Search Results (3,816)

A hybrid wave energy conversion (WEC) system, integrating a backward bent duct buoy (BBDB) with an oscillating buoy (OB) via a flexible mooring chain, is introduced in this study. Unlike existing hybrid WECs, the proposed system dispenses with rigid mechanical linkages and enables flexible offshore deployment. Flared BBDB and buoy models with spherical, cylindrical, and semi-capsule shapes are designed and tested experimentally in a wave flume using both regular and irregular wave conditions. The effects of nozzle ratio (NR), coupling distance, buoy draft, and buoy geometry are systematically examined to investigate the hydrodynamic performance and energy conversion characteristics. It is found that NR at 110 under unidirectional airflow produces an optimal balance between pressure response, free surface displacement, and energy conversion efficiency. Energy extraction is significantly influenced by the coupling distance, with the hybrid system achieving maximum performance at a specific normalized spacing. The semi-capsule buoy improves power extraction ability and expands effective bandwidth due to asymmetric shape and coupled motion. These findings provide valuable insights into the coupling mechanism and geometric optimization for hybrid WECs. Full article

This paper examines the four-stage process of mystical experience in the Huzi and Lady Yu allegories of the Zhuangzi. It begins with a lifeless stage enabled by the mystic’s purgation of the world and the self. It is followed by a revitalization stage in which Oneness is experienced not only as the introvertive experience of the self but also as the extrovertive truth of reality. It is then followed by the mystic’s experience of emptiness that transfigures reality through the reconciliation of things and the cessation of time and motion. Eventually it leads to the deconstruction of the transcendental Dao and the following of the spontaneity of things. The allegories provide a rich variety of mystical experiences, such as the exuberance of vitality, tranquil emptiness, and bliss in reconciliation. As the core theme of mysticism, Oneness is not regarded as the superior and final stage, but rather paves the way for the reconciliation of things in the co-presence of Oneness and multiplicity, and eventually leads to the deconstruction of Oneness and the return to the multiplicity of things. The pursuit of Oneness and the very deconstruction of it constitute the characteristic paradox of the Zhuangzi’s mysticism. Full article

Motion-capture data provide high accuracy but are difficult to obtain, necessitating dataset augmentation. To our knowledge, no prior study has investigated few-shot generative models for motion-capture data that address both quality and diversity. We tackle the diversity loss that arises with extremely small datasets (n ≤ 10) by applying transfer learning and continual learning to retain the rich variability of a larger pretraining corpus. To assess quality, we introduce MFMMD (Motion Feature-Based Maximum Mean Discrepancy)—a metric well-suited for small samples—and evaluate diversity with the multimodality metric. Our method embeds an Elastic Weight Consolidation (EWC)-based regularization term in the generator’s loss and then fine-tunes the limited motion-capture set. We analyze how the strength of this term influences diversity and uncovers motion-specific characteristics, revealing behavior that differs from that observed in image-generation tasks. The experiments indicate that the transfer learning pipeline improves generative performance in low-data scenarios. Increasing the weight of the regularization term yields higher diversity in the synthesized motions, demonstrating a marked uplift in motion diversity. These findings suggest that the proposed approach can effectively augment small motion-capture datasets with greater variety, a capability expected to benefit applications that rely on diverse human-motion data across modern robotics, animation, and virtual reality. Full article

Aerostatic bearings were proven to be an optimal choice in situations where low friction, cleanliness, and high motion accuracy are required. Their functionality relies heavily on flow restrictors, which are responsible for regulating and controlling the supply flow, and consequently, the thickness and stiffness of the fluid film. A diverse range of restrictors with varying characteristics is used, among which are the porous restrictors. The current work introduces a novel solution involving a porous, highly compressible restrictor, whose element of novelty compared to its predecessors consists of its variable thickness and corresponding permeability, regulated by the load on the bearing. The gas is supplied through an annular, elastic, deformable, porous disc, which is compressed by a metal plate, subjected to compression by the recess pressure on one side and by the supply pressure on the other side. One or more springs are used in parallel with the porous disc to obtain the optimum elastic response. The objective of this study is to evaluate the performance characteristics and compare them to a conventional restrictor. A parametric analysis is performed to define the size and properties of the porous restrictor. Full article

The parameter identification of Autonomous Underwater Vehicles (AUVs) serves as a fundamental basis for achieving high-precision motion control, state monitoring, and system development. Currently, AUV parameter identification typically relies on the complete motion information obtained from onboard sensors. However, in practical applications, it is often challenging to accurately measure key state variables such as velocity and angular velocity, resulting in incomplete measurement data that compromises identification accuracy and model reliability. This issue is particularly pronounced in vertical motion tasks involving low-speed, large pitch angles, and highly maneuverable conditions, where the strong coupling and nonlinear characteristics of underwater vehicles become more significant. Traditional hydrodynamic models based on full-state measurements often suffer from limited descriptive capability and difficulties in parameter estimation under such conditions. To address these challenges, this study investigates a parameter identification method for AUVs operating under vertical, large-amplitude maneuvers with constrained measurement information. A control autoregressive (CAR) model-based identification approach is derived, which requires only pitch angle, vertical velocity, and vertical position data, thereby reducing the dependence on complete state observations. To overcome the limitations of the conventional Recursive Least Squares (RLS) algorithm—namely, its slow convergence and low accuracy under rapidly changing conditions—a Multi-Innovation Least Squares (MILS) algorithm is proposed to enable the efficient estimation of nonlinear hydrodynamic characteristics in complex dynamic environments. The simulation and experimental results validate the effectiveness of the proposed method, demonstrating high identification accuracy and robustness in scenarios involving large pitch angles and rapid maneuvering. The results confirm that the combined use of the CAR model and MILS algorithm significantly enhances model adaptability and accuracy, providing a solid data foundation and theoretical support for the design of AUV control systems in complex operational environments. Full article

This study applies Computational Fluid Dynamics (CFD) and mathematical modeling to examine uterine and umbilical arterial blood flow during pregnancy, providing a more detailed understanding of hemodynamic changes across gestation. Statistical analysis of Doppler ultrasound data from a large cohort of more than 200 pregnant women (in the second and third trimesters) reveals significant increases in the umbilical arterial peak systolic velocity ($PSV$) between the 22nd and 30th weeks, while uterine artery velocities remain relatively stable, suggesting adaptations in vascular resistance during pregnancy. By combining the Navier–Stokes equations with Doppler ultrasound-derived inlet velocity profiles, we quantify several key fluid dynamics parameters, including time-averaged wall shear stress ($TAWSS$), oscillatory shear index ($OSI$), relative residence time ($RRT$), Reynolds number ($Re$), and Dean number ($De$), evaluating laminar flow stability in the uterine artery and secondary flow patterns in the umbilical artery. Since blood exhibits shear-dependent viscosity and complex rheological behavior, modeling it as a non-Newtonian fluid is essential to accurately capture pulsatile flow dynamics and wall shear stresses in these vessels. Unlike conventional imaging techniques, CFD offers enhanced visualization of blood flow characteristics such as streamlines, velocity distributions, and instantaneous particle motion, providing insights that are not easily captured by Doppler ultrasound alone. Specifically, CFD reveals secondary flow patterns in the umbilical artery, which interact with the primary flow, a phenomenon that is challenging to observe with ultrasound. These findings refine existing hemodynamic models, provide population-specific reference values for clinical assessments, and improve our understanding of the relationship between umbilical arterial flow dynamics and fetal growth restriction, with important implications for maternal and fetal health monitoring. Full article

A method for configuration synthesis of a reconfigurable decoupled parallel mechanical leg is proposed. In addition, a configuration evaluation index is proposed to evaluate the synthesized configurations and select the optimal one. Kinematic analysis and performance optimization of the selected mechanism’s configuration are carried out, and the motion mode of the robot’s reconfigurable mechanical leg is selected according to the task requirements. Then, the robot’s gait in walking mode is planned. Firstly, based on bionic principles, the motion characteristics of a mechanical leg based on a mammalian model and an insect model were analyzed. The input and output characteristics of the mechanism were analyzed to obtain the reconfiguration principle of the mechanism. Using type synthesis theory for the decoupled parallel mechanism, the configuration synthesis of the chain was carried out, and the constraint mode of the mechanical leg was determined according to the constraint property of the chain and the motion characteristics of the moving platform. Secondly, an evaluation index for the complexity of the reconfigurable mechanical leg structure was developed, and the synthesized mechanism was further analyzed and evaluated to select the mechanical leg’s configuration. Thirdly, the inverse position equations were established for the mechanical leg in the two motion modes, and its Jacobian matrix was derived. The degrees of freedom of the mechanism are completely decoupled in the two motion modes. Then, the workspace and motion/force transmission performance of the mechanical leg in the two motion modes were analyzed. Based on the weighted standard deviation of the motion/force transmission performance, the global performance fluctuation index of the mechanical leg motion/force transmission is defined, and the structural size parameters of the mechanical leg are optimized with the performance index as the optimization objective function. Finally, with the reconfigurable mechanical leg in the insect mode, the robot’s gait in the walking operation mode is planned according to the static stability criterion. Full article

The multiscale interactive system composed of wind, leaves, and droplets serves as a critical dynamic unit in precision orchard spraying. Its coupling mechanisms fundamentally influence pesticide transport pathways, deposition patterns, and drift behavior within crop canopies, forming the foundational basis for achieving intelligent and site-specific spraying operations. This review systematically examines the synergistic dynamics across three hierarchical scales: Droplet–leaf surface wetting and adhesion at the microscale; leaf cluster motion responses at the mesoscale; and the modulation of airflow and spray plume diffusion by canopy architecture at the macroscale. Key variables affecting spray performance—such as wind speed and turbulence structure, leaf biomechanical properties, droplet size and electrostatic characteristics, and spatial canopy heterogeneity—are identified and analyzed. Furthermore, current advances in multiscale modeling approaches and their corresponding experimental validation techniques are critically evaluated, along with their practical boundaries of applicability. Results indicate that while substantial progress has been made at individual scales, significant bottlenecks remain in the integration of cross-scale models, real-time acquisition of critical parameters, and the establishment of high-fidelity experimental platforms. Future research should prioritize the development of unified coupling frameworks, the integration of physics-based and data-driven modeling strategies, and the deployment of multimodal sensing technologies for real-time intelligent spray decision-making. These efforts are expected to provide both theoretical foundations and technological support for advancing precision and intelligent orchard spraying systems. Full article

This study presents a detailed experimental comparison of the rotordynamic and thermal performance of automotive turbochargers supported by two distinct hydrodynamic bearing configurations: fully floating ring bearings (FFRBs) and semi-floating ring bearings (SFRBs). While both designs are widely used in commercial turbochargers, they exhibit significantly different dynamic behaviors due to differences in ring motion and fluid film interaction. A cold air-driven test rig was employed to assess vibration and temperature characteristics across a range of controlled lubricant conditions. The test matrix included oil supply pressures from 2 bar (g) to 4 bar (g) and temperatures between 30 °C and 70 °C. Rotor speeds reached up to 200 krpm (thousands of revolutions per minute), and data were collected using a high-speed data acquisition system, triaxial accelerometers, and infrared (IR) thermal imaging. Rotor vibration was characterized through waterfall and Bode plots, while jump speeds and thermal profiles were analyzed to evaluate the onset and severity of instability. The results demonstrate that the FFRB configuration is highly sensitive to oil supply parameters, exhibiting strong subsynchronous instabilities and hysteresis during acceleration–deceleration cycles. In contrast, the SFRB configuration consistently provided superior vibrational stability and reduced sensitivity to lubricant conditions. Changes in lubricant supply conditions induced a jump speed variation in floating ring bearing (FRB) turbochargers that was approximately 3.47 times larger than that experienced by semi-floating ring bearing (SFRB) turbochargers. Furthermore, IR images and oil outlet temperature data confirm that the FFRB system experiences greater heat generation and thermal gradients, consistent with higher energy dissipation through viscous shear. This study provides a comprehensive assessment of both bearing types under realistic high-speed conditions and highlights the advantages of the SFRB configuration in improving turbocharger reliability, thermal performance, and noise suppression. The findings support the application of SFRBs in high-performance automotive systems where mechanical stability and reduced frictional losses are critical. Full article

Firstly, this paper reviews the fundamental theories of solid surface wettability and contact angle hysteresis. Subsequently, it further introduces four typical wettability-engineered surfaces with low hysteresis (superhydrophobic, superamphiphobic, super-slippery, and liquid-like smooth surfaces). Finally, it focuses on the latest research progress in the field of droplet manipulation on open planar surfaces with engineered wettability. To achieve droplet manipulation, the core driving forces primarily stem from natural forces guided by bioinspired gradient surfaces or the regulatory effects of external fields. In terms of bioinspired self-propelled droplet movement, this paper summarizes research inspired by natural organisms such as desert beetles, cacti, self-aligning floating seeds of emergent plants, or water-walking insects, which construct bioinspired special gradient surfaces to induce Laplace pressure differences or wettability gradients on both sides of droplets for droplet manipulation. Moreover, this paper further analyzes the mechanisms, advantages, and limitations of these self-propelled approaches, while summarizing the corresponding driving force sources and their theoretical formulas. For droplet manipulation under external fields, this paper elaborates on various external stimuli including electric fields, thermal fields, optical fields, acoustic fields, and magnetic fields. Among them, electric fields involve actuation mechanisms such as directly applied electrostatic forces and indirectly applied electrocapillary forces; thermal fields influence droplet motion through thermoresponsive wettability gradients and thermocapillary effects; optical fields cover multiple wavelengths including near-infrared, ultraviolet, and visible light; acoustic fields utilize horizontal and vertical acoustic radiation pressure or acoustic wave-induced acoustic streaming for droplet manipulation; the magnetic force acting on droplets may originate from their interior, surface, or external substrates. Based on these different transport principles, this paper comparatively analyzes the unique characteristics of droplet manipulation under the five external fields. Finally, this paper summarizes the current challenges and issues in the research of droplet manipulation on the open planar surfaces and provides an outlook on future development directions in this field. Full article

In this paper, an uncertainty optimization method based on the adaptive hybrid correlation Kriging surrogate model is proposed to optimize the ply angles of laminated spherical-conical shells. First, equations of motion of laminated spherical-conical shells are constructed to calculate the vibration characteristics. Then, this paper proposes a Kriging surrogate model with adaptive weight hybrid correlation functions and validates its accuracy. Based on this framework, the weight distribution of the surrogate model for uncertain parameters in laminated spherical-conical shells under different ply angles is analyzed. To address the uncertainty optimization problem in laminated spherical-conical shell structures, an Improved Multi-objective Salp Swarm Algorithm is developed, and its optimization efficacy is systematically validated. Furthermore, an adaptive hybrid correlation Kriging surrogate model is reconstructed, incorporating both uncertainty parameters and design variables as inputs, with the peak vibration displacement and fundamental frequency serving as the output responses. The uncertainty optimization results confirm that the proposed methodology, along with the enhanced Kriging modeling strategy, exhibits both applicability and computational efficiency for such engineering applications. Full article

Aiming at the multifunctional requirements of the limited space in high-end vehicle side-door latches, a double single-loop RRUPRR mechanism driven by a single motor for both electric releasing and cinching is proposed based on the POC set. The kinematical equations of the RRURR mechanism possess 2 × 2 analytical solutions. In order to apply the current motion/force transmission performance index of the parallel mechanisms to the transmission performance analysis of the serial mechanisms, matching methods for chain-driving transference and the moving/fixed platform inversion are proposed. The solution of the performance index of a single-degree-of-freedom single-loop mechanism is equivalent to the solution of the input motion/force transmission performance index of a parallel mechanism. The overall motion/force transmission performance index of a single-loop mechanism is constructed, and the corresponding calculation procedure is defined. Chain-driving transference can be obtained through forward and inverse solutions of the RRURR mechanism. In response to the extremely high requirements for motion/force transmission performance of electric release mechanisms, the proposed overall motion/force transmission performance index is used to calculate for the input motion screw and corresponding transmission-force screw of the single-loop RRURR mechanism and obtain the overall motion/force transmission performance of the mechanism. The performance atlas of the mechanism shows that it has excellent motion/force transmission characteristics within the workspace. Using ADAMS simulation software, the driving torque required for electric releasing and cinching of a vehicle side-door latch mechanism with a single motor is analyzed. The overall motion/force transmission performance index of a single-loop mechanism can be applied to single-loop overconstrained mechanisms and non-overconstrained mechanisms. Full article

Underwater propulsion systems are the fundamental functional modules of underwater robotics and are crucial in intricate underwater operational scenarios. This paper proposes a biomimetic underwater robot propulsion scheme that is motivated by the hindlimb movements of the bullfrog. A multi-linkage mechanism was developed to replicate the “kicking-and-retracting” motion of the bullfrog by employing motion capture systems to acquire biological data on their hindlimb movements. The FDM 3D printing and PC board engraving techniques were employed to construct the experimental prototype. The prototype’s biomimetic and motion characteristics were validated through motion capture experiments and comparisons with a real bullfrog. The biomimetic bullfrog hindlimb propulsion system was tested with six-degree-of-freedom force experiments to evaluate its propulsion capabilities. The system achieved an average thrust of 2.65 N. The effectiveness of motor drive parameter optimization was validated by voltage comparison experiments, which demonstrated a nonlinear increase in thrust as voltage increased. This design approach, which transforms biological kinematic characteristics into mechanical drive parameters, exhibits excellent feasibility and efficacy, offering a novel solution and quantitative reference for underwater robot design. Full article

Three-dimensional (3D) radar imaging is essential for target detection and measurement of scattering characteristics. Cylindrical scanning, a prevalent spatial sampling technique, provides benefits in engineering applications and has been extensively utilized for assessing the radar stealth capabilities of large aircraft. Traditional cylindrical scanning generally utilizes highly sampled full-coverage techniques, leading to an excessive quantity of sampling points and diminished image efficiency, constraining its use for quick detection applications. This work presents an efficient 3D sampling strategy that integrates vertical linear scanning with horizontal rotating motion to overcome these restrictions. A joint angle–space sampling model is developed, and geometric constraints are implemented to enhance the scanning trajectory. The experimental results demonstrate that, compared to conventional techniques, the proposed method achieves a 94% reduction in the scanning duration while maintaining a peak sidelobe level ratio (PSLR) of 12 dB. Furthermore, this study demonstrates that 3D imaging may be accomplished solely by a “V”-shaped trajectory, efficiently determining the minimal possible sampling aperture. This approach offers novel insights and theoretical backing for the advancement of high-efficiency, low-redundancy 3D radar imaging systems. Full article

Modeling and simulation of aneurysm formation, growth, and rupture plays an essential role in a wide spectrum of application scenarios, ranging from risk stratification to stability prediction, and from clinical decision-making to treatment innovation. Unfortunately, it remains a non-trivial task due to the difficulties imposed by the complex and under-researched pathophysiological mechanisms behind the different development stages of various aneurysms. In this paper, we present a novel computational method for aneurysm simulation using smoothed particle hydrodynamics (SPH). Firstly, we consider blood in a vessel as a kind of incompressible fluid and model its flow dynamics using the SPH method; and then, to simulate aneurysm growth and rupture, the relationship between the aneurysm development and the properties of fluid particles is established by solving the motion control equation. In view of the prevalence of aneurysms in bifurcation vessels, we further enhance the capability of the model by introducing a solution for bifurcation aneurysms simulation according to Murray’s law. In addition, a CUDA parallel computing scheme is also designed to speed up the simulation process. To evaluate the performance of the proposed method, we conduct extensive experiments with different physical parameters associated with morphological characteristics of an aneurysm. The experimental results demonstrate the effectiveness and efficiency of proposed method in modeling and simulating aneurysm formation, growth, and rupture. Full article