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When joggers meet robots:the past,present,and future of research on humanoid robots

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Bio-Design and Manufacturing 2019年第2期2卷 108-118页

作者： George H.Z.liu Michael Z.q.Chen Yonghua Chen Department of Mechanical Engineering The University of Hong KongPokfulamHong KongPeople’s Republic of China School of Automation Nanjing University of Science and TechnologyNanjing 210094JiangsuPeople’s Republic of China

Spawned by fast-paced progress in new materials and integrate circuit technology,the past two decades have witnessed tremendous development of humanoid robots for both scientific and commercial purposes,*** response and daily life *** the root of this trend are the increasing research interests and cooperation opportunities across different laboratories and *** application-driven requirements of high effectiveness and reliability of humanoid robots led intensive research and development in humanoid locomotion and control *** spite of the progress in the area,challenges such as unnatural locomotion control,inefficient multi-motion planning,and relatively slow disturbances recovery set further requirements for the next generation of humanoid ***,the purpose of this work is to review the current development of highly representative bipedal humanoid robots and discuss the potential to move the ideas and models forward from laboratory settings into the real *** this end,we also review the current clinical understanding of the walking and running dynamics to make the robot more human-like.

关键词： Humanoid robot Walking dynamics Dynamic control Bio-inspired gait Robot efficiency Shock absorption

Improvement of Coercivity and Corrosion Resistance of Nd-fe-B Sintered Magnets with Cu Nano-particles Doping

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Journal of Materials Science & Technology 2012年第10期28卷 927-930页

作者： C.Sun W.q.liu H.Sun M.Yue X.f.Yi J.W.Chen College of Materials Science and Engineering Beijing University of TechnologyBeijing 100124China Earth-panda Advance Magnetic Material Co. Ltd.Anhui 231500China

Nd-fe-B permanent magnets with a small amount of Cu nano-particles doping have been prepared by con-ventional sintered method. Effects of Cu content on magnetic properties, corrosion resistance, and oxidation properties of the magnets have been studied. It shows that the coercivity rises gradually, while the remanence decreases simultaneously with increasing Cu doping amount. Microstructure observation reveals that Cu ele- ment enriches mainly the Nd-rich phase. Autoclave test results show that the corrosion rate of the magnets decreases with increasing Cu content. After oxidation, the maximum energy product loss of the magnets with 0 and 0.2 wt% Cu nano-particles doping are 6.13% and 0.g9%, respectively. Therefore, it is concluded that Cu nano-particles doping is a promising way to enhance the coercivity and corrosion resistance of sintered Nd-fe-B magnets.

关键词： Nd-fe-B Cu nano-particles Coercivity Corrosion resistance Oxidation

INVESTIGATION ON fRACTURE BEHAVIOR fOR WELDED JOINT Of NEW GENERATION fINE GRAINED STEEL SS400

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Acta Metallurgica Sinica(English Letters) 2003年第1期16卷 35-40页

作者： H.Y.Jing X.G.liu Z.q.Zhu L.X.Huo Y.f.Zhang Sch. of Mat. Sci. and Eng. Tianjin Univ. Tianjin 300072 China

The fracture behavior for welded joint of new generation fine grained steel SS400 was investigated and assessed on the basis of fitness for purpose philosophy. The actual critical defect sizes for the SS400 base metal and its weld HAZ (heat affected zone) defined by the gross yielding criterium have been determined directly by means of wide plate tests. It has been shown that although the HAZ grain growth occurs due to the welding heat, the resistance to fracture is not deteriorated. The deformation behavior of wide plate specimen was also studied by finite, element (fE) analysis. The deformation of weld HAZ is protected by the high strength weld metal, so it is easier to get the general yielding for the welded joint specimen.

关键词： fine grained steel general yielding wide plate test fracture behavior

Excellent strength-ductility combination in Co_(36)Cr_(15)fe_(18)Ni_(18)Al_(8)Ti_(4)Mo_(1)multi-principal element alloys by dual-morphology B2 precipitates strengthening

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Journal of Materials Science & Technology 2023年第3期134卷 60-66页

作者： X.S.liu R.Li X.f.fan q.q.liu X.Tong A.X.Li S.Xu H.Yang S.B.Yu M.H.Jiang C.Huo P.f.Yu M.T.Dove G.Li State Key Laboratory of Metastable Materials Science and Technology Yanshan UniversityQinhuangdao 066004China College of Computer Science Sichuan UniversityChengdu 610065China School of Physical and Chemical Sciences Queen Mary University of LondonMile End RoadLondon E14NSUnited Kingdom School of Mechanical Engineering Dongguan University of TechnologyDongguan 523808China

Precipitation strengthening provides one of the most widely-used mechanisms for strengthen-ing multi-principal-element alloys(MPEAs).Here,we report dual-morphology B2 precipitates in Co_(36)Cr_(15)fe_(18)Ni_(18)Al_(8)Ti_(4)Mo_(1)MPEA obtained by thermo-mechanical *** microscopy charac-terization reveals that the dual-morphology B2 precipitates are either recrystallized B2 particles formed at the grain boundaries or triple junctions with recrystallization process,or rod-like within the non-recrystallized fCC *** dual-morphology B2 precipitates enhance the yield strength and ultimate tensile strength up to 1120 MPa and 1480 MPa,*** work suggests the mechanical proper-ties of the alloy can be optimized by B2 precipitation strengthening to meet the needs of engineering applications.

关键词： Multi-principal element alloys B2 precipitates Heterogeneous nucleation Precipitation strengthening

Repetitive traumatic brain injury–induced complement C1–related inflammation impairs long-term hippocampal neurogenesis

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Neural Regeneration Research 2025年第3期20卷 821-835页

作者： Jing Wang Bing Zhang Lanfang Li Xiaomei Tang Jinyu Zeng Yige Song Chao Xu Kai Zhao Guoqiang liu Youming Lu Xinyan Li Kai Shu Department of Neurosurgery Tongji HospitalTongji Medical CollegeHuazhong University of Science and TechnologyWuhanHubei ProvinceChina Department of Neurosurgery Shanxi Bethune HospitalShanxi Academy of Medical SciencesTongji Shanxi HospitalThird Hospital of Shanxi Medical UniversityTaiyuanShanxi ProvinceChina Department of Pathophysiology School of Basic Medicine and Tongji Medical CollegeHuazhong University of Science and TechnologyWuhanHubei ProvinceChina Institute for Brain Research Wuhan Center of Brain ScienceHuazhong University of Science and TechnologyWuhanHubei ProvinceChina Department of Graduate Student Chongqing Medical UniversityChongqingChina Department of Basic Medicine School of Medical ScienceHubei University for NationalitiesEnshiHubei ProvinceChina Department of Anatomy School of Basic Medicine and Tongji Medical CollegeHuazhong University of Science and TechnologyWuhanHubei ProvinceChina

Repetitive traumatic brain injury impacts adult neurogenesis in the hippocampal dentate gyrus,leading to long-term cognitive ***,the mechanism underlying this neurogenesis impairment remains *** this study,we established a male mouse model of repetitive traumatic brain injury and performed long-term evaluation of neurogenesis of the hippocampal dentate gyrus after repetitive traumatic brain *** results showed that repetitive traumatic brain injury inhibited neural stem cell proliferation and development,delayed neuronal maturation,and reduced the complexity of neuronal dendrites and *** with repetitive traumatic brain injuryalso showed deficits in spatial memory ***,following repetitive traumatic brain injury,neuroinflammation was enhanced in the neurogenesis microenvironment where C1q levels were increased,C1q binding protein levels were decreased,and canonical Wnt/β-catenin signaling was *** inhibitor of C1 reversed the long-term impairment of neurogenesis induced by repetitive traumatic brain injury and improved neurological *** findings suggest that repetitive traumatic brain injury–induced C1-related inflammation impairs long-term neurogenesis in the dentate gyrus and contributes to spatial memory retrieval dysfunction.

关键词： complement C1 dendrite dentate gyrus hippocampus neural stem cell neurogenesis neuroinflammation neurological function neuron traumatic brain injury

Soft computing approach for prediction of surface settlement induced by earth pressure balance shield tunneling

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Underground Space 2021年第4期6卷 353-363页

作者： W.G.Zhang H.R.Li C.Z.Wu Y.q.Li Z.q.liu H.L.liu Key Laboratory of New Technology for Construction of Cities in Mountain Area Chongqing UniversityChongqing 400045China National Joint Engineering Research Center of Geohazards Prevention in the Reservoir Areas Chongqing UniversityChongqing 400045China School of Civil Engineering Chongqing UniversityChongqing 400045China Norwegian Geotechnical Institute(NGI) Sognsveien 720855 OsloNorway

Estimating surface settlement induced by excavation construction is an indispensable task in tunneling,particularly for earth pressure balance(EPB)shield *** this study,predictive models for assessing surface settlement caused by EPB tunneling were established based on extreme gradient boosting(XGBoost),artificial neural network,support vector machine,and multivariate adaptive regression *** from three tunnel construction projects in Singapore were used,with main input parameters of cover depth,advance rate,earth pressure,mean standard penetration test(SPT)value above crown level,mean tunnel SPT value,mean moisture content,mean soil elastic modulus,and grout *** performances of these soft computing models were evaluated by comparing predicted deformation with measured *** demonstrate the acceptable accuracy of the model in predicting ground settlement,while XGBoost demonstrates a slightly higher *** addition,the ensemble method of XGBoost is more computationally efficient and can be used as a reliable alternative in solving multivariate nonlinear geo-engineering problems.

关键词： EPB Surface settlement Soft computing XGBoost Multivariate adaptive regression spline

CALCULATION Of THE DAMPING Of THE Zn-27Al ALLOY BASED ON THE MICRO INTERfACE SLIDING MODEL

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Acta Metallurgica Sinica(English Letters) 2006年第3期19卷 228-234页

作者： Y.Z. Zhao q. Gao Y.C. liu School of Civil Engineering Southwest Jiaotong University Chengdu 610031 China Department of Applied Mechanics and Engineering Southwest Jiaotong University Chengdu 610031 China

The microstructures of the Zn-27Al alloy after modification, solid-solution treatment, and natural aging were studied. It was clarified why the damping properties of Zn-27Al alloys, after treatment, had advanced most on the basis of analyzing the microstructures. Approximate expressions have been educed, which can be used to quantificationally work out the damping of the Zn-27Al alloy on the basis of the micro interface sliding model. By comparing the testing damping properties of the foundry Zn-27Al alloys and the Zn-27Al alloys after modification, solid solution, and natural aging, it was shown that the expressions were rational.

关键词： modification solid solution and aging damping micromechanism micro interface sliding model

Using SPOT 5 fusion-ready imagery to detect Chinese tamarisk(saltcedar)with mathematical morphological method

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International Journal of Digital Earth 2014年第3期7卷 217-228页

作者： q.S.liu G.H.liu C.Huang C.J.Xie State Key Laboratory of Resources and Environmental Information System Institute of Geographic Science and Natural Resources ResearchChinese Academy of SciencesBeijingChina

Chinese tamarisk(saltcedar)is a deciduous shrub that occurs widely across the Yellow River Delta in *** spatial structure of Chinese tamarisk is believed to have an influence on the landscape and habitats of rare *** this study,first,Chinese tamarisk is detected using Canny edge detector and mathematical morphological operators based on SPOT 5 fusion-ready *** the numbers,areas,locations,and patch spacing of Chinese tamarisk patches are *** experiments show that the detection accuracy of Chinese tamarisk patches is about 93.4%after the disconnection of connected *** distribution orientation of about 70%of the patches is approximately *** 91%of the minimum distances among the patches are between 12.5 and 57.5 *** rose graph indicates that the main azimuth between patches is north--northwest,and the second is northeast and *** present study indicates that the integrating Canny edge detector with the algorithms for extracting circular and elliptical objects based on mathematical morphology is simple and effective for detecting Chinese tamarisk patches and is easy to identify the spatial structure of Chinese tamarisk patches,which reduces the time and labor for the visual interpretation of Chinese tamarisk patches.

关键词： SPOT 5 Chinese tamarisk spatial structure mathematical morphology patch

Comparison of Two Methods in Determining the Composition Distribution of SBS Copolymers

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Chinese Chemical Letters 1998年第2期9卷 173-175页

作者： Xu, J Shi, LH Ye, ML Wu, JS liu, q Chinese Acad Sci Inst Chem Polymer Phys Lab Beijing 100080 Peoples R China Yanshan Petrochem Corp Res Inst SINOPEC Beijing 102500 Peoples R China

The comparison of the determination of chemical composition distributions of butadiene-styrene copolymers, obtained by the formula method and experimental method of GPC, is given in this paper. The relative error of average composition was shown to be less than 5%. The formula method was found to be a more convenient and time-saving approach in the characterization of the copolymer composition distribution.

关键词： GPC chemical composition distribution butadiene-styrene copolymer