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Capturability-based Fuzzy Footstep Planner for a Biped Robot with Centroidal Compliance

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Journal of Bionic Engineering 2024年第1期21卷 84-100页

作者： Zihan Xu qin fang Yong Ren Chengju Liu Robot and Artificial Intelligence Lab(RAIL) College of Electronic and Information EngineeringTongji UniversityShanghai 201804China Applied Technology College Soochow UniversitySuzhou 215000China

Compliance motion and footstep adjustment are active balance control strategies from learning human subconscious *** force estimation without direct end-actuator force measurement and the optimal footsteps based on complex analytical calculation are still challenging tasks for elementary and kid-size position-controlled *** this paper,an online compliant controller with Gravity Projection Observer(GPO),which can express the external force condition of perturbations by the estimated Projection of Gravity(PoG)with estimation covariance,is proposed for the realization of disturbance absorption,with which the robustness of the humanoid contact with environments can be *** fuzzy footstep planner based on capturability analysis is proposed,and the Model Predictive Control(MPC)is applied to generate the desired *** fuzzification rules are well-designed and give the corresponding control output responding to complex and changeable external *** validate the presented methods,a series of experiments on a real humanoid robot are *** results verify the effectiveness of the proposed balance control framework.

关键词： Biped walking Centroidal compliance Gravity projection observer Fuzzy footstep planner

Constitutive modelling of concrete material subjected to low-velocity projectile impact:insights into damage mechanism and target resistance

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2024年第2期25卷 161-182页

作者： Shen LIU Xieping HUANG Xiangzhen KONG qin fang Center for Hypergravity Experiment and Interdisciplinary Research Zhejiang UniversityHangzhou310058China Institute of Geotechnical Engineering Zhejiang UniversityHangzhou310058China State Key Laboratory of Disaster Prevention&Mitigation of Explosion&Impact Army Engineering University of PLANanjing210007China

This paper presents a numerical study to improve the understanding of the complex subject of penetration and perforation of concrete targets impacted by low-velocity *** main focus is on the damage mechanisms and the major factors that account for the target resistance of the *** improved continuous surface cap model recently proposed was *** model was first equipped with element erosion criteria and was adequately validated by comparisons with ballistic *** numerical simulations were carried out where the individual influence of tensile,shear,and volumetric behaviors(pore collapse)of a concrete target on its ballistic performance was *** demonstrated that cratering on the front face and scabbing on the rear face of the concrete target were mainly dominated by its tensile *** major target resistance came from the second tunneling stage which was primarily governed by the shear and volumetric behaviors of the ***,this study captured the pore collapse-induced damage phenomenon during the high-pressure tunneling stage,which has been extensively reported in experiments but has usually been neglected in previous numerical investigations.

关键词： Penetration Perforation Damage mechanism Target resistance Projectile impact Pore collapse

Kinetic model of vibration screening for granular materials based on biological neural network

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Particuology 2024年第5期88卷 98-106页

作者： Zhan Zhao Yan Zhang fang qin Mingzhi Jin School of Agricultural Engineering Jiangsu UniversityZhenjiang212013China Shandong Academy of Agricultural Machinery Sciences Ji'nan250100China

The kinetic model is the theoretical basis for optimizing the structure and operation performance of vibration screening *** this paper,a biological neurodynamic equation and neural connections were established according to the motion and interaction properties of the material under vibration *** material feeding to the screen and the material passing through apertures were considered as excitatory and inhibitory inputs,respectively,and the generated stable neural activity landscape was used to describe the material distribution on the 2D screen *** dynamic process of material vibration screening was simulated using discrete element method(DEM).By comparing the similarity between the material distribution established using biological neural network(BNN)and that obtained using DEM simulation,the optimum coefficients of BNN model under a certain screening parameter were determined,that is,one relationship between the BNN model coefficients and the screening operation parameters was *** screening parameters were randomly selected,and the corresponding relationships were established as a ***,with straw/grain ratio,aperture diameter,inclination angle,vibration strength in normal and tangential directions as inputs,five independent adaptive neuro-fuzzy inference systems(ANFIS)were established to predict the optimum BNN model coefficients,*** training results indicated that ANFIS models had good stability and *** flexibility and adaptability of the proposed BNN method was demonstrated by modeling material distribution under complex feeding conditions such as multiple regions and non-uniform rate.

关键词： Kinetic model Material distribution Vibration screening Biological neural network DEM simulation Adaptive neuro-fuzzy inference systems

Oscillation properties of eigenfunctions for Sturm-Liouville problems with interface conditions via Prufer transformation

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Applied Mathematics(A Journal of Chinese Universities) 2024年第2期39卷 191-200页

作者： LI Zhi-yu LI Kun CAI Jin-ming qin Jian-fang ZHENG Zhao-wen School of Mathematical Sciences Qufu Normal UniversityQufu 273165China College of Mathematics and Systems Science Guangdong Polytechnic Normal UniversityGuangzhou 510665China

A class of Sturm-Liouville problems with discontinuity is studied in this *** oscillation properties of eigenfunctions for Sturm-Liouville problems with interface conditions are *** main method used in this paper is based on Prufer transformation,which is different from the classical ***,we give two examples to verify our main results.

关键词： Sturm-Liouville problem interface condition oscillatory solution

High critical current density in Li_(6.4)La_(3)Zr_(1.4)Ta_(0.6)O_(12) electrolyte via interfacial engineering with complex hydride

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Rare Metals 2024年第2期43卷 692-701页

作者： Ying-Tong Lv Teng-Fei Zhang Zhao-Tong Hu Guang-Lin Xia Ze-Ya Huang Zhen-Hua Liu Li-Hua Que Cai-Ting Yuan fang-qin Guo Takayuki Ichikawa Xue-Bin Yu College of Materials Science and Technology Nanjing University of Aeronautics and AstronauticsNanjing210016China Centre for Hydrogenergy College of Materials Science and TechnologyNanjing University of Aeronautics and AstronauticsNanjing210016China Department of Materials Science Fudan UniversityShanghai200433China Graduate School of Advanced Science and Engineering Hiroshima University1-4-1 KagamiyamaHigashi-Hiroshima739-8527Japan

Garnet-type solid-state batteries(SSBs)are considered to be one of the most promising candidates to realize next-generation lithium metal batteries with high energy density and ***,the dendrite-induced short-circuit and the poor interfacial contact impeded the practical ***,interface engineering to achieve low interfacial resistance without high temperature calcination was developed,which Li_(6.4)La_(3)Zr_(1.4)Ta_(0.6)O_(12)(LLZTO)was simply coated with complex hydride(Li_(4)(BH_(4))_(3)I(3L1L))in various mass ratios n(Li_(4)(BH_(4))_(3)I)-(100−n)LLZTO(10≤n≤40).The interfacial conductivity increases by more than three orders of magnitude from 8.29×10^(−6)S·cm^(−1)to 1.10×10^(−2)S·cm^(−1).Symmetric Li cells exhibit a high critical current density(CCD)of 4.0 mA·cm^(−2) and an excellent cycling stability for 200 h at 4.0 mA·cm^(−2).SSBs with polymeric sulfur-polyacrylonitrile(SPAN)cathode achieve a high discharge capacity of 1149 mAh·g^(−1) with a capacity retention of 91%after 100 cycles(0.2 C).This attempt guides a simple yet efficient strategy for obtaining a stable Li/LLZTO interface,which would promote the development of solid-state batteries.

关键词： Hydrides Li_(6.4)La_(3)Zr_(1.4)Ta_(0.6)O_(12)(LLZTO) Critical current density Solid-state electrolytes(SSEs) Lithium-sulfur batteries

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企业数字化转型的劳动收入分配效应研究

首都经济贸易大学学报 2024年第4期26卷 99-112页

作者：刘佳秦芳吉林农业大学经济管理学院吉林长春130118

在数字经济和双循环新发展格局大背景下,基于企业数字化转型视角探究收入分配问题具有重要的意义。借助2007—2021年A股上市公司数据实证检验企业数字化转型对劳动收入份额的影响效应,研究结果表明:第一,企业数字化转型有助于提升劳动... 详细信息

在数字经济和双循环新发展格局大背景下,基于企业数字化转型视角探究收入分配问题具有重要的意义。借助2007—2021年A股上市公司数据实证检验企业数字化转型对劳动收入份额的影响效应,研究结果表明:第一,企业数字化转型有助于提升劳动收入份额,且该结论具有稳健性;第二,融资约束效应、人力资本结构效应及内部控制效应是企业数字化转型提升劳动收入份额的重要渠道;第三,企业数字化转型的劳动收入分配效应存在行业、所有制、科技属性方面的异质性,且对劳动密集型企业、非国有企业及高科技企业产生明显偏好;第四,企业数字化转型存在劳动收入份额提升与企业高质量发展的双重效应,实现了员工福利与企业发展的互利共赢。研究结论可以在微观层面上提供关于技术进步对劳动收入份额影响的证据,为新时期收入分配结构的优化提供了决策参考。

关键词：企业数字化转型劳动收入份额融资约束人力资本结构内部控制

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求解电动汽车车辆路径问题的双种群协同进化算法

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智能系统学报 2024年第2期19卷 438-445页

作者：王朝秦芳刘蓉蓉江浩安徽大学人工智能学院安徽合肥230601

绿色物流领域新兴的电动汽车车辆路径问题,由于需要对车辆路径和充电决策同时优化,搜索空间急剧增大,且需要同时满足容量和电量双重约束,现有方法难以快速找到质量较优的可行解。为此,提出一种基于双种群的协同进化算法,通过忽略电量约... 详细信息

绿色物流领域新兴的电动汽车车辆路径问题,由于需要对车辆路径和充电决策同时优化,搜索空间急剧增大,且需要同时满足容量和电量双重约束,现有方法难以快速找到质量较优的可行解。为此,提出一种基于双种群的协同进化算法,通过忽略电量约束构造简单带容量约束的车辆路径问题,辅助原始复杂问题的快速求解。为实现其间信息交互,设计一种基于改进距离邻接矩阵的解序列特征表示方法,旨在同时获取客户访问顺序和车辆指派信息;利用降噪自编码器构建2个问题解之间转换关系,以实现问题域间知识迁移。将该算法与目前常用的3种启发式算法和2种进化算法在不同规模测试集上进行对比,试验结果表明所提算法具有更快收敛速度且所获解集具有更好收敛性。

关键词：绿色物流电动汽车车辆路径问题电量约束双种群进化算法距离邻接矩阵降噪自编码器知识迁移

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ChatGPT赋能档案知识服务：逻辑理路及应用场景

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档案 2024年第6期 73-80页

作者：覃芳湘潭大学公共管理学院

档案知识服务实质是一种面向用户需求，依据其问题提供解决方案的增值服务模式。ChatGPT自适应生成内容的模型属性契合档案知识服务需求，ChatGPT在档案知识服务领域的应用具有较好的发展前景，可极大提高档案知识服务的质量和水平。文... 详细信息

档案知识服务实质是一种面向用户需求，依据其问题提供解决方案的增值服务模式。ChatGPT自适应生成内容的模型属性契合档案知识服务需求，ChatGPT在档案知识服务领域的应用具有较好的发展前景，可极大提高档案知识服务的质量和水平。文章基于档案知识服务的现实困境与ChatGPT的核心技术分析ChatGPT赋能档案知识服务的逻辑理路，提出ChatGPT赋能档案知识服务的应用场景，如档案知识服务的预先预测、档案知识挖掘的在线助手、档案知识咨询的智能问答、档案知识服务的虚拟讲解，以期推动档案知识服务的转型升级。

关键词： ChatGPT 档案知识服务人工智能应用场景

GaS/Mg(OH)_(2)异质结电子结构的第一性原理研究

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物理学报 2024年第13期73卷 251-261页

作者：刘俊岭柏于杰徐宁张勤芳盐城工学院物理系盐城224051

基于第一性原理计算方法研究了GaS/Mg(OH)_(2)异质结的稳定性、电子和光学性质.结果表明,GaS/Mg(OH)_(2)异质结具有较小的晶格失配率,负的结合能和热力学稳定性而容易构建.异质结的带隙有效降低至2.021 eV,而且具有Type-Ⅱ型能带结构,... 详细信息

基于第一性原理计算方法研究了GaS/Mg(OH)_(2)异质结的稳定性、电子和光学性质.结果表明,GaS/Mg(OH)_(2)异质结具有较小的晶格失配率,负的结合能和热力学稳定性而容易构建.异质结的带隙有效降低至2.021 eV,而且具有Type-Ⅱ型能带结构,有利于光生电子-空穴对的空间分离.层间电荷转移诱导的内建电场进一步促进载流子的分离,同时有助于抑制层间电荷的复合.在双轴应变下,异质结的导带最小值和价带最大值的位置分别产生了不同程度的平移,导致带隙发生显著的变化,变化量达到了0.5 eV.而且在拉伸应变下,异质结由间接转变为直接带隙半导体,同时异质结仍保持Type-Ⅱ型能带结构.此外,应变还可以有效地调控异质结的带边位置与水分解的氧化还原电位相匹配(pH=0—7).光吸收谱显示异质结具有较强的光吸收性能,尤其在拉伸应变为3%时,光吸收发生了明显的红移.这些结果表明,GaS/Mg(OH)_(2)异质结具有可调的电子性能而在光电领域有着广阔的应用前景.

关键词：异质结电子结构应变第一性原理

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