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A Reverse Path Planning Approach for Enhanced Performance of Multi-Degree-of-Freedom Industrial Manipulators

Computer Modeling in Engineering & Sciences 2024年第5期139卷 1357-1379页

作者： Zhiwei Lin Hui Wang Tianding Chen Yingtao jiang Jianmei jiang Yingpin Chen Key Laboratory of Light Field Manipulation and System Integration Applications in Fujian Province School of Physics and Information EngineeringMinnan Normal UniversityZhangzhou363000China Department of Electrical and Computer Engineering University of NevadaLas Vegas89154USA College of Material Engineering Fujian Agriculture and Forestry UniversityFuzhou350000China

In the domain of autonomous industrial manipulators,precise positioning and appropriate posture selection in path planning are pivotal for tasks involving obstacle avoidance,such as handling,heat sealing,and *** Multi-Degree-of-Freedom(MDOF)manipulators offer kinematic redundancy,aiding in the derivation of optimal inverse kinematic solutions to meet position and posture requisites,their path planning entails intricate multiobjective optimization,encompassing path,posture,and joint motion *** satisfactory results in practical scenarios remains *** response,this study introduces a novel Reverse Path Planning(RPP)methodology tailored for industrial *** approach commences by conceptualizing the manipulator’s end-effector as an agent within a reinforcement learning(RL)framework,wherein the state space,action set,and reward function are precisely defined to expedite the search for an initial collision-free *** enhance convergence speed,the Q-learning algorithm in RL is augmented with ***,we formulate the cylindrical bounding box of the manipulator based on its Denavit-Hartenberg(DH)parameters and propose a swift collision detection ***,the motion performance of the end-effector is refined through a bidirectional search,and joint weighting coefficients are introduced to mitigate motion in high-power *** efficacy of the proposed RPP methodology is rigorously examined through extensive simulations conducted on a six-degree-of-freedom(6-DOF)manipulator encountering two distinct obstacle configurations and target *** results substantiate that the RPP method adeptly orchestrates the computation of the shortest collision-free path while adhering to specific posture constraints at the target ***,itminimizes both posture angle deviations and joint motion,showcasing its prowess in enhancing the operational performance of MDOF industrial manipulators.

关键词： Reverse path planning Dyna-Q bidirectional search posture angle joint motion

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Role of Multi-scale Hierarchical Structures in Regulating Wetting State and Wetting Properties of Structured Surfaces

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Journal of Bionic Engineering 2024年第3期21卷 1347-1359页

作者： Yue jiang Xinyi Li Zhichao Ma Zhihui Zhang Cuie Wen Zhonghao jiang Nan Lin Luquan Ren Key Laboratory of Bionic Engineering of Ministry of Education College of Biological and Agricultural EngineeringJilin UniversityChangchun130022China Hubei Provincial Engineering Technology Research Center for Microgrid College of Electrical Engineering and New EnergyChina Three Gorges UniversityYichang443002China School of Mechanical and Aerospace Engineering Jilin UniversityChangchun130025China Centre for Additive Manufacturing School of EngineeringRMIT UniversityMelbourneVictoria3001Australia Key Laboratory of Automobile Materials of Ministry of Education College of Materials Science and EngineeringJilin UniversityChangchun130025China State Key Laboratory of Inorganic Synthesis and Preparative Chemistry Jilin UniversityChangchun130012China

Amplifying the intrinsic wettability of substrate material by changing the solid/liquid contact area is considered to be the main mechanism for controlling the wettability of rough or structured *** theoretical analysis and experimental exploration,we have found that in addition to this wettability structure amplification effect,the surface structure also simultaneously controls surface wettability by regulating the wetting state via changing the threshold Young angles of the Cassie-Baxter and Wenzel wetting *** wetting state regulation effect provides us with an alternative strategy to overcome the inherent limitation in surface chemistry by tailoring surface *** wetting state regulation effect created by multi-scale hierarchical structures is quite significant and plays is a crucial role in promoting the superhydrophobicity,superhydrophilicity and the transition between these two extreme wetting properties,as well as stabilizing the Cassie-Baxter superhydrophobic state on the fabricated lotus-like hierarchically structured Cu surface and the natural lotus leaf.

关键词： Hierarchical structure Wetting state regulation Wetting transition Superhydrophobicity Superhydrophilicity

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Do nocturnal birds use acoustic and visual cues to avoid predation by bats?

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Integrative Zoology 2024年第3期19卷 524-537页

作者： Lixin GONG Huan WU Zhiqiang WANG Hui WU jiang FENG Tinglei jiang Jilin Provincial Key Laboratory of Animal Resource Conservation and Utilization Northeast Normal UniversityChangchunChina Key Laboratory of Vegetation Ecology of Education Ministry Institute of Grassland ScienceNortheast Normal UniversityChangchunChina College of Life Science Jilin Agricultural UniversityChangchunChina

Anti-predation strategies are critical to animal survival and are fundamental to deciphering predator–prey *** an important defense strategy,sensory predator detection(such as through acoustic and visual cues)enables animals to assess predation risk and execute predator-avoidance behavior;however,there are limited studies on the anti-predation behavior of nocturnal *** prey of bats provides an excellent representative system for examining the anti-predation behavior of nocturnal ***,we broadcasted different types of echolocation calls of the bird-eating bat Ia io to two wild passerine birds,namely,Zosterops japonicus and Sinosuthora webbiana,that are preyed upon by ***,and presented the birds with individual bats under different light *** results showed that both bird species were able to perceive the low-frequency audible portion of the bats’echolocation calls;however,they did not exhibit escape responses to the acoustic *** the dark and under moonlit conditions,both bird species were unable to respond to active bats at close range and the birds only exhibited evasive flight behavior when bats approached or touched *** results suggest that nocturnal passerine birds may not be able to use acoustic or visual cues to detect bats and adopt evasive maneuvers to avoid *** work suggests that bat predation pressure may not elicit primary predator-avoidance responses in nocturnal passerine *** results provide new insights into the anti-predation behavior of nocturnal animals.

关键词： anti-predation behavior nocturnal animals sensory cues sensory defenses

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Robust Information Hiding Based on Neural Style Transfer with Artificial Intelligence

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Computers, Materials & Continua 2024年第5期79卷 1925-1938页

作者： Xiong Zhang Minqing Zhang Xu AnWang Wen jiang Chao jiang Pan Yang College of Cryptography Engineering Engineering University of People’s Armed PoliceXi’an710086China Key Laboratory of People’s Armed Police for Cryptology and Information Security Xi’an710086China Key Laboratory of CTC&Information Engineering(Engineering University of People’s Armed Police) Ministry of EducationXi’an710086China Staff Department of People’s Armed Police Ningxia Corps Yinchuan750000China

This paper proposes an artificial intelligence-based robust information hiding algorithm to address the issue of confidential information being susceptible to noise attacks during *** algorithm we designed aims to mitigate the impact of various noise attacks on the integrity of secret information during *** method we propose involves encoding secret images into stylized encrypted images and applies adversarial transfer to both the style and content features of the original and embedded *** process effectively enhances the concealment and imperceptibility of confidential information,thereby improving the security of such information during transmission and reducing security ***,we have designed a specialized attack layer to simulate real-world attacks and common noise scenarios encountered in practical *** adversarial training,the algorithm is strengthened to enhance its resilience against attacks and overall robustness,ensuring better protection against potential *** results demonstrate that our proposed algorithm successfully enhances the concealment and unknowability of secret information while maintaining embedding ***,it ensures the quality and fidelity of the stego *** method we propose not only improves the security and robustness of information hiding technology but also holds practical application value in protecting sensitive data and ensuring the invisibility of confidential information.

关键词： Information hiding neural style transfer robustness

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Synergistic promotion of particulate matter reduction and production performance via adjusting electrochemical reactions in the zinc electrolysis industry

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Frontiers of Environmental Science & Engineering 2024年第1期18卷 23-33页

作者： Zizhen Ma Jingkun jiang Lei Duan jianguo Deng Fuyuan Xu Zehui Li Linhua jiang Ning Duan School of Environmental and Municipal Engineering Qingdao University of TechnologyQingdao 266520China State Key Joint Laboratory of Environmental Simulation and Pollution Control School of the EnvironmentTsinghua UniversityBeijing 100084China State Key Laboratory of Pollution Control and Resources Reuse College of Environmental Science and EngineeringTongji UniversityShanghai 200092China School of Physics Peking UniversityBeijing 100871China

Heavy particulate matter (PM) pollution and high energy consumption are the bottlenecks of hydrometallurgy, especially in the electrolysis process. Therefore, an urgent need is to explore PM reduction methods with production performance co-benefits. This study presents three PM reduction methods based on controlling operating parameters, i.e., lowering electrolyte temperature, H2SO4 concentration, and current density of the cathode. The optimized conditions were also investigated using the response surface methodology to balance the PM reduction effect and Zn production. The results showed that lowering electrolyte temperature is the most efficient, with an 89.0% reduction in the PM generation flux (GFPM). Reducing H2SO4 concentration led to the minimum side effects on the current efficiency of Zn deposition (CEZn) or power consumption (PC). With the premise of non-deteriorating CEZn and PC, GFPM can be reduced by 86.3% at the optimal condition (electrolyte temperature = 295 K, H2SO4 = 110 g/L, current density = 373 A/m^(2)). In addition, the reduction mechanism was elucidated by comprehensively analyzing bubble characteristics, electrochemical reactions, and surface tension. Results showed that lower electrolyte temperature inhibited the oxygen evolution reaction (OER) and compressed gas volume. Lower H2SO4 concentration inhibited the hydrogen evolution reaction (HER) and reduced electrolyte surface tension. Lower current density inhibited both OER and HER by decreasing the reaction current. The inhibited gas evolutions reduced the microbubbles’ number and size, thereby reducing GFPM. These results may provide energy-efficient PM reduction methods and theoretical hints of exploring cleaner PM reduction approaches for industrial electrolysis.

关键词： Zinc electrolysis Particulate matter Energy consumption Operating parameters Bubble characteristic Electrochemical reaction

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Prediction of chemical short-range order in high-/medium-entropy alloys

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Journal of Materials Science & Technology 2024年第2期169卷 115-123页

作者： Pei-Yu Cao Jing Wang Ping jiang Yun-jiang Wang Fu-Ping Yuan Xiao-Lei Wu State Key Laboratory of Nonlinear Mechanics Institute of MechanicsChinese Academy of ScienceBeijing 100190China School of Engineering Science University of Chinese Academy of SciencesBeijing 100049China

Chemical short-range orders(CSROs),as the built-in sub-nanoscale entities in a high-/medium-entropy alloy(H/MEA),have aroused an ever-increasing *** multi-principal elements in an H/MEA to form a complex concentrated solution,a variety of sub-systems of species exist to induce the metastable ordered compounds as candidates for ultimate *** issues remain pending on the origin of CSROs as to how to judge if CSRO will form in an H/MEA and particularly,what kind of CSROs would be stably produced if there were multiple ***,the first-principles method,along with the proposed local formation energy calculation in allusion to the atomic-scale chemical heterogeneities,is used to predict the CSRO formation based on the mechanical stability,thermodynamic formation energy,and electronic *** simulations are detailed in an equiatomic ternary VCoNi MEA with three kinds of potential compounds,i.e.,L1_(1),L1_(2),and B2,in the face-centered cubic *** turns out that L1_(1)is stable but hard to grow up so as to become the final CSRO.L1_(1)is further predicted as CSROs in CrCoNi,but unable to form in FeCoNi and CrMnFeCoNi *** predictions are consistent with the experimental *** findings shed light on understanding the formation of *** method is applicable to other H/MEAs to design and tailor CSROs by tuning chemical species/contents and thermal processing for high performance.

关键词： Short-range order High-entropy alloy Microstructure First-principles calculation Gibbs free energy Local electronic density of states

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Exploration of Strong Metal-Support Interaction in Heterogeneous Catalysts by in situ Transmission Electron Microscopy

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Chinese Journal of Chemistry 2024年第9期42卷 1004-1008页

作者： Yongjun jiang Sheng Dai Key Laboratoryfor Advanced Materials and Feringa Nobel Prize Scientist Joint Research Center Institute of Fine ChemicalsSchool of Chemistry&Molecular EngineeringEast China Universityof Science and TechnologyShanghai 200237China

The phenomenon of strong metal-support interaction(SMSI)observed in supported metal catalysts,usually accompanied by the formation of the encapsulation layer on metal nanoparticles,has attracted extensive research attention due to its significance in heterogeneous ***,great progress has been made in recent years in investigating SMSI by in situ transmission electron microscopy(TEM),along with an enhanced comprehension of the underlying mechanisms governing SMSI *** emerging topic summarizes recent progress utilizing in situ TEM to study the interaction between metal and support and the relationship between the structure and performance of the supported catalyst under reaction conditions.A brief perspective about the use of in situ TEM for further study of SMSI is also presented,showing prospects in this field that will stimulate further upsurging research in promoting the catalytic efficiency of supported catalysts.

关键词： Heterogeneous catalysis In situ TEM Strong metal-support interaction Structure changes Interfaces Structural evolution

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用热聚法固定指示剂的光纤氧气传感器研究

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化学学报 2003年第8期61卷 1281-1286页

作者：姜德生陈兴黄俊武汉理工大学光纤传感技术研究中心武汉430070

采用热聚法将甲叉双丙烯酰胺 (MBBA)聚合并共价交联在硅烷化的玻璃微珠上 ,同时将指示剂Ru(Ⅱ ) 邻啡咯啉配合物物理包埋于聚合物中 ,研制了一种基于荧光猝灭原理的光纤氧气传感器 .采用NaHSO3 O2 MnSO4体系引发MBBA水溶液热聚合反... 详细信息

采用热聚法将甲叉双丙烯酰胺 (MBBA)聚合并共价交联在硅烷化的玻璃微珠上 ,同时将指示剂Ru(Ⅱ ) 邻啡咯啉配合物物理包埋于聚合物中 ,研制了一种基于荧光猝灭原理的光纤氧气传感器 .采用NaHSO3 O2 MnSO4体系引发MBBA水溶液热聚合反应 ,通过确定NaHSO3 ,MnSO4,MBBA和Ru(phen) 3 Cl2 的最佳反应浓度以及玻璃微珠的尺寸 ,优化了聚合反应条件 ,改善了指示剂的固定效果 ,制备了性能较好的传感器探头 .该传感器的检测下限为 5× 10 -6(V/V) ,响应时间为 10s .该传感器连续工作 5 0min ,重复性标准偏差为± 1% .

关键词：热聚法指示剂光纤氧气传感器荧光猝灭共价交联物理包理氧气浓度环境监测甲叉双丙烯酰胺

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Novel Sum-of-Sinusoids Simulation Channel Modeling for 6G Multiple-Input Multiple-Output Vehicle-to-Everything Communications

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China Communications 2024年第1期21卷 242-259页

作者： Hao jiang Hongming Zhang Ting Liu College of Artificial Intelligence Nanjing University of Information Science and Technology210044China National Mobile Communications Research Laboratory Southeast UniversityNanjing 210096China School of Information and Communication Engineering Beijing University of Posts and TelecommunicationsChina

In this paper,a statistical cluster-based simulation channel model with a finite number of sinusoids is proposed for depicting the multiple-input multiple-output(MIMO)communications in vehicleto-everything(V2X)*** the proposed sum-of-sinusoids(SoS)channel model,the waves that emerge from the transmitter undergo line-of-sight(LoS)and non-line-of-sight(NLoS)propagation to the receiver,which makes the model suitable for describing numerous V2X wireless communication scenarios for sixth-generation(6G).We derive expressions for the real and imaginary parts of the complex channel impulse response(CIR),which characterize the physical propagation characteristics of V2X wireless *** statistical properties of the real and imaginary parts of the complex CIRs,i.e.,autocorrelation functions(ACFs),Doppler power spectral densities(PSDs),cross-correlation functions(CCFs),and variances of ACFs and CCFs,are derived and *** results are generated and match those predicted by the underlying theory,demonstrating the accuracy of our derivation and *** proposed framework and underlying theory arise as an efficient tool to investigate the statistical properties of 6G MIMO V2X communication systems.

关键词： complex CIRs LoS and NLoS propagation components MIMO V2X communication environments SoS simulation channel model statistical properties

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On the Strong Approximation for a Simple Reentrant Line in Light Traffic Under First-buffer First-served Service Discipline

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Acta Mathematicae Applicatae Sinica 2024年第3期40卷 823-839页

作者： Kai-ming YANG Yong-jiang GUO School of Science Beijing University of Posts and TelecommunicationsBeijing 100876China

For a 2-station and 3-class reentrant line under first-buffer first-served(FBFS)service discipline in light traffic,we firstly construct the strong approximations for performance measures including the queue length,workload,busy time and idle time *** on the obtained strong approximations,we use a strong approximation method to find all the law of the iterated logarithms(LILs)for the above four performance measures,which are expressed as some functions of system parameters:means and variances of interarrival and service times,and characterize the fluctuations around their fluid approximations.

关键词： reentrant line queueing network FBFS service discipline strong approximation LIL Brownian motion

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