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Brain Cognition Mechanism-Inspired Hierarchical Navigation Method for Mobile Robots

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Journal of Bionic Engineering 2024年第2期21卷 852-865页

作者： qiang Zou Chengdong Wu ming Cong Dong Liu Faculty of Robot Science and Engineering Northeastern UniversityShenyang110819China School of Mechanical Engineering Dalian University of TechnologyDalian116024China

Autonomous navigation is a fundamental problem in *** methods generally build point cloud map or dense feature map in perceptual space;due to lack of cognition and memory formation mechanism,traditional methods exist poor robustness and low cognitive *** a new navigation technology that draws inspiration from mammal’s navigation,bionic navigation method can map perceptual information into cognitive space,and have strong autonomy and environment *** improve the robot’s autonomous navigation ability,this paper proposes a cognitive map-based hierarchical navigation ***,the mammals’navigation-related grid cells and head direction cells are modeled to provide the robots with location *** then a global path planning strategy based on cognitive map is proposed,which can anticipate one preferred global path to the target with high efficiency and short ***,a hierarchical motion controlling method is proposed,with which the target navigation can be divided into several sub-target navigation,and the mobile robot can reach to these sub-targets with high confidence ***,some experiments are implemented,the results show that the proposed path planning method can avoid passing through obstacles and obtain one preferred global path to the target with high efficiency,and the time cost does not increase extremely with the increase of experience nodes *** motion controlling results show that the mobile robot can arrive at the target successfully only depending on its self-motion information,which is an effective attempt and reflects strong bionic properties.

关键词： Bionic navigation Spatial localization cells Global path planning Hierarchical motion controlling

Experimental Study of Local Scour Around Four Piles Under Different Attack Angles and Gap Ratios

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China Ocean Engineering 2024年第4期38卷 612-624页

作者： LIU ming-ming TANG Guo-qiang JIN Xin GENG Shao-yang School of Architecture and Engineering Liaocheng UniversityLiaocheng 252000China Water-Sediment Regulation and Sand Effective Utilization Special Laboratory of Shandong Provincial Education Department Liaocheng UniversityLiaocheng 252000China State Key Laboratory of Coastal and Offshore Engineering Dalian University of TechnologyDalian 116024China College of Electronic Engineering Chengdu University of Information TechnologyChengdu 610225China College of Energy Chengdu University of TechnologyChengdu 610059China

In an effort to investigate and quantify the patterns of local scour,researchers embarked on an in-depth study using a systematic experimental *** research focused on the effects of local scour around a set of four piles,each subjected to different hydromechanical *** particular,this study aimed to determine how different attack angles—the angles at which the water flow impinges on the piles,and gap ratios—the ratios of the spacing between the piles to their diameters,influence the extent and nature of scour.A comprehensive series of 35 carefully designed experiments were orchestrated,each designed to dissect the nuances in how the gap ratio and attack angle might contribute to changes in the local scour observed at the base of pile *** these experimental trials,a wealth of local scour data were collected to support the *** data included precise topographic profiles of the sediment bed around the pile groups,as well as detailed scour time histories showing the evolution of scour at strategic feature points throughout the test *** analysis of the experimental data provided interesting *** study revealed that the interplay between the gap ratio and the attack angle had a pronounced influence on the scouring dynamics of the pile *** of the key observations was that the initial phases of scour,particularly within the first hour of water flow exposure,were characterized by a sharp increase in the scour depth occurring immediately in front of the *** this initial rapid development,the scour depth transitioned to a more gradual change *** contrast,the scour topography around the piles continuously *** suggests that sediment displacement and the associated sculpting of the seabed around pile foundations are sustained and progressive processes,altering the underwater landscape over *** results of this empirical investigation have significant implications for the design and constructio

关键词： local scour piles gap ratio attack angle

High-resolution mid-infrared single-photon upconversion ranging

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Photonics Research 2024年第6期12卷 1294-1302页

作者： SHUHONG JIANG KUN huang TINGTING YU JIANAN FANG BEN SUN YAN LIANG qiang HAO E.WU ming YAN HEPING ZENG State Key Laboratory of Precision Spectroscopy East China Normal UniversityShanghai 200062China Chongqing Key Laboratory of Precision Optics Chongqing Institute of East China Normal UniversityChongqing 401121China Collaborative Innovation Center of Extreme Optics Shanxi UniversityTaiyuan 030006China School of Optical Electrical and Computer Engineering University of Shanghai for Science and TechnologyShanghai 200093China Shanghai Research Center for Quantum Sciences Shanghai 201315China Guangyang Bay Laboratory Chongqing Institute for Brain and IntelligenceChongqing 400064China

Single-photon laser ranging has widespread applications in remote sensing and target ***,highly sensitive light detection and ranging(lidar)has long been restricted in the visible or near-infrared *** appealing quest is to extend the operation wavelength into the mid-infrared(MIR)region,which calls for an infrared photon-counting system at high detection sensitivity and precise temporal ***,we devise and demonstrate an MIR upconversion lidar based on nonlinear asynchronous optical ***,the infrared probe is interrogated in a nonlinear crystal by a train of pump pulses at a slightly different repetition rate,which favors temporal optical scanning at a picosecond timing resolution and a kilohertz refreshing rate ***,the cross-correlation upconversion trace is temporally stretched by a factor of 2×10^(4),which can thus be recorded by a low-bandwidth silicon *** combination with the time-correlated photon-counting technique,the achieved effective resolution is about two orders of magnitude better than the timing jitter of the detector itself,which facilitates a ranging precision of 4μm under a low detected flux of 8×10^(−5) photons per *** presented MIR time-of-flight range finder is featured with single-photon sensitivity and high positioning resolution,which would be particularly useful in infrared sensing and imaging in photon-starved scenarios.

关键词： resolution lidar repetition

Global Zero-relaxation Limit Problem of the Electro-diffusion Model Arising in Electro-Hydrodynamics

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Acta Mathematicae Applicatae Sinica 2024年第1期40卷 241-268页

作者： ming-hua Yang Si-ming huang Jin-yi Sun Department of Mathematics Jiangxi University of Finance and EconomicsNanchang330032China School of Public Administration Guangdong University of Foreign StudiesGuangzhou510006China College of Mathematics and Statistics Northwest Normal UniversityLanzhou730070China

In this paper,we study a global zero-relaxation limit problem of the electro-diffusion model arising in electro-hydrodynamics which is the coupled Planck-Nernst-Poisson and Navier-Stokes *** is,the paper deals with a singular limit problem of{u^(∈)_(t)+u^(∈)·▽u^(∈)-Δu^(∈)+▽P^(∈)=Δφ^(∈)▽φ^(∈),in R^(3)×(0,∞),▽·u^(∈)=0,in R^(3)×(0,∞),n^(∈)_(t)+u^(∈)·▽n^(∈)-Δn^(∈)=-▽·(n^(∈)▽φ^(∈)),in R^(3)×(0,∞),ct+u^(∈)·▽c^(∈)-Δc^(∈)=▽·(c^(∈)▽φ^(∈)),in R^(3)×(0,∞),∈^(-1)φ^(∈)_(t)=Δφ^(∈)-n^(∈)+c^(∈),in R^(3)×(0,∞),(u^(∈),n^(∈),c^(∈),φ^(∈))|t=0=(u0,n0,c0,φ0),in R^(3) involving with a positive,large parameter^(∈).The present work show a case that(u^(∈),n^(∈),c^(∈))stabilizes to(u^(∞),n∞,c∞):=(u,n,c)uniformly with respect to the time variable as^(∈)→+∞with respect to the strong topology in a certain Fourier-Herz space.

关键词： fourier-Herz space littlewood-Paley decomposition stability limit dissipative system

Micromechanics of Thermal Conductive Composites:Review,Developments and Applications

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Acta Mechanica Solida Sinica 2024年第2期37卷 215-237页

作者： Guannan Wang Yulin huang Mengyuan Gao qiang Chen Department of Civil Engineering Zhejiang UniversityHangzhou310058China Center for Balance Architecture Zhejiang UniversityHangzhou310007China School of Mechanical Engineering Xi’an Jiaotong UniversityXi’an710049China

Micromechanics investigations of composites with fiber-shaped reinforcement are extensively applied in the engineering design and theoretical analysis of thermal composites in the aerospace engineering and high-tech *** this paper,a critical review of various classical micromechanics approaches is provided based on the classification framework and the development of micromechanics *** numerical micromechanics tools have been developed to overcome limitations through exactly/approximately solving the internal governing equations of *** connections and limitations of those models are also investigated and discussed,based on which three recently developed numerical or semi-analytical models are explained,including finite-element micromechanics,finite-volume direct averaging micromechanics,and locally exact homogenization theory,as well as machine learning *** it is almost inevitable to mention the interfacial effects on thermal behavior of fibrous composites,we review the new mathematical relations that interrupt the original continuity conditions due to the existence of interphase/interface within unit *** speaking,the interphase/interface is demonstrated to play a significant role in influencing the effective coefficients and localized thermal *** present work also briefly reviews the application of micromechanics tools in emerging engineered woven composites,natural fibrous composites,and ablative thermal protection *** is demonstrated that sophisticated micromechanics tools are always demanded for investigating the effective and localized responses of thermal fibrous composites.

关键词： Micromechanics models Thermal fibrous composites Microstructural detail-free models Semi-analytical and numerical methods Interfacial effects Woven composites Natural composites

Precise Asymptotics in Limit Theorems for a Supercritical Branching Process with Immigration in a Random Environment

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Acta Mathematica Sinica,English Series 2024年第8期40卷 1850-1874页

作者： Chun Mao huang Rui ZHANG Zhi qiang GAO Department of Mathematics Harbin Institute of Technology(Weihai)Weihai 264209P.R.China School of Mathematical Sciences Beijing Normal UniversityBeijing 100875P.R.China

Let(Zn)be a supercritical branching process with immigration in an independent and identically distributed random *** necessary moment conditions,we show the exact convergence rate in the central limit theorem on log Zn and establish the corresponding local limit theorem by using the moments of the natural submartingale and the convergence rates of its *** similar approach and with the help of a change of measure,we also present the so-called integrolocal theorem and integral large deviation theorem to characterize the precise asymptotics of the upper large deviations.

关键词： Branching process with immigration random environment central limit theorem large deviation

High Dynamic Bounding and Jumping Motion of Quadruped Robot Based on Stable Optimization Control

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Journal of Bionic Engineering 2024年第1期21卷 101-111页

作者： Sai Gu Fei Meng Botao Liu Junyao Gao qiang huang School of Mechatronical Engineering Beijing Institute of Technology100081 BeijingChina Key Laboratory of Biomimetic Robots and Systems Ministry of EducationBeijing 100081China

Aiming at the environment such as ravines and obstacles that may be encountered in the actual movement,this paper proposes a method for optimizing the bounding and jumping motion based on the ground touching force trajectory and the air motion trajectory of the quadruped *** method of optimizing the ground reaction force according to the speed of the demand and the height of the jump,and adjusting the stance and swing time according to the relationship of dynamics and momentum *** the same time,under the constraints of dynamics and energy consumption of the robot system,considering the jumping distance and height,a method for optimizing the air trajectory of bounding and jumping is *** switching and landing stability control are also ***,the experimental results show that the quadruped robot has strong bounding and jumping ability,and has achieved stable bounding movement and forward jump movement of 0.8 m.

关键词： Quadruped robot High dynamic motion control-Periodic limit cycle Trajectory optimization

Ultra-high energy cosmic neutrinos from gamma-ray bursts

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Fundamental Research 2024年第1期4卷 51-56页

作者： Yanqi huang Bo-qiang Ma School of Physics Peking UniversityBeijing 100871China Center for High Energy Physics Peking UniversityBeijing 100871China Collaborative Innovation Center of Quantum Matter Beijing 100871China

Based on the recent association of IceCube TeV and PeV neutrino events with gamma-ray bursts(GRBs)by considering the Lorentz violation of neutrinos,we provide a new estimate on the GRB neutrino flux with a more significant result compared to the previous constraint by the IceCube *** these 24 neutrino“shower”events above 60 TeV,12 events are associated with *** a result is compatible with the prediction from GRB fireball *** of track events provides a consistent result with the shower events to associate high energy cosmic neutrinos with GRBs under the same Lorentz violation features of *** also make a background estimation and reveal GRBs as a significant source for the ultra-high energy IceCube neutrino *** work supports the Lorentz violation and CPT-violation of neutrinos,indicating new physics beyond relativity.

关键词： Cosmic neutrino Gamma-ray burstLorentz invariance violation Neutrino and anti-neutrino asymmetry CPT-violation of neutrinos

Predicting the International Roughness Index of JPCP and CRCP Rigid Pavement:A Random Forest(RF)Model Hybridized with Modified Beetle Antennae Search(MBAS)for Higher Accuracy

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Computer Modeling in Engineering & Sciences 2024年第5期139卷 1557-1582页

作者： Zhou Ji Mengmeng Zhou qiang Wang Jiandong huang College of Civil and Environmental Engineering Hunan University of Science and EngineeringYongzhou425006China School of Mines China University of Mining and TechnologyXuzhou221116China School of Civil Engineering Guangzhou UniversityGuangzhou510006China

To improve the prediction accuracy of the International Roughness Index(IRI)of Jointed PlainConcrete Pavements(JPCP)and Continuously Reinforced Concrete Pavements(CRCP),a machine learning approach is developed in this study for the modelling,combining an improved Beetle Antennae Search(MBAS)algorithm and Random Forest(RF)*** 10-fold cross-validation was applied to verify the reliability and accuracy of the model proposed in this *** importance scores of all input variables on the IRI of JPCP and CRCP were analysed as *** results by the comparative analysis showed the prediction accuracy of the IRI of the newly developed MBAS and RF hybrid machine learning model(RF-MBAS)in this study is higher,indicated by the RMSE and R values of 0.2732 and 0.9476 for the JPCP as well as the RMSE and R values of 0.1863 and 0.9182 for the *** accuracy of this obtained result far exceeds that of the IRI prediction model used in the traditional Mechanistic-Empirical Pavement Design Guide(MEPDG),indicating the great potential of this developed *** importance analysis showed that the IRI of JPCP and CRCP was proportional to the corresponding input variables in this study,including the total joint faulting cumulated per KM(TFAULT),percent subgrade material passing the 0.075-mm Sieve(P_(200))and pavement surface area with flexible and rigid patching(all Severities)(PATCH)which scored higher.

关键词： Cement pavement JPCP CRCP RF-MBAS IRI