A proper movement categorization reduces the complexity of understanding or reproducing human movements in fields such as physiology, rehabilitation, and robotics, through partitioning a wide variety of human movements into representative sub-motion groups. However, how to establish a categorization (especially a quantitative categorization) for various human lower limb movements is rarely investigated in literature and remains challenging due to the diversity and complexity of the lower limb movements (diverse gait modes and interaction styles with the environment). Here we present a quantitative categorization for the various lower limb movements. To this end, a similarity measure between movements was first built based on limb kinematic synergies that provide a unified and physiologically meaningful framework for evaluating the similarities among different types of movements. Then, a categorization was established via hierarchical cluster analysis for thirty-four lower limb movements, including walking, running, hopping, sitting-down-standing-up, and turning in different environmental conditions. According to the movement similarities, the various movements could be divided into three distinct clusters (cluster 1: walking, running, and sitting-down-standing-up; cluster 2: hopping; cluster 3: turning). In each cluster, cluster-specific movement synergies were required. Besides the uniqueness of each cluster, similarities were also found among part of the synergies employed by these different clusters, perhaps related to common behavioral goals in these clusters. The mix of synergies shared across the clusters and synergies for specific clusters thus suggests the coexistence of the conservation and augmentation of the kinematic synergies underlying the construction of the diverse and complex motor behaviors. Overall, the categorization presented here yields a quantitative and hierarchical representation of the various lower limb movements, which can serve as a basis for the understanding of the formation mechanisms of human locomotion and motor function assessment and reproduction in related fields.

The water drive reservoir in Shengli Oilfield has entered a stage of ultra-high water cut development, forming an advantageous flow channel for the water drive, resulting in the inefficient and ineffective circulation of injected water. Therefore, the distribution characteristics of water drive flow channels and their controlled residual oil in ultra-high water cut reservoirs are of great significance for treating water drive dominant flow channels and utilizing discontinuous residual oil. Through microscopic physical simulation of water flooding, color mixing recognition and image analysis technology were used to visualize the evolution characteristics of water flooding seepage channels and their changes during the control process. Research has shown that during the ultra-high water content period, the shrinkage of the water drive seepage channel forms a dominant seepage channel, forming a “seepage barrier” at the boundary of the dominant seepage channel, and dividing the affected area into the water drive dominant seepage zone and the seepage stagnation zone. The advantage of water flooding is that the oil displacement efficiency in the permeable zone is as high as 80.5%, and the remaining oil is highly dispersed. The water phase is almost a single-phase flow, revealing the reason for high water consumption in this stage. The remaining oil outside the affected area and within the stagnant flow zone accounts for 89.8% of the remaining oil, which has the potential to further improve oil recovery in the later stage of ultra-high water cut. For the first time, the redundancy index was proposed to quantitatively evaluate the control effect of liquid extraction and liquid flow direction on the dominant flow channels in water flooding. Experimental data showed that both liquid extraction and liquid flow direction can regulate the dominant flow channels in water flooding and improve oil recovery under certain conditions. Microscopic physical simulation experiments were conducted through the transformation of well network form in the later stage of ultra-high water content, which showed that the synergistic effect of liquid extraction and liquid flow direction can significantly improve the oil recovery effect, with an oil recovery rate of 68.02%, deepening the understanding of improving oil recovery rate in the later stage of ultra-high water content.

The super-sized pore-throat network model can reflect both microscopic pore characteristics and macroscopic heterogeneity and is excellent in describing cross-scale flow fields. At present, there is no algorithm that can generate a micro pore-throat network model at a macro reservoir scale. This study examines algorithms for super-sized pore-throat network reconstruction using actual core sample data. It conducts a random simulation of mineral growth and dissolution under the constraints of four microscopic pore structure parameters: porosity, coordination number, pore radius, and throat radius. This approach achieves high-precision, super-sized, and regional pore-throat network modeling. Comparative analysis shows that these four parameters effectively guide the random growth process of super-sized pore-throat networks. The overall similarity between the generated pore-throat network model and real core samples is 88.7% on average. In addition, the algorithm can partition and control the generation of pore-throat networks according to sedimentary facies. The 100-megapixel model with 85,000 pores was generated in 455.9 s. This method can generate cross-scale models and provides a basis for cross-scale modeling in physical simulation experiments and numerical simulations.

Aiming at the system multi-source uncertainty problem during the path tracking control of intelligent vehicle in complex curved road environments, the model predictive control algorithm based on the extended state observer is proposed. Firstly, based on the vehicle dynamics theory, intelligent vehicle path tracking error model is established that takes into account the uncertainty of vehicle parameters and the uncertainty of road curvature, road attachment conditions and other random interference factors, and an online random disturbance estimation method based on the extended state observer is proposed. At the same time, the whale optimization algorithm is used to optimize the relevant parameters of the expanded state observer. Then combined with interference estimation to establish intelligent vehicle path tracking accuracy and driving stability index functions and constraints, and design a path tracking model predictive control method based on the extended state observer. Next, the tracking control problem is transformed into an active steering optimal control problem under dynamic uncertainty interference. Finally, the Carsim-Simulink/Matlab co-simulation verifies the superiority of the algorithm proposed in this paper.

Tight oil reservoirs offer significant development potential. Due to the pronounced capillary forces in their nanopores, phase behavior differs markedly from that in conventional reservoirs, challenging traditional equations of state and numerical simulation methods. This paper presents a multiscale compositional numerical simulation method that incorporates capillary forces, leveraging the parallel advantages of the multiscale finite volume method. The approach decouples the compositional model using a sequential format to derive pressure and transport equations, then solves the pressure equation iteratively in a multiscale format to enhance computational efficiency. Results show that the proposed method significantly improves simulation speed while maintaining accuracy. By considering capillary forces in phase equilibrium calculations, this model effectively characterizes phase behavior in tight oil reservoir development, making it highly relevant for Pressure Volume Temperature (PVT) simulation, development simulation, and forecasting development strategies.