dependent: PRE-IC was more reliable in LAND, whereas POST-IC was more reliable in CUT. Practitioners should prioritize within-session comparisons using mean amplitudes, and the most reliable task-specific phase is recommended. Between-day application warrants caution, as the consistently lower reliability demonstrated may reflect task variability and/or physiological fluctuations rather than the sEMG method alone. Full article

Planned cutting is a core technique for intelligent coal mining, relying on high-precision geological models of fully mechanized mining faces to plan the cutting trajectory of mining equipment, with model accuracy as a prerequisite for intelligent mining. To address the limitations of traditional interpolation methods in dynamic model updating and the technical gap between geological information and equipment control parameters, this study proposes a coal mining machine cutting path control method based on dynamic geological models. An improved smooth discrete interpolation method is developed to realize dynamic updating of the geological model, effectively improving the accuracy of local geological models and ensuring safe mining operations. Meanwhile, a method for converting geological information into coal mining equipment control parameters is proposed, breaking the technical barrier between geological data and production control information and laying a foundation for unmanned and intelligent mining. Field tests conducted in a shaft coal mine in Shaanxi demonstrate that the method achieves precise control of the coal mining machine’s trajectory: during a 7-day trial, the working face advanced 56 m and mined 51,000 tons of coal with minimal human intervention. Comparative analysis shows that the error between the planned cutting based on the dynamic geological model and manual cutting is within 10 cm, and the drum height curve is smoother, reducing frequent adjustments and facilitating equipment protection. Dynamic model updating ensures high accuracy, with an average absolute error of 0.029 m at 5 m from the update point and 0.101 m at 10 m, meeting the requirements for automated cutting. The successful application of this method verifies its feasibility in actual mining processes, providing a new technical approach for achieving unmanned and intelligent coal mining. Full article

Background: Traditional high-speed mechanical osteotomes cause substantial thermal and mechanical trauma, impairing bone healing. Erbium-doped yttrium-aluminum-garnet (Er:YAG) lasers, with water-mediated non-contact ablation, offer precise osteotomy potential with minimal collateral damage. This study demonstrated the feasibility of Er:YAG laser use for complex osteotomies and elucidated its multi-scale biological impacts on bone. Methods: A custom Er:YAG laser performed Z/arc-shaped osteotomies on fresh ovine bone (oscillating saw as control); paired rat tibial osteotomies; and compared laser vs. saw resection. Osteotomy surfaces were characterized by SEM/micro-CT; histological staining quantified thermal/mechanical damage. Bone marrow-derived mesenchymal stem cell (BMSC) adhesion, viability, and infiltration on cut surfaces were evaluated via LSCM. Result: In the ex vivo ovine model, the Er:YAG laser enabled precise execution of complex osteotomies (Z-shaped and arc-shaped), producing significantly narrower gaps than the oscillating saw (1.14 mm vs. 2.70 mm, p < 0.001) with high geometric fidelity and smooth surfaces free of burrs, micro-cracks, or debris. In the in vivo rat model, laser ablation simultaneously minimized both thermal and mechanical damage at the osteotomy interface: it reduced the thermal damage depth (154 vs. 592 µm, p < 0.001) and empty lacunae rate (16.8% vs. 41.8%, p < 0.001) while completely avoiding the mechanical damage zone (297 µm) induced by sawing. Furthermore, the laser-ablated surface established a highly bioactive interface, which significantly enhanced the adhesion (606 vs. 389 cells), viability (86.9% vs. 46.6%), and infiltration depth (196 vs. 75 µm) of bone marrow-derived mesenchymal stem cells (all p < 0.001). Conclusions: In conclusion, this proof-of-concept study demonstrates that the Er:YAG laser has the potential to enable precise bone resection while preserving microstructure. By establishing a pro-regenerative microenvironment, this technology shows promise as a biologically favorable alternative to conventional sawing, although further technical refinement and long-term validation are essential for its clinical translation. Full article

This study employs direct numerical simulation (DNS), combined with the Cartesian cut-cell method and quadtree adaptive mesh refinement, to systematically investigate the effects of surface roughness on the flow past a cylinder. The varying surface roughness is described mainly in terms of the wavenumber $\beta$. Results show that the non-uniform roughness disrupts the symmetry of flow structures and randomizes separation, forming a heterogeneous flow with coexisting small-scale groove vortices and large-scale side vortices. At $Re=100$, the drag coefficient exhibits a maximum at $\beta =30$, with a corresponding 1.48-fold increase in the peak local pressure coefficient over a smooth cylinder. The lift coefficient stabilizes between 0.375 and 0.38 for $\beta \ge 20$. The trend of force varies across different Reynolds number ranges. Beyond a critical roughness at $Re>100$, the mean drag and lift amplitude become roughness-insensitive. Full article

During the assembly process of the bolter miner cutting drum, the varying installation postures of the cutting picks result in unique and non-repetitive irregular gaps between the tooth seat bottom surface and the cylindrical rotating surface. Such gaps are constrained by dual-surface geometry and lack batch statistical regularity, making traditional methods such as shim filling, selective assembly, or on-site welding inadequate for achieving high-precision fitting and reliable process implementation. To address this challenge, this paper proposes an automatic design method for compensation bodies based on computer-aided design, realizing a shift from experience dependence to algorithm-driven design. This method transforms the complex dual-surface gap filling problem into a serialized geometric modeling process: first, smooth extrapolation of the tooth seat bottom surface is achieved through a point sequence prediction model based on minimum mean square error; second, surface projection is simplified to boundary curve projection, enabling precise mapping onto the cylindrical surface and generating trimming surfaces; finally, a ruled surface is constructed to integrate the extended surface with the trimming surfaces, automatically generating a compensation body fully adapted to the gap morphology. Case verification demonstrates that this method can automatically and accurately generate compensation bodies that meet dual-surface fitting requirements, significantly improving geometric adaptability and weldability. This research not only resolves a critical technical bottleneck in the assembly of bolter miner cutting drums but also provides a universal and scalable computational framework for the intelligent compensation design of non-repetitive dual-surface gaps in complex equipment. Full article

Shearers and roadheaders are critical equipment in coal mining and roadway excavation, where the rock-breaking performance of cutting picks directly influences operational efficiency and economic outcomes. Complex geological conditions, such as hard coal seams and embedded inclusions like gangue or pyrite nodules, pose significant challenges to cutting efficiency and tool wear. This study presents a numerical investigation into the rotational cutting process of a single pick in heterogeneous coal seams using the Smoothed Particle Hydrodynamics (SPH) method integrated with a mixed failure model. The model combines the Drucker–Prager criterion for shear failure and the Grady–Kipp damage model for tensile failure, enabling accurate simulation of crack initiation, propagation, and coalescence without requiring explicit fracture treatments. Simulations reveal that cutting depth significantly influences the failure mode: shallow depths promote tensile crack-induced spallation of hard nodules under compressive stress, while deeper cuts lead to shear-dominated failure. The cutting pick exhibits periodic force fluctuations corresponding to stages of compressive-shear crack initiation, propagation, and spallation. The results provide deep insights into pick–rock interaction mechanisms and offer a reliable computational tool for optimizing cutting parameters and improving mining equipment design under complex geological conditions. A key finding is the identification of a critical transition in failure mechanism from tensile-dominated spallation to shear-driven fragmentation with increasing cutting depth, which provides a theoretical basis for practitioners to select optimal cutting parameters that minimize tool wear and energy consumption in field operations. Full article

In electric vehicle (EV) drivetrains, lubricant films must not only mitigate friction and wear but also manage stray currents to safely dissipate stray charge and avoid micro-arcing. This study directly compares how a conventional antiwear additive (ZDDP) and a long-chain, ashless, sulfur-free phosphite ester (Duraphos AP240L) manage this balance under current-carrying boundary lubrication conditions. Reciprocating steel-on-steel tests were conducted at fixed load and speed with applied current densities of 0, 0.02, and 42.4 A/cm². Friction and four-probe electrical contact resistance (ECR) were measured in situ, and impedance of tribofilms was measured over a 1–10⁵ Hz range after friction test. In the presence of ZDDP, ECR initially increased and then decreased to a value that was as low as the initial direct contact of two solid surfaces or even lower sometimes. During the initial stage with high ECR, a well-defined impedance semicircle was observed in the Nyquist plot; after forming the tribofilm with low ECR, frequency dependence of impedance could not be measured due to the very low resistance. The decrease in ECR suggested a structural evolution of the anti-wear film on the substrate. However, post-test wear analysis indicated that the formation of this film was accompanied by tribochemical polishing of the countersurface and sometimes pitting of the substrate, which may have been due to localized electrical discharge producing trenches deeper than ~0.5 µm; in additive-free base oil, wear was dominated by ploughing with micro-cutting of the substrate. In contrast, AP240L performed better in terms of friction and wear, showing a remarkable ~30% lower coefficient of friction, while the overall cycle dependence of ECR was similar to the ZDDP case. AP240L showed negligible boundary film controlled wear producing a shallow, smooth track (depth < 0.2 µm) during the friction test, and there was no sign of electrical arc damage. These findings support long-chain, ashless, sulfur-free phosphite esters as promising candidates for EV boundary lubrication where both mechanical and electrical protection are required. Full article

Connected and autonomous vehicle (CAV) platoons face the dual challenge of maintaining longitudinal formation stability while ensuring lateral safety in dynamic traffic environments, yet existing control approaches often address these objectives in isolation. This paper proposes a hierarchical cooperative control framework that integrates a differential game-based longitudinal controller with a risk potential field-driven model predictive controller (MPC) for lateral motion. At the coordination control layer, a differential game formulation models inter-vehicle interactions, with analytical solutions derived for both open-loop Nash equilibrium under predecessor-following (PF) topology and an estimated Nash equilibrium under two-predecessor-following (TPF) topology. The motion control layer employs a risk potential field model that quantifies collision threats from surrounding obstacles and road boundaries, guiding the MPC to perform real-time trajectory optimization. A comprehensive co-simulation platform integrating MATLAB/Simulink, Prescan, and CarSim validates the proposed framework across three representative scenarios: ramp merging with aggressive cut-in maneuvers, emergency braking by a preceding obstacle vehicle, and multi-lane cooperative obstacle avoidance involving multiple dynamic obstacles. Across all scenarios, the CAV platoon achieves safe obstacle avoidance through autonomous decision-making, with spacing errors converging to zero and smooth velocity adjustments that ensure both formation stability and ride comfort. The results demonstrate that the proposed framework effectively adapts to diverse and complex traffic conditions. Full article

Background/Objectives: Foot mobility is considered an intrinsic risk factor for lower-limb injury, yet commonly used pronated/neutral/supinated classifications rely on arbitrary cut-points. This study aimed to develop a data-driven framework for characterizing a continuous SSNDT–injury risk gradient and deriving clinically interpretable relative-risk bands that define practical injury risk zones along the sit-to-stand navicular drop test (SSNDT) continuum. Methods: Data from 137 physically active male students (274 feet) were analyzed. Intra-rater reliability of the sit-to-stand navicular drop test (SSNDT) was assessed using ICC(3,1). A quadratic mixed-effects logistic regression model was used to characterize the SSNDT–injury relationship and derive odds-ratio-based risk bands for interpretive and screening purposes. Results: SSNDT demonstrated good intra-rater reliability (ICC(3,1) = 0.82). Model comparison supported a non-linear, U-shaped association between SSNDT and injury risk, with a minimum risk value at approximately 5.5 mm. Bootstrap analysis supported a smooth continuous risk gradient. Four representative OR levels (1.2, 1.5, 1.8, and 2.0) were selected to define SSNDT-based interpretative risk bands. Injury prevalence showed an overall increasing trend across these zones, ranging from 4.2% in the Safe zone to 52.4% in the Extreme zone. Conclusions: SSNDT provides a robust, data-driven basis for quantifying foot-mobility–related injury risk along a continuous non-linear gradient and for deriving clinically interpretable relative-risk bands grounded in a validated model. The proposed framework avoids arbitrary cut-points and supports individualized risk screening. Full article