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Dynamic motion of quadrupedal robots on challenging terrain:a kinodynamic optimization approach

Frontiers of Mechanical Engineering 2024年第3期19卷 23-40页

作者： qi LI Lei DING Xin LUO Engineering Research Center of Hubei Province for Clothing Information Wuhan 430200China School of Computer Science and Artificial Intelligence Wuhan Textile UniversityWuhan 430200China State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China

The dynamic motion of quadrupedal robots on challenging terrain generally requires elaborate spatial–temporal kinodynamic motion planning and accurate control at higher refresh rate in comparison with regular ***,conventional quadrupedal robots usually generate relatively coarse planning and employ motion replanning or reactive strategies to handle terrain *** resultant complex and computation-intensive controller may lead to nonoptimal motions or the breaking of locomotion *** this paper,a kinodynamic optimization approach is *** generate long-horizon optimal predictions of the kinematic and dynamic behavior of the quadruped robot on challenging terrain,we formulate motion planning as an optimization problem;jointly treat the foot’s locations,contact forces,and torso motions as decision variables;combine smooth motion and minimal energy consumption as the objective function;and explicitly represent feasible foothold region and friction constraints based on terrain *** track the generated motions accurately and stably,we employ a whole-body controller to compute reference position and velocity commands,which are fed forward to joint controllers of the robot’s *** verify the effectiveness of the developed approach through simulation and on a physical quadruped robot *** show that the quadruped robot can successfully traverse a 30°slope and 43% of nominal leg length high step while maintaining the rhythm of dynamic trot gait.

关键词： quadrupedal robot kinodynamic planning nonlinear optimization challenging terrain whole-body control

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Buckling optimization of curvilinear fiber-reinforced composite structures using a parametric level set method

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Frontiers of Mechanical Engineering 2024年第1期19卷 149-160页

作者： Ye TIAN Tielin SHI qi XIA State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China

Owing to their excellent performance and large design space,curvilinear fiber-reinforced composite structures have gained considerable attention in engineering fields such as aerospace and *** addition to the stiffness and strength of such structures,their stability also needs to be taken into account in the *** study proposes a level-set-based optimization framework for maximizing the buckling load of curvilinear fiber-reinforced composite *** the proposed method,the contours of the level set function are used to represent fiber *** a composite laminate with a certain number of layers,one level set function is defined by radial basis functions and expansion coefficients for each ***,the fiber angle at an arbitrary point is the tangent orientation of the contour through this *** the finite element of buckling,the stiffness and geometry matrices of an element are related to the fiber angle at the element *** study considers the parallelism constraint for fiber *** the sensitivity calculation of the objective and constraint functions,the method of moving asymptotes is utilized to iteratively update all the expansion coefficients regarded as design *** numerical examples under different boundary conditions are given to validate the proposed *** show that the optimized curved fiber paths tend to be parallel and equidistant regardless of whether the composite laminates contain holes or ***,the buckling resistance of the final design is significantly improved.

关键词： buckling optimization curvilinear fiber composite structure level set method manufacturing constraint

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ANALYSIS OF THE IMPLICIT-EXPLICIT ULTRA-WEAK DISCONTINUOUS GALERKIN METHOD FOR CONVECTION-DIFFUSION PROBLEMS

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Journal of Computational Mathematics 2024年第1期42卷 1-23页

作者： Haijin Wang Anping Xu qi Tao School of Science Nanjing University of Posts and TelecommunicationsNanjing 210023China Beijing Computational Science Research Center Beijing 100193China

In this paper,we first present the optimal error estimates of the semi-discrete ultra-weak discontinuous Galerkin method for solving one-dimensional linear convection-diffusion ***,coupling with a kind of Runge-Kutta type implicit-explicit time discretization which treats the convection term explicitly and the diffusion term implicitly,we analyze the stability and error estimates of the corresponding fully discrete *** fully discrete schemes are proved to be stable if the time-stepτ≤τ0,whereτ0 is a constant independent of the mesh-size ***,by the aid of a special projection and a careful estimate for the convection term,the optimal error estimate is also obtained for the third order fully discrete *** experiments are displayed to verify the theoretical results.

关键词： The ultra-weak discontinuous Galerkin method Convection-diffusion Implicitexplicit time discretization Stability Error estimate

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Continuous Orbit Equivalence of Semigroup Actions

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Acta Mathematica Sinica,English Series 2024年第6期40卷 1581-1598页

作者： Xiang qi qiANG Cheng Jun HOU School of Mathematical Science Yangzhou UniversityYangzhou 225002P.R.China

We introduce notions of continuous orbit equivalence and its one-sided version for countable left Ore semigroup actions on compact spaces by surjective local homeomorphisms,and characterize them in terms of the corresponding transformation groupoids and their operator *** particular,we show that two essentially free semigroup actions on totally disconnected compact spaces are continuously orbit equivalent if and only if there is a canonical abelian subalgebra preserving C^(∗)-isomorphism between the associated transformation groupoid C^(∗)-*** also give some examples of orbit equivalence,consider the special case of semigroup actions by homeomorphisms and relate continuous orbit equivalence of semigroup actions to that of the associated group actions.

关键词： Semigroup action continuous one-sided orbit equivalence continuous orbit equivalence groupoid C^(∗)-algebras

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Quantum correlations in a chain-type quantum network

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Communications in Theoretical Physics 2024年第6期76卷 77-91页

作者： Xiaofei qi Aihong Zhai Lihua Yang School of Mathematical Science Shanxi UniversityTaiyuan 030006China Key Laboratory of Complex Systems and Data Science of Ministry of Education Shanxi UniversityTaiyuan 030006China School of Mathematics and Information Technology Yuncheng UniversityYuncheng 044000China

A quantum network concerns several independent entangled resources and can create strong quantum correlations by performing joint measurements on some *** this paper,we discuss an n-partite chain network with each of two neighboring observers sharing an arbitrary Bell state and all intermediate observers performing some positive-operator-valued measurements with parameterλ.The expressions of all post-measurement states between any two observers are obtained,and their quantifications of Bell nonlocality,Einstein-Podolsky-Rosen steering and entanglement with different ranges ofλare respectively detected and analyzed.

关键词： quantum correlation nonlocality entanglement chain-type quantum network

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One-shot Face Reenactment with Dense Correspondence Estimation

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Machine Intelligence Research 2024年第5期21卷 941-953页

作者： Yunfan Liu qi Li Zhenan Sun School of Artificial Intelligence University of Chinese Academy of SciencesBeijing100049China Center for Research on Intelligent Perception and Computing Institute of AutomationChinese Academy of SciencesBeijing100190China

One-shot face reenactment is a challenging task due to the identity mismatch between source and driving *** existing methods fail to completely eliminate the interference of driving subjects’identity information,which may lead to face shape distortion and undermine the realism of reenactment *** solve this problem,in this paper,we propose using a 3D morphable model(3DMM)for explicit facial semantic decomposition and identity *** of using 3D coefficients alone for reenactment control,we take advantage of the generative ability of 3DMM to render textured face *** proxies contain abundant yet compact geometric and semantic information of human faces,which enables us to compute the face motion field between source and driving images by estimating the dense *** this way,we can approximate reenactment results by warping source images according to the motion field,and a generative adversarial network(GAN)is adopted to further improve the visual quality of warping *** experiments on various datasets demonstrate the advantages of the proposed method over existing state-of-the-art benchmarks in both identity preservation and reenactment fulfillment.

关键词： Generative adversarial networks face image manipulation face image synthesis face reenactment 3D morphable model

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Efficiently simulating the work distribution of multiple identical bosons with boson sampling

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Frontiers of physics 2024年第3期19卷 197-206页

作者： Wen-qiang Liu Zhang-qi Yin Center for Quantum Technology Research and Key Laboratory of Advanced Optoelectronic Quantum Architecture and Measurements(MOE) School of PhysicsBeijing Institute of TechnologyBeijing 100081China

Boson sampling has been theoretically proposed and experimentally demonstrated to show quantum computational ***,it still lacks the deep understanding of the practical applications of boson *** we propose that boson sampling can be used to efficiently simulate the work distribution of multiple identical *** link the work distribution to boson sampling and numerically calculate the transition amplitude matrix between the single-boson eigenstates in a one-dimensional quantum piston system,and then map the matrix to a linear optical network of boson *** work distribution can be efficiently simulated by the output probabilities of boson sampling using the method of the grouped probability *** scheme requires at most a polynomial number of the samples and the optical *** work opens up a new path towards the calculation of complex quantum work distribution using only photons and linear optics.

关键词： quantum simulation quantum work distribution boson sampling linear optic

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Characteristics and Genesis of Acid Drainage Contamination from a Rock Tunneling Project Site

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Journal of Earth Science 2024年第1期35卷 190-200页

作者： Yanyun Li Zejiao Luo Shihua qi Hubei Key Laboratory of Yangtze River Basin Environmental Aquatic Science School of Environmental StudiesChina University of GeosciencesWuhan 430078China State Key Laboratory of Biogeology and Environmental Geology China University of GeosciencesWuhan 430078China

While acid mine drainage(AMD)issues have become a topic of global concern,few studies have focused on acid drainage problems of non-mining *** conducted field research and a series of laboratory experiments to investigate the characteristics,release processes and formation of acid drainage *** rock samples and adjacent surface water,groundwater,soil and sediment samples were collected at a railway tunnel construction site in central China,and various parameters,such as the p H,mineral ion concentrations,and heavy metal concentrations,were *** on the measured concentrations,surface water and sediments were seriously contaminated by acids,sulfate salts and heavy *** in surface water showed a decreasing tendency as the distance from the spoils increased,while that in sediments showed a greater influence of coprecipitation and adsorption processes of heavy metal *** eluviation experiments of three rock samples indicated that R2(silty fine sandstone)was the most likely major acid drainage *** ferrooxidans was cultured and isolated from contaminated water to study the oxidation conditions during the release *** significant release of acid drainage when air and bacteria were both in the culture container suggested that oxygen and bacteria were necessary to produce acid drainage from spoils.

关键词： acid mine drainage heavy metals leaching oxidation

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Host plant traits play a crucial role in shaping the composition of epiphytic microbiota in the arid desert,Northwest China

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Journal of Arid Land 2024年第5期16卷 699-724页

作者： ZHANG Jun ZHANG Yuanming ZHANG qi State Key Laboratory of Desert and Oasis Ecology Key Laboratory of Ecological Safety and Sustainable Development in Arid LandsXinjiang Institute of Ecology and GeographyChinese Academy of SciencesUrumqi 830011China Xinjiang Key Laboratory of Biodiversity Conservation and Application in Arid Lands Xinjiang Institute of Ecology and GeographyChinese Academy of SciencesUrumqi 830011China Xinjiang Field Scientific Observation Research Station of Tianshan Wild Fruit Forest Ecosystem Yili Botanical GardenXinjiang Institute of Ecology and GeographyChinese Academy of SciencesUrumqi 830011China College of Life Sciences Shihezi UniversityShihezi 832003China

Phyllosphere microorganisms are a crucial component of environmental microorganisms,highly influenced by host characteristics,and play a significant role in plant health and ***,the impact of host characteristics on shaping phyllosphere microbial communities of plants with different life forms remains *** high-throughput sequencing technology,this study analyzed the diversity and community composition of phyllosphere epiphytic microorganisms(e.g.,bacteria and fungi)of various plant life forms in the hinterland of the Gurbantunggut Desert,Northwest *** annotation of prokaryotic taxa(FAPROTAX)and fungi function guild(FUNGuild)were employed to assess the ecological functions of microorganisms and to investigate the role of stochastic and deterministic processes in shaping phyllosphere microbial *** showed a diverse array of phyllosphere epiphytic microorganisms in the desert plants,with Proteobacteria,Cyanobacteria,and Actinobacteriota dominating bacterial community,while Ascomycota and Basidiomycota were prevalent in fungal *** across different plant life forms highlighted distinct microbial communities,indicating strong filtering effects by plant *** prediction identified intracellular parasites(accounting for 27.44%of bacterial community abundance),chemoheterotrophy(10.12%),and phototrophy(17.41%)as the main functions of epiphytic bacteria on leaves of different life form *** prediction indicated that phyllosphere epiphytic fungi primarily served as Saprotrophs(81.77%),Pathotrophs(17.41%),and Symbiotrophs(0.82%).Co-occurrence network analysis demonstrated a predominance of positive correlations among different microbial ***-Crick dissimilarity index analysis revealed that deterministic processes predominantly influenced phyllosphere bacterial and fungal community *** partitioning analysis and random forest modeling suggested that pla

关键词： phyllosphere epiphytic bacteria phyllosphere epiphytic fungi community structure community diversity functional diversity plant life form plant functional traits

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Ultra-large aluminum shape casting:Opportunities and challenges

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China Foundry 2024年第5期21卷 397-408页

作者： qi-gui Wang Andy Wang Jason Coryell Advanced Materials Technology&Virtualization GM Global Technical CenterWarrenMI USA

Ultra-large aluminum shape castings have been increasingly used in automotive vehicles,particularly in electric vehicles for light-weighting and vehicle manufacturing cost *** most of them are structural components subject to both quasi-static,dynamic and cyclic loading,the quality and quantifiable performance of the ultra-large aluminum shape castings is critical to their success in both design and *** paper briefly reviews some application examples of ultra-large aluminum castings in automotive industry and outlines their advantages and *** affecting quality,microstructure and mechanical properties of ultra-large aluminum castings are evaluated and discussed as aluminum shape casting processing is very complex and often involves many competing mechanisms,multi-physics phenomena,and potentially large uncertainties that significantly influence the casting quality and *** analysis and mechanical property assessment of an ultra-large aluminum shape casting are *** are highlighted and suggestions are made for robust design and manufacturing of ultra-large aluminum castings.

关键词： ultra-large castings aluminum light-weighting quality microstructure materials properties

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