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Modeling and multiobjective optimization of traction performance for autonomous wheeled mobile robot in rough terrain

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Journal of Zhejiang University-Science C(Computers and Electronics) 2013年第1期14卷 11-29页

作者： Ozoemena Anthony ANI He XU Yi-ping SHEN shao-gang liu Kai XUE College of Mechanical and Electrical Engineering Harbin Engineering University

Application of terrain-vehicle mechanics for determination and prediction of mobility performance of autonomous wheeled mobile robot （AWMR） in rough terrain is a new research area currently receiving much attention for both terrestrial and planetary missions due to its significant role in design, evaluation, optimization, and motion control of AWMRs. In this paper, decoupled closed form terramechanics considering important wheel-terrain parameters is applied to model and predict traction. Numerical analysis of traction performance in terms of drawbar pull, tractive efficiency, and driving torque is carried out for wheels of different radii, widths, and lug heights, under different wheel slips. Effects of normal forces on wheels are analyzed. Results presented in figures are discussed and used to draw some conclusions. Furthermore, a multiobjective optimization （MOO） method for achieving optimal mobility is presented. The MOO problem is formulated based on five independent variables in- eluding wheel radius r, width b, lug height h, wheel slip s, and wheel rotation angle 0 with three objectives to maximize drawbar pull and tractive efficiency while minimizing the dynamic traction ratio. Genetic algorithm in MATLAB is used to obtain opti- mized wheel design and traction control parameters such as drawbar pull, tractive efficiency, and dynamic traction ratio required for good mobility performance. Comparison of MOO results with experimental results shows a good agreement. A method to apply the MOO results for online traction and mobility prediction and control is discussed.

关键词： Autonomous wheeled mobile robot (AWMR) Terramechanics Traction Motion control Multiobjectiveoptimization (MOO) Genetic algorithm (GA)

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Research on the flow stability and noise reduction characteristics of quasi-periodic elastic support skin

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Defence Technology（防务技术） 2024年第3期33卷 222-236页

作者： Lu Chen shao-gang liu Dan Zhao Li-qiang Dong Kai Li Shuai Tang Jin Cui Hong Guo Department of Mechanical and Electrical Engineering Harbin Engineering UniversityHarbin150001China

To enhance flow stability and reduce hydrodynamic noise caused by fluctuating pressure,a quasiperiodic elastic support skin composed of flexible walls and elastic support elements is proposed for fluid noise *** arrangement of the elastic support element is determined by the equivalent periodic distance and quasi-periodic *** this paper,a dynamic model of skin in a fluid environment is *** influence of equivalent periodic distance and quasi-periodic coefficient on flow stability is *** results suggest that arranging the elastic support elements in accordance with the quasi-periodic law can effectively enhance flow ***,the hydrodynamic noise calculation results demonstrate that the skin exhibits excellent noise reduction performance,with reductions of 10 dB in the streamwise direction,11 dB in the spanwise direction,and 10 dB in the normal *** results also demonstrate that the stability analysis method can serve as a diagnostic tool for flow fields and guide the design of noise reduction structures.

关键词： Flow stability Quasi-period Flexible wall Elastic support element Hydrodynamic noise

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基于库仑应力变化分析巴颜喀拉地块东端的强震相互关系

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地球物理学报 2017年第10期60卷 4056-4068页

作者：徐晶邵志刚刘静季灵运中国地震局地质研究所北京100029 中国地震局第二监测中心西安710054 中国地震局地震预测研究所北京100036

本研究基于分层黏弹介质模型,考虑同震位错效应和震后黏滞松弛效应,分析巴颜喀拉地块东端1976年松潘地震序列、2008年汶川8.0级地震、2013年芦山7.0级地震和2017年九寨沟7.0级地震等多次大地震的可能存在的触发关系,计算大地震引起的周... 详细信息

本研究基于分层黏弹介质模型,考虑同震位错效应和震后黏滞松弛效应,分析巴颜喀拉地块东端1976年松潘地震序列、2008年汶川8.0级地震、2013年芦山7.0级地震和2017年九寨沟7.0级地震等多次大地震的可能存在的触发关系,计算大地震引起的周边各主要断裂的库仑应力变化.结果显示,1976年松潘地震序列各次地震间关系密切,存在明显的相继触发作用;综合考虑同震和震后效应,汶川8.0级地震对同属于龙门山断裂带的芦山7.0级地震有触发作用,且震后效应影响不可忽略;1976年地震序列,特别是1976年8月16日7.2级地震促进了2017年8月8日九寨沟7.0级地震的发生;汶川地震对九寨沟地震的影响研究中,采用不同的汶川地震同震位错模型,计算结果有差异.综合考虑多次大地震对周边断裂带的影响,龙门山断裂带南段、鲜水河断裂带中南段、平武—青川断裂北段、灌县—安县断裂北段、文县断裂的累积库仑应力增加显著,巴颜喀拉地块东端的东昆仑断裂带东段、迭部—白龙江断裂带西段以及金沙江断裂带库仑应力亦有所增加.综合考虑各重要断裂带已有的大地震危险性分析结果和库仑应力变化计算结果,龙门山断裂带南段、鲜水河断裂带中南段、东昆仑断裂带玛沁—玛曲段和金沙江断裂带的发震紧迫性有所增强,需引起关注.

关键词：巴颜喀拉地块东端震后黏滞松弛地震触发库仑应力变化强震危险性

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Collaborative Trajectory Planning for Stereoscopic Agricultural Multi-UAVs Driven by the Aquila Optimizer

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Computers, Materials & Continua 2025年第1期82卷 1349-1376页

作者： Xinyu liu Longfei Wang Yuxin Ma Peng shao School of Computer and Information Engineering Jiangxi Agricultural UniversityNanchang330045China

Stereoscopic agriculture,as an advanced method of agricultural production,poses new challenges for multi-task trajectory planning of unmanned aerial vehicles(UAVs).To address the need for UAVs to perform multi-task trajectory planning in stereoscopic agriculture,a multi-task trajectory planning model and algorithm(IEP-AO)that synthesizes flight safety and flight efficiency is *** on the requirements of stereoscopic agricultural geomorphological features and operational characteristics,the multi-task trajectory planning model is ensured by constructing targeted constraints at five aspects,including the path,slope,altitude,corner,energy and obstacle threat,to improve the effectiveness of the trajectory planning *** combined with the path optimization algorithm,an Aquila optimizer(IEP-AO)based on the interference-enhanced combination model is proposed,which can help UAVs to improve the trajectory search capability in complex operation space and large-scale operation tasks,and jump out of the locally optimal trajectory path region timely,to generate the optimal trajectory planning plan that can adapt to the diversity of the tasks and the flight ***,four simulated flights with different operation scales and different scene constraints were conducted under the constructed real 3Dimension scene,and the experimental results can show that the proposedmulti-task trajectory planning method canmeet themulti-task requirements in stereoscopic agriculture and improve the mission execution efficiency and agricultural production effect of UAV.

关键词： Stereoscopic agriculture unmanned aerial vehicle multi-task interference model Aquila optimizer

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Molecular Structure Tailoring of Organic Spacers for High‑Performance Ruddlesden–Popper Perovskite Solar Cells

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Nano-Micro Letters 2025年第2期17卷 314-357页

作者： Pengyun liu Xuejin Li Tonghui Cai Wei Xing Naitao Yang Hamidreza Arandiyan Zongping shao shaobin Wang shaomin liu School of Materials Science and Engineering State Key Laboratory of Heavy Oil ProcessingChina University of Petroleum(East China)Qingdao 266580People’s Republic of China School of Chemistry and Chemical Engineering Shandong University of TechnologyZibo 255049People’s Republic of China Centre for Applied Materials and Industrial Chemistry(CAMIC) School of ScienceRMIT UniversityMelbourneVic 3000Australia WA School of Mines:Minerals Energy and Chemical Engineering(WASM‑MECE)Curtin UniversityPerthWA 6102Australia School of Chemical Engineering The University of AdelaideAdelaideSA 5005Australia School of Engineering Great Bay UniversityDongguan 523000People’s Republic of China

Layer-structured Ruddlesden–Popper(RP)perovskites(RPPs)with decent stability have captured the imagination of the photovoltaic research community and bring hope for boosting the development of perovskite solar cell(PSC)***,two-dimensional(2D)or quasi-2D RP PSCs are encountered with some challenges of the large exciton binding energy,blocked charge transport and poor film quality,which restrict their photovoltaic ***,these issues can be readily resolved by rationally designing spacer cations of *** review mainly focuses on how to design the molecular structures of organic spacers and aims to endow RPPs with outstanding photovoltaic *** firstly elucidated the important roles of organic spacers in impacting crystallization kinetics,charge transporting ability and stability of *** we brought three aspects to attention for designing organic ***,we presented the specific molecular structure design strategies for organic spacers of RPPs aiming to improve photovoltaic performance of RP *** proposed strategies in this review will provide new avenues to develop novel organic spacers for RPPs and advance the development of RPP photovoltaic technology for future applications.

关键词： Ruddlesden-Popper perovskites Low-dimensional perovskite solar cells Organic spacers Molecular structure Design strategies

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The effects of exercise interventions on brain-derived neurotrophic factor levels in children and adolescents:a meta-analysis

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Neural Regeneration Research 2025年第5期20卷 1513-1520页

作者： Xueyun shao Longfei He Yangyang liu Physical Education School Shenzhen UniversityShenzhenGuangdong ProvinceChina Shenzhen Institute of Neuroscience ShenzhenGuangdong ProvinceChina

Brain-derived neurotrophic factor is a crucial neurotrophic factor that plays a significant role in brain health. Although the vast majority of meta-analyses have confirmed that exercise interventions can increase brain-derived neurotrophic factor levels in children and adolescents, the effects of specific types of exercise on brain-derived neurotrophic factor levels are still controversial. To address this issue, we used meta-analytic methods to quantitatively evaluate, analyze, and integrate relevant studies. Our goals were to formulate general conclusions regarding the use of exercise interventions, explore the physiological mechanisms by which exercise improves brain health and cognitive ability in children and adolescents, and provide a reliable foundation for follow-up research. We used the Pub Med, Web of Science, Science Direct, Springer, Wiley Online Library, Weipu, Wanfang, and China National Knowledge Infrastructure databases to search for randomized controlled trials examining the influences of exercise interventions on brain-derived neurotrophic factor levels in children and adolescents. The extracted data were analyzed using Review Manager 5.3. According to the inclusion criteria, we assessed randomized controlled trials in which the samples were mainly children and adolescents, and the outcome indicators were measured before and after the intervention. We excluded animal experiments, studies that lacked a control group, and those that did not report quantitative results. The mean difference(MD;before versus after intervention) was used to evaluate the effect of exercise on brain-derived neurotrophic factor levels in children and adolescents. Overall, 531 participants(60 children and 471 adolescents, 10.9–16.1 years) were included from 13 randomized controlled trials. Heterogeneity was evaluated using the Q statistic and I^(2) test provided by Review Manager software. The meta-analysis showed that there was no heterogeneity among the studies(P = 0.67,

关键词： adolescents brain-derived neurotrophic factor children exercise meta-analysis randomized controlled trials

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Text-Image Feature Fine-Grained Learning for Joint Multimodal Aspect-Based Sentiment Analysis

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Computers, Materials & Continua 2025年第1期82卷 279-305页

作者： Tianzhi Zhang gang Zhou Shuang Zhang Shunhang Li Yepeng Sun Qiankun Pi Shuo liu School of Data and Target Engineering Information Engineering UniversityZhengzhou450001China Information Engineering Department Liaoning Provincial College of CommunicationsShenyang110122China School of Computer and Artificial Intelligence Zhengzhou UniversityZhengzhou450000China

Joint Multimodal Aspect-based Sentiment Analysis(JMASA)is a significant task in the research of multimodal fine-grained sentiment analysis,which combines two subtasks:Multimodal Aspect Term Extraction(MATE)and Multimodal Aspect-oriented Sentiment Classification(MASC).Currently,most existing models for JMASA only perform text and image feature encoding from a basic level,but often neglect the in-depth analysis of unimodal intrinsic features,which may lead to the low accuracy of aspect term extraction and the poor ability of sentiment prediction due to the insufficient learning of intra-modal *** this problem,we propose a Text-Image Feature Fine-grained Learning(TIFFL)model for ***,we construct an enhanced adjacency matrix of word dependencies and adopt graph convolutional network to learn the syntactic structure features for text,which addresses the context interference problem of identifying different aspect ***,the adjective-noun pairs extracted from image are introduced to enable the semantic representation of visual features more intuitive,which addresses the ambiguous semantic extraction problem during image feature ***,the model performance of aspect term extraction and sentiment polarity prediction can be further optimized and *** on two Twitter benchmark datasets demonstrate that TIFFL achieves competitive results for JMASA,MATE and MASC,thus validating the effectiveness of our proposed methods.

关键词： Multimodal sentiment analysis aspect-based sentiment analysis feature fine-grained learning graph convolutional network adjective-noun pairs

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H13钢激光熔覆钴基复合涂层的组织及耐磨性

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吉林大学学报（工学版） 2017年第3期47卷 891-899页

作者：杨晓红杭文先秦绍刚刘勇兵刘利萍吉林大学材料科学与工程学院长春130022 长春职业技术学院工程分院长春130033

采用5kW连续CO_2激光器,在H13热作模具钢表面进行激光熔覆Stellite-6(简称St6)、St6+5%WC、St6+5%WC+1%RE钴基合金复合涂层。采用光学显微镜、扫描电子显微镜、X射线衍射仪、显微硬度计及磨损试验机,对熔覆层的显微组织、元素分布、相... 详细信息

采用5kW连续CO_2激光器,在H13热作模具钢表面进行激光熔覆Stellite-6(简称St6)、St6+5%WC、St6+5%WC+1%RE钴基合金复合涂层。采用光学显微镜、扫描电子显微镜、X射线衍射仪、显微硬度计及磨损试验机,对熔覆层的显微组织、元素分布、相组成、显微硬度及磨损性能等进行了系统研究。结果表明,激光熔覆层与基体为冶金结合,各熔覆层的基体相组织为γ-Co、γ-Ni,增强相组织均包括Cr-Ni-Fe-C、(Mn,Cr)_7C_3、Cr_(23)C_6等相,此外,St6+5%WC和St6+5%WC+1%RE熔覆层的增强相中增加了WC、W_2C和SiC相;熔覆层显微硬度HV_(0.2)为560~710HV;摩擦磨损试验结果表明,在相同条件下,耐磨性能由高到低依次是St6+5%WC+1%RE、St6+5%WC、St6、H13钢。

关键词：金属材料激光熔覆 H13钢钴基自熔性粉末

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Decreased levels of phosphorylated synuclein in plasma are correlated with poststroke cognitive impairment

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Neural Regeneration Research 2025年第9期20卷 2598-2610页

作者： Yi Wang Yuning Li Yakun Gu Wei Ma Yuying Guan Mengyuan Guo Qianqian shao Xunming Ji Jia liu Department of Clinical Laboratory Beijing Bo’ai HospitalChina Rehabilitation Research CenterCapital Medical UniversityBeijingChina Beijing Institute of Brain Disorders Laboratory of Brain DisordersMinistry of Science and TechnologyCollaborative Innovation Center for Brain DisordersBeijing Advanced Innovation Center for Big Data-based Precision MedicineCapital Medical UniversityBeijingChina Department of Neurosurgery Xuanwu HospitalCapital Medical UniversityBeijingChina

Poststro ke cognitive impairment is a major secondary effect of ischemic stroke in many patients;however,few options are available for the early diagnosis and treatment of this *** aims of this study were to(1)determine the specific relationship between hypoxic andα-synuclein during the occur of poststroke cognitive impairment and(2)assess whether the serum phosphorylatedα-synuclein level can be used as a biomarker for poststro ke cognitive *** found that the phosphorylatedα-synuclein level was significantly increased and showed pathological aggregation around the cerebral infa rct area in a mouse model of ischemic *** addition,neuronalα-synuclein phosphorylation and aggregation were observed in the brain tissue of mice subjected to chronic hypoxia,suggesting that hypoxia is the underlying cause ofα-synuclein-mediated pathology in the brains of mice with ischemic *** phosphorylatedα-synuclein levels in patients with ischemic stroke were significantly lower than those in healt hy subjects,and were positively correlated with cognition levels in patients with ischemic ***,a decrease in serum high-density lipoprotein levels in stroke patie nts was significantly correlated with a decrease in phosphorylatedα-synuclein *** ischemic stroke mice did not show significant cognitive impairment or disrupted lipid metabolism 14 days after injury,some of them exhibited decreased cognitive function and reduced phosphorylatedα-synuclein *** together,our results suggest that serum phosphorylatedα-synuclein is a potential biomarker for poststroke cognitive impairment.

关键词： biomarker high-density lipoprotein ischemic stroke phosphorylatedα-synuclein poststroke cognitive impairment

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含噻吩[2,3-b]并噻吩-吡咯[3,4-c]并吡咯二酮结构单元聚合物的合成及其在太阳能电池中的应用研究

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高分子学报 2014年第12期24卷 1613-1621页

作者：冯宇苏智兴孙丽刘绍刚刁开盛张卫民广西民族大学化学化工学院广西林产化学与工程重点实验室南宁530006

设计并合成了一种交叉共轭的(cross-conjugated)缺电子型聚合物单体——二溴代噻吩[2,3-b]并噻吩-吡咯[3,4-c]并吡咯(DPPTTZ)二酮,并将其分别与噻吩(T)、硒吩(Se)和N-甲基吡咯(Py)的双锡试剂进行共聚反应,获得了一类新的供体-受体(D-A)... 详细信息

设计并合成了一种交叉共轭的(cross-conjugated)缺电子型聚合物单体——二溴代噻吩[2,3-b]并噻吩-吡咯[3,4-c]并吡咯(DPPTTZ)二酮,并将其分别与噻吩(T)、硒吩(Se)和N-甲基吡咯(Py)的双锡试剂进行共聚反应,获得了一类新的供体-受体(D-A)型共轭聚合物光电材料.这类材料分子的最高占有轨道(HOMO)能级较低,因此其光电器件具有较高的开路电压(Voc),稳定性好.此外,它们在紫外-可见光区有较宽的吸收,最大吸收位于波长620 nm附近;能带隙(band gap)小,分别为1.86 e V(p DPPTTZ-T)、1.83 e V(p DPPTTZ-Se)和1.85 e V(p DPPTTZ-Py).器件初步测试结果表明,上述聚合物与PC71BM组成的本体异质结聚合物太阳能电池Voc在0.68~0.81 V之间,能量转化效率(PCE)最高达3.05%(p DPPTTZ-T).

关键词：交叉共轭聚合物吡咯并吡咯噻吩并噻吩有机太阳能电池聚合物半导体

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