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Tracked robot with underactuated tension-driven RRP transformable mechanism:ideas and design

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Frontiers of Mechanical Engineering 2024年第1期19卷 85-104页

作者： ran XU Chao LIU School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China Key Laboratory of Vehicle Advanced Manufacturing Measuring and Control Technology(Ministry of Education)Beijing Jiaotong UniversityBeijing 100044China

Robots with transformable tracked mechanisms are widely used in complex terrains because of their high adaptability,and many studies on novel locomotion mechanisms have been conducted to make them able to climb higher *** underactuated transformable mechanisms for tracked robots could decrease the number of actuators used while maintaining the flexibility and obstacle-crossing capability of these robots,and increasing their cost ***,the underactuated tracked robots have appreciable research *** this paper,a novel tracked robot with a newly proposed underactuated revolute‒revolute‒prismatic(RRP)transformable mechanism,which is inspired by the sit-up actions of humans,was *** newly proposed tracked robot has only two actuators installed on the track pulleys for moving and does not need extra actuators for ***,it could concentrate the track belt’s tension toward one side,and the unbalanced tension would drive the linkage mechanisms to change its *** this method,the proposed underactuated design could change its external shape to create support points with the terrain and move its center of mass actively at the same time while climbing obstacles or crossing other kinds of terrains,thus greatly improving the climbing capability of the *** geometry and kinematic relationships of the robot and the crossing strategies for three kinds of typical obstacles are *** the basis of such crossing motions,the parameters of links in the robot are designed to make sure the robot has sufficient stability while climbing ***-crossing dynamic simulations were run and analyzed to prove the feasibility of the robot.A prototype was built and *** show that the proposed robot could climb platforms with heights up to 33.3%of the robot’s length or cross gaps with widths up to 43.5%of the robot’s length.

关键词： mechanical design tracked robot underactuated mechanisms RRP mechanism obstacle crossing strategy

A novel relationship between elastic modulus and void ratio associated with principal stress for coral calcareous sand

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Journal of Rock Mechanics and Geotechnical Engineering 2024年第3期16卷 1033-1048页

作者： ran Gao Jianhong Ye State Key Laboratory of Geomechanics and Geotechnical Engineering Institute of Rock and Soil MechanicsChinese Academy of SciencesWuhan430071China University of Chinese Academy of Sciences Beijing100049China

Elastic moduli,*** modulus G and bulk modulus K,are important parameters of geotechnical materials,which are not only the indices for the evaluation of the deformation ability of soils but also the important basic parameters for the development of the constitutive models of geotechnical *** this study,a series of triaxial loading-unloading-reloading shear tests and isotropic loading-unloadingreloading tests are conducted to study several typical mechanical properties of coral calcareous sand(CCS),and the void ratio evolution during loading,unloading and *** test results show that the stress-strain curves during multiple unloading processes are almost parallel,and their slopes are much greater than the deformation modulus at the initial stage of *** relationship between the confining pressure and the volumetric strain can be defined approximately by a hyperbolic equation under the condition of monotonic loading of confining *** the condition of confining pressure unloading,the evolution of void ratio is linear in the e-lnp0 plane,and these lines are a series of almost parallel lines if there are multiple processes of *** on the experimental results,it is found that the modified Hardin formulae for the elastic modulus estimation have a significant deviation from the tested values for *** on the experimental results,it is proposed that the elastic modulus of soils should be determined by the intersection line of two spatial surfaces in the G/K-e-p’/pa space(pa:atmosphere pressure).“Ye formulation”is further proposed for the estimation of the elastic modulus of *** new estimation formulation for soil elastic modulus would provide a new method to accurately describe the mechanical behavior of granular soils.

关键词： Coral calcareous sand(CCS) Elastic shear modulus Elastic bulk modulus Triaxial test Estimation formulation Ye formulation

Single-particle spectroscopies of p-wave and d-wave interacting Bose gases in normal phase

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Communications in Theoretical Physics 2024年第5期76卷 140-147页

作者： Zeqing Wang ran Qi Department of Physics Renmin University of ChinaBeijing 100872China

Motivated by experiments with interacting quantum gases across high partial wave resonance,we investigate the thermodynamic properties and single-particle spectra of Bose gases in normal phase for different interaction strengths for both p-and d-wave *** equation of state,contact density,momentum distributions and self-energies of single-particle Green’s functions are obtained in the spirit of ladder diagram *** radio-frequency(RF)spectrum,as an important experimental approach for detecting Feshbach molecules or the interaction effect,is calculated at different temperatures.A reversed temperature dependence on the Bose–Einstein condensation side and Bardeen–Cooper–Schrieffer side is identified for both p-and d-wave *** estimate for the signal of RF spectra under typical experimental conditions is also provided.

关键词： quantum gases ultracold atom high partial wave RF spectra

维普期刊数据库

Efficient Unsupervised Image Stitching Using Attention Mechanism with Deep Homography Estimation

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Computers, Materials & Continua 2024年第4期79卷 1319-1334页

作者： Chunbin Qin Xiaotian ran School of Artificial Intelligence Henan UniversityZhengzhou450000China

Traditional feature-based image stitching techniques often encounter obstacles when dealing with images lackingunique attributes or suffering from quality degradation. The scarcity of annotated datasets in real-life scenesseverely undermines the reliability of supervised learning methods in image stitching. Furthermore, existing deeplearning architectures designed for image stitching are often too bulky to be deployed on mobile and peripheralcomputing devices. To address these challenges, this study proposes a novel unsupervised image stitching methodbased on the YOLOv8 (You Only Look Once version 8) framework that introduces deep homography networksand attentionmechanisms. Themethodology is partitioned into three distinct stages. The initial stage combines theattention mechanism with a pooling pyramid model to enhance the detection and recognition of compact objectsin images, the task of the deep homography networks module is to estimate the global homography of the inputimages consideringmultiple viewpoints. The second stage involves preliminary stitching of the masks generated inthe initial stage and further enhancement through weighted computation to eliminate common stitching *** final stage is characterized by adaptive reconstruction and careful refinement of the initial stitching *** experiments acrossmultiple datasets are executed tometiculously assess the proposed model. Ourmethod’s Peak Signal-to-Noise Ratio (PSNR) and Structure Similarity Index Measure (SSIM) improved by 10.6%and 6%. These experimental results confirm the efficacy and utility of the presented model in this paper.

关键词： Unsupervised image stitching deep homography estimation YOLOv8 attention mechanism

Prescribed-time stabilization and inverse optimal control of stochastic high-order nonlinear systems

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Science China(Information Sciences) 2024年第2期67卷 144-156页

作者： ran LIU Hui WANG Wuquan LI School of Mathematics and Statistics Science Ludong University

This paper investigates the prescribed-time state-feedback stabilization and prescribed-time inverse optimality problems for stochastic high-order nonlinear systems. First, a time-varying controller is designed by developing scaled quartic Lyapunov functions, which can guarantee that the system has a unique strong solution almost surely on the prescribed interval for any system initial conditions and that the states and the control converge to the origin in a mean-square form within the prescribed time. Then, the controller is redesigned to address the problem of prescribed-time inverse optimal mean-square stabilization. Finally,a concrete example is provided to confirm the efficiency of the proposed design schemes.

关键词： stochastic high-order nonlinear systems prescribed-time stabilization the scaled design inverse optimality

New progress of small-molecule drugs in the treatment of inflammatory bowel disease

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Chinese Medical Journal 2024年第5期137卷 556-558页

作者： Dongying Yao Zhihua ran Department of Gastroenterology Zhou Pu Hospital affiliated to Shanghai University of Health&Medical SciencesShanghai 201318China

With the advent of small-molecule drugs,treatment of inflammatory bowel disease(IBD)has reached a new *** contrast to biologics,small-molecule drugs can be made into oral dosage forms with a short half-life and are suitable for administration 1–2 times a ***-molecule drugs work by inhibiting the transmission of key intracellular signaling pathways in the pathogenesis of ulcerative colitis(UC)and Crohn’s disease(CD)[Figure 1].They do not induce anti-drug antibodies in patients or lead to loss of response after treatment.

关键词： drugs treatment inflammatory

维普期刊数据库

Optimization study of spherical tuyere based on BP neural network and new evaluation index

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Building Simulation 2024年第2期17卷 223-234页

作者： Mengchao Liu ran Gao Yi Wang Angui Li School of Building Services Science and Engineering Xi’an University of Architecture and TechnologyXi’an710055China

The energy consumption of heating,ventilation,and air conditioning(HVAC)systems holds a significant position in building energy usage,accounting for about 65%of the total energy ***,with the advancement of building automation,the energy consumption of ventilation systems continues to *** study focuses on improving the performance of spherical tuyeres in HVAC *** primarily utilizes neural networks and multi-island genetic algorithms(MIGA)for multi-parameter *** employing methods such as structural parameterization,accurate and fast computational fluid dynamics(CFD)simulations,a minimized sample space,and a rational optimization strategy,the time cycle of the optimization process is ***,a new comprehensive evaluation index is proposed in this research to describe the performance of spherical tuyeres,which can be used to more accurately assess spherical tuyeres with different *** results show that by establishing a neural network prediction model and combining it with the multi-island genetic algorithm,a novel spherical tuyere design was successfully *** optimized novel spherical tuyeres achieved a 27.05%reduction in the spherical tuyeres effective index(STEI)compared to the traditional spherical ***,the resistance decreased by 15.68%,and the jet length increased by 7.57%.The experimental results demonstrate that our proposed optimization method exhibits high accuracy,good generalization capability,and excellent agreement at different Reynolds numbers.

关键词： spherical tuyeres STEI CFD ventilation

Structure and Representations for Electrical Lie Algebra of Type D_(5)

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Algebra Colloquium 2024年第2期31卷 271-284页

作者： Yulu Chen ran Shen Yucai Su College of Science Donghua UniversityShanghai 201620China 不详

In this paper,we prove that the electrical Lie algebra e D_(5)is isomorphic to the semidirect product of sp_(4)and a 2-step nilpotent Lie ***,we classify the irreducible highest weight modules for e D_(5).

关键词： electrical Lie algebra 2-step nilpotent Lie algebra highest weight module

Neighboring optimal guidance using higher-order dynamics approximation with application to orbital injection problem

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Chinese Journal of Aeronautics 2024年第5期37卷 426-440页

作者： Xinglun CHEN ran ZHANG Huifeng LI School of Astronautics Beihang UniversityBeijing 100191China

Neighboring optimal guidance,a method to obtain a suboptimal guidance law by approximately solving the first-order necessary conditions based on a nominal trajectory,is widely used in the aerospace field due to its high computational efficiency and low resource *** more advanced scenarios,the existing methods still have a problem that the guidance accuracy and optimality will seriously degrade when the actual state largely deviates from the nominal *** is mainly caused by the approximate description of the first-order conditions in terms of total flight time and nonlinear *** address this problem,a higher-order neighboring optimal guidance method is ***,a novel total flight time updating strategy,together with a normalized time scale,is presented that transforms the optimal problem with free total flight time into a more tractable optimal problem with fixed total flight ***,using the vector partial derivative method,a higher-order approximation is adopted,instead of the first-order approximation,to accurately describe the nonlinear dynamical and terminal constraints,thus obtaining a polynomially constrained quadratic optimal ***,to numerically solve the polynomially constrained quadratic optimal problem,a Newton-type iterative algorithm based on the orthogonal decomposition is *** the iterative solution within each guidance period,the corrections to control quantities and total flight time are *** proposed method is applied to a launch vehicle orbital injection problem,and simulation results show that it achieves high accuracy of orbital injection and optimality of performance index.

关键词： Optimal control Neighboring optimal guidance Launch vehicles Orbital injection Higher-order approximation