Target Depth Research Articles

Penetration test and numerical simulation of scaled earth penetrator for coral aggregate seawater concrete cylindrical target

In order to study the mechanical properties of coral aggregate seawater concrete (CASC) subjected to the penetration of scaled earth penetrator, firstly, the penetration depth and damage of CASC and ordinary sand-gravel concrete under the same conditions were compared by experimental research, and the influence of concrete strength and projectile velocity on penetration performance was analyzed. Then, the three-dimensional mesoscopic model is used to simulate the test conditions, and the failure process and failure mechanism are analyzed. The results show that under the same penetration conditions, as the strength of CASC increases, the crater diameter becomes larger, which is consistent with the conclusion of ordinary concrete (OPC). During the penetration process, the CASC and the mortar are destroyed as a whole. At the same time, as the penetration speed of the projectile increases, the width of the crack on the surface of the target increases. When the projectile velocity is low, the anti-penetration performance of CASC with the same strength is not as good as that of OPC with the same strength. For the target with a thickness of 25 cm, the penetration depth of the concrete target with the same strength will increase with the increase of the velocity of the projectile. When the velocity of the projectile is constant, the penetration depth of CASC will decrease with the increase of the strength. The numerical simulation results obtained by using the K & C mesoscopic model are in good agreement with the experimental results, indicating that the model and its model parameters have high reliability in the analysis of CASC penetration mechanical properties.

Synergy of high-intensity chromium ion implantation and ion beam energy impact on the zirconium alloy surface

The peculiarities and modes of material modification with high-intensity, high-power density ion beams on the irradiated surface are studied for the first time. Chromium ions are implanted into a zirconium alloy using a 25 kW/cm2, 450 μs beam at the pulse repetition rates within 8–35 pps. Every high-energy ion pulse impact is followed by ultrafast cooling of the surface due to heat removal into the target material. Three modes are studied at the temperatures of 580, 700, and 900 °C with an additional pulsed heating. An increase in the average target temperature from 580 to 700 °C within 1 h at the same pulse power density allows increasing the depth of chromium ion alloying from 1.5 to more than 7 μm. The use of ultrafast cooling of the Zr1%Nb alloy surface offers a grain size reduction from a few μm to approximately 50–250 nm, without any microstructural changes throughout the sample volume. An inhomogeneous chromium ion distribution over the target surface and depth is observed.

The Effects of Depth and Altitude on Image-Based Shark Size Measurements Using UAV Surveillance

Drones are an ecological tool used increasingly in shark research over the past decade. Due to their high-resolution camera and GPS systems, they have been used to estimate the sizes of animals using drone-based photogrammetry. Previous studies have used drone altitude to measure the target size accuracy of objects at the surface; however, target depth and its interaction with altitude have not been studied. We used DJI Mavic 3 video (3960 × 2160 pixel) and images (5280 × 3960 pixel) to measure an autonomous underwater vehicle of known size traveling at six progressively deeper depths to assess how sizing accuracy from a drone at 10 m to 80 m altitude is affected. Drone altitudes below 40 m and target depths below 2 m led to an underestimation of size of 76%. We provide evidence that accounting for the drone’s altitude and the target depth can significantly increase accuracy to 5% underestimation or less. Methods described in this study can be used to measure free-swimming, submerged shark size with accuracy that rivals hand-measuring methods.

Is short-offset frequency-domain controlled-source electromagnetic survey using an equatorial configuration a good choice on land?

The frequency-domain controlled-source electromagnetic (FD-CSEM) method can be used to collect data in both the large-offset plane-wave zones and the short-offset zone using an axial configuration within conductive marine environments. In contrast, the equatorial configuration is more commonly adopted for field surveys on land. However, selecting a suitable offset using an equatorial configuration on land remains a challenge. Therefore, the primary objective of this study was to choose a reasonable offset using an equatorial configuration on land. To this end, we compared the distribution and decay characteristics of the horizontal electric field. Additionally, we analyzed the detectability of the horizontal electric field to targets based on the root mean square (RMS) misfit and three-dimensional (3D) simulation at different offsets. The 3D simulation results show that the maximum normalized response at different offsets is similar, indicating that electric fields at different offsets share similar resolution limits. However, the horizontal electric field at small offsets (less than 3 times the target depth) only have the detectability for the target resistivity and are unable to make more precise distinctions on the target thickness. The detectability for the target thickness at very small offsets (about one time the target depth) is limited, as frequency sounding cannot be effectively established. A larger offset distance (larger than 4 to 6 times the target depth) is required when observing the vertical magnetic field compared to the horizontal electric field. Finally, we observed the electric field data at different offsets in the Kalatongke nickel–copper deposit in Xinjiang, China, which verifies our theoretical analysis.

Establishing universal sectioning depth and angle for surgical coronectomy of impacted mandibular third molars: an imaging-based study.

Coronectomy is a safer option than extraction for third molars with an increased risk of injury to the inferior alveolar nerve. However, it can still cause complications due to a lack of standardized and effective tooth sectioning techniques. We proposed a standardized protocol for third molar coronectomy involving standardized tooth sectioning parameters to minimize potential complications, surgical failure, and the need for further procedures. The study was conducted on 69 eligible archived CBCTs. The coronal sections of the mandibular at the anterior-most level of the lower third molar were used to determine various axes and reference points. This was done to establish the target angle and depth for the coronectomy sectioning. The data on the depth and angle of the sectioning was presented in means and standard deviation. A multivariate analysis of variance was used to determine the impact of study variables on drill depth and angle. Linear regression and correlation between study variables were also used to predict the drill depth and angle. The samples included 46 males and 23 females aged from 21 to 47 years. The mean drill angle was determined as 25.01 ± 3.28. The mean drill depth was 9.60 ± 9.90 mm. The bucco-lingual tilt had a significant effect on the drill depth, F(1, 62) = 5.15, p < 0.05, but no significant impact on the drill angle, F(1, 62) = 29.62, p > 0.05. The study results suggest that a standardized sectioning protocol can be effective during surgical coronectomy procedures. Drilling at a 25-degree angle to a depth of 9.5 mm is advisable to obtain the desired results. This approach will ensure no remaining enamel is left, minimize the chances of root extrusion and future eruption, and improve the outcome.

Sequential Two-Mode Fusion Underwater Single-Photon Lidar Imaging Algorithm

Aiming at the demand for long-range and high-resolution imaging detection of small targets such as submerged submarine markers in shallow coastal waters, research on single-photon lidar imaging technology is carried out. This paper reports the sequential two-mode fusion imaging algorithm, which has a strong information extraction capability and can reconstruct scene target depth and reflection intensity images from complex signal photon counts. The algorithm consists of four steps: data preprocessing, extremely large group value estimation, noise sieving, and total variation smoothing constraints to image the target with high quality. Simulation and test results show that the imaging performance and imaging characteristics of the method are better than the current high-performance first-photon group imaging algorithm, indicating that the method has a great advantage in sparse photon counting imaging, and the method proposed in this paper constructs a clear depth and reflectance intensity image of the target scene, even in the 50,828 Lux ambient strong light and strong interference, the 0.1 Lux low-light environment, or the underwater high-attenuation environment.

Estimation of top depth to underground targets of Karous-Hjelt and Fraser filtering of VLF-EM measurements: The Thumb's rule approach

Prediction of the exact location and depth of underground targets with the very low-frequency electromagnetic (VLF-EM) technique is one of the most important and difficult tasks in geophysical investigations. This study examined and compared the conventional 2D KIFFILT inversion pseudo-section and the use of Thumb's rule technique in the Fraser filter plot to estimate the top depth of underground targets. The VLF-EM measurement was performed over several empirical buried target models to identify anomalies or geophysical responses corresponding to subsurface targets. The Karous-Hjelt and Fraser filtering techniques were applied to estimate the depth of the identified anomalies using Thumb's rule and the conventional 2D KIFFILT inversion. The signal behaviours of the VLF-EM current density pseudo-sections and the application of Thumb's rule effectiveness in delineating empirical buried target models were examined. Thumb's rule shows 65 % accuracy with the actual depth of the empirical buried target models, while the conventional 2D KHFFILT inversion shows 30 % accuracy with the actual depth of burial. Thumb's rule is more effective and precise in predicting the accurate depth of underground targets. The influences of conductive and resistive materials on VLF-EM signals and the challenges of VLF-EM surveys were discussed. Thumb's rule is suggested as a substantial technique for estimating top depth to the underground target where depth estimation is of prime interest due to its large degree of accuracy. In addition, the total depth of the current density distribution was noted to be increased when the distance between measuring points increased. This means that VLF-EM signals with longer wavelengths indicate deeper depth penetration into the ground than signals with shorter wavelengths. The accuracy of Thumb's rule regarding top depth estimation of the anomalies has been successfully tested and validated, which can be used for VLF-EM investigation where accurate depth estimation is required. The VLF-EM technique can be considered reliable for depth estimation using Thumb's rule approach, which applies to a wide range of subsurface investigations.

Numerical prediction of ground-borne vibrations due to continuous vibratory driving of circular closed-ended piles

Various types of pile driving work may induce high-intensity ground-borne vibrations. Predicting vibration intensity before adopting mitigation measures is vital for minimizing the impact of vibration on nearby structures and occupants. Vibratory pile driving is a commonly applied foundation construction method. However, numerical simulation models for ground vibrations during a complete process of vibratory driving have rarely been studied. This study introduces an axisymmetric finite element model that utilizes the arbitrary Lagrangian-Eulerian technique to simulate the continuous vibratory driving of a circular closed-ended pile penetrating from the ground surface to a target depth. The model validity was confirmed by assessing the calculated ground vibrations against the findings documented in earlier research. The results showed that the critical penetration depth of piles, at which the maximum peak particle velocity (PPV) occurs, varied with the radial distance and depth of points of interest, contradicting a common preconception. Moreover, the maximum PPV did not always occur on the ground surface across all radial distances. Parametric analysis revealed that an increase in the soil cohesion strength, pile diameter, or soil-pile friction, or a decrease in the driving frequency or soil damping ratio would increase ground vibrations due to vibratory pile driving.

The Depth Distribution Law of the Polarization of the Vector Acoustic Field in the Ocean Waveguide

The polarization of the acoustic field in the ocean waveguide environment is a unique property that can provide new ideas for locating and detecting the underwater target, so it is interesting to study the polarization. This paper extends the Stokes parameters to a broadband form, and uses the non-stationary phase approximation method to simplify the expressions, reducing the complexity of theoretical derivation. A physical phenomenon is observed where polarization exhibits significant variations concerning the sea surface, seafloor, source depth, and the source symmetrical depth. Simulation results demonstrate that the simplified equations using the non-stationary phase approximation are effective. Additionally, by normalizing the broadband Stokes parameters, the effects of horizontal range on the depth distribution law of polarization can be eliminated. Subsequently, using the normalized broadband Stokes parameters, the influence of environmental and source parameters on the depth distribution law of polarization is analyzed. The effectiveness of the non-stationary phase approximation and the range-independence property of the normalized broadband Stokes parameters are verified by processing RHUM-RUM experimental data. Based on the conclusions of this paper, it is expected that the polarization can be used for target depth estimation.

Improving diffuse optical tomography imaging quality using APU-Net: an attention-based physical U-Net model.

Traditional diffuse optical tomography (DOT) reconstructions are hampered by image artifacts arising from factors such as DOT sources being closer to shallow lesions, poor optode-tissue coupling, tissue heterogeneity, and large high-contrast lesions lacking information in deeper regions (known as shadowing effect). Addressing these challenges is crucial for improving the quality of DOT images and obtaining robust lesion diagnosis. We address the limitations of current DOT imaging reconstruction by introducing an attention-based U-Net (APU-Net) model to enhance the image quality of DOT reconstruction, ultimately improving lesion diagnostic accuracy. We designed an APU-Net model incorporating a contextual transformer attention module to enhance DOT reconstruction. The model was trained on simulation and phantom data, focusing on challenges such as artifact-induced distortions and lesion-shadowing effects. The model was then evaluated by the clinical data. Transitioning from simulation and phantom data to clinical patients' data, our APU-Net model effectively reduced artifacts with an average artifact contrast decrease of 26.83% and improved image quality. In addition, statistical analyses revealed significant contrast improvements in depth profile with an average contrast increase of 20.28% and 45.31% for the second and third target layers, respectively. These results highlighted the efficacy of our approach in breast cancer diagnosis. The APU-Net model improves the image quality of DOT reconstruction by reducing DOT image artifacts and improving the target depth profile.

Multi-objective double layer water optimal allocation and scheduling framework combing the integrated surface water – groundwater model

Balancing the water consumption of agricultural and ecological is the key point of sustainable social and economic development in an inland river basin. The growth of desert riparian forests in inland river basins mainly depends on a certain phreatic water table depth (PWTD). The main object of this study was to allocate and schedule water resources to regulate the PWTD and satisfy agricultural water demand. Therefore, a multi-objective double layer optimal allocation and scheduling framework based on the computationally efficient integrated surface water-groundwater model (ISGWM), which can simulate the surface water processes, groundwater recharge and discharge processes, and PWTD changes, was constructed and applied to the mainstream of Tarim River Basin (TRB). The top layer model of the framework is an optimal ecological water allocation model, and its optimal allocation results are used as the initial solution of the bottom layer model. The results show that under 5 different inflow frequencies, the agricultural water shortage rate is 0, 17.38 %, 17.41 %, 14.06 %, and 19.94 %, respectively. The PWTD regulation has a great performance. After the optimal scheduling, the proportions of good growth of the control area behind the gate under different inflow frequencies were 98.18 %, 98.18 %, 98.18 %, 90.91 %, and 94.55 %. Agricultural water shortage is mainly due to the non-uniformity distribution of intra-annual inflow and the lack of controlling hydraulic engineering. The regulation of PWTD can guarantee the growth of desert riparian forests on both sides of the mainstream of TRB. Besides, we explored the feasibility of exploiting groundwater to supplement agricultural water consumption. The groundwater exploitation should be controlled within the scope of not causing excessive increase of PWTD (difference between PWTD and target depth <1 m), due to the groundwater exploitation to supplement agricultural water will lead to the increase of PWTD. Overall, this framework, which regulates the PWTD with the change of ecological water supply based on the ISGWM, provides a new idea for the allocation and scheduling of agricultural and ecological water resources in arid inland river basins. It also provides a new method for the coupled cooperative operation of surface water and groundwater.

Novel approaches in geomechanical parameter estimation using machine learning methods and conventional well logs

ABSTRACT Today, geomechanics plays a crucial role in the oil industry, particularly in enhancing production and ensuring well stability. To achieve optimal results, accurate estimation of geomechanical parameters is essential. One of the low-cost and accurate methods for estimating geomechanical parameters is the use of intelligent methods. In this research, geomechanical parameters are estimated using conventional data logs using intelligent methods. The aim of this study is to introduce a new machine learning algorithm to estimate geomechanical parameters using conventional data logs in one of the hydrocarbon field wells in southwest Iran. In this article, the shear wave velocity and uniaxial compressive strength (UCS) were estimated using machine learning algorithms. Subsequently, other geomechanical parameters were calculated based on these estimated parameters derived from machine learning algorithms. For shear wave velocity (Vs) prediction using MLP and CLM (CNN+LSTM+MLP) algorithms, First, effective features were selected using the Auto-encoder deep learning algorithm. The selected features for Vs input into the algorithms were Vp, RHOB, CALIPER, and NPHI, and then the Vs is estimated with MLP and CLM algorithm. To evaluate the results, the model was assessed using metrics such as MAE, MAPE, MSE, RMSE, NRMSE, and R2 on the train, test, and blind datasets. The CLM algorithm consistently demonstrated superior performance across all datasets, including training, testing, and blind data sets. The R2 values for blind data were R M L P 2 = 0.8727 , R C L M 2 = 0.9274 , respectively. These outputs are crucial for estimating subsequent studies. Next, Elastic Young’s moduli and Poisson’s ratio were calculated, and the dynamic brittleness index was computed using dynamic Young’s modulus and Poisson’s ratio. Subsequently, UCS values were predicted using machine learning algorithms. Since there were 12 laboratory core samples of UCS available, UCS was initially calculated using relevant empirical relations and data from some available well logs. This process aimed to extrapolate these core results to cover the entire target depth range from 3551.072 to 3799.789 m. Subsequently, a relationship between UCS derived from well logs and laboratory results was established for the depths corresponding to where the laboratory samples were recorded. Following that, an autoencoder deep network was utilized to select effective features for predicting UCS. The selected features for UCS input into the algorithms were Vp, RHOB, and CALIPER. Subsequently, UCS was estimated using MLP and CLM algorithms. To evaluate the results, the model performance was assessed using metrics such as MAE, MAPE, MSE, RMSE, NRMSE, and R2 on the train, test, and blind datasets. Furthermore, the results were checked and evaluated using a set of statistical measures calculated for the train, test, and blind datasets, that R M L P 2 = 0.9305 , R C L M 2 = 0.9953 were obtained for blind UCS data. The results demonstrate that CLM achieves high accuracy in estimating these parameters, with deep learning algorithms showing higher determination coefficients and lower errors compared to MLP. Furthermore, UCS and tensile strength were calculated, followed by the computation of static brittleness index. The relationship between dynamic and static brittleness index was also investigated. Overall, the findings indicate that machine learning algorithms are robust and accurate methods for estimating Vs, UCS, and other geomechanical parameters using conventional logs.

Hydraulic conditions created by a ‘large’ diameter Cylindrical Bristle Cluster fish pass

Cylindrical Bristle Clusters (CBCs) provide a multi-species fish passage solution at sloped weirs. Configurations trialled to date (min. diagonal spacing between CBCs up to 0.17 m) were designed to facilitate passage of relatively small (e.g. < 30 cm) potamodromous species and may hamper the movements of larger bodied (e.g. > 40 cm) fishes, such as adult anadromous salmonids. Therefore, in this study, the hydraulic conditions created by an array of large diameter (0.13 m) CBCs positioned farther apart than in previous studies (min. diagonal spacing 0.29 m) was assessed to determine whether conditions would be suitable for facilitating the passage of small-bodied fish while also providing sufficient space for larger individuals to manoeuvre. Two experiments were conducted in an open channel flume. Experiment 1 quantified the hydraulic conditions created by a model Crump weir when unmodified and with CBCs installed in supercritical flow (Fr 1.23–3.01) on the 1:5 downstream sloping face under a low (0.08 m3 s−1) and high (0.23 m3 s−1) discharge. Patches of low water velocity were created in the wake of the CBCs, and the median (time and space averaged) velocity was reduced under both low (30.1%) and high (22.3%) discharge. Based on estimated burst swimming speeds of two common European species, the roach (Rutilus rutilus) and brown trout (Salmo trutta) (0.16 m long, swimming at 15.1 °C), this reduction in velocity would facilitate upstream passage. Experiment 2 documented the vertical velocity profile and shear stress characteristics (a measure of turbulence) within the CBC array. Unlike in Experiment 1, the CBCs were installed on the flat base of the flume and under subcritical flow (Fr = 0.31) to generate sufficient water depth. The velocity was reduced (up to 22.5%) at depths that did not exceed (> 2 cm above) the height of the bristles. Above these depths, velocity was (up to 14.6%) higher compared to open channel conditions upstream of the CBC array and a vertical shear layer was evident. As the main hydraulic benefits of CBCs occur at depths that do not exceed the bristles, their height should be tailored to site specific conditions (e.g. size of target fish species and/or depth of water at infrastructure). Field-based research is needed to determine velocity reduction at longer weirs and under a wider range of flows than can be tested under flume conditions. How the hydraulic characteristics of submerged CBCs differ from those described here with those that occur in the field when installed on a steep sloping weir under supercritical flow should be further investigated.

A pressure-triggered isobaric sequential liquid sampling system for full-ocean-depth: Design and field deployment

Collecting pressure-retaining deep-sea liquid samples is important for the research on in-situ environment and life. A pressure-triggered isobaric sequential liquid sampling system (PTISLSS) was developed for the collection of seawater at target depths. The sampling system comprises six independent seawater collection modules, each containing a titanium sample container and a pre-charged accumulator. A motor-driven sampling mechanism was designed to open and close the fluid channels at depth. Theoretical studies have indicated that the mechanism can generate a contact pressures of up to 160 MPa to ensure the sealing of the samples. The relationship between the pressure of pre-charged gas and the volume of fluid sample has been derived considering the effects of seal friction. The sampling system was built for full-ocean-depth sampling operation and the reliability of the system was tested at a pressure of 120 MPa. The field test was conducted in the West Philippine Basin on a recent scientific research cruise. Pressurized seawater from depths of 2000 to 4500 meters was recovered, and the pressure-retaining rate exceeded 93.5%. The developed sampling system presents satisfactory performance and high operational efficiency, and it will have a wide range of applications in the field of large-scale deep-sea sampling.

Internal heat source in the vadose zone: A comprehensive exploration through theoretical spectral analysis and practical application into thermal diffusivity and hydraulic flux in a Quaternary soil water layer

AbstractThis groundbreaking study introduces a scientifically robust method for assessing internal heat generation in shallow, unsaturated aquifers, highlighting the intricate interplay between internal heat, thermal diffusivity, and hydraulic flux. The research pioneers a novel approach employing time‐frequency spectral analysis to address challenges posed by conventional methods that rely solely on prescribed thermal diffusivity and hydraulic flux for evaluating internal heat over time. Rooted in a solid theoretical framework supported by meticulous temperature and heat flux observations, the method adeptly incorporates the concept of an unknown internal heat. The study systematically explores three distinct boundary conditions, showcasing versatility: one with fixed temperatures at the inlet and outlet, another with known temperature at the inlet and no heat flux at the outlet, and a third with a prescribed inlet temperature and constrained outlet heat flux. The estimation of internal heat, coupled with prescribed thermal diffusivity and hydraulic flux, harnesses in‐situ temperature and heat flux spectra through an innovative inverse stochastic spectral approach. A notable feature of this research lies in its ability to strategically handle various parameters, including prescribed thermal diffusivity, hydraulic flux, variations in target depth, significant frequency components, and boundary conditions. The variation assessment findings emphasize the diverse range when predicting internal heat generation based on prescribed thermal diffusivity and hydraulic flux. This study facilitates the determination of potential internal heat magnitudes at different depths and provides profound insights into in‐situ conditions within the vadose zone.

Pipeline for Planning and Execution of Transcranial Ultrasound Neuromodulation Experiments in Humans.

Transcranial ultrasound stimulation (TUS) is an emerging non-invasive neuromodulation technique capable of manipulating both cortical and subcortical structures with high precision. Conducting experiments involving humans necessitates careful planning of acoustic and thermal simulations. This planning is essential to adjust for bone interference with the ultrasound beam's shape and trajectory and to ensure TUS parameters meet safety requirements. T1- and T2-weighted, along with zero-time echo (ZTE) magnetic resonance imaging (MRI) scans with 1 mm isotropic resolution, are acquired (alternatively computed tomography x-ray (CT) scans) for skull reconstruction and simulations. Target and trajectory mapping are performed using a neuronavigational platform. SimNIBS is used for the initial segmentation of the skull, skin, and brain tissues. Simulation of TUS is carried over with the BabelBrain tool, which uses the ZTE scan to produce synthetic CT images of the skull to be converted into acoustic properties. We use a phased array ultrasound transducer with electrical steering capabilities. Z-steering is adjusted to ensure that the target depth is reached. Other transducer configurations are also supported in the planning tool. Thermal simulations are run to ensure temperature and mechanical index requirements are within the acoustic guidelines for TUS in human subjects as recommended by the FDA. During TUS delivery sessions, a mechanical arm assists in the movement of the transducer to the required location using a frameless stereotactic localization system.

Puncture Accuracy of Robot-Assisted CT-Based Punctures in Interventional Radiology: An Ex Vivo Study.

The purpose of this study was to assess the performance of an optically tracked robot for computed-tomography (CT)-guided needle placements in a phantom study. In total, 240 needle punctures were carried out with the help of an optically tracked robotic device (Micromate) based on CT image datasets at three different slice thicknesses (1, 3, and 5 mm). Conically shaped targets inside a gelatin-filled plexiglass phantom were punctured. The target positioning error between the planned and actual needle trajectory was assessed by measuring the lateral positioning error (ND) between the target and the puncture needle and the Euclidean distance (ED) between the needle tip and target in control CTs. The mean ND and ED for the thinnest CT slice thickness were 1.34 mm (SD ± 0.82) and 2.1 mm (SD ± 0.75), respectively. There was no significant impact of target depth on targeting accuracy for ND (p = 0.094) or ED (p = 0.187). The mean duration for the planning of one trajectory and for needle positioning were 42 s (SD ± 4) and 64 s (SD ± 7), respectively. In this ex vivo study, the robotic targeting device yielded satisfactory accuracy results at CT slice thicknesses of 1 and 3 mm. This technology may be particularly useful in interventions where the accurate placement of needle-like instruments is required.

Dynamic modeling of cable deployment/retrieval based on ALE-ANCF and adaptive step-size integrator

The towing vehicle must maintain a stable distance from the seafloor to ensure the accuracy and safety of deep-towed seismic systems. However, due to equipment limitations, controlling the towing depth is achievable solely by adjusting the length of the towing cable. In this study, an Absolute Nodal Coordinate Formulation (ANCF) with Arbitrary Lagrange-Euler (ALE)description is employed to model variable-length flexible towing cables. The inertial and elastic force formulas for ALE-ANCF, along with their corresponding Jacobian matrices, are derived in detail, and their coefficient matrices are precomputed to avoid Gaussian integration. The proposed adaptive step-size strategy enhances computational efficiency. Detailed investigation into the impact of cable deployment/retrieval on towing depth is conducted, revealing an almost linear relationship between length change and towing depth. In Addition, a proportional, integral, derivative (PID) controller with compensation is proposed for efficiently tracking the target depth and alleviating the perturbations from the mothership, illustrating the feasibility of PID control. These findings hold practical significance for enhancing the operational safety and efficiency of deep-towed seismic systems.

IRE made easy: introducing the robotic grid system for multiple parallel needle insertion in irreversible electroporation treatment

PurposeAccurate needle placement is crucial for successful tumor treatment using the irreversible electroporation (IRE) method. Multiple needles are inserted around the tumor, ideally in parallel, to achieve uniform electric field distribution. This paper presents a robot utilizing a grid system to enable multiple needles insertion while maintaining parallelism between them.MethodsThe robotic system has two degrees of freedom, which allow for the adjustment of the grid system to accommodate targeting lesions in various positions. The robot’s performance was evaluated by testing its accuracy across various configurations and target depth locations, as well as its ability to maintain the needle parallelism.ResultsThe robot has dimensions of ϕ\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$${\\phi }$$\\end{document} 134 mm and a height of 46 mm, with a total weight of 295 g. The system accuracy test showed that the robot can precisely target points across different target depths and needle orientations, with an average error of 2.71±0.68\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$2.71\\pm 0.68$$\\end{document} mm. Moreover, multiple insertions at different grid locations reveal needle orientation deviations typically below 1∘\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$1^{\\circ }$$\\end{document}.ConclusionThis study presented the design and validation of a robotic grid system. The robot is capable of maintaining insertion accuracy and needle parallelism during multiple needle insertions at various robot configurations. The robot showed promising results with limited needle deviation, making it suitable for IRE procedures.

Variability in depth for national-level swimmers’ freestyle dive starts, push starts and tumble turns

The dive start and tumble turn are key skills in freestyle swimming and are the fastest part of a race (Higgs, Pease &amp; Sanders, 2016, J Sports Sci, 35, 995-1003). Consistency in performing them, to a high-level, is crucial when races can be won by &lt;0.1s. Many studies have investigated dives, tumble turns and underwater undulatory swimming performance, however, very few have examined the effect of depth (West et al., 2022, Sports Med Open, 8). Swimming depth will affect wave drag, total distance travelled underwater and, possibly, kick amplitude. Collectively, these will impact dive and tumble turn performance. The current project aims to quantify the variability of a swimmer’s freely chosen depth when performing a freestyle dive start, push start and turn. Ethics approval for this study was provided by the School of Medicine’s Research ethics board. We aim to recruit 14 participants (7=male, 7=female), over the age of 16 and currently competing at a national level in freestyle events. After a 10-min self-determined warm-up, participants are asked to perform three freestyle dives, push starts, and tumble turns in a randomised order. There are three minutes rest between each task and five minutes between three tasks. Each of the nine tasks will be recorded using a custom-built CONTEMPLAS camera system, using 12 cameras filming at 100Hz. Participants are provided with 5-min to complete a self-determined cool-down. Video recordings will be analysed using SIMI Motion capture to perform manual digitisation. A coefficient of variance analysis and a repeated measures Anova and intraclass correlation to quantify the variability in depth within the dives, push starts and the turns at both an individual and group level. As part of this study, we are also assessing the reliability and validity of an automated digitising software package. The validity and reliability of the automatic digitisation method versus the manual digitisation method was analysed via a Bland Altman analysis to obtain the limits of agreement between the two methodologies. The results are pending, although they will be used to assign individual swimmers with target depth ranges for subsequent experiments that aim to identify the optimum depth for these skills.