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A self-stabilised walking gait for humanoid robots based on the essential model with internal states

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IET Cyber-Systems and Robotics 2022年第4期4卷 283-297页

作者： Qiuyue Luo Christine Chevallereau Yongsheng Ou Jianxin Pang Victor De-león-Gómez Yannick Aoustin Shenzhen Institutes of Advanced Technology Chinese Academy of SciencesShenzhenChina Research Institute of UBTech Robotics ShenzhenChina Laboratoire des Sciences du Numerique de Nantes(LS2N) CNRSCentrale NantesNantes UniversitéNantesFrance FCA at the Univerdidad Autónoma de Coahuila TorreónMéxico

Walking stability is one of the key issues for humanoid robots.A self-stabilised walking gait for a full dynamic model of humanoid robots is *** simplified models,that is,the linear inverted pendulum model and variable-length inverted pendulum model,self-stabilisation of walking gait can be obtained if virtual constraints are properly *** result is extended to the full dynamic model of humanoid robots by using an essential dynamic model,which is developed based on the zero dynamics *** the proposed method,a robust stable walking for a humanoid robot is achieved by adjusting the step timing and landing position of the swing foot automatically,following its intrinsic dynamic *** exempts the robot from the time-consuming high-level control approaches,especially when a full dynamic model is *** different walking patterns/features(i.e.,the swing foot motion,the vertical centre of mass motion,the switching manifold configuration,etc.)affect the stability of the walking gait is *** are conducted on robots Romeo and TALOS to support the results.

关键词： dynamic stability humanoid and bipedal locomotion passive walking

Propagation characteristics of low-frequency axisymmetric waves in fluid-filled pipes embedded in the viscoelastic medium

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Chinese Journal of Acoustics 2022年第3期41卷 221-237页

作者： QIAN Jiawen HAN Qingbang SU Nana BAI le QIAN Xintong College of IOT Engineering of Hohai University Changzhou 213022

The propagation characteristics of the low-frequency axisymmetric waves in buried fluid-filled pipes are investigated theoretically,based on the Kennard thin-walled shell equations,the Helmholtz equation,and the Kelvin-Voigt linear viscoelastic *** expressions of the phase velocity are derived for both the fluid-dominated wave and the shell-compressed wave under lubricated contact,via considering the surrounding soil as a viscoelastic *** dispersion and attenuation curves of the two wave types are obtained and verified *** ratio of the radial pipe wall displacements is analyzed,with particular emphasis on the effects of the thickness-to-radius ratio and the quality factor on the dispersion and attenuation characteristics of the fluid-dominated *** results show that the viscoelastic property has slight effects on the phase velocities of the two wave types,but it influences the attenuation *** fluid-dominated wave influences the radial pipe wall displacement significantly and is the primary carrier of leakage noise energy;its phase velocity increases as a function of the thickness-to-radius ratio while the attenuation *** also shows that the dispersion and attenuation of the fluid-dominated wave decrease as a function of the quality *** work will provide insights and guidance for the leakage detection of buried fluid-filled pipes.

关键词： wave viscoelastic filled

When “the most Chinese” meets “the most Italian” ——20 years friendship between Yangzhou,Rimini

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Voice of Friendship 2019年第3期 31-33页

作者： Yang le 不详

this year marks the 15th anniversary of the establishment of the China-Italy comprehensive strategic partnership,and next year will commemorate the 50 th anniversary of the establishment of diplomatic ties between the... 详细信息

关键词： the most Italian China meets years friendship between Yangzhou,Rimini

An Important Step forward in the Well-being Cooperation between China and Nepal: CNIE and Other Chinese NGOs’ Visit to Nepal

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International Understanding 2018年第3期 38-40页

作者： Yang le 不详

The time-honored friendship between China and Nepal dates back to more than one thousand years *** Fa Xian of the Jin Dynasty and Monk Xuanzang of the Tang dynasty visited Lumbini (in the south of Nepal),the birthplace of the Buddha *** Tang Dynasty,Nepal's Princess Bhrukuti was married to Sountzen *** Yuan Dynasty,Architect Arniko came to China to help supervise the construction of the White Pagoda *** the establishment of diplomatic relations on August 1,1955,the traditional friendship and friendly cooperation between China and Nepal have continued to *** high-level exchanges between the two countries are quite close,with successive Nepalese kings and prime ministers having visited China many times.

关键词： The time-honored friendship China Nepal

China＇s legal Modernization in the Globalization Era： A Review of China＇s legal Development from 1949-2009

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Fudan Journal of the Humanities and Social Sciences 2010年第4期3卷 175-178页

作者： Fang le

An academic conference on ＂China＇s legal Modernization in The Globalization Era＂ was held in Nanjing Purple Palace on August 22-23, 2009, jointly sponsored by Nanjing Normal University＇s Research Institute of legal Modernization and the magazine Chinese Journal of Law. More than sixty scholars from China's Mainland, Hong Kong and Taiwan made heated discussions upon three themes-＂ legal development of New China over the past sixty years,＂＂ Globalization and the transformation of China＇s legal theory,＂ and ＂ Globalization and China＇s legal system. ＂

关键词：中国法律全球化现代化南京师范大学法学理论南京紫金山学术会议法律制度

Green Synthesis of RuO2 Electrode for Electrochemical Water Treatment

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Journal of Environmental Science and Engineering(B) 2016年第7期5卷 335-341页

作者： Tran le Luu Department of Mechatronics & Sensor Systems Technology Vietnamese German University Binh Duong Province Vietnam

Nowadays, the electrochemical water treatments are very important methods used for the removal of organic and inorganic impurities from fresh, drinking water and wastewater. The method consists of carrying out the oxidation reaction at the anode where pollutants are transferred into non-toxic substances, by decomposing into simpler compounds or transferring into oxidation form. RuO2-based Dimensional Stable Anode （DSA） is a technologically good and important electrode for water treatment because of its unique characteristics such as high thermal and chemical stability, low resistivity and low overpotential. this paper reviews the methods for fabricating RuO2-based electrodes that can be used in electrochemical water treatment. Depending on the different fabrication routes, RuO2 electrodes will possess the different electro-catalytic property and stability.

关键词： Electrocatalytic DSA RuO2 water treatment.

The expression of lacrimal androgen-binding proteins in mice Pseudomonas aeruginosa keratitis

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International Journal of Ophthalmology(English edition) 2020年第1期13卷 7-10页

作者： le-Yu Lyu Qian Wang Qiang Xu Wen-Yi Zhao Hua Yang Cheng-Ye Che Department of Ophthalmology the Affiliated Hospital of Qingdao University

AIM: To investigate the expression of lacrimal androgenbinding proteins(ABPs) in mice Pseudomonas aeruginosa(P. aeruginosa) ***: P. aeruginosa mice model from different gender was developed by intra-stromal injection. The expression of lacrimal ABPs in lacrimal gland specimens from P. aeruginosa keratitis mice was detected by the quantitative polymerase chain reaction(q RT-PCR). Corneal virulence was evaluated based on clinical scores. To study the mechanism of lacrimal ABPs' expression, experimental subjects were pre-treated with 4 E-BP1 inhibitor, and were used to evaluate the expression levels by q ***: Compared with control groups, the expression of ABPα, ABPη and ABPζ in lacrimal gland from P. aeruginosa keratitis mice had no meaningful changes, while ABPε and ABPδ were significantly higher at 1 d after infection. The expression of ABPδ in lacrimal gland of male mice was higher than female mice, regardless of whether or not P. aeruginosa keratitis occurred. After 4 E-BP1 inhibitor subconjunctival injection or lacrimal injection, the expression of ABPδ and ABPε has no significant change compared with the control ***: ABPδ and ABPε secreted by mice lacrimal gland may involve in the progress of alleviating the severity of corneal damage in P. aeruginosa keratitis. The expression of ABPδ and ABPε upon P. aeruginosa infection is independent of cap-dependent m RNA translation activated by 4 E-BP1.

关键词： keratitis Pseudomonas aeruginosa androgen-binding proteins lacrimal gland

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几种杀虫剂对水稻二化螟的田间防治效果

湖南农业科学 2024年第5期 79-81页

作者：钟乐荣梁中卫黄蕊张亚芳聂奔涟源市植保植检站湖南涟源417199 长沙市农业农村局湖南长沙410000

为了筛选防治水稻抗性二化螟的有效药剂,于2023年在湖南省涟源市开展了环丙氟虫胺、阿维菌素、金龟子绿僵菌、杀虫单和乙基多杀菌素对水稻二化螟田间防治效果试验。结果表明:参试药剂对二化螟的防治效果存在明显差异,在药后第14、21天,... 详细信息

为了筛选防治水稻抗性二化螟的有效药剂,于2023年在湖南省涟源市开展了环丙氟虫胺、阿维菌素、金龟子绿僵菌、杀虫单和乙基多杀菌素对水稻二化螟田间防治效果试验。结果表明:参试药剂对二化螟的防治效果存在明显差异,在药后第14、21天,10%环丙氟虫胺DC600 mL/hm^(2)和25%乙基多杀菌素WG180 g/hm^(2)的防效最佳,显著高于其他处理,说明环丙氟虫胺和乙基多杀菌素均对水稻二化螟具有良好的防效,但二者都具有速效性不高但持效性较好的特点,可与起效快的药剂复配使用,达到更好的防治效果。

关键词：二化螟杀虫剂抗药性防治效果

Analysis of Malware Families on Android Mobiles: Detection Characteristics Recognizable by Ordinary Phone Users and How to Fix It

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Journal of Information Security 2013年第4期4卷 213-224页

作者： Hieu le Thanh School of Computer Science and Technology Huazhong University of Science and Technology Wuhan China

The sale of products using the android Operation System (OS) phone is increasing in rate: the fact is that its price is cheaper but its configured hardware is higher, users easily buy it and the approach to this product increases the risk of the spread of mobile malware. The understanding of majority of the users of this mobile malware is still limited. While they are growing at a faster speed in the number and level of sophistication, especially their variations have created confusion for users;therefore worrying about the safety of its users is required. In this paper, the author discussed the identification and analysis of malware families on Android Mobiles. The author selected the recognizable characteristics from ordinary users with their families collected from 58 malware families and 1485 malware samples and proposed solutions as recommendations to users before installing it with the ultimate desire to mitigate the damage in the community that is on the android phone, especially the ordinary users with limited understanding about potential hazards. It would be helpful for the ordinary users to identify the mobile malware in order to mitigate the information security risk.

关键词： Mobile Security Android Malware Families