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A Learning-based Control Framework for Fast and Accurate Manipulation of a Flexible Object

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Journal of Bionic Engineering 2024年第4期21卷 1761-1774页

作者： Junyi Wang Xiaofeng Xiong Silvia Tolu stanislav n.Gorb Department of Electrical and Photonics Engineering Technical University of DenmarkAnker Engelunds Vej 101Kongens LyngbyZealand2800Denmark SDU Biorobotics Mærsk Mc-Kinney Møller InstituteUniversity of Southern Denmark(SDU)Campusvej 55Odense MFunen5230Denmark Department Functional Morphology and Biomechanics Zoological InstituteUniversity of KielAm Botanischen Garten 1–9D-24118KielSchleswig-HolsteinGermany

This paper presents a learning-based control framework for fast(3 times of others).Besides,motion tracking errors are greatly reduced to 13.29 and 22.36 of constant impedance control by the OIAC of the proposed *** ad... 详细信息

This paper presents a learning-based control framework for fast(nd accurate manipulation of a flexible object,i.e.,whip *** framework consists of a motion planner learned or optimized by an algorithm,Online Impedance Adaptation Control(OIAC),a sim2real mechanism,and a visual feedback *** experimental results show that a soft actor-critic algorithm outperforms three Deep Reinforcement Learning(DRL),a nonlinear optimization,and a genetic algorithm in learning generalization of motion *** can greatly reduce average learning trials(tond maximize average rewards(to>3 times of others).Besides,motion tracking errors are greatly reduced to 13.29 and 22.36 of constant impedance control by the OIAC of the proposed *** addition,the trajectory similarity between simulated and physical whips is *** presented framework provides a new method integrating data-driven and physics-based algorithms for controlling fast and accurate arm manipulation of a flexible object.

关键词： Deep reinforcement learning Deformable object manipulation Variable impedance control Sim2real Visual tracking

Linear and non-Linear Dynamics of Inertial Waves in a Rotating Cylinder with Antiparallel Inclined Ends

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Fluid Dynamics & Materials Processing 2024年第4期20卷 787-802页

作者： Mariya Shiryaeva Mariya Subbotina stanislav Subbotin Laboratory of Vibrational Hydromechanics Perm State Humanitarian Pedagogical UniversityPerm614000Russia The Department for Construction Engineering and Material Science Perm National Research Polytechnic UniversityPerm614990Russia

This work is devoted to the experimental study of inertial wave regimes in a non-uniform rotating cylinder with antiparallel inclined *** this setting,the cross-section of the cylinder is divided into two regions where the fluid depth increases or decreases with *** different regimes are found:inertial wave attractor,global oscillations(the cavity’s resonant modes)and regime of symmetric reflection of wave *** linear wave regimes,a steady single vortex elongated along the rotation axis is *** location of the wave’s interaction with the sloping ends determines the vortex position and the vorticity *** non-linear regimes several pairs of the triadic resonance subharmonics are detected *** instability of triadic resonance is accompanied by the periodic generation of mean vortices drifting in the azimuthal ***,the appearance frequency of the vortices is consistent with the low-frequency subharmonic of the triadic *** experimental results shed light on the mechanisms of the inertial wave interaction with zonal flow and may be useful for the development of new methods of mixing.

关键词： Rotation inertial wave attractor triadic resonance zonal flow instability

Artificial enhancement of sturgeon stock in freshwater reservoirs:A case study on sterlet Acipenser ruthenus of the Kama reservoir

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Aquaculture and Fisheries 2024年第2期9卷 287-294页

作者： Pavel B.Mikheev Semyon n.Kazarinov Alla G.Melnikova stanislav V.Ponosov nikolai G.Petrenko Andrei I.nikiforov Alexey Yu Puzik Olga n.Elchenkova Perm State national Research University Perm614990Russia Khabarovsk Branch of the Federal State Budget Scientific Institution“Russian Federal Research Institute of Fisheries and Oceanography”“KhabarovsknIRO” Khabarovsk680038Russia Perm Branch of the Federal State Budget Scientific Institution“Russian Federal Research Institute of Fisheries and Oceanography”“PermnIRO” Perm614991Russia Federal State Budget Scientific Institution“Russian Federal Research Institute of Fisheries and Oceanography”“VnIRO” Moscow117454Russia Moscow State Institute of International Relations(University)of the Ministry for Foreign Affairs of Russia“MGIMO” Moscow117454Russia Department of State Control Supervision and Protection of Aquatic Biological Resources for Perm KraiMiddle-Volga Regional Office of the Federal Fishery AgencyPerm614990Russia

The paper presents the results of the sterlet sturgeon Acipenser ruthenus reintroduction into the Kama Reservoir(Perm Krai,Russia)by sterlet fry from hatcheries into the reservoir since *** effectiveness of hatchery releases was evaluated by monitoring gillnet sampling *** results showed that the species was reported throughout entire Kama Reservoir,which contrasts with 1988-1994 data,when the species was registered only at the upper part of the reservoir near the Kama River *** highest number and biomass values of catch per unit effort(CPUE)of the sterlet were found in submerged river channels-the deepest habitats with flow conditions which are close to the ecological requirements of the *** distribution of the sterlet within the channel biotopes of the reservoir is defined by reduced *** biggest individuals and the widest size range of the sterlet were typical for the upper area of the reservoir and Chusovskoy Bay,which have the greatest *** smallest sizes were typical for fish from catches near the dam of the reservoir,which is consistent with the published data on the distribution of sterlet in reservoir *** presented results may indicate the artificial formation of the sterlet stock in the Kama Reservoir maintained by hatchery *** revealed distribution of the sterlet in the reservoir determines the direction of further research on natural reproduction and thus formation of an artificially formed ***,future studies are required to assess the possibility of hybridization of the sterlet of artificial origin with natural populations of the species,since the low genetic diversity of the sterlet released into the Kama Reservoir which can lead to irreversible loss of genetic individuality of the natural stocks of the species in the catchment of upper course of the Kama River.

关键词： Sterlet Acipenser ruthenus Kama reservoir Hatchery releases CPUE Artificial stock formation

Current and further trajectories in designing functional materials for solid oxide electrochemical cells:A review of other reviews

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Journal of Energy Chemistry 2024年第7期94卷 302-331页

作者： stanislav Baratov Elena Filonova Anastasiya Ivanova Muhammad Bilal Hanif Muneeb Irshad Muhammad Zubair Khan Martin Motola Sajid Rauf Dmitry Medvedev Hydrogen Energy Laboratory Ural Federal University620002 EkaterinburgRussia Institute of natural Sciences and Mathematics Ural Federal University620002 EkaterinburgRussia Department of Inorganic Chemistry Faculty of Natural SciencesComenius University BratislavaIlkovicova 6Mlynska Dolina84215 BratislavaSlovakia State Key Laboratory for Mechanical Behavior of Materials School of Materials Science and EngineeringXi'an Jiaotong UniversityXi'an 710049ShaanxiChina Department of Physics University of Engineering and TechnologyLahore 54890Pakistan Pak-Austria Fachhochschule:Institute of Applied Sciences and Technology Mang Haripur 22621Khyber PakhtunkhwaPakistan College of Mechatronics and Control Engineering Shenzhen UniversityShenzhen 518000GuangdongChina Laboratory of Electrochemical Devices Based on Solid Oxide Proton Electrolytes Institute of High Temperature Electrochemistry620066 EkaterinburgRussia

Complex oxides are an important class of materials with enormous potential for electrochemical *** on their composition and structure,such complex oxides can exhibit either a single conductivity(oxygen-ionic or protonic,or n-type,or p-type electronic)or a combination thereof gener-ating distinct dual-conducting or even triple-conducting *** properties enable their use as diverse functional materials for solid oxide fuel cells,solid oxide electrolysis cells,permeable membranes,and gas *** literature review shows that the field of solid oxide materials and related electro-chemical cells has a significant level of research engagement,with over 8,000 publications published since *** manual analysis of such a large volume of material is ***,by examining the review articles,it is possible to identify key patterns,recent achievements,prospects,and remaining *** perform such an analysis,the present article provides,for the first time,a comprehensive summary of previous review publications that have been published since 2020,with a special focus on solid oxide materials and electrochemical ***,this study provides an important reference for researchers specializing in the fields of solid state ionics,high-temperature electrochemistry,and energyconversiontechnologies.

关键词： SOFCs SOECs PCFCS Electrochemistry Energy conversion Hydrogen energy,Carbon neutrality

Importance of the gut microbiota in the gut-liver axis in normal and liver disease

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World Journal of Hepatology 2024年第6期16卷 878-882页

作者： stanislav Kotlyarov Department of nursing Ryazan State Medical UniversityRyazan 390026Russia

The gut microbiota is of growing interest to clinicians and *** is because there is a growing understanding that the gut microbiota performs many different functions,including involvement in metabolic and immune processes that are systemic in *** liver,with its important role in detoxifying and metabolizing products from the gut,is at the forefront of interactions with the gut *** details of these interactions are not yet known to clinicians and researchers,but there is growing evidence that normal gut microbiota function is important for liver *** the same time,factors affecting the gut microbiota,including nutrition or medications,may also have an effect through the gut-liver axis.

关键词： Gut microbiota Liver Gut-liver axis Immunity non-alcoholic fatty liver disease

Foam rolling and stretching do not provide superior acute flexibility and stiffness improvements compared to any other warm-up intervention: A systematic review with meta-analysis

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Journal of Sport and Health Science 2024年第4期13卷 509-520页

作者： Konstantin Warneke Gerit Plöschberger Lars H.Lohmann Eric Lichtenstein Daniel Jochum stanislav D.Siegel Astrid Zech David G.Behm Institute of Sport Science University of KlagenfurtKlagenfurt am Wörthersee 9020Austria Department of Human Motion Science and Exercise Physiology Friedrich Schiller UniversityJena 07749Germany Department Sport Exercise and HealthUniversity of BaselBasel 4052Switzerland Department of Health Sciences and Technology ETH ZurichZurich 8092Switzerland School of Human Kinetics and Recreation Memorial University of NewfoundlandSt.JohnsNL A1C 5S7Canada

Background:Acute improvement in range of motion(ROM)is a widely reported effect of stretching and foam rolling,which is commonly explained by changes in pain threshold and/or musculotendinous ***,these effects were also reported in response to various other active and passive interventions that induce responses such as enhanced muscle ***,we hypothesized that acute ROM enhancements could be induced by a wide variety of interventions other than stretching or foam rolling that promote an increase in muscle ***:After a systematic search in PubMed,Web of Science,and SPORTDiscus databases,38 studies comparing the effects of stretching and foam rolling with several other interventions on ROM and passive properties were *** studies had 1134 participants in total,and the data analysis resulted in 140 effect sizes(ESs).ES calculations were performed using robust variance estimation model with ***:Study quality of the included studies was classified as fair(PEDro score=4.58)with low to moderate certainty of *** showed no significant differences in ROM(ES=0.01,p=0.88),stiffness(ES=0.09,p=0.67),or passive peak torque(ES=-0.30,p=0.14)between stretching or foam rolling and the other identified *** plots revealed no publication ***:Based on current literature,our results challenge the established view on stretching and foam rolling as a recommended component of warm-up *** lack of significant difference between interventions suggests there is no need to emphasize stretching or foam rolling to induce acute ROM,passive peak torque increases,or stiffness reductions.

关键词： Range of motion Passive properties Muscletendon unit Muscle tissue

伯醇对镍基催化剂在转移氢化反应中的抑制作用研究

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Chinese Journal of Catalysis 2024年第3期58卷 168-179页

作者： nikolay nesterov Alexey Philippov Vera Pakharukova Evgeny Gerasimov stanislav Yakushkin Oleg Martyanov 博列斯科夫催化研究所俄罗斯新西伯利亚

本文研究了在转移加氢条件下,不同类型醇作为氢供体对镍基催化剂在苯并呋喃加氢反应中的活性影响.结果表明,使用异丙醇作为氢供体时,苯并呋喃的加氢过程为底物先发生脱芳构化,然后再进行脱氧反应.然而,当使用伯醇如甲醇、乙醇和正丙醇... 详细信息

本文研究了在转移加氢条件下,不同类型醇作为氢供体对镍基催化剂在苯并呋喃加氢反应中的活性影响.结果表明,使用异丙醇作为氢供体时,苯并呋喃的加氢过程为底物先发生脱芳构化,然后再进行脱氧反应.然而,当使用伯醇如甲醇、乙醇和正丙醇作为氢供体时,会导致镍基催化剂的不可逆失活.针对这一现象,进一步研究了伯醇使镍基金属催化剂失活的机理.结果表明,在250°C条件下,催化剂与伯醇的相互作用会导致形成非活性的碳化物ni_(3)C,并且镍金属颗粒在氧化铝载体表面会发生烧结和偏析.

关键词：苯并呋喃转移加氢超临界共沉淀 ni催化剂醇

Investigation of Oil Vapours in Hydro-Generator

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Journal of Power and Energy Engineering 2024年第3期12卷 19-30页

作者： Ekaterina Shubina Dmitry Verkhovtsev stanislav Gulay Andrey Lyamin Bureau for the Design of Hydro-Generators JSC “Power Machines” Saint Petersburg Russia Field Tests Department JSC “Power Machines” Saint Petersburg Russia

The article discusses engineering approaches to solving the problem of oil vapours in generators. Due to the design characteristics of each power plant, it is difficult to find a typical solution. nevertheless, the article suggests ways to reduce the amount of oil mist. For their implementation, a calculation methodology based on the substitution scheme of the hydraulic path of the bearing support unit is created which takes into account the design features of the bearing and the parameters of the environment around the oil bath. The methodology employed is presented. The numerical method of modelling the aerodynamic fields of the entire hydro generator is used to estimate the air flows and pressures in the oil bath zone of the thrust bearing. Additionally, the method made it possible to track suspected oil particles that could get from the thrust-bearing bath into the surrounding area of the generator. Measures are proposed to reduce the level of oil mist through the competent design of the oil vapour removal system from the bearing bath.

关键词： Hydro-Generator Cooling Oil Mist Bearings Fluid Dynamics

Chebyshev polynomial-based Ritz method for thermal buckling and free vibration behaviors of metal foam beams

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Applied Mathematics and Mechanics(English Edition) 2024年第5期45卷 891-910页

作者： n.D.nGUYEn T.n.nGUYEn Faculty of Civil Engineering Ho Chi Minh City University of Technology and EducationHo Chi Minh City 71309Viet Nam Faculty of Engineering and Technology Kien Giang UniversityChau Thanh 92000Viet Nam

This study presents the Chebyshev polynomials-based Ritz method to examine the thermal buckling and free vibration characteristics of metal foam *** analyses include three models for porosity distribution and two scenarios for thermal *** material properties are assessed under two conditions,i.e.,temperature dependence and temperature *** theoretical framework for the beams is based on the higher-order shear deformation theory,which incorporates shear deformations with higher-order *** governing equations are established from the Lagrange equations,and the beam displacement fields are approximated by the Chebyshev *** simulations are performed to evaluate the effects of thermal load,slenderness,boundary condition(BC),and porosity distribution on the buckling and vibration behaviors of metal foam *** findings highlight the significant influence of temperature-dependent(TD)material properties on metal foam beams'buckling and vibration responses.

关键词： Ritz method Chebyshev function buckling vibration metal foam beam higher-order beam theory(HOBT)