Field Method Research Articles

Pore-scale insights into CO2-water two-phase flow and implications for benefits of geological carbon storage

The overall benefits of geological carbon storage (GCS) depend primarily on CO2 storability and injectability, expressed as saturation and relative permeability, respectively. The effects of GCS schemes on these two properties, the macroscopic response indicators of a two-phase seepage system, are closely related to pore-scale two-phase behaviors. However, the comprehensive effects of capillary number (Ca) and wettability (θ) on saturation and relative permeability are poorly understood. Here we proposed a digital rock physics (DRP) technique workflow for the phase field method and systematically investigated how these effects control two-phase seepage at pore scale through the high-resolution visualization results obtained. We created a Ca-θ phase diagram identified by four pore-scale displacement mechanisms, including finger-like invasion, burst, cooperative filling and coexistence of concave and convex interfaces, to illustrate the comprehensive effects of Ca and θ. We found that the relative permeability of the defending phase (water in this work) is determined by the net effect of the direct driving and viscous coupling effects. We organized comprehensive Ca-θ diagrams and revealed the favorable conditions for CO2 injectability and storability. Our results demonstrate that GCS schemes, mainly about capillary number and wettability, can significantly influence CO2 storage performance via the two-phase flow at pore scale, which should be considered carefully. This work provides valuable insights into the selection of an optimal GCS scheme and contributes to an in-depth understanding of multiphase seepage at pore scale.

Determining peat's vertical hydraulic diffusivity and hydraulic conductivity from naturally occurring hydraulic pressure fluctuations measured at various depths

AbstractThis study presents a method that could be used to assess the in‐situ saturated vertical hydraulic conductivity of deeper and more decomposed peat layers. Deeper peat layers may exhibit very low permeability comparable to clayey sediments, where measurements and sediment sample collection are very difficult. More traditional measurement methods, such as slug‐tests and permeameter tests, have proven difficult to carry out in these conditions, necessitating an alternative method. For surpassing these possible constraints, this paper introduces a field method to quantify vertical hydraulic diffusivity, capitalizing on naturally occurring hydraulic pressure fluctuations measured with buried pressure sensors. The determined diffusivity values are used to calculate vertical hydraulic conductivity of peat using separately measured compressibility and specific storage values. Our research demonstrates the feasibility of using this method to evaluate vertical hydraulic diffusivity in lower peat layers. Calculated diffusivity values, combined with peat compressibility measurements, yield reasonable estimates of vertical hydraulic conductivity for dense fen peat comparable with more widely used in‐situ and laboratory methods. It also shows potential for vertical hydraulic characteristics parametrization in the upper less decomposed and compacted peat layers; however, further research is needed to understand the method's limitations in such conditions. Our approach provides a potential method for measuring in‐situ vertical hydraulic properties of less accessible peat layers, often overlooked, while also providing a way to surpass the scale‐dependency constraints inherent in peatlands' heterogeneous structure. Such information is necessary when studying the hydraulic interactions between groundwater aquifers and peatlands.

Formation dynamics of the satellite droplet in the breakup of a symmetrical liquid bridge

Inkjet printing technology has played an irreplaceable role in life science, precision manufacturing, and other frontier fields in recent years. However, the further development of this technology is limited by the fact that its printing resolution is difficult to raise to a higher level. The emerging satellite droplet printing technology offers a new approach for inkjet printing to break through the bottleneck of printing resolution limitations. In this paper, a symmetrical satellite droplet printing strategy is proposed. The effects of the geometric parameters of the satellite droplet generating device, the physical properties of the ink, and the operating parameters on the liquid bridge breakup process and the size of the satellite droplet are systematically studied. The phase field method and adaptive mesh refinement strategy are applied to solve the two-dimensional symmetrical model. The results indicate that the length of the liquid bridge, the radius of the bridge, the viscosity of the ink, and the drainage velocity are all positively correlated with the satellite droplet size, while the surface tension coefficient has a negative correlation with the satellite droplet size. Furthermore, the three-phase contact line at the orifice end will slip toward the center if the initial radius of the liquid bridge is quite large. Based on these investigations and discussions, a corresponding effective working space for satellite droplet printing is obtained, which lays the foundation for the popularization and further development of satellite droplet printing technology.

Droplet impact and rebound dynamics on superhydrophobic surfaces

The impact and rebound dynamics of droplets on superhydrophobic surfaces were investigated through numerical analysis employing the phase field method. The influences of contact angle, impact velocity, surface tension, and dynamic viscosity on the fields of pressure and velocity as well as the spreading factor and central height were described comprehensively. The results indicate that there are a series of stages of impingement, spreading, transition, retraction, and rebound in order throughout the life cycle of a droplet. The droplet exhibits distinct pressure and velocity profiles upon impingement stage, with the maximum pressure at the lower center and higher velocities at the upper periphery, spreading around. Velocities are predominantly upward, peaking at the bottom of the droplet during the rebound stage. A larger contact angle, viscosity, surface tension, and lower impact velocity contribute to a reduced maximum spreading factor. Deposition is more likely to occur when the impact velocity, surface tension is lower, and the viscosity is larger. Droplets tend to rebound when the contact angle, impact velocity, and surface tension are larger. Thresholds for impact velocity, surface tension, and viscosity were delineated for droplet rebound. Furthermore, a correlation for predicting the maximum spreading factor of droplets on superhydrophobic surfaces was proposed.

GRAIN YIELD AND SIDERAL MASS OF FIELD CROPS IN CROP ROTATIONS OF THE LOWER VOLGA REGION

Background. For the first time in the abiotic conditions of the Lower Volga region on light chestnut soils, new methods of biologization of soil fertility preservation and specialized field crop rotations based on the replacement of pure steam with sideral steam with little–studied crops for green fertilizer – biennial yellow clover, oats and phacelia were developed and studied; the structure of sown areas includes cultures of various biological groups, including cereals, legumes, oilseeds, rowed and perennial legumes; in addition to siderates, organic fertilizers are used in the form of straw and crop –root residues of cultivated crops. The purpose of the work is the influence of pure and sideral steam on the yield of field crops Materials and methods. The study of the influence of sideral masses on the yield of grain crops in field crop rotations in the conditions of the Lower Volga region. Results. According to the conducted research, it has been established that biologized crop rotations are the first major stage in the transition to organic farming in the Volgograd region. The best option for the soils of the dry-steppe zone of chestnut subzones of light chestnut soils of the Lower Volga region is a four-field biologized field crop rotation and a five-field crop rotation with sideral steam (donnik). Conclusion. Data analysis showed that the best indicators of winter wheat yield were obtained for pure and sideral (sweet clover) pairs - 1.8 t/ha, chickpeas for the predecessor winter wheat in the five–field crop rotation - 0.87 t/ha and spring barley for the predecessor chickpeas – 1.48 t/ha.

The effect of fastener clip fatigue for high-speed railway on vehicle-track dynamic interaction: Numerical analysis and probabilistic evaluation

To investigate the vehicle-induced fatigue damage evolution of fastener clips and their impact on the vehicle-track (VT) system, a numerical dynamic model is established to achieve probabilistic evaluation. The “rain flow” counting method is adopted to describe the stress cycles of the hazard area of the clips, and the S-N curve is used to predict the fatigue life of the clips. The solution of the dynamic equation of motion is obtained by the time-domain Green's function method, which is an effective method to improve computational efficiency. A versatile iterative algorithm is adopted to solve the nonlinear system considering the damaged clips. In the probabilistic evaluation framework, a novel random field method is employed to depict the spatial variability of clips’ strength. The applicability of the model established in this work in aspects of expressing random damage of fasteners and evaluating the dynamic behavior of the system is demonstrated by different numerical examples. The results show that the dynamic responses of the train and track system significantly exacerbate as the number of train cycles increases, which is closely related to the variability and non-uniform damage of the fasteners. The probability of cumulative damage to the fasteners induced by the train follows a three-stage rule, and the fatigue damage of the non-uniform fastener system caused by the train is greater than that of the uniform situation. In addition, the short wave components of track irregularity will significantly exacerbate the damage to fasteners and therefore degrade the status of the railway line. As the driving speed increases, the damage to the fasteners also increases, but the impact of vehicle speed on the fastener damage is smaller than that of track irregularity, especially in the range of fatigue damage greater than 0.9. Therefore, maintaining the geometric smoothness of the track, controlling the uniformity of the mechanical properties of the fasteners, and reducing the driving speed are feasible measures to extend the service life of the fastener system, thereby ensuring the operation of high-speed trains.

Mestre's Finite Field Method for Searching Elliptic Curves with High Ranks

Mestre's Finite Field Method for Searching Elliptic Curves with High Ranks

Delineating leachate-groundwater interaction at Gyadi-Gyadi dumpsite, Kano, using natural electromagnetic (EM) field detector and Vertical Electrical Sounding (VES)

Geophysical investigations are mostly used for hydrogeological studies, mining, geotechnical investigation and environmental surveys. Geophysical investigation of groundwater within the dumpsite is highly critical because the extent of interaction between leachate plume/contaminated zone and aquifer zones could significantly reduce groundwater quality. The textural complexity and clay content of soils could change their electrical properties, thus reflecting inconsistent resistivity values using the resistivity method. This research investigates the extent of leachate infiltration from waste dumpsite into groundwater at Gyadi-Gyadi Kano State, using natural Electromagnetic (EM) field and Vertical Electrical Sounding (VES) methods. Six natural EM profiles were obtained in various locations within the study area using PQWT-TC 150 model. Six VES data points were occupied along the EM profile lines using SAS 1000 ABEM resistivity meter. The two techniques employed revealed some intercalations of low resistivity (conductive) as well as very low electrical potential differences in the study area. The low resistivity media are mixtures of leachates into groundwater units, thereby creating formations from the surface to a depth of about 40 m. The first and second layers have experience leachate-aquifer interaction in the northern, southern and eastern parts of the study area to about 40 m depth, and the leachate-aquifer interaction has extended to the deep aquifer of about 70 m depth at the western part. Shallow aquifer has not been infiltrated by leachate at about >100 m away from the waste dumpsite. Therefore, for potable groundwater exploitation in this area, it is advised that boreholes should be sited >100 m away from the dumpsite, where leachate-aquifer interaction has attenuated. The natural EM field detector is evidently constrained by issues of over-generalization and summation of potential values, probably due to its relatively low resolution. Hence it might not be capable of precisely delineating varying geological units. In contrast, the resistivity method is able to delineate and discretize the subsurface into sub-units of different resistive zones. This implies that VES is better suited for accurately defining the true subsurface geology, while the NEF detector is effective for determining the extent of a leachate plume.

Mangrove Diversity as An Indicator of Ecosystem Health on Ambon Island, Indonesia

The research aims to determine the species richness, diversity and distribution of mangrove populations in forest areas, which is one of the parameters of forest health in the Passo Village’s mangrove forest. It was conducted from July to August 2023 on Ambon Island using the Forest Health Monitoring Field Methods Guide. The research covered 2 hectares of mangrove forest with 3 clusters of 12 observation plots. It was found that seven species of mangroves were found in the area, namely Sonneratia alba, Rhizophorastylosa, Avicennia marina, Aegiceras corniculatum, Bruguiera gymnorrhyza and Bruguiera parviflora. Cluster 1 had 260 trees. Cluster 2 had 321 trees, and Cluster 3 had 193 trees. The highest value of mangrove species richness was at the sapling level of 1,003. Meanwhile, the species diversity was classified as low at only 0.701 at the seedling level. The highest density of the Sonneratia alba species was 4,290, the species dominance of the Sonneratia alba was 22,240, and the highest importance index occupied by the Sonneratia alba was 160.95. Considering the low level of mangrove forest biodiversity on Ambon Island, rehabilitation and reforestation efforts are needed to maintain the quality and health of the ecosystem, especially in facing the impact of climate change on small islands.

Manipulating nature heatwaves in chambers: bridging controlled and field conditions for accurate warming study in plant and soil systems.

Abstract Understanding plant responses to climate variables such as heatwaves is crucial for plant biology research, necessitating growth environments that are highly controllable and reproducible. Traditional field methods lack control due to absent cooling systems and struggle to isolate field variables. Standard enclosures similarly fail to account for authentic environmental dynamics. To overcome these limitations, we developed AmbControl, a sunlit facility that bridges controlled environments with field conditions. AmbControl accurately captured the 2021 and 2022 heatwave fluctuations, allowing for the simulation of varying heat scenarios, including temperature scenarios ranging from +1.5°C to -4°C, and a stable 28.9°C. We observed differential temperature controls during night and day in the +1.5°C scenario, registering variations of ?1.0°C at night and ?1.8°C during the day. Temperature manipulations also inevitably altered relative humidity, highlighting its role as a confounding factor. The AmbControl system is essential for advanced climate impact studies, offering a platform for the next generation of agronomic experiments and climate resilience research.

The contribution of electrode spacing and operating voltage on the time-resolved optical emission spectra of atmospheric-pressure air and Ar DBD plasma

This paper reports the optical characterization of a controlled atmospheric-pressure dielectric barrier discharge (DBD) plasma source in air and Ar environments. In this study, Ar flow rate is held constant at 1 L/min while the operating voltages varied from 6.5 kV to 12.7 kV. Under these conditions, a calibrated commercial compact spectrometer covering the range from 200 to 850 nm was used to record the emission spectra of DBD plasma operating at different voltages, gap distances, and gas types. Using the Boltzmann distribution, we calculated the electron density ( n e ) and excitation temperatures in the plasma of air and Ar DBD at 2 mm gap distance . The emission spectra lines of the hydroxyl radicals (OH), N 2 , and Ar ions are acquired at different operating conditions. According to the findings, the light intensity of Ar DBD is significantly higher than that of air DBD under the same conditions of operation. The intensity of the generated plasma spectrum is also shown to rise with both an increase in the input voltage and a decrease in the gap distance. The measurements also showed that the average temperature of the excited electrons is around 1.1 eV for air DBD and 0.11 eV for Ar DBD, while n e for both is on the order of 10 16 cm − 3 . These results show that as the working voltage increases, the plasma changes from a filamentary state to a homogeneous mode. Knowing the DBD parameters increases its chance to compete with traditional methods in many fields, such as water, polymers, and biomedical treatments.

Variant Impact Predictor database (VIPdb), version 2: Trends from 25 years of genetic variant impact predictors.

Variant interpretation is essential for identifying patients' disease-causing genetic variants amongst the millions detected in their genomes. Hundreds of Variant Impact Predictors (VIPs), also known as Variant Effect Predictors (VEPs), have been developed for this purpose, with a variety of methodologies and goals. To facilitate the exploration of available VIP options, we have created the Variant Impact Predictor database (VIPdb). The Variant Impact Predictor database (VIPdb) version 2 presents a collection of VIPs developed over the past 25 years, summarizing their characteristics, ClinGen calibrated scores, CAGI assessment results, publication details, access information, and citation patterns. We previously summarized 217 VIPs and their features in VIPdb in 2019. Building upon this foundation, we identified and categorized an additional 186 VIPs, resulting in a total of 403 VIPs in VIPdb version 2. The majority of the VIPs have the capacity to predict the impacts of single nucleotide variants and nonsynonymous variants. More VIPs tailored to predict the impacts of insertions and deletions have been developed since the 2010s. In contrast, relatively few VIPs are dedicated to the prediction of splicing, structural, synonymous, and regulatory variants. The increasing rate of citations to VIPs reflects the ongoing growth in their use, and the evolving trends in citations reveal development in the field and individual methods. VIPdb version 2 summarizes 403 VIPs and their features, potentially facilitating VIP exploration for various variant interpretation applications. VIPdb version 2 is available at https://genomeinterpretation.org/vipdb.

Research on optimizing the controller configuration for high-power supply control system in nuclear fusion based on hybrid algorithm WOA-IAPSO

With the development of nuclear fusion technology, the high power supply control system plays a crucial role in the operation of nuclear fusion, and the PID controller is widely used in the field of power supply control. In this research, a novel hybrid algorithm is proposed that combines whale optimization algorithm (WOA) and the improved adaptive particle swarm optimization (IAPSO) to tune PID parameters in high-power supply. This organically combines the two methods into a new optimization strategy that is different from the simple weighted average method. By comparing the performance of WOA, IAPSO,SA,GA,SVM, and the hybrid WOA-IAPSO in step response under different working conditions, the simulation results show that the proposed algorithm can achieve more sensitive, stable and efficient response in high-power operation. This research is not only of great significance for the further development nuclear fusion technology, but also provides a useful reference for the application of adaptive optimization methods in other fields.

VARIABILITY OF QUANTITATIVE PLANT CHARACTERS OF EGGPLANT COLLECTION SAMPLES

Purpose. To determine the peculiarities of the variability of the quantitative characteristics of the plant in collection samples of eggplant of different origin during different years of cultivation Methods. During 2021-2023, an eggplant collection consisting of 21 varieties and 10 F1 hybrids of various geographical origins was studied at the experimental base of the Institute of Vegetable and Melon Growing of the National Academy of Sciences. Samples were evaluated by plant height, plant width, number of shoots per plant. Field, biometric, computational and analytical research methods were used. Results. It was found that the height and width of the plant had a tendency to decrease in 2023. The average height of the collection for this year by varieties was 97.4 cm, by hybrids – 98.7 cm. The width of the plant this year was 41.3 cm on average by varieties, by hybrids – 43.4 cm. The lowest plant height was noted variety Hangqi No.1 (81.0 cm on average over the years), the highest plant height is the variety Bambina. (120.7 cm). Among the hybrids, Piatachok F1 was the shortest, Gordita F1 was the tallest (121.7 cm). The smallest plant width among the varieties was the Xingyuun variety (35.3 cm on average over the years), among the hybrids – the Farama F1 hybrid (38.7 cm). The largest plant width is in the Thai Long Green variety (51.3 cm) and in the Gordita F1 and Briska F1 hybrids (49.3 cm). The smallest number of shoots was formed in plants of the Xingyuun variety (2.7 pcs. on average over the years) and the Galchonok F1 hybrid (3.3 pcs.). The variety Luisiana Long Green (6.9 pcs.) and the Purple Dragon F1 hybrid (8.1 pcs.) had the most shoots on the plant. Almost all studied varieties and hybrids were distinguished by weak and medium variability in three characteristics. Only the Zelenenky variety showed itself to be very variable in the number of shoots (CV = 21.16). Among the varieties, the variety Tai Long Green was distinguished by the least variability in height and width of plants, and Louisiana Long Green in the number of shoots on the plant. Among the hybrids, the lowest variability of plant height and width was observed in the Izumrudny F1 hybrid, and the number of shoots per plant in Bibo F1. Thai Long Green and Daejeon Purple varieties showed the least response to the change in growing conditions by plant height, Hangqi No. 1-2 variety by plant width, and Luisiana Long Green by the number of shoots per plant. The most stable among the hybrids were Izumrudny F1 in terms of plant height and width and Bibo F1 in terms of the number of shoots. Conclusions. Thus, breeding studies allowed to determine the levels of variability of quantitative traits of the eggplant plant and to identify valuable collection samples for use in breeding programs.

Enhancing bacterial inhibition in beetroot beverages: The potent combination of sappan heartwood extracts via accelerated solvent extraction and pulsed electric field methods

This study aimed to investigate the potential of sappan heartwood extract as an inhibitor of foodborne pathogenic bacteria in beetroot juice. The extract was obtained using an accelerated solvent extraction process (using an ethanol/water solvent mixture (3:1 w/w) at 120 °C and 1500 psi for 5 min), yielding 10.04 g per 73.6 g of dried sappan heartwood powder, with a percentage yield of 13.64 and 2.69 % brazilin. The extract was combined with pulsed electric fields (PEF) at different strengths and tested against Escherichia coli (E. coli), Staphylococcus aureus (S. aureus), Bacillus cereus (B. cereus), and Salmonella typhimurium (S. typhimurium). Results showed that the combination of sappan heartwood extract and PEF at 15 kV/cm and concentrations of 3.91, 5.86, and 11.73 mg/mL effectively reduced the total plate count and coliform bacteria count, and completely eliminated B. cereus and S. typhimurium during 7 days of storage at 4 °C. Furthermore, this combination was found to be more efficient in bacterial elimination compared to thermal pasteurization and potassium sorbate addition. These findings suggest that sappan heartwood extract can be used as a natural antimicrobial agent in food products, especially in beetroot juice, where regulatory standards restrict the addition of preservatives. Using sappan heartwood extract in combination with PEF is highly effective in killing foodborne pathogens, reducing the risk of consumer harm and ensuring food safety.

A new dual-channel convolutional neural network and its application in rolling bearing fault diagnosis

Abstract Recently, deep learning has received widespread attention in the field of bearing fault diagnosis due to its powerful feature learning capability. However, when the actual working conditions are complex and variable, the fault information in a single domain is limited, making it difficult to achieve high accuracy. To overcome these challenges, this paper proposes a bearing fault diagnosis method based on the Markov transition field, continuous wavelet transform (CWT), and dual-channel convolutional neural network (CNN). The method combines the descriptive ability of the Markov model for state transfer, the time-frequency analysis ability of CWT for signal, and the excellent performance of CNN with attention mechanism in feature extraction and classification. Specifically, we first propose a multi-channel Markov transition field method, which is combined with CWT to obtain two different representations of two-dimensional (2D) images. To comprehensively mine fault information, we further propose a dual-channel CNN with an attention mechanism. The design of this network structure aims to extract multi-level features from two types of 2D images. At the same time, we designed and embedded an attention mechanism to enable the network to focus more on extracting effective features, thereby improving the performance and accuracy of the network. To verify the effectiveness of the proposed method, three datasets were used for empirical research. The results show that this method exhibits superior performance in bearing fault diagnosis and has higher accuracy compared to traditional methods.

Method for Measuring the Fractional Derivative of a Two-Dimensional Magnetic Field Based on Taylor–Riemann Series

In magnetic data processing, a fractional derivative can enhance details without excessively amplifying high-frequency noise. To obtain a fractional derivative numerically, a large number of survey points are required. This article demonstrates how a few survey points can be used to obtain the fractional derivative of a two-dimensional magnetic field through the application of Taylor–Riemann series. First, we derive the measurement method for the fractional gradient. This method is achieved by measuring the magnetic field at several survey points on a circle, then constructing analytical functions and finally calculating the fractional derivative. Next, an experiment is designed and simulated to demonstrate the impact of the fractional derivative start point and the ability to suppress Gaussian noise. Finally, the experiment is performed, which verifies the feasibility of the proposed method in a two-dimensional magnetic field.

Using Corpus Linguistics as a Tool in Legal Interpretation

Over the past decade, the application of corpus linguistics in legal interpretation has received attention from a group of scholars that engage in legal academics and linguistics. When the law takes into account the distribution of language usage, the application of corpus linguistics can help with addressing legal challenges. Before concluding that corpus analysis is optimally persuasive, the study addresses four difficulties that need to be addressed: The distribution of language use among a certain community must be the primary focus of the legal problem; Second, what constitutes a "ordinary" reading should be determined by the court; Thirdly, while searching a corpus to determine a term's usual meaning, one must predetermine what to look for; Fourth, there are a variety of reasons that a given meaning may turn up weak in a corpus search, and they should be recognized. Through analysis, this paper finds that though drawing on academic research and the experience of foreign judicial practice, Chinese scholars can enrich the research methods of the interdisciplinary field of law and linguistics, and provide inspiration for the nascent movement and the development of judicial practice.

The Atomic Atmosphere at the Antiphase Domain Boundary in Ni3Al: A Phase‐Field Study

The atomic atmosphere and formation mechanism of the antiphase domain boundary (APB) may depend on the environmental variables of the phase transformation for the L12‐structural Ni3Al phase, which is the first important precipitate phase for Ni‐based superalloys. Herein, a discrete phase field method is used to reproduce the complete formation process of an APB without preset restrictions. Numerical calculations are performed to classify the atomic atmosphere, and its formation mechanism is revealed by calculating and analyzing the functional properties of the driving force. The formation process shows that four types of antiphase domains survive to form the APB. The numerical calculation results demonstrate that the atomic atmosphere has the same temperature dependence for hypostoichiometric, stoichiometric, and hyperstoichiometric systems. However, Al plays two opposite roles in influencing the atomic atmosphere according to the changes in the alloy system. The positive and negative values of the driving force determine whether the atomic atmosphere is segregated or depleted, and the magnitude of the absolute value determines the atomic atmosphere level. This atomic‐scale study of nanoscale ordered domain boundaries can provide theoretical information for further understanding of these and similar interfaces in ordered precipitation‐strengthened phases.

Simulation of Dynamic Path Planning of Symmetrical Trajectory of Mobile Robots Based on Improved A* and Artificial Potential Field Fusion for Natural Resource Exploration

With the rapid development of new-generation artificial intelligence and Internet of Things technology, mobile robot technology has been widely used in various fields. Among them, the autonomous path-planning technology of mobile robots is one of the cores for realizing their autonomous driving and obstacle avoidance. This study conducts an in-depth discussion on the real-time and dynamic obstacle avoidance capabilities of mobile robot path planning. First, we proposed a preprocessing method for obstacles in the grid map, focusing on the closed processing of the internal space of concave obstacles to ensure the feasibility of the path while effectively reducing the number of grid nodes searched by the A* algorithm, thereby improving path search efficiency. Secondly, in order to achieve static global path planning, this study adopts the A algorithm. However, in practice, algorithm A has problems such as a large number of node traversals, low search efficiency, redundant path nodes, and uneven turning angles. To solve these problems, we optimized the A* algorithm, focusing on optimizing the heuristic function and weight coefficient to reduce the number of node traversals and improve search efficiency. In addition, we use the Bezier curve method to smooth the path and remove redundant nodes, thereby reducing the turning angle. Then, in order to achieve dynamic local path planning, this study adopts the artificial potential field method. However, the artificial potential field method has the problems of unreachable target points and local minima. In order to solve these problems, we optimized the repulsion field so that the target point is at the lowest point of the global energy of the gravitational field and the repulsive field and eliminated the local optimal point. Finally, for the path-planning problem of mobile robots in dynamic environments, this study proposes a hybrid path-planning method based on a combination of the improved A* algorithm and the artificial potential field method. In this study, we not only focus on the efficiency of mobile robot path planning and real-time dynamic obstacle avoidance capabilities but also pay special attention to the symmetry of the final path. By introducing symmetry, we can more intuitively judge whether the path is close to the optimal state. Symmetry is an important criterion for us to evaluate the performance of the final path.