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    Development and Prospects for Software‑Defined Intelligent Control Systems
    Tian-you CHAI, Rui ZHENG, Yao JIA, Xin-yu HUANG, Yan-jie SONG
    Journal of Northeastern University(Natural Science)    2025, 46 (7): 1-10.   DOI: 10.12068/j.issn.1005-3026.2025.20250079
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    The current state of research on software-defined control systems was reviewed, and the role and development of control systems throughout the industrial revolutions were analyzed. The intelligent development direction for software-defined control systems was proposed. The case study of a software-defined end-edge-cloud collaborative PID(proportional-integral-derivative) tuning intelligence system was presented, which demonstrates that the tight conjoining and coordination between industrial artificial intelligence, industrial Internet, and other new-generation information technologies with software‐defined control systems has opened up a new way for the development of software-defined intelligent control systems. Finally, the principal research directions for software-defined intelligent control systems were pointed out by considering the challenges faced by software-defined control systems and those specific to their intelligent transformation.

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    Absolute Position Accuracy Calibration Algorithm for Robots Based on Joint Geometric Error
    Liang LIANG, Cheng-dong WU, Shi-chang LIU
    Journal of Northeastern University(Natural Science)    2025, 46 (4): 1-7.   DOI: 10.12068/j.issn.1005-3026.2025.20230303
    Abstract1073)   HTML115)    PDF(pc) (1793KB)(665)       Save

    An industrial robot kinematic model with joint geometric error parameters and a calibration algorithm is proposed. Firstly, based on the DH model, six geometric error parameters are introduced for each joint to establish a more comprehensive error calibration model. The solutions of forward and inverse kinematic for the model are realized. Then, a differential kinematic Jacobian matrix containing 45 parameters, including joint errors, base coordinate errors, and tool coordinate errors is established. An iterative algorithm based on a small sample test set is used to solve the error parameters. Finally, experimental verification is carried out using a laser tracker on the SIASUN SR10C robot. The calibrated error parameters are then compensated into the model. Results show that, after calibration compensation, the maximum position error of the robot decreases by approximately 80%, the average position error decreases by approximately 80%, and the error variance decreases by approximately 97%, demonstrating that this method can significantly improve the absolute position accuracy and determinacy of industrial robots.

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    Segmentation Method for Glass-like Object Based on Cross-Modal Fusion
    Ying-cai WAN, Li-jin FANG, Qian-kun ZHAO
    Journal of Northeastern University(Natural Science)    2025, 46 (1): 1-8.   DOI: 10.12068/j.issn.1005-3026.2025.20230204
    Abstract1054)   HTML92)    PDF(pc) (2021KB)(502)       Save

    Due to the lack of distinct textures and shapes, objects such as glass and mirrors pose challenges to traditional semantic segmentation algorithms, compromising the accuracy of visual tasks. A Transformer‑based RGBD cross‑modal fusion method is proposed for segmenting glass‑like objects. The method utilizes a Transformer network that extracts self‑attention features of RGB and depth through a cross‑modal fusion module and integrates RGBD features using a multi‑layer perceptron (MLP) mechanism to achieve the fusion of three types of attention features. RGB and depth features are fed back to their respective branches to enhance the network's feature extraction capabilities. Finally, a semantic segmentation decoder combines the features from four stages to output the segmentation results of glass‑like objects. Compared with the EBLNet method, the intersection‑and‑union ratio of the proposed method on the GDD, Trans10k and MSD datasets is improved by 1.64%, 2.26%, and 7.38%, respectively. Compared with the PDNet method on the RGBD-Mirror dataset, the intersection‑and‑union ratio is improved by 9.49%, verifying its effectiveness.

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    Supply Chain Resilience: Research Review and Prospects
    Zhong-zhong JIANG, Jia-run GUO, Wei ZHENG
    Journal of Northeastern University(Natural Science)    2025, 46 (7): 59-70.   DOI: 10.12068/j.issn.1005-3026.2025.20250055
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    In recent years, compounded crises such as geopolitical conflicts (e.g., the Russia-Ukraine conflict) and technological containment (e.g., the China-U.S. trade friction) have continuously exerted a profound impact worldwide, revealing the vulnerabilities of global supply chains. Enhancing the supply chain resilience has become a critical strategy to ensure the sustainable development of countries around the world, especially China, and it serves as a vital foundation for making China strong in manufacturing. On this basis, existing research on supply chain resilience was comprehensively reviewed, with particular focus on its origins, conceptual definitions, and driving factors. The evolution of the research was systematically analyzed, and prospective research directions were explored from four dimensions: collaborative optimization, resource allocation, dynamic response, and risk management. The findings aim to provide theoretical support and decision reference for enhancing supply chain resilience both globally and within China.

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    CNN-Transformer Dehazing Algorithm Based on Global Residual Attention and Gated Feature Fusion
    Hai-yan LI, Ren-chao QIAO, Hai-jiang LI, Quan CHEN
    Journal of Northeastern University(Natural Science)    2025, 46 (1): 26-34.   DOI: 10.12068/j.issn.1005-3026.2025.20239041
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    To address the shortcomings of existing image dehazing algorithms, such as the lack of global contextual information, inadequate performance in dealing with non‑uniform haze, and the introduction of noise during the reuse of detailed information, a CNN-Transformer dehazing algorithm based on global residual attention and gated feature fusion is proposed. Firstly, a global residual attention mechanism is introduced to adaptively extract the detailed features from non‑uniform haze regions, and cross‑dimensional channel‑spatial attention is designed to optimize information weights. Thereafter, a global modelling Transformer module is proposed to deepen the feature extraction process of the encoder, and a Swin Transformer with parallel convolutions is constructed to capture the inter‑feature dependencies. Finally, a gated feature fusion decoder module is designed to reuse the texture information required for image reconstruction, to filter out irrelevant haze noise, and thereby to improve dehazing performance. Qualitative and quantitative experiments conducted on four publicly available datasets indicate that the proposed algorithm can effectively handle non‑uniform haze regions, reconstruct high‑fidelity haze‑free images with fine textures and rich semantics, and achieve higher peak signal‑to‑noise ratio and structural similarity index compared to the classic algorithm.

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    Active Obstacle Avoidance Path Planning for Multi-scenario Autonomous Vehicles Under Icy and Snowy Road Conditions
    Yu-long PEI, Shuang-zhu ZHAI
    Journal of Northeastern University(Natural Science)    2025, 46 (3): 1-11.   DOI: 10.12068/j.issn.1005-3026.2025.20239039
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    Addressing the issue of autonomous vehicles’ instability on icy and snowy roads, an improved rapidly-exploring random tree (RRT) path planning algorithm is proposed. Firstly, a dynamic model introducing road adhesion coefficient on icy and snowy roads is established. Secondly, the global target deflection sampling combined with the front pointing and steering angle of the vehicle, combined with the collision avoidance detection and the maximum curvature constraint under the velocity-adhesion coefficient, is used to improve the traditional RRT algorithm problem.Finally, a double quintic polynomial is used for path smoothing to ensure stability, brake constraints, and comfort. The performance of the improved algorithm RRT is compared with that of the traditional algorithm under multi-scenario conditions through the joint simulation of MATLAB-Simulink and CarSim. The experiments show that the improved RRT algorithm significantly improves the path smoothness, reduces the curvature mutation, has short time, high success rate and good stability when driving on ice and snow.

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    Research Progress on the Corrosion Failure Behavior of Coatings on Aluminum Alloy for Semiconductor Fabrication Equipment
    Yang ZHAO, Yu-hang WANG, Tao ZHANG, Fu-hui WANG
    Journal of Northeastern University(Natural Science)    2025, 46 (3): 28-45.   DOI: 10.12068/j.issn.1005-3026.2025.20240182
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    In the semiconductor fabrication equipment, the coatings on aluminum alloy often fail due to the coupling effect of high-temperature, vacuum and aggressive gases, including their plasma. In the chlorine-based plasma, the anodized coating has a high etching rate, leading to rapid removal, while the etching rate of Y2O3 coatings is approximately one in 50 of that of the anodized coating. In the fluorine-based plasma, both the anodized coating and Y2O3 coatings experience particle contamination due to the fluoride layer peeling. The corrosion resistance of the anodized coating can be significantly enhanced by adjusting the composition and temperature of the electrolyte or depositing a pure aluminum layer on the aluminum alloy surface. Additionally, improving the density of Y2O3 coatings can reduce their etching rate. Combining these strategies with remote plasma cleaning techniques can minimize the impact of charged particles on chamber materials, significantly reducing particle contamination in the reaction chamber. During the etching and thin film deposition processes, changes in the chamber surface composition can alter the plasma state, leading to various process defects.

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    Review of Multi-type Energy Routers Research
    Qiu-ye SUN, Rong-da XING, Qian-xiang SHEN, Zhen-ao SUN
    Journal of Northeastern University(Natural Science)    2025, 46 (7): 11-21.   DOI: 10.12068/j.issn.1005-3026.2025.20250063
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    Energy routers (ERs) are one of the core components of the energy Internet for achieving multi-port energy conversion and active energy flow control. This paper classified ERs into three categories: electrical ERs, information ERs, and multi-energy ERs. Based on the differences between these categories, the research on ERs is divided into four aspects: electrical conversion, focusing on topology and control of multi-port electrical conversion; energy routing control, primarily concerned with the regulation of power flow between ports of ERs; information processing and optimal control, emphasizing the acquisition and transmission of information and optimizing energy flow; and multi-energy coordination, with multi-energy comprehensive utilization as the main goal. Based on these four research aspects, this paper explored topology, control, communication, and multi-energy optimization of ERs, as well as the interrelationships between different aspects.

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    Intelligent Identification Method of Industrial Mixed Gases Based on ConvGRU Fusion Attention Mechanism
    Fan-li MENG, Shu-chang LI, Hao WANG, Zhen-yu YUAN
    Journal of Northeastern University(Natural Science)    2025, 46 (7): 37-48.   DOI: 10.12068/j.issn.1005-3026.2025.20240164
    Abstract812)   HTML16)    PDF(pc) (4835KB)(177)       Save

    To address the issue of high data dependency and insufficient accuracy in mixed gas identification for traditional semiconductor gas sensors, a ConvGRUAttention network model that integrates gated recurrent units (GRU), convolutional layers, and attention mechanism is proposed. Empirical wavelet transform (EWT) is employed to convert raw signals into the time-frequency domain and perform multi-scale decomposition, which suppresses noise, reduces data dependency, and enhances the model’s robustness. The model extracts local dynamic features through convolutional layers, captures long-term dependencies using GRU, and optimizes feature weights across multi-scale signals via the attention mechanism, thereby improving feature extraction and generalization capabilities. Experimental results demonstrate 100% accuracy in qualitative identification and a root mean square error (RMSE) of 3.3×10⁻⁶ in quantitative detection. Compared with the traditional methods, the detection accuracy for mixed gases is significantly improved.

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    Design and Experimental Verification of Small-Scale Magnetic Adsorption Wall-Climbing Robots
    Chen-wei TANG, Jian-lei LI, Hong-liang YAO, Ru-yu JIA
    Journal of Northeastern University(Natural Science)    2025, 46 (1): 68-75.   DOI: 10.12068/j.issn.1005-3026.2025.20230221
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    To address the challenges of complex structures and large sizes in traditional wall‑climbing robots, a novel small‑scale magnetic adsoprtion wall‑climbing robot was designed, capable of maneuvering on vertical surfaces and meeting the operational requirements in confined spaces. Based on the vibration‑driven theory, a foot structure with torsional characteristics was designed, incorporating a magnetic adsorption mechanism. A dynamic model of the wall‑climbing robot was established, and numerical simulations were performed to analyze the effect of excitation frequency and external load on the robot’s motion speed. The results indicated that the robot achieves the maximum climbing speed of 58.7 mm/s under no‑load conditions and 44.9 mm/s when carrying a load equivalent to 0.7 times its own mass. Experimental validation further demonstrated the maximum climbing speeds of 56.5 and 30.2 mm/s under no‑load and loaded conditions, respectively. Additionally, by adjusting the excitation frequency, the robot’s motion speed and direction can be effectively controlled.

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    Lightweight Design of SUV Automobile Aluminum Alloy Wheel Hub Based on Finite Element Simulation
    Xiao-ming CHEN, Jian-ye YU, Shun LIU, Chong ZENG
    Journal of Northeastern University(Natural Science)    2025, 46 (1): 99-109.   DOI: 10.12068/j.issn.1005-3026.2025.20230192
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    Based on the finite element analysis and performance testing, the lightweight design of aluminum alloy wheel hub is carried out. Firstly, the structural static analysis of the wheel hub model is carried out to obtain the stress and deformation distribution of the wheel hub under the static full load state of the vehicle using ANSYS Workbench. Secondly, through the analysis of the first six‑order modes of the wheel hub, the natural frequency and deformation of each order of the wheel hub are obtained, and the resonance law of the wheel hub excited by the engine and the road is proved. Then, according to the wheel hub’s bending fatigue, radial fatigue and impact simulation tests, the topology optimization of the wheel hub spokes is carried out and a lightweight wheel hub model is obtained. Finally, the lightweight wheel hub is tested again, and the testing results of the lightweight wheel hub and the original wheel hub are compared to obtain the performance changes of the wheel hub before and after optimization, so as to ensure that the lightweight wheel hub model still meets the requirement for strength.

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    Research on Localization of Industrial Intelligent Inspection Robots in Cable Tunnel Environment
    Yu-tao WANG, Jun-wei AN, Chang-sheng QIN, Wei-fan GUO
    Journal of Northeastern University(Natural Science)    2025, 46 (7): 49-58.   DOI: 10.12068/j.issn.1005-3026.2025.20240212
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    The cable tunnel is closed and narrow, with repetitively laid cable racks and similar scene textures, which is a degraded scenario. To address this environment, a visual-inertial SLAM (simultaneous localization and mapping) algorithm based on point-line feature fusion is proposed. The algorithm improves the high-dimensional line features through length suppression and short line fitting to make it more effective in describing the structural features of tunnel scene. In addition, for the problem of loop closure detection failure due to feature similarity in cable tunnels, ArUco markers with efficient recognition and accurate pose estimation are introduced to limit the loop closure area, and the optimal loop closure frames are selected using the minimized pose transformation to improve detection accuracy and localization precision. Finally, dataset collection and experimental validation were conducted in actual cable tunnels. The results show that the absolute trajectory accuracy of the algorithm is improved by 69.73% on average relative to VINSMono(visual intertial system-Mono), which meets the application requirements of cable tunnel inspection.

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    Application of Improved PSO-PH-RRT* Algorithm in Intelligent Vehicle Path Planning
    Qi-long JIANG, Jian XU
    Journal of Northeastern University(Natural Science)    2025, 46 (3): 12-19.   DOI: 10.12068/j.issn.1005-3026.2025.20239047
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    In application scenarios like robot control and autonomous navigation of intelligent vehicle, path planning needs to account for factors including obstacles and terrain. To address the issues of directionless expansion target and low efficiency in rapidly-exploring random tree (RRT) algorithm in path planning, a particle swarm optimization for probabilistically homogeneous rapidly-exploring random tree (PSO-PH-RRT*) algorithm is proposed. This algorithm base on the probabilistically homogeneous rapidly-exploring random tree (PH-RRT*) algorithm by using the particle swarm optimization algorithm to update the probability of direction as the velocity direction for random tree nodes, thereby improving the node position update strategy. It also uses the distance between the node and the target vector, along with trajectory smoothness, as the fitness function in the particle swarm optimization algorithm. Finally, simulations across various scenarios demonstrate that the PSO-PH-RRT* algorithm can significantly reduce iteration time costs while improving path length and smoothness.

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    Comparative Experimental Study on Micro-grinding Performance of 2.5D Cf/SiC Composites and SiC Ceramics
    Ya-dong GONG, Yuan-feng LI, Quan WEN, Qi-zhen REN
    Journal of Northeastern University(Natural Science)    2025, 46 (1): 52-60.   DOI: 10.12068/j.issn.1005-3026.2025.20230206
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    In order to explore the micro‑grinding process of 2.5D Cf/SiC composites and SiC ceramics, the differences of surface morphology, surface roughness and grinding force between the two materials under the same process parameters were compared, and the influence of process parameters on grinding performance evaluation parameters was analyzed. Single‑factor micro‑grinding experiments were carried out on the two materials by using 500# electroplated diamond micro‑grinding tools with the diameter of 0.9 mm. The results showed that the removal process of 2.5D Cf/SiC composites is different from that of SiC ceramics because the composites effectively inhibit the propagation of cracks during micro‑grinding. Under the same process parameters, 2.5D Cf/SiC composites have better surface micro‑morphology, fewer defects and less surface roughness, while SiC ceramics without fiber reinforcement have worse surface micro‑morphology, more defects and greater surface roughness. The average grinding force of SiC ceramics is more than 2.5D Cf/SiC, and the real‑time grinding force signal of 2.5D Cf/SiC is relatively stable during micro‑grinding, while the real‑time grinding force signal of SiC ceramics has spikes.

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    Dynamic Vehicle Routing Method Based on Improved Back-Pressure Algorithm
    Shuo WANG, Wei-min WU, Tao ZHANG
    Journal of Northeastern University(Natural Science)    2025, 46 (1): 18-25.   DOI: 10.12068/j.issn.1005-3026.2025.20239037
    Abstract744)   HTML19)    PDF(pc) (4168KB)(286)       Save

    A vehicle scheduling method based on vehicle density and speed back‑pressure (BP) is proposed to alleviate traffic congestion in traffic network. Addressing the complexity and heterogeneity of vehicles, the calculation of the BP value is based on vehicle density on upstream and downstream roads, with maximum allowable speeds serving as weights. Then, the BP ratio is used to govern the number of vehicles allocated from the upstream fleet to the downstream road to balance the traffic flow. In addition, the shortest driving distance for the fleet is used as the optimization goal for individual vehicle routing to reduce the average travel distance. Simulation results show that the proposed method is more effective than other BP algorithm‑based dynamic vehicle routing methods in reducing queuing length and alleviating congestion, while decreasing the average travel distance and time for vehicles significantly.

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    Reliability Optimization of Process Parameters Considering Milling Surface Morphology
    Xian-zhen HUANG, Xu WANG, Peng-fei DING, Zhi-yuan JIANG
    Journal of Northeastern University(Natural Science)    2025, 46 (3): 80-87.   DOI: 10.12068/j.issn.1005-3026.2025.20230275
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    Research is conducted on the ball end milling process with the aim of achieving reliable optimization of milling process parameters. Firstly, according to the motion trajectory of the ball end mill cutting edge, the surface morphology formed during machining is simulated using the Z-mapping (Z-MAP) algorithm, and the surface roughness (Ra) is introduced to measure the surface quality after machining. The accuracy of the surface morphology simulation model is validated through surface morphology analysis experiments. Then, considering the actual constraint conditions of the machining surface quality, the tool service life, and the uncertainty of process parameters during the machining process, a reliability optimization model for process parameters is established with spindle rotation speed, tool feed rate, axial cutting depth and radial cutting depth as the optimization variables, and maximizing the material removal rate (Q) as the optimization objective. Finally, the optimization model is solved using the grey wolf optimization algorithm to obtain the optimal process parameters, and the feasibility of the optimized results is verified through milling experiments.

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    Numerical Simulation of Mass and Heat Transfer in Iron Ore Sintering Process
    Zhong-zheng LI, Zhao-xia WU, Jin-yang WANG, Zeng-xin KANG
    Journal of Northeastern University(Natural Science)    2025, 46 (1): 35-43.   DOI: 10.12068/j.issn.1005-3026.2025.20230220
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    Taking the sintering material in a single pallet of a 360 m2 belt sintering machine in a steel plant as the research object, based on the porous media model and sintering theory, combined with local non‑equilibrium thermodynamic theory, component transport theory and the kinetic equation of various key sub‑models, a two‑dimensional transient mathematical model of mass and heat transfer in the sintering process of sintering material was established. The main factors and laws affecting the mass and heat transfer in the sintering process were simulated and studied, and the material bed temperature, the specific distribution of the main flue gas components in the material layer were obtained. The results show that, an increase in negative pressure of the exhaust caused a rise of overall temperature in the material layer, an increase in oxygen content and a decrease in carbon dioxide content in the material layer. The increase in thickness of the material layer leads to a rise of overall temperature, a decrease in oxygen content, and an increase in carbon dioxide content in the material layer. The appropriate exhaust negative pressure at the bottom of the trolley and material layer thickness are 12 kPa and 0.6 m, respectively. The temperature of the combustion zone is close to 1 500 K, and the volume fractions of oxygen and carbon dioxide in the combustion zone are about 11% and 10%, respectively.

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    Optimization of Material Flow in Sinter Vertical Cooling Furnace
    Hai-feng LI, Teng-fei QI, Yong-jie ZHANG, Zong-shu ZOU
    Journal of Northeastern University(Natural Science)    2025, 46 (1): 44-51.   DOI: 10.12068/j.issn.1005-3026.2025.20230245
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    In order to improve the material flow in the vertical cooling furnace of Shanghai Meishan Iron and Steel Co. , Ltd. , the optimization measures of edge‑center combined charging are proposed, and the discrete element method (DEM) is used to analyze the improvement effect of this measure on the material velocity distribution and flow pattern in the vertical cooling furnace. The results show that the edge‑center combined charging can change the velocity distribution law from the low‑velocity in the sidewall area and high‑velocity in the middle area and center area to high‑velocity in the sidewall area and center area and low‑velocity in the middle area. At the same time, the material flow pattern is changed from the original “U” type to “—” type. The minimum mass flow index of particles moving down is increased from 0.645 to 0.762, which improves the “mass flow” degree of material flow in the furnace. However, this charging method will cause serious segregation of large particles in the middle area. It is suggested to try to adjust the relative height of the edge and center charging pipes to balance the improvement of material flow and the increase of segregation.

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    Study on Overpressure and Disaster Distance of Wood Dust Explosion Based on TNT Equivalent Method
    Hao-nan ZHANG, Qi YUAN, Chun-miao YUAN, Gang LI
    Journal of Northeastern University(Natural Science)    2025, 46 (1): 119-126.   DOI: 10.12068/j.issn.1005-3026.2025.20230212
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    To quickly assess the overpressure and disaster distance of wood dust explosion, the TNT equivalent method was used to predict the overpressure value of wood dust explosion. The explosion pressure maximum of wood dust was simulated using ANSYS/LS-DYNA. The experimental results show that when the initial pressure is 0 MPa and the dust concentration is 750 g/m3, the error between simulated values and experimental values is within 10%; When the initial pressure is 0.101 MPa and the dust concentration is 730 g/m3, the error between the calculated value and the experimental value is 2.44%, the error between the simulated value and the experimental value is within 7%, and the error between the simulated value and the calculated value is within 8%. It proves that the TNT equivalent method is applicable for predicting the overpressure of wood dust explosion with or without standard atmospheric pressure. Based on the TNT equivalent method, the distribution of dust explosion overpressure in buildings was estimated, and the thresholds for casualties and building damage were analyzed. The research conclusion provides a reference basis for disaster prevention and mitigation measures such as the safe distance determination of hazardous areas for wood dust explosion.

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    Temperature Field Analysis and Machining Modeling of Inconel 718 for Wire Electrical Discharge Machining
    Yao-man ZHANG, Shuang-jin WU, Zhao-feng RAO
    Journal of Northeastern University(Natural Science)    2025, 46 (3): 88-96.   DOI: 10.12068/j.issn.1005-3026.2025.20230278
    Abstract677)   HTML10)    PDF(pc) (7759KB)(374)       Save

    Aiming at the characteristics of Inconel 718 material such as high work hardening rate and large cutting temperature variation, the machining mechanism and modeling of Inconel 718 were deeply studied by taking the discharge machining process of wire electrical discharge machining as the research object. The temperature field of single-pulse discharge is analyzed by the finite difference method and finite element simulation, and the theoretical and simulation temperature distribution results under given parameters are obtained. Furthermore, the law of the influence of pulse width on the size and shape of the corrosion pit is further explored. On the basis of considering the influence of the recast layer on the size of the pit, the surface roughness and material removal rate of machining are predicted and compared with the experimental data. The results show that with the change of pulse width, the variation trend of the theoretical and simulated electric pit dimensions is consistent. The maximum error between theoretical and simulation data and experimental results is 9.88%.

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