The problem of the unmanned surface vessel (USV) path planning in static and dynamic obstacle environments is addressed in this paper. Multi-behavior fusion based potential field method is proposed, which contains thr...The problem of the unmanned surface vessel (USV) path planning in static and dynamic obstacle environments is addressed in this paper. Multi-behavior fusion based potential field method is proposed, which contains three behaviors: goal-seeking, boundary-memory following and dynamic-obstacle avoidance. Then, different activation conditions are designed to determine the current behavior. Meanwhile, information on the positions, velocities and the equation of motion for obstacles are detected and calculated by sensor data. Besides, memory information is introduced into the boundary following behavior to enhance cognition capability for the obstacles, and avoid local minima problem caused by the potential field method. Finally, the results of theoretical analysis and simulation show that the collision-free path can be generated for USV within different obstacle environments, and further validated the performance and effectiveness of the presented strategy.展开更多
The helium bubbles induced by 14 MeV neutron irradiation can cause intergranular fractures in reduced activation ferritic martensitic steel,which is a candidate structural material for fusion reactors.In order to eluc...The helium bubbles induced by 14 MeV neutron irradiation can cause intergranular fractures in reduced activation ferritic martensitic steel,which is a candidate structural material for fusion reactors.In order to elucidate the susceptibility of different grain boundaries(GBs)to helium-induced embrittlement,the tensile fracture processes of 10 types of GBs with and without helium bubbles in body-centered cubic(bcc)iron at the relevant service temperature of 600 K were investigated via molecular dynamics methods.The results indicate that in the absence of helium bubbles,the GBs studied here can be classified into two distinct categories:brittle GBs and ductile GBs.The atomic scale analysis shows that the plastic deformation of ductile GB at high temperatures originates from complex plastic deformation mechanisms,including the Bain/Burgers path phase transition and deformation twinning,in which the Bain path phase transition is the most dominant plastic deformation mechanism.However,the presence of helium bubbles severely inhibits the plastic deformation channels of the GBs,resulting in a significant decrease in elongation at fractures.For bubble-decorated GBs,the ultimate tensile strength increases with the increase in the misorientation angle.Interestingly,the coherent twin boundary∑3{112}was found to maintain relatively high fracture strength and maximum failure strain under the influence of helium bubbles.展开更多
基金financially supported by the National Natural Science Foundation of China(Grant No.51879049)DK-I Dynamic Positioning System Console Project
文摘The problem of the unmanned surface vessel (USV) path planning in static and dynamic obstacle environments is addressed in this paper. Multi-behavior fusion based potential field method is proposed, which contains three behaviors: goal-seeking, boundary-memory following and dynamic-obstacle avoidance. Then, different activation conditions are designed to determine the current behavior. Meanwhile, information on the positions, velocities and the equation of motion for obstacles are detected and calculated by sensor data. Besides, memory information is introduced into the boundary following behavior to enhance cognition capability for the obstacles, and avoid local minima problem caused by the potential field method. Finally, the results of theoretical analysis and simulation show that the collision-free path can be generated for USV within different obstacle environments, and further validated the performance and effectiveness of the presented strategy.
基金supported by the National Natural Science Foundation of China(Nos.12175231 and 11805131)Anhui Natural Science Foundation of China(No.2108085J05)+1 种基金the National Key Research and Development Plan of China(No.2018YFE0307101)the Collaborative Innovation Program of the Hefei Science Center,CAS(Nos.2021HSC-CIP020 and 2022HSC-CIP009)。
文摘The helium bubbles induced by 14 MeV neutron irradiation can cause intergranular fractures in reduced activation ferritic martensitic steel,which is a candidate structural material for fusion reactors.In order to elucidate the susceptibility of different grain boundaries(GBs)to helium-induced embrittlement,the tensile fracture processes of 10 types of GBs with and without helium bubbles in body-centered cubic(bcc)iron at the relevant service temperature of 600 K were investigated via molecular dynamics methods.The results indicate that in the absence of helium bubbles,the GBs studied here can be classified into two distinct categories:brittle GBs and ductile GBs.The atomic scale analysis shows that the plastic deformation of ductile GB at high temperatures originates from complex plastic deformation mechanisms,including the Bain/Burgers path phase transition and deformation twinning,in which the Bain path phase transition is the most dominant plastic deformation mechanism.However,the presence of helium bubbles severely inhibits the plastic deformation channels of the GBs,resulting in a significant decrease in elongation at fractures.For bubble-decorated GBs,the ultimate tensile strength increases with the increase in the misorientation angle.Interestingly,the coherent twin boundary∑3{112}was found to maintain relatively high fracture strength and maximum failure strain under the influence of helium bubbles.
