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Development and verification of the higher-order mode neutron flux calculation code HARMONY2.0

Nuclear Science and Techniques 2025年第1期36卷 207-225页

作者： Er-Pin Zhang Zi-Ning Ni Nian-Biao Deng Jin-Sen Xie Yong Liu Tao Yu School of Nuclear Science and Technology University of South ChinaHengyang 421000China Key Laboratory of Advanced Nuclear Energy Design and Safety Ministry of EducationHengyang 421000China Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of ChinaChengdu 610213China

Higher-order modes of the neutron diffusion/transport equation can be used to study the temporal behavior of nuclear reactors and can be applied in modal analysis, transient analysis, and online monitoring of the reactor core. Both the deterministic method and the Monte Carlo(MC) method can be used to solve the higher-order modes. However, MC method, compared to the deterministic method, faces challenges in terms of computational efficiency and α mode calculation stability, whereas the deterministic method encounters issues arising from homogenization-related geometric and energy spectra *** on the higher-order mode diffusion calculation code HARMONY, we developed a new higher-order mode calculation code, HARMONY2.0, which retains the functionality of computing λ and α higher-order modes from HARMONY1.0, but enhances the ability to treat complex geometries and arbitrary energy spectra using the MC-deterministic hybrid two-step strategy. In HARMONY2.0, the mesh homogenized multigroup constants were obtained using OpenMC in the first step,and higher-order modes were then calculated with the mesh homogenized core diffusion model using the implicitly restarted Arnoldi method(IRAM), which was also adopted in the HARMONY1.0 code. In addition, to improve the calculation efficiency, particularly in large higher-order modes, event-driven parallelization/domain decomposition methods are embedded in the HARMONY2.0 code to accelerate the inner iteration of λ∕α mode using OpenMP. Furthermore, the higher-order modes of complex geometric models, such as Hoogenboom and ATR reactors for λ mode and the MUSE-4 experiment facility for the prompt α mode, were computed using diffusion theory.

关键词： Neutron diffusion equation Higher-order modes Global homogenization Two-step method Domain

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Relative Localizability and Localization for Multirobot systems

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IEEE Transactions on Robotics 2025年 41卷 2931-2949页

作者： Chen, Liangming Liang, Chenyang Yuan, Shenghai Cao, Muqing Xie, Lihua Southern University of Science and Technology School of System Design and Intelligent Manufacturing Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Shenzhen518055 China Harbin Institute of Technology School of Mechanical Engineering and Automation Shenzhen518055 China Southern University of Science and Technology School of System Design and Intelligent Manufacturing Shenzhen518055 China Nanyang Technological University School of Electrical and Electronic Engineering 639798 Singapore Carnegie Mellon University Robotics Institute PittsburghPA15213 United States

Inter-robot relative positions are crucial for executing various multirobot missions, such as formation maneuvering and collaborative inspection. However, the current sensing technology usually provides part of relative position information, such as inter-robot distances, bearings and angles. This prompts the study of determining inter-robot relative positions, i.e., relative localization, from these partial measurements. Based on the existing results of static networks' localizability and mobile robots' relative localization, we propose a novel concept, relative localizability to describe whether a multirobot system is relatively localizable. Given each robot's self-displacement measurements and inter-robot partial measurements in d (d ≤ 4) sampling instants, we show that a multirobot system's relative localization can be achieved in a purely algebraic and distributed manner, in which the multirobot system is said to be d-step relatively localizable. To make the results more general, we consider that the multirobot system consists of landmarks, leaders, and followers, and that the inter-robot measurements can be distances, bearings or angles. When robots' coordinate frames have different orientations, we show that the given local measurements can be used to determine robots' relative positions and their coordinate frames' relative orientations simultaneously. Simulations and experiments of relative localization for ground robots are conducted to validate the obtained results. © 2004-2012 IEEE.

关键词： Multipurpose robots

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D-FUSION SLAM: A VSLAM system OPTIMIZED BY INTEGRATING DEPTH INFORMATION AND RGBD FEATURE POINTS

UPB Scientific Bulletin, Series C: Electrical Engineering an...

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UPB Scientific Bulletin, Series C: Electrical Engineering and Computer Science 2025年第1期87卷 121-138页

作者： Zheng, Qingchun Wu, Moudong Zhu, Peihao Yang, Bin Li, Shubo Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China China

This paper introduces D-Fusion SLAM, an advanced VSLAM system based on ORB-SLAM2. D-Fusion SLAM integrates depth information to enhance feature selection, aiming to improve accuracy and speed in visual SLAM applications. The system mainly comprises two modules: an image grid filtering module based on grayscale information and a feature selection module integrating depth information. These modules effectively eliminate redundant and useless features, ensuring high-quality features for pose estimation. We tested D-Fusion SLAM on the TUM dataset and compared it with ORB-SLAM2. Experimental results demonstrate that D-Fusion SLAM outperforms ORB-SLAM2, significantly enhancing the system's accuracy and robustness. © 2025, Politechnica University of Bucharest. All rights reserved.

关键词： Feature Selection

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Nonlinear Programming-Based Robot Motion Planning for Automatic Gait Measurement of a Passing Pedestrian in Corridors

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IEEE Access 2025年 13卷 73109-73123页

作者： Hayashide, Kazuyuki Takahashi, Mitsuhiro Takahashi, Masaki Keio University Graduate School of Science and Technology Yokohama223-8522 Japan Keio University Faculty of Science and Technology Department of System Design Engineering Yokohama223-8522 Japan

Patrol robots in hospital wards are expected not only to ensure the safety of their movements, but also to perform gait measurement as part of their monitoring functions. In this study, we present a system that enables a patrol robot to perform a 5-meter walk test (5mWT) on passing pedestrians in a corridor. The pedestrian’s position and velocity are measured sequentially, and the robot’s trajectory is generated based on the results using a nonlinear programming method, followed by Model Predictive Control tracking. This allows for adaptive gait measurement during passing interactions, taking into account arbitrary pedestrian trajectories. Furthermore, a parameter estimation method tailored to the characteristics of the acquired data, namely whole-body, continuous and multi-view measurements, is proposed. Through simulation and experiments, we confirmed the feasibility of the measurement operation and accuracy of the derived gait parameters. The proposed method can not only be used anywhere, but also measure gait over a long distance with high accuracy using a single sensor. Moreover, it could contribute to the realization of gait measurement without pedestrian’s tension. © 2013 IEEE.

关键词： Motion planning

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Effect of Free-End Torsion on the Corrosion and Mechanical Properties for Mg-3Zn-0.2Ca Alloy

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Acta Metallurgica Sinica(English Letters) 2025年第1期38卷 59-70页

作者： Li-Lan Gao Jiang Ma Yan-Song Tan Xiao-Hao Sun Qi-Jun Gao De-Bao Liu Chun-Qiu Zhang Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of TechnologyTianjin300384China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of TechnologyTianjin300384China School of Materials Science and Engineering Tianjin University of TechnologyTianjin300384China

Magnesium alloys with excellent degradability and biocompatibility are promising materials for biomedical implants,saving patients the burden of second ***,their mechanical properties and corrosion resistance are significantly below the requirements for implant *** study aims to improve the mechanical and corrosion resistance properties of Mg-3Zn-0.2Ca alloy by pre-torsion treatment,and find out the optimal shear *** rod-shaped Mg-3Zn-0.2Ca alloy specimens were pre-torsion treated at different torsion *** effect of free-end torsion on Mg-3Zn-0.2Ca alloy was characterized through microstructure analysis,mechanical testing,and corrosion ***-torsion treatment can refine grain and induce twins and dislocations in Mg-3Zn-0.2Ca *** surface hardness increases with the increase in torsion *** yield strength and ultimate strength initially increase and then decrease with increasing torsion angle,while ductility decreases with increasing torsion *** with a shear strain of 30%exhibit the highest tensile strength,reaching 284.78±10.62 MPa,with an elongation of 19.37±1.66%.Furthermore,they show a significant improvement in fatigue lives both before and after *** the stress amplitude is 120 MPa,the fatigue lives for specimens without pre-torsion treatment are 54,275 cycles and 4324 cycles before and after pre-corrosion,while they increased significantly to 92,015 cycles and 5050 cycles with the 30%shear strain,***,the 30%shear strain specimens show a significant reduction in corrosion *** conclusion,pre-torsion treatment can effectively modify the microstructure of Mg-3Zn-0.2Ca alloy,enhancing both mechanical properties and corrosion *** optimal shear strain for this improvement is 30%.This study provides a practical method to enhance the mechanical properties and corrosion resistance of Mg-3Zn-0.2Ca alloy,making it more suitable for biomedical implan

关键词： Magnesium alloy Pre-torsion Microstructure Mechanical property Corrosion resistance

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Sustainability and Resiliency in Airport Energy Infrastructure: A Multidisciplinary Methodology for Optimizing Building Operations

Sustainability and Resiliency in Airport Energy Infrastructu...

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AIAA Science and technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Kimanya, Humfrey M. Murugesan, Devesh Duncan, Scott J. Mavris, Dimitri N. Aerospace System Design Laboratory School of Aerospace Engineering Georgia Institute of Technology AtlantaGA United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

There is a striking difference in the domain of environmental consciousness: a large amount of greenhouse gases is produced by commercial buildings compared to what is commonly perceived in the transportation sector. The International Panel on Climate Change has labelled buildings as the third largest contributor of greenhouse emissions with at least 17.5%, whereas the aviation industry merely contributes 2%. Hence, there is an urgent need to decarbonize buildings to enhance sustainability, a sound path towards mitigating effects of climate change. Moreover, continued power supply to critical buildings such as hospitals and airports, is important to ensure life safety of their users. Power outages in such buildings disrupt operations resulting to substantial financial losses. For instance, the 2017 outage at the Hartsfield Jackson Atlanta Airport in the United States demonstrated the result — a 11-hour period without power which brought Delta airlines about $50M estimated in loss. From a system-of-systems perspective, this paper investigates decarbonizing of buildings and infrastructure by considering aspects of sustainability, resiliency, and a ordability. A detailed account of scenarios involving power outages, building HVAC systems and the demand of electric vehicles is balanced against the amount of power from the main grid and distributed energy resources including photovoltaics, storage systems and power generators. The aim of this study is to provide a financially optimum combination of grid energy and DERs (Distributed Energy Resources). As such, this study utilizes a proposed methodology that employs use of multi-variate regression models to integrate a building HVAC system modeled using Simcenter Amesim in a representative thermal envelope with an optimization tool developed by the US National Renewable Energy Laboratory. These modeling tools are used to create a parametric and interactive tool that assists stakeholders in assessing tradeo’s for building e

关键词： HVAC

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Surface-PMSM Sensorless Control Strategy Based on Reduced-Order Linear Kalman Filter Cooperating with Prediction Error Rolling Compensation

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IEEE Transactions on Power Electronics 2025年第8期40卷 10804-10815页

作者： Xu, Sang Shen, Anwen Tang, Qipeng Wang, Miaomiao Luo, Pan Luo, Xin Xu, Jinbang National Key Laboratory of Science and Technology on Multispectral Information Processing Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Wuhan430074 China Science and Technology on Reactor System Design Technology Laboratory Chengdu China

Kalman filter (KF) is increasingly attracted for sensorless control of surface permanent magnet synchronous motors (SPMSMs) due to its strong robustness against measurement and system noise. However, conventional method suffers from poor position and speed estimation accuracy under dynamic conditions, and high computational cost. In order to solve these problems, an enhanced sensorless control strategy based on reduced-order linear Kalman filter (RLKF) cooperating with prediction error rolling compensation is introduced in this paper. Differing from conventional method, a reduced-order linear state equation encompassing rotor position, speed and torque disturbance is constructed. Then, by obtaining the prediction error of system output using the motor current equation in the predictive reference frame, the optimal estimation of rotor position and speed in KF algorithm is achieved based on the reduced-order model. This not only simplifies the calculation process, but also enhances the position and speed estimation accuracy under dynamic conditions. Meanwhile, a prediction error rolling compensation algorithm is developed to minimize the estimation deviations caused by motor parameters variations. Additionally, the system's dynamic performance is further improved with an adopted speed controller based on torque disturbance feedforward and acceleration feedback. Finally, experimental results verify the effectiveness and feasibility of the proposed strategy.1 © 1986-2012 IEEE.

关键词： Permanent magnets

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A numerical method for predicting bursting strength of composite rocket motor case considering filament winding process-induced stress

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Chinese Journal of Aeronautics 2025年第2期38卷 505-518页

作者： Jiqiu LIANG Fei ZHAO Dan WU Anxin DING Hubei Key Laboratory of Advanced Aerospace Propulsion Technology Wuhan 430040China System Design Institute of Hubei Aerospace Technology Academy Wuhan 430040China School of Materials Science and Engineering Wuhan University of TechnologyWuhan 430070China State Key Laboratory of Advanced Technology for Materials Synthesis and Processing Wuhan University of TechnologyWuhan 430070China

A numerical method to predict the bursting strength of filament wound composite rocket motor case is proposed *** method can evaluate the longitudinal stress evolution of each composite layer as impregnated filaments with fiber tension are wound layer by layer,and consider the effects of accumulated stress and deformation during filament winding on the bursting strength of composite ***∅520 mm composite cases as a case study,the filament-winding-process-induced stress and deformation as well as progressive damage behavior are numerically predicted,followed by a comparison with experimental *** numerical results show that the predicted bursting pressures for composite cases manufactured on the mandrels with and without a flexible component are 14.20 MPa and 21.40 MPa,*** values exhibit slight deviation from the measured pressures of 13.50 MPa and 21.57 ***,the predicted damage locations,situated respectively in the dome and cylinder,agree well with the experimental *** observations indicate that use of flexible component reduces the load-bearing capacity of the ***,it validates the reliability and accuracy of the proposed numerical method in predicting the bursting strength of composite cases.

关键词： Composite case Fiber tension Bursting strengt hProgressive damage analysis Filament winding

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Stabilization of zinc anode by trace organic corrosion inhibitors for long lifespan

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Chinese Chemical Letters 2025年第3期36卷 538-543页

作者： Wenfeng Shao Chuanlin Li Chenggang Wang Guangsen Du Shunshun Zhao Guangmeng Qu Yupeng Xing Tianshuo Guo Hongfei Li Xijin Xu School of Physics and Technology University of JinanJi’nan 250022China State Key Laboratory of Chemical Resource Engineering Beijing University of Chemical TechnologyBeijing 100029China School of Chemistry and Chemical Engineering Shandong UniversityJi’nan 250100China School of System Design and Intelligent Manufacturing Southern University of Science and TechnologyShenzhen 518000China

Aqueous zinc-ion batteries are highly favored for their enhanced safety and reduced ***,there exist challenges including zinc dendrite,hydrogen evolution,and surface corrosion to be *** electrolyte additives is a highly convenient approach to solving zinc anode-related *** by industrial corrosion protection,a trace amount of the corrosion inhibitor urotropine(URT)is used as an electrolyte additive to protect the zinc *** calculation and experimental analysis confirm the adsorption of URT molecules onto the surface of Zn,which inhibits hydrogen *** adsorption further leads to the formation of an inorganic-organic bilayer solid electrolyte interface(SEI)on the surface of the zinc anode,effectively protecting the Zn anode from corrosion,hydrogen evolution and zinc *** presence of SEI enables symmetrical Zn//Zn cells to exhibit a long cycling performance of 1750 h at 1mA/cm^(2)and an average coulombic efficiency of 99.0%at 1mA/cm^(2)in Zn//Cu *** being coupled with polyaniline(PANI),the Zn//PANI full battery displays excellent cycle stability and specific capacity.

关键词： Solid electrolyte interface Aqueous zinc-ion battery Corrosion inhibitors Electrolyte additive Zinc anode

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Rapid Cooperative Guidance with Finite Time Convergence 21st

Rapid Cooperative Guidance with Finite Time Convergence

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21st Pacific Rim International Conference on Artificial Intelligence, PRICAI 2024

作者： Wang, Junkang Wang, Lili Hou, Jian School of Computer Science and Technology Zhejiang Sci-Tech University Zhejiang China School of System Design and Intelligent Manufacturing Southern University of Science and Technology Guangdong China

ISBN: (纸本)9789819601271

This paper investigates rapid cooperative guidance with finite time convergence in the context of missile attacks. Cooperative guidance systems play a crucial role in coordinating multiple missiles toward a common target efficiently in three-dimensional space. The missiles are assumed to be only able to exchange the time-to-go information with the neighbors based on an undirected communication network. A distributed guidance law called finite-time rapid cooperative guidance (Fit-RCG) is proposed. A nonlinear term is designed in Fit-RCG to ensure a faster convergence rate, and the finite time convergence is proved by using tools from graph theory and Lyapunov theory. Simulations are provided to validate Fit-RCG. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Network theory (graphs)

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