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双足机器人在动态环境中步态规划研究

计算机仿真 2009年第4期26卷 218-222页

作者：于薇薇 c.sabourin K.Madani 闫杰西北工业大学航天学院飞行控制与仿真实验室陕西西安710072 巴黎十二大LISSI实验室IUT de Senart 77127 LieusaintFrance

在双足机器人跨越迎面而来的动态障碍物的问题中,由于障碍物的高度,和速度是不可预测等因素,机器人的迈步步长和迈步高度决定了其能否实现成功跨越。介绍一种双足机器人步态规划方法,应用模糊Q学习算法对迈步高度进行学习,将迈步的起始... 详细信息

在双足机器人跨越迎面而来的动态障碍物的问题中,由于障碍物的高度,和速度是不可预测等因素,机器人的迈步步长和迈步高度决定了其能否实现成功跨越。介绍一种双足机器人步态规划方法,应用模糊Q学习算法对迈步高度进行学习,将迈步的起始点、落点和迈步高度作为特征点,利用三次样条对特征点进行插值得到摆动腿运动轨迹,最后通过摆动角间的几何关系得出各关节处摆动角的变化规律,控制机器人跨越动态障碍物。仿真结果表明,通过进行的步态规划,机器人可以成功跨越动态障碍物,并且各关节处的摆动角变化曲线平缓无畸变。

关键词：双足机器人步态规划模糊学习算法三次样条插值

Light sheet microscope scanning of biointegrated microlasers for localized refractive index sensing

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Photonics Research 2024年第8期12卷 1673-1680页

作者： ROSS c.cOWIE MARcEL ScHUBERT SUPA School of Physics and AstronomyUniversity of St AndrewsSt AndrewsUK Humboldt centre for Nano and Biophotonics Department of ChemistryUniversity of CologneCologneGermany

Whispering gallery mode(WGM)microlasers are highly sensitive to localized refractive index changes allowing to link their emission spectrum to various chemical,mechanical,or physical *** recently found applications in biological studies within single cells,in three-dimensional samples such as multicellular spheroids,or in ***,detailed studies of biological samples also need to account for the structural heterogeneity of tissues and live animals,therefore requiring a combination of high-resolution microscopy and laser ***,we design and construct a light sheet fluorescence microscope with a coupled spectrometer for use in microlaser studies for combined high-resolution,high-speed imaging and WGM spectral *** light sheet illumination profile and the decoupled geometry of excitation and emission hereby directly affect the lasing and sensing properties,mainly through geometric constraints and by light coupling *** demonstrate the basic working principle of microlaser spectroscopy under light sheet excitation and measure the absolute refractive index within agarose and in zebrafish tail muscle *** further analyze the light coupling conditions that lead to the occurrence of two separate oscillation *** so-called cross modes can be scanned around the entire microlaser surface,which allows to estimate a surface-averaged refractive index profile of the microlaser environment.

关键词： refractive index excitation

Important step towards an understanding of the exotic Z_(c)(3900)

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Science china(Physics,Mechanics & Astronomy) 2024年第9期67卷 199-200页

作者： c.Hanhart Institute for Advanced Simulation Forschungszentrum JulichJilich D-52425Germany

The Standard Model of particle physics,which contains the field theories for the electro-weak interaction(QED)and the strong interaction(QcD),is an extremely successful theory describing a huge variety of phenomena at... 详细信息

关键词： interaction atomic describing

A toast to a zebrafish germ cell induction cocktail

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Science china(Life Sciences) 2024年第6期67卷 1314-1315页

作者： Mary c.Mullins Department of cell and Developmental Biology University of Pennsylvania Perelman School of MedicinePhiladelphia 19104USA

The zebrafish field is ringing in the new year with a publication from Yonghua Sun's laboratory(Wang et al.,2023)of a cocktail of germline factors that can induce all cells of the zebrafish embryo into primordial germ cells(PGcs)at phenomenal *** major advance is not only of great interest to germ cell biologists,but it has important applications to the entire zebrafish field,as shown in Wang et al.(2023).

关键词： fish zebra field

Performance of evolutionary optimized machine learning for modeling total organic carbon in core samples of shale gas fields

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Petroleum 2024年第1期10卷 150-164页

作者： Leonardo Goliatt c.M.Saporetti L.c.Oliveira E.Pereira Department of computational and Applied Mechanics Federal University of Juiz de Fora Department of computational Modeling Polytechnic Institute Rio de Janeiro State University Petrobras Department of Stratigraphy and Paleontology Rio de Janeiro State University

Rock samples' TOc content is the best indicator of the organic matter in source rocks. The origin rock samples' analysis is used to calculate it manually by specialists. This method requires time and resources because it relies on samples from many well intervals in source rocks. Therefore, research has been done to aid this effort. Machine learning algorithms can estimate total organic carbon instead of well logs and stratigraphic studies. In light of these efforts, the current work present a study on automating the total organic carbon estimation using machine learning approaches improved by an evolutionary methodology to give the model flexibility and precision. Genetic algorithms, differential evolution, particle swarm optimization, grey wolf optimization, artificial bee colony, and evolution strategies were used to improve machine learning models to predict TOc. The six metaheuristics were integrated into four machine learning methods: extreme learning machine, elastic net linear model, linear support vector regression, and multivariate adaptive regression splines. core samples from the YuDong-Nan shale gas field, located in the Sichuan basin, were used to evaluate the hybrid strategy. The findings show that combining machine learning models with an evolutionary algorithms in a hybrid fashion produce flexible models that accurately predict TOc. The results show that, independent of the metaheuristic used to guide the model selection, optimized extreme learning machines attained the best performance scores according to six metrics. Such hybrid models can be used in exploratory geological research,particularly for unconventional oil and gas resources.

关键词： Total organic carbon Hybrid models Automated machine learning Evolutionary algorithms Geology

Recent advances on bismuth oxyhalides for photocatalytic cO_(2)reduction

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Journal of Environmental Sciences 2024年第6期140卷 183-203页

作者： Liangpang Xu Jimmy c.Yu Ying Wang Department of chemistry The Chinese University of Hong KongShatinNew TerritoriesHong Kong 999077China

Photocatalytic conversion of cO_(2)into fuels such as cO,cH_(4),and cH_(3)OH,is a promising approach for achieving carbon *** oxyhalides(BiOX,where X=cl,Br,and I)are appropriate photocatalysts for this purpose due to the merits of visible-light-active,efficient charge separation,and easy-to-modify crystal structure and surface *** practical applications,multiple strategies have been proposed to develop high-efficiency BiOX-based *** review summarizes the development of different approaches to prepare BiOX-based photocatalysts for efficient cO_(2)*** the review,the fundamentals of photocatalytic cO_(2)reduction are ***,several widely used modification methods for BiOX photocatalysts are systematacially discussed,including heterojunction construction,introducing oxygen vacancies(OVs),Bi-enrichment,heteroatom-doping,and morphology ***,the challenges and prospects in the design of future BiOX-based photocatalysis for efficient cO_(2)reduction are examined.

关键词： Bismuth oxyhalides Photocatalysis cO_(2)reduction Modification methods

Nonaqueous potassium-ion full-cells:Mapping the progress and identifying missing puzzle pieces

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Journal of Energy chemistry 2024年第6期93卷 384-399,I0010页

作者： Badre Larhrib Louiza Larbi Lénaïc Madec Universite de Pau et des Pays de l’Adour E2S UPPACNRSIPREMPauFrance Universitéde Haute-Alsace Institut de Science des Matériaux de Mulhouse(IS2M)CNRS UMR 7361F-68100 MulhouseFrance Universitéde Strasbourg F-67081 StrasbourgFrance Réseau sur le Stockage Electrochimique de l’Energie CNRS FR3459AmiensFrance Institut des Matériaux Jean Rouxel(IMN) CNRS UMR 6502Univ.Nantes44322 Cedex 3 NantesFrance

This review addresses the growing interest for potassium-ion full-cells(KIFcs)in view of the transition from potassium-ion half-cells(KIHcs)toward commercial K-ion batteries(KIBs).It focuses on the key parameters of KIFcs such as the electrode/electrolyte interfaces challenge,major barriers,and recent advancements in *** strategies for enhancing KIFc performance,including interfaces co ntrol,electrolyte optimization,electrodes capacity ratio,electrode material screening and electrode design,are *** review highlights the need to evaluate KIBs in full-cell configurations as half-cell results are strongly impacted by the K metal *** also emphasizes the importance of understanding solid electrolyte interphase(SEI)formation in KIFcs and explores promising nonaqueous as well as quasiand all-solid-state electrolytes *** review thus paves the way for practical,cost-effective,and scalable KIBs as energy storage systems by offering insights and guidance for future research.

关键词： K-ion full-cells Potassium-ion batteries cross-talk Solid-state batteries Potassium reactivity Electrolyte design Electrode design

Exercise immunology:Novel insights

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Journal of Sport and Health Science 2024年第3期13卷 277-279,I0001页

作者： David c.Nieman Human Performance Laboratory Appalachian State UniversityNorth Carolina Research CampusKannapolisNC 28081USA

The coronavirus disease 2019(cOVID-19)pandemic heightened worldwide attention on the influence of exercise on the immune *** were raised about whether regular moderate-to-vigorous physical activity(MVPA)could help prevent cOVID-19 or mitigate symptoms when *** MVPA bolster immunity among those most prone to cOVID-19 including the elderly,obese,and immunocompromised patients?Does regular MVPA dampen systemic inflammation,thereby lessening the cOVID-19 cytokine storm?

关键词： immunity inflammation thereby

An improved pulse coupled neural networks model for semantic IoT

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Digital communications and Networks 2024年第3期10卷 557-567页

作者： Rong Ma Zhen Zhang Yide Ma Xiping Hu Edith c.H.Ngai Victor c.M.Leung School of Information Science and Engineering Lanzhou UniversityLanzhou 730000China School of Medical Technology Beijing Institute of TechnologyBeijing100081China Department of Electrical and Electronic Engineer The University of Hong KongHong Kong 999077China college of computer Science and Software Engineering Shenzhen UniversityShenzhen 518060China Department of Electrical and computer Engineering the University of British ColumbiaVancouverBC V6T 1Z4Canada

In recent years,the Internet of Things(IoT)has gradually developed applications such as collecting sensory data and building intelligent services,which has led to an explosion in mobile data ***,with the rapid development of artificial intelligence,semantic communication has attracted great attention as a new communication ***,for IoT devices,however,processing image information efficiently in real time is an essential task for the rapid transmission of semantic *** the increase of model parameters in deep learning methods,the model inference time in sensor devices continues to *** contrast,the Pulse coupled Neural Network(PcNN)has fewer parameters,making it more suitable for processing real-time scene tasks such as image segmentation,which lays the foundation for real-time,effective,and accurate image ***,the parameters of PcNN are determined by trial and error,which limits its *** overcome this limitation,an Improved Pulse coupled Neural Networks(IPcNN)model is proposed in this *** IPcNN constructs the connection between the static properties of the input image and the dynamic properties of the neurons,and all its parameters are set adaptively,which avoids the inconvenience of manual setting in traditional methods and improves the adaptability of parameters to different types of *** segmentation results demonstrate the validity and efficiency of the proposed self-adaptive parameter setting method of IPcNN on the gray images and natural images from the Matlab and Berkeley Segmentation *** IPcNN method achieves a better segmentation result without training,providing a new solution for the real-time transmission of image semantic information.

关键词： Internet of things(IoT) Semantic information Real-time application Improved pulse coupled neural network Image segmentation