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Numerical Simulation of the Synergistic Effect of Cavitation and Particle Erosion

International Journal of Fluid Machinery and systems 2025年第1期18卷 13-26页

作者： Nan, Haozhi Han, Wei Li, Rennian Zhang, Yukun Dong, Yifan College of Energy and Power Engineering Lanzhou University of technology Gansu province Lanzhou730050 China Key Laboratory of Advanced Pumps Valves and Fluid Control System of the Ministry of Education Lanzh ou University of Technology Gansu province 730050 China Jiuquan Institute of Advanced Technology Lanzhou University of Technology China

Cavitation and particle erosion are critical factors affecting the performance and durability of hydraulic machinery. This study employs a combined numerical simulation approach by integrating a cavitation model with a Discrete Phase Model (DPM) erosion model. It examines single erosion and cavitation-erosion synergy under varying cavitation inducer angles. The results show that intensified vorticity behind the inducer increases particle concentration and sliding erosion, leading to higher erosion rates and larger erosion areas compared to the single erosion model. Additionally, a direct correlation is established between cavitation occurrences, particle velocity, vorticity, and erosion rates at different rotational speeds. Comparative analysis with experimental data indicates an 11.52% improvement in predictive accuracy for wear using the cavitation-erosion synergy model. These findings provide valuable insights for predicting wear in hydraulic machinery under cavitation and particle erosion conditions, contributing to enhanced equipment reliability and extended service life. © 2025, Turbomachinery Society of Japan. All rights reserved.

关键词： Cavitation

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Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 27-33页

作者： ZHAO Yanfei XIAO Peng WANG Jingchuan GUO Rui Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240China State Grid Intelligence Technology Co. Ltd.Jinan250013China

Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.

关键词： semi-autonomous navigation mobile robot semantic map voice interaction

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Moving-Window Integrated Physics-Data-Based Modeling of Four-Wheel Vehicle Lateral Dynamics

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Automotive Innovation 2025年 1-11页

作者： Wei, Wenpeng Wang, Jinxiang Pi, Dawei Zhuang, Weichao He, Tianyi Yin, Guodong School of Mechanical Engineering Southeast University JiangSu Nanjing 211189 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University JiangSu Nanjing 211189 China Safety and Intelligence of Vehicle Equipment Research Center Nanjing University of Science and Technology JiangSu Nanjing 210094 China Department of Mechanical and Aerospace Engineering Utah State University Logan 84322 UT United States

This paper presents an Integrated physics-data-based (IPDB) modeling of lateral vehicle dynamics with moving-window data snapshots. The IPDB model encodes the fundamental physical principle of four-wheel vehicle motions and simultaneously carries out the adaptiveness of the data-driven approach. Specifically, the traditional physics-based lateral dynamics considering four-wheel interaction are first derived into an affine linear-parameter-varying model, in which the vehicle-related parameters and motion variables are separated. Then, by using the Kronecker product, the IPDB model, directly formulated by the data snapshots in the moving-window fashion, is obtained for system representation. As a result, the IPDB technique rendered model is physically interpretable. The impacts of moving window length on modeling performance are numerically studied. The IPDB model accuracy is validated with data from CarSim simulations and experiments with passenger vehicles under various scenarios. It is further demonstrated that the proposed IPDB model is more data-efficient than other data-driven methods since it only uses the data snapshot in the moving window to update the model recursively. This characteristic enables the IPDB method with online modeling capability to adapt to varying driving scenarios. © The Author(s) 2025.

关键词： Autonomous vehicles Four-wheel vehicle dynamics Integrated physics-data-based modeling Linear parameter varying system

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BeltLineNet: A Shape-Prior-Guided Lightweight Network for Real-Time Deviation Detection in Circular Pipe Conveyors

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IEEE Sensors Journal 2025年第11期25卷 20024-20036页

作者： Zhao, Long Su, Jinhui Zhong, Yusheng Xie, Weiwei Su, Jinya Chen, Xisong Chen, Congyan Li, Shihua Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Nanjing210096 China Fujian Longking Intelligent Conveying Engineering Co. Ltd Longyan China

Belt deviation in circular pipe conveyor systems could lead to material spillage, environmental contamination, reduced efficiency, and accelerated belt wear. Real-time belt deviation detection is crucial for ensuring safe and efficient operation. However, existing methods, primarily developed for flat-belt systems, heavily rely on distinct belt-background semantics, making them unsuitable for circular conveyors where indistinct target features, motion blur, and occlusions pose significant challenges. To address these issues, we reformulate the deviation detection task as an object detection problem, proposing BeltLineNet, a lightweight, real-time deviation detection network specifically designed for circular pipe conveyors. Our method integrates explicit feature learning with a coarse-to-fine global feature fusion mechanism, enhancing belt line representation under complex conditions. Additionally, a shape-prior loss strategy is introduced to improve supervision during training, ensuring more accurate detection of elongated targets. The model is also optimized for real-time deployment through layer-adaptive pruning, achieving a balance between accuracy and computational efficiency. Extensive comparative experiments involving 8 state-of-the-art (SOTA) feature extraction networks and 6 feature enhancement strategies on a self-collected dataset under industrial conditions demonstrate that BeltLineNet surpasses SOTA feature extraction and fusion networks, improving average precision (AP) by 8.23% before pruning and 6.33% after pruning. © 2001-2012 IEEE.

关键词： Belt conveyors

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Adaptive Cooperative Estimation and Guidance Against Unknown Maneuvering Target

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IEEE Transactions on Aerospace and Electronic systems 2025年

作者： Liu, Tianrun Chen, Yang-Yang Li, Shihua Southeast University School of Automation Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China Advanced Ocean Institute of Southeast University Nantong226000 China

A critical challenge in missile guidance is the frequent inaccessibility of essential target information by on-board seekers. This paper studies the three-dimensional cooperative guidance issue of multiple missiles simultaneously attacking an unknown maneuvering target. Different from most existing research, the pitch and yaw lead angles of a maneuvering target are entirely unknown, while the position and velocity information is only accessible to neighboring missiles. An adaptive distributed estimator is designed to estimate the target information over a directed communication network, generating a transmitted target with similar maneuverability to the actual target for each missile. Boundedness of the estimation errors are guaranteed within a prescribed time. Subsequently, a modified guidance law that integrates proportional navigation (PN) and coordination components is developed for simultaneously tracking the trajectories of the transmitted targets. The superiority of the developed adaptive cooperative estimation and guidance approach is confirmed through simulations. © 1965-2011 IEEE.

关键词： adaptive estimate Cooperative guidance maneuvering target prescribed-time three-dimensional

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PAPI-Reg: Patch-to-Pixel Solution for Efficient Cross-Modal Registration between LiDAR Point Cloud and Camera Image

arXiv

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arXiv 2025年

作者： Yue, Yuanchao Li, Zhengxin Zhang, Wei Yuan, Hui Key Laboratory of Machine Intelligence and System Control Ministry of Education School of Control Science and Engineering Shandong University China

The primary requirement for cross-modal data fusion is the precise alignment of data from different sensors. However, the calibration between LiDAR point clouds and camera images is typically time-consuming and needs external calibration board or specific environmental features. Cross-modal registration effectively solves this problem by aligning the data directly without requiring external calibration. However, due to the domain gap between the point cloud and the image, existing methods rarely achieve satisfactory registration accuracy while maintaining real-time performance. To address this issue, we propose a framework that projects point clouds into several 2D representations for matching with camera images, which not only leverages the geometric characteristic of LiDAR point clouds more effectively but also bridge the domain gap between the point cloud and image. Moreover, to tackle the challenges of cross modal differences and the limited overlap between LiDAR point clouds and images in the image matching task, we introduce a multi-scale feature extraction network to effectively extract features from both camera images and the projection maps of LiDAR point cloud. Additionally, we propose a patch-to-pixel matching network to provide more effective supervision and achieve higher accuracy. We validate the performance of our model through experiments on the KITTI and nuScenes datasets. Our network achieves real-time performance and extremely high registration accuracy. On the KITTI dataset, our model achieves a registration accuracy rate of over 99%. © 2025, CC BY.

关键词： Cameras

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Robust Consensus Based Secondary control for Microgrids Considering Communication Delay and Noises: A Kalman Filter Based Approach

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IEEE Transactions on Smart Grid 2025年

作者： Zhao, Qi Zhang, Wen Zhang, Tingting Chen, Jian Ye, Hua Shandong University Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education School of Electrical Engineering Jinan250061 China Shandong University Shandong Research Institute of Industrial Technology Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education School of Electrical Engineering Jinan250061 China

To achieve the frequency and voltage regulation as well as active and reactive power sharing, the consensus-based secondary controls of microgrids rely on communication network to exchange signals between neighbor inverters, which may be affected by the communication delay and noises. Unlike the existing methods that focus solely on communication delay, this paper proposes a Kalman filter-based robust consensus control to address the communication delay and noises comprehensively. Based on the discrete differential equation of the signal transmitted via communication network, the multi-step prediction model of the delayed signal is firstly built by considering the prediction errors. The state space model is then constructed by taking the predicted signals at each step as the state variables while the delayed and noise-involved signal and its differential value are seen as the measurements. A Kalman filter is further designed to comprehensively handle the communication delay, noises and prediction errors to estimate the true signal generated from neighbor inverters. With the estimated signals of all neighbor inverters, the consensus control is performed to coordinate the grid-following and grid-forming inverters within the microgrid. The effectiveness of the proposed method is demonstrated with simulations and experiments performed on the modified IEEE-33 bus-based microgrid. © 2010-2012 IEEE.

关键词： Kalman filters

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A coordinated charging/discharging strategy for EVs with flexible mobility in multi-temporary microgrids

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Sustainable Energy, Grids and Networks 2025年 42卷

作者： Wang, Zhixian Falabretti, Davide Wang, Ying Zhang, Kaifeng Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University NO.2 Sipailou Road Jiangsu Nanjing210096 China Department of Energy Politecnico di Milano Milan20156 Italy

The increasing occurrence of extreme weather events can lead to more major power blackouts, which attracts attention to the utilization of temporary microgrids (TMGs) in the restoration stage. However, single TMGs originating after a blackout usually have weak resilience, because of their limited available resources. Therefore, cooperation between microgrids needs urgently to be studied: to this end, this paper proposes a novel charging/discharging strategy for electric vehicles (EVs) to achieve optimal power coordination between TMGs, by taking advantage of EV's temporal-spatial flexible mobility. First, a new user response willingness model for EVs is established considering move distance and charging compensation, and this model is combined with the EV eligibility assessment based on traveling time to evaluate the EV mobile possibility across TMGs. Then, a suitable resilience factor is proposed to measure the resilience of TMGs considering both the current and future operation conditions. Finally, a novel coordinated EV charging/discharging strategy exploiting the EVs’ mobility is developed based on a mixed integer optimization model, to enhance system resilience and reduce total regulation costs. A case study based on the realistic topology of Milan's urban area is analyzed, comparing the results obtained with the strategy without EV spatial cooperation. As a result, the proposed strategy can enhance the resilience of TMGs by 20.93 % and reduce the total regulation cost which is paid to regulation resources for ensuring the power balance of each TMG by 8.43 %. © 2025 Elsevier Ltd

关键词： Travel time

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Frequency Regulation Reserve Optimization Considering Flexible Resource Complementary Aggregation

Frequency Regulation Reserve Optimization Considering Flexib...

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Smart Grid and Artificial Intelligence (SGAI), International Conference on

作者： Zirui Huang Wenbo Mao Yaping Li Kaifeng Zhang Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China China Electric Power Research Institute CO. Ltd Nanjing China

ISBN: (数字)9798331518806

ISBN: (纸本)9798331518813

This paper proposes a fast-solving strategy that uses the complementarity of flexible resources to aggregate and participate in frequency regulation. Firstly, this paper proposes a frequency regulation performance index which can consider the adjustment rate, response delay time, adjustable capacity and adjustment cost of flexible resources. Then, based on the index, this paper uses the K-means algorithm to cluster the resources with similar performance. Then, this paper proposes an aggregation strategy considering the complementary of multiple flexible resources. Finally, this paper improves the unit combination optimization model, so that flexible resources can participate in the optimization in the form of aggregation, and the ratio of resources can be determined in advance, reducing the number of optimization parameters and improve the efficiency of solution. In this paper, the simulation is carried out on the IEEE-118 node. The results show that the proposed scheme can effectively improve the rate of optimization solution and effectively avoid the curse of dimensionality in the face of a large number of flexible resources.

关键词： Costs Optimization models Face recognition Smart grids Performance analysis Delays Time factors Indexes Optimization Frequency control

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Robust control Analysis With Model Transformation for Interval Type-2 Fuzzy systems

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IEEE Transactions on Fuzzy systems 2025年

作者： Yang, Jie Gai, Shaoyan Da, Feipeng Xie, Wenbo Southeast University School of Automation Nanjing210096 China Ministry of Education Key Laboratory of Measurement and Control of Complex Systems of Engineering Nanjing210096 China Shanghai University and Shanghai Artificial Intelligence Laboratory School of Mechatronic Engineering and Automation Shanghai200444 China

To address the problem of robust stability analysis for interval type-2 fuzzy systems (IT2FSs), this paper proposes an innovative analysis approach based on model transformation. Firstly, a classical piecewise linear approximation method is utilized to process the upper boundary membership functions (UMFs) and lower boundary membership functions (LMFs) of the footprint of uncertainty (FOU) in IT2FSs, resulting in linear boundary membership functions (MFs) that are more convenient for analysis, along with the corresponding approximation error functions. Subsequently, a novel error model transformation method is introduced to handle these error terms. By constructing new fuzzy rules and MFs, the boundary error terms are converted into a new fuzzy model, thereby incorporating more information about the error functions into the stability analysis. Based on this model, a robust stability condition in the form of linear matrix inequalities (LMIs) are derived, achieving improved robustness. Finally, the effectiveness of the proposed method is validated through simulations on real-world systems, and its superiority is demonstrated by comparison with existing methods. © 2025 IEEE.

关键词： Membership functions

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