Double-layer fuzzy adaptive NMPC coordinated control method of energy management and trajectory tracking for hybrid electric fixed wing UAVs

The energy management and trajectory tracking control are crucial to realize long-endurance autonomous flight for hybrid electric UAVs. This study aims to comprehensively consider energy management and trajectory tracking for hybrid electric fixed wing UAVs with photovoltaic panel/fuel cell/battery. A double-layer fuzzy adaptive nonlinear model predictive control method (DFNMPC) is proposed. Separated by the surplus demand power, energy management and trajectory tracking problem are decoupled into the high-layer fuzzy adaptive nonlinear model predictive controll problem (H-FNMPC) and low-layer fuzzy adaptive nonlinear model predictive controll problem (L-FNMPC). H-FNMPC solves the trajectory tracking and navigation control probelm for the greatest benefit of solar energy. L-FNMPC solves the power allocation problem of hybrid energy system for minimum equivalent hydrogen consumption. A fuzzy adaptive prediction horizon adjustment method based on UAV maneuvering degree is proposed to effectively improve proposed method adaptability to different mission profiles. Analogously, a fuzzy adaptive equivalent hydrogen consumption factor adjustment method in L-FNMPC is proposed to ensure the flexible utilization of battery. In addition, an equivalent hydrogen flow rate calculation method based on the real-time current ratio is proposed for PV/FC/Battery hybrid energy system. Numerical simulation results including a spiral trajectory tracking and a quadrilateral trajectory tracking, demonstrate that DFNMPC can simultaneously handle energy management and trajectory tracking problem for hybrid electric UAVs. Compared to hierarchical fuzzy state machine strategy, DFNMPC can save 13.3% hydrogen for the spiral trajectory tracking, and 56.9% for the quadrilateral trajectory tracking. It indicates that the energy efficiency can be improved from both levels of energy management and flight motion. The proposed method prospected for exploring high-energy-efficiency autonomous flight of hybrid electric UAVs in the future.     

Feeding behavior parameters and temporal patterns in mid-lactation Holstein cows across a range of residual feed intake values

Residual feed intake (RFI) is a measurement of the difference between actual and predicted feed intake when adjusted for energy sinks; more efficient cows eat less than predicted (low RFI) and inefficient cows eat more than predicted (high RFI). Data evaluating the relationship between RFI and feeding behaviors (FB) are limited in dairy cattle; therefore, the objective of this study was to determine daily and temporal FB in mid-lactation Holstein cows across a range of RFI values. Mid-lactation Holstein cows (n = 592 multiparous; 304 primiparous) were enrolled in 17 cohorts at 97 ± 26 d in milk (± standard deviation), and all cows within a cohort were fed a common diet using automated feeding bins. Cow RFI was calculated as the difference between predicted and observed dry matter intake (DMI) after accounting for parity, days in milk, milk energy, metabolic body weight and change, and experiment. The associations between RFI and FB at the level of meals and daily totals were evaluated using mixed models with the fixed effect of RFI and the random effects of cow and cohort. Daily temporal FB analyses were conducted using 2-h blocks and analyzed using mixed models with the fixed effects of RFI, time, RFI × time, and cohort, and the random effect of cow (cohort). There was a positive linear association between RFI and DMI in multiparous cows and a positive quadratic relationship in primiparous cows, where the rate of increase in DMI was less at higher RFI. Eating rate, DMI per meal, and size of the largest daily meal were positively associated with RFI. Daily temporal analysis of FB revealed an interaction between RFI and time for eating rate in multiparous and primiparous cows. The eating rate increased with greater RFI at 11 of 12 time points throughout the day, and eating rate differed across RFI between multiple time points. There tended to be an interaction between RFI and time for eating time and bin visits in multiparous cows but not primiparous cows. Overall, there was a time effect for all FB variables, where DMI, eating time and rate, and bin visits were greatest after the initial daily feeding at 1200 h, increased slightly after each milking, and reached a nadir at 0600 h (6 h before feeding). Considering the relationship between RFI and eating rate, additional efforts to determine cost-effective methods of quantifying eating rate in group-housed dairy cows is warranted. Further investigation is also warranted to determine if management strategies to alter FB, especially eating rate, can be effective in increasing feed efficiency in lactating dairy cattle.     

Magnetic field-enhanced photocatalytic nitrogen fixation over defect-rich ferroelectric Bi2WO6

Photocatalytic N₂ fixation is a promising and sustainable manufacturing process of ammonia (NH₃); however, the NH₃ production rate by this method is very low, thus severely restricting further application of this sustainable technology. Therefore, developing an efficient photocatalyst for N₂ fixation under mild conditions is urgently required. Herein, ferroelectric Bi₂WO₆ materials with different surface oxygen defects were prepared, and the concentration of corresponding defects was controlled by adjusting the thermal reduction time. The abundant oxygen defects in Bi₂WO₆ can provide more reactive sites to promote the effective adsorption of N₂, and the photogenerated charge carrier can be efficiently separated benefiting from the internal electric field. These would weaken the N₂ triple bond and reduce the activation energy barrier for the conversion of N₂ to NH₃ under mild conditions. In the absence of sacrificial agents and cocatalysts, the optimized Bi₂WO₆ with oxygen defects shows an indigenous NH₃ yield of 132.175 μmol·g^-1·L^-1·h^-1, which is more than two times higher than that of the original Bi₂WO₆. Surprisingly, the Bi₂WO₆ with oxygen defects produced more than eight times NH₃ (471.13 μmol·g^-1·L^-1·h^-1) than that of the original Bi₂WO₆ when assisted by an external magnetic field, thus providing a new perspective for further enhancing the N₂ fixation performance.     

条形药包爆破震动场的试验研究

通过时条形药包周围实测爆破震动数据采用数值计算方法进行处理，作出了条形药包周围的爆破震动场，使我们对条形药包的爆破地震效应有了全面的认识，从而在实际工程爆破中能够有针对性地进行安全防护。分析研究认为：条形药包周围的震动场由一系列同心椭圆形等震线组成。在爆破近区由于位置因素的影响，等震线的长轴与药包轴线重合；在远区的震动主要受波动干涉作用的影响，致使长轴与药包轴线垂直，因此不能采用集中药包的计算方法。     

疫情下电磁场理论课程的网络教学

本文主要总结了新冠疫情期间作者的电磁场理论课程在线教学经验。对比分析了录播和直播的优缺点后,选择录播教学方式。基于超星网络教学平台,展示了录播网络教学的具体措施,包括网上答疑和学习效果检查以及在线批改作业等。给出了网络教学可以为线下教学继续使用的方法和手段,为疫情结束后的正常教学提供了新的网络教学补充措施。     

Identification and U-control of a state-space system with time-delay

This article presents a state-space model with time-delay to map the relationship between known input-output data for discrete systems. For the given input-output data, a model identification algorithm combining parameter estimation and state estimation is proposed in line with the causality constraints. Consequently, this article proposes a least squares parameter estimation algorithm, and analyzes its convergence for the studied systems to prove that the parameter estimation errors converge to zero under the persistent excitation conditions. In control system design, the U-model based control is introduced to provide a unilateral platform to improve the design efficiency and generality. A simulation portfolio from modeling to control is provided with computational experiments to validate the derived results.     

低压静电场辅助冷冻对竹笋品质的影响

为研究低压静电场辅助冷冻对竹笋冻结特性的影响，以冻结曲线、硬度、水分损失率、水分迁移、冰晶形态和组织微观结构为指标，探究低压静电场辅助冷冻（－35 ℃）和普通冷冻（－35 ℃）条件下竹笋品质的变化规律。结果表明：低压静电场辅助冷冻提高了冻结效率，改变了冰晶形态及分布，减轻了组织微观结构破损程度，改善了解冻汁液流失情况。与静电板间距10、20、30、40 cm处的冷冻竹笋解冻后水分损失率分别为14.16%、12.58%、9.73%、10.44%，显著低于对照组（21.01%）（P＜0.05），硬度分别为461.19、507.48、496.65 g和455.31 g，显著高于对照组（350.70 g）（P＜0.05）。低场核磁共振分析结果表明，在低压静电场辅助冷冻下竹笋解冻后汁液流失减少，扫描电子显微镜观察结果显示，竹笋纤维排列整齐，组织微观结构保持较好。低压静电场辅助冷冻可有效改善竹笋品质，可为利用低压静电场进行果蔬的冷冻贮藏和冷链运输提供参考。     

Corrosion behavior of copper in extremely harsh marine atmosphere in Nansha Islands,China

The corrosion behavior of pure copper exposed to the atmosphere of Nansha Islands for 21 months was studied by mass loss method, composition analysis, morphology observation and electrochemical measurements. The results showed that the average corrosion rate of copper exposed for one year was approximately 7.85 μm/a, implying that Nansha Islands was classified as a corrosion category of CX. The structure and properties of the corrosion product layer generated on the front and back sides of the exposed sample differed significantly. The inner corrosion product layer (Cu₂O) on the front side was relatively thick and dense, whereas the outer product layer (Cu₂Cl(OH)₃) was extremely thin. However, the outer product layer on the back side was thicker than the inner layer. Electrochemical measurements indicated that the protection afforded by the corrosion product layer on the front side was improved gradually, while that on the back side was deteriorated.     

Laboratory Studies to Determine Suitable Chemicals to Improve Oil Recovery from Garzan Oil Field

Garzan oil field is located at the south east of Turkey. It is a mature oil field and the reservoir is fractured carbonate reservoir. After producing about 1% original oil in place (OOIP) reservoir pressure started to decline. Waterflooding was started in order to support reservoir pressure and also to enhance oil production in 1960. Waterflooding improved the oil recovery but after years of flooding water breakthrough at the production wells was observed. This increased the water/oil ratio at the production wells. In order to enhance oil recovery again different techniques were investigated. Chemical enhanced oil recovery (EOR) methods are gaining attention all over the world for oil recovery. Surfactant injection is an effective way for interfacial tension (IFT) reduction and wettability reversal. In this study, 31 different types of chemicals were studied to specify the effects on oil production. This paper presents solubility of surfactants in brine, IFT and contact angle measurements, imbibition tests, and lastly core flooding experiments. Most of the chemicals were incompatible with Garzan formation water, which has high divalent ion concentration. In this case, the usage of 2-propanol as co-surfactant yielded successful results for stability of the selected chemical solutions. The results of the wettability test indicated that both tested cationic and anionic surfactants altered the wettability of the carbonate rock from oil-wet to intermediate-wet. The maximum oil recovery by imbibition test was reached when core was exposed 1-ethly ionic liquid after imbibition in formation water. Also, after core flooding test, it is concluded that considerable amount of oil can be recovered from Garzan reservoir by waterflooding alone if adverse effects of natural fractures could be eliminated.