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Classification of Sitting States for the Humanoid Robot SJTU-HR1

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Journal of Bionic Engineering 2011年第1期8卷 49-55页

作者： Jialun yang feng Gao State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai 200240 P. R. China

The classification of sitting issues is investigated since detailed state classification for humanoid robots plays a key role in the practical application of humanoid robots, particularly for the humanoid robots doing complicated tasks. This paper presents the concept, the characteristics tree, and the prototype of the humanoid robot SJTU-HR1. The basic states lbr humanoid robots are proposed, including lying, sitting, standing, and handstanding. Moreover, the sitting states are classified into several states from the viewpoint of topology. The Gy （generalized function） set theory is applied to achieve the kinematic characteristics of the interested end-effectors of the humanoid robot SJTU-HR1. Finally, the results indicate that a large number of the sitting states can be represented by the meaningful notations systematically. Furthermore, the one-to-one correspondence between the state and kinematic characteristics of the interested end-effectors of the SJTU-HR 1 leads to deeper insight into the capabilities of the humanoid robot SJTU-HR1.

关键词： humanoid robots generalized function sets characteristics tree sitting states classification

Spin current Kondo effect in frustrated Kondo systems

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Science China(Physics,Mechanics & Astronomy) 2022年第2期65卷 91-98页

作者： Jiangfan Wang Yi-feng yang Beijing National Laboratory for Condensed Matter Physics Institute of PhysicsChinese Academy of SciencesBeijing 100190China School of Physical Sciences University of Chinese Academy of SciencesBeijing 100190China Songshan Lake Materials Laboratory Dongguan 523808China

Magnetic frustrations can enhance quantum fluctuations in spin systems and lead to exotic topological insulating *** coupled to mobile electrons,they may give rise to unusual non-Fermi liquid or metallic spin liquid states whose nature has not been well ***,we propose a spin current Kondo mechanism underlying a series of non-Fermi liquid phases on the border of Kondo and magnetic phases in a frustrated three-impurity Kondo *** mechanism is confirmed by renormalization group analysis and describes movable Kondo singlets called"holons"induced by an effective coupling between the spin current of conduction electrons and the vector chirality of localized *** mechanisms may widely exist in all frustrated Kondo systems and be detected through spin current noise measurements.

关键词： Kondo effect spin current Kondo effect spin chirality magnetic frustration

A unified theory of ferromagnetic quantum phase transitions in heavy fermion metals

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Science China(Physics,Mechanics & Astronomy) 2022年第5期65卷 104-113页

作者： Jiangfan Wang Yi-feng yang Beijing National Laboratory for Condensed Matter Physics Institute of PhysicsChinese Academy of ScienceBeijing 100190China School of Physical Sciences University of Chinese Academy of SciencesBeijing 100190China Songshan Lake Materials Laboratory Dongguan 523808China

Motivated by the recent discovery of a continuous ferromagnetic quantum phase transition in Ce Rh_(6)Ge_(4) and its distinction from other U-based heavy fermion metals such as UGe_(2),we develop a unified explanation of their different ground state properties based on an anisotropic ferromagnetic Kondo-Heisenberg *** employ an improved large-N Schwinger boson approach and predict a full phase diagram containing both a continuous ferromagnetic quantum phase transition for large magnetic anisotropy and first-order transitions for relatively small *** calculations reveal three different ferromagnetic phases including a half-metallic spin selective Kondo insulator with a constant *** Fermi surface topologies are found to change abruptly between different phases,consistent with that observed in UGe_(2).At finite temperatures,we predict the development of Kondo hybridization well above the ferromagnetic long-range order and its relocalization near the phase transition,in good agreement with band measurements in Ce Rh_(6)Ge_(4).Our results highlight the importance of magnetic anisotropy and provide a unified theory for understanding the ferromagnetic quantum phase transitions in heavy fermion metals.

关键词： ferromagnetic Kondo lattice magnetic anisotropy ferromagnetic quantum phase transition Schwinger boson

Heavy fermion quantum criticality: The party is just beginning

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Science China(Physics,Mechanics & Astronomy) 2020年第11期63卷 129-130页

作者： Yi-feng yang Beijing National Laboratory for Condensed Matter Physics Institute of PhysicsChinese Academy of SciencesBeijing 100190China University of Chinese Academy of Sciences Beijing 100049China Songshan Lake Materials Laboratory Dongguan 523808China

Recently,Nature reported the discovery of a ferromagnetic quantum critical point(FM QCP)in the heavy fermion compound CeRh6Ge4[1].This is the first discovery of such kind in a stoichiometric *** FM order is suppressed at a critical pressure of 0.8 GPa,beyond which the ground state turns into a Fermi ***,Science had also reported the observation of a FM QCP,albeit in the doped compound YbNi4(P0.92As0.08)2[2].

关键词： compound. quantum compound

Effect of order–disorder transition on thermodynamic and electronic properties of σ and χ phases in W–Re alloy: the first-principles calculation

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Tungsten 2025年第1期 195-213页

作者： Zhi-Peng Zhu Dian Jia William Yi Wang Jun-Lei Yin Xing-Yu Gao Shu-feng yang Hai-feng Song Jin-Shan Li State Key Laboratory of Solidification Processing Northwestern Polytechnical University Laboratory of Computational Physics Institute of Applied Physics and Computational Mathematics School of Metallurgical and Ecological Engineering University of Science and Technology Beijing

The Tungsten-Rhenium(W-Re) alloys,celebrated for their high melting point,strength at elevated temperatures,electrical resistivity,and radiation resistance,have been widely utilized in high-temperature components,aerospace,electronics,and nuclear *** constituents of the topologically close-packed(TCP) phases,the sigma phase(σ) and chi phase(χ) formed within W-Re alloys wield considerable influence on the mechanical properties and the stability of the *** calculations were utilized in the present work to explore the structural,thermodynamic,and electronic properties of both ordered and disordered configurations within the σ and χ phases,culminating in a systematic elucidation of the higher phase stability exhibited by the ordered *** is found that the bulk modulus of these two phases is directly proportional to the concentration of Re in the alloy,while the equilibrium volume is inversely *** thermodynamic parameters of the σ and χ phases are calculated via the mean-field potential *** similar trends observed in the isobaric heat capacity,enthalpy increment,and entropy change curves for these two phases suggest they possess comparable thermodynamic *** is noteworthy that the contribution of ionic vibrations predominantly affects the isobaric heat capacity,while the contribution of thermal electronic excitations increases linearly with *** the structure and thermodynamic properties of TCP phases in W-Re alloys at low temperatures has profound significance for optimizing material performance,microstructures features,establishing theoretical foundations,and predicting material behavior.

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Constructions of 1（1/2）-Designs from Unitary Geometry over Finite Fields

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Algebra Colloquium 2017年第3期24卷 381-392页

作者： Rongquan feng yang Zhang LMAM School of Mathematical Sciences Peking University Beijing 100871 China Department of Mathematics and Statistics Texas Tech University Lubbock TX 79409 USA

In this paper, we construct some 1（1/2）-designs, which are also known as partial geometric designs, using totally isotropic subspaces of the unitary space. Phrthermore, these 1（1/2）-designs yield six infinite fami... 详细信息

关键词： 1(1/2)-design unitary space totally isotropic subspace directed strongly regulargraph

Crystal defects formed in electroformed nickel liners of shaped charges

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Acta Metallurgica Sinica(English Letters) 2009年第5期22卷 383-391页

作者： feng yang Wenhuai TIAN Chuanchao feng Baosheng WANG Department of Materials Physics and Chemistry University of Science and Technology Beijing Beijing 100083 China 210 Institute Beijing 100081 China

Two types of electroformed nickel liners of shaped charges were prepared by electroforming technique. X-ray diffraction （XRD）, transmission electron microscopy （TEM）, electron backscattering diffraction （EBSD） technique and high resolution electron microscopy （HREM） have been employed to investigate the crystal defects formed in electroformed nickel liners of shaped charges. The result shows that （100） fiber texture which is parallel to the grown direction exists in the electroformed nickel prepared by using direct current electroforming without any additives, and （111） fiber texture exists in the electroformed nickel prepared by using direct current electroforming with additives. The deposits prepared by using direct current electroforming possess columnar grain with an average grain size of 30 μm in width and 170 μm in length. The deposits prepared with additives are composed of a colony structures with grain size of about 29 nm, and a lot of crystal defects such as twins, antiphase boundaries and stacking faults have been observed in the electroformed nickel.

关键词： Electroformation Nickel Nanostructure Crystal defect Texture

Strong decays of the P_(cs)(4459) as a Ξc D^(*) molecule

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Science China(Physics,Mechanics & Astronomy) 2021年第12期64卷 104-110页

作者： feng yang Yin Huang HongQiang Zhu School of Physical Science and Technology Southwest Jiaotong UniversityChengdu 610031China College of Physics and Electronic Engineering Chongqing Normal UniversityChongqing 401331China Asia Pacific Center for Theoretical Physics Pohang University of Science and TechnologyPohang 37673Korea

In this work,we study the strong decay of the newly observed P_(cs)(4459),assuming that it is a pureΞcD^(*)molecular ***ering two possible spin-parity assignments J^(P)=1/2^(−)and J^(P)=3/2^(−),the partial decay widths of theΞcD^(*)molecular state into J/ψΛ,D^(−)_(s)Λ^(+)_(c),and DΞ^((′))_(c) final states through hadronic loops are evaluated with the help of the effective *** comparison with the LHCb data,the S-waveD^(*)Ξc molecular with J^(P)=1/2^(−)assignment for P_(cs)(4459)is supported by our study,while the P_(cs)(4459)in spin-parity J^(P)=3/2^(−)case may be explained as an S-wave coupled bound state with lagerΞcD^(*)*** addition,the calculated partial decay widths with J^(P)=1/2^(−)ΞcD^(*)molecular state picture indicate that allowed decay mode,DΞ′c,may have the biggest branching *** experimental measurements for this strong decay process could be a crucial test for the molecule interpretation of the P_(cs)(4459).

关键词： molecular state strong decay effective Lagrangians

Numerical model of inclusion separation from liquid metal with consideration of dissolution in slag

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Journal of Iron and Steel Research International 2019年第11期26卷 1147-1153页

作者： Wei Liu Shu-feng yang Jing-she Li feng Wang Hong-bo yang School of Metallurgical and Ecological Engineering University of Science and Technology BeijingBeijing 100083China National Engineering Research Center for Rare Earth Materials General Research Institute for Nonferrous MetalsBeijing 100088China

The transport of inclusion particles through the liquid metal/molten slag interface and their dissolution in the slag are two key processes of inclusion *** on the latest version of inclusion transport model that takes into account full Reynolds number range and a dissolution kinetics model,a coupled model was developed to simulate the whole process of inclusion removal,from floating in the liquid steel to crossing the interface and further to entering and dissolving in the molten *** interaction between the inclusion motion and dissolution was *** though the inclusion velocity is a key parameter for dissolution,the simulation results show no obvious dissolution during moving state because the process is too short and most of the inclusions dissolve during its static stay in the slag side above the *** rate-controlling step of inclusion removal is the transport through the steel-slag interface for the small-size inclusion and static dissolution above the interface for the large-size inclusion,respectively.

关键词： Inclusion removal Slag dissolution-Inclusion separation Clean steel Secondary refining