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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

Auto-tuning PVT data using multi-objective optimization: Application of NSGA-Ⅱ algorithm

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Petroleum 2024年第1期10卷 135-149页

作者： Abdolhadi Zarifi Mohammad madani Mohammad Jafarzadegan Reservoir Engineering Systems Petroleum Engineering Department Main Office Building of National Iranian South Oil Company (NISOC) Combined Planning Management National Iranian Oil Company (NIOC) Reservoir Engineering Division Petroleum Engineering Department Petroleum Engineering and Development Company (PEDEC)

Reservoir simulation is known as perhaps the most widely used, accurate, and reliable method for field development in the petroleum industry. An integral part of a reliable reservoir simulation process is to consider robust and rigorous tuned EOS models. Traditionally, EOS models are tuned iteratively through arduous workflows against experimental PVT data. However, this comes with a number of drawbacks such as forcingly using weight factors, which upon alteration adversely affects the optimization *** objective of the current work is thus to introduce an auto-tune PVT matching tool using NSGA-II multi-objective optimization. In order to illustrate the robustness of the presented technique, three different PVT samples are used, including two black-oil and one gas condensate sample. We utilize PengRobinson EOS during all the manual and auto-tuning processes. Comparison of auto-tuned EOS-generated results with those of experimental and computed statistical error values for these samples clearly show that the proposed method is robust. In addition, the proposed method, contrary to the manual matching process, provides the engineer with several matched solutions, which allows them to select a match based on the engineering background to be best amenable to the problem at hand. In addition, the proposed technique is fast, and can output several solutions within less time compared to the traditional manual matching method.

关键词： Auto-tuning PVT Equation of state NSGA-II Multi-objective optimization

Mafic and felsic magmatism in the Wadi kalalat area, South Eastern Desert, Egypt: mineralogy, geochemistry and geodynamic evolution during the Neoproterozoic in the Nubian Shield

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Acta Geochimica 2024年第1期43卷 150-173页

作者： Adel A.Surour Ahmed A.madani Mohamed A.El-Sobky Faculty of Science Galala UniversityNew Galala CitySuez 43511Egypt Department of Geology Faculty of ScienceCairo UniversityGiza 12613Egypt Egyptian Mineral Resources Authority P.O.Box 11517AbbasiyaCairoEgypt

In the south Eastern Desert of Egypt,two contrasting types of magmatism(mafic and felsic) are recorded in the Wadi kalalat area,and form the Gabal El Motaghiarat and Gabal Batuga intrusions,*** two intrusions post-dates ophiolitic and arc associations represented by serpentinite and metagabbro-diorite,*** mafic intrusion has a basal ultramafic member represented by fresh peridotite,which is followed upward by olivine gabbro and anorthositic or *** mafic intrusion pertains to the Alaskan-type mafic-ultramafic intrusions in the Arabian-Nubian Shield(ANS)being of tholeiitic nature and emplaced in a typical arc *** the other hand,the Gabal Batuga intrusion comprises three varieties of fresh A-type granites of high k-calc alkaline nature,which is peraluminous and garnetbearing in parts.A narrow thermal aureole in the olivine gabbro of the mafic intrusion was developed due to the intrusion of the Batuga *** results in the development of a hornfelsic melagabbro variety in which the composition changed from tholeiitic to a calc-alkaline composition due to the addition of S_(i)O_(2),Al_(2)O_(3),alkalis,lithosphile elements(LILEs) such as Rb(70 ppm) and Y(28 ppm) from the felsic *** the thermal aureole,Rb amounts 2-8 ppm and Y lies in the range k calc-alkaline giving rise to a typical post-collisional A-type granite(A_(2)-subtype) indicating an origin from an underplating crustal ***,it is stressed here that the younger granites in the ANS are not exclusively post-collisional and within-plate but most likely they started to develop before closure of the arc *** possible source(s) of mafic magmas

关键词： Wadi kalalat Gabal El Motaghairat mafic intrusion Gabal Batuga felsic intrusion Arc setting Post-collision Within-plate

用于CT引导下肺活检的PEARL方法：并发症发生率的评估

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国际医学放射学杂志 2022年第2期 238-238页

作者： A.Najafi M.Al Ahmar *** A.Delpla A.kobe k.madani 朱珍

摘要经皮CT引导下肺结节活检是一种公认的方法且诊断准确性高，但与支气管内方法相比，其气胸和胸管置入率较高。目的探讨结合病人活检侧朝下、呼气期间拔针、自

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Copernicrinus zamorae *** ***.,the oldest thiolliericrinid crinoid(Crinoidea,Echinodermata) from the Bajocian strata of Algeria,Africa

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Journal of Palaeogeography 2024年第2期13卷 237-251页

作者： Bartosz J.Pιachno madani Benyoucef Fayc al Mekki Mohammed Adaci Imad Bouchemla Sreepat Jain Marcin krajewski Mariusz A.Salamon Faculty of Biology Institute of BotanyJagiellonian University in KrakowGronostajowa Street 930-387 KrakowPoland Laboratoire de Géomatique Ecologie et EnvironnementMustapha Stambouli University of MascaraDZ-29000 MascaraAlgeria Abou Bekr Belkaid University of Tlemcen TlemcenAlgeria Department of Geological Sciences Faculty of Biological and Agricultural SciencesMouloud Mammeri University of Tizi-OuzouTizi-OuzouAlgeria Adama Science and Technology University School of Applied Natural SciencesDepartment of Applied GeologyP.O.Box 1888AdamaEthiopia Faculty of Geology Geophysics and Environmental ProtectionAGH University of Science and TechnologyAl.A.Mickiewicza 30PL-30-059KrakowPoland Faculty of Natural Sciences University of Silesia in KatowiceBedzinska Street 60PL-41-200 SosnowiecPoland

The thiolliericrinids(Thiolliericrinidae) are comatulids(Comatulida),which retained their stalks as ***,we report a centrodorsal from the Bajocian strata(Middle Jurassic) of the Djebel kérdacha area,northwestern Algeria(Africa).It is the first thiolliericrinid report from outside of Europe and also the oldest representative of the Thiolliericrinidae whose first occurrence is from the *** crinoid is assigned to Copernicrinus zamorae *** *** reported new taxon shows strong similarities with the stemless ‘true’comatulids,Solanocrinites;the only difference is the presence of a facet to the stem in *** closest comparable thiolliericrinid to Copernicrinus is the Oxfordian Thiolliericrinus,interpreted as a descendant of the *** origin and overview of all thiolliericrinid representatives are also discussed herein.

关键词： Thiolliericrinidae Crinoids Coral facies Bajocian Jurassic Algeria Southern Tethys margin

Period–Luminosity Relationship forδScuti Stars Revisited

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Research in Astronomy and Astrophysics 2024年第2期24卷 138-143页

作者： Atila Poro S.Javad Jafarzadeh Roghaye Harzandjadidi Mohammad madani Elnaz Bozorgzadeh Esfandiar Jahangiri Ahmad Sarostad Ailar Alizadehsabegh Maryam Hadizadeh Mohammad EsmaeiliVakilabadi The Raderon AI Laboratory Astronomy DepartmentBurnabyBCCanada Department of Physics University of Texas at Dallas800 W.Campbell Rd.RichardsonTX 75080USA Department of Theoretical Physics and Astrophysics University of ZanjanZanjanIran Independent researcher TehranIran Department of Electronics and Telecommunications Politecnico Di TorinoTurinItaly Independent researcher IsfahanIran Yazd Desert Night Sky Astronomy Institute YazdIran Department of Photonics Tabriz UniversityTabrizIran khayyam Astronomy Association FarsFasaIran

The Gaia DR3 parallax approach was used to estimate the absolute parameters of 2375δScuti stars from the ASAS *** selected stars have a variety of observational characteristics,with a higher than 80%probability of beingδScuti *** have displayed all the stars in the Hertzsprung-Russell diagram along with theδScuti instability strip,the Zero Age Main Sequence and the Terminal Age Main ***,we determined which fundamental and overtone modes each star belongs to using pulsation constant(Q)*** addition,we evaluated the parameters in the Q calculation equation using three machine learning methods,which showed that surface gravity and temperature have the greatest effect on its *** Period-Luminosity(P-L)relationship of theδScuti stars was also ***,using least squares linear regression,we made four linear fits for fundamental and overtone modes and updated their relationships.

关键词： stars variables delta Scuti--stars fundamental parameters-methods data analysis

Characterizations of realized homogeneous Besov and Triebel-Lizorkin spaces via differences

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Applied Mathematics(A Journal of Chinese Universities) 2018年第2期33卷 188-208页

作者： MOUSSAI madani Department of Mathematics Laboratory of Functional Analysis and Geometry of Spaces University of M'Sila

Based on the role of the polynomial functions on the homogeneous Besov spaces, on the homogeneous Triebel-Lizorkin spaces and on their realized versions, we study and obtain characterizations of these spaces via diffe... 详细信息

关键词： homogeneous Besov space homogeneous Triebel-Lizorkin space Nikol'skij representation method realizations Hardy estimates

Joint simulation of cross-correlated ore grades and geological domains:an application to mineral resource modeling

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Frontiers of Earth Science 2023年第2期17卷 417-436页

作者： Nasser madani Mohammad MALEkI School of Mining and Geosciences Nazarbayev UniversityAstana 010000Kazakhstan Department of Metallurgical and Mining Engineering Universidad Católica del NorteAntofagasta 1270709Chile

Spatial modeling of ore grades is frequently impacted by the local variation in geological domains such as lithological characteristics,rock types,and geological *** this information may lead to biased results in the final ore grade block model,subsequently impacting the downstream processes in a mining chain *** the current practice of ore body evaluation,which is known as stochastic cascade/hierarchical geostatistical modeling,the geological domain is first characterized,and then,within the geological model,the ore grades of interest are *** practice may be unrealistic in the case when the variability in ore grade across the boundary is gradual,following a smooth *** reproduce such characteristics,the cross dependence that exists between the ore grade and geological formations is considered in the conventional joint simulation between continuous and categorical ***,when using this approach,only one ore variable is considered,and its relationship with other ore grades that may be available at the sample location is *** this study,an alternative approach to jointly model two cross-correlated ore grades and one categorical variable(i.e.,geological domains)with soft contact relationships that exist among the geological domains is *** statistical and geostatistical tools are provided for variogram inference,Gibbs sampling,and conditional *** algorithm is also tested by applying it to a Cu deposit,where the geological formations are managed by the local and spatial distribution of two cross-correlated ore grades,Cu and Au,throughout the *** results show that the proposed algorithm outperforms other geostatistical techniques in terms of global and local reproduction of statistical parameters.

关键词： geostatistical simulation categorical variable continuous variable geological domain variogram inference

Cohen-Macaulay and Gorenstein Path Ideals of Trees

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Algebra Colloquium 2016年第3期23卷 469-480页

作者： Sara Saeedi madani Dariush kianl Department of Pure Mathematics Faculty of Mathematics and Computer Science Amirkabir University of ~bchnology (Tehran Polytechnic) 424 Hafez Ave. Tehran 15914 Iran School of Mathematics Institute for Research in Fundamental Sciences (IPM) P.O. Box 19395-5746 Tehran Iran

Let R = k[x1,...,xn], where k is a field. The path ideal （of length t ≥ 2） of a directed graph G is the monomial ideal], denoted by It （G）, whose generators correspond to the directed paths of length t in G. Let F be a directed rooted tree. We characterize all such trees whose path ideals are unmixed and Cohen-Macaulay. Moreover, we show that R/It（F） is Corenstein if and only if the Stanley-Reisner simplicial complex of It（Г） is a matroid.

关键词： path ideals Cohen-Macaulay Gorenstein matroid fitting S-paxtitioned tree